*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/Control" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Estimation" *n code=0012 name="Config/Simulator" *n code=0013 name="Config/secure" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Servo" *n code=0016 name="Config/Derivation" *n code=0017 name="Config/workSite" *n code=0018 name="Config/Dock" *n code=0019 name="Config/vehicle" *n code=001A name="Config/Science" *n code=001B name="Config/Sample" *n code=001C name="Config/logger" *n code=001D name="Config/BIT" *n code=001E name="Config/Navigation" *n code=001F name="Config/Battery" *n code=0020 name="DepthRateCalculator" *n code=0021 name="PitchRateCalculator" *n code=0022 name="SpeedCalculator" *n code=0023 name="YawRateCalculator" *n code=0024 name="ElevatorOffsetCalculator" *n code=0025 name="VerticalControl" *n code=0026 name="HorizontalControl" *n code=0027 name="SpeedControl" *n code=0028 name="LoopControl" *n code=0029 name="DeadReckonUsingMultipleVelocitySources" *n code=002A name="NavChart" *n code=002B name="UniversalFixResidualReporter" *n code=002C name="AHRS_M2" *n code=002D name="BackseatComponent" *n code=002E name="BackseatComponent ThreadHandler" *n code=002F name="LcmPublisher" *n code=0030 name="BPC1" *n code=0031 name="DAT" *n code=0032 name="DAT ThreadHandler" *n code=0033 name="DataOverHttps" *n code=0034 name="DataOverHttps ThreadHandler" *n code=0035 name="Depth_Keller" *n code=0036 name="DropWeight" *n code=0037 name="NAL9602" *n code=0038 name="Onboard" *n code=0039 name="Onboard ThreadHandler" *n code=003A name="Power24vConverter" *n code=003B name="Radio_Surface" *n code=003C name="Radio_Surface ThreadHandler" *n code=003D name="RDI_Pathfinder" *n code=003E name="Sonardyne_Nano" *n code=003F name="BuoyancyServo" *n code=0040 name="ElevatorServo" *n code=0041 name="DockingStepper" *n code=0042 name="MassServo" *n code=0043 name="RudderServo" *n code=0044 name="ThrusterHE" *n code=0045 name="CTD_Seabird" *n code=0046 name="CTD_Seabird ThreadHandler" *n code=0047 name="ESPComponent" *n code=0048 name="PAR_Licor" *n code=0049 name="WetLabsBB2FL" *n code=004A name="WetLabsBB2FL ThreadHandler" *n code=004B name="SBIT" *n code=004C name="IBIT" *n code=004D name="CBIT" *n code=004E name="GFScanner" *n code=004F name="MissionManager" *n code=0050 name="Reporter" *n code=0051 name="NavChartDb" *n code=0052 name="NavChartDb ThreadHandler" *n code=0053 name="DefaultWithUndock" *n code=0054 name="DefaultWithUndock:A.Wait" *n code=0055 name="DefaultWithUndock:LeaveDock" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0058 name="DefaultWithUndock:LeaveDock:A." *n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005A name="DefaultWithUndock:SurfaceDefault" *n code=005B name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0065 name="DefaultWithUndock:D" *n code=0066 name="DefaultWithUndock:E.Execute" *n code=0067 name="lineCaptureHoming" *n code=0068 name="lineCaptureHoming:Science" *n code=0069 name="lineCaptureHoming:Science:A" *n code=006A name="lineCaptureHoming:Science:B" *n code=006B name="lineCaptureHoming:Science:C" *n code=006C name="lineCaptureHoming:Science:D" *n code=006D name="lineCaptureHoming:Science:E" *n code=006E name="lineCaptureHoming:Science:F" *n code=006F name="lineCaptureHoming:Science:Read_Oil" *n code=0070 name="lineCaptureHoming:Science:OceanCurrent" *n code=0071 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0072 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0073 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0074 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0075 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0076 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0077 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0078 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0079 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=007A name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=007B name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=007C name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=007D name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=007E name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=007F name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0080 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl" *n code=0081 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:A" *n code=0082 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=0083 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=0084 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=0085 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0086 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0087 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0088 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0089 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=008A name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=008B name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=008C name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=008D name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=008E name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=008F name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0090 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=0091 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=0092 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=0093 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0094 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=0095 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=0096 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0097 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0098 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0099 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=009A name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=009B name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:SyslogSendDataPeakDepthAvgProfilesPlanktivoreLMavgROI" *n code=009C name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:SyslogSendDataPeakDepthAvgProfilesPlanktivoreLMavgROI:A" *n code=009D name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:SyslogSendDataPeakDepthAvgProfilesPlanktivoreLMavgROI:B" *n code=009E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=009F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=00A0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=00A1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=00A2 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00A3 name="lineCaptureHoming:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI" *n code=00A4 name="lineCaptureHoming:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A" *n code=00A5 name="lineCaptureHoming:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal" *n code=00A6 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00A7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00A8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00A9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00AA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00AB name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00AC name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00AD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00AE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00AF name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00B0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00B1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00B3 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00B4 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00B5 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00B6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00B7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00B8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00B9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00BA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00BB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00BC name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00BD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00BE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00BF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00C0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00C1 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00C2 name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00C3 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00C4 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00C5 name="lineCaptureHoming:StandardEnvelopes" *n code=00C6 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C7 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C8 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C9 name="lineCaptureHoming:C" *n code=00CA name="lineCaptureHoming:D" *n code=00CB name="lineCaptureHoming:E" *n code=00CC name="lineCaptureHoming:NeedComms" *n code=00CD name="lineCaptureHoming:NeedComms:A" *n code=00CE name="lineCaptureHoming:NeedComms:setActive" *n code=00CF name="lineCaptureHoming:NeedComms:setActive:A" *n code=00D0 name="lineCaptureHoming:NeedComms:setActive:B" *n code=00D1 name="lineCaptureHoming:NeedComms:C.GoToSurface" *n code=00D2 name="lineCaptureHoming:NeedComms:D" *n code=00D3 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00D4 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00D5 name="lineCaptureHoming:NeedComms:E" *n code=00D6 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D7 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D8 name="lineCaptureHoming:NeedComms:F" *n code=00D9 name="lineCaptureHoming:NeedComms:F:A_Timeout" *n code=00DA name="lineCaptureHoming:NeedComms:F:A_Timeout:A" *n code=00DB name="lineCaptureHoming:NeedComms:setRestoreMode" *n code=00DC name="lineCaptureHoming:NeedComms:setRestoreMode:A" *n code=00DD name="lineCaptureHoming:NeedComms:setInactive" *n code=00DE name="lineCaptureHoming:NeedComms:setInactive:A" *n code=00DF name="lineCaptureHoming:G" *n code=00E0 name="lineCaptureHoming:H" *n code=00E1 name="lineCaptureHoming:MicromodemComms" *n code=00E2 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00E3 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00E4 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00E5 name="lineCaptureHoming:J" *n code=00E6 name="lineCaptureHoming:LineCapture" *n code=00E7 name="lineCaptureHoming:LineCapture:A" *n code=00E8 name="lineCaptureHoming:LineCapture:B" *n code=00E9 name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00EA name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00EB name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00EC name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00ED name="lineCaptureHoming:LineCapture:D" *n code=00EE name="lineCaptureHoming:LineCapture:E" *n code=00EF name="lineCaptureHoming:LineCapture:F" *n code=00F0 name="lineCaptureHoming:LineCapture:G" *n code=00F1 name="lineCaptureHoming:LineCapture:H" *n code=00F2 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00F3 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00F4 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00F5 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00F6 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0115 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0116 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=0117 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=0118 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=0119 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=011A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=011B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=011C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=011D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=011E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=011F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0120 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0121 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0122 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0123 name="lineCaptureHoming:LineCapture:M" *n code=0124 name="lineCaptureHoming:L" *n code=0125 name="lineCaptureHoming:M" *n code=0126 name="lineCaptureHoming:N" *n code=0127 name="lineCaptureHoming:O" *n code=0128 name="lineCaptureHoming:P" *n code=0129 name="lineCaptureHoming:Q" *n code=012A name="lineCaptureHoming:U" *n code=012B name="lineCaptureHoming:TrackAC." *n code=012C name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=012D name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=012E name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=012F name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0130 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0131 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0132 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0133 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0134 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0135 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0136 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=0137 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=0138 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=0139 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=013A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=013B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=013C name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=013D name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=013E name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=013F name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0140 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0141 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0142 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0143 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0144 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0145 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0146 name="lineCaptureHoming:restartDHCP" *n code=0147 name="lineCaptureHoming:restartDHCP:A" *n code=0148 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=0149 name="lineCaptureHoming:StartingMission" *n code=014A name="lineCaptureHoming:Z" *n code=014B name="lineCaptureHoming:BA.Execute" *n code=014C name="lineCaptureHoming:InitialDive" *n code=014D name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=014E name="lineCaptureHoming:InitialDive:B.Mass" *n code=014F name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0150 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0151 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0152 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0153 name="lineCaptureHoming:RepeatHack" *n code=0154 name="lineCaptureHoming:RepeatHack:A" *n code=0155 name="lineCaptureHoming:Lap" *n code=0156 name="lineCaptureHoming:Lap:A" *n code=0157 name="lineCaptureHoming:Lap:B" *n code=0158 name="lineCaptureHoming:Lap:C" *n code=0159 name="lineCaptureHoming:Lap:D" *n code=015A name="lineCaptureHoming:Lap:E" *n code=015B name="lineCaptureHoming:Lap:Docked" *n code=015C name="lineCaptureHoming:Lap:Docked:A" *n code=015D name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=015E name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=015F name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0160 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0161 name="lineCaptureHoming:Lap:Docked:C" *n code=0162 name="lineCaptureHoming:Lap:Docked:D" *n code=0163 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0164 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0165 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0166 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=0167 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=0168 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=0169 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=016A name="lineCaptureHoming:Lap:Docked:Detach" *n code=016B name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=016C name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=016D name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=016E name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=016F name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0170 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0171 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0172 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0173 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'?Vd?k?`? u?iB~@IB{^;@YNE>yNkD PPbD^VD^:8yvz^;%zV=ٔ^Q->9c?Ic?=`Dy% A-}E5>QQ 5u>4Uqʼn?Q 9}>4U>)U?Yy(@Q I?B>BBDBw>B=BBBF;B3EUAIUn=iU3=UL>4yBɮZBEkkkzkZk[1[1"[1*[5T?ɢY)Y ]:GiY)Y]$Yie=aIiENP:IIMMy I >) >Ay I I O >={",8LAE&e E&ME&nE$"E&<:*E&9VE&J5ZE$BE&YL;a*2E&\L;a*JE$a.:E$a.,b9@b@b ٱb1.>bH`{D@@v?҅?@09p?gϰ?g? m?ib9@Iby^;bCYne]>yn"Ey?v/?Zd;O?>x=j<> 9p= ף?v?ʡE?Y>yx>-=B B)YBbDVD+8y[=%?=ٔQ->9I=`DyAE>Q 5>4tʼn?Q 9>4)?YQ>Q E:yA@Q I?!AIf:ir;[>4yɮNBkqkqkqzkqZky[%>[%>"[(?*[|@ɢ)CB> "Gi)H0iwĠ=IqN:A,AI!I1OEQ>ԙ c",QfRLA2@2H@2HC>y>'D DDbDFVDF8PyR)%R]=ٔV|Q-V>9V>(?IV>(?=V`DyZAZL)=EZ>\Q 5>4^ifʼn?Q 9=>4^M)^?Y9yE3C@Q IE?^5$AI^э4yMBɮMZBI]nManaging dock network, ignoring radio surface power offkikikizkqZkquB*** querying acoustic contact ***i}2i}[["[*[IH}@ɢ)   G!9e09aYeȱAAA?ABBBDB#>B=BBBM;B8EByByByByByC}5)  &DAT read: user:6>  TDAT read: RemoteAddr | 8  .set remote address to 8 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.",KlLAf+@f @fOPٱfL=fH??J?@? ;ȶ??if+@IfT^;fCYMfB>yMDIe<)ep<bD}VD}8y5%<=ٔ==Q->9I=`DyVA =E>Q 5 >4Uʼn?Q 9 >4)r@YyUD@Q I?c'AI.;i.; x>4yɮk9k9k9zk9Zk9[Y[Y"[Y*[]~@ɢi)mN> m=Gii)quIIqiuѦ=yIyMK:)IAIQOe4>=4=9E&DAT read: user:7> EBDAT read: Tx time:00:47:04.6210 M$Ping request sent.MyREbDZVDZ8ybt=%fY=ٔn=Q-r>9xIx=z`DyzBA~Z-E~>Q 5 >4Gʼn?Q 9 >4z).@Y y B@Q I ?*AI:i:>4yBɮNBk1k1k1zk1Zk1[I[I"[I*[M@Yɢa)mg _> m&Gii)imQiimX=qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790IJ:ԉJ>IyIO~>ԱU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502728E o E JE rE "E `:*E k9VE 5ZE a @a @a @a @ V",LAB}>B}CB}DB}">B}=ByByB}R;B}9E! @G@:etٱ7>H` x?`? W ??@?n?i! @I\^;CYMA>yMDyi|?5?kt|?5^ҿ> 0 9ˡE?V-S?YG?y/>BNB ߟB)BYB@AbDVD/8ylH%+=ٔQ->9I= aDy 9#A #E >Q 5>4q4ʼn?Q 9>4) @Y%N?Q E%:y%4@Q I%?/AIZ:i:>4y)ɮ-ZB1kAkAkAzkAZkI[e?[e?"[e_@*[e d?ɢ)yG> >Gi)iv=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755225 I:۠X>I!I1OEQ>9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006650"ϭ",lLAEb ENEnE "E1:*E҆9VEJ5ZE BE9;a2E9;aJE:a:E:aYP>y%D ))bD5VD5Q8yEc'=%Ej=ٔMQ-M?9IIQ=UaDyU&AUEU>YQ 5e>4]-&ʼn?Q 9e>4],)]^@YayiQ Im?][4AI]:i]\:]>4yuBɮu>BuEkkkzkZk[["[*[ɢ) /Gi)i/=I G:yAxA9 _>IqIO}>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258691aԑ 2",.LA2| @2#@2ҥٱ2W>2H & L?yRDbDZVDZf8ybɼ%bT=ٔbwQ-f>9dId=faDyf*AjS<Ej>lQ 5r>4nʼn?Q 9r>4n)n@Ypyr3@Q Ir?n9AIn;inf;n2>4yxɮzCBxkkkzkZk[a[a"[a*[eh?qɢ)+> 9Gi)顙irȲ=I1??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511690E=g E9E=wE9"E=C:*E9VE=ɕ5ZE9aE@aM@aM@aM@F:m̘S>ԩA(AIIOf>B]>B]CB]DB]6>B]=BYBYB][;B]@E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764066 ۺ",LLA^| @^#@^tٱ^R=^H bAť@w?`?;? ?@?v?i^| @I^-^;^CY@>yD 15R=bD]VD]D8ymX%m@=ٔu>Q-u>9u8?I8?=aDy/AE>Q 5>4zʼn?Q 9>4)) @Yy@Q I?>AIh:iu:`>4yBɮEBEkk1k1zk1Zk9[q[q"[q*[u@ɢ)d> ?Gi)顉i=I xAE:%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014734bEJ5jE5rEż 1Emd EmEmjEi"Em9:*EmrN:VEmـ5ZEiBEmF;a}2EmF;aJEm^;a:Em_;aKG>A A AI I O >Q ",oLAJ/ @JW"@J/<ٱJ;T=JH ? cX?@zi?`7? Q`? _?iJ/ @IJ:^;JCY^-v>y^_EbDfVDf@8y5>%=M=ٔ=>Q-=>9E%?IE%?=EaDyE3AEwEE>IQ 5U>4M3ĉ?Q 9]>4M)M@YYy]@Q I]?M|CAIMb;iM;M>4yaɮe*Bi}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266779kkkzkZk[["[*[K@ɢ)/p>  Gi)页io=I)C:=>`R>YA.AIIO k>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518762Em k Em QEm pEi "Em mR:*Em v9VEm 5ZEi au @au @au @au @ԁ pǸ", U!LA,B=>B=CB="EB=#>B==B9B9B=!;B=E @g@ubܼٱ>H@W?`u?h@?t??@?i @I^;CYJ>y=EaE@aM aM@aM aM@aM aM@aM aM@aM yEv?~jt?Gz߿E>E%u+=ٔu ѽQ-u>9} ?I} ?=}aDy}8AԁvE>Q 5>4ĉ?Q 9>4)#@Q A+:YQ ET:y@Q I?IAI:i>>4yBɮ Bkkkzkchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771364Zkɢ)X> FiQ)YYYi] =aIa50B:Ա } d>A zA xA= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023352E  E LE qE "E *E |9VE 5ZE BE q;a 2E q;a JE s:a :E t:a A AI I! O- >θ", 2H x{?``?귰?@? ~? NR?i2 @I2b^;2CYz5>yz5EbDVDL8y5%=d=ٔ=UQ-=>9Ec?IEc?=EaDyEJIQ 5u>4Mĉ?Q 9u>4M)M0(@Q A} :YyQ E},:y} @Q I}?MMAIM:iMW?M>4yBɮBxEkkkzkZkɢ)5A> Fi)  g5 i =տ=II?)>%@:I"`>A5AI9IIOUT>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274772ԙ 6mո",VLA2 @2@2Yٱ2U[>2H|R?@s?? yRJEbDZVDZ8yv %vP=ٔv9z%?Iz%?=zaDyzZ@AzFĻE~>iQ 5u>4mĉ?Q 9u>4mn)m-@Q Au9YqQ E :yh @Q I?mSAIm;im?mN>4yɮBkkkzkZkchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526730ɢ))-QP> 5GE]c E]RE]oEY"E]g5:*E]9VE]5ZEYae@ae@ae@ae@i1)imiim=Iz?:zAzAԱBE>BECBE@5EBEb>BE=BABABE;BEEX>i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779709A .AI I O% >p۸",VpLA2q @2+d@2y#ٱ2jL@>2Hs* ? ?`p?n_?@?@i?i2q @I2^;2CY>c>yB EbDJVDJ8yV[%VN=ٔV >Q-V>9Z ?IZ ?=ZaDyZPDA^aE^>lpQ 5v>4r³ĉ?Q 9v>4r)r*2@Q Az9YxQ Ez9yzz @Q Iz?rWAIr:ir?r!>4y|ɮ~BkkkzkZk9ɢ)@e> Gi)Bis= I P>: Q>1UDAT read: 00:47:08.1877 LVL= 24560, 17793, 21074, 32755, AGC= 85, IDX= 301, 0.18, 2.787,-1.949,-1.007,-1.826, PHS=-1.568,-0.077, 0.776, RAW= 248.9, 8.5, CAL= 248.0, 9.0, ROT= 262.0, -9.0 Ema EmHEmnEi"Em%.:*Em[9VEmJ5ZEiBEmF3;au2EmH3;auJEmT:au:EmU:a}Ygot valid direction response: 00:47:08.1877 LVL= 24560, 17793, 21074, 32755, AGC= 85, IDX= 301, 0.18, 2.787,-1.949,-1.007,-1.826, PHS=-1.568,-0.077, 0.776, RAW= 248.9, 8.5, CAL= 248.0, 9.0, ROT= 262.0, -9.0 BDAT read: Rx Time:00:47:08.1877 TRx dataTimestamp_ set to:1764895629.943682@DAT read: $Low SNR acquisition 2Received low SNR in chirpX#Rx 1: Read direction message, but no range.%`direction in FSK: [-0.137460,-0.978076,0.156434]a %- ydNa - lYH*wfL│p ?a - _ERR )UI9ȿi-F?@>c@ | >A؟AIIOn>)T@I|  ;>**\?;"1? \@)I#ڿi| Qԁ 4",yLA6C@6@685jٱ6s%>6H]? 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M?ຒ?iBO@IB%^;@YN`AyN1 HbDZVDZ]8y;>% I=ٔHQ->9!I!=-pDy-AB=;EE>QQ 5mF4Ui?Q 9uF4U>0)UAYy F@Q I?U.BIU?ԱB >B B HB mAB B B B R;B &E .lm",bLLA6*@6̈́&@6nٱ6>6H7ܿJ,?`ŕ?YuÿRm?? =?i6*@I6^;4\YbbAybH Hchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755169Ee` EeKEe]Ea"Ee*:*Ee]t9VEeW5ZEaBEe-;am2Ee-;amJEe+:am:Ee,:auyUy&1?Q?~jt?U`?UQ Q9U&1?ʡE?|?5^?YU0?yU>Uҍ>UBUB UB)U7XBQYỤBbD{VDQ8y>%A=ٔxQ->9I=pDyBB<E>Q 5F4[?Q 9F4.) AYB?Q E:yN7@Q I?~/BI ;i ;F4ytBɮ$BEkYkakazkaZka[z>[z>"[cT!?*[Dg@ɢ) _i)id=IIqIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007266A vSt",%LA2@2&@26ٱ2>2H@&ۿ@@? y?? e@¿r? ف?ӈ?i2@I2'6^;2CYN{eAyR H TTbDZtVDZK8yz>%zV=ٔ~Q-~>9I=pDyCB<E> Q 5F4 M?Q 9F4 -) AYy%7@Q I%? 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V?hx?i2@I2^;2CY>nAyBHrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771268EE\ EEKEE[EA"EE:*EE]t9VEEaQ5ZEABEE;aM2EE;aMJEE+:aU:EE,:aUy]Zd;?Mb`?]9?]]>Y Y9]1Zd?I +X9v?Y]"[?y]94]s>]B]B ]>B)]QBYY]רBbDuxVDuO8y>%Y=ٔQ->9I=pDyGB[<E>Q 5F4 ?Q 9F4&)@AYc?Q En:y @Q I?83BI:i<:aF4yɮBkkkzkZk[5>[5>"[@*[]?ɢ) E i)i-= I ԑII! aaOu>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023046 ",&nSLAɰp;24@2&*@2xٱ2>2H@dؿߘ?=? >\??`t?i24@I2 ^;2CYBqAyB;HDF@AbDJqVDJH8yfg>%fW=ٔfQ-f>9hIh=jpDyjHBj<En>pQ 5rF4r{?Q 9vF4rP#)rCAYtyv!@Q Iv?r 4BIr:irK:rnF4yzlBɮ~JB}EkkkzkZk[["[*[?ɢ)  i)i}=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275175EU` EQEU]EQ"EU*:*EQVEUW5ZEQa]@a]@a]@a]@IqIO>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527495˚",HmLA02I@2*@2ٱ2f>2H``ؿ@?@]?%^@`.??r?i2I@I2F^;0YNSsAyRH TTbDZZVDZ38yb]>%bK=ٔfQ-f>9dId=fpDyjIBj<Ej>lQ 5rF4n?Q 9rF4n)ndAYpyv@"@Q Iv?n5BIn:in:n|F4yxɮzBxk k k zk Zk [)[)"[)*[-C?ɢ9)A E+ iA)AAAiMr=IIQIYIiO}=A1A5AAB9B9B=HB=~AB==B9B=DB=o;B=EԉԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779100E]a E]IE]XEY"E]%.:*E]c9VE]G5ZEYBE]E3;ae2E]H3;amJE]:am:E]:am ",#LA6qv@6i+@6Rٱ6G>6H ׿S?B?%{@?`X? p?i6qv@I6E(^;6CYBtuAyBHbDJzVDJP8yRN>%VL=ٔV.Q-V>9TIX=ZpDyZJBZ<EZ>``Q 5fF4b:ỉ?Q 9fF4b0)bAYdyf"@Q Ij?b 6BIby:ib:bF4ynjBɮnBlkxkxkxzkxZkx[["[*[:??ɢ!)! % i!))))i-=1I1II]BDAT read: Rx Time:00:48:08.4576 mTRx dataTimestamp_ set to:1764895690.189374checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035324O=Im>)m> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283246A Em ` Em PEm ZEi "Em *:*Em ?9VEm (N5ZEi au @au @au @au @{᧼", LAhv|A1A9v|AYžA@},@ ٱb>Hyֿ$?!?Kบ?`>?@ l?i@I];YxAyHyx?bX9ȶ:v?KW?E< 9 rh?Zd;OB`"۹?YCk?yj=:B nB)YBYB 15p=bD=VD=m8ymJ>%m%=ٔuQ-}>9I=qDyLBx =E>Q 5F4ƻ?Q 9F4)AYl?Q Ee:y)@Q I?y7BI:is:wF4AygBɮdBkkkzkZk[%>[%>"[%3?*[%z{@ɢ9)9 = iA)AAAiEi=IIQDAT read: Range 11 to 50 : 887.8 m (Round-trip 1183.8 ms) speed -0.4 m/s X#Rx 1: Read range message, but no direction.ya ! 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E@ ",*LAN#G@N[U@N+FٱN[>NH@dh?@ʹ?Ŀ`sL?&f???iN#G@IN];NCY^.By^ݮH|yMGz?ˡE)\(?Mp=?M什MGa=I I9Mi|?5?Zd;OX9v?YMQ?yMjM}=M2BMLB MtB)MBIYMHBbDewVDe8yu>%u>=ٔuR8Q-}>9yIy=}~Dy}BAi<E>Q 5M4k?Q 9M4Ϫ)elBYS?Q E:yCFQ I?ΡBI;i ;M4yBɮOBEkkkzkZk[=[="[a@*[kJ@ɢ) Ggi)qqqiu!=yIy)A.AIIO>D=D=Ez EmEBE"El:*E:VE5ZEa@a@a@a@Qԁ BE #>BA BE HBE BBE =BA BA BE d;BE E&",9DLAɰ2uG@2gU@2Y ٱ2$>2Ha ?@?gcſ ߙj?UY??@.?i2uG@I2];0YRByRHZ@AXbDZdVDZ8y~4>%~R=ٔi;Q->9 ?I ?=~Dy B 3Q<E >Q 5M4U?Q 9M4()mBY!y%EQ I%?YBI ;i ;)M4y)ɮ-OB)kAkAkAzkAZkIY[i[i"[i*[mJ@ɢy)y }di)顁i4=IA؟AII O>ԉԱE  E qE E "E ;*E $ :VE ZE BE CC2H\m?rl?`c ƿVS(?pL? #??i2G@I2];2CYNKByR%fN=ٔf;Q-f>9j"?Ij"?=j~DyjBjr<En>pQ 5rM4r=?Q 9vM4r)rmBYtyvEQ Iv?rBIr:ir:rM4yzBɮzzNB|k k k zkZk[["[*[NK@Թɢ) bi)iJ=I x>eG39Y{1AAIIO >9 {",xLAD0zD0E6z E6E4E4"E6l:*E6R:VE4ZE4a:@a:@a:@a:@:9H@:d,V@:ٱ:!>:H X@H?i@? pƿ`q|4?;? >?h?i:9H@I:];:CY^By^հHbDj+VDj8yr>%rH=ٔv}9;Q-v>9tIt=v~Dyz Bzu<Ez>|Q 5N4~%?Q 9 N4~)~nBY y+EQ I?~yBI~,7;i~88;~O N4y%߮Bɮ%MB)kIkQkQzkQZkQ]B*** querying acoustic contact ***iYiY2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.[["[*[7K@ɢ9)9 =`i9)AAAiEb=AIIIIB >B\CBHBBB=BBB);BzEB]CB]CBB=B=C45O)>Aim &DAT read: user:9> u BDAT read: Tx time:00:49:04.8711 u $Ping request sent.u :HV? ? rǿn`S?!???i:H@I:];:CY5\By=H AAbDM?VDM8y]>%]5=ٔ]E;Q-e>9aIa=e~DyeBmuf<Em>qqQ 5}N4u ?Q 9N4u)uLoBYyDQ I?uBIul:iuK:uN4yܮBɮ\MBEkkkzkZk[["[*[L@ɢ) ^i)i~=IE}{ E}gE}>Ey"E}=:*E}&9VE}4ZEyBE};a2E};aJE}1;a:E}1;achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252080IIIYOm4>ԡ L*",AFLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503001:H@::H`V1?&?ȿ b ??@`??i:H@I:];8 @)@BD@@DDiFDIDDIHiJr@ HH)HL N7ANTLLPR+AIP)PiP)TIV3ATT TTTXiXXYXY]By] HIe=)e4%EL=ٔE;Q-E>9III=MDyM!BMi<E>Q 5N4g?Q 9N4k)pBYCY?Q Ez:yBQ I?BI:io:a'N4yɮLBkkkzk Zk [-!>[-!>"[- ?*[-D~@ɢQ)Q U\iY)YYYi]t=aIaIIO >E EcEHE"E*EL9VE-5ZEa@a@a@a@>??checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755458) B !>B B LHB iBB B B B ;B sEu1",LA2nI@2aW@2ٱ2o>2HWs? ?@ȿ@W??H? ?i2nI@I2)];2CY~wBy~HbDBVD8yU>%U[=ٔ];Q-]>9YIY=eDyeBeܔ<Ee>iQ 5uN4mJܯ?Q 9uN4m9)mpBYyy}AQ I}?m9BIm0;imW1;m(4N4yٮBɮ;LBkkkzkZk[[!>"[*[襅@ɢ) !Zi)i=IIYIiOu=5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0069609YE  E bE ?E "E *E 9VE ^4ZE BE a 2E a JE L;a :E L;a ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2618367",rLAɰp;02 I@2W@2ٱ2t>2HX`?\?cɿL ?V?@ ??i2 I@I2];2CYBy]HbD-TVD-Ѳ8y=Gn>%=L=ٔE{9AIA=MDyMBM<EM>QQ 5eN4Uį?Q 9eN4U*)UdqBYaye(AQ Ie?UΥBIU!;iUU";U*BN4ym֮BɮuKBqkkkzkZk[![!"[!*[%3̅@ɢ1)9 =Xi9)999i==AIAAU>AU>IIO=ԉEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510949Թ V=",LAJs8J@J+X@JٱJ`H>JH #\?m#?RʿC?x?Y? w?iJs8J@IJ];JCdYfsByfH llbDvLVDvʲ8y>% N=ٔ s9I=DyB%jb<E->1Q 5=N45ϫ?Q 9EN45&)5rBYAyM@Q IM?5bBI58S;i5T;5!PN4yUBɮU]KBUEkikikizkiZkiE}~ E}fE}CEy"E}:*E}9VE}5ZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763155[["[*[1@ɢ) 2Vi)iI=IIyIO=B<A<B>BBܶHBBB=BBBG;BEU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014970A *D", LA.,J@.ʘX@.hٱ.7=>.H@Z j~?t? ˿4p;?Q?^??i.,J@I. ];,YBByBHbDJ6VDJ8yV>%VP=ٔZ;Q-Z>9XIX=ZDy^B^<E> Q 5N4 ?Q 9N4 /) rBYyX@Q I? BI :i y: ^N4y!ɮ-JB)k9kAkAzkAZkA[a[a"[a*[e@ɢq)q ugTiq)yyyi}F=IAIIO>IEz EnEGE"El:*E:VE5ZEBE;a2E;aJEJ;a:EJ;achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267082yԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189930J",-LA2 K@2X@2!ٱ25>2H%X?@??6˿ȡ?t2?u??i2 K@I2];2CY>aBy>BHy/$?I +{Gzt?&Q?94ף; 9zG?%<=ٔ^;Q->9I=DyBi<E>Q 5N4z?Q 9N4)sBYX?Q E{:yJ=Q I?BIm;if:lN4yBɮiJBkkkzkZk[]=[]="[]@*[]%8?ɢ) {Ri)顑i#=IAyAzAԙIIO>bEu5jE5rE0E  E jE EE "E :*E 9VE  5ZE a@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770869B (>B ]CB _HB BB B B DB ;B E KQ",qqGLA2qK@2cY@2iٱ2u>2HRpp?M?̿`?`?^?`?i2qK@I2t];2CYNByNHbDV'VDV8y^`>%^Y=ٔbɈ;Q-b>9`I`=fDyf&Bf<Ef>hQ 5nN4jYd?Q 9nN4j)j?tBYpyr6HhLK? ?v$ͿP?* ?0?'?i6RK@I6];6CY^fBy^HbDjVDj8yr>%rH=ٔr^-;Q-r>9tIt=vDyvBzd<Ez>xQ 5N4zOL?Q 9N4zt)ztBYyNH A`bJ?`?@Ϳ@ ? ?$? @?iN+L@IN];NCYZBEn EngEnBEl"En:*En&9VEn5ZElar@ar@ar@ar@y^"HbD%VD%Y8y5>%5E=ٔ= 8Q-=>99IA=EDyE2BE%a<EE>IQ 5UN4M3?Q 9UN4M)MuBYYy]8B5\CB5׹HB5BB5=B1B5DB5;B5EԹ- BDAT read: Rx Time:00:49:08.5050 5 TRx dataTimestamp_ set to:1764895750.2245585 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032094 d",YLA2}L@2pZ@2nٱ2]*>2H`6?n?Nο@%?? ??i2}L@I2,];2CYBlByBƷHbDJVDJH8yfN>%fR=ٔf{Q-f>9hIh=jDyjBnR<En>pQ 5vN4r?Q 9vN4r)rpvBYtyv;Q Iv?r֩BIr:irK:r}N4yzۮBɮ~JHB|k kkzkZk[["[*[W?ɢ) LJi)ig=IEx EbE>E"Eˀ:*E9VE4ZEBE;a2E;aJEL;a:EL;achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283083h=!IIO%o>WG1Iu9yY}AI )k",FӮLADAT read: 00:49:08.5050 LVL= 32752, 27617, 31538, 32755, AGC= 87, IDX= 396, 0.49, 2.844,-1.218,-2.288,-1.564, PHS=-1.773, 0.391,-0.768, RAW= 302.3, 22.1, CAL= 301.9, 28.0, ROT= 208.1, -28.0 2Ygot valid direction response: 00:49:08.5050 LVL= 32752, 27617, 31538, 32755, AGC= 87, IDX= 396, 0.49, 2.844,-1.218,-2.288,-1.564, PHS=-1.773, 0.391,-0.768, RAW= 302.3, 22.1, CAL= 301.9, 28.0, ROT= 208.1, -28.0 6PDAT read: Bearing 119.2, -41.2 (Local) 6~Local bearing/azimuth received: Bearing 119.2, -41.2 (Local) :DAT read: Range 11 to 50 : 922.2 m (Round-trip 1229.7 ms) speed 0.0 m/s >R#Rx 1: Read range and direction messages.l`direction in FSK: [-0.778872,-0.415879,0.469472]Fpublishing direction and range infoyim'2xWbڿjѝw ?YmfDimmkm2{ i)mWImim'1>mDm֨@m|>mޜ@ m5>)m/sh@Im5imm1ĄѡMŁz!xz[ ?]L@]GZ@]ٱ]ܞ,>]H`) ?i?`οn?`" ?@?`>?i]L@I]];]C moF)m#žIm)im5mY}By}dHy~jt?S㥫:v?[?/]T= 9@5^I ?/$Dl?YbP?yO=&BA@B kB)mBY;BbDVDI8y5؄>%5)=ٔ5Q-=>99I9==Dy=NBE"<EE>IQ 5uN4M?Q 9uN4M|)MIwBYu3Q?Q Eu:yu`:Q Iu?MBIMC;iM;M\N4yخBɮGBEԩkkkzkZkim2imLAjmfD"jmfD:jmXI?RjmJpmzuF?wv{@Bjm'2xWbڿjѝw ?*jm)2jm5Zjmy0-Y@70͐k@zP2Jjmܝ?NíeR?PSjm\#D jm"Dim9_?im8jmVA[=k=[=k="[=@*[=a@ɢ) JHi)i[=IG=D==D=%=EU~ EUpEUCEQ"EU:*EU :VEU5ZEQa]@a]@a]@a]@AIIQIiOu> B- >B- [CB- ZHB- UBB- =B) B- DB- ;B- ߃EB\CB\CBB=BCɁ5Rr",!LA2M@2 [@2 ٱ2,>2H_@J\??`IϿ9? !0? ?`?i2M@I2 ];2CY>By>4H DDbDJVDJ@8yR!?%R=ٔRbQ-R ?9TIT=VDyVBZ~h<EZ ?XQ 5bN4Zﮉ?Q 9bN4Zӻ)ZwBYdyf:Q If?ZBIZt2;iZ2;ZN4yjծBɮjGBhlkxkxkxzkxZkx[["[*[>@ɢ) Ei)顩i)է=I 9AIIO>EU  EU oEU EEQ "EU :*EU :VEU 5ZEQ BEU 5;ae 2EU 7;ae JEU N;ae :EU N;ae a ;x",LA2(jM@2\[@26ٱ2z&>2H ;̄?@?wϿ@%^`?@c;?@M??i2(jM@I2*];2CYNByRHIV<)V<bDZVDZQ8yb ^>%bH=ٔfQ-f>9dId=jDyj;BjK<Ej>lQ 5rN4nخ?Q 9rN4n)nxBYtyv9Q Iv?nBIn:in:nN4yzӮBɮzFBxk k k zk Zk [)[)"[)*[-@9ɢA)A E;DiA)IIIiM+ =QIQAiIqIO=iԑ DU ?AzDU ?AE]  E] pE] IEY "E] C:*E]  :VE] e5ZEY am @am @am @am @q~",ڒLAJTM@J[@JzٱJy>JH ۹? ?@d@п@)"? 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M@Ŀb=P?谿`U?@E?i2w@I2 ^;2CYNLByRHTTi-Mb@Mb@Mb@)))) )9-Cl?~jtQY-;>y-Ľ-u-A-`A -pA)-A)Y-GAbDVD8y8%B=ٔ|9Y=DyG;E>Q 5V42?Q 9V4·)BY>Q E:yQ I?8BIM:i:$4V4yɮBB*** querying acoustic contact ***iiJf2f:f*fereZe:e*e K@[%>[%>"[%q @*[%2y@i9)9)999i9AIA IMzAԑ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.5(9@ @@\0@IIO&>A!A!B%>B!B!B!B%=B!B%DB%;B%EBYCBYCBB=BC>5E  E qE HE "E :*E $ :VE -5ZE BE 1;a 2E 3;a JE U;a :E U;a  (DAT read: user:10>  BDAT read: Tx time:00:50:05.1196  $Ping request sent. 2H@2?@Ŀ O`?֮@?@?i2w@I2 ^;2CYNLByNHbDVfVDV8yr<%rW=ٔr9tYt=vDytz;Ez>|Q 5V4~󍤉?Q 9V4~̊)~BYyQ I?~BI~2:i~:~jAV4yƮBɮBEJf12f1:f1*f1e9re9Ze9:e9*e=`yK@[Y[Y"[Y*[].y@ii)i)qqqiqyIym*9@ @@O0@II)O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251406I ",LA6w@6@68=ٱ6>6H`Ei?SĿs`*A?CR`? ?i6w@I6];6CYR]LByVZH XZR=Eb EbkEbIE`"Eb:*Eb:VEbe5ZE`af@af@af@af@bDjnVDj8yr%rJ=ٔv;Q-v>9tYt=vDyxz֮:Ez>|Q 5V4~?Q 9V4~)~BYy Q I ?~BI~:i~l:~OV4yŮBɮ-BJf12f1:f1*f1e9re9Ze9:e9*eEL@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503018[i[i"[i*[m6y@iy)y)y顁iI}+9Q)@) @)@5P5@1IAIQO]>y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935ԡ B- >B- ZCB- HB- KBB- =B) B) B- J;B- ؃E",LAFw@F6@Fn=LٱFs>FH*@P?Ŀ,@?@n鲿 x?`’?iFw@IF^;FCYnLBynHiMb@Mb@Mb@ 9?+yt zA)AYbDlVD8y-=%-8=ٔ5u;Q-E>9AYA=EDyAMZ:EM>YQ 5eV4]Iw?Q 9eV4]ő)]ϚBYe>Q Ee:yeQ Ie?]OBI]]:i]:]4_V4yuٮBɮu1BuEJf2f:f*fereZe:e*e`SL@[=>[=>"[=@*[=/T|@ii)i)iiqiqqIyI3?)/?E{ EmEEE"E=:*E:VE 5ZEBE;a2E ;aJEVG;a:EVG;amchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816uS-9@ @@0@I)I9OMR>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259328j",LA2 x@2<@2ѧ=ٱ2p>2Hۀ`?,Ŀ@༦1b?.p??i2 x@I2H ^;0YHbDJQVDJ8yRC ;%Rg=ٔR;Q-R>9TYT=VDyTV;EZ>XQ 5bV4Zn?Q 9bV4Z)ZBY`ybQ Ib?ZBIZ ;iZ ;ZnkV4yfԮBɮj'BhJfx2fx:fx*fxexrexZe||:e|*e~L@[![!"[!*[%\|@i1)1)111i19IA1@ @@0@IIO>)E EpEKE"E:*E :VE5ZEa@a@a@a@Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510986ԉ N",ǟLAɰp;2s!x@2 @2m=ٱ2/r >2H8x`l?zÿ YE?`賿r?@~?i2s!x@I2];0YRiLByRhHi-Mb@Mb@Mb@)))) )9-w/?DlV-Y->y-O-h-A-fA -A)-A)Y-AbDEcVDE8yU)h%U?=Yٔ]n;Q-]>9aYa=eDyam97;Em>qQ 5uV4u"c?Q 9}V4uj)uBY}i>Q E}:y}uQ I}?uBIu;iu;uazV4yɮ?BJf2f:f*fereZe:e*e L@[i>[i>"[-4@*[}@i))iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762946/9m@i @i@mO0@iIyԉIO%>B<Ap<B>B[CBHBKBBBBDBz;BEԱE  E hE LE "E O:*E ]9VE !5ZE BE ʺ;a 2E ̺;a JE #5;a :E #5;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907 s",z LA2-:x@2e@2W=ٱ2 >2H@m c?3 Ŀ ǘa? LW`,\?*?i2-:x@I2];0YBgLByBgH DDbDJUVDJ8yR]%VV=ٔVa;Q-V>9XYX=ZDyXZÁ;EZ>\Q 5bV4^]Y?Q 9fV4^)^BYdyf`Q If?^XBI^\:i^:^V4yhɮjABhJfi2fq:fq*fqeqreqZey:ey*e}L@[["[*[}@i))顩iԹI yAwA19)@) @)@- 5@)I9IIO]>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2669719 ",GV:LA2Xx@2%@2=ٱ2>2H`p?`Z`Ŀ? Ң??i2Xx@I2];0ER ERlERIEP"ER:*ER:VERe5ZEPaV@aV@aV@aV@YZfLByZeHbDflVDf8yj]%nG=ٔns;Q-n>9pYp=rDypv!;Ev>tQ 5zV4vN?Q 9~V4v>)vrBY|y~<Q I~?vBIv;iv;v V4yЮBɮ :B Jf)2f):f)*f)e)re)Ze1:e1*e5@oM@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519010[["[*[}@i1)Y)YYYiYaIaU19@ @@2@II)O5.>Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893ԙ B >B \CB }HB KBB =B B DB ;B E ",sTLA2%|x@2a7@2xΨ=ٱ2>2HQ?`Ŀ ~?` ?ٓ?i2%|x@I2];2CYNnLByRpHi%Mb@Mb@Mb@!!!! !9%Q?~jtV-Y%>y%D%m%A%|A !)!!Y%A 9=p=bDEtVDE8yMQ<%MA=ٔUS;Q-U>9QYY=]DyY] ;Ee>aQ 5mV4eD?Q 9mV4e)e\BYu >Q Eu:yuNQ Iu?eBIe :ie4:eդV4yɮ1BJf92f9:f9*f9eAreAZeA:eA*eE`.UM@Q[ >[ >"[Բ@*[h@i))项iI39bEe5jE]5rE0E EiEHE"E:*E9VE-5ZEBE;a2E;aJE8;a:E8;a5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023439 @  @ @ _0@ II)O=/>ԁԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830 ",c nLAF:x@FlO@Fp=ٱFZ>FH`m=`?%Ŀ' Kn?g`?`U?iF:x@IF];FCYR|LByRHIV?>)V=bD^PVD^8yf =%fU=ٔf[;Q-f>9hYh=jDyhnA;En>pQ 5vV4r>;?Q 9vV4r)rHBYtyvQ Iv?rpBIr:ir:r8V4yxɮ~#B|Jf2f:f*fere!Ze!:e!*e%`M@[A[A"[A*[EX@iQ)Q)YYYiYaIaU949@ @@O0@IIO >E EoEGE"E:*E:VE5ZEa@a@a@a@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526897) !",?LA2x@2e@2ǭ=ٱ2s>2H*b?`Ŀ3`]7?Qf? ?i2x@I2B];2CY>LByBHi5Mb@Mb@Mb@1111 195'1Z? ףp= ˡEY5>y5Q85'5A5ZA 1)5|A1Y5GAbDMDVDMױ8yU5Z<%]B=ٔ]}1;Q-]>9aYa=eDyae;Em>iQ 5uV4m?1?Q 9uV4mK)m6BY}>Q E}:y}Q I}?mBIm ;im ;mV4yɮBJf2f:f*fereZe:e*eM@[>[>"[@*[@i))iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779070V69Qi@i @i@m3@iIyIO>AmAAAiBu>Bu[CBupHBuKBBu=BqBuDBuh;BuEyԩ E  E jE LE "E :*E 9VE !5ZE BE ;a 2E ;a JE j<;a :E k<;a m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030827 (",áLA2 y@2U@2=ٱ2(>2H@S?:Ŀ D-F␀?`??i2 y@I2];2C@YBLByBHJAAJAAbDN=VDNб8yfA;%fT=ٔf'u;Q-f>9hYh=jDyhnR<En>pQ 5vV4r$(?Q 9vV4r)r%BYtyvQ Iv?r&BIr\:ir:rtV4yzˮBɮ~B~EJf2f:f*fere!Ze!:e!*e% M@[["[*[@i))iIs89I)ԩE9IYMAi@i @i@mo5@iIIO (>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282850 6.",LA6HYy@6@6³=ٱ6 >6H @]?@mĿVX,Bx?p?਒?i6HYy@I6!];4EF EFwEFHED"EF:*EF:VEF-5ZEDaJ@aJ@aJ@aJ@YNLByNH PPbDZOVDZ8yb/=%bK=ٔbp;Q-b>9dYd=fDydj&<Ej>hlQ 5rV4j?Q 9rV4jR)jBYtyvQ Iv?jBIj.+;ij+;jV4yz߮Bɮz(Bz$EJf2f:f*f%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535069e!re)Ze):e)*e-N@[I[I"[I*[M΀@iY)a)aaaiaiIi]'99@ @@t2@ I9IYO>1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786875a Bm >Bi Bi Bi Bm =Bi Bi Bm ;Bm EB-[CB-[CB)B-=B-=C-55",xLA26y@2ƃ@2=ٱ2 >2H ?Ŀh4q?Zֶ`??i26y@I2];2CYBLByBHi5Mb@Mb@Mb@1111 1995l?:vY5>y5T5̼5A5fA 1)5pA1Y5AbDMLVDMޱ8y]%eA=ٔep;Q-e>9aYi=mDyimx<Em>qQ 5}V4u?Q 9}V4uߴ)uBY>Q E:yQ I?uBIu. ;iu ;uZV4yɮ*BJf2f:f*fereZe:e*e TN@[>[>"[!@*[@i))iI:9E EEJE"E:*EVE5ZEBE;a2E;aJEk;a:Ek;a5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039357I@I @I@M_0@IIYiIqOyԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290945H;",TLA2y@2@2=ٱ2(>2H@?`@ſzd?V@.? K?i2y@I2'^;0YNLByRH TTbDZMVDZ߱8ybM=%fT=ٔfL;Q-f>9hYh=jDyhjs9<En>lQ 5rV4n ?Q 9vV4n)nBYtyvQ Iv?n.BInK:in:nV4yzڮBɮzB|Jf!2f!:f)*f)e)re1Ze1:e1ԙ*eN@[![!"[!*[%>@iQ)Q)YYYiYaIa-<9@ @@@0@IIO&>E EEHE"E,:*E:VE-5ZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542882! 5B",C LA20z@2@2Z=ٱ2>2HE-? Єſ Ŏ@+?@ ?g?i20z@I2 ^;0Y>LBy>HIB<)B4yu94AjA A)`AYAbDXVD8y-%-C=ٔ5;Q-5>91Y9==Dy9=.;<E=>AQ 5MW4E?Q 9MW4EY)EBYU$>Q EU;yUZQ IU?EBIE ;iE ;EjW4yYɮ] BYJfy2fy:f*fereZe:e*e౻N@[E$>[E$>"[E@@*[E~@iQ)Y)YYYiYaIachecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794978I) ?e=9@ @@85@B<A<B >B VCB }HB KBB =B B DB ;B EI1IAOM1>AE  E E QE "E [:*E 0:VE *15ZE BE 2HQn@E? rſfଳ4b%'?E?i2Bz@I2S^;0YNLByRHbDZDVDZױ8yb<%bR=ٔb;Q-f>9dYd=fDydj <Ej>lQ 5rW4n*?Q 9rW4nb)nߙBYpyrQ Ir?nBInI;in;nW4yxɮzBxJf2f:f*fereZe:e*e N@[9[9"[9*[=)@iI)I)QQQiQQIYQu5?9@ @@o5@I IO5 >ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298920ԩ tN",!<LA;ɰ;E2 E2{E2UE0"E2%:*E25":VE2 >5ZE0a:@a:@a:@a:@>{@>y@>=ٱ>I>>H.@ s\?sƿz`xMp@ t?`?i>{@I>B^;9iYq=uDyqu|<E}>yQ 5W4}?Q 9W4})}ҙBYyQ I?}(BI}:i}:}#W4yɮBJf2f:f*fereZe:e*e#O@[["[*[@i))iIԱ.A9I@Q @Q@]1@YII O*>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802940 B >B UCB HB KBB =B B DB ;B E9 lU",VLARt{@R@R=ٱR>RH w?ƿ@H^|`I?`|?iRt{@IR0 ^;PY|y|   A iMb@Mb@Mb@ 9x?yt#`A )YAbD5kVD58yE:%E==ٔM;Q-M>9IYI=MDyIU<EU>YQ 5eW4]磉?Q 9eW4])]ƙBYe >Q Em;ym+Q Im?]xBI]:i]:]2W4yu֮BɮuBu#EJf2f:f*fereZe:e*eA[O@[ >[ >"[@*[|@Eu EuEuKEq"Eu7:*Eu*5:VEu5ZEqBEu;a2Eu;aJEu;a:Eu;ai))顩iI zAzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054935A9@ @@%?0@!I19IIOUS>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306897[",pLAN{@N@N=ٱNAA>NH ?3ǿ@ z-υ,?@w?iN{@IN];LYbLBybHbDrZVDr8y~u=%~_=ٔy9 Y =DyѪ<E>!Q 55W4%ࣉ?Q 95W4%@)%BY9y=Q I=?%BI%%;i%C&;%?W4yAɮEBAJfa2fa:fi*fieireiZei:ei*eO@[ [ "[ *[ (q}@i1)1)111i19I9-C9Q@ @@o5@IIO&>E] E]yE]MEY"E]U:*E]:VE]H$5ZEYae@ae@ae@ae@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558939ԡ ~b",)wLA:|@:9@:=ٱ:g>:H ? wǿ 4! t>j0q?+t?i:|@I:];:CYFLByFHPiMb@Mb@Mb@ 9v/?bX9ȶ rhYx>yECACA A)CAYAbD5vVD58yEm-%EH=ٔE~ 9IYI=MDyIUخ<EU>QQ 5eW4Uף?Q 9eW4U)UBYe>Q Ee;yeQ Ie?UBIU:iUo:U NW4yqɮuBqJf2f:f*fereZe:e*eqO@[>[>"[@*[z@i))iI}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811085C9IzA)zAm@i @i@my3@iIyIA@AAB>BTCBHBKBBBBB;BEO >bEs5jEb!5rE>1E  E }E NE "E غ:*E k&:VE '5ZE BE 2H-^m?ǿ,Al1`='?q?i2?}@I2 ];2CYNLByRHIV<)Vp;bDZuVDZ8|y~.i<%O=ٔ9 Y = Dy  s<E>Q 5W4ϣ?Q 9%W4/)BY!y%Q I%?FBIu:ib;[W4y-ѮBɮ-B1JfI2fQ:fQ*fQeQreQZeQ:eY*e]`O@[y[y"[y*[}oz@i))顉iIF9)M@I @I@M0@IIYIiO}>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314902Qԁ n",I-LAE& E&E&OE$"E&:*E&F:VE&*5ZE$a*@a*@a*@a*@:w}@:ȅ@:w=ٱ:E3>:H`7?Dǿ 6dR@``?n?i:w}@I:h^;:CYFLByJ HbDRnVDR8yZ=%ZO=ٔZ9\Y\=^Dy\b<Eb>dQ 5jW4fǣ?Q 9jW4f)fBYhyjQ In?fBIfj:ifv:rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.567014fiW4yxɮzBxJf2f:f*fereYZe:e*eP@[["[*[+{@i))iIG9@ @@@0@I!IIOm5>ߕ=ߕ<checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819315B B UCB B B =B B B y;B كE u",LA2<~@2@2=ٱ2C>2H߿`%?Cȿ@G.?&j?i2<~@I2];2CY>LBy>HiMb@Mb@Mb@ 9)\(? ףp= rhYG>yQC A7A ) AY(AbD`VD8y-3 %-C=ٔ5G91Y1=5Dy1=<E=>AQ 5MW4Eٿ?Q 9MW4E)EBYM>Q EU!;yUQ IU?EBIE:iE:EQxW4y]Bɮ]B]-EJf2f:f*fereZe:e *e -P@[M>[M>"[M(@*[M{@iy)y)yyyiIE] E]E]LEY"E]:*E]*5:VE]!5ZEYBE]z;ae2E]{;aeJE];am:E];amu]H9}>i}>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071199@ @ @ ?0@ I!I1O=.> %Wx>%%CaGG腿9YAy  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322931{",LAV ~@VTd@V4->ٱV>VH+%߿G?@oȿ@# 4``?pd?iV ~@IVm^;VCYnLBynHbDvfVDv8y]N<%]G=ٔej 9aYa=eDyam<Em>qQ 5}W4u?Q 9}W4u)umBYyy}nQ I?uBIu:iu:uW4yɮBJf2f:f*fereZe:e*e FP@[["[*[{@i))iIQyJ9m@i @q@u=5@yyIIO=>E] E]E]MEY"E]U:*E],:VE]H$5ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574976ԩ ̂",˾ LA2Xc@2@2α>ٱ2/>2H`B޿@d?ȿ` ߿F'@j`W?|]?i2Xc@I2N^;2CYNLByRHiUMb@Mb@Mb@QQQQ Q9U1Zd?kt&1YU">yU UPUAU=A UA)UAQYUfAbDmVDm8y} %}H=ٔ 9Y=DyV<E>Q 5W4񰣉?Q 9W4)XBY]>Q E&;yPQ I?PBI ;i;W4yɮBJf2f:f*fereZe:e*e`P@[]>[]>"[P6@*[|@i ) )   i I]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827021ԱL9B]<AYu@q @q@up5@qII1O=/>BE>BETCBABABABABABEL;BEEBUCBUCBĔCB=B=Cć6 Eu  Eu {Eu JEq "Eu :*Eu 5":VEu 5ZEq BEu ;a} 2Eu ;a} JEu Kz;a} :Eu Lz;a  ٱ2m>2H`"޿@?QɿC -߿@<?@(W?i2@I2^;0YBLByBHbDJVDJ8yfe<%fW=ٔf) 9hYh=jDyhj<En>pQ 5rW4rO?Q 9vW4r)rDBYtyvQ Iv?rBIr:ir`:rAi !",u?LAE EEME"Eغ:*E,:VEH$5ZEa@a@a@a@0NjH@NA@NO >ٱN >NHݿ@?@Qɿ b޿Dզ`< +?jQ?iNjH@IN^;NCYfLByfHbDnVDn%8yvH%vH=ٔz;Q-z>9xYx=~Dy|~3<E~>Q 5 W4G?Q 9 W4~).BYyQ I?BI:i:W4yɮBJf92f9:fA*fAeAreAZeA:eA*eM P@[i[i"[i*[mI~@iy)y)顁iIUO9y@ @@P0@I)IQOu>ԙ BM >BM SCBM HBM KBBM =BI BM DBM I;BM E",OYLA2@2މ@2a7 >ٱ25:">2Hݿ?zɿ1)<޿@? 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XCI :i .: Y4yɮ%B!=}E8Undocking sequence complete.>Eq?EeAreAZeI:eI*eM6PT@[i[i"[i*[mm-@iy)yyiIԑg9)@) @)@-p5@)I9IIO]>Em Em|EmNEi"Em:*EmP$:VEm'5ZEiau@au@au@au@ @",N LA24<ɰ2;eAo@BAB>BBdHBKBBBBB9;B3Eeh@e`V=ٱe[ >eHAlҿh?@^ƿ }L2ӿ9`-`?`bv?ieAo@Iet^;eCY=LBy=Hi Mb@Mb@Mb@     9 $C?&1y&1Y Z>y  `e   A ) -A Y bD%[VD%8y5l<%5+=ٔ5Q-5>99Y9==Dy9=0;E=>AQ 5MY4E?Q 9UY4E6)EGBYU}g>Q EUj;yUQ IU?ErCIE/:iE:EY4yYɮeBa~}HTransitioning to midcourse guidance.q??ereZe:e*enT@[}g>[}g>"[@*[@i)项iII )  i Eu EuEuLEq"Eu:*Eu,:VEu!5ZEqBEqa}2Eqa}JEu?;a}:Eu?;a}IIO>A iߡ Iߡ qi",j/LA J@JKy@J=ٱJ@>JH &Nҿ&?Qƿąӿ)Qw ?{?iJ@IJ(];JCYVLByVH XXbDbNVDb8yj%j{=ٔnLQ-n?9lYl=rDypr;Er?tQ 5zY4v?Q 9zY4v#8)v9BYxy~Q I~?vCIv;iv;v Y4yɮBZf%@?%|%Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq>%|-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide|-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDocke)re)Ze):e1*e5@T@[Q[Q"[Q*[U@ia)aaaiaiIi9IIO=Iyԡ E  E E ME "E :*E *:VE H$5ZE a @a @a @a @O",ILA@R8@R@Rح=ٱRr>RH`6ҿ,?ƿ`fҿ⣿`[n?~?iR8@IR<];RCYZLBy^HbDfaVDf8yn)<=%nJ=ٔrU$Q-r>9pYp=rDytv؂;Ev>xQ 5~Y4zi?Q 9~Y4z:)z(BY|yQ I?zCIz;iz;z/Y4y ɮ B ?--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA--Initialize.A- -Initialize.q@5?5A5f5f1qA5rf1ENavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@EAMM:Initialize WaypointComponent.mZNavigating to waypoint: 36.779130,-121.859630eireiZey:ey*e5T@[["[*[%@颵LBɢ-F7)< 49i)顽i)L9IA9IIO=ԩB>BBpHBKBB=BBDB<;B5E Qz",cLA2ʘ@2@2>=ٱ2R>2H '"ҿ@u1?@)ſt6ҿ`'`paබ?J?i2ʘ@I2];2CYBLByBHli=Mb@Mb@Mb@9999 99=Cl?~jtS㥫Y=O>y=D=/]9=-A =A)=CA9Y=A QUa=bDUUVDU8yeڼ%eB=ٔm Q-m>9iYi=uDyqu[;Eu>yQ 5Y4}?Q 9Y4}<)}BY\>Q Ev;yQ I?}CI}Z:i}A:}Y4yЮBɮBZNavigating to waypoint: 36.779130,-121.859630ff8T*?fSW?g2ffrfereZe:e*e@T@[\>[\>"[ġ@*[O@ɢC) /i)   i e:2427ɧRR=-B(;i뿉)> %(kpHeading = 0.400000I%: %(kiHeading = 0.001000i%L= %(kdHeading = 0.050000%8s1a &",h}LAYnLByrHIv=)v;bDzbVDz8y%z=%%O=ٔ%Q-%>9)Y)=-Dy)-E5>19Q 5EZ45뢉?Q 9EZ45=)5BYAyIQ IM?5CI5K(;i5);5Z4yQɮUBQfqfqfqgqfyfyrfyeyreZe:e*eT@[["[*[颱ɢkJ:) dBEVCBE}HBEKBBE=BABABEE;BE:EԡYLByHbDEMVDE߱8y%5=ٔQ->9Y=DyE>Q 5Z4b袉?Q 9Z4@)BYyQ I?CI;i;Z4yɮBfAfAfAgAfAfArfAeIreIZei:eq*euT@[["[*[颽LBɢZ߸) ںi)5i %:xui8ɧd=ݶ;iNۿIL+? 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UHYb?IYB>BBHBMBB=BBB';BE#2AII O>I ۖ",pLA6m]@6V@6ɉ2ٱ6!S>6H ?D?|ʿᶬ?@:?jO?:?7J?i6m]@I6];4YBMByFHiMb@Mb@Mb@ 9MbX?L7A`尿~jtY ?y+ A)YAbD5 VD58yE"=%EA=ٔEuQ-M>9IYI=MDyMBU3=EU>Ee EeqEeJEa"Ee:*Ee$ :VEe5ZEaBEe;am2Ee;amJEeU;au:EeU;auqQ 5}\4uXO?Q 9\4uo)uiBY ?Q E:y%ѿQ I?u CIu;iu;u\4yBɮBfffgffrfereZe:e*e Y@KBɢܣ=) >i);i9I9qqiuJ}3q<ɧ}܇@}]aY>i}d?Id? d?Im+wIAIIOA>qԡ ~",vLA4<ɰ;2Б@2ʘ@2?3ٱ2sfU>2H ԯ?:?ʿ@K .?@H?*f?`t?G?i2Б@I2];0Y>MBy>HDDbDJVDJa8yR%RU=ٔVQ-V>9XYX=ZDyZB=E%>)Q 55\4-uN?Q 9=\4-)-gBYYy]TϿQ I]?- CI-;i-;-Q\4ym,BɮuBuEyfffgffrfereZe:e*e@Y@KBɢ%:& =)! %H>i!)%F+;!)i-󹩧5O<ɧ5@5Ja>iUMg?QQI]Mg? ]Mg?IYEm EmEmPEi"Emغ:*Em?:VEm-5ZEia}@a}@a}@a}@ԡ}(AzAA.AIIO>A A AAB >B B HB MBB B B B ;B E Ҩ",RLA2I@2,C@2ZS1ٱ2lV>2H? /?@*ʿ 㒵?p՚?(?4?@E?i2I@I2];0YVMByVHbD`VD`yfW=%jG=ٔjL:Q-j>9n ?Yn ?=nDynBr.=Er>tQ 5z\4vM?Q 9z\4v)vfBYxyzmͿQ Iz?vA CIv:iv:v&\4yɮBfffgffrfereZe:e*e-Y@KBɢx-=) >i)<iӹ@<ɧ]@x.j>iwi?Iwi? wi?I bEe5jEC5rEDz1E} E}wE}LEy"E}C:*E}:VE}!5ZEyBE}E;a2E}F;aJE}k;a:E}k;aIIO>1Y ",-LA2Œ@2@2ȧ.ٱ2!U>2H`?`&?` ʿ M? ?Gӥ?l?G?i2Œ@I2];0YLyRHi-Mb@Mb@Mb@)))) )9-K7?A`":vY-I ?y-Y-T- A-A -A)))Y-AbDEVDEK8yM%UB=ٔU>:Q-U>9YYY=]Dy]Be\=Ee>aQ 5m\4eM?Q 9u\4e)aYu ?Q Eu:yuȿQ Iu?e| CIe:ie$:e\4yɮ1f9f9f9gAfAfArfAeAreIZeI:eI*eM`\Z@}KBɢ}w,,=)y }_>iy)}<顁i0$;<ɧ3@駍Rs>ifl?Ifl? fl?IIiIO>aԉE  E tE GE "E :*E v:VE 5ZE a @a @a @a @Թ Ⱥ", LA:pC@:<@:@*ٱ:֣S>:H+s?? ֬ʿ@Q??tQ?>?J?i:pC@I:];8YFMByFH LN%=bDRVDR68yZ<%ZU=ٔZ=);Q-^>9\Y\=^Dy^Bb#=Eb>dQ 5j\4f6N?Q 9j\4fk)feBYhyjƿQ Ij?f CIf::ifG:f@\4ypɮrBpfffgf f rf e re Ze :e*e`+Z@=KBɢEf==)A E?iA)E\ iUrn?QQIUrn? 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E✗?III9IIOe=E EENE"E:*Ez:VE'5ZEa@a@a@a@iiIԑB<A<BBBHBfNBB=BBB8;B:E 0",*LAZT@Z@ZeNٱZf>ZH]??h̿ףOT?@9ɩ??@&?iZT@IZ޹];ZCYjNBynHbDvVDv8y~ *=%~D=ٔa:Q->9Y=DyC 5=E >Q 5^4K?Q 9^4X)yBYy5Q I%?CI;i;^^4y)ɮ--B)fIfIfIgIfQfQrfQeQreQZeY:eY*e]~\@颅JBɢ=) w?i)=<顉i ԑ )\=ɧA駝>i ??I ??  ??IIYIiOu=DzD@AbE%5jEƀ'5rEƷ0E  E vE ME "E %:*E :VE H$5ZE BE ;a2E ;aJE h;a:E h;a L",uDLA2@2*@2qLٱ2-i>2H4h? d? ߓ̿`RR?4@l?C?`!?i2@I2];0YNNByRHiUMb@Mb@Mb@QQQQ Q9Uoʡ? rh~jtYU ?yUCUQUA UA)U1AQYU=AbDmVDm8yuO%}C=ٔ}:Q-}>9Y=Dy%C"2=E>Q 5^4T?Q 9^4)wBY5?Q E:y,Q I?2CI ;i; ,^4yBɮVBEfffgffrfereZe:e*e@֙\@ JBɢ =)  z?i)y<i"Jd=ɧA>i%?!!I%? %?I!A=>A=>IIO =!QE  E rE LE "E 7:*E ?:VE !5ZE a @a @a @a @y qA",n^LA2B@2@2cHٱ2m>2H@Fw?4?e̿` Q?`oP?e?@?i2B@I2];2CYNNByR(HIV<)VC=bDZVDZ8yb=%bV=ٔfH;Q-f>9dYd=jDyjcCjUI=Ej>lQ 5r^4n?Q 9r^4n:)nvBYtyvQ Iv?niCIn:in:nY9^4yxɮz4BxfffgB>BWCBHBNBB=BBB ;B!EffrfereZe:e*e;\@JBɢ=)uH> 2?i)<iW*%l=ɧ%A%X>i%~?!!I%~? %~?I)QIIO=ԁ ]y>]CG!E9!Y%BAԩ o",[xLADZ=DXEb EbEbKE`"EbU:*Eb,:VEb5ZE`BEb;af2Eb;afJEb?;af:Eb?;afnR@nLL@nCٱntq>nH?h? ̿``N? $w?`j?7?inR@In];nCYvNByz HiMb@Mb@Mb@ 9Dl?L7A`尿~jtYO ?y+ļ AA A)YAbDqVD8ytZ%7=ٔb8;Q->9 Y = Dy C-=E>Q 5%^4^?Q 9%^45)sBY%s?Q E%:y%Q I-?CI:i;H^4y5Bɮ5VB1fQfQfQgYfYfYrfYeYreYZea:ea*ee`\@颍|JBɢ̿=) ?i)<顙i<2Ųu=ɧ#A駥9?iN?ԩIN? N?IIIO%> 1 S",[%LAɰ;:V@:@:N=ٱ:ts>:HI?t? ̿M%?ി?(? [?i:V@I:];:CYFNByF$HLNAAbDR_VDR8yZk=%Zc=ٔZʐ;Q-^>9\Y\=^DybCbW=Eb>dQ 5j^4fd?Q 9j^4f)fqBYhyjQ Ij?fCIf:if:fU^4ypɮrABp~B*** querying acoustic contact ***i|i|ff f g f f rf e reZe:e*e\@EpJBɢEc=)A E*?iA)MC m BDAT read: Tx time:00:51:05.3695 u $Ping request sent.u 2HQ?I?એ̿`(4 ?2ݦ? ?`?i2@I2N];2CTYVNByV/H ttbD\VD8y-<%-@=ٔ5m;Q-5>91Y1=5Dy5+C=0=E=>AQ 5M^4E¢?Q 9m^4E)EnBYiymďQ Iu?ECIE;iE`;E]d^4yyɮ}8ByfffgffrfereZe:e*e]@U`JBɢU)=)Y ]C?iY)]9 u",LA2n@2@20ٱ2q>2H@F?@L?̿|j?Y? ??i2n@I2P];2CY>NBy>;HiMb@Mb@Mb@ 9m?MbI +Y?y9&AA A)-AY(AYbD]^VD]8ym<%mG=ٔu;Q-u>9qYq=}Dy}nC/1=E>Q 5^4ʢ?Q 9^4)kBY?Q E:yQ I?SCI:i_:r^4yɮ/Bf1fQfQgYfYfYrfaeareaZea:ei*em@]@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501542QJBɢ=)! %N?i!)%zIMP=ɧM.AUK ?iU)U?QQIU)U? U)U?IYMu2QIIO$>yE  E yE JE "E :*E :VE 5ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753389 A",'LAYnNByrIH tva=BBB3HBNBBBBB;B*EbDziVDz8y%<%%O=ٔ-Q-->9)Y)=5Dy5C5E5>9Q 5E^4=;Ӣ?Q 9E^4=5)=iBYIyIQ IM?=CI=G:i=:=^4yU BɮUSBUEfqfqfqԹgffrfereZe:e*e5]@MDJBɢMI9IIO]v>A A̽",YLAEJ EJ|EJNEH"EJ:*EJP$:VEJ'5ZEHBEJ{;a^2EJ|;a^JEJ};a^:EJ};a^  2@ \+@ q"ٱ MGm> HZ2?q?@Vʿ J@?UL?:_??i  2@I ]; Y%NBy%VHI-=)-;?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257465iMb@Mb@Mb@ 9tV?QI +Y?yu )YbDvVD8y <%6=ٔ;Q->9Y=DyCś=E>Q 5^4ޢ?Q 9^42)fBY?Q E:ynQ I?CIb:i>/;^^4yɮHBf1f1f1g1f1f1rf1e9re9Ze9:e9*e= R]@颭5JBɢ=) ?i)"<顱i,Yӑ=ɧ5A駽a[?i ?I ?  ?I9q > [? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509951Ii Iy O >ԑ 3",2LA2@2@2ٱ2hj>2H?&?`xUʿ`@g?@`P?o?`$?i2@I2ͱ];0Y>NBy>HbDFFVDFر8yN;=%jp=ٔjd;Q-j?9lYl=nDyn0CrQ=Er?pQ 5v^4rx梉?Q 9z^4r)rcBYxyz5Q Iz?rCIr:ir:r`^4yɮ'Bf!f!f!g!f)f)rf)e)re)Ze1:e1*e5`g]@]*JBɢe=)a eM?ia)e=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761463ԡBAB >B B LHB NBB B B DB M;B CE % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013435u",-LAɰ2BS@2L@2QHٱ2j>2H?`d?`^ɿ@,? o(? ?@%?i2BS@I2];0Y>NBy>HbDF;VDFα8yN<%RJ=ٔR;Q-R>9TYT=VDyVqCV7=EV>XQ 5^^4Z?Q 9^^4Z)Z`BY`ybQ Ib?Z<CIZQ;iZ;ZE^4yfBɮf)Bdftfxfxgxfxfxrfxexre|ZeY:eY*e] ā]@颭JBɢ0==) ?i).t<项ihⷚ=ɧz2H? |?xɿL>?@q ?l?`?i2@I2];2C@YBNByBH DDi Mb@Mb@Mb@     9 tV?i|?5{GzY y q ף A A A)  Y pAbD-cVD-8yM%M@=ٔM;Q-U>9YY=DyCd"=E>Q 5^4?Q 9^4)]BY?Q E%:y%Q I-?}CI;ij;ǹ^4y9ɮ=1B9fyfyfygyffrfereZe:e*e`]@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517560 JBɢ=) Û?i)=i.5q2=ɧ@A ?i ?2?  I ?2? ?2?IIIԩO=E  E E LE "E Ʊ:*E ,:VE !5ZE a @a @a @a @  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769394Z",?aLA6w@6p@6pٱ6xo>6H ? "?܅ɿ`A/?``?ח? ?i6w@I6];6CBR>BRVCBReHBRNBBR=BPBPBR|;BRXEY^ OBy^HbDhVDhlyr=%rQ=ٔv;Q-v>9tYt=vDyzCzF=Ez>|Q 5^4~?Q 9^4~9)~ZBYy r|Q I ?~CI~2:i~:~^4yɮBf1f1f1g1f9f9rf9e9reAZeA:eA*eEE]@mJBɢua>)q u}?iq)uV=qyi}x=ɧCA駅 ?ijح?Ijح? jح?IIYIiO}= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0214221a ",'{LAbE}!5jE}"5rE}7/E: E:yE8E8"E::*E::VE8ZE8BE:{;aZ2E:|;aZJE:s;a^:E:s;ab=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273604A @@4Vٱm>Hw??@$ȿ? ?q?@ ?i @I];YOByHiMb@Mb@Mb@ 9gfffff?:v~jtY3?yT&AA A) AYAbDtVD8y6;%/=ٔL;Q->9Y=DyBCo=E>Q 5^4/?Q 9^4)WBY?Q E:ytQ I?CI~ ;i;"^4y&Bɮ>BƴEfffgffrf!e!re!Ze!:e)*e-@(]@UIBɢU"=)Y ]?iY)]I9 =YYi]ǀe=ɧeHHAmC: ?im??iiIm?? m??IqA?A>aAIIOI>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525417Թ j",@LA2Ꜧ@2:@2 ߼ٱ2l>2H|?@r?fȿ`q6?`$@?9K?@v#?i2Ꜧ@I2];0YNOByRHbDZbVDZ8yb-<%fr=ٔf;Q-f?9hYh=jDyjyCjX=Ej?lQ 5r^4n?Q 9v^4n()nTBYtyvUpQ Iv?n+CIn:in:n^4yxɮz8B|fffgffrf!e!re!Ze!:e!*e-`]@ԙIBɢ*>)c ?i)-w=))i-r|= ^=ɧ=gKA="?i={|?99I={|? ={|?IAE EtEKE"E:*Ev:VE5ZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777459A.AIIO&>AA@AB>BBqHBNBBBBBs;BRE1 U GGa y 9 Y eA checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0294719",rLA2\-@2&@2'Jмٱ2Sj>2H4T??ǿ j?X??'?i2\-@I2];2CY> OBy>HbDFLVDFޱ8yb<%bI=ٔb9;Q-f>9f ?Yf ?=fDyfCj41=Ej>lQ 5^4n(?Q 9^4n)nQBYykQ I?nhCIn;in :n+^4y+Bɮ5BfQfQfQgQfQfyrfereZe:e*e^@IBɢB]>)  Ψ?i ) Rt=  i Ù5=ɧ5*OA=%?i=S?99I=S? =S?IAA؟AII O)>DzDE EEE"E:*E3:VEZEBE;a2E;aJE;a:E;aUBDAT read: Rx Time:00:51:09.0754 ]TRx dataTimestamp_ set to:1764895870.975979mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.287247)Y I!",LA4<ɰ4<>F@>@>ٱ>&bg>>HѾ??? ǿvR? 1T@l8?^?@-?i>F@I>_];9"?Y"?=DyC#=E>Q 5_4 6?Q 9_4])MBY??Q E:yhQ I?CI ;i* ;_4y 0Bɮ 1B ǴE1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533493fffgffrfeQreQZeY:ea*ee`n!^@%IBɢ-F=)) -q?i))-w=11i5>==ɧ=ԉE  E E E "E 7:*E 0:VE ZE a @a @a @a @u DAT read: 00:51:09.0754 LVL= 18128, 20529, 22386, 30611, AGC= 82, IDX= 123, 0.13, 0.407,-0.541,-1.466,-0.634, PHS= 1.142, 0.137,-0.876, RAW= 59.9, -4.7, CAL= 61.2, -6.5, ROT= 88.8, 6.5 } Ygot valid direction response: 00:51:09.0754 LVL= 18128, 20529, 22386, 30611, AGC= 82, IDX= 123, 0.13, 0.407,-0.541,-1.466,-0.634, PHS= 1.142, 0.137,-0.876, RAW= 59.9, -4.7, CAL= 61.2, -6.5, ROT= 88.8, 6.5  PDAT read: Bearing 14.0, 70.2 (Local)  ~Local bearing/azimuth received: Bearing 14.0, 70.2 (Local)  DAT read: Range 11 to 50 : 976.3 m (Round-trip 1301.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.020808,0.993354,-0.113203] Fpublishing direction and range infoyA E eN?m8?5YE tDA E FE 1PE rW E w)E RIE -?iE I >E A`E aх?E E ܸ? 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(?`9f"?Yf"?=fDyf+Cf]<Ef>hQ 5vf4j)?Q 9zf4j)jMBY|y?Q I?j2CB]>BYB]HB]CBBYBYBYB]l;B]EIj(=ij*=jf4yQɮ]BYԙfffgffrfe!re!Ze!:e!*e% -L@频ɢR=) (:i)1>顙is[)?ɧoA駥??i7=I I@@@@E EEGE"E*E|;:VE5ZEBE;a2E;aJE;a:E;achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006759A .AI I O > ",.LA2?2X?2 *>ٱ2486>2Hl\?`v?'??#?:G?A*ſuX?`?i2?I2];2CY>DBy>KHiMb@Mb@Mb@ 9x&1?+? rh?YA ?y=C<B QA)YQA bD`VD8y-`%-C=ٔ-B-Q-5>95 ?Y5 ?==Dy=,C=<E=>AQ 5Mf4Et'?Q 9Mf4E)E=BYM!?Q EM:yU?Q IU?E2CIEH;iE;E6f4yYɮ]BYfyfyfygffrfereZe:e*eZL@i1I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259081颁ɢi=) @i)>顉iZ)?ɧBlA駵'=?i I IAIIO>DD<E EyEHE"E:*E:VE-5ZEa@a@a@a@A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510799<",".LAR?R?R/)>ٱR5>RH?y`G??̡?_?`ſI?`?iR?IRa];PY^DBy^HbDfnVDf8yn^%nP=ٔr˨Q-r>9pYt=vDyv],Cv<Ev>xQ 5~f4z^%?Q 9~f4z)z.BYy?Q I?z73CIz/;iz ;zf4y ɮ B f)f)f1g1f1f1rf1e9re9Ze9:e9*e=ZL@iɢm=)i mIii)u(>qqiuY}*?ɧ}hA}W:?iy}ѝI IiAIIO% >Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762764ԙBAAABaBaBenHBe|CBBe=BaBaBed;BeE E  E pE GE "E :*E  :VE 5ZE BE g;a 2E i;a JE AR;a :E BR;a e",c<.LA2Z?2?29?)>ٱ2%5>2H?A| ?׏?`?x?@Gſ G??i2Z?I2];0YBDByBHR\?PVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015166TiMb@Mb@Mb@ 9NbX9?ˡE?Zd;O?Y%?y=j<B )BYAbDSVD8y%==ٔFQ->9Y=Dy,C>c<E>Q 5f4"?Q 9f4H)BY'?Q E:y?Q I?3CI:iw:f4yɮ Bf ffgffrfereZe:e*e%L@IɢM=)Q GPi)mN>项iX9`+?ɧeAAK7?iI IA؟AI!I1OEQ>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804! jM",h=V.LA2y?2P^?2(>ٱ205>2H@)u? ~y??@ ?!?{ſ9??i2y?I2];0Y>DBy>HFAAFAAbDFdVDF8yN%R_=ٔRsXQ-R>9R"?YV"?=VDyV,CV<EV>XQ 5^f4Z ?Q 9bf4Z)ZBY`yb?Q Ib?Z3CIZ3;iZ;Zf4yfOBɮf BjjEftfxfxgxfxfxrfxe|re||Ze:e*e L@ɢ=) Zi)>iW+?ɧaA<4?i՚+=I IDqzDu@AE EoEJE"Ea:*E:VE5ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518691)^A ԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770744w",p.LA:z?:?:)>ٱ:Q3>:HC? -P??f?`Ŵ?@ ſ@? ?i:z?I:];:CYFtDByFHbDNYVDN8yZ-%ZI=ٔb;9Q-b>9j ?Yj ?=nDyn -CBr >BpBr HBr*CBBpBpBpBr;BrE~(><E~>Q 5 f4?Q 9 f4 )BY y (?Q I?4CI:i~:`f4yɮ+Baff1f9g9fAfArfIeQreZe:e*e/M@qɢu=)q ubiq)}>yyi}[V,?ɧ4^A駅c1?i I Iԉ^A=E EEE"E1:*EVEZEBE;a2E;aJEN;a:EN;achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022838A؟AIIOn>Ա k_",.LA6w?6?6Ƞ)>ٱ6x0>6Ho4?̏?@?R?NſB?,?i6w?I6];4YB[DByBHi Mb@Mb@Mb@     9 K7?kt?9="?Y="?=EDyEd-CE94<EE>IQ 5Ug4M?Q 9Ug4M)MBYU6+?Q E]:y]U?Q I]?MG4CIM ;iM ;Mg4yaɮeDBafffgffrfereZe:e*e]M@ԹɢE=)/ ii)%>i?Uj-?ɧoZAn.?iI I@C=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274824^A.=D=D<bEjE5rEW0E E}EGE"E:*Ek&:VE5ZEa@a@a@a@AII O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526741A ",ϣ.LA2?2@?2*>ٱ2->2HC}` o?`?U_? ?@Cſ GI?@}?i2?I2];2CYNDByR5H TVR=bDZdVDZ8yzR%zN=ٔzK;Q-~>9|Y|=Dy-C <E> Q 5g4 ?Q 9g4 y) BYy?Q I? 4CI :i ; g4y!ɮ%B!fAfAfIgIfIfIrfIeIreQZeQ:eQ*eU>M@颁ɢ=) nxi)j\>顉iT.?ɧVA駕*+?ilI I@@@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778819Gv|A!UO9Uv|AYUpAAAB >BBHBBBBB(DBB;B5EAIIO=>ԑE  E rE NE "E s:*E ?:VE '5ZE BE #;a 2E $;a JE Y;a :E Y;a Թ ",T.LA2R?2;8?2,>ٱ2"k,>2H`B@`B?@V?|?@Mb?~ſ@`%?u?i2R?I2];2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030691YFCByF HiuMb@Mb@Mb@qqqq q9ukt?~jt?:v?Yu 0?yu=uT9Y=Dy-C;E>Q 5g4A?Q 9g4_q)όBY;1?Q E:y?Q I?4CIs;iτ;#g4yɮBf)f)f)g)f1f1rf1e1re9Ze9:eA*eEM@颁ɢ=)ԙ i)u>顙i\5SM.?ɧMRAM(?iQUQIQ QIYAm>Am>AIIOA>i5AI5A=BDAT read: Rx Time:00:52:09.3465 =TRx dataTimestamp_ set to:1764895931.232771Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.284062 ",.LA2q?2;W?2R/>ٱ29*>2HY). ?҇???ſ`?(?i2q?I2];2CYNCByRHbDZHVDZڱ8yb8Ͻ%bZ=ٔb;Q-f>9dYd=fDyf'.Cj$;Ej>hQ 5rg4j?Q 9rg4jj)jBYpyr?Q Iv?j5CIj ;ij` ;j0g4yzBɮz Bz`EfffgffrfereZe!:e!*e%`M@IɢMO=)Q UiQ)Uk>QQiUQe8p/?ɧeOOAeg%?iaeWaIa aIiE] E]yE]WEY"E]ҝ:*E]:VE]~D5ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5348824/!IIO>I m DAT read: 00:52:09.3465 LVL= 15152, 12369, 9522, 18963, AGC= 78, IDX= 150, 0.01, 0.774, 0.351, 2.525, 1.832, PHS=-0.955,-1.435, 0.650, RAW= 197.3, 18.0, CAL= 196.9, 24.8, ROT= 313.1, -24.8 u Ygot valid direction response: 00:52:09.3465 LVL= 15152, 12369, 9522, 18963, AGC= 78, IDX= 150, 0.01, 0.774, 0.351, 2.525, 1.832, PHS=-0.955,-1.435, 0.650, RAW= 197.3, 18.0, CAL= 196.9, 24.8, ROT= 313.1, -24.8 } PDAT read: Bearing 287.2, -42.9 (Local)  ~Local bearing/azimuth received: Bearing 287.2, -42.9 (Local)  DAT read: Range 11 to 50 : 954.6 m (Round-trip 1272.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.620261,-0.662825,0.419452] Fpublishing direction and range infoyA E Kޔ,?e5KsM?YE nDA E 0;E Q0E 2% E J)E NIE ztiE E ff&?E b\@E |٠>E }[@ E k>)E 7ޮ@IE kݾA A E Cj??R*? 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m?Iq^AEXM>5nManaging dock network, ignoring radio surface power offAu.AIyIԑO]> ",SE@By>zH @@bDJVDJ8PyR2=%Ra=ٔVʚQ-V>9V ?YV ?=ZDyZYPCZ]PEZ>\Q 5bn4^?Q 9bn4^)^!BYdyf?Q If?^XCI^):i^:^n4yhɮjBhfxfxfxgxf|f|rf|e|reZe:e*e`J@)ɢ5=)1 5Ti1)599i=t9 W",m9]"?Ye"?=eDyePCeoEe>iQ 5un4m?Q 9un4me)m7BY}?Q E}:y}?Q I?m(YCIm(;im';mn4y`BɮPBFEfffgffrfe reQmGZei:eq*e` K@d=9Y=;Aɢ8):= i)Bliy<  ?ɧ z Hi >I> >I))DAzDE@AEM EMgEMJEI"EM1:*EM&9VEM5ZEIaU@aU@aU@aU@A}.AIIO>>QB >B \CB HB MABB =B (DB DB t;B Eԁ !",Ҧ9f ?Yf ?=fDyfPCjNܼEj>hQ 5rn4j?Q 9rn4j)jKBYpyrL?Q Ir?jdYCIjf;ij;jn4ytɮzDBxfffgffrfereZe!:e!*e%5K@IɢM)Q UxiQ)U8QQiUJ|}iiIm> m>IiA؟AIIO>ԁԱEU| EUeEUCEQ"EU :*EU9VEU5ZEQBEU@;ae2EUB;aeJEU7*;ae:EU8*;ae '",Z?`yԲ ?@r?Ŀx??}?i2JA?I2C^;2CYN@ByRHIV=)V=bDZVDZ8yb>%bJ=ٔfѻQ-f>9f"?Yf"?=fDyjQCj:Ej>lQ 55n4nr?Q 95n4n¿)naBY9y=?Q I=?nYCInOI> >IA>A>AIIqIO>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9 D] =D] a=bEʐ5jE5rEʋS1Ee  Ee Ee GEa "Ee :*Ee ,:VEe 5ZEa a} @a} @a} @a} @'.",^>?6 v?6,J7ٱ6=<6H?@6PX ?0?Ŀ?9?`z?i6>>?I6}c^;6CYB@ByB3Hi Mb@Mb@Mb@     9 rh|?ˡE?y&1Y ?y = `e  A eB) A Y =AbD%VD%8y5Z=%5C=ٔqQ->9Y=DydQC0E>Q 5n4~?Q 9n4)vBYZ?Q E:yp?Q I?YCI ;i;>n4y\BɮBGEfffgffrfereZe:e(DAT read: user:13> BDAT read: Tx time:00:53:05.6695 $Ping request sent.QQI]А> ]А>IYAA@AB%>B]CB;HBABB=BBDBn;BByB}ZCB}”CB}=B}=C}5A} d6=qA.AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902ԡ 75",E@By>AHbDFƿVDFw8yb<%bR=ٔb0Q-f>9f ?Yf ?=fDyfQCjEj>pQ 5n4r?Q 9n4rH)rBYy?Q I?r"ZCIr6+)y }i)W 顁i <?ɧр駵GNiq>Iq> q>IEE EEEEKEA"EEغ:*EE|;:VEE5ZEABEE 9;",?՜?t?iNL8?INI^;NCYZAByZH \\iEMb@Mb@Mb@AAAA A9EZd;?{Gz?{GzYE?yEף=E#AEA A)EAAYEAQQbD]VD]A8ym=%m@=ٔmR}Q-u>9u"?Yu"?=uDyuQC}kE}>Q 5n4ƨ?Q 9n4q)BY;?Q E:y%?Q I?cZCI:ik:Ln4yFBɮsB=EfffgffrfereZe:e*e`oL@qɢuN)y }ܿiy)} yyi}<?ɧ駅cOi(<>I(<> (<>ID)zD-AAE EsEJE"E:*EZ:VE5ZEa @a @a @a @ ]=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787BBBHBBBBBBBY;BEA- .A) I9 II OU >Q D#B",f=LA24?2Dl?2;ٱ2G=2H4?@.? ? 3ſQ? *?r?i24?I2^;0Y>2ABy>HbDFVDFP8yN=%RX=ٔRFҺQ-R>9V ?YV ?=VDyV"RCVEZ>XQ 5n4ZШ?Q 9 n4ZA)ZBY y ?Q I ?ZZCIZ@9Iv> v>I)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258869YA؟AIIO>E EyEHE"E:*E:VE-5ZEBEg;a2Eh;aJEs;a:Es;a % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510778KH","=LA21?2Ri?2s;ٱ2C =2HF?eEu? p?2 ſ.P?? mr?i21?I2(<^;0YBcAByBHbDJտVDJ8PyV=%VJ=ٔV}9Q-V>9Z"?YZ"?=ZDyZdRCZE^>`Q 5bn4bNڨ?Q 9fn4b)bȏBYdyf?Q If?bZCIb :ibp:bn4yhɮnBlf|f|f|g|f|f|rfereZe:e*e kL@颩ɢ?) ӿi)?x项iފ<} ?ɧʦQio>B>Io> o>IA I1IO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762814) E  E }E PE "E :*E k&:VE -5ZE a @a @a @a @tN",M<=LA6.?6[e?6,:ٱ6M=6H?"ﵿ`??Ŀ=?|?r?i6.?I6?^;6CYBAByBHIF4>)Fl>|iMb@Mb@Mb@ 9^I +?x&?MbPYX?y7=7A |B)YpAbD- VD-8y==%=A=ٔE:Q-E>9AYA=MDyMRCMJEM>QQ 5]n4U娉?Q 9]n4U*)UBYeL?Q Ee:yem?Q Ie?UIU* ;iU ;Uqn4yiɮmBichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014921f f f g ffrfere1Ze9:e9*e=hL@B]<A]<Be>BeZCBe5HBe~BBBe=BaBeDBe:;BeփE颁ɢ) Ͽi)顉i1Ì<{?ɧRili>Ili> li>I)AIIO=>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266734ԁ \U",~V=LA6*?6Yb?69ٱ6'=6H?`{W??Ŀ8?s? `t?i6*?I6^;4Y^ABybHHbDjVDj8yrU>%rP=ٔr8\;Q-v>9tYt=vDyvRCzEz>|Q 5o4~%?Q 9o4~)~BYyW?Q I?~V[CI~;i~;~' o4yABɮBf1f1f1g1f1f1rf9e9re9ZeA:eA*eEL@Y颡ɢܗ) _ȿi)顩i摎<nV?ɧQmSir>Ir> r>IEU EUyEUHEQ"EUU:*EU:VEU-5ZEQBEU;ae2EU;aeJEQae:EQamԉAIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518902O&>Ա )[",Zp=LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771315:88'?:_?:ם8ٱ:=:H`E?`aX?wn?`Ŀ?\?@u?i:88'?I:0^;:CYAByrHiMb@Mb@Mb@ 9v?x&?{Gz?Y?y#< A eB)YAbD"VD̰8yU=%>=ٔ;Q->Թ9Y=Dy/SCE>Q 5o4?Q 9o4v)BY?Q E:y|?Q I?[CI] ;i;9o4yɮBff f g f f rf ereZe:e*e> M@AɢE>|)A EĿiA)MnIIiMn<o?ɧTi>I> >IE EkEEE"E:*E:VE 5ZEa@a@a@a@^A5N>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022739Bu>BuYCBuHBuBBBu=Bu)DBuDBu ;BuEA) I1 IA OU >9 ob",D5=LA4<ɰ2#?2[?2o7ٱ2 =2H@?R\K`? j?@Ŀ?`7?`Yx?i2#?I2 ^;2CY>BBy>H @@bDJ?VDJ8yRn>%R]=ٔRaL;Q-V>9TYT=VDyVkSCZEZ>\Q 5bo4^O?Q 9bo4^)^'BY`ybx?Q If?^[CI^;i^;^)o4yj+BɮjABj4Efxfxfxgxfxf|rf|e|re|Ze:e*eo:M@颩ɢ>) Ai)Ϙ顱iQ5<4?ɧz駽-Ui~> 8>I~> ~>I^AFH>iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275426A.AIIO$>AE EiEFE"E:*E9VE 5ZEBE;a%2E;a%JE8;a-:E8;a-q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526860ԙ h",=LA6Z ?6YX?66ٱ6U<6H? h`{?n?`jÿ?x?@w{?i6Z ?I6];6CYB5BByFHbDNVDNİ8yV=%VJ=ٔV[a;Q-Z>9Z ?YZ ?=ZDyZSC^2E^>`Q 5fo4b?Q 9fo4b)b?BYdyfau?Q Ij?b \CIb:ib:bG7o4yn/Bɮn(Blf|f|f|g|ffrfereZe :e *e `HnM@1ɢ5})9 =Ti9)=)9AiEMɻIIMP> MP>IQqԡ^AB>A>A>echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779371M9Gev|Ay9v|AYAII O>E%  E% vE% DE! "E% ~:*E% :VE% J5ZE! a- @a- @a- @a- @ n",=LANv?N@U?N~4ٱNC<NH`0?@`O?Lj?!¿xx??Q~?iNv?IN^;NCYbfBBybHiMMb@Mb@Mb@IIII I9M ףp= ?V-?y&1?YMQ?yMm=M`e=ٔu.C;Q-u>9yYy=}Dy}SC}E>Q 5o4?Q 9o4L)ZBY?Q E:yzn?Q I?L\CID;i3;FFo4yɮBBDAT read: Rx Time:00:53:09.3163 TRx dataTimestamp_ set to:1764895991.024640checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031978AAAAB>BXCB#HB?CBB=BBB;BEfqfqfqgqfqfyrfyeyreyZey:e*e"M@ɢs) "i)i7ڕ<?ɧKWi>%1!I%> %>I!@=R=@==^A @9>I IO%N>) m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282866u",=LA2?2HR?23ٱ2~<2H p?.`Z?@?@ V¿ Y??`?i2?I2];2CY>BByBCHIJ<)JbD~VD~8y=%P=ٔ;Q-%>9!Y!=-Dy-/TC5ڼE5>9Q 5Mo4=O*?Q 9Mo4=t)=rBYQyUk?Q IU?=\CI==;i==;=To4yaɮmBifffgffrfereZe:e*eDM@ɢ+}E EkE?E"E*E:VE^4ZEBE;a2E;aJE@;a:E@;a) ிi)JiT<m?ɧ Xi>7I> >I @@@@)-DAT read: 00:53:09.3163 LVL= 32752, 30449, 29074, 32755, AGC= 84, IDX= 176,-0.39, 0.203,-1.363, 0.768,-0.211, PHS= 0.516,-1.107, 0.935, RAW= 161.2, -3.7, CAL= 160.9, -5.5, ROT= 349.1, 5.5 5Ygot valid direction response: 00:53:09.3163 LVL= 32752, 30449, 29074, 32755, AGC= 84, IDX= 176,-0.39, 0.203,-1.363, 0.768,-0.211, PHS= 0.516,-1.107, 0.935, RAW= 161.2, -3.7, CAL= 160.9, -5.5, ROT= 349.1, 5.5 =PDAT read: Bearing 196.0, -0.9 (Local) E~Local bearing/azimuth received: Bearing 196.0, -0.9 (Local) MDAT read: Range 11 to 50 : 931.9 m (Round-trip 1242.6 ms) speed 0.0 m/s UR#Rx 1: Read range and direction messages.]`direction in FSK: [0.977438,-0.188225,-0.095846]]Fpublishing direction and range infoyE@,G?nȿaVXIAIQYOeV>YhDvq )TI?i-)\o?4@ A3@  Ľ)g@I =co? ?4 8?)%=ItBi =ԉ {",=LAiIA0:q?:c9Y=DyrTCE>Q 5o46?Q 9o4Qz)BYW?Q E:ym?Q I?\CI ;i:bo4y2BɮBii=LAjiD"jiD:j; ?Rj[I{@(e5.wXVBjE@,G?nȿaVX*jtB2j =Zj/딹Q@Ⳉ@zP@Jj(M?)/:?'}TF?j8D jrEtlE9AIEX > EX >IAAQzAQI1IAOU=ԉbE5jEę5rEwP1E{ EoEEE"E=:*E:VE 5ZEa@a@a@a@ԹB>BZCBHBCBB=BBDB;BEBZCBBBBCF6 ",~ >LA2?2NQN?2s2ٱ2-<2H?.ҹT?` ?`o¿@?@0?Y?i2?I2z];2CYBBByBH\bDJVDJ8yfä=%fV=ٔj@9Q-j>9hYl=nDynTCn࠼Er>pQ 5vo4r B?Q 9vo4ru)rBYxyzk?Q Iz?r\CIr:ir:roo4y|ɮ~Bf!f!f!g!f!f!rf!e)re)Ze):e)*e- ?Yɢ]9x)Y ]iY)e6aaiem9qIu\> u\>IqIIO=E EwE>E"E:*E:VE4ZEBE;a2E;aJEk;a:Ek;a I b",mX%>LA;ɰ:)?:oL?:h2ٱ:V=:H`?@6@H?`0?`¿:?b֟??i:)?I:^;:CY^CBybHbDjVDj8yr>%rI=ٔr9Q-r>9tYt=vDyvTCzDEz>xQ 5o4zPN?Q 9o4zp)zBYyi?Q I?z<]CIz;iz;z~o4y ɮLBf1f1f1g9f9f9rf9eAreAZeA:eA*eE`?ɢ] :YI]޴> ]޴>IaIIO=Iqԡ E | E fE CE "E :*E 9VE 5ZE a @a @a @a @z",n3?>LA2?2J?202ٱ2\h=2H`$?&k?P?`Pÿ>?`'?;}?i2?I2^;2CYb6CBybHiMMb@Mb@Mb@IIII I9M333333?{Gz?~jtx?YM?yMף=M;II MVA)IIYMAbDeVDe8ymX=%uB=ٔuRQ-u>y9yYy=Dy4UCE>Q 5o4 [?Q 9o4]kBA<B>B\CBHB DBB=BBDBt;BtE)ҐBY?Q E:ym?Q I?}]CIp;i;o4y Bɮ B+EfffgffrfereZe:e*e_?)ɢ-No)) -2i))-H11i5\C<i ?ɧ駽*[i%>=:I%> %>IA>A>ԡA%؟AI)I9OM0>iI II  ",/Y>LAF' ?FH?F]g3ٱF@9-"?Y-"?=-Dy-tUC5E5>9Q 5Eo4=g?Q 9Eo4=wf)=BYAyE:k?Q IM?=]CI=2:i=:=o4yQɮUBQfqfqfqgqfyfyrfyeyreyZe:e*eC?颩ɢp)E~ EjEE"E:*E9VEZEBE;a2E;aJEj<;a:Ek<;a i)3iuş<G ?ɧsh[i.>g:I.> .>IAE.AIIIYOm>)q +$",r>LA6#?6F?63ٱ6]=6Htw?D&@R?? 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Ĩҿ.? /%?MU? #@Ok?`B?i2y=I2];2CY>RBy>I|i5Mb@Mb@Mb@1111 195`"?Mb`?Y5?y5̼5;5XA5A 5A)5A1Y5=AbDMdVDM8yU<%]@=ٔ];Q-]>9e ?Ye ?=eDyevCm;Em>iQ 5uv4me?Q 9}v4m)m]BY}?Q E}:y}>Q I}?m|CImj;im;mv4yɮBfffgffrfereZe:e*e5K@ɢ(&>) *@i)fi\e3>ɧ3Ei{>y#3<I{> {>I)^A}W=AzA IIaEC9IYM@AA؟AIIO>E  E oE FE "E :*E :VE 5ZE a @a @a @a @ԁ 0",pKLA;ɰ;2jڴ=2o˜>2 R==ٱ2>2H`z?yҿq?F?L?@??i2jڴ=I2ߥ];2CY>RBy>IbDJVDJ8yRQC=%RW=ٔR;Q-R>9V"?YV"?=VDyVvCV6;EZ>XQ 5^v4Zw?Q 9bv4Z@)ZXBY`yb(>Q Ib?Z}CIZ\:iZG:Z) ,@i)ֽ顑i9] >ɧ1駽$i~>3<I~> ~>I@@@@ԁAIIO>B=>B9B=9IB=!RBB==B9B=DB= ;B=E  PExceeded connect timeout, disconnecting.7",6KLAE& E&hE&BE$"E&:*E&]9VE&5ZE$BE&;a*2E&;a*JE&"5;a*:Ea*FL=F~>FD=ٱF>FHvv?&ҿ \۵?[?J?nK?Ю?iFL=IF~];FCYRRByRIbDZwVDZ8yb %bH=ٔf;Q-f>9dYd=fDyjwCj8[;Ej>lQ 5rv4n?Q 9rv4n)nRBYpyvۇ>Q Iv?nE}CIn::in%:nv4yxɮzBxfffgffrfereZe!:e!*e%+tK@IɢMm1>)Q Ue+@iQ)UrQYi]p@e >ɧe+0e ieY>e3 eY>IiԹiYIYAE.AIiIO'>A B",mKLA6&=6>6aL=ٱ6H>6Has?Vҿ@ ?`Hi?M?`8? ?i6&=I6];6CY^RBy^IiEMb@Mb@Mb@AAAA A9ES?~jth:v?YE?yEDET9u ?Y} ?=}Dy}DwC};E}>Q 5v4B?Q 9v4)NBY?Q E:y>Q I?}CII:i:gv4y:BɮBزEB*** querying acoustic contact ***iifffgffrfereZe:e*eK@ɢO'>) ,@i)4JiaIG5>ɧ .  i i> L4< I i> i>IE] E]pE]AEY"E]:*E] :VE]A4ZEYae@ae@ae@am@AAe؟Am2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.IIO;>iԙ *",GKLA2s%=21>2cS=ٱ2>=2Hwt?ҿ ?@]?T? jn`?p?i2s%=I2Xo];2Cb=b<b(DAT read: user:14> fBDAT read: Tx time:00:54:05.9195 f$Ping request sent.jAA@AB>BYCBBBBBB ;BEBXCBXCBB=B=C%59"?Y"?=%Dy%wC%[ٺE->QQ 5]v4U.?Q 9ev4U)UJBYaym>Q Im?U}CIUs6;iU6;Urv4yy=BɮBfffgffrfere Ze:e*eK@Yɢ]>2>)a eN,@ia)ePa%aaimN,A>ɧ8-駕 i>'4<I> >InManaging dock network, ignoring radio surface power offԡA.AIIO%M>DYD]<bEJ5jE5rEb0Ee EexEeDEa"Ee1:*Ee:VEeJ5ZEaBEe;au2Ee;auJEe`o;au:Ee`o;a}uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250607 T",#KLA2d=2n>2CM\=ٱ2=2H s? ҿv?`?T?@e`B?[?i2d=I2`];2CYLyPiUMb@Mb@Mb@QQQQ Q9UV-?~jt?~jt?YU?yU9 ?Y ?=DywC:E>Q 5v4Dz?Q 9v4)GBY?Q E:y>Q I?~CI;i*;v4yɮfffgffrfereZe:e*eL@AɢEv@>)I IiI)MQQiU ~T]l9>ɧ],eO ie>eB4 e>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503436A؟AII O*>) Eu  Eu rEu IEq "Eu ҝ:*Eu ?:VEu e5ZEq a} @a} @a} @a} @iy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754831Q<",LLA2e=2E>2ne=ٱ2=2H@q?<ҿ>?8f?{S?`/[? _?i2e=I2RByBI DDbDJbVDJ8yR7<%R<ٔV{;Q-V>9V"?YV"?=VDyVxCZ:EZ>\Q 5bw4^ڲ?Q 9bw4^)^EBY`yb>Q If?^?~CI^o;i^;^w4yj*BɮjBjϲEfxfxfxgxf|f|rf|e|re|Ze:e*ewBL@)ɢ-hC>)1 5,@i1)5 Ȼ11i=[E7>ɧE*ETiETu>ED5 ETu>IIAzAxAIA.AIIO>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006617B >BBBBBBB=;BEԩ f",LLADzDE EqEDE"E*E$ :VEJ5ZEBE;a2E;aJEU;a:EU;a$ɰ&p;@b*=b >bo=ٱbb=bH@o?ҿƷ?f? S? 쭿??ib*=Ibk];bCY~RBy~IbD VD y%C=ٔ%';Q-%>9% ?Y- ?=-Dy-GxC-N9E->1Q 5=w45?Q 9=w45P)5BBYAyE>Q IE?5~CI5;i5U;5w4yIɮMBIfififigqfqfqrfqeqreyZey:ey*e}1xL@颩ɢ7>) +@i)}顱ica+=ɧ{)駽it>85<It> t>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258915ԱAII1O]> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510510 ϐ ",F4LLA2U=2=j>2\x=ٱ20>2Hl?ҿ?`s? P???i2U=I2 ];0YNRByRIliUMb@Mb@Mb@QQQQ Q9UX9v?I +?~jt?YU?yU94=QQUA Q)U`AQYU3AbDm]VDm8y} =%}D=ٔ;Q->9Y=DyxC;E>Q 5w4?Q 9w4)?BYm?Q E:y>Q I?~CI;ih;w4y-BɮBfffgffrfereZe:e*e`L@ ɢ ;>)  ,@i)9Ժi`hc=ɧN(i%Y6>%5 %Y6>I)E5 E5rE5CE1"E5:*E5?:VE55ZE1aE@aE@aE@aE@ Ae؟AIqIO>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7626181a x",NLLA2=2>2嵀=ٱ2Q>2Hh?ҿ ??N?@aԹ?`?i2=I2x];2CY>RBy>IIB,>)B>bDDVDDRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014628yVN<%VY=ٔVe;Q-Z>9Z"?YZ"?=ZDyZxC^9;E^>`Q 5fw4b?Q 9fw4b)bQ If?b~CIb%:ib:b>+w4yn0BɮnBlf|f|f|g|ffrfereZe :e *e  L@YByAyBBBBBBBB[;BɂEYɢ]?>)a e-@ia)ex#:aaimom=ɧu?'ui}4͆>}=6 }4͆>IA>A?ԙA.AIIO (>EE EEnEEGEA"EE1:*EE:VEE5ZEABEE;aM2EE;aUJEEJ;aU:EEJ;aUiQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266837 ",ihLLA2M=29>2^=ٱ2[t=2H gd?LӿQ??N?@\˨)??i2M=I2];2CYRRByRIiEMb@Mb@Mb@AAAA A9EGz?L7A`?~jt?YEp?yE+=ED9 ?Y ?=DyyCF;E>!Q 5%w4%h*?Q 9-w4%)%7BY-_?Q E-:y->Q I-?%FCI%:i%:%:w4y9ɮ=B9fYfYfYgYfafarfaeareaZea:ei*em,M@频ɢ=A>) ,@i)S:;顙iu=ɧ&&駭iv>\6<Iv> v>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518714A؟AIIO'>EU  EU kEU AEQ "EU :*EU :VEU A4ZEQ a] @a] @a] @a] @9 e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770583Ί ",0FLLAYRByIbD-VD- 8y=3;%=X=ٔEQ-E>9E"?YE"?=MDyMLyCMEM>QQ 5]w4Uj) +@i);ib|]@j=ɧ]9%]].i]F>]6 eF>IaAIIO$>A߽>߹checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022883B>BB3IBRBB=BBB5;BEqԙ C&",LLAE EsEEE"Ea:*EZ:VE 5ZEBEv;a2Ew;aJE,];a:E-];a>H=>>>e=ٱ>&9=>HV?`5Cӿ@>? ?@hH?25۱ @"??i>H=I>v];>CYJRByJI llprAtv@AbDvxVDv8y~%~O=ٔB9Y = Dy yC 5<E >Q 5=w4>O?Q 9=w4)/BYAyE>Q IE?CIH;i;Uw4yIɮIIfffgffrfereZe:e*eO{M@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274726 ɢ%D>)! %+@i!)-;';))i-~5=8=ɧ5F$5ki=I_>=/7<9I=I_> =I_>I9qAM.AIqIO>Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527518 ,",LLAG(>鉿9@YBA@ɰB;b=bCT>b=ٱb.=bH`eI?'ӿ@*?;#?5;?$zݾ??ib=Ib6];`YnRBynIiMb@Mb@Mb@ 9-?333333?~jtxY5?y=Ļ9A )IAYAbDKVDݱ8y4%>=ٔ;Q->9 ?Y ?=DyyC-4<E>Q 5w4c?Q 9w4)&BY`?Q E:yq>Q I?CIj;i;ew4y6BɮBfffgff!rf!e!re!Ze!:e)*e-[M@QɢUE>)Y ]*@iY)]SmA7 m9Ј>IqE5 E5jE5AE1"E5:*E59VE5A4ZE1a=@a=@a=@a=@IA}؟AIIO>%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778584qԡ }3",LLA6=1=6(a>6^=ٱ6؛=6H=?.ӿ6ػ?`?@0?@2 m)?S?i6=1=Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031431`I6}];6CA!A%AAB)B)B-&IB-RBB)B)B)B-;B-EYMRByUIbDeiVDe8yu&%uP=ٔ}ө;Q-}>9}"?Y}"?=DyzC"'<E>Q 5w4*v?Q 9w4)BYy>Q I?"CIv#) )@i);<顁i%{=ɧ{"駵i)>>7<I)> )>IAIIO (>EE EErEEBEA"EE1:*EE?:VEE5ZEABEE;aM2EE;aMJEEY;aU:EEY;aU5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282547A 39",LLAJh=J/>J7=ٱJ(=JHr3?`ӿ܁???'?` x?ک?iJh=IJ];JCYZRBy^IieMb@Mb@Mb@aaaa a9e\(\?9Y=DyTzCl <E>Q 5w4?Q 9w4)BY?Q E:y>Q I?ACI;i;w4yɮBfffgffrfereZei:ei*eu@N@颹ɢ) )@i)_<iD:g=ɧ!NiHd>HV8<IHd> Hd>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535885IA].AIaIqO8>iEM  EM kEM EEI "EM a:*EM :VEM 5ZEI aU @aU @aU @aU @ԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786562@",MLA2P=2 >23=ٱ2d>2H`%?\+ԿQ?`?i?iX᳿@H??i2P=I2];0YNRByRtIbDZVDZ8yz兽%zU=ٔ~Ty;Q-~>9 ?Y ?=DyzCN<E > Q 5w4 ?Q 9w4 3) BYy7>Q I? _CI ;i ; iw4y%) )(@i)?<顉iao=ɧ 駝i^>8<I^> ^>IAE؟AIQIaOm>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038970BE >BABEIBEQBBE=BABEDBE;BEpEBYCBYCBB=B=C#5 G",hMLAbE5jE5rEm0E& E&lE&HE$"E&:*E&:VE&-5ZE$BE&;a.2E&;a.JE&C;a.:E&C;a.B==B>B=ٱBol>BH L? gԿ$?@(? L?r3-?@&?iB==IB];@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290623YlRBygIbDVDB8y>7%-=ٔ ;Q->9"?Y"?=DyzC%#$<E%>!Q 55w4%;?Q 95w4%)%BY1y5>Q I5?%CI%;i%;%w4yE?BɮEBAfafafagafafarfieireiZeq:eq*e} N@ɢ=>) &@i)<i=ɧi>B9<I> >I AIIO>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543579Y -M",C7MLA6=6SZ>6=ٱ6 >6H ? ؤԿ?@l?D? ]L`W?k?i6=I6];6C @)BKABף@@DFlAiFIDDIF3CiF A JH)HH J/AJLLLLIL)PiP)PIPR`eP PTVGAVuiTTiXX)X XIXYXYbTRBybXI ddiMMb@Mb@Mb@IIII I9Ml?V-?/$YM?yMm=M,IMA MA)M3AIYMAbDeVDea8yu)%ui=ٔ}%:Q-}>9yYy=Dy{CN<E>Q 5w4?Q 9w4z)BY?Q E:y2>Q I?CI ;i ;6w4y(BɮBDzEfffgffrfereZe:e*e yN@1yɢ}W>) O%@i)><顁i͔=ɧ7駕ui(/>9<I(/> (/>IE] E]tE]AEY"E]1:*E]v:VE]A4ZEYae@ae@ae@ae@AI checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794650I O*>aԉԹ T",%QMLAɰ2checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046714R[{>Rұ>R+=ٱR>RHo?BԿ?? ?_`?@ޖ?iR[{>IR];RCB >BBIBQBB=BBB;BcEY%IRBy%QIbD=VD=?8yMݼ%MM=ٔMD:Q-M>9QYQ=UDyUY{C] F<E]>aQ 5mw4eѳ?Q 9mw4e)eٖBYiym>Q Im?eCIe:ie:e(w4y}+Bɮ} B}ȲEfffgffrfereZe:e*e@N@ɢZR>) $@i)`<i 2=ɧm{ixy>+:<Ixy> xy>IԑA!I)IAOM>ԹE] E]qE]MEY"E]:*E]$ :VE]H$5ZEYBE];am2E];amJE]U;am:E]U;amchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298637 iBZ",kMLAZQd >ZF>Z=ٱZ3>ZH ?;(տ@?@_? j?r`OpEG?`?iZQd >IZB];ZCYu(RByu=IiMb@Mb@Mb@ 9I +? rh?)\(Y9?yC =GaOA )?AYAbDVD8y%%%==ٔ%::Q-%>9)Y)=-Dy-{C55<E5>9Q 5=w4=䳉?Q 9Ew4=)=ĖBYE%?Q EE:yEN>Q IE?=܀CI=:i==:=Aw4yQɮU-BQfqfqfqgyfyfyrfereZe:e*e@O@}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551547颙ɢ>B>) "@i)̠<iK~=ɧzSiЊ>:<E[5=IЊ> Њ>IA->A->I!I1OEQ>A Em  Em pEm AEi "Em I:*Em  :VEm A4ZEi au @au @au @au @i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8028324a",^MLA>\ >>>>`=ٱ>W>>H?@)uտ@&v?D?w?`"?ǖ?i>\ >I>];>CYJRByJ5IIN<)N=bDV~VDV 8y^G%^c=ٔ^:Q-b>9`Y`=bDyf{Cf-K<Ef>hQ 5nw4j?Q 9nw4j)jBYlynd>Q Ir?jCIj;ij;jw4yv.Bɮv@Btf f f g ffrfereZe:e*e JO@AɢMa>)M^ M!@iI)MpK>]=;> e>>IaQII O>echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054674ԁB>BXCBIBQBB=BBDB;BiEԩ Qg",GMLADzD@AE EE@E"E:*EVE4ZEBEa2EaJEAR;a:EBR;a$$Pf>fv>f\=ٱf>fH?`Sտ?|??׃ܴ h? ?if>If];fCYrQByr"IbDzVDz8yؔ%G=ٔ &>;Q- >9 Y =Dy|C<E>Q 5%w4?Q 9%w45)BY)y->Q I-?CI2:i:2w4y1ɮ5^B1fQfQfQgYfYfYrfYeareaZea:ea*ee xO@颉ɢ^qM>) @i)<顙i"=ɧ駥wRi>m;<I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306669IYIiO}= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558593! {m",ҌMLA2^>2ֹ>28=ٱ2=2Hu?`(տݕ?{??е` `&?`N?i2^>I2];2CYBQByBI|i5Mb@Mb@Mb@1111 195ʡE?9aYi=mDym`|Cm;Em>qQ 5}w4u?Q 9}w4u)uBY?Q E:yu>Q I?u3CIuv;iu7;uw4y1BɮoBfffgffrfereZe:e*e@O@ɢM>) %@i)?<i¤=ɧ߯i9>o<<I9> 9>IE5 E5mE5ME1"E5ҝ:*E5:VE5H$5ZE1aE@aE@aE@aE@)checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810549^A+=A!zA%zAIIO]>Qԁ #ct",fMLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0626316̚>6:b>6g=ٱ6H=6H@?` ֿ?`??;쵿 Y??i6̚>I6];6CBR>BPBRIBRLQBBPBPBPBR;BR[EY^QBy^I ``dfBAbDj?VDjұ8yrȼ%rS=ٔrQ-v>9tYt=vDyv|Cz;Ez>|Q 5w4~3*?Q 9w4~)~vBYy >Q I?~OCI~<;i~;~Dw4yɮyBf1f1f1g1f1f1yrfereZe:e*ecO@AɢMN>)I M@iI)Mvq=QQiU<}=ɧ}},i}>}M= >IԡDADE=E] E]nE]AEY"E],:*E]:VE]A4ZEYBE]A Нz",UMLA8ɰ8f>f"z>f]P=ٱfX5 >fH ?`,Jֿ@竿? ?A? fe䴿 ? ~?if>If];fCYrQByrIimMb@Mb@Mb@iiii i9mX9v?99Y9==Dy=|CEo<EE>QQ 5]x4U>?Q 9ex4U<)UbBYe?Q Em:ymd>Q Im?UpCIUI;iUH;Ux4y}4BɮBɲEfffgffrfereZe:e*e@P@ɢmQM>)  @5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566711i )c2 =顩i{f=ɧ駵5iΒ>_=<IΒ> Β>I QY׿Q@@@@G !=099Y=H.AIE5  E5 vE5 DE1 "E5 1:*E5 :VE5 J5ZE1 a= @a= @a= @a= @A] .AIi Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818541y u",~NLA: >:>:=ٱ:E>:H4?Yyֿ@d?Y??D*9ʴ@]?@?i: >I:];:CY^QBybIbDjVDj8yrև%rd=ٔr&Q-r>9v ?Yv ?=vDyv"}CvKX<Ez>xQ 5~x4zN?Q 9x4zN)zRBYyB>Q I?zCIzo;iz;z~x4y 7Bɮ Bf)f1f1g1f1f1rf1e9re9Ze9:e9*eE&P@iɢm a>)i m@ii)u'=qqiuˌ}S=ɧ}}i}^K>E><I^K> ^K>Iqԡ^A>A>echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070544B>BBIBQBB=BBB`;BBEAII)Oe> E]  E] E] BEY "E] :*E] E7:VE] 5ZEY BE] ;am 2E] ;am JE] X;am :E] Y;am u",/ NLA2 @%>24>2R=ٱ2 >2HU?ֿ@k?j?`$?@^䴿??i2 @%>I2@];2CY>QBy>IIB<)B=bDJVDJ8yN`%RM=ٔ x~:Q- >9 Y=Dyd}C4<E>Q 5%x4a?Q 9%x4 )?BY)y-ڿ>Q I-?CIP:i:)x4y5:Bɮ5B1fQfQfYgYfYfYrfYeareaZea:ea*ee) a@i)g=顙checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322735it뱼\V=ɧ駵Mi>><I> >IԹAIIO> U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574553ȍ",9NLA6S(>6>6=ٱ6 >6H 6? ֿI6];6CYBQByBIi Mb@Mb@Mb@     9 |?5^?~jtX9vY ?y   XA A A) A Y AbD},VD}8y%>=ٔz;Q->9Y=Dy}C<E>Q 5x4s?Q 9x4ط).BY=?Q E:yf>Q I?ǁCI:i:8x4y=BɮBfffgffrfereZe:e*e[P@ɢS>) @i)#=!!i%fL-[=ɧ-t-X i-ޏ>-?<)I-ޏ> -ޏ>I1E EtEEE"E:*Ev:VE 5ZEa%@a%@a%@a%@QAaIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826561yԩ K",SNLAB"<A"<B&>B&WCB&}IB&PBB$B$B&DB&w;B&KEB XCB XCB B B C I56J(>Jl=ٱJT">JH`#?lֿe?'?@wo?@NK浿`!?@{?iJ2,>IJ{];JCYZQByZIbDbVDb8yjeü%jW=ٔj;Q-j>9lYl=nDyn}Cr<Er>tQ 5zx4vׄ?Q 9zx4vԵ)vBYxyz4>Q Iz?vCIv":ivP:vEx4yɮBfffgffrfereZe:e*e`!xP@qɢuUO>)y }8@iy)},=yyi}q5=ԩɧk駵Bxiu>g@<2[=Iu> u>IA1zA1bEz4jEŝ5rEŮp1E% E%wE%AE!"E%Ʊ:*E%:VE%A4ZE!BE%X;a52E%Y;a5JE%k;a5:E%k;a=AIIOb> ߚ",mNLAl=.>=>==ٱ=z{>=Hu?*׿?`&? n?δ Oh??i=.>I=];=CY]QBy]I iiiuMb@Mb@Mb@qqqq q9un?y&1y&1|Yu?yu`eu`quA q)qqYuA@AbDVD8yz%0=ٔ,;Q->9Y=Dy.~C7;E>Q 5x4?Q 9x4H)BY?Q E:y>Q I?CI:i:Ux4y@BɮBʲEfffgffrfereZe:e*e`P@)ɢ-"f[>)) -@i))5y4=11i5=q_=ɧ=%=oi=7>=A<9I=7> E7>IAA]؟AIaIqO8>1E-  E- sE- CE) "E- :*E- Z:VE- 5ZE) a5 @a5 @a5 @a5 @Y 3á",wdNLAɰ4<6.>6T>6ü=ٱ6N>6H 3}?6׿?$?`x?m!֏ E? 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", XZLA<<Ej EjiEjAEh"Ej:*Ej9VEjA4ZEhav@az@a@a@!h>ޥ>:=ٱ`>H`?@ڿ??6?@1渿SC?ֲ?i!h>I?];CY@By4HieMb@Mb@Mb@aaaa a9ex?kt?YeK?ye 0=eaeA eA)eAaYabD|VD 8y%%.=ٔTQ->9 ?Y ?=Dy*C;E>Q 5~4?Q 9~4?)nBY?Q E :y E?Q I ?CI;i;z~4yƫBɮBf1f1f1g9f9f9rf9e9re9ZeA:eA*eE}\@qɢuЈ)q u\iq)}=yyi} O߹ɧ駅+iͣ>M<Iͣ> ͣ>IBA<B>BBHB@BB=BBB;BEA؟AIIOL>Iy ",7rZLAY~@By~ HbD oVD 8yN%%m=ٔ%Q-%?9%"?Y-"?=-Dy-FC-E-?1Q 5=~45?Q 9=~45=)5jBYIyQQ IU?5CI5-ɧ-Į-AЋi-0>5I&<1I50> 50>I1Y CGGE EdEE"E:*E9VEZEBE;a2E;aJE&;a:E&;a%69!Y%4AIiIO >ԁԩ ",소ZLA2h>2>2I/=ٱ2>2H`?dڿr??+?e 0?گ?i2h>I2];0YR@ByR HbDZzVDZ8yrE%vN=ٔv߻Q-v>9xYx=zDyzgCz]#Ez>|Q 5~4~P?Q 9 ~4~:)~fBY y ??Q I ?~1CI~.:i~:~k~4yɮBfafafagafafarfaeireiZei:ei*em\@颙ɢV<) i)=顡i!І㹽ɧ駭늾iC>:<IC> C>IԱIIO=E  E hE =E "E 1:*E ]9VE |4ZE a-@a-@a-@a-@ B >B WCB HB O@BB =B B B ;B E9 (",iZLAɰ4<2th>2>2%=ٱ2F>2H]?.ۿ??|?@_~m ?G?i2th>I2n];2CY>@By>HiuMb@Mb@Mb@qqqq q9u`"?kt?~jtx?Yu?yqu;uGAu7A q)u5AqYuAbDVD8y&%>=ٔ_Q->9Y=DyC:E>Q 54%?Q 946)cBY6?Q E:y?Q I?RCIC*;iJ;4y̫BɮBf1f1f9g9f9f9rf9eAreAZeA:eI*eM@R\@ɢ5!) i)'= i Ru]`ɧlsi柛><I柛> 柛>IIIO=9a E  E qE @E "E ~:*E $ :VE 4ZE BE ;a 2E ;a JE U;a :E U;a ",9ZLA 6g>6u>6=ٱ6\=6H`.?@aۿv?J|?@?'@q? ?i6g>I6];6CYB@ByBHbDJ^VDJ8yRf%R]=ٔRQ-V>9TYT=VDyVCZ+EZ>\Q 5b4^!ļ?Q 9b4^3)^aBY`yb?Q Ib?^mCI^';i^;^T4yhɮjBhB*** querying acoustic contact ***iif!f!f!g!f)f)rf)e)re)Ze1:e1*e5\@ɢe) Qi)g=i}3aɧ`Xi>щ<I> >IIIO=iԙ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. @",7ZLAEV~ EViEV>ET"EV:*EV9VEV4ZETan@an@an@an@xxf>T>F=ٱϺ=H?ۿš?j? -?}`z"??ixf>I!^;CY@ByHI<)=iMb@Mb@Mb@ 9n?S㥫?~jtx?Y?y/]=^A A A)AYAbDTVD8y&%-=ٔQ->9Y=DyΎC-E>Q 54Xؼ?Q 94"0)_BY?Q E:y{?Q I?CIw:i:4yΫBɮBfffgffrf e re Ze :e *e`\@AAAABM >BMYCBM`HBM0@BBM=BIBMDBM;BMEB%VCB%VCB%ÔCB!B%=C%˧5(DAT read: user:15> BDAT read: Tx time:00:55:06.2195 $Ping request sent.Q<I@@> @@>IIIO>)Q ߉ ߍ C= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251079b",,ZLAYy@ByHbD5eVD589yEm%Ef=ٔMQ-M>9IYI=UDyUCUEU>YQ 5e4]缉?Q 9e4]V-)]^BYiyiQ Im?]CI]:i]:]N+4yuBɮuBubEfffgffrfereZe:e*e]@ɢj)A&< i).=i!{½ɧRui>r<I> >IIIO=D=D<bE=4jE=4rE=0E EpE<E"E:*E :VE 4ZEBES;a2EU;aJEAR;a:EBR;aichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855ԡ JJ", [LA2ҵf>2>2 =ٱ2e4=2H2?@y ۿ@_?n??@b>@q?`?i2ҵf>I2];2CYBL@ByBHbDJwVDJ8yj%jR=ٔjQQ-j>9Y=Dy C:E>!Q 5-4%v?Q 9-4%7*)%\BY)y-?Q I-?%ʐCI%~:i%:%)94y5Bɮ='B9fYfYfYgYfafarfaeareaZea:ei*em.]@频ԙɢXt) ri) =顡iGvYĽɧV駭ǫiœ><Iœ> œ>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919Ae.AIqIO>E EeE>E"EO:*E9VE4ZEa@a@a@a@BU >BQ BU ;HBU @BBU =BQ BQ BU ;BU Ei AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007069  PExceeded connect timeout, disconnecting.mt",'[LA2g>2">2V=ٱ2E=2H+?lۿZ(?t?,?`8 s?1?i2g>I2];2CYRS@ByVH \\\^AiMb@Mb@Mb@ 9^I +?S㥫?Mbp?YX?y;A 3A)Y\A11bDEkVDE8yU_j<%u4=ٔu Q-u>9} ?Y} ?=}Dy}0CUR:E>Q 54 ?Q 94&)ZBY?Q E:y:?Q I?CIcl;i$k;H4yɮ BfffgffrfereZe:e*eL]@qɢuQ)q uiq)}}n=yyi}k6qcǽɧ0駅Gid>i<Id> d>I!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259634A؟AI1IAOUS>ID zD @AE  E jE @E "E a:*E 9VE 4ZE BE v;a 2E w;a JE j<;a :E k<;a y _",A[LAJ:Jg>J9>J_<ٱJL.=JH?]ۿ`?w?@[? J1??iJ:Jg>IJ^;JCYV_@ByVH^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510836bDfNVDf8yn=%ne=ٔrƻQ-r>9r"?Yr"?=rDyrLCvJ:Ev>xQ 5~4z?Q 9~4z#)zXBY|y~I?Q I?zCIz;iz;z5U4y Bɮ B f)f)f)g)f1f1rf1e1re1Ze9:e9*e=`Bb]@aɢeɒ)i mii)m”=iiiul}j/ɽɧ}J}%i}pT>}ʞ }pT>IQyAE.AIQIauchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943O}>ԩ H",rn[[LAEJ EJqEJ=EH"EJ:*EJ$ :VEJ|4ZEHa^@a^@a^@ab@%f>%C>%<ٱ%,=%H@2?dۿ n.?s?@?;⶿_7@^??i%f>I%Y_;%CY=Y@By=HԩiMb@Mb@Mb@ 9l?V-?y&1|?Y?ym=`;vAA IA)AYAbDXVD8BA<B >BZCB"HB?BBBBDB;BEy ^%+=ٔQ->9 ?Y ?=DyrC]E>!Q 5-4%0?Q 9-4%)%WBY5I?Q E5:y5 ?Q I5?%,CI%:i%E:%e4y=Bɮ=&BEcEfYfafagafafarfieireiZei:ei*eu`]@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014768ɢhL) i)E=AAiEhgMd˽ɧM&MiM >M X U >IQ=<nManaging dock network, ignoring radio surface power offA؟AII O5> } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2667561 N",a8u[LABi[f>B>BW<ٱB=BH ?ۿ?j??@,V^`+??iBi[f>IBN_;@YR6@ByRhHIV>)Vp;bDZzVDZ8y~Rν%~t=ٔ~!Q-~?9"?Y"?=DyC E ? Q 54 h>?Q 94 C) Yy ?Q I? ECI ;i ; q4y!ɮ-HB)fIfIfIgIfIfIrfQeQreQZeQ:eQ*e]*]@颁ɢrd) 'i)\=顉ibmvͽɧX駝yi'ѝ>Ȱ<=I'ѝ> 'ѝ>IE EfEAE"E:*E9VEA4ZEBE;a2E;aJE-;a:E-;a9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519455AIIO>i ",[LA ((Fd>Fb>F<ٱFYQ=FH2? ۿ?S?P?9@bC:?`^?iFd>IFƸ_;D=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770762Y2@BycHbDgVD8y%/=ٔQ->9Y=DyCYYE>Q 54R?Q 9 4)VBY y  ?Q I ?iCI;i4y«BɮRBf9f9f9gAfAfArfAeAreAZeI:eI*eM@]@qyɢ}o) i)=顁i]Ͻɧ5駕ݐig>2<Ig> g>IA9IAIiO}Y>ԙE} E{E=E"E݉:*E5":VE|4ZEa@a@a@a@B>BB HB?BBBBB;BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807",[LALV c>VR%>V<ٱV=VH?`ڿ9?2IV2_;VC `)fKAdddhj\AihIhlIlinA np)pr3C pvDttxxIz`)xix)|I~&A~~,F i  i C ) IYY%1@By%bHieMb@Mb@Mb@aaaa a9e ףp= ?V-?~jt?YeQ?yaeD9Y=DyԏCyE>Q 54c?Q 94^)Y?Q E:y?Q I?CI ;i/;4yɮSBfffgffrfereZe:e*e`F]@Yɢ])Y ]iY)ej=aaieoXkҽɧ9駍ǁiT`><IT`> T`>I9=<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275536AIIOI>=GQi钿9YAE  E iE AE "E :*E 9VE A4ZE BE ;a 2E ;a JE 8;a :E 8;a  ",}[LA2a>2p>2<ٱ2=2H ?@ڿ%?'?!?Tp@??i2a>I2_;0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526901|Y|yaHbDQVD8yE%Ec=ٔMQ-M>9IYI=MDyMCUWzEU>YQ 5e4]Fs?Q 9e4]|)]WBYayed?Q Im?]CI]:i]G:]C4yuūBɮuZBqfffgffrfereZe:e*e@\]@ɢUr) i)=iSӽɧO i맞><I맞> 맞>I!^AQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778833AQIaIqO>y V", [LAɰp;E> E>nE>>E<"E>1:*E>:VE>4ZE%?>%M<ٱ%=%HI?`ڿ?M?J?u♿ ˻??i%`>I%`;%CaY-@By\HAAAAB>BBHB?BB=BBBa;BсEiMb@Mb@Mb@ 9v?X9v?Q?Y?y}=u<A bA)AYAbD-SVD-8y='%=/=ٔ=Q-=>9AYA=EDyECEEM>QQ 5U4U?Q 9]4U)UYBY]?Q E]:y] ?Q I]?UǑCIU:iU:U4yeBɮm-BmZEfffgffrfereZe:e*e@N^@iߩIߩBDAT read: Rx Time:00:55:09.7698 TRx dataTimestamp_ set to:1764896111.568903checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032241ɢ) _i)&Ӏ=i NS9ֽɧ*!iC>|<IC> C>Iԁ^AM"=IIIYOmx>Ա e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282856",[LA26s_>2zN>2@ <ٱ2=2H?׺ڿ@95?W??m5 @d?`?i26s_>I20D`;2CY>@By>GHbDJaVDJ8yNR%R=ٔR0Q-R ?9TYT=VDyV1CVFEV ?XQ 5^4Zv?Q 9b4Z! )ZZBY`ybL ?Q Ib?ZߑCIZb;iZ;Z4yfBɮfDBhfxfxfxgxfxfxrfxe|re|Ze|:e|*e@^@)ɢ-濽)) -yi1)5k|=11i5$IԹ׽ɧ`riP2>ϡ<IP2> P2>I@@@@E EiEE"E:*E9VEZEBE1;a2E2;aJEa:EaDAT read: 00:55:09.7698 LVL= 32464, 32753, 32754, 32755, AGC= 82, IDX= 497, 0.17,-1.307,-3.120,-1.490,-1.832, PHS= 0.627,-1.243, 0.298, RAW= 140.5, 3.7, CAL= 140.3, 4.3, ROT= 9.7, -4.3 Ygot valid direction response: 00:55:09.7698 LVL= 32464, 32753, 32754, 32755, AGC= 82, IDX= 497, 0.17,-1.307,-3.120,-1.490,-1.832, PHS= 0.627,-1.243, 0.298, RAW= 140.5, 3.7, CAL= 140.3, 4.3, ROT= 9.7, -4.3 PDAT read: Bearing 181.9, 8.6 (Local) ~Local bearing/azimuth received: Bearing 181.9, 8.6 (Local) DAT read: Range 11 to 50 : 859.5 m (Round-trip 1146.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.\direction in FSK: [0.982929,0.168015,0.074979]-Fpublishing direction and range infoy 1't? )Ԅ?]1?YVD~ )RI ?iu>@ A=t@ `=)-\->I`d 7C?_a?e;? 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BEfffgffrfereZe:e*eBK@ɢlU) >i)Ѡ i T$: 3.ɧFi>T<I> >IA->A)A%؟AI1IIOU>YB}>ByB}HB}JBB}=ByByB}1;B}Eԉ=<ԡ E  E mE EE "E s:*E :VE 5ZE BE ";a 2E #;a JE VG;a :E VG;a Vn",G!iLA2>2ɾ ?2bٱ26>2Hw-?`̞`Q?`4? ſe?Ŀ?ˌ?i2>I2y4_;0YNIByRH TTbDZVDZ8yb=%bV=ٔf;Q-f>9f"?Yf"?=jDyjCj:Ej>lQ 5r4nlj?Q 9r4nJ)niA)E AAiM_:U\.ɧ]E]$i]t>]& ]t>IaԩAI I!O--> Au",5 iLA<ɰ>j ?jٱjYy=jH@0? @=響?? ueĿ/?N?L?ij>>Ij^;hEu EurEuFEq"Eu:*Eu?:VEu 5ZEqa}@a}@a}@a}@Y%IBy%1Hi-Mb@Mb@Mb@)))) )9-rh|? rh?Mbp?Y-?y-C=-;-A-IA -VA)-A)Y-AbDEVDE8yM=%U=ٔUf;Q-U>9YYY=]Dy]ɡC]``Ee>aQ 5m4elj?Q 9u4eE)eQBYu?Q Eu:yu'?Q Iu?eȢCIe:ie:e[4y]Bɮ  B UB*** querying acoustic contact ***iQiQfffgffrfereZe:e*eK@=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.1ɢUxO)Q ]>iY)]"YYi]:e.ɧeDeie>m m>IiAyAzAzA)AIIO >Q g{",8iLA6ѧ>6A ?6ݽٱ6I=6H@"1?<͟@ނ? =?`ÿ P?ʽ??i6ѧ>I6^;6C @)BCAB9@@DFXAiF̼IDDIJCiH JļH)HL LNTLLPR3AIRļ)PiP)TIV+AVT TXZiAXiXXiXZA)\ \I\Y\YbIBybaHbDnVDnw8yv>%v=ٔv;Q-v?9xYx=zDyzCzr:E~?|Q 54~&lj?Q 9 4~,B)~]BY y (?Q I ?~ߢCI~:i~:~r4yɮ BAAAAB!B!B%HB%ZJBB%=B!B!B%K;B%łEBBBBBCV4fafafagafafarfaeireiZei:ei*emqK@(DAT read: user:16> BDAT read: Tx time:00:56:06.5195 $Ping request sent.i9)EFAAiE_l:M .ɧMDM5iM>M8 U>IQAAIIaIaOu6>E EmEAE"E:*E:VEA4ZEBE;a2E;aJEa:EaԉU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250761Թ P",c jLA2b >2 ?2:ڽٱ2lb=2H 0?b ?@?ÿ6?P?@d?i2b >I2^;2CY JBy}HI%<)!bD5VD5~8y]bW=%]C=ٔe;Q-e>9aYa=mDymCm:Em>qQ 5}4u7lj?Q 9}4u>)umBYy((?Q I?uCIuD;iu;uĬ4y^Bɮ BfffgffrfereZe:e*e uL@ɢu,) N?i):ĝi4:.ɧC+i>F<I> >IԑAE.AIQIaO}>߽C=߽=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506684bEȮ5jEd5rEsq0E EnE>E"E:*E:VE4ZEa@a@a@a@ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547843",#jLA2V>2 ?2ֽٱ2/=2Hu/??`?rÿ@ʺ? 2,?Y?i2V>I2_^;0YJByHiMb@Mb@Mb@ 9ʡE?l?Y?y=`A lA)AYAbDVD^8yPF=%?=ٔ{;Q->9 ?Y ?=Dy%C}:E%>!Q 5-4%)Ilj?Q 954%9)%}BY5?Q E5:y5*?Q I5?%!CI%:i%:%@4y=SBɮ= BAfafafagafafarfieireiZei:ei*euKHL@颙ɢ&) ?i)6֜顡i9/ɧD駭i>Ժ<I> >IAm>Am>AqIyIO;>B>BB8HBJBBBBBO;BȂEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067889 E | E qE BE "E :*E $ :VE 5ZE BE @;a 2E B;a JE U;a :E U;a i 㵎",F=jLA>>>> ?>ӽٱ>pX=>H`l.?an`ď??ÿ@e?@尽?`?i>>I>cl^;>CYJGJByJHbDRVDRu8yZ=%Za=ٔ^;Q-^>9`Y`=bDybBCbB:Eb>dQ 5j4fWlj?Q 9j4f(6)fBYlyn*?Q In?f>CIf{;if;f4yrUBɮrb BvEff f g f f rf ereZe:e*e vL@Qɢ] )Y e?ia)eiaiim9_%/ɧDidy><Idy> dy>IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590671A؟AIIO(>Yԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512901",VWjLA< *(> ^ ? nϽٱ t= H ?+?@+`6??ÿ ?T??i *(>I N^; CY%JBy%H ))iMb@Mb@Mb@ 9ףp= ?V-?MbpY?ym=AvA vA)AYAAAbDVDO8y=%;=ٔ;Q->9"?Y"?=DyfC";E>EU EU{EUAEQ"EUO:*EU5":VEUA4ZEQa]@a]@a]@a]@Q 54klj?Q 941)BYj?Q E:yh$?Q I?bCI:iI:ƒ4yɮ+ BfffgffrfereZe:e*eNL@ɢ%#)! %?iA)EEϚIIiMb7UZS/ɧUoBUgiU6>Ut U6>IYԡA.AII checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839O%N> ","qjLAɰ4<29&>2 ?2dS˽ٱ23=2Hf$??@=? ÿ_?8e?l?i29&>I2p^;2CY>JBy>-HbDJVDJ_8yRԊ=%Ra=ٔR޴;Q-R>9V ?YV ?=VDyVCVѮ;EZ>XB`Ab<BdBdBfHBfJBBdBdBdBfH;BfĂEQ 5=4Zjylj?Q 9=4ZV.)ZBYAyE$?Q IE?Z}CIZ-]" ]W>IYIA؟AIIO>Ee EerEeBEa"Ees:*Ee?:VEe5ZEaBEe";au2Ee#;auJEeY;au:EeY;auq5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266824ԡ ",jLA2;>2E ?2ƽٱ2=2H6?`@Gq`x? F?Q"ÿ˸?@/?@#?i2;>I2;^;0YNJByROHbDZVDZ8yb=%bH=ٔbt;Q-b>9f"?Yf"?=fDyfCf};Ej>hQ 5n4jllj?Q 9r4jV*)jBYpyrL%?Q Ir?jCIj;ijf;jσ4ytɮz BxfffgffrfereZe:e!*e%rM@yɢdڼ) -?i)ݼiG2׹1/ɧ@Oi> <I> >IAm.AIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518993IO>ԡEu EuEuFEq"Eu7:*Eu H:VEu 5ZEqa}@a}@a@a@ i9 I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771031ר",'jLA:3>: ?:ٱ:#=:H?!~`~?H?o¿-?q? Ǥ?i:3>I:^;8YFJByFuHIJ>)J=iMb@Mb@Mb@ 9)\(?)\(?MbPYG!?yGa=A A)Y\AbD5VD58yE=%E@=ٔE;Q-E>9M ?YM ?=MDyMƢCUݐ;EU>QQ 5e4Uvlj?Q 9e4U#&)UBYe!?Q Ee:ye$?Q Ie?UCIU:iU:U!׃4yu駭Eix>`c<_G~=Ix> x>IAE؟AIIIYOm5>B>BBHB/KBBBBBJ;B}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022841 PExceeded connect timeout, disconnecting.I I a Dq Du a=E  E iE EE "E O:*E 9VE 5ZE BE ʺ;a 2E ˺;a JE 8;a :E 8;a 9 Y A6",KjLAR>RE@?RA޼ٱRvt=RH?@I??¿8? Eܽ??iR>IR6^;RCY%JBy%HbDEVDE8y]P=%]K=ٔew;Q-e>9m"?Ym"?=mDymCu;Eu>yQ 54}lj?Q 94}")}ΖBYy$?Q I?}CI}dE;i}D;}5ރ4yɮ| BfffgffrfereZe:e*e@{M@1yɢ}vF)}B }%??iy)5Q顁i\c/ɧ<駍i><I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276199IIO>aԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526735 wݵ",jLAE>E;?E{ٱE=EH ?Tۊ??x¿? ?@u?iE>IEE^;ECY]KBy]HiMb@Mb@Mb@ 9x&1?:v?Mb`?Y!?yT=;AA A)AYAbDVD8y=%?=ٔ  ;Q- >9Y=Dy C֙;E>Q 5%4lj?Q 9%4)ܖBY-"?Q E-:y-#?Q I-?CE5 E1E5>E1"E51:*E1VE54ZE1aE@aE@aE@aE@I;i;4ԉyM=Bɮb Bf f)f)g)f)f)rf)e1re1Ze1:e1*e5@nM@aɢe8) UF?i)㔽顑iΑ0ɧ;i.><I.> .>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779196IyIO]> 6",fjLAA0A2@AB6>B6XCB6>HB6vKBB4B4B4B6;B6EB>>B ?B㱽ٱBq=BH|?!@?g?`@¿O5?&?న?iB>>IB^;@YNBKByNH PPbDV"VDV8y^=%^b=ٔb;Q-b>9`Yd=fDyf'CfD;Ef>hQ 5n4jlj?Q 9n4jW)jBYpyr $?Q Ir?j CIj:ij;j4ytɮv9 Btf f fgffrfereZe:e*eBM@BDAT read: Rx Time:00:56:10.0254 TRx dataTimestamp_ set to:1764896171.836561checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035871ɢDW7) P?i)i90ɧ9iF>\<IF> F>IunManaging dock network, ignoring radio surface power offEM EMtEMEEI"EM:*EMv:VEM 5ZEIBEM;aU2EM;aUJEM`;a]:EM`;a]^A%gW=IIOa>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286712I N",^h kLA Mt>Mք?MdYٱMe=MH?`)> ?Ǿ?l¿`d??@x?iMt>IMV^;MCYRKByHbDBVDձ8yE=%8=ٔf;Q->9Y=DyKCa;E>Q 54lj?Q 9 4)BY y l$?Q I ?CCI;i<;4y>Bɮ* BEf1f9f9g9f9f9rf9eAreAZeA:eA*eM#N@qɢuh0y)q uT?iq)}VByyi}^̺+b0ɧ8駅6i><I> >I9DAT read: 00:56:10.0254 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 496,-0.46,-1.937, 2.832,-1.879,-2.136, PHS= 0.301,-1.270, 0.213, RAW= 147.1, 9.9, CAL= 146.7, 10.8, ROT= 3.3, -10.8 Ygot valid direction response: 00:56:10.0254 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 496,-0.46,-1.937, 2.832,-1.879,-2.136, PHS= 0.301,-1.270, 0.213, RAW= 147.1, 9.9, CAL= 146.7, 10.8, ROT= 3.3, -10.8 PDAT read: Bearing 191.2, 9.5 (Local) ~Local bearing/azimuth received: Bearing 191.2, 9.5 (Local) DAT read: Range 11 to 50 : 826.3 m (Round-trip 1101.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.980658,0.056544,0.187381]Fpublishing direction and range infoy͍a?PÁc?0i?YND )TI>i\Z>O$@;0>#@ A>)k=IA7 ?S?a ? >)0:1Ik=iAq%EE EElEEDEA"EE:*EE:VEEJ5ZEAaM@aU@aU@aU@ԑ ^AM Pڀ=AU zAzAU xAI I O >Z",m&kLA@>=>>S?>;ٱ>=>H ?1q6?W?U¿?NU?s?i>=>I>^;>CYNzKByNCHi%Mb@Mb@Mb@!!!! !9%"~j?:v?~jt?Y%S#?y!%D<%A%A %A)!!Y%AbD=lVD=8yM=%MV=ٔMU9QYQ=UDyUjCU˃;E]>aQ 5e4eklj?Q 9m4e)eBYm#?Q Em:ym $?Q Im?ecCIeb:ieI:e`4y}?Bɮ} ByiikLAjND"jND:j?Rj-V@f-m`G@^o]c@Bj͍a?PÁc?0i?*jk=2jAZjzS@H/{@2/l@JjÔw?^:0R?kw [?jC j$Di%?ijCj%?jjCrjFDzj?fffgffrfereZe:e`f҉@*e?yɢ}k)y ^?i);␽顁iz麩݇0ɧ6i1$>P<I1$> 1$>I @@@@Be>BaBeHBeKBBaBaBaBe;BeEB!B!B!B!B!C%4I9IIO]> Ee  Ee kEe EEa "Ee a:*Ee :VEe 5ZEa BEe v;am 2Ee w;au JEe @;au :Ee @;au #B",?kLAJ>>J?JsٱJ =JH#?AS? ?@)?^¿!?b?@ߧ?iJ>>IJ`^;HlYzKByziHI<);bD zVD 8yV=%M=ٔ%e;Q-%>9!Y!=%Dy-C-;E->1Q 5=45ȉ?Q 9=45)5BY9yE$?Q IE?5CI5^;i5;5W4yM%BɮM BMܱEfififigifqfqrfqeqreyZey:ey*e}?颡ɢ׻) Mf?i)n顩i:zɪ0ɧ5駽i6>g<I6> 6>Iu9AIIQIaOu>a t+",YkLA@@I}:>}%?}?ٱ}Qy>}H?@hM5? }#? ?9ÿ?׶?`Т?i}:>I}D^;yYKBy{HbE5jE[5rE҄0E EjEFE"E:*E9VE 5ZEa%@a%@a%@a%@i=Mb@Mb@Mb@9999 99='1Z?Q?Zd;O?Y="?y=u==j<=A=lA =A)=A9Y=fAbD]QVD]8ye=%e7=ٔm5;Q-m>9qYq=uDyuCu(;E}>yQ 54}tȉ?Q 94} )}#BY#?Q E:y'?Q I?}CI};i};}& 4y&Bɮ BݱEfiffgffrfereZe:e*e?!ɢ%1)) -j?i))-נ))i-<50ɧ5o45WYi=n1>=־<9I=n1> =n1>aIaiiiiԉAA?AY Ia Iq O >Թ Q",\skLABAB>BBHBKBBBBB;BZEB>B?B ٱBd >BHi?@FU?/??eKÿ-=?0??iB>IBH^;BCYNKByNHbDVaVDV8y^>%^k=ٔbe m.>IiԹAE.AIQIaOm>E- E-oE-@E)"E-ҝ:*E-:VE-4ZE)BE-;a52E-;a5JE-N;a=:E-N;a=9 #:",kLA6>6F?6ዽٱ6>6H?X|?6?m?¿x? ??i6>I6K_;6CYBKByBH DDbDNRVDN8yV %VK=ٔV2;Q-V>9Z ?YZ ?=ZDyZC^;;E^>`Q 5f4b56ȉ?Q 9f4b)b?BYdyf(?Q If?bCIb:ib:bB4yj'Bɮnu Blf|f|f|g|f|frfereZe:e *e w?1ɢ5a )1 =Wv?i9)=DΊ99iE.E1ɧE3MWiMv'>M\} Mv'>IQA؟AIIO>AE9 E=uE=GE9"E9*E=:VE=5ZE9aE@aE@aE@aE@qԙ fd",dkLAɰ;Y~KBy~HiMb@Mb@Mb@ 9p= ף?/$?:v?Y%?y=<A A)YAbDyVD8yY=%9=ٔQ->9"?Y"?=DyCE>Q 54Hȉ?Q 94)RBY&?Q E:y1?Q I? 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R{*?@?#?> `?`?i2=F>I2t];0Y imCYuHByHG%B99!Y%6AbDVD8y=6%=7=ٔ=&:Q-E>9AYA=EDyEUCMEM>IQ 54M~Љ?Q 94M)MBYy?Q I?MCIM+i ) R=i~͙DɧR Ri><I> %>I!ByA}<B>BBHBHBBBBB;BۂElXԁAzAAIIO=r>Թ 0%",{xLA2r]>2-y?2=ٱ2=2Ha ?՗@ ??`w5?@G.Q ??i2r]>I2_];2CY=HBy=HԹiMb@Mb@Mb@ 9L7A`?L7A`?y&1?Y+'?y+=`<AVA )VAYAAAbDMVDMİ8y]v%]H=ٔe:Q-e>9aYi=mDymvCmxEm>qQ 5}4u Љ?Q 9}4u)uBY'?Q E:yZ?Q I?uCIuM:iu:u04yBɮ BDzD@AE E{EHE"E:*E5":VE-5ZEBE;a2E;aJEKz;a:ELz;afffgffrfereZe:e*e\K@ɢT-=) %>i)uS=i ϘyDɧutDi5>9<I5> 5>II I O >9 H+",TxLA2x>20 ?2(s=ٱ2=2H??ȿ?@A?@[6 $b??i2x>I2];2CY>HBy>HbDJVDJ8yNs%Rl=ٔR:Q-R?9TYT=ZDyZCnEn>pQ 5v4r щ?Q 9v4r)rBYxyz?Q Iz?r˵CIr%:iru:rY4y|ɮ~ Bf!f!f!g!f!f!rf!e)re)Ze):e)*e-7K@Yɢ]}=)Y ]>iY)eS=aaiem Dɧm>fm428imڒ>m uڒ>IqAE EELE"E:*E,:VE!5ZEa@a@a@a@^A}T=IQIiqO}>B >B B HB GBB =B B DB ;B Eԙ 02",U/xLAbU>b ?b2=ٱbU=bH?n`H?s? A?teK?m?ibU>Ibw2];bCY|HByHbD]VD]8yג%<=ٔ;Q->9Y=DyCEE>YyQ 54]!щ?Q 94]E)]BYy?Q I?]CI]b8cp<I >  >I^A@=AA>I)I9OM0>ԡE EEKE"Eҝ:*EVE5ZEBE;a2E;aJE?;a:E?;a Z8", xLA"%="a=Y~THBy~cHiMb@Mb@Mb@ 9!rh?~jt??Yl'?yD=<hA )YA bDVD8yĽ%H=ٔQ->9Y=Dy״CE>Q 542щ?Q 94g)yBY'?Q E:y?Q I?CI:i<;4yBɮ BB*** querying acoustic contact ***iifffgff rf e re Ze :e*eK@ɢ‹l=) =i)T=i Dɧ G 7i ,K>-+<1I5,K> 5,K>I1@A@A@A@AI9IQO]v>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.) E  E }E E "E s:*E k&:VE ZE a @a @a @a @^>",xLA4<ɰJ{>J2 ?J=ٱJs=JH@? A??@?`4v ??iJ{>IJ\;JCYZKHByZYHbDbVDb8yj_%jZ=ٔj0:Q-j>9lYl=nDynCrς:Er>tQ 5z4vCщ?Q 9z4v)vrBYxyz?Q Iz?v0CIv:iv:v4yyɮ} BfffgffrfereZe:e*eK@ɢj=) \=i)oT=i9 Dɧ '= Si > X<I> >IIIO=AAAAB>BBhHBGBBBBB;BEBBBB=B=C¶y5U(DAT read: user:17> ]BDAT read: Tx time:00:57:06.7695 ]$Ping request sent.]Vt ?V=ٱVQ=VH@??`?`/>?@.@l@CD?m?iV^>IV[\;VCYn,HByn3HIr=)r9Y=DyC:E>Q 5 4Wщ?Q 9 4)gBYP,?Q E:yp%?Q I?VCI] ;ir;;‡4yBɮ B!fAfAfAgAfAfArfAeIreIZeI:eI*eM ~ L@E} E}E}LEy"E}C:*E}A:VE}!5ZEyBE}E;a2E}F;aJE}r;a:E}r;a频ɢa=) 2=i)T=顡i|DɧZ7駭ji(>O<I(> (>IAyAzAyAIIԩO=echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502866 K",N0yLAlY=GBy=HMAAMAAbDU&VDUϰ8yey%eT=ٔeQ-e>9iYi=mDym9CuEu>qQ 5}4uiщ?Q 94u)u^BYyQ I?uwCIu::iu\:uȇ4yɮf Bfffgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754904frfereZe:e*e`=L@ɢF=) Ni)T=i/ iDɧ R2 +i > O< I > >I A.AIIO )>bE5jE5rEuf0E EEOE"E:*ET:VE*5ZEa@a@a@a@1B >B B HB KGBB B B B ;B !Em ?m 5@u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007092a %R",(JyLA$$JAE>Jm?J8=ٱJw=JHc ???6?@`Vշ??iJAE>IJ\;JCY^GBy^HbDjVDj89y} =%H=ٔ]Q->9 ?Y ?=DyZC;E>Q 54{щ?Q 94g)TBYy%?Q I?CI;il;<Ї4y-Bɮ5$ B=JEf1f1f1g1f1f9rf9e9re9Ze9:eA*eEvL@颙ɢ^J=) \i)ǝT=顡i𳐼DɧY-駵 i><I> >Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259757IIOF>ԑDD=E EEKE"E7:*E*:VE5ZEBE;a2E;aJEm;a:Em;aԹ ɭX",fdyLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510903:3>:?:wq=ٱ:is=:H`E? ?$?`w/?`C`&?K?i:3>I:\;8YFGByFHiMb@Mb@Mb@ 9MbX?Mb?Mbp?Y*?y=; hA)YAԑbD-ٿVD-8y%H=ٔ4Q->9Y=DyzCj;E>Q 54щ?Q 94)IBY+?Q E:y'?Q I?CI:i:Uׇ4yɮ* BfQfQfQgQfYfYrfYeYreYZea:ea*ee`L@颹ɢG=) 0i){T=iwDɧ)ti>:<I> >IԹI!I1O=0>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762810 E  E xE E "E :*E :VE ZE a @a @a @a @^", o~yLA6Ү>63?6=ٱ6\=6H?ϥ`!??w(?؝2ic?@Dz?i6Ү>I69\;6CYBGByB|HbDJۿVDJ8yRc%VZ=ٔV6Q-V>9XYX=ZDyZCZ;EZ>\Q 5b4^|щ?Q 9f4^)^>BYdyf'?Q If?^޶CI^:i^:^݇4yjBɮji Bhfxf|f|g|f|f|rfereZe:e*e {L@1ɢ5-l5=)5;z 5Ͻi1)=s/T=99i=1EbDɧE'EiE>M M>IIIIO%=BA4=BBUCBHBFBB=BBB;B(E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0190101 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270796Y e",yLA;ɰp;V{s>V2?VV=ٱV=VH[?g??e#?33 s6?`O?iV{s>IV˽\;VCYjGByj]Hi]Mb@Mb@Mb@YYYY Y9] rh?y&1?MbY]C+?y]`e=]]OA]VA ]\A)]3AYY]QAbDu VDu8yGg%?=ٔ57Q->9Y=DyC;;E>Q 54щ?Q 94)/BY+?Q E:y3%?Q I?CI(:i:K4yBɮ BKEfffgffrfereZe:e*eW M@QDQzDUAAE] E]yE]HEY"E]:*E]:VE]-5ZEYBE];am2E];amJE]s;am:E]s;amɢ1=) i)S=irDɧ>!i!><I!> !>IIIO=y]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522798ԩ k",yLA2>2?2!=ٱ2#=2H?e@m ?`?`("?@4@91??i2>I27\;2CY gGBy @HI?>)bD%VD%İ8y5s%5P=ٔ59Q-5>99Y9==Dy=ڵCEJg:EE>IQ 5U4Mnщ?Q 9U4Mm)M!BYQyUJ%?Q IU?M$CIM:iM;M+4yaɮe BafffgffrfereZe:e*e`>M@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774943ɢ&=) i)DS=i\'"Eɧ"i?>%<I?> ?>IԱIIO-=Em Em|EmIEi"Em%:*EmP$:VEme5ZEiau@au@au@au@G`9YpAB>BVCBbHBFBB=BBBE;B?E u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0267729 Fr",vyLA2ί>2ֱ?25=ٱ2=2H >? I2\;2C 8):;A:̼:6F8<>3Ai>ԼI>ɐF9Y=DyC7W:E>!Q 5e4%щ?Q 9m4%۸)%BYya%?Q I?%ICI%r҄ -_>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2796439jZXDqDu<E} E}{E}EEy"E}:*E}5":VE} 5ZEyBE};a2E};aJE}Kz;a:E}Lz;ai Ae ؟AIi Iy O >x",yLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530936 :>:5?:"=ٱ:C=:H?x? ??'`;??i:>I:'\;:CYGByHiMb@Mb@Mb@ 9J +?I +?I +Y(?y94=94\A?A OA)YAbD VD 8ydJ%;=ٔ%XEQ-%>9-"?Y-"?=-Dy-C5z:E5>9Q 5E4= щ?Q 9M4=)=BYM)?Q EM:yU^!?Q IU?=kCI=0;i=B;=4yaɮe BafffgffrfereZe:e*e M@ɢ^n=) ai)vQ=igEɧ i~>`<I~> ~>iI 踻AIIOa>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785128 E  E mE CE "E y:*E :VE 5ZE a @a @a @a @/!",OuyLAF_C>F%?Fn#=ٱF =FH?a?@?? ਺?ë?iF_C>IF\;FC\Y=FBy=HbDMݿVDM8y]%]W=ٔe5Q-e>9aYa=mDym=Cmc=:Em>qQ 5}4uщ?Q 9}4uܰ)uBYyq!?Q I?uCIu{;iu#;up4yBɮ BLEfffgffrfereZe:e*eM@ɢ=)  i)Q=iAQAU@AB]>BYB]HB]aFBB]=BYB]DB]J;B]EEEɧ駝ӻi><I> >I]BDAT read: Rx Time:00:57:10.2238 ]TRx dataTimestamp_ set to:1764896232.101107echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.040613oMA>A>AI I1 OU >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290965 ",d[zLA=>=?=A=ٱ=SA==H"?@@5???@<͢ ?a?i=>I=~\;9YFBy}HE5 E5sE5IE1"E5:*E5Z:VE5e5ZE1BE5G 9Y=DyaCE>Q 54F҉?Q 94)BY%?Q E:y?Q I?CIT;i7;T 4yiBɮ BBEfffgf!f!rf!e!re!Ze):e)*e-`RN@Qɢ]@<)Y ]iY)]eO=YYie#m!EɧmܽmێimfU>m)s ufU>Iq}R=}p=ADAT read: 00:57:10.2238 LVL= 14224, 16369, 15250, 28387, AGC= 79, IDX= 431,-0.09,-1.092,-2.912,-1.207,-1.645, PHS= 0.655,-1.222, 0.394, RAW= 142.6, 2.0, CAL= 142.3, 2.4, ROT= 7.7, -2.4 Ygot valid direction response: 00:57:10.2238 LVL= 14224, 16369, 15250, 28387, AGC= 79, IDX= 431,-0.09,-1.092,-2.912,-1.207,-1.645, PHS= 0.655,-1.222, 0.394, RAW= 142.6, 2.0, CAL= 142.3, 2.4, ROT= 7.7, -2.4 PDAT read: Bearing 184.0, 1.9 (Local) ~Local bearing/azimuth received: Bearing 184.0, 1.9 (Local) DAT read: Range 11 to 50 : 787.5 m (Round-trip 1050.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.990114,0.133869,0.041876]Fpublishing direction and range infoyY]zAm?"? ۷p?Y]DDY]7]?]; ]n)]OI]'?i]j]^>]&I@]5=]\@ ]+=)] >I]+YY]ɵE?,K?MĚš? ]/>)]&4I] >i]+YYq9I I O >ԙ 3",,3zLAɰ2>2?2:=ٱ2jo=2H ??r?? }??i2>I2\;2CYBFByBTHbDJVDJ8yfyĽ%fr=ٔf Q-f?9hYh=jDyj}Cj7EEn?pQ 5r4r҉?Q 9v4rd)rؓBYtyv?Q Iv?r̷CIr::ir:r;4yzkBɮ~/ B|ii&zLAjDD"jDD:j0?Rj%Ua@凶_Z@@@BjzAm?"? ۷p?*j >2j+Zjʃ^:@`jJQ@d>JjdIT??5jlY?K jC jDi\?i.j~Aj\?j.j~ArjDDzjӖ0?f1f9f9g9f9f9rfAeAreAZeA:eE@*eM@(a?ԙAɢEq<)I MiI)MnN=IQiuy}&Eɧ}}{it><It> t>IEM EM}EMDEI"EM:*EMk&:VEMJ5ZEIaU@aU@aU@aU@II)O5>BU>BQBUHBUFBBU=BQBUDBUY;BULEBBBB=B=CȆ5 PExceeded connect timeout, disconnecting. 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Device response is::RA, 0.00, 283.03, 278.25, 254.37 an@an an@ar ar@ar ar@ar bDv VDv8yz =%~G=ٔ~;Q-~>9Y=DyfC*E > Q 54 ;ۉ?Q 94 >) BQ A+:YQ E:y ?Q I? 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K@>?`p??iFWJ>IFM_;FCY^HBy^H ddbDn VDn8yz=%zU=ٔ~#[;Q->9Y = Dy C J8E>Q 54cۉ?Q 9%4߇)BY!y%h'?Q I%?MCI;iD;]4y)ɮ5 B1MB*** querying acoustic contact ***iIiIfQfQfQgQfYfYrfYeYreYZea:ea*eeK@Թ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. ɢa;)1 5E EpEE"E:*E :VEZEa@a@a@a@ (DAT read: user:18>  BDAT read: Tx time:00:58:06.7694  $Ping request sent. 2?2Bٱ2$=2H[?ງ4id? ?q?*8??i2qn>I22]_;2CYN"HByR%Hi-Mb@Mb@Mb@)))) )9-y&1?V-? rh?Y-`%?y-m=)-A-A ))-A)Y-AbDE&VDEϰ8yM!&=%UE=ٔU#;Q-U>9] ?Y] ?=]Dy] C]<.:Ee>aQ 5m4e|uۉ?Q 9m4e)eʗBYu&?Q Eu:yu)?Q Iu?eoCIe:ie:eȋ4y}BɮBfffgffrfereZe:e*eK@ɢ6) \=i)`@ib2ɧ{?fI=i? ?4 =I? ? ? ?I1A؟AII!O- >Bm>BmUCBmVHBmIHBBiBiBiBmA;BmEB1B5VCB5ēCB1B1C5]5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248438aԑE EuEAE"E:*E:VEA4ZEBEg;a2Eh;aJEtd;a:Eud;aԹ Sj",K#LAɰp;&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5044686>6C?6]ىٱ6Z=6H?9.f [i?5?@ [ 7?w?,?i6>I6^;6CYBHByFHbDNVDN8yV[%VV=ٔV;Q-V>9Z"?YZ"?=ZDyZ*CZ:E^>`Q 5b4bۉ?Q 9f4b)bחBYdyf)?Q If?bCIb:ib:bJϋ4yhɮn BlfQfQfygyfyfyrfyereZe:e*e@K@ɢ.8) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756413E  E nE ?E "E *E :VE ^4ZE a @a @a @a @ s",'=LA2/>2?2ٱ2=2H`J?pPLn?@ޏ?҈ ?@g??i2/>I2^;2CYNIHByRUHIV=)VY>bDXVDXyb=%bH=ٔf/;Q-f>9dYd=fDyjKCj:Ej>lQ 5r4nSۉ?Q 9r4nG{)nBYpyv*?Q Iv?nCIn:ilnh֋4yzBɮzBxfffgffrfere!Ze!:e!*e% 1L@ɢD+)  =i) @iNE2ɧ{?I=i%[ ?v =I%[ ? %[ ?IAzAzAiaIeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.013940II!O- >!I Bm >Bm VCBm HBm rHBBm =Bi Bm DBm h;Bm 7E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260503o|",WLA J>J(?J9ٱJ`=JH@g?T`?`]w??6?2??iJ>IJb^;JCYVFHByVRHi5Mb@Mb@Mb@1111 195S㥛?p= ף?~jtx?Y5$?y5=5;11 5A)11Y5AbDMVDMð8y]Ȼ%]A=ٔe4;Q-e>9aYi=mDymnCms;;Em>qQ 5}4uBۉ?Q 9}4uv)uBY%?Q E:y-?Q I?uCIu;iu;u݋4yɮBfffgffrfereZe:e*e hL@E] E]uE]AEY"E]1:*E]:VE]A4ZEYBE];ae2E];aeJEYam:EYam颡ɢJ,) =i):?顩iz2ɧ{?H=it] ?ɻ =It] ? t] ?IIqIO=ԙechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512384 ",pLA@>>>D?>ٱ>~=>H?q?'? 2?@??p?O?i>>I>u^;>CYJVHByJfH`bDjVDj8yrB(=%rR=ٔvJ;Q-v>9tYt=vDyvCz;Ez>|Q 54~ۉ?Q 94~r)~BYy .?Q I ?~CI~:i~:~4yBɮBEf1f1f1g9f9f9rf9e9re9ZeA:eA*eE̙L@iɢm%&)q uz=iq)}W?yyi}C\01ɧz?駅 H=i ] ? =I ] ?  ] ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764466II O=bE4jE+4rE.Ee EerEaEa"EeC:*Ee?:VEaZEaam@am@au@au@m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016417a "",йLA2\>2?21~ٱ2I=2H@?@Ew? ?y?羿@л?ď?@?i2\>I2^;2CYBpHByBH DDi Mb@Mb@Mb@     9 ~jt?T㥛 ?MbP?Y $?y = : A  ) xA Y bD}VD}8yq=%@=ٔf;Q->9Y=DyCR;E>Q 54ۉ?Q 94n)BYe%?Q E:y-?Q I?CIw:i; 4yxBɮBEfffgffrfereZe:e*e 6L@ɢp ) =i!)%x-?!!i%%-1ɧ-y?-(HG=i5;^ ?5o =9I=;^ ? =;^ ?IAAe>Ae?I9IIO]=B>BBHBHBB=BBB;BHEachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268387yEu EusEu@Eq"Eus:*EuZ:VEu4ZEqBEu";a2Eu#;aJEu,];a:Eu-];aԡ (",!LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5285366">6[?6vvٱ6}=6Hs???ql?@Ү?@X]??i6">I6W];6CYBHByBHbDNVDN8yV=%VZ=ٔV;Q-V>9XYX=ZDyZCZ:;E^>`Q 5b4b{ۉ?Q 9f4bj)bBYdyf:.?Q If?b6CIb:ib~:b4yjyBɮngBlf|f|f|g|f|f|rfereZe:e*e &M@1ɢ5)1 5 >i9)=>99i=vɺEdz1ɧE&x?MF=iM] ?MM =IIM] ? M] ?IQIIO=!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780620QDy zD} @AE  E uE DE "E :*E :VE J5ZE a @a @a @a @ԑ .",.pLAɰ;2SE>2?26nٱ2Y=2H7?`;?@X? W? @ۭ?)??i2SE>I2/^;2CY^HBy^HbDjVDj8y|]%E=ٔY;Q->9 Y = Dy Cڮ;E>Q 5%4ۉ?Q 9%4e)BY!y%.?Q I-?XCI;i;4y1ɮ5mB1fQfQfQgQfQfYrfYeYreYZea:ea*eeY5M@颉ɢ) 3>i)Q>顑iҺE1ɧv?\E=i\ ? =I\ ? \ ?Qaq9YxnAIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.032461A%.AIYԑIOA>ԩB >B B HB HBB B B B T;B +E% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284440 5",J؈LA2^>2~y?27eٱ2&=2H@f?3@U??@>N?l?c?`5?i2^>I2%^;2CY>HBy>HIB)>)Bp=i5Mb@Mb@Mb@1111 195x&1?y&1?9e ?Ye ?=mDymCm٨;Em>qQ 5}4u>ۉ?Q 9}4uRa)uBY/"?Q E:yp-?Q I?uzCIu;iu;u4yzBɮ_BEfffgffrfereZe:e*ejM@ɢ՝) >i)=i[qۺy1ɧ$v?D=i|^ ? =I|^ ? |^ ?IAyAzAEE EE{EEAEA"EE:*EE5":VEEA4ZEABEE;aU2EE;aUJEEKz;a]:EELz;a]ԱAe؟AIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536451 9 ;",%LA2r >2?2Zٱ2I=2Hq?/?`%?Q?;@MN?:? ?i2r >I2(4^;2CYNHByRHbDZVDZ8ybj=%bU=ٔb;Q-f>9f"?Yf"?=fDyf1CjK`;Ej>lQ 5r4n0܉?Q 9r4nN])n%BYpyr-?Q Iv?nCIn ;inq ;n4yztBɮz=BxfffgffrfereZe!:e!*e%M@ɢ ) ,>i)aD=BDAT read: Rx Time:00:58:10.1731 TRx dataTimestamp_ set to:1764896291.844638checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789583iwd㺩0ɧOu??D=i` ?.+ =I` ? ` ?I AiIqIOEM EMxEM@EI"EM:*EM:VEM4ZEIaU@aU@aU@aU@9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040442UB",) LA@:ž>:O-?:Pٱ:]=:H ɋ??m?`Q?G? r??i:ž>I:2^;:CYDyFHiMb@Mb@Mb@ 9Zd;O?~jt?~jtxYj?yD=ĻAfA A)YAbD-VD-8y=텺%=B=ٔ=;Q-E>9AYA=EDyMSCM];EM>QQ 5]4UC܉?Q 9]4UY)U,BY]?Q Ee:yel+?Q Ie?UCIUGD;iUC;U24y}{Bɮ}JByfIfIfIgIfQfQrfQeYreYZea:ei*emM@ɢ) ",>i)$<i꺩t0ɧu?D=i j ? 1B = I j ? j ?IaAAAAB>BUCBHBHBB=BBDB;B Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.294093AI IaOuX>ԉEE EE|EE?EA"EE:*EEP$:VEE^4ZEABEE;aM2EE;aUJEE};aU:EE};aUԱ I",8%LAJDAT read: 00:58:10.1731 LVL= 32400, 31633, 30850, 32755, AGC= 83, IDX= 500,-0.04, 1.386,-0.411, 1.308, 0.800, PHS= 0.687,-1.166, 0.463, RAW= 143.6, 0.2, CAL= 143.3, 0.3, ROT= 6.7, -0.3 NYgot valid direction response: 00:58:10.1731 LVL= 32400, 31633, 30850, 32755, AGC= 83, IDX= 500,-0.04, 1.386,-0.411, 1.308, 0.800, PHS= 0.687,-1.166, 0.463, RAW= 143.6, 0.2, CAL= 143.3, 0.3, ROT= 6.7, -0.3 RPDAT read: Bearing 182.7, 9.5 (Local) R~Local bearing/azimuth received: Bearing 182.7, 9.5 (Local) VDAT read: Range 11 to 50 : 749.7 m (Round-trip 999.6 ms) speed 0.4 m/s ZR#Rx 1: Read range and direction messages.^\direction in FSK: [0.993157,0.116669,0.005236]^Fpublishing direction and range infoy02NC?C޽?sNru?Y2l;D02~2{2x 2)2SI2;/?i2}?2V>2g @2d;2Q @ 2;)2|=I2002Μ߶dP?4&bO?,!tj? 2D>)2 SI2|=i200 Jܿ> ? gKٱ S= H@?@ ?@)?F?ǾQj???i Jܿ>I ^; CY=HBy=HbDMVDM8y}q%G=ٔR;Q->9Y=DyuCԩ;E>Q 54/܉?Q 94T)2BYy+?Q I?CI:iB:\4yɮPBi0i2^&LAj2;D"j2;D:j2b5?Rj2IH@Ws6U@s 9l@Bj2NC?C޽?sNru?*j2|=2j2Zj2+ͦa@w0bp~@,RI@Jj2 F >? 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V`??iF>IF];FCYRXGByR-HIV4=)V9Y=DyCE>Q 54c?Q 94 )BY ?Q E:yZ.?Q I?CIP;iD;rϏ4yuBɮBEfffgffrfereZe:e*eKK@!ɢ%j)) -'i))-C;))i-I廩5/..ɧ5=hli= >=.&=9I= > = >IAAUyAzAQ IIIYO}>%=<9D zD AAE EhE?E"E:*E]9VE^4ZEa@a%@a%@a%@a B >B XCB HB GBB =B B B ;B E,",kI▋LA Fh>F$D?F:<ٱF=FH?i`?e??;@PR`n??iFh>IFL];DYRWGByR,HbD^VD^8yfqa%fY=ٔf*Q-f>9hYh=jDyjCjL'En>pQ 5v4rr?Q 9v4r_)rBYtyv_-?Q Iv?rCIr\:ir%:r ֏4yzvBɮ~B~Efffgff!rf!e!re!Ze!:e)*e- |K@Yɢ]׻)a e)ia)e}έ;aaie㻩mg.ɧm\m`miu>u"'=qIu> u>IyII)O]=iԙ E-  E) E- =E) "E- :*E) VE- |4ZE) BE- ;a5 2E- ;a5 JE- "5;a= :E- #5;a= V",)!LA\b>b??bW<ٱb=bH{? Ox?9h?@?`o?@`S?`?ib>Ib];bCYSGBy(HbD]VD]8y{%?=ٔ6Q->9Y=DyCE>Q 54Ӄ?Q 94)BY y \,?Q I?CImf'=IR> R>III!O5 >M2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.!  (DAT read: user:19>  BDAT read: Tx time:00:59:07.0194  $Ping request sent. ",LA2>2`C?2<ٱ2\=2H?(7 R=?M??f"2 ?`?i2>I2T];2C!E~ EiE<E"E:*E9VE 4ZEa@a@a@a@YFGBy H iMb@Mb@Mb@ 9K?)\(?I +?Y^?yGa=9<AA ?A)(AY(AbDVD8y߼%,=ٔFQ->9Y=Dy"CBE>Q 54?Q 94)BY?Q E:y(?Q I?CI:i:4ywBɮBAfffgffrfereZe:e*e`K@ɢ-&$ݻ)) -_9i1)5';11i5_߻=n.ɧ=b=imBBBHBGBBBBB ;BEBBBBBC84i=>$'=I> >I!A5>A5?IIOb>]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250852qԡ g",I/LA2cR>2s?2;ٱ2`=2H? "LL?7??m3} h?` ?i2cR>I2];0 8)8:Լ88<>+Ai>̼I<4yɮB f)f)f)g)f)f)rf)e1re1Ze1:e1*e5oL@yɢ(9) eLi)C;i a޻ "/ɧ&: miu>5'=1I5u> 5u>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502932IIO=ԡE EmEE"E*E:VEZEBE;a2E;aJEUG;a:EVG;am checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754899 O",:ILAɰ4<:ı>:?:Z;ٱ:g=:H ?}?"? ?@My}e?n?i:ı>I:s];:CYDGByHiMb@Mb@Mb@ 9Cl? rh?9Y=Dy^CE>Q 54Ĵ?Q 94-)BY?Q E:y+?Q Iu?/CI3=_ (=9I=I> =I>IAIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918OB>E E}E@E"E:*Ek&:VE4ZEa@a@a@a@1Y B >B B B B B B B ;B Ez",cLA2[>2P?2e;ٱ2m=2H@6?\?@??+@}wOf?r?i2[>I2]];2C%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258710Y%:GBy- HbD=VD=8yMҼ%MS=ٔMĩQ-M>9QYQ=UDyU~C]E]>aQ 5m4ed?Q 9m4eS)eBYiym+?Q Im?eMCIe:ie:e4y}tBɮ}ByfffgffrfereZe:e*e +L@ɢ )  QEi)CJ;iFQۻ%/ɧ%p%:mi%<)>-F>(=-{=I-<)> -<)>9I9AzAtAIIO >aԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511748E | E E ?E "E :*E 0:VE ^4ZE BE @;a 2E A;a JE ;a :E ;a Թ ",h}LA2&>2]?29;ٱ2*=2H?`@3???d@Wu4??i2&>I2J];2CY>?GBy>HbDFVDF8yVJ<%ZU=ٔ^Q-b>9`Yd=fDyfCfǻEf>hQ 5n4j?Q 9n4j)jBYpyr|*?Q Ir?jkCIj;ij;j]4yvuBɮvBtf f f gff!rf)e)re1Zey:ey*e`׳L@ԙɢ ) t@i)!;i ٻ5/ɧ5u5mi=>=w(=9I=> =>IAIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765363IQO]> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861 ",FLAJ>JI?J;ٱJE=JHp&?@J?`?? yr@??iJ>IJ];JCYVJGByVHi5Mb@Mb@Mb@1111 195Zd;?kt?:v?Y5?y5 =5<5A5A 5/A)5"A1Y1bDM VDM8y]W<%]?=ٔeQ-e>9aYa=eDyeCm;Em>qQ 5}4uF?Q 9}4u )uBY} ?Q E:y0?Q I?uCIu] ;iur;u4yXBɮfBEfffgffrfbEE|4jEArEE10E EhEAE"E:*E]9VEA4ZEa@a@a@a@ereZeQ:eQ*eUL@颙ɢ) c5i);a;顡ivػ0ɧWni>[(=I> >IIQIaOu=Be<Ae<Bm>BiBmHBmGBBm=BiBmDBm;BmE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917I q",` LA02>2??2л;ٱ2F=2H x/?`RH?`L?`*? Hm@wp"?`?i2>I2];2CY>,GByBH @@ FC=Fp=bDJVDJ8yR-%RW=ٔVQ-V>9TYT=VDyZCZ=EZ>\Q 54^?Q 94^ )^BYy{0?Q I?^CI^T ;i^ ;^m4y-YBɮ-B-EfIfIfIgIfIfIrfQeQreQZeQ:eY*e]M@颁ɢ3) zSi)f;顉i׻T0ɧ駝piRz>(=IRz> Rz>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518738ԉE} EjE:E"E݉:*E9VE(4ZEBEb;a2Ed;aJEj<;a:Ek<;a^A=IaIyO]>Թ G  - :9) Y5 %8Au checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776264",vʗLA2>2¨ ?2X;ٱ2܍=2Hn9? ??? $? 1k ??i2>I2];0YNGByRH\i]Mb@Mb@Mb@YYYY Y9]V-?~jt?{Gz?Y]|?y]=]ף9Y=DyCE>Q 54N?Q 94i)BYs!?Q E:y4?Q I?CIV:i:4yɮBfffgffrfereZe:e*ePM@ ɢ28) Jdi)=;iiջ%0ɧ%e%% )=!I-> ->I)^A-}=IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026881DzD@AE~ ExE=E"E:*E:VE|4ZEa@a@a@a@A Be >Be YCBa Ba Be =Ba Ba Be ;Be E",䗋LAɰ;2>2) ?2 ;ٱ2=2HA? ó(? ? *?@d`Ad@X?"?i2>I28];2CYN+GByNHbDV VDV8y^i#=%bX=ٔbQ-b>9dYd=fDyf!CfEf>hQ 5r4j?Q 9r4j\)jřBYtyv3?Q Iv?jCIj1M;ij7_;j4y[BɮB-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279950)fafafagafifirfieqreZe:e*eऄM@AɢE-)A ETiI)MJu;IIiMԻ0ɧ~駝]si>?)=I> >IA^Aբ=AzAzAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531778A! I1 IA OM >ԡ E  E uE E "E s:*E :VE ZE BE ";a 2E #;a JE td;a :E ud;a D",LA6=>6I ?62:ٱ6L=6H F?`??+?G䲿%V`Cb??i6=>I6(];6CY^2GBybHbDj VDhyr<%rH=ٔv3)Q-z>9Y=Dy BCWE>Q 5%4l&?Q 9%4)˙BY!y%23?Q I%?CI:i:#4y1ɮ5B1fQfQfQgQfQfQrfYeYreaZei:eqԁ*eu)M@ɢ !&)1 5Mi9)E6j;AAiM1һuv1ɧu}ui}_>}v)=yI}_> }_>I@@@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783370ԩA .AI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034796",nLA 鹩> d ? 9ٱ 1= HRJ?` ?ݵ? 2.?@`^= `?`?i 鹩>I ]; Y=3GByEHDDR=E{ EaEE"E=:*E9VEZEa@a@a@a@iMb@Mb@Mb@ 9jt?+η?Mb`?Y ?yv=;A )"AYbDVD8y [;% 9=ٔ9 ?Y ?=DyfCgE>!Q 5-4%i8?Q 9-4%E)%͙BY-"?Q E5:y52?Q I5?%2CI%:i%;%x+4y=\Bɮ=B=EfYfafagafafarfaeireiZei:ei*em@M@1ɢ=))9 =Li9)=\_;99iE ѻE~Z1ɧMMbwiME >M)=IIUE > UE >Iy BBBBB=BBB;BހEAI!I9OEQ>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.2875031Y R ",g2LA2Ѩ>2R3 ?2Jٱ2V_=2H@Q?@?`z?`5?Iγ6`?`? +?i2Ѩ>I2F];0Y>)GByBHbDJVDJð8yRϼ%Re=ٔRQ-R>9TYT=VDyVCVdEZ>XQ 5^4ZG?Q 9b4Zt)ZϙBY`yb1?Q Ib?ZOCIZ~:iZ:Z14ydɮfBhfxfxfxgxfxfxrfxe|re|Ze|:e|*e N@ɢ`}D) !Vi) AU;  i Lл1ɧ12xi=>=')=9I=> =>IAAu>Au>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539749A؟AE ElEE"E:*E:VEZEBES;a2EU;aJEC;a:EC;aIIO$>aԑM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791071Թ ",ALLA6>6 ?6Ęٱ6=6H`WX??ෞ?I6];6CYF*GByFHiMb@Mb@Mb@ 9x&1?#~j?~jtY!?y=DAA A)/AYbD-VD-°8y5;%=A=ٔ=ϻQ-=>9E"?YE"?=EDyECE.mEM>IQ 5U4MX?Q 9U4M)IY]"?Q E]:y],?Q I]?MrCIM;iMz;M94ye@BɮmUBmEfffgffrfereZe:e*eQN@AɢE"8)A E?UiA)MJ;IIiMLϻU[1ɧ]⛿]kyi]ޏ>]*=YIeޏ> eޏ>IqԙA.AIIO&>ߥ=ߥ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043145E EjEAE"E:*E9VEA4ZEa@a@a@a@B >B B B B =B B B ;B ΀EBYCBYCBB=B=CXP5 =",fLANB>NJ ?NREٱN8=NH`?@p?? F?@??`%?iNB>IN];NCYbGByfHbDr VDr8 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295723y %M=ٔ:Q-%>9- ?Y- ?=-Dy-C- E5>1Q 5=45i?Q 9E45)1YAyEA,?Q IE?5CI5Y;i5;5@4yIɮM`BQfifqfqgqfqfqrfqeyreyZey:ey*e2N@颩ɢP) `i)>;顱idϻ2ɧ!駽yi~d>3*=I~d> ~d>IA ؟AII!O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546838I E  E tE @E "E ~:*E v:VE 4ZE BE ;a 2E ;a JE `;a :E `;a S@",LA4<ɰ4<6>>6 ?6mo+ٱ6b=6H@f?2~ ? ?YL?:m?״?Z?i6>>I6];6CYN GByRHbDZ4VDZܰ8ybkW;%bO=ٔfQ-f>9f"?Yf"?=fDyjCjvEj>lQ 554nz?Q 954n)lY1y=+?Q I=?nCInW;inh;nF4yeABɮebBeEfffgffrfereZe:e*e4N@ɢK) l_i)cF3; i /ϻ%~V2ɧ%T-3 zi5*9>=d*=9I=*9> E*9>IIAzAxAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.799073Ae.AIiIyO9>yԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050907R(&",әLA@Yr*GByrHIv<)v<E EyE?E"E*E:VE^4ZEa@a@a@a@iMb@Mb@Mb@ 9Cl?Q?:vY;?y\=ԼAA A)5AYAbD0VDٰ8yi<%;=ٔQ->9 ?Y ?=DyCE>Q 54\?Q 94])̙BY` ?Q E:y\(?Q I?CI:i:N4yɮXBfffgffrfereZe!:e!*e%`MN@IɢMH?)Q UUiQ)U';YYi] ϻe|2ɧeeXyie'&>e*=aIe'&> m'&>IiԱAB>BBHBFBBBBB;B̀EIIO$>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302815 T,",LA2&h>2 ?2FRٱ2H=2H|u?@ gh?`l? =V?j?@!? G?i2&h>I2];0YNGByNHbDVGVDV8y^%b\=ٔbuQ-b>9dYd=fDyf%CfnEf>lhQ 5r4j?Q 9r4j)jʙBYpyrz'?Q Iv?jCIjm(;ij(;jU4yzBBɮzhBxfffgffrfe!re!Ze!:e!*e%@O@QɢU`)Q UhciY)]7;YYi]0Gϻe2ɧee*yieF>eR*=iImF> mF>Ii}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555829IqIO=E EmE>E"E:*E:VE4ZEBE;a2E;aJEUG;a:EVG;a9- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806899a 2:3",P͘LA:>: ?:˘ٱ:Q=:HP|?[@Ğ?`Z`?`Z?J3/? B?m?i:>I:];:CYFGByFHiMb@Mb@Mb@ 9Zd;O?:v?:vYj?yT=A A)YfAbD-`VD-89yE%EB=ٔEb̻Q-E>9IYI=MDyMGCUEU>QQ 5e4U?Q 9e4U)UșBYe?Q Ee:ye* ?Q Ie?UCIU:iU:Un\4yqɮukBqfffgffrfereZe:e*e@TO@ɢ>W) fi)";iEϻ#3ɧjwi,;>z*=I,;> ,;>IAA>iIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058862ԑbEǴ4jE4rE '0E EnE@E"E:*E:VE4ZEa@a@a@a@B >B XCB HB GBB B B DB ;B ӀE e9",i瘋LAB{a>B.?B]^ٱB=BHe?@Ms˝?CP?``?$a?@̳? ?iB{a>IB];BCYN#GByNH PPbDV9VDV8ilIlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.311241y%<%%L=ٔ%ͻQ-%>9)Y)=-Dy-gC-E5>1Q 5e45N?Q 9e45)5ƙBYaym?Q Im?54CI5F;i5F;5lc4ԙyCBɮdBEfffgffrfereZe:e!*e%pO@频ɢ}N)Z \i);项iлZ3ɧ/ti\>+=I\> \>IIQIaOu=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562903E  E wE >E "E :*E :VE 4ZE BE ;a 2E ;a JE k;a :E k;a  5L@",?LA2X>2v?2ٱ2>=2H`r?@??A?if?t?I2];2CY>)GBy>HbDF2VDFڰ8yN<%NS=ٔRvȻQ-R>9PYP=VDyVCVEV>XQ 5^4Z?Q 9^4ZD)ZřBY\yb?Q Ib?ZRCIZ;iZ;Z.j4ydɮf^BdftftftgtfxfxrfxexrexZe|:e|*e~PO@频ɢdZ) Vi)Ԍ:顩iѻ3ɧƗ駽riʃ>F+==Iʃ> ʃ>I w>CmGGԹ-S89QYU5A checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817336II)O5 >!Qy  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066989XvF",LA;ɰ;Yv*GByvH-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 249.59, 275.86, 265.14 a-@a- a-@a- a-@a- a-@a- bD5VD58yEG;%M@=ٔMQ-M>9QYQ=UDyUCUEU>Ee~ EegEe?Ea"Ee:*Ee&9VEe^4ZEaam@am@am@am@qQ 5}4u?Q 94u=)uÙBQ A+:YQ E:yQ I?utCIu";iu>u?p4y'Bɮ$BEfffgffrfereZe:e*e=O@ɢJ.N) ?Ui)}:iiӻ 3ɧM{piy>r+=Iy> y>IAzAzAyAaIIO=AIAMAABU>BQBUHBUGBBU=BQBQBUm;BUEԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.319285ԩ L",#4LA2I$>2\?2b޼ٱ2=2H@?`#Գ?`#?u? `›?@c?@6?i2I$>I2C];2CYBGByBHIF=)Fp=bDJVDJ8yf%fS=ٔfQQ-f>9hYh=jDyjCj5En>pQ 5r4r?Q 9v4r)pQ Av :YtQ Evb:yv?Q Iv?rCIr:irP?rt4yz)Bɮ~4B}EfffgffrfereZe:e*eP@ɢd) bi)m:i lԻe4ɧؔ'niF>+=IF> F>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.572859ԱEm EmhEiEi"Em~:*Em]9VEiZEiBEm;a}2Em;a}JEm"5;a}:Em#5;a}=qA؟AII O] >i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=8.8231319 ևS",NLA2V>2?2fٱ2T=2H`?@軗?}? I?}Ԝ?%?6?i2V>I2];2CY>9GBy>Haa aa aa aa iMb@Mb@Mb@ 9l?Q?y&1|Y?y\=`AA A)OAYAbDVD8y-ׅ=%-D=ٔ5$Q-5>95"?Y5"?=5Dy=C=PE=>AQ 5M4E/?Q 9M4E )EřBQ AUT:YU?Q EU:yU?Q IU?ECIE:iE:E{4yɮBfIfIfIgQfQfqrfqeqreyZey:ey*e}]-P@ɢ?) Fi)h:i!JֻPQ4ɧZ*jii:>+=Ii:> i:>Izmchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.0749989DyzDyE ElEFE"Ea:*E:VE 5ZEa@a@a@a@^A=i A .AI I O >BM >BI BM HBM GBBI BI BI BM b;BM E~Y",ThLA 2PExceeded connect timeout, disconnecting.>>>??>6ٱ>0Ⱥ=>H*? s?@?׊?ⷿ?`:N??i>>I>];>Cfchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.327022Yj,GByjHbDv VDv8y% M=ٔ  Q- >9 ?Y ?=Dy CE%>)Q 554-?Q 954-)-șBY9y=?Q I=?-CI-.B;i-\C;-4yM*BɮM(BIfyffgffrfereZe:e*eTEP@iɢm;\)i mSii)u:顑iU׻4ɧ䏿駝":fiM>+=IM> M>Iiԙ^Auا=AyA}?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.578884A ؟AI I O >E  E mE >E "E O:*E :VE 4ZE BE ʺ;a 2E ˺;a JE UG;a :E VG;a _`",{LA2>2?2xٱ2-'=2H?Z߿@??i??G;??i2>I2B];0Y>GGBy>H TT`bD^-VD^ְ8yff=%jN=ٔj Q-j>9n"?Yn"?=nDyn)CrӻEr>pQ 5v4re#?Q 9z4r5)r˙BYxyz?Q Iz?rCIr:ir:rۉ4y|ɮ Bf!f!f!g!f!f!rf)e)re)Ze):e)*e5Y^P@Yɢ]_QE)Y ] 8ia)e:aaieNٻm4ɧmbm:7bim:>u,=qIu:> u:>Iq@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833689AU.AIYIqO}z>A } ^?^ٱ^U=^H>?@߿`X? 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Yn ?IMiIAԡIiIyOZ> Lt",ԥLAɰ4<6>6 ?6uٱ62=6Ht?o y?'d?`X?赿`)գ?`??i6>I6,F^;6 CYFFByFUHbDNVDNb8yV2<%V]=ٔVNRQ-V>9XYX=ZDyZC^E^>`Q 5f4b+N?Q 9f4bU)bzBYdyj6?Q In?bCIbџ) *{",LA2 ѣ>2 ?2ٱ2=2H`v?`>m}?a?`X?H ?@??i2 ѣ>I2^;0YBFByBhHbDJVDJ<8yR=%RJ=ٔV*:Q-V>9TYT=ZDy^CfXEj>pQ 5v4r_?Q 9v4r)rBYtyz?Q Iz?r CIr:ir:r(4y~BɮBEf!f!f!g!f!f!rf)e)re)Ze):e)*e5\@B>BUCBoHBFBB=BBB;BiEɢyo) $i)>U9i%!绩%[1ɧ-??-N=i- ?-'0=)I- ? - ?IQAazAaIIO=IE5 E5wE5?E1"E5:*E5:VE5^4ZE1BE5;aE2E5;aEJE5k;aE:E5k;aEYԁ ",yLA,6}>6/! ?6+-ٱ6=6H@o?"xy?m?L?@@ud?ӵ?D?i6}>I6 ];4YBFByBHi-Mb@Mb@Mb@)))) )9-/$?:v?{Gz?Y)y-T=-#<-A-A -A)-rA)Y-3AbDMXVDM8y]Rp=%]?=ٔ]j:Q-]>9aYa=eDye Cmˁ;Em>iQ 5u4mBq?Q 9}4m)mBY}A?Q E}:y}n?Q I}?m-CImz;im];m4yBɮBB*** querying acoustic contact ***iif)f)f)g)f)f)rf1e1re1Ze1:e9*e=@\@颁ɢ) Oi)hJ顉i黩"1ɧ? Q=iq ?,&0=Iq ? q ?IIqIԉO=E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.ԱE5 E5oE5>E1"E51:*E5:VE54ZE1a=@a=@a=@a=@ r;",D"LA:9>:f ?: #ٱ:ᙽ=:Hb? ҋl?`!?`:?k K?r?]?i:9>I:];:CYZFByZvH`bDfaVDf8yn%rS=ٔr&;Q-r>9pYt=vDyv)Cv};Ev>xQ 5~4z?Q 94z)zBYy) ?Q I?zKCIzm ;iz ;zP4y ɮ Bf)f1f1g1f1f1rf1e9re9Ze9:eA*eE`\@iɢmE)i udiq)uqqiu>y껩} 0ɧ}݃?}cR=i|G ?%0=I|G ? |G ?I(DAT read: user:20> BDAT read: Tx time:01:00:07.2694 $Ping request sent.BBHBFBBBBB:;BEBVCBVCBB=B=C[4U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250890Y E]  E] zE] =EY "E] C:*E]  :VE] |4ZEY BE] D;a 2E] E;a JE] v;a :E] v;a e",cJs ?J٢ٱJ}=JH E?f? '?@9????iJ>IJ~];J CYrFByrrHiMb@Mb@Mb@ 9S?T㥛 ?Mb?Y/?y=<AA A)nAYAbDVVD8y%;=ٔ* 9Y=DyLC̆<E>Q 5 4?Q 94)BY?Q E:y#&?Q I?nCIX;iW;4y%Bɮ%B%EfAfIfIgIfIfIrfIeIreQZe:e*e]@ɢ%쫼)! %)i!)%!)i-h뻩U0ɧUn?]kS=i]e ?e)(0=aIee ? ee ?IaI IO- >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502805qԡ N",W@VLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759812FO>FIr ?FٱF=FH@:? Ρ? ?I?8?. ?`7?iFO>IF1^;F CYVGByVHbD^1VD^ڰ8yf0>%f]=ٔj 9hYh=jDynjCn;En>pQ 5v4rТ?Q 9v4r)rBYxyz&?Q Iz?rCIr:iro:rf 4yɮByfffgffrfereZe:e*e`3]@D=DE EnEAE"E:*E:VEA4ZEa @a @a @a @QɢeG)a eGia)eEiiimI컩u0ɧuք?uT=iu| ?u5+0=yI}| ? }| ?IyԩA.AIIO&>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006877 w",3pLAɰ;F8>F| ?F^9ԼٱF=FH 3?X٣?b? '?@@i?|??iF8>IF];F CYRFByRHbDZ8VDZ8ybc%fK=ٔf9j ?Yj ?=jDyjCj,;Ej>pQ 5r4rs?Q 9v4r)rBYtyv,'?Q Iv?rCIr:ir>:rr4yzѤBɮ~B~Efffg!f!f!rf!e!re!Ze):e)*e-K]@QɢUy)Y ]iY)]QS|aaie)_mM0ɧm:?m)U=imp ?m.0=iImp ? mp ?IqBBBHBFBBBBB|;BE%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260212A-؟AIQIqO> E) E-sE-=E)"E)*E-Z:VE-|4ZE)BE-1;a]2E-2;a]JE-,];ae:E--];am1i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511101Y x_",󉦋LAJT>Jr ?JٱJ=JH2?7??`8?@?`?`M? ?iJT>IJ];J CYVFByVHIZ>)Z>i5Mb@Mb@Mb@1111 195X9v?Q?:v?Y5?y5u=5T<5A5A 5A)5bA1Y5AbDUVDU8yeM=%eA=ٔe)9m"?Ym"?=mDymCm:Eu>qQ 54u ?Q 94u)uBY?Q E:y &?Q I?uCIu:iu:u4yɮBfffgffrfereZe:e*ef]@ɢN) ii)331qiu[}l0ɧ}Ʌ?}V=i}ư ?}20=Iư ? ư ?IA.AIIO$>a%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762887DzDE EtE?E"E:*Ev:VE^4ZEa%@a%@a%@a%@ԉԹ ",㣦LA6F>6 ?6ٱ6s=6H3?@x!???@yM??`?i6F>I6];6CYBGByBHbDN VDN8yV<%VV=ٔV9v ?Yv ?=vDyzCzZEz>|Q 54~??Q 94~)~BYy &?Q I ?~CI~:i~:~4yӤBɮBEf1f1f9g9f9f9rf9e9reAZeA:eA*eE]@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014909yɢ‚) yi) 顁i/ɧM?駕V=i ?60=I ?  ?IԉA؟AI)I9OE>ԱBm<Am<Bu>BuVCBuHBuFBBqBqBqBu;Bu΀E- 1?- =- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267753bE&4jE4rEp/E-  E- rE) E) "E- ҝ:*E- ?:VE) ZE) BE- ;ae 2E- ;am JE- Y;au :E- Y;a}  ", LA6>6 ?6Mٱ6=6H`P6?`?@0?^?)?ê?`Q?i6>I6];6 CYRGByRHiMb@Mb@Mb@ 9-?Dl?Mbp?Y5?yO=;AA A)\AY(AbD,VDհ8y=%8=ٔ;Q->9"?Y"?=DyCǤE>Q 546?Q 94)BY1?Q E:y)?Q I ?CI:i:B'4yɮBf1f1f1g1f9f9rf9e9re9ZeA:eA*eE›]@iɢm)q u|jiq)u+ͺqyi}'/ɧ\?駅V=iK ?90=IK ? K ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894AIIO >M8Gay 79Y4AI E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771222",צLA Ec>E# ?E zkٱEt=EH 8?Ybz???xn?,&?#?iEc>IE];E CYeGByeH iibDVD°8yf%M=ٔ";Q->9Y=DyC0E>E EoE=E"E*E:VE|4ZEa@a@a@a@Q 54?Q 94)BYy)?Q I?.CIQ;i;:.4yդBɮBfff!g!f!f!rf!e!re)Ze):e)*e-@v]@Yɢ])Y ]=piY)eaaiemj/ɧmn?mW=im ?mf<0=qIu ? u ?IqA>AIA.AIIO(>yiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023097ԡ Ż",$aLA6>6Ž ?6&6Jٱ6=6H:?5B?@-?@V? F? f?`?i6>I6];6 C@Y^!GBy^HbDjVDj8yr7=%rY=ٔr;Q-r>9v ?Yv ?=vDyv.CzEz>xQ 54z2?Q 94z)zĚBYy)?Q I?zKCIz;iz#;z44yɮBB%>B!B%HB%GBB%=B!B%DB%;B%EfIfQfQgQfQfQrfQeYreYZeY:eY*ee]@颉ɢZ) ^i)kd顑i컩6/ɧ?駝8W=i ?>0=I ?  ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276362ԩA؟AI I1OU>E EuEBE"Ea:*E:VE5ZEBEv;am2Ew;amJEtd;au:Eud;a}  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526816",; LAɰ22 >2 P ?2k-ٱ2$=2H>?x??`2? $E?3ɾ??i22 >I2 ^;2 CYLyRHli]Mb@Mb@Mb@YYYY Y9]\(\?S㥫?Mb`Y]?y]/]=]]A]A Y)]OAYY]AbDuVDuư8y-:%A=ٔ;Q->9"?Y"?=DyQCE>Q 54?Q 94߶)ǚBY?Q E:y $?Q I?lCI:i=:5<4yؤBɮBEfffgffrfereZe:e*e]@ ɢ1) ^i) iNH컩%.ɧ%R?%7X=i%U ?%@0=!I%U ? -U ?I) AaIqIO>=<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779147AE EqEME"E*E$ :VEH$5ZEa@a@a@a@a ",%LA2Xy>2 ?2ٱ2;P=2H`C?G?? ?7/Â? ??i2Xy>I2];0YN(GByRHIV=)Vp;ZAAXbDZVDZ8yb><%bW=ٔfWu;Q-f>9dYh=jDyjpCj?Ej>lQ 5r4n7(?Q 9r4n>)nȚBYtyv#?Q Iv?nCIn:in:nB4yxɮzBxfffg9echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030999ffrfereZe:e*e@^@ɢ) Wi)Yiv뻩%N.ɧ%?%Y=i%> ?%4B0=!I-> ? -> ?I)I1IAO]>iAAAAAAB%>B!B%HB%FBB%=B!B!B%;B%EԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283071 E  E E ;E "E :*E VE 4ZE BE 1;aE 2E 2;aE JE U;aM :E U;aU \",0 ?LAnm>n( ?n)ٱnY=nH`I?ܨ@?H??(?$X -? E·? _?inm>In];n CY GByHԩiMb@Mb@Mb@ 9$C?J +?9Y=DyCITE>Q 54d:?Q 94)ɚBY ?Q E :y !?Q I ?CI%;i$;J4yBɮ_BEf9f9f9g9f9fArfAeAreAZeI:eI*eM1^@qɢu)y }cgiy)}s8!yyi}c껩~.ɧ9?駍[=ij ?B0=Ij ? j ?IiYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535170IIO'>1  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786888",WXLAJR>J ?JٱJ:_=JHK?o̥?@l?)?z@~?? ?iJR>IJ];J CYVGByZHbDbVDbư8yj-%j_=ٔj:Q-j>9lYl=nDynCrSEr>tQ 5z4vyI?Q 9z4v)tYxyz!?Q Iz?vCIv:iv:vQ4yɮcBf!f!f!g!f!f)rf)e)re)Ze):e1*e54^@Yɢ]I)a e_kia)e@,aaie=黩mU.ɧm0?m]=iu ?uB0=qIu ? u ?IyD=D%=E EEFE"E1:*EVE 5ZEa@a@a@a@IyIO=A}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038822ԁԙ ",rLA2Ro>2 ?2ٱ2=2H@5D?@?j? ?ᶿd~? U?`?i2Ro>I2,];2CYBGByBHBb>BbUCB`B`Bb=B`BbDBb;Bb߀EBBBBBC5bDJCVDJ8yE-K;%EC=ٔE9Q-E>9IYI=MDyMCU;EU>QQ 5]4UZ?Q 9e4U)QYaye"?Q Ie?UCIUM;iUS:UNX4ymBɮufBuEfffgffrfereZe:e*e`hO^@ɢB)  ji)8il軩.ɧ;?^=i ?C0=I ?  ?IA>AIYԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290939IqO=E E{E>E"E:*E5":VE4ZEBE5;a 2E6;aJEKz;a:ELz;a)  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542866",LA06>6 ?6Bٱ65I=6H 6?p?`? ?@\g@I6p];6 CYN&GByRHi%Mb@Mb@Mb@!!!! !9%~jt?l?~jtxY%?y%=%Ļ%A%A %(A)%KA!Y%AbD(VDѰ8y==%D=ٔQ->9Y=DyC&;E>Q 54l?Q 94ޣ)Y?Q E:y?Q I? CI:i:_4yɮVBfffgffrfereZe:e*ej^@)ɢ-)1 5Yi1)5dD99i=滩E-ɧEڌ?E]a=iE ?ED0=AIE ? E ?IIIIOU=ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794900ԹE EE?E"E:*E?:VE^4ZEa@a@a@a@ V'",dLAɰ2Y>2?2Yٱ2=2H@(?|@F?>??@@xY?+Ѻ??i2Y>I2];2 CYNGByNHbDVVDV8\yb%bZ=ٔbgQ-f>9dYd=fDyfCj <Ej>lQ 5r4n{?Q 9r4n`)nʚBYpyr\?Q Ir?n'CInh:inu:n'f4yzBɮziBxfffgffrfereZe!:e!*e%^@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046953Yɢ]⫟)Y ]giY)eOaaie廩m-ɧm9?mc=imc# ?mF0=iIuc# ? uc# ?IqII1OE=B<A<BBBBB=BBB ;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298891A E  E E >E "E *E .:VE 4ZE BE ;aE 2E ;aM JE ;aU :E ;a] ",KLAbF>b?b7ٱb=bH?8 ?`v ?`?@%?c?`?ibF>Ib];`YnGBynHimMb@Mb@Mb@iiii i9m~jt?L7A`?Yiym+=mmAmA i)iiYm3AbDVD8y;%==ٔQ->9Y=Dy7C%<E>Q 54ߍ?Q 94d)̚BY?Q E:y?Q I?HCI ;i;m4yɮfBfffgffrfeireiZei:eq*eu ž^@颹ɢ) -ei)r\i-廩d-ɧ?siԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8028238",ڧLA2{u>2/?2Sٱ2f=2H??,?M?F"a?j?`C?i2{u>I2];2 CY>%GBy>HbDHVDHyR<%R\=ٔRbQ-R>9TYT=VDyVUCV\<EZ>XQ 54Zf?Q 94Z)ZΚBYy?Q I?ZeCIZm)ԡ]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054872 b",=LAB6>B4B4B4B4B4B4B6f;B64EBa(>B?BnٱB=BH`?`5?B?? VmÍ???iBa(>IB];@Y^GBybHbDj!VDj˰8yrּ%rF=ٔr@Q-r>9tYt=vDyvwCv<Ez>xQ 5~4z?Q 94z)zњBYy?Q I?zCIzD;iz;zc{4y ɮ lBfffgffrfereZe:e*e7^@)ɢ-vv)) -fi))5us11i58仩=,ɧ=?=Etj=i=¿ ?EtW0=AIE¿ ? E¿ ?IAIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.315296O== bEIjEMĜ4rEM;1E5 E5rE5CE1"E5s:*E5?:VE55ZE1BE5";a2E5#;aJE5Y;a:E5Y;a1 C GG) 9 m -9i Ym c+Ai߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563137Y I", LA6E>6A?6rjٱ6=6H?lLjǪ?1_??,) !M???i6E>I6];4YB&GByFH HHiMb@Mb@Mb@ 9$C?+?y&1|?Y?y=`;A )?AYAbD-VD-ɰ8y5<%=E=ٔ=ZQ-=>9AYA=EDyECM"<EM>IQ 5U4M?Q 9]4M()M֚BY]r?Q E]:y]#?Q I]?MCIMG ;iM] ;M4ymƤBɮmeBifffgffrfereZe:e*e ~^@ɢ) Yi)Z~i9㻩,ɧr?k=i ?_0=I ?  ?I1IyIO=achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.814995DzDAAԑE EEAE"E:*E H:VEA4ZEa@a@a@a@Թ Mt ",z'LA2>2:?2wٱ2L >2H?gZ{??d|? n?z?D?i2>I2!];0YB-GByBHbDJ8VDJ8yzH<%zO=ٔzH7Q-~>9|Y|=DyCR<E> Q 54 ?Q 94 h) ښBYy;$?Q I? CI i:i ; 4y%Bɮ% B%|EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.067449fafafagafifirfieireqZeq:ey*e}`_@颱ɢ7ܖ) Ri)i㻩v,ɧ,?m=i?i0=I? ?IԑIIO=Be>BaBeHBeGBBe=BaBaBe;BeUEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.318807E  E oE BE "E Ʊ:*E :VE 5ZE BE X;a 2E Y;a JE N;a :E N;a  r_",TALA8ɰ8?>@j?eٱOg>Hา?s4??@[?6_?`??i?>Il];Y5!GBy5HiMb@Mb@Mb@ 9Q?9Y=DyC~.<E>Q 54?Q 94@)BY?Q E:y9#?Q I?CI1:i:'4y Bɮ0Bf1f1f1g1f1f1rf9e9re9Ze9:e9*eE_@iɢmԚ)i u^iq)u$qqiu㻩}5,ɧ}?}n=i}G0?bv0=ޘ`=IG0? G0?II1IAOU=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.571343A  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822943q ",I[LA2>2hA?2ٱ2C!>2H?࢕?@?B?¿?@ ?M?i2>I2];2 CYJ"GByJHIN<)N=bDRYVDR8yr;%rY=ٔvZQ-z>9xYx=~Dy~C$<E>Q 54=?Q 9%4)BY!y%#?Q I%?CI';i3";ȗ4y5Bɮ=5B9fffgffrfereZe:e*e@9_@E  E |E @E "E :*E P$:VE 4ZE a@a@a@a@iɢmE)i m6]iq)uhqqiu㻩}+ɧ}ٕ?}o=i}R?}0=IR? 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DI P;i ; 7C4y!ɮ%nB!fAfAfIgIfIfIrfIeIreQZeQ:eQ*eUZTf@颁ɢP) i)u{顉iJ"ɧ\\>J0E"Es:*E:VE4ZEBE";a52E#;a5JEs;a5:Es;a=A.AI1 IA OM > x",?R䵋LA2m>2':"?2E9<ٱ2 =2Hw?N@1? ?@ ?1 Ƒ??i2m>I2_;2 CYNGByRzHbDZiVDZ 8ybu%b`=ٔb;Q-b>9f ?Yf ?=fDyf Dfb5Ej>hQ 5n4j,{?Q 9r4jN)jBYpyr3?Q Ir?jDIjw;ij;jI4yvBɮzLBzEfffgffrfereZe:e!*e%``f@IɢM)I MҽiQ)UX|QQiUqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770747ԙɧpS>&)= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023861E%  E% zE% =E! "E% :*E%  :VE% |4ZE! a- @a- @a- @a- @1 ~",#-LAF.>F!?FW<ٱFG=FHd?@ ӱ???@ܰ ?G?iF.>IF_;FCYTyVyH XXi5Mb@Mb@Mb@1111 195 r?X9v?Q?Y1y5}=5<5A5A 5rA)11Y5(AbDMIVDM8y]%]A=ٔ]:Q-]>9e"?Ye"?=eDyeDm/Em>iQ 5u4md?Q 9}4mOI)mBY}$?Q E}:y}8?Q I}?mDIm;im;mP4yɮfffgffrfereZe:e*e@mf@ɢm) xӽi)}i/uɧuC>uÿAqԙ E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527512廅", LA25>2k?23<ٱ2"=2H D?2`8y?`?H?Z.z??i25>I2z$_;2CYNGByNnHbDZ+VDZ԰8y % O=ٔ Ϝ:Q- >9Y=Dy+D=E>!Q 5-4%{?Q 9-4%D)%BY)y-p7?Q I-?%DI%:i%A:%W4y=Bɮ=WB9fYfYfYgYfafarfaeareaZei:ei*em-zf@频ɢ)  i):顙i`ɧ6>駭 ԙDAT read: 01:01:10.7767 LVL= 17520, 18289, 17266, 32755, AGC= 80, IDX= 413, 0.04, 0.258,-1.435, 0.374,-0.268, PHS= 0.628,-1.123, 0.598, RAW= 149.1, -1.2, CAL= 148.3, -1.8, ROT= 1.7, 1.8 Ygot valid direction response: 01:01:10.7767 LVL= 17520, 18289, 17266, 32755, AGC= 80, IDX= 413, 0.04, 0.258,-1.435, 0.374,-0.268, PHS= 0.628,-1.123, 0.598, RAW= 149.1, -1.2, CAL= 148.3, -1.8, ROT= 1.7, 1.8 BDAT read: Rx Time:01:01:10.7767 TRx dataTimestamp_ set to:1764896472.636234@DAT read: $Low SNR acquisition 2Received low SNR in chirpmX#Rx 1: Read direction message, but no range.u^direction in FSK: [0.999067,0.029652,-0.031411]y Z?[\?IzpDqGrC )PI ?iw?ۋ&@%@ )F?F<ٱFЯ=FH`Q ?|ঘ?`1?v?`c=m $?o?iF>IF_;F CYGByeHbDQVD8yM%U7=ٔe_o:Q-}>9Y=Dy>DE>Q 54?Q 94?)BYyd6?Q I?'DI;i;_4yɮ_Bf9fAfAgAfAfIrfIeIreIZeI:eQ*eU`!f@yɢ})y i)顁i6ɧ(>駍A>E EwE=E"Eҝ:*E:VE|4ZEa@a@a@a@IIOD>AAAAB>BBHBKGBBBBB;BEA ߝ 4=ߙ Β",aKLA2]>2?2<ٱ2A =2H?`g`??@? ?+@}?]?i2]>I2_;2 C99Y9==Dy=LDE$EE>IQ 5U4MA?Q 9U4M<)MBYUE&?Q EU:yU30?Q I]?M6DIMa;iM;Mf4yeBɮeBeEfffgffrfereZe:e*e3f@Yɢ]dl)Y ])ia)eaaie,"m#ɧm#>m{E"E:*EVE4ZEBES;a 2ET;a JEk;a :Ek;a  ",ݙeLA6I>6l?6d<ٱ6 =6H[+?R ?`h?? `6S ]??i6I>I6Y_;6CYB_GByB7HbDNdVDN 8yV5<%VT=ٔVMQ-V>9XYX=ZDyZ\DZE^>`Q 5b4b?Q 9f4b7)bBYdyfW/?Q If?bFDIb:ibh:bl4yhɮnBllf|f|fgffrfere Ze :e *e f@1ɢ=1)9 =( i9)EuAAiEᢻMɧM>M;iM?M7A=IIU? 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",(ċLA0DɰD}>_ ?:շ<ٱ=H ;?L% j?@P?@> ?U(,??i}>Id];CYCLBy:HiuMb@Mb@Mb@qqqq q9u~jt?)\(?Zd;OYu$?yuGa=uj99Y9=EDyE DEEE>IQ 5U4M?Q 9U4M )MߝBY]%?Q E]:y]3?Q I]?M DIME:iM:M04ye*Bɮe$AmbEB*** querying acoustic contact ***iifffgffrfereZe:e*em@ɢz=) q?i)L<i F5ɧ?Eh]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.1Em EiEm>Ei"Ema:*EiVEm4ZEia}@a}@a}@a}@Y ",BċLAY~DLBy~A5>IIO]=iAYAYBe>BeUCBeHBeKBBe=Be)DBeDBeҾ;Be~EB%PCB%PCB%ǖCB%=B%=C%v6ԑu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251231 E } E iE E "E ݉:*E 9VE ZE BE b;a 2E c;a JE 8;a :E 8;a ",4\ċLA2/>27?2b <ٱ2=2H 7?@-`?"U?!? -+? ?i2/>I2-^;2CYV=LByV3HbDbVDb<8yfn%fS=ٔj*;Q-j>9hYl=nDyn1 Dn:Er>pQ 5v4r?Q 9v4rm)r˝BYxyz3?Q Iz?r" DIr:ir:r=4y|ɮ~0Af1f9fAgAfIfIrfIeIreQZeQ:eQ*eU bm@ԙɢp=) ?i)4~<i$ɧ`?6f?6H<ٱ6=6H9.? \9 U? .b?o?(`wHl?`?i6>I6];6CYv'LByvHiMb@Mb@Mb@ 9}?5^I?A`"? ףp= YM"?yY=Q8^A?A )AYA a=bDVD)8y^G%<=ٔa<;Q->9Y=DyC D;;E>Q 54F ?Q 94)BYF#?Q E:y3?Q I?4 DI:i4:D4y,BɮdAE= E=lE=;E9"E=~:*E=:VE=4ZE9aE@aE@aE@aM@fffgffrfereZe:e*e@m@ ɢ=) ?i)X+<i-M%}_ɧ%?%se!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078Qy #",6ZċLA2a>22{?2<ٱ2$G=2H ?G? u? ?`M7? ?i2a>I2];2CYNTLByROHbDZVDZ@8ybw=%b\=ٔb;Q-f>9dYd=fDyfQ Dj <Ej>lQ 5r4nj/?Q 9r4n)nBYxB>BBHBKBB=BBB;Bo~Ey~4?Q I?nC DInEM EMEM=EI"EM:*EMC:VEM|4ZEIBEM;aU2EM;aUJEMD;a]:EMD;a]ԁԩ 0? B? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511320 *", ;ċLA>6? =ٱ=H?p??f?5` ܿ?@6?i>Ib];CY%mLBy%nHԩiMb@Mb@Mb@ 9'1Z?V-?~jtY"?ym=bA9A A)AYQA@AAAbDVDI8y E=%  =ٔ 9Y=Dyf D <E>Q 5%4D?Q 9-4 )BY-#?Q E-:y-8?Q I-?X DI;i;T4y5/Bɮ=A=cEfYfYfYgYfYfYrfYeareaZea:ei*em@hm@频ɢ!=) ?i)y<顙i] ɧe ?e2 1 0",fċLAɰ4BBHBKBBBBB;B~Em checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270999q Ee  Ee wEe ;Ea "Ee O:*Ee :VEe 4ZEa BEe ɺ;2Ee ʺ;JEe k;:Ee k;L"7", ċLA 2>2 ?2c=ٱ2 >2H?S@\w? ?@"?$z`ˡ`s?@?i2>I2];2CY~LBy~HIC>)<bDVD~8y%<%%L=ٔ%9)Y)=-Dy- D-<E5>1Q 5=45`?Q 9E45)5BYAyE9?Q IE?5u DI5';i5;5{`4yM BɮUAUYEfqfqfqgqfqfqrfyeyreyZey:e*e4m@颩ɢ\N=) ?i)=顱igVɧ?駽%A>ԡIIOMt> M=",ċLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7751326^>6y!?6=ٱ6>6H?r=λ?@? ??`?i6^>I6];4PYZLByZHiMb@Mb@Mb@ 9T㥛 ?T㥛 ? rhY!?y=C xA/A A)YA R=p=bDVDv8y{=%B=ٔ9Y=Dy Dd <E>Q 54bq?Q 94j)BY"?Q E:ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027037! D4D",/ŋLAF5>F #?F==ٱF>FHر?bx??^?P?@?iF5>IF];FCBR>BPBRHBRLBBPBPBRDBRҾ;BR~E|YLByHbDVD[8y%Ғ;%%S=ٔ-p9)Y)=-Dy- D5X<E5>9Q 5E4=?Q 9E4=)=BYAyEc>?Q IM?= DI=:i=:=n4yQɮUAQfffgffrfereZe:e*e%m@aɢm@=)i m)?ii)m =qqiuR}iɧ}">}^ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530964bJ",͏+ŋLAYu:>u#?uE-N=ٱuܸ>uH@3? @X??^?©`7?+?iu:>Iu.];uCY=LByEH YYiMb@Mb@Mb@ 9? rh?QY ?yC= A A)AYAbDVDa8y,%.=ٔ 9Y=%Dy% D%v;E%>)Q 554-?Q 954-)-sBY= !?Q E=:y=)A?Q I=?- DI-:i-:-v4yMBɮMAIf f f g f f rfereZe:e*en@AɢE=)I M?iI)M-P=IIiM .UjɧU>UiȻԩE5 E5tE5;E1"E51:*E5v:VE54ZE1a=@aE@aE@aE@ =FQ",XXEŋLAB>BiE$?Bs_=ٱB= >BH?@?`? ?3䳿꫿?J?iB>IB%];BCY^LBybHfAAf@AbDjVDjp8yrS=%rw=ٔvP)q u?iq)uR=qqi}ɧ>駅AAB>BBHBLBB=BBB;B~E} DAT read: 01:02:11.0340 LVL= 11840, 13809, 10290, 18243, AGC= 78, IDX= 8,-0.04, 0.291,-1.370, 0.493,-0.182, PHS= 0.575,-1.143, 0.631, RAW= 151.6, -0.7, CAL= 150.5, -1.5, ROT= 359.5, 1.5  Ygot valid direction response: 01:02:11.0340 LVL= 11840, 13809, 10290, 18243, AGC= 78, IDX= 8,-0.04, 0.291,-1.370, 0.493,-0.182, PHS= 0.575,-1.143, 0.631, RAW= 151.6, -0.7, CAL= 150.5, -1.5, ROT= 359.5, 1.5  PDAT read: Bearing 183.2, -3.7 (Local)  ~Local bearing/azimuth received: Bearing 183.2, -3.7 (Local)  DAT read: Range 11 to 50 : 607.8 m (Round-trip 810.5 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.999619,-0.008723,-0.026177] Fpublishing direction and range infoyI M ^d?y[Q݁P!ΚYM DI M @.M 5M 2( M CG)M NIM 33?iM MM 7!?M V)@M +HM 0(@ M Pwּ)M ^@IM PwB0r$?Btq=ٱB>BHƓ?@8?=#??@Ҿ %*??iBO>IB];BCYNLByNHbDVVDV8y^=%^L=ٔ^-49b ?Yb ?=bDyb Df :Ef>hQ 5n4j?Q 9n4j)j^BYlynA?Q Ir?j DIj;ij;j4ytɮvAtiqiuXŋLAju D"ju D:ju#?Rju#}@V!8>y/Bju^d?y[Q݁P!Κ*juD2juPw<ZjuYp~@ٹIv@!JJjuB:?H.?ju8C juCiuE(?iuVgjujuE(?juVgjurjuzDzjuO#?fffgffrfereZe:e`f@*e?ɢ=) 3?i)w=iKc  ptɧ-v>-ĪAE>A]؟AIiIyO>9iԑ K]",!@yŋLA2H>2n$?2w=ٱ2+=2HP?@@X?!??0@1,9;??i2H>I2! ^;2 CY>LBy>HIB<)B95"?Y5"?=5Dy5 D=zE=>9Q 5M4=?Q 9M4=)=RBYM?Q EM:yMQA?Q IM?= DI=r;i=:=芜4y]Bɮ]A][EE ExEE"E:*E:VEZEa@a@a@a@qP%%Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalP-5Entering Terminal tracking update period 2.000000 s sec at 607.799988 m (mode 0.000000 count ).P5P5Yfafifigififirfi@m uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@uurTransitioning to terminal guidance at range 607.799988 m @u1A}ereZe:e*e>? ɢ A=)  4?i)%=i Es]ɧE>E5 d",ŋLAB&>B$B&HB&LBB&=B$B$B&;B&~EB UCB UCB CB =B =C W@5^|:>^g$?^=ٱ^=^HK?  ??t?@}~/?@)?i^|:>I^,];^CYjLByjH ppbDvVDv8y~"3<%~O=ٔZ9 ?Y ?= Dy  D #E >Q 54?Q 94l)FBY!y%@A?Q I%? DI;i;Б4y-Bɮ-%A-QE:kE@PM1QMUB*** querying acoustic contact ***iYiYfyfyfygffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZeT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:e*e-`*?颡ɢ=) ˜?i)!=itHɧR>AE"E݉:*E]9VE4ZEBEb;a%2Ec;a%JE"5;a-:E#5;a- A؟AI!I1O=r>)  (DAT read: user:23>  BDAT read: Tx time:01:02:13.3194  $Ping request sent. ]fP$?].=ٱ]Qt=]Hq?6ֿ?@<?'? l@+?7?i] >I]y^;]CYLByHԉiMb@Mb@Mb@ 9ףp= ?~jt?Q롿Y?y=\tA5A $A)xAYAbD VD 8y<%!=ٔ;Q->9%"?Y%"?=%Dy% D-7E->1Q 5=45?Q 9=45)54BY=( ?Q E=:y=#E?Q I=?5 DI5:i5t:54yMBɮM$AMREBk]@1QeqQeqLee~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqLeDuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Eu uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF}}Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF}}Initialize.F}}Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G} }Initialize.qG}G}qEDGgh7qGgh7FAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GqFFjgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*et?LB.=) Pi)!=[8iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992ԹE EjE=E"E:*E9VE|4ZEa%@a%@a%@a%@^AM x=AM yAzAM zA A .AI I O >Fq",ŋLA2>2@U$?2=ٱ2p=2H? &}? ?(? \੿̲ j?+?i2>I2];2CY>LBy>HbDFVDF8yN?b%N=ٔR/fBMVCBIBIBM=BIBIBM ;BM~EAIIOb>Y5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917ԙ E% ~ E% oE% :E! "E% :*E% :VE% (4ZE! BE% ;a5 2E% ;a5 JE% N;a5 :E% N;a5 w",{ŋLA2d>2F$?2pɚ=ٱ2O=2H?@?h? ? wTfA? ?i2d>I2L];0YBLByBHJ@AJAAbDJVDJ8yR@<%RJ=ٔV§;Q-V>9VYZ=ZDyXZVEZ>\Q 5b4^?Q 9b4^)^BYdyf*E?Q If?^ DI^.:i^:^ͦ4yjBɮjFAh:i|~FNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 604.670898 m, bearing: 36.486668 deg, approach rate: -0.636170 m/s, LOS rate: nan deg/s, cmd heading: 36.489838 deg, new cmd heading: 36.486668 deg. HeadingCmd: 0.636813 target range: 608.167603 and range: 607.80 m.h%#?hhhhgg!jg!rg!e!re!Ze):e)*e-B@[M( ?[M( ?"[M=*[M*E?ԙ颹ɢ`=) 0Ni)E!=i кiX?C=I%#?I^A58=IYIqO}=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006847 = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258882}",GWŋLAɰBd>B$?B=ٱBO=BHÑ? W P?`?`? r˳}? ?iBd>IB0^;BCYnLBynHieMb@Mb@Mb@aaaa a9eGz?X9v?+Yep?ye}=eae?A e1A)aaYeAbD}VD}8y%==ٔ̉;Q->9Y=DyE>Q 54& ?Q 94) BY?Q E:y??Q I?' DIk:i:^4yɮJAE EkE>E"E~:*E:VE4ZEa @a @a @a @:iY]FNOT Ignoring new targets: 608.17 m."ie*ia ProNav pure pursuit: ac range: 608.167603 m, nav range: 604.406494 m, bearing: 36.483839 deg, approach rate: -0.588309 m/s, LOS rate: nan deg/s, cmd heading: 36.486669 deg, new cmd heading: 36.483839 deg. HeadingCmd: 0.636763 target range: 608.167603 and range: 607.80 m.h#?hhhhggjgrgereZe:e*e`@[?[?"[=*[??LBɢ%=)! %0{i!)%m!=!!i-iU#?QUүF=IU#?IY!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511579 4Initializing EZServoServo.Q v> C9 Q i <9 Y 9A - 8Initializing DockingStepper.@5 =@5 =y BU >BQ BU HBU LBBU =BQ BQ BU @;BU Eԩ^AqII!O->R>",/ƋLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762938V>VL$?Vx=ٱV>VH"? ?@x?~?` 7@?͡?iV>IVU];TYfLByjHbDrVDr8yz =%z+=ٔza;Q-z>9|Y|=~Dy|E>Q 5 4D?Q 94)BYy??Q I?: DI:i:4yBɮ%-A%SE=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 608.17 m."iU*iQ] ProNav pure pursuit: ac range: 608.167603 m, nav range: 604.114746 m, bearing: 36.480711 deg, approach rate: -0.631073 m/s, LOS rate: nan deg/s, cmd heading: 36.483838 deg, new cmd heading: 36.480711 deg. eHeadingCmd: 0.636708 target range: 608.167603 and range: 607.80 m.heT"?hahihihigigijgqrgqeqreqZey:ey*e}@F@[["[*[??颩ɢPj"=) ";i)ľ!=顱iyi'?o =IT"?IE- E-jE-:E)"E-:*E-9VE-(4ZE)BE-;a=2E-;a=JE-j<;a=:E-j<;a=ԡ-|^A ;I IO- >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015253 1 f",>4ƋLAF>Fx$?F,=ٱF >FH ?Ju?`??͜ ??iF>IFh^;DYbLBybHi}Mb@Mb@Mb@yyyy y9} +?Q?+Y}?y}u=y}nA}"A }AA)}rAyY}A 4=%=bDVD8y=%@=ٔgo;Q->9Y=Dy59E>Q 54,?Q 947)BY?Q E:yM@?Q I?J DI :i;.4yɮ A:iFNOT Ignoring new targets: 608.17 m."i\*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 603.865356 m, bearing: 36.477992 deg, approach rate: -0.584556 m/s, LOS rate: nan deg/s, cmd heading: 36.480710 deg, new cmd heading: 36.477992 deg. HeadingCmd: 0.636661 target range: 608.167603 and range: 607.80 m.h8"?hhhhg!g!jg!rg!e)re)Ze):e)*e5 W @[U?[U?"[UT=*[UL@?eLBɢe&=)i mȏEA"EE:*EE :VEE4ZEAaM@aM@aM@aM@9 lX@yA@^AC"=II O>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518880)Z",bNƋLA @@fh>f~$?f|Ӧ=ٱf>fH`|?@If];fCYrLByrHbDzVDzj8y+%T=ٔ;Q- >9 Y = Dy ;E>Q 5%4:?Q 9%4!)՜BY!y%@?Q I%?X DI::ih:Ĝ4y5ϡBɮ5A5IE:iQ]FNOT Ignoring new targets: 608.17 m."i]*iYm ProNav pure pursuit: ac range: 608.167603 m, nav range: 603.639771 m, bearing: 36.475486 deg, approach rate: -0.584920 m/s, LOS rate: nan deg/s, cmd heading: 36.477991 deg, new cmd heading: 36.475486 deg. uHeadingCmd: 0.636617 target range: 608.167603 and range: 607.80 m.huZ"?hqhhhggjgrgereZe:e*e.@[A[A"[A*[E@?}LBɢ}s#=)y  ;i)W!=顁i@iZ"?7g=IZ"?IAAB>BUCBHBLBB=BBBL;BEi%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852ԙbE 4jEǰ4rE/EU EUtEU=EQ"EU1:*EUv:VEU|4ZEQBEU;a2EU;aJEU`;a:EU`;a ^A <H= IY Ii O} >", bjƋLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023529N0>N%?Nv٦=ٱN1>NH|?`@? j,??@粿@Gմ?@Є?iN0>INf ^;NCYbLBybH hhbDrVDrP8y<%/=ٔq7Q->9Y=Dy;E>Q 54K?Q 94%)œBYy A?Q I ?j DIg;idh;"͜4yɮA!:iAMFNOT Ignoring new targets: 608.17 m."i]*iaԙ ProNav pure pursuit: ac range: 608.167603 m, nav range: 603.365417 m, bearing: 36.472359 deg, approach rate: -0.579635 m/s, LOS rate: nan deg/s, cmd heading: 36.475485 deg, new cmd heading: 36.472359 deg. MHeadingCmd: 0.636563 target range: 608.167603 and range: 607.80 m.hM"?hQhQhQhyggjgrgereZe:e*e%@@[["[*[אA?5LBɢ5$=)9 =pBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274848E  E E @E "E *E [:VE 4ZE a% @a% @a% @a% @! ",wƋLAF>F%?Fhi=ٱF>">FH`s? ͷKb?9?u?`QǴ+?E~?iF>IF8];FCYnLBynHiMb@Mb@Mb@ 9/$?J +?ˡEY&?yH='xA A )\AYGA)-@AbD-VD-8y=%ED=ٔE~Q-E>9IYI=MDyIM;EM>QQ 5]4U(Z?Q 9e4U)UBYe?Q Ee:ye>?Q Ie?Uy DIU:iU:UaԜ4ymѡBɮmAuJE:iFNOT Ignoring new targets: 608.17 m."iԸ*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 603.132385 m, bearing: 36.469968 deg, approach rate: -0.566427 m/s, LOS rate: nan deg/s, cmd heading: 36.472360 deg, new cmd heading: 36.469968 deg. HeadingCmd: 0.636521 target range: 608.167603 and range: 607.80 m.h "?hhhhggjgrgereZe:e*e@[?[?"[=*[7>?LBɢIN!=) i)2!=i泼i  "? $M= fp=I "?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5270189^AUh=IB>BTCBHBKBB=BBDBZ;BEIO>i % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778917!",ƋLA &4<ɰ$NM>NG%?NXj=ٱN#>NHUm?@`? B?@Hn?@< (M? }?iNM>INz];LYZLByZHbDbVDb|8yjd%je=ٔn2Q-n>Er ErsEr<Ep"Era:*ErZ:VEr 4ZEpBEru;az2Erw;azJEr,];az:Er-];az9|YY=]DyYe!];Ee>aQ 5m4e8g?Q 9u4e4)eBYqyu>?Q Iu?e DIel:ie:eڜ4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."iи*iE ProNav pure pursuit: ac range: 608.167603 m, nav range: 602.922668 m, bearing: 36.467789 deg, approach rate: -0.548824 m/s, LOS rate: nan deg/s, cmd heading: 36.469969 deg, new cmd heading: 36.467789 deg. MHeadingCmd: 0.636483 target range: 608.167603 and range: 607.80 m.hM"?hIhIhIhIgIgQjgqrgqeyreyZey:ey*e}@[["[*[>?-LBɢMh=)Q U(iQ)UW!=QQi]Pɲi]"?]8M=ea^t=Ie"?Iaqchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031636^A jL",&ǷƋLA2#>2.&?2=ٱ2\N!>2Hgi??@H?Sj?`P쳿 6 l?N?i2#>I2];2C\YbLBybHIfp=)fp;iMMb@Mb@Mb@IIII I9MHzG?kt?Q롿YM= ?yM 0=M\MAMA M1A)MXAIYMAbDeVDe{8yu!:%uA=ٔ}>Q-}>9yYy=Dy;E>Q 54t?Q 94O)BY ?Q E:y=?Q I? DI;i; 4yԡBɮA:iFNOT Ignoring new targets: 608.17 m.iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283272"iq¸*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 602.703857 m, bearing: 36.465663 deg, approach rate: -0.546672 m/s, LOS rate: nan deg/s, cmd heading: 36.467790 deg, new cmd heading: 36.465663 deg. HeadingCmd: 0.636446 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrge re Ze :e *e 3@[- ?[- ?"[-=*[-=?颽LBɢu=)  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535097I 44",ƋLA6>6F&?6Ğ=ٱ6M>6HRh? x?K?@2i?@Fӳ i? ?i6>I6];4Y^LBybH fC=fR=bDjVDj8yr`.%rT=ٔvTQ-v>9tYt=vDytz:Ez>|Q 54~ہ?Q 94~)~BYy=?Q I ?~ DI~:i~h:~4yɮA:i9EFNOT Ignoring new targets: 608.17 m."iEܾ*iAU ProNav pure pursuit: ac range: 608.167603 m, nav range: 602.497498 m, bearing: 36.463653 deg, approach rate: -0.535080 m/s, LOS rate: nan deg/s, cmd heading: 36.465663 deg, new cmd heading: 36.463653 deg. ]HeadingCmd: 0.636411 target range: 608.167603 and range: 607.80 m.h]"?hYhYhahagagajgargieireiZei:ei*eu̼@B>BSCBHBKBB=B*DBDBe;B%EBABABECBE=BACE5[["[*[=?LBɢ=) i)ȵ!=iưiu"?}cM=}x=I}"?IyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786796^A]w=DzDAAE EEE"E:*E,:VEZEBE0;a 2E2;a JE?;a:E?;ayAAIIO>ԡ _",ƋLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039294@ > w&? G=ٱ d> H c?BT?S?4d?`4MZUK?`?i >I s^; Y-LBy-HbDUVDU8ym Z<%uB=yٔ}Q-}>9>Y>=Dy D+;E>Q 54?Q 94)wBYyP=?Q I? DI ;i;.4y֡BɮAKE:iFNOT Ignoring new targets: 608.17 m."iL*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 602.270630 m, bearing: 36.461421 deg, approach rate: -0.536566 m/s, LOS rate: nan deg/s, cmd heading: 36.463651 deg, new cmd heading: 36.461421 deg. HeadingCmd: 0.636372 target range: 608.167603 and range: 607.80 m.hD"?hhhhggjgrgereZe:e*e@n@-LBɢ-J=) ռi)!=iiD"?|M=(|=ID"?I &Changing to mode: 1:@ @ԩ@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290975^A Ex=A yAzA xAE  E mE >E "E :*E :VE 4ZE a @a @a @a @ A] (5AIa Iq O >CF",qXNjLA2>>2&?2=ٱ23 >2H]?M}?A]?^?@ sڲ?@ ?i2>>I2^;0Y>LBy>H @@i5Mb@Mb@Mb@1111 195S㥛?&1? rhY5$?y5P=5C 5A1 1)5bA1Y5AbDMVDMm8y]랼%]L=ٔ]dQ-]>9e>Ye>=eDye% Dm&b;Em>iQ 5u4mۜ?Q 9}4mЏ)mjBY}?Q E}:y}B?Q I}?m DIm;im;m)4yBɮUAAE:iFNOT Ignoring new targets: 608.17 m."ioݸ*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 602.062927 m, bearing: 36.459004 deg, approach rate: -0.519831 m/s, LOS rate: nan deg/s, cmd heading: 36.461421 deg, new cmd heading: 36.459004 deg. HeadingCmd: 0.636330 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*e@LBɢ+=) i)!=iĮi%"?%M=%ր=I%"?I)]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543363 :@ @@5@B}>ByByByByByByB}l;B},E^AY=QA% $EAI) I9 OM >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795120y p",5NjLA2*>2_'?2j=ٱ2>2H`U?Q?i?V?`UI`C? ?i2*>I2(^;2CEb EbfEb:E`"Eb1:*Eb9VEb(4ZE`BEb;af2Eb;ajJEb-;aj:Eb-;ajYnLBynHvAAvAAbDvVDve8y~1Ƽ%P=ٔSQ->9 >Y >= Dy / D G;E >Q 54k?Q 9%4)]BY!y%yB?Q I%? DI;i{;4y)ɮ-hA1MB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 608.17 m."i]G*iam ProNav pure pursuit: ac range: 608.167603 m, nav range: 601.858948 m, bearing: 36.456598 deg, approach rate: -0.519149 m/s, LOS rate: nan deg/s, cmd heading: 36.459003 deg, new cmd heading: 36.456598 deg. uHeadingCmd: 0.636288 target range: 608.167603 and range: 607.80 m.hu"?hyhyhyhygygyjgrgereZe:e*eq@颵LBɢ=) Ci)\Y!=项ivۭi"?رM==I"?IQm :@i @q@u1@qԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.051015^A3=ԩA OAI! II Ou > ҝ",9NjLAɰ2/B>2'?2c=ٱ2t@>2H`HL? b <?`@x?K?gȱ K ?!?i2/B>I2m^;2CY>LBy>HiMb@Mb@Mb@ 9 r?v/?MbY?yxi=A $A)nAYGAbDVD{8y-<%-G=ٔ5Q-5>95>Y=>==Dy=: D=;E=>AQ 5M4E'?Q 9M4E3)EQBYM?Q EU:yUNF?Q IU?E DIEH;iEv;E34y]Bɮ]\AeBE:iFNOT Ignoring new targets: 608.17 m."i*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298951 ProNav pure pursuit: ac range: 608.167603 m, nav range: 601.649536 m, bearing: 36.453822 deg, approach rate: -0.510208 m/s, LOS rate: nan deg/s, cmd heading: 36.456599 deg, new cmd heading: 36.453822 deg. %HeadingCmd: 0.636239 target range: 608.167603 and range: 607.80 m.h%"?h!h!h!h!g!g!jg)rg)eIreQZeQ:eQ*eUR@额LBɢo)=) $i)4!=顩ԩi-물i5"?5#M=5=I5"?I9E EkE<E"EO:*E:VE 4ZEa@a@a@a@:@ @@>2@^AȄ=A4=A= u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551779A _AI I O >5 GI a 39 Y 0A1 ",`RNjLA2>2(?2E5=ٱ2>2H @?%o????㱿MC?`ܜ?i2>I2^;2CYNLByRHbDZVDZ8yb\<%bR=ٔbQ-f>9f>Yf>=fDyfE Dj;Ej>hQ 5r4j1?Q 9r4j)jEBYpyrF?Q Ir?j DIjD;ij;j 4yxɮzOAx:iAAB%>B%TCB%HB%KBB%=B!B%DB!B%3E=FNOT Ignoring new targets: 608.17 m."i=*i9M ProNav pure pursuit: ac range: 608.167603 m, nav range: 601.451111 m, bearing: 36.451144 deg, approach rate: -0.509893 m/s, LOS rate: nan deg/s, cmd heading: 36.453823 deg, new cmd heading: 36.451144 deg. UHeadingCmd: 0.636193 target range: 608.167603 and range: 607.80 m.hU"?hQhQhQhggjgrgereZe:e*e@ULBɢUi=)q uiq)}0!=yyi}]!i"?M==I"?Im:@i @i@m5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802923AE EpE=E"E1:*E :VE|4ZEBE;a2EaJE@R;a:EAR;a^A=i A pjAI I O >h",lNjLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055863 Md>M"%)?M2=ٱM,>MH`6?6??^2?Hð??iMd>IMJ ^;IiYmLByuHi Mb@Mb@Mb@     9 )\(?X9v?QY G?y }=  tA A ) xA Y  A E4=E%=bDEVDEp8yU=}%U =ٔ]ZQ-]>9e>Ye>=eDyeV De;Ee>iQ 5u4m?Q 9u4m~)m5BY}z?Q E}:y}^J?Q I}?m DImP;imv;mB4yBɮkAԙ:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 601.157104 m, bearing: 36.446787 deg, approach rate: -0.500127 m/s, LOS rate: nan deg/s, cmd heading: 36.451145 deg, new cmd heading: 36.446787 deg. HeadingCmd: 0.636116 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*e)!@颍LBɢ!=) Hi) =顱ii"?6N=#֏=I"?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306954m :@i  @i @m ,5@i @u zA@q E  E E 9E "E :*E rN:VE 4ZE a @a @a @a @ ^AM p,=AU zAzAU zAAuAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.560223IIO?V",NjLA@$>">>)?>=ٱ>\>>H(?HO}? +?T"???@??i>">I> ^;>C FfC)FKAFuDDHJpAiJIHHIN&CiL LL)LP PRףPPTTIT)TiT)VYCIXZ9X XXXXi\\i\\)\ \I`Y`YfLByfHbDnVDlyv-ϻ%zo=ٔzQ-z?9z>Y~>=~Dy~a D~<E~?Q 5 4?Q 9 4{),BYyK?Q I? DI:i:=4yɮoAy:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 600.985779 m, bearing: 36.444199 deg, approach rate: -0.479478 m/s, LOS rate: nan deg/s, cmd heading: 36.446788 deg, new cmd heading: 36.444199 deg. HeadingCmd: 0.636071 target range: 608.167603 and range: 607.80 m.h"?hhhhggjg rg e re Ze :e*e!@颕LBɢ,=) \i)~ =顡i8bi"?^N=z=I"?IqB>BUCBHBLBB=B)DBBz;BHE1@1 @1@5|5@1ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=7.810777^AUv=bE|4jEȍ4rE\00E  E E ?E "E :*E *:VE ^4ZE BE ;a 2E ;a JE m;a :E m;a A lzAI I O >s",NjLA6>6Ъ*?6y}=ٱ6)>6H@?[@ ??@?@A``? E?i6>I6)^;6 C\YLByH))bD=VD=X8yU~=%UF=ٔUBQ-]>9e>Ye>=eDyen Dm;Em>qQ 54uw?Q 94uw)u!BYyK?Q I?u DIu?;iu8;u{#4yɮOAEB*** querying acoustic contact ***iAiA:iFNOT Ignoring new targets: 608.17 m."i*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.063678 ProNav pure pursuit: ac range: 608.167603 m, nav range: 600.778320 m, bearing: 36.440997 deg, approach rate: -0.480194 m/s, LOS rate: nan deg/s, cmd heading: 36.444199 deg, new cmd heading: 36.440997 deg. HeadingCmd: 0.636015 target range: 608.167603 and range: 607.80 m.h-"?h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE"@-LBɢ5c<=)1 5)i1)5V =99i=i="?EǘN=EqP=IE"?II:@ @@0@^A m(=I  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314976A AI I O >[",؀NjLAE& E&mE&>E$"E&ҝ:*E&:VE&4ZE$a*@a*@a*@a*@>q>>+?>w=ٱ>>>Hy ?n ??@?X`" ?\?i>q>I>m];>CY%LBy%HiMb@Mb@Mb@ 9jt?333333?MbY?y=A A)AYA@AbDVDP8y{|<%B=ٔSQ->9?Y?=Dy| D<E>Q 54?Q 94s)BYr?Q E:yS?Q I? DIT;iH;*4yBɮMACE:i)-FNOT Ignoring new targets: 608.17 m."i-5*i1 ProNav pure pursuit: ac range: 608.167603 m, nav range: 600.569641 m, bearing: 36.437165 deg, approach rate: -0.540855 m/s, LOS rate: nan deg/s, cmd heading: 36.440996 deg, new cmd heading: 36.437165 deg. HeadingCmd: 0.635948 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*e`4y#@LBɢ=) hi ) l =  i i"?N==I"?II9@ @@P0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567504qB <A B >B TCB HB LBB =B B B B;B E^A =A 8>A i>ԡ A5 4AIA IQ Om >8",NjLA2>2:>,?2s=ٱ2:>2H@f?`@n?@?@?$LA\@? d?i2>I2^;0Y>LBy>HbDJVDJ,8yNt@<%R^=ٔRTQ-R>9V?YV?=VDyV DV;EZ>XQ 5^4Z7?Q 9^4Zp)Z BY`yb>T?Q Ib?Z* DIZ :iZ2:Z;14ydɮjDAh:ixzFNOT Ignoring new targets: 608.17 m."i~ **i|  ProNav pure pursuit: ac range: 608.167603 m, nav range: 600.386658 m, bearing: 36.433751 deg, approach rate: -0.497886 m/s, LOS rate: nan deg/s, cmd heading: 36.437164 deg, new cmd heading: 36.433751 deg. HeadingCmd: 0.635889 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrge!-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819007re!Ze1:e1*e5)$@]LBɢe=a)i m,ii)mS =iiim߁iu"?uZO=u,֤=I}"?IyEE EEtEE;EA"EEs:*EEv:VEE4ZEABEE!;aU2EE#;a]JEE`;a]:EE`;a]e:@i @i@m}3@i^A5G=ԑAeއAIiIyO[>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.071021 |",S=NjLAJ^>J,?Jo=ٱJ_>JH? ~??? `u??iJ^>IJ^];HYeLBymHI=)J>bDMVD8yy%7=ٔ3Q->9-d ?Y=d ?==DyE DMo;EU>aQ 5m4eY?Q 9m4ek)eBYiyT?Q I?e9 DIe5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577181",ȋLAY|y|iMb@Mb@Mb@ 9MbX9?㥛 ?lY?y=AA )Y =bD>VD8yV%L=ٔQ->9 ?Y ?=Dy DE>Q 5%4?Q 9%4g)BY%x?Q E-:y- T?Q I-?F DIߡ;i%; @41y=Bɮ=A9:iaeFNOT Ignoring new targets: 608.17 m."im,*ii} ProNav pure pursuit: ac range: 608.167603 m, nav range: 599.963684 m, bearing: 36.425803 deg, approach rate: -0.507401 m/s, LOS rate: nan deg/s, cmd heading: 36.429453 deg, new cmd heading: 36.425803 deg. HeadingCmd: 0.635750 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*e B%@LBɢR=) @Ki)G=i(>BU>BQBUHBU#LBBQBQBQBU;BU~EBTCBTCBÓCBB=Cy5iu"?uO=};=I}"?Iy:@ @ @ m0@ @@{AaPExceeded connect timeout, disconnecting.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830927ԉEu  Eu Eu =Eq "Eu :*Eu 0:VEu |4ZEq BEu p ",$(ȋLA2G>2-?2m=ٱ2u >2H?@'?`)?E?@񸱿<7I? ?i2G>I2>];2CY>LBy>HbDz0VDzٰ8y3<% Y=ٔ ܸQ- >9?Y?=Dy D%<E%>)Q 554-$?Q 9=4-c)-BYAyET?Q IE?-R DI-?B;i-*C;-F4yUBɮUAQ:iFNOT Ignoring new targets: 608.17 m."i_+*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 599.774963 m, bearing: 36.422242 deg, approach rate: -0.496156 m/s, LOS rate: nan deg/s, cmd heading: 36.425802 deg, new cmd heading: 36.422242 deg. HeadingCmd: 0.635688 target range: 608.167603 and range: 607.80 m.ht"?hhhh g gjgrgqeqreyZey:ey*e}l&@ԑMBɢF=) mi)= ",:BȋLAE EuE?E"E%:*E:VE^4ZEa@a@a@a@YLByH  iMb@Mb@Mb@ 9)\(?~jt?+YG?y=AA )AYAbD VD8y ~=%;=ٔQ->9Y=Dy DE%>!Q 5-4%+1?Q 9-4%_)%ޛBY5?Q E5:y5sV?Q I5?%a DI% ;i%;%=N4y=BɮEAE:E]B*** querying acoustic contact ***iYiY:iimFNOT Ignoring new targets: 608.17 m."iu5*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 599.557617 m, bearing: 36.417990 deg, approach rate: -0.507002 m/s, LOS rate: nan deg/s, cmd heading: 36.422243 deg, new cmd heading: 36.417990 deg. HeadingCmd: 0.635614 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*et{'@MBɢз=) 4i)n=i'i"?#P='=I"?Iu:@q @y@}o5@y2Acoustic response timeout^A d=BQ BQ BU HBU -LBBQ BQ BQ BU Ⱦ;BU ~Ey A= ܏AIA IY Oe > nManaging dock network, ignoring radio surface power off.",f\ȋLA 6>6L.?6}To=ٱ6AK>6H`U?`;Ϳ?@?^?|@4歿@a??i6>I6}];6CYLyPTTbDZVDZ8yb0%bb=ٔfq:Q-f>9f?Yf?=fDyj DjW_;Ej>lQ 5r4n;?Q 9r4n[)nӛBYpyvV?Q Iv?nl DIn:in:nT4yxɮzAxE2Acoustic response timeout:iFNOT Ignoring new targets: 608.17 m."i\'*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 599.377502 m, bearing: 36.414450 deg, approach rate: -0.465089 m/s, LOS rate: nan deg/s, cmd heading: 36.417992 deg, new cmd heading: 36.414450 deg. HeadingCmd: 0.635552 target range: 608.167603 and range: 607.80 m.h"?hhh h g g jgrgereZe:e*eA(@EMBɢE=)I M "iI)MP=IIiMdiU"?]kP=]lK=I]"?IYD5?AzD5@AEE EEjEAEA"EEa:*EE9VEAZEABEEu;aU2EEw;aUJEEj<;a]:EEj<;a]q:@ @@a4@ԙ^A 2Acoustic response timeout A I I O- >5", vȋLAɰB*>B.?Bp=ٱB+>BHP? 8ؿ???Wf??iB*>IB];BCPYNLByRHbDvVDv8y_ļ%%E=ٔ-F:Q-->9AYI=MDyU Dt;E>Q 554%H?Q 9]4W)ƛBYayeV?Q Im?{ DI-  w> C% 2Acoustic response timeout<#",IcȋLAG&{ADZN9^{AY^}KA|z>zi4.?zًr=ٱz`|>zH4??@$??`F L E?`Y?iz>Iz];zCYLByHI<)4=%?=ٔÐ:Q->9??Y??=Dy D:E>Q 54S?Q 94S)BQ A+:YQ E:yV?Q I? DIk:i>a4yBɮA:iFNOT Ignoring new targets: 608.17 m."i:8*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 598.958130 m, bearing: 36.406189 deg, approach rate: -0.509914 m/s, LOS rate: nan deg/s, cmd heading: 36.410137 deg, new cmd heading: 36.406189 deg. HeadingCmd: 0.635408 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*e )@BBB,HB7LBBBBB;B=~E-MBɢ5=)1 5i1)5E=11i=*",:ȋLAB&>B].?Bt=ٱBݶ>BH?`;6??? _~c?@?iB&>IBJ];BCYZLByZH !%p=bD-VD-8yE%MS=aٔuu|:Q->9?Y?=Dy Dk:E>Q 54^?Q 94O)BQ A :YQ E:yV?Q I? DI:iTK?xf4ywBɮ%A1E:iFNOT Ignoring new targets: 608.17 m."i(>*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 598.760803 m, bearing: 36.402277 deg, approach rate: -0.523920 m/s, LOS rate: nan deg/s, cmd heading: 36.406189 deg, new cmd heading: 36.402277 deg. HeadingCmd: 0.635340 target range: 608.167603 and range: 607.80 m.h"?hhhhggjg rg e re Ze:e*e*@=MBɢ=)=)A EiiA)E=AAiEiM"?MPQ=׳=I"?I2Acoustic response timeoutM:@I @I@Mo5@Iԁ^A*= BDAT read: Response Not Received  *response not received (DAT read: user:24>  BDAT read: Tx time:01:02:25.7694  $Ping request sent. E]  E] rE] ;EY "E] :*E] ?:VE] 4ZEY ae @ae @ae @ae @1",=ȋLA2>2.?2u=ٱ2/&>2H? s?@x!?\? ^6˰?,?i2>I2];2CY>LBy>Haa aa aa aa iMb@Mb@Mb@ 9Pn?333333?Q롿Y?y=\tAA $A)YbD5 VD58yUAP<%UH=ٔU:Q-U>9YYY=]Dy] De:Ee>ԡQ 5 4Rk?Q 9 4hK)BQ AT:Y?Q E:yU?Q I? DI+;i;m4y9ɮEAA]B*** querying acoustic contact ***iYiY:iFNOT Ignoring new targets: 608.17 m."iW0*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 598.547180 m, bearing: 36.398154 deg, approach rate: -0.499119 m/s, LOS rate: nan deg/s, cmd heading: 36.402275 deg, new cmd heading: 36.398154 deg. HeadingCmd: 0.635268 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*e+@MMBɢ]c;=)Y ]jiY)] =Yaie碼ie"?mQ=mS=Im"?Iy:@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251156BA<B>BB8HBALBBBBB;Bf~E^A 1 A! I) I9 OM > '7",ȋLA2>2a.?28(x=ٱ2M>2H A?n?@X$? ?@W[+@?`f?i2>I2];2CYPyP TTbD^.VD^װ8ٔfZ:Q-f>9hYh=jDyj Dna:En>lQ 5r4n v?Q 9v4nG)nBYtyvU?Q Iv?n DIn:in:n,t4y~zBɮ~$A|Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113:iIUFNOT Ignoring new targets: 608.17 m."iU5*iYe ProNav pure pursuit: ac range: 608.167603 m, nav range: 598.361389 m, bearing: 36.394556 deg, approach rate: -0.512640 m/s, LOS rate: nan deg/s, cmd heading: 36.398153 deg, new cmd heading: 36.394556 deg. mHeadingCmd: 0.635205 target range: 608.167603 and range: 607.80 m.hmɜ"?hqhqhqhqgqgqjgyrgyeyreyZey:e*eB,@颭!MBɢ+ =) (}i)¶=项iLiɜ"?Q=K=Iɜ"?IibE´4jEk4rE'0E EiE=E"Eҝ:*E9VE|4ZEBE;a-2E;a-JE8;a-:E8;a5=:@9 @9@=0@9ԑ^AMõ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754567A] ڗAIi Iy O > kL=",*ȋLA2Λ>2V.?2vy=ٱ2>2H?`w\?D"?`Z?w`8 c?2?i2Λ>I2v];2 CYBLByBHTVAAbDVDVDV8y^<%b<ٔb:Q-b>9f?Yf?=fDyf, DfGEf>hQ 5n4jف?Q 9r4jC)jBYpyrU?Q Ir?j DIjY;ij;j0{4ytɮvAx:i!-FNOT Ignoring new targets: 608.17 m."i]Z(*ia ProNav pure pursuit: ac range: 608.167603 m, nav range: 598.156921 m, bearing: 36.390604 deg, approach rate: -0.475704 m/s, LOS rate: nan deg/s, cmd heading: 36.394557 deg, new cmd heading: 36.390604 deg. HeadingCmd: 0.635136 target range: 608.167603 and range: 607.80 m.hC"?hhhhggjgrge!re!Ze!:e!*e-@^,-@颕'MBɢ;=) Ki)=顙i膡iC"?0GR==IC"?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006337:@ @@4@E-} E-vE->E)"E-݉:*E-:VE-4ZE)a5@a5@a5@a5@1 ^A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258676I I O- >Q \6D",ɋLAɰY5LBy=HiMb@Mb@Mb@ 9~jt?Zd;?MbY?yy=A(A 1A)YAbD6VDް8y0%9=ٔQ->9Y=Dy= DE>Q 5 4F?Q 9 4F?)BY ?Q E :yN?Q I? DIa;ij;4yɮ&ABBBEHBLLBBB*DBB;B~E:iFNOT Ignoring new targets: 608.17 m."i *i ProNav pure pursuit: ac range: 608.167603 m, nav range: 597.930054 m, bearing: 36.386838 deg, approach rate: -0.529316 m/s, LOS rate: nan deg/s, cmd heading: 36.390602 deg, new cmd heading: 36.386838 deg. HeadingCmd: 0.635070 target range: 608.167603 and range: 607.80 m.h"?hhhh!g!g!jg!rg!)eIreQZeQ:eQ*eU`~-@%-MBɢ% =)A EʘiI)MC=IIiMa iU"?UDR=U~:=IU"?IY:@ @@5@Y]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510166E- ~ E- oE- ;E) "E- :*E- :VE- 4ZE) BE- ;a= 2E- ;a= JE- N;a= :E- N;a= ԉ ^A 箵=AQ Ii I O >+J",,ɋLAb>bK-?bz=ٱb.=bH?@@??t?@ >V ? ?ib>Ib];bCYnLBynHIr=)rt>bDzVDz8y~fk=%~U=ٔ:Q->9Y= Dy L D ~0E >Q 54?Q 94;)tBY!y%fM?Q I%? DI:i:4y|BɮA2E:iFNOT Ignoring new targets: 608.17 m."i4*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 597.733948 m, bearing: 36.383666 deg, approach rate: -0.517255 m/s, LOS rate: nan deg/s, cmd heading: 36.386839 deg, new cmd heading: 36.383666 deg. -HeadingCmd: 0.635015 target range: 608.167603 and range: 607.80 m.h-T"?h)h)h1h1g1g1jg1rg9e9re9Ze9:e9*eE@׿.@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762285}2MBɢ} =)y }ki)|=顁iG iT"?R==IT"?IA@ @@4@i^A%õ=ԙ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014589Au AIy I O >E  E lE =E "E :*E :VE |4ZE a @a @a @a @tQ",\FɋLA4J>JrN-?JK%{=ٱJoB>JHi?@IJ=];JCYV MByV/Hi5Mb@Mb@Mb@1111 195NbX9?MbX9?:vY5?y5ʡ=5Լ5A5/A 5(A)5A1Y5A EC=AbDMֿVDM8y]5=%]C=ٔe39Q-e>9ec?Yec?=mDym] DmEm>qQ 54uh?Q 94u:7)ujBYQ?Q E:y-U?Q I?u DIuBABABABE=BABABE8;BE~EBBBBB=Cƴ4^A6= A I I O >W",1_ɋLAB^>B,?B{=ٱB=BH? `?@??  tI?+?iB^>IB];BCYNMByR&HbDZȿVDZy8yb%bW=ٔbf9Q-b>9dYd=fDyfl Dj~^Ej>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518340tQ 5z4jŲ?Q 9z4jW3)j`BYxyzT?Q Iz?j DIj ;ij];j4y~BɮA:iFNOT Ignoring new targets: 608.17 m."i2*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 597.321838 m, bearing: 36.375775 deg, approach rate: -0.511001 m/s, LOS rate: nan deg/s, cmd heading: 36.379520 deg, new cmd heading: 36.375775 deg. HeadingCmd: 0.634877 target range: 608.167603 and range: 607.80 m.hM"?hhhhggjgrgereZe:e*e@u+0@>MBɢN =) ki)=!!i%i%M"?-eS=-i;=I-M"?I)E EwE?E"Eҝ:*E:VE^4ZEBE;a2E;aJEk;a:Ek;a:@ @@O0@@@@@ 1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770226A I I O >a ]",yɋLAFod>F|,?FR}=ٱF=FH`? X???* (?@ܵ?iFod>IF];FCYbLBybH ddbDj׿VDj8yr%rH=ٔvp:Q-v>9tYt=vDyv| DzUEz>|Q 5 4~?Q 94~,/)~VBY!y%NT?Q I%?~ DI~.;i~N;~4AyXBɮA)E:iFNOT Ignoring new targets: 608.17 m."i%%*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 597.110901 m, bearing: 36.371791 deg, approach rate: -0.477618 m/s, LOS rate: nan deg/s, cmd heading: 36.375774 deg, new cmd heading: 36.371791 deg. -HeadingCmd: 0.634808 target range: 608.167603 and range: 607.80 m.h-"?h)h1h1h1g1g9jg9rg9e9reAZeA:eA*eEK0@EMBɢ=)  ½i)h=iݝi"?MS=q:=I"?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022249i@ @@p5@E ErE>E"E1:*E?:VE4ZEa@a@a@a@ԙA.AIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274180d",lɋLABs>B(,?B[|=ٱB=BH? 6߾??#?H@ ӽ?`?iBs>IB];BCYNLByrHԙiMb@Mb@Mb@ 9E?#~j?Y?y=̼ )Y@AbDVD8yC=%<=ٔ¹Q->9 ?Y ?=Dy DyE>Q 54?Q 94*)LBB>BBQHBVLBBBBB;BUEYd?Q E:yrT?Q I? DI;iX;M4yɮ%nA!:iFNOT Ignoring new targets: 608.17 m."iA*i5 ProNav pure pursuit: ac range: 608.167603 m, nav range: 596.884705 m, bearing: 36.367501 deg, approach rate: -0.558649 m/s, LOS rate: nan deg/s, cmd heading: 36.371792 deg, new cmd heading: 36.367501 deg. =HeadingCmd: 0.634733 target range: 608.167603 and range: 607.80 m.h=}"?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eU1@}KMBɢ}%=)y }Piy)&=顁ii}"?S=ڦ=I}"?IIxA)xA@  @ @ 3@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526760AuAIyIO~>D=D<E EjE?E"Eҝ:*E9VE^4ZEBEa2EaJEj<;a:Ej<;a! j",\ɋLA;ɰ4<:Zg>:~+?:}=ٱ:"k=:HG ? Hl???8ݪŶԍ?c?i:Zg>I:];8YFLByFHbDRVDR8yV%Z^=ٔZR:Q-Z>9^c?Y^c?=^Dy^ D^VƻEb>`Q 5f4bB?Q 9f4b&)bBBYhyjS?Q Ij?b DIb ;ibo;b4ynZBɮrAp:iyFNOT Ignoring new targets: 608.17 m."i6*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 596.692993 m, bearing: 36.363906 deg, approach rate: -0.532902 m/s, LOS rate: nan deg/s, cmd heading: 36.367503 deg, new cmd heading: 36.363906 deg. HeadingCmd: 0.634670 target range: 608.167603 and range: 607.80 m.hy"?hhhhggjgrgereZe:e*ei`1@QMBɢI=) пi)=igiy"?."T=,=Iy"?IUBDAT read: Rx Time:01:02:28.9712 UTRx dataTimestamp_ set to:1764896550.784569]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779280i@i @i@mk1@iA.AIIOF>I checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030134q E  E pE ;E "E :*E  :VE 4ZE a @a @a @a @.q",-ɋLAFv>F+?F+~=ٱF=FH? a???8 ?e?iFv>IFϧ];FCYRLByR HYiMb@Mb@Mb@ 9v/?MbX9?X9vYx ?yʡ=tA?A $A)AY\AbD VD8y!#%+=ٔ9Q->9 ?Y ?=Dy DN|E>Q 5]4?Q 9e4!)5BYe- ?Q Ee:yeQ?Q Ie?, DIKimmT?m;*@mnF=m)@ m<)mU@ImimA?N(?7.-? m?)mrIm޹imET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseB<A<BBBBBBBB;BEԩ^A A AI I O= >Uw",ɋLA2L>2p*?24=ٱ2=2H?v5?`/?%?jݯ@]?b?i2L>I2$];2CY>LBy>HbDFVDF8yNi#%N|=ٔRZ5:Q-R ?9Rc?YRc?=RDyV DVCEV ?XQ 5^4Z8?Q 9^4Z)Z,BY\ybeQ?Q Ib?Z7 DIZ:iZ:Z4yf]BɮfAjT****** received valid address query ******jR****** received valid ping request ******jreceived new query, but waiting for acoustic response period to elapsen*E:iFNOT Ignoring new targets: 608.17 m."if#*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 596.266479 m, bearing: 36.356253 deg, approach rate: -0.500877 m/s, LOS rate: nan deg/s, cmd heading: 36.359334 deg, new cmd heading: 36.356253 deg. HeadingCmd: 0.634536 target range: 608.167603 and range: 607.80 m.hp"?hhhhg g jg rg ereZe:e*e12@E_MBɢE<)A EiI)MH=IIiMiUp"?UT=UIǜ=IUp"?IYex>ie>E EE?E"E1:*EVE^4ZEBE;a2E;aJEAR;a:EAR;a@ @@A0@^A&=IIO_>߅%=߅<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse! }",ɋLA 6'>6)?6=ٱ6x=6H -)?@f@s?@?/?@kP a??i6'>I6];4YRLByR HbDZ(VDZѰ8yb<%bI=ٔb!:Q-f>9dYd=fDyf Dj]Ej>lQ 5r4n?Q 9r4n\)n BYpyrP?Q Ir?nE DIn^;in;n4yxɮzAx:i1=FNOT Ignoring new targets: 608.17 m."iE7*iAM ProNav pure pursuit: ac range: 608.167603 m, nav range: 596.050110 m, bearing: 36.352443 deg, approach rate: -0.569667 m/s, LOS rate: nan deg/s, cmd heading: 36.356253 deg, new cmd heading: 36.352443 deg. UHeadingCmd: 0.634470 target range: 608.167603 and range: 607.80 m.hUl"?hQhYhYhYgYgYjgargaeareaZei:ei*emؒ2@gMBɢ<) i )5=99i= ̙qil"?xT=Jy=Il"?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE:@A @A@Mo5@IE ElE@E"E:*E:VE4ZEa@a@a@a@ԙ^A z=A >A > Ia Iq O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse",sʋLA2>2bC)?2t\=ٱ28{=2H4?BS"? p?@9?- .??i2>I2T];0Y>MBy>"HPiMb@Mb@Mb@ 9sh|??Dl?9Y=Dy DE>Q 54 ?Q 94)BYj ?Q E:yK?Q I?U DI:i:ɝ4y ɮ uA :i15FNOT Ignoring new targets: 608.17 m."i=*i9M ProNav pure pursuit: ac range: 608.167603 m, nav range: 595.814941 m, bearing: 36.348757 deg, approach rate: -0.538842 m/s, LOS rate: nan deg/s, cmd heading: 36.352442 deg, new cmd heading: 36.348757 deg. UHeadingCmd: 0.634405 target range: 608.167603 and range: 607.80 m.hUfh"?hhhhggjgrgereZe:e*e 3@nMBɢ<) Bݽi)7U=i~꘼ifh"?T=tҕ=Ifh"?I9@ @@1@iIAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebE]4jE]ȣ4rE]./E EnE>E"E:*E:VE4ZEBE;a2E;aJEJ;a:EJ;a^A Ԙ=I I ! O- >L ",YN.ʋLA2[>2(?2d=ٱ2T=2H@G>?BC*? o?@?`$䭿 T/?Dz?i2[>I2];0YNMByR%HbDZVDZɰ8yb;%b^=ٔb68Q-f>9dYd=fDyf DjEj>lQ 5r4n?Q 9r4n&)nBYpyr^K?Q Ir?na DIn;in^;nϝ4yz_BɮzzAx|:i%FNOT Ignoring new targets: 608.17 m."i%z*i!5 ProNav pure pursuit: ac range: 608.167603 m, nav range: 595.618469 m, bearing: 36.345708 deg, approach rate: -0.533115 m/s, LOS rate: nan deg/s, cmd heading: 36.348757 deg, new cmd heading: 36.345708 deg. =HeadingCmd: 0.634352 target range: 608.167603 and range: 607.80 m.hEd"?hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU`3@uMBɢ k<) i){=i(i d"? U= =Id"?I1AmT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse@ @@0@)a^A=IIO > T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseԁ E  E oE ?E "E :*E :VE ^4ZE a @a @a @a @0",)HʋLA4<ɰ2>2a<(?2u!=ٱ2q=2HI?@5Š?@?`K?? ??i2>I2];2CY^LBy^HYiMb@Mb@Mb@ 9?v/?+Y ?yxi= ;A)AYAbDEVD8yQ%;=ٔQ->9Y=Dy DE>Q 54j%?Q 9 4 )BY ?Q E:yD?Q I?q DI4 =",`bʋLA2ڤ>2ۜ'?2=ٱ2p=2HQU?@+?r?Z?{`쯿(?@?i2ڤ>I2];2CY>LBy>HbDFKVDF8yNA%N`=ٔRQ-R>9PYT=VDyV DVaۻEV>XQ 5^4bT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseZ1?Q 9f4Z )ZBYdyfD?Q If?Z~ DIZb;iZXc;Zޝ4yn;Bɮn+An!EzB*** querying acoustic contact ***ixixԹ:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 595.180237 m, bearing: 36.340056 deg, approach rate: -0.530836 m/s, LOS rate: nan deg/s, cmd heading: 36.342579 deg, new cmd heading: 36.340056 deg. HeadingCmd: 0.634254 target range: 608.167603 and range: 607.80 m.hr^"?hhhhggjgrgereZe:e*em64@eMBɢmF@<)i m)#ii)m=qE EE<E"Ea:*Exv:VE 4ZEBEu;a2Ev;aJE;a:E;aqi7ir^"?eU=Ǖ=Ir^"?Ii@q @q@u?0@q}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse^Ax=I I! O5 >9 eF",{ʋLAYLBy H -4=-4=bD5VD5ǰ8yE<%E@=ٔMQ-U>9aYi=mDym DuEu>yQ 54}??Q 94})}ݚBYyQ I?} DI}q:i}:}4yɮA:iFNOT Ignoring new targets: 608.17 m."iJ*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 594.945923 m, bearing: 36.337065 deg, approach rate: -0.583058 m/s, LOS rate: nan deg/s, cmd heading: 36.340056 deg, new cmd heading: 36.337065 deg. HeadingCmd: 0.634201 target range: 608.167603 and range: 607.80 m.h["?hhhhggjgrg!e)reQZeQ:eY*ee z4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMBɢ<) O i!)%_=!!i%(i ["? (U=o=I["?IAI%yA)%yAE EE?E"E:*E0:VE^4ZEa@a@a@a@@ @@2@q^A m= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse A5 .AI9 IQ O] >{",ʋLAB.>B,B.EHB.LLBB.=B,B,B.;B.EBBBB=BC4FPr>F&?Fx|=ٱFg=FH t?@ 50?oJ?`{?<`??iFPr>IFT^;FCYRLByR Hi-Mb@Mb@Mb@)))) )9-S?+? rhY-?y-=-C -A) ))-A)Y)bDEVDE8yUɀ%U:=ٔUѺQ-U>9] ?Y] ?=]Dy]- DekEe>aԩQ 54e1O?Q 94e)eϚBY?Q E:y9?Q I?e DIeΓA- >I I) 1 O= >ի",ʋLA>>>\/%?>{=ٱ>׫=>H`?`G?d5?`?Ψk;??i>>I>];>CY^LBy^HbDjVDj8yrn %rS=ٔr>Q-r>9tYt=vDyv= DvEz>xQ 5~4z\?Q 94z)zšBYy8?Q I?z DIz8;iz;z4y >Bɮ q 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 ҝ:*E C:VE 4ZE a @a @a @a @ԙ 俲",UʋLAF>FX$?F{=ٱF J=FH? ?  ?-?,]l? ?iF>IF];DYnLBynHieMb@Mb@Mb@aaaa a9e/$?kt?MbYe&?ye 0=eenAeOA e5A)eAaYeA}AAybD}VD}8yj<%@=ٔ*Q->9Y=DyN D!E>Q 54&l?Q 94)BY?Q E:y;9?Q I? DI;i;]4yɮ4A:iFNOT Ignoring new targets: 608.17 m."ie*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 594.247986 m, bearing: 36.331059 deg, approach rate: -0.563827 m/s, LOS rate: nan deg/s, cmd heading: 36.333140 deg, new cmd heading: 36.331059 deg. HeadingCmd: 0.634097 target range: 608.167603 and range: 607.80 m.h(T"?hhhhg g jg rg ereZe:e*eN5@i颽MBɢj<) Di)=iJ?i(T"?U=<n=I(T"?IMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse@ @@@0@ԙB]>B]SCBYBYB]=BYB]DB];B]E^APڀ=I I O- > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse Q",%XʋLA0ɰ0N>N~#?NCy=ٱN%+=NH ?@\9K?N ?@m? B9v#z??iN>IN];NCYvLByvHbDVD8y %S=ٔNQ->9Y=Dy] D%RE%>!Q 5-4%z?Q 954%)%BY1y5y8?Q I5?% DI%C:i% :%!4y=@BɮEUAE"E]B*** querying acoustic contact ***iYiY:iamFNOT Ignoring new targets: 608.17 m."im*iqE ErEE"E1:*E?:VEZEBE;a2E;aJEY;a:EY;a ProNav pure pursuit: ac range: 608.167603 m, nav range: 594.029541 m, bearing: 36.329233 deg, approach rate: -0.563708 m/s, LOS rate: nan deg/s, cmd heading: 36.331060 deg, new cmd heading: 36.329233 deg. HeadingCmd: 0.634065 target range: 608.167603 and range: 607.80 m.hR"?hhhhggjgrgereZe:eq*e}F6@=MBɢ=q<)A EwXiA)E=Iiim3iuR"?uU=ud=I}R"?Iy%9@! @!@%5@!@-zA@-zA^Am=IaIqO[>]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse) #",36ʋLA,2aS>2"?2Ct=ٱ2p=2H`?`h_ֻ???`g'?=6???i2aS>I2C];2CT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)Y]LBy]HIm<)m<E E|EAE"Eҝ:*EP$:VEA4ZEa@a@a@a@iMb@Mb@Mb@ 9(\?V-?~jtYz?y<ļ AA)YAbD VD8y%R;%-=ٔ-2Q-->91Y1=5Dy5s D5xE=>Q 54?Q 94b)BY?Q E:y0?Q I? DIH;i.; 4yɮ QA :iQY}FNOT Ignoring new targets: 608.17 m."i}b*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 593.709045 m, bearing: 36.327481 deg, approach rate: -0.566518 m/s, LOS rate: nan deg/s, cmd heading: 36.329233 deg, new cmd heading: 36.327481 deg. HeadingCmd: 0.634034 target range: 608.167603 and range: 607.80 m.hP"?hhhhggjgrgereZe:e*e\6@MBɢ=A<)9 ={bi9)E#=AAiER돼i]P"?]rU=]]=IeP"?Ia %v>%CG w9 Y sAM :@I  @I @M O0@I ԉ a e 4=m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseB] >B] RCBY BY B] =BY B] DB] !;B] EԹ ^A fm=I IO>",[ˋLA:>::"?:3m=ٱ:=:HV?';?@?`?U= ?4?i:>I:];:C @)@BDDDFhAiFtIDDIHiJ A JH)HL NANLLPPIP)PiP)TIV"AVC T TTV+AZtiZ)BYy0?Q I? DI :i::4yBɮAE:iFNOT Ignoring new targets: 608.17 m."i^*i- ProNav pure pursuit: ac range: 608.167603 m, nav range: 593.521362 m, bearing: 36.326507 deg, approach rate: -0.584228 m/s, LOS rate: nan deg/s, cmd heading: 36.327481 deg, new cmd heading: 36.326507 deg. UHeadingCmd: 0.634017 target range: 608.167603 and range: 607.80 m.hUN"?hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee`#7@MBɢP<) -^i)lS=iiN"? U=!#S=IN"?I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE:@A @A@A@ADDE EoE>E"E:*E:VE4ZEBE;a2E;aJEN;a:EN;a^AY=9A؟AIIO>Q  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse?",J6ˋLA2 >2M!?2Df=ٱ2np=2Hq?Mb? H??1Ĭ 7? ?i2 >I2z];0Y}LBy}HbDVD8yn<%E=ٔDžQ->9"?Y"?=Dy DhE>Q 54?Q 94H)BYy(/?Q I? DI2:i:4yɮA1:iYeFNOT Ignoring new targets: 608.17 m."ieL*ia ProNav pure pursuit: ac range: 608.167603 m, nav range: 593.283264 m, bearing: 36.325352 deg, approach rate: -0.577177 m/s, LOS rate: nan deg/s, cmd heading: 36.326508 deg, new cmd heading: 36.325352 deg. HeadingCmd: 0.633997 target range: 608.167603 and range: 607.80 m.hM"?hhhhggjgrgereZe:e*e׍7@MBɢ<) 5ai)@=i+iM"?lU=5G=IM"?I9@ @@@0@a-Թ ",-ZPˋLAYELByEHiMb@Mb@Mb@ 97A`?y&1?y&1Y?y`<`^AbA 1A)AYAbDVD8yQ%E=ٔQ->9Y=Dy DE > Q 54 i?Q 94 K) xBY?Q E:y.?Q I? DI  ;i ; 4y%Bɮ-A):iIMFNOT Ignoring new targets: 608.17 m."iU'M*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 593.043091 m, bearing: 36.324227 deg, approach rate: -0.597891 m/s, LOS rate: nan deg/s, cmd heading: 36.325354 deg, new cmd heading: 36.324227 deg. mHeadingCmd: 0.633977 target range: 608.167603 and range: 607.80 m.hmWL"?hihihihigq}DAT read: }2Acoustic response timeoutgjgrgereZe:e*e`~7@ԑMBɢċ<) wi)f=i44iWL"?U=dI=IWL"?II)B]>B]SCBYBYB]=BYB]DB]I;B] EA@A @A@Eb2@I^AM B=AM yAzAM wA- 2Acoustic response timeoutA .AI I O >D @AzD ?AbE^4jE˒4rE˅0E  E rE :E "E :*E ?:VE (4ZE BE ;a 2E ;a JE Y;a :E Y;a  ",l@jˋLA%>>%?%h!Y=ٱ%\=%H? +w+%??@?#l `? 1?i%>>I%];%CY=LByEHbDU%VDUϰ8ye<%eT=ٔeEQ-m>9m ?Ym ?=mDym Du:{Eu>yQ 54}H?Q 94})}mBYy1-?Q I?}DI}:i}:}&4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."iQ0*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 592.817017 m, bearing: 36.323297 deg, approach rate: -0.585498 m/s, LOS rate: nan deg/s, cmd heading: 36.324227 deg, new cmd heading: 36.323297 deg. HeadingCmd: 0.633961 target range: 608.167603 and range: 607.80 m.hGK"?hhhhggjgrgereZe:e*eU8@颕MBɢ1<) zvi)=顡i}PiGK"?U=2=IGK"?Ia@a @a@m05@i2Acoustic response timeout^AA A I I O >d",7ˋLA`ɰ`z2Acoustic response timeoutYmLByuHE E}E=E"E:*Ek&:VE|4ZEa@a@a@a@IiMb@Mb@Mb@ 9$C?~jt?V-Y?y=jA )AY(AbDDVD8y:%(=ٔQ->9Y=Dy DE>Q 542?Q 94)_BY?Q E:y'1?Q I?(DIV:i$:/4y "Bɮ A E:i15FNOT Ignoring new targets: 608.17 m."i=w*i9M ProNav pure pursuit: ac range: 608.167603 m, nav range: 592.526001 m, bearing: 36.321663 deg, approach rate: -0.600562 m/s, LOS rate: nan deg/s, cmd heading: 36.323298 deg, new cmd heading: 36.321663 deg. UHeadingCmd: 0.633933 target range: 608.167603 and range: 607.80 m.hUhI"?hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee8@颕MBɢ6<) li)J=顙iHi=hI"?EhU=EM5=IEhI"?IAy@ @@0@2Acoustic response timeoutԡ Be >Ba Be QHBe VLBBe =Ba Ba Be \;Be E^A .= A I I) O5 >M",6ʟˋLA>5 >>?>M=ٱ>9=>H&?a@B?c?`P?s UT?}?i>5 >I>.];>CYJLByJHIN=)N<bDRIVDR8y^˼%^x=ٔ^Q-^?9`Y`=bDyb Db:=Ef?dQ 5j4f?Q 9n4f\)fVBYlyn&0?Q In?f5DIf:ifb;f44ypɮrAt:i  FNOT Ignoring new targets: 608.17 m."ivf*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 592.328064 m, bearing: 36.320626 deg, approach rate: -0.600716 m/s, LOS rate: nan deg/s, cmd heading: 36.321662 deg, new cmd heading: 36.320626 deg. -HeadingCmd: 0.633915 target range: 608.167603 and range: 607.80 m.h-9H"?h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE`D&9@mMBɢmt<)q uiq)uU=yyi}=i}9H"?U=&=I9H"?I{>i>9@ @@'1@iI%2Acoustic response timeoutE EsEE"E:*EZ:VEZEBE;a%2E;a%JE,];a%:E-];a%^A ;6=! A= ؟AII IY Oe > 2Acoustic response timeout9",ˋLAYrLByr HbDzgVDz 8yk<%E=ٔ%Q-%>9%"?Y%"?=-Dy- D-E->1Q 5=45^?Q 9=450)5JBYAyAQ IE?5EDI5:i5<;5<4yM$BɮMAI:iquFNOT Ignoring new targets: 608.17 m."i}f*iy ProNav pure pursuit: ac range: 608.167603 m, nav range: 592.078491 m, bearing: 36.319318 deg, approach rate: -0.600557 m/s, LOS rate: nan deg/s, cmd heading: 36.320627 deg, new cmd heading: 36.319318 deg. HeadingCmd: 0.633892 target range: 608.167603 and range: 607.80 m.hF"?hhhhggjgrgereZe:e*e9@MBɢ<) i)n=i"iF"?xU=2)=IF"?IQ]:@Y @Y@]O0@Y^A-#'=U2Acoustic response timeoutIiԁIOd>E  E tE ;E "E 7:*E v:VE 4ZE a @a @a @a @ԩ ",lˋLA@YrLByvHiMb@Mb@Mb@ 9$C?~jt?y&1YyD=`nAOA 5A)AYABDAT read: Response Not Received *response not receivedRDAT read: user:26>Tx time:01:02:38.2194 9Y=Dy DE>Q 54 ?Q 94})=BY?Q E:yS4?Q I?VDI:i:D4B<A<B>BQCB^HB`LBB=BBDB=;BEBSCBRCB”CBB=CU5yQɮUAQ:iFNOT Ignoring new targets: 608.17 m."i'*iԩ ProNav pure pursuit: ac range: 608.167603 m, nav range: 591.803223 m, bearing: 36.317437 deg, approach rate: -0.580156 m/s, LOS rate: nan deg/s, cmd heading: 36.319319 deg, new cmd heading: 36.317437 deg. HeadingCmd: 0.633859 target range: 608.167603 and range: 607.80 m.hD"?hhhhggjgrgereZe:e*e `. :@UNBɢUA׌<)Q ]iY)]Q=YYi] ieD"?e\U=ID"?I@ @@4@@ @ = DAT read:  2Acoustic response timeout ^AA AI zAI E  E |E <E "E :*E P$:VE 4ZE BE ?",YˋLA2>25?2@=ٱ2U=2HZ?@`b`q?b?`1?`CE? ?i2>I2õ];0YfLByfHlbDrOVDr8yz5%~i=ٔ~UQ-~>9|Y=DyD @E> Q 54 y?Q 94 ) 4BYy@4?Q I? dDI \:i : &J4y%Bɮ%7A%EEB*** querying acoustic contact ***iAiA:iIUFNOT Ignoring new targets: 608.17 m."iU*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 591.595337 m, bearing: 36.316021 deg, approach rate: -0.629591 m/s, LOS rate: nan deg/s, cmd heading: 36.317437 deg, new cmd heading: 36.316021 deg. mHeadingCmd: 0.633834 target range: 608.167603 and range: 607.80 m.hmB"?hihihihqgqgqjgqrgyeyreyZey:ey*e^:@颭NBɢ]B<) i)A=项i؇iB"?LJU=8(=IB"?Im9@i @i@m?0@i2Acoustic response timeout1^At'=IIO >Y ȷ",4̋LAi$I$.2Acoustic response timeouti})>}4?}}==ٱ}Me=}HU?i]?`??ސ%@?@?i})>I}];}CYLByHE- E)E)E)"E-:*E)VE)ZE)a5@a=@a=@a=@iMb@Mb@Mb@ 9^I +?&1?QYX?yP=rA (A)Y(AbD VDʰ8y %2=ٔԺQ->9Y=DyDՆ:E>Q 5E4*?Q 9E46)(BYM?Q EM:yM5?Q IM?uDI_B PCB jHB jLBB =B B B ;B E^A #'= A >A >I9 II O] >", ̋LA;ɰ;2>21?2<=ٱ2z˿=2Hf?rUz?$? ?@`򎧿?w?i2>I2#x];2CY>LBy>HbDFVDFŰ8yN==%Nt=ٔR:Q-R?9PYP=VDyV$DV7v;EV?XQ 5^4Z6?Q 9^4Z)ZBY`yb6?Q Ib?ZDIZ ;iZ ;Z X4yfBɮfAAd:iimFNOT Ignoring new targets: 608.17 m."iuꦸ*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 591.119690 m, bearing: 36.312476 deg, approach rate: -0.605811 m/s, LOS rate: nan deg/s, cmd heading: 36.313988 deg, new cmd heading: 36.312476 deg. HeadingCmd: 0.633772 target range: 608.167603 and range: 607.80 m.h>"?hhhhggjgrgereZe:e*e=.;@Թ%NBɢK <) "?U=d.=I>"?I]2Acoustic response timeout:@ @@p5@E% E%E%;E!"E%:*E%V:VE%4ZE!BE%;a52E%;a5JE%;a=:E%;a=^AS,=II O> 2Acoustic response timeout9 ",w:̋LA2 #>2?2>=ٱ2=2H?@PV?G??`"ϧ(?o?i2 #>I2D];2CY>LBy> HbDFVDF8yN:<%RJ=ٔR:Q-R>9PYT=VDyV5DVe;EV>XQ 5^4Z_F?Q 9^4Z)ZBY`yb6?Q Ib?ZDIZ:iZ;Z_4ydɮf0Ad:ixzFNOT Ignoring new targets: 608.17 m."i~*i|  ProNav pure pursuit: ac range: 608.167603 m, nav range: 590.878113 m, bearing: 36.310591 deg, approach rate: -0.621911 m/s, LOS rate: nan deg/s, cmd heading: 36.312475 deg, new cmd heading: 36.310591 deg. HeadingCmd: 0.633739 target range: 608.167603 and range: 607.80 m.h<"?hhhhggjgrge!re!Ze!:e!*e%;@0NBɢ$F<)  G Xr9 Y dnAԙ ",[T̋LA:`>: ?::A=ٱ:N=:H? Q? ??;୿::&?@?i:`>I:M];:CYRLByZHiUMb@Mb@Mb@QQQQ Q9U5^I ?T㥛 ?L7A`堿YU?yU=U+U^AUnA U$A)UAQYUAbDm$VDmΰ8y}i<%}==ٔ}):Q-}>9Y=DyFD;E>Q 54iV?Q 94)BY&?Q E:y=?Q I?DI ;iP;f4yBɮ*AE2Acoustic response timeout:iQ]FNOT Ignoring new targets: 608.17 m."i]gԸ*iYm ProNav pure pursuit: ac range: 608.167603 m, nav range: 590.622192 m, bearing: 36.307983 deg, approach rate: -0.569340 m/s, LOS rate: nan deg/s, cmd heading: 36.310590 deg, new cmd heading: 36.307983 deg. qHeadingCmd: 0.633694 target range: 608.167603 and range: 607.80 m.h9"?hhhhggjgrgereZe:e*e<@AA?AB>BBwHBtLBBBBDB;BVE l",ʍn̋LAF>F;!?FE=ٱF=FH@? ;`?|? ?)c`?@(?iF>IF=7];DYVLByVHbD^ VD^8yfg%fV=ٔf;Q-f>9hYh=jDyjVDnU;En>pQ 5v4rd?Q 9v4r)rBYtyv=?Q Iv?rDIr:irh:rTm4yxɮ~.A|B*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 608.17 m."i-*i)E ProNav pure pursuit: ac range: 608.167603 m, nav range: 590.396179 m, bearing: 36.305613 deg, approach rate: -0.619350 m/s, LOS rate: nan deg/s, cmd heading: 36.307984 deg, new cmd heading: 36.305613 deg. MHeadingCmd: 0.633653 target range: 608.167603 and range: 607.80 m.hM 7"?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]`Lb<@%GNBɢ%.5<)) -ei))-: =))i-P/iU 7"?UT=]I=I] 7"?IY9@ @@?0@2Acoustic response timeout^AB=9 AA II IY Om >Y ~ "",ᗈ̋LA2Acoustic response timeoutE EwE=E"E:*E:VE|4ZEa@a@a@a@%>!?zI=ٱ(=H?@]?`~??!H, ??i%>I\];CYLByH iMb@Mb@Mb@ 9"~?kt?lY?y 0=tAXA )AY(AbDVD8y%;%.=ٔ;Q->9Y=DyiDX;E>Q 54u?Q 94R)BY?Q E:y6?Q I?DI;i;u4yBɮ3A:i FNOT Ignoring new targets: 608.17 m."iϢ*i- ProNav pure pursuit: ac range: 608.167603 m, nav range: 590.125793 m, bearing: 36.303527 deg, approach rate: -0.576143 m/s, LOS rate: nan deg/s, cmd heading: 36.305614 deg, new cmd heading: 36.303527 deg. 5HeadingCmd: 0.633616 target range: 608.167603 and range: 607.80 m.h54"?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE@x<@uSNBɢup/<)q },iy)}=yyi}\ i4"?T=NN=I4"?Ip>i>-9@1 @1@5C5@1I>%=2Acoustic response timeoutB>BOCBBB=BBB;BHEq ^A BJ=A .AI I O >$3(",od̋LA(6F>6!?6dN=ٱ6w>6H? ǚ@W?`?@[?d ɩ&??i6F>I6=];6CYBMByB&HbDJVDJ8yRT=%Rt=ٔVUj;Q-V?9V ?YV ?=ZDyZvDZAc;EZ?\Q 5b4^,?Q 9b4^)^BY`yf6?Q If?^DI^:i^ :^f{4yjBɮjAj E:i|~FNOT Ignoring new targets: 608.17 m."i4*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 589.932495 m, bearing: 36.302005 deg, approach rate: -0.576840 m/s, LOS rate: nan deg/s, cmd heading: 36.303528 deg, new cmd heading: 36.302005 deg. HeadingCmd: 0.633590 target range: 608.167603 and range: 607.80 m.h2"?hhhhggjg!rg!e!re!Ze):e)*e-0=@U]NBɢ];)]u ]iY)] =aaieie2"?mNT=mI  2Acoustic response timeoutW.", )̋LA(ɰ(Jv>J@"?J?Q=ٱJ>JHR?Ԟ@i??@?`{5@?m?iJv>IJp_];JCYVLByVH\bDb VDb8yj %jH=ٔjy;Q-j>9n"?Yn"?=nDynDrJ;Er>pQ 5v4r*?Q 9z4r)rؙBYxyzK7?Q Iz?rDIr:irA =5",̋LA2Q>2is"?2 T=ٱ2>2H`W?~@9?@?h?ٲ ?N?i2Q>I2?];2CY>LBy>HIB=)B499Y9==Dy=DE :EE>AQ 5M4Eڠ?Q 9U4Eǧ)EʙBYU?Q EU:yUX3?Q IU?EDIE:iEg:Ẻ4yaɮeAa2Acoustic response timeout:i!%FNOT Ignoring new targets: 608.17 m."i-*i)B]<A]<Be>BeNCBaBaBe=BaBeDBe;BeNE} ProNav pure pursuit: ac range: 608.167603 m, nav range: 589.454529 m, bearing: 36.298536 deg, approach rate: -0.575981 m/s, LOS rate: nan deg/s, cmd heading: 36.300120 deg, new cmd heading: 36.298536 deg. HeadingCmd: 0.633529 target range: 608.167603 and range: 607.80 m.h."?hhhhggjgrgereZe:e*e@T >@vNBɢ;) Ⱦi) T=  i }i."?T=X=I."?I!I9@ @@_0@q^A gW=] 2Acoustic response timeoutԩ D zD AAE  E yE =E "E C:*E :VE |4ZE BE C;a 2E D;a JE s;a :E s;a Ay I I O >g;", ̋LA2>2"?2hV=ٱ2g>2H`?_b\?.?@p?%٪@U??i2>I2c];0YBLByBHbDNVDN8yj;%jQ=ٔj,:Q-j>9lYl=nDynDr0;;Er>pQ 5v4r?Q 9z4r)rBYxyz3?Q Iz?rDIr:ir::r4y|ɮAB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 608.17 m."i-|*i1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 589.225586 m, bearing: 36.297018 deg, approach rate: -0.615537 m/s, LOS rate: nan deg/s, cmd heading: 36.298535 deg, new cmd heading: 36.297018 deg. EHeadingCmd: 0.633502 target range: 608.167603 and range: 607.80 m.hE8-"?hIhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]ag>@y颍NBɢ;) ξi)P'=顑izi8-"?T=\=I8-"?I2Acoustic response timeoutԱvu:@q @q@}/0@y ^A= -tY=AE zAzAA  2Acoustic response timeoutAq I I E  E rE 9E "E :*E ?:VE 4ZE a @a @a @a @)O5>@C",ʣ ͋LA$$J>Jt"?Ji[=ٱJ6X>JH?-?`??`k?رkz`??iJ>IJs];HYVLByVHiUMb@Mb@Mb@QQQQ Q9UX9v?y&1?+YU?yU`9Y=DyDkB:E>Q 54?Q 94*)BY8?Q E:yb1?Q I?DI:iR:,4yBɮA E:iFNOT Ignoring new targets: 608.17 m."is*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 588.945374 m, bearing: 36.295397 deg, approach rate: -0.573978 m/s, LOS rate: nan deg/s, cmd heading: 36.297019 deg, new cmd heading: 36.295397 deg. HeadingCmd: 0.633474 target range: 608.167603 and range: 607.80 m.h]+"?hhhhggjgrgereZe :e *e a>@5NBɢ=;)9 = ;i9)==AAiE5w!i]+"?4U=|]=I]+"?I}񖻍2Acoustic response timeout9@ @@_5@QBu>BqBujHBujLBBu=BqBuDBug;BuEBEOCBEOCBABE=BE=CEź5y ^AU S^=A I I ԩ O >2I",kF(͋LAn2Acoustic response timeoutYMLByQ YYbDu׿VDu8yR:%D=ٔQ->9Y=DyDE>Q 54}?Q 94)BYyQ I?DIH;iI;4yBɮA:i FNOT Ignoring new targets: 608.17 m."iq*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 588.704163 m, bearing: 36.294001 deg, approach rate: -0.570112 m/s, LOS rate: nan deg/s, cmd heading: 36.295396 deg, new cmd heading: 36.294001 deg. -HeadingCmd: 0.633450 target range: 608.167603 and range: 607.80 m.h-)"?h)h1h1h1g1g1jg9rg9e9re9Ze9:e9*eE P?@EM EMxEM8EI"EMs:*EM:VEMF4ZEIBEM!;a]2EM";a]JEM_o;a]:EM`o;a]!颅NBɢx];) Ӿi)=顉iti)"?6U=I)"?I!!!!II)yA2Acoustic response timeout] :@Y  @Y @] @0@Y ԁ ԡ ^A +^=AIIO?XR",I͋LA"2Acoustic response timeout0ɰ0E E|E?E"E:*EP$:VE^4ZEa@a@a@a@ > HS#? e@i=ٱ 6= H?d??K? $l*?K?i >I ]; Y]LByHieMb@Mb@Mb@aaaa a9e|?5^?:v?MbYe?yeT9Y=DyD@W;E>Q 54?Q 94)BY5?Q E:y*?Q I?3DI;iY;˪4yɮA:iFNOT Ignoring new targets: 608.17 m."iF *i} ProNav pure pursuit: ac range: 608.167603 m, nav range: 588.368103 m, bearing: 36.292905 deg, approach rate: -0.574557 m/s, LOS rate: nan deg/s, cmd heading: 36.294000 deg, new cmd heading: 36.292905 deg. HeadingCmd: 0.633431 target range: 608.167603 and range: 607.80 m.h("?hhhhggjgrgereZe:e*e ?@颽NBɢ;) i)<iBpi("?U=Űd=I("?I)E9@A @A@Ej1@I2Acoustic response timeoutAYA]AABe>BaBe^HBe`LBBe=BaBeDBeξ;Be`~EY ^A- <|^=ԉ A .AI I O >W:Y",_f͋LA2>2#?2|pm=ٱ2=2H.? ?`_?W? ⣬@Ω?R?i2>I2];2CY>LBy>HbDF VDF8yN%Ng=ٔNF=;Q-R>9R ?YR ?=RDyRDVq;EV>XQ 5^4Z?Q 9^4ZW)ZBY\y^+?Q I^?Z@DIZ;iZd:Z4yfBɮfAf E:itzFNOT Ignoring new targets: 608.17 m."iz *i|  ProNav pure pursuit: ac range: 608.167603 m, nav range: 588.166016 m, bearing: 36.292221 deg, approach rate: -0.571572 m/s, LOS rate: nan deg/s, cmd heading: 36.292903 deg, new cmd heading: 36.292221 deg. HeadingCmd: 0.633419 target range: 608.167603 and range: 607.80 m.h'"?h!h!h!h!g)g)jg9rg9e9reAZeA:eI2Acoustic response timeout*eM '!@@eNBɢe@d)e i)<顑iHmi'"?*U=ri=I'"?IEU EUEU:EQ"EUg:*EUga:VEU(4ZEQBEU;ae2EU;aeJEU;ae:EU;amy@y @@1@A^AJc= 2Acoustic response timeoutA1 I9 II O] >q I`",z͋LA>m>>J$?>^q=ٱ>;=>H6?e?? ם?f'`h ?μ?i>m>I>];9\Y`=bDybDbY;Eb>dQ 5j4fv?Q 9j4f)fsBYhynk+?Q In?fODIfX:ifC:f4yrŠBɮrrArEB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 608.17 m."i<*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 587.934021 m, bearing: 36.291403 deg, approach rate: -0.570400 m/s, LOS rate: nan deg/s, cmd heading: 36.292220 deg, new cmd heading: 36.291403 deg. -HeadingCmd: 0.633404 target range: 608.167603 and range: 607.80 m.h-&"?h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*eET@@mNBɢm b)i miq)u Gf",V͋LA"2Acoustic response timeout6&5>6e$?6v=ٱ6mL=6H Q?zR?!??ؾ)??i6&5>I63];4BR>BPBRQHBRVLBBR=BPBPBR\;BR}EY^LBy^HiEMb@Mb@Mb@AAAA A9E㥛 ?y&1YE?yEE`ExAEOA EAA)AAYE(AbD]VD]8ymg<%m?=ٔmw1;Q-u>9u"?Yu"?=uDyuD`;E>Q 5 4?Q 9 4u)eBY ?Q E :y %?Q I?_DI(:i:Կ4y=ȠBɮ=pA9:iFNOT Ignoring new targets: 608.17 m."i k*iԱ ProNav pure pursuit: ac range: 608.167603 m, nav range: 587.676086 m, bearing: 36.291041 deg, approach rate: -0.571239 m/s, LOS rate: nan deg/s, cmd heading: 36.291404 deg, new cmd heading: 36.291041 deg. HeadingCmd: 0.633398 target range: 608.167603 and range: 607.80 m.hb&"?hhhhggjgrgereZe:e*ex@@ENBɢM6)I .i)i3<顱iZfib&"?7U=wr=Ib&"?I9@ @@0@2Acoustic response timeout Em  Em Ei Ei "Em g:*Em 3:VEi ZEi BEi a} 2Ei a} JEm ;a} :Em ;a} ^A- m=9 AU .AIa Iq O} >l",b͋LA>v>>%?>x=ٱ>=>H ?@{?s1?K?;?ֿ?2?i>v>I>09^;>CYJLByJHbDVVDV8y^[%^T=ٔ^:Q-^>9b ?Yb ?=bDyb$DbA;Ef>dQ 5j4f5$?Q 9n4f)fYBYlyn&?Q In?fmDIf8;if;fJƞ4ypɮr{At:i  FNOT Ignoring new targets: 608.17 m."iۑ*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 587.461182 m, bearing: 36.290681 deg, approach rate: -0.594282 m/s, LOS rate: nan deg/s, cmd heading: 36.291042 deg, new cmd heading: 36.290681 deg. -HeadingCmd: 0.633392 target range: 608.167603 and range: 607.80 m.h-%"?h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE@@mNBɢu)q uiq)uB20%?2Vrz=ٱ2>2H}?@/@;? ?? _y?BLI@A??i2>I21^;2CY>LBy>H @@iMb@Mb@Mb@ 9zG?/$Y ?yA?A ;A)AYfAbD]VD]8ym%m*=ٔmUn:Q-u>9qYq=uDyu7D}O;E}>Q 547?Q 94)KBY"?Q E:y&?Q I?DIn;ia;Ξ4yˠBɮAE:iFNOT Ignoring new targets: 608.17 m."iw*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 587.179382 m, bearing: 36.290188 deg, approach rate: -0.586852 m/s, LOS rate: nan deg/s, cmd heading: 36.290680 deg, new cmd heading: 36.290188 deg. HeadingCmd: 0.633383 target range: 608.167603 and range: 607.80 m.hh%"?hhhhggjgrgereZe:e*e'@@-NBɢ-.)) -i))5<11i5_i=h%"?=bU===I=h%"?I92Acoustic response timeoutB<AB>BLCBEHBLLBB=BBDB7;B}E9!A@A @A@E?5@AQ U 2Acoustic response timeout^Am 0=D zD ?AbEM(4jEM4rEMͮ10E  E E 9E "E :*E *:VE 4ZE BE ~{",3͋LAɰ6>6P7&?6z=ٱ6j >6Hp? D?O? j?屿 PS? #?i6>I6>^;4YBLByBHbDNVDN8yRܻ%R5=ٔV529Q-V>9TYX=ZDyZIDZ;E^>\Q 5b4^H?Q 9b4^M~)^>BYdyfp'?Q If?^DI^:i^.:^֞4yɮA:i9=FNOT Ignoring new targets: 608.17 m."iEz*iAu ProNav pure pursuit: ac range: 608.167603 m, nav range: 586.914673 m, bearing: 36.289654 deg, approach rate: -0.577500 m/s, LOS rate: nan deg/s, cmd heading: 36.290188 deg, new cmd heading: 36.289654 deg. }HeadingCmd: 0.633374 target range: 608.167603 and range: 607.80 m.h}$"?hyhyhyhyggjgrgereZe:e*e5A@OBɢ{) w i)%V", ΋LA2>2˴&?21=y=ٱ2\>:2Acoustic response timeout2H`g?`o?`K\?a?@i`"? r?i2>I2,^;2CYNLByNHbDZVDZ8yf%fB=ٔffQ-f>9hYh=jDyjZDj;En>lQ 5r4nVY?Q 9v4nTz)n1BYtyv'?Q Iv?nDIn:in:nݞ4y~͠Bɮ~AB*** querying acoustic contact ***E EE;E"EO:*E*5:VE4ZEa%@a%@a%@a%@ii:iFNOT Ignoring new targets: 608.17 m."im*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 586.667114 m, bearing: 36.289110 deg, approach rate: -0.538259 m/s, LOS rate: nan deg/s, cmd heading: 36.289656 deg, new cmd heading: 36.289110 deg. HeadingCmd: 0.633364 target range: 608.167603 and range: 607.80 m.h,$"?h9h9h9h9g9g9jgArgAeAreAZeA:eI*eMqA@颵OBɢ>&) 9i)Q<项iVi,$"?MU=~=I,$"?IQ@Q @Q@]/1@YA%==%2Acoustic response timeoutBE>BEHCBE,HBE7LBBE =BE+DBEDBE4;BE}E^Au _=y I I O >t",$΋LA02&>2'?2/t=ٱ2/>2H@`? ?Bf? [?@ +[`I?M?i2&>I2F@^;2 CYBLByBHIF=)Fa=i Mb@Mb@Mb@     9 On?Mbp99Y9==DyEkDE3j;EE>IQ 5U4Mi?Q 9U4Mhv)M&BYU?Q EU:yUa&?Q I?MDIME 2Acoustic response timeout",n>΋LA2Z>2w'?2n=ٱ2?>2HY?!AX?@bp?@U?@ Э@? ?i2Z>I28^;2CY>LBy>H`bD^VD^Ű8yj4%jQ=ٔj}Q-j>9lYl=nDynzDry;Er>tQ 5v4vty?Q 9z4vr)vBYxyz&?Q Iz?vDIv:ivq:v4yРBɮAE:i!-FNOT Ignoring new targets: 608.17 m."i-*i)= ProNav pure pursuit: ac range: 608.167603 m, nav range: 586.188232 m, bearing: 36.288305 deg, approach rate: -0.642305 m/s, LOS rate: nan deg/s, cmd heading: 36.288713 deg, new cmd heading: 36.288305 deg. EHeadingCmd: 0.633350 target range: 608.167603 and range: 607.80 m.hE@#"?hAhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]A@颅+OBɢh0) 8i)<顉iǖOi@#"?U=gr=I@#"?I59@1 @1@50@1@=@=@=@=2Acoustic response timeoutIIO>E) E-E-<E)"E)*E-ą:VE- 4ZE)aM@aM@aM@aU@A ʕ",'JX΋LA2>26(?2f=ٱ2>2HN?2?E?@H?@FͰ:@g?&?i2>I20^;2CYRLByRH!iUMb@Mb@Mb@QQQQ Q9U\(\?y&1| rhYU?yU`廙UCUtAQ Q)UAQYU\AbDmVDm8y}%}@=ٔ Q->9Y=DyD\;E>Q 54?Q 94n)BY?Q E:y&?Q I?DI ;i ;p4yBɮ6AE:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 585.931458 m, bearing: 36.287924 deg, approach rate: -0.602881 m/s, LOS rate: nan deg/s, cmd heading: 36.288303 deg, new cmd heading: 36.287924 deg. HeadingCmd: 0.633344 target range: 608.167603 and range: 607.80 m.h""?hh2Acoustic response timeoutAAAAB >B MCB HB #LBB  =B *DB DB ;B i}EBMCBLCBCB=B=C6h!h!g)g)jg)rg)e1re1Ze1:e1*e= 2B@e;OBɢe߃)a e ii)mN0@)aA=؟AIAIQOmW>q 2Acoustic response timeoutԡ E5  E5 rE5 ;E1 "E5 :*E5 ?:VE5 4ZE1 BE5 ;aE 2E5 ;aE JE5 Y;aE :E5 Y;aE ",J&r΋LAJ!>J](?JN+[=ٱJm>JH_@?ZHJ?ܔ?7?- b??iJ!>IJ7^;JCYZLByZH \\bDb(VDbѰ8yj鸻%jV=ٔnQ-n>9r"?Yr"?=rDyrDrQ<Ev>tQ 5z4v.?Q 9z4vj)vBY|y~&?Q I~?vDIv;iv;v!4yBɮFA E:i)-FNOT Ignoring new targets: 608.17 m."i5ʝ*i1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 585.700500 m, bearing: 36.287512 deg, approach rate: -0.603284 m/s, LOS rate: nan deg/s, cmd heading: 36.287924 deg, new cmd heading: 36.287512 deg. MHeadingCmd: 0.633337 target range: 608.167603 and range: 607.80 m.hMX""?hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee@c8B@y颍HOBɢ}) $i)h<顙iGiX""?Z6V=P=IX""?IY>i>59@1 @1@500@1ԩ=< 2Acoustic response timeoutAI!I9OEQ> 4ܢ",΋LAɰ22Acoustic response timeout:>:k)?:hN=ٱ: h>:H@y/?_e?`?@"?@ $Iʩ{?M?i:>I:6^;:CY^LBybHbDjVDj8yv`Q;%vI=ٔzQ-~>9 Y = Dy D<E>E EkE=E"Es:*E:VE|4ZEa@a@a@a@)Q 54?Q 9E4f)BYIyM'?Q IM?DIJBNCBBB=BBDBǽ;BH}E2Acoustic response timeoutAiIyIO>ԙԹ ",4ۥ΋LA2>>2 *?2==ٱ2ph>2H@?tx` F?? ?o {??i2>>I2L^;2CԑYLByHiqIqu2Acoustic response timeoutiMb@Mb@Mb@ 9Cl?y&1?y&1Yd?y`e<`eA5A $A)YAbDVDɰ8yT(;%"=ٔQ->9Y=DyD <E >Q 54b?Q 94a)BYy?Q E:yq1?Q I%?DI:i=: 4y=BɮE+AI:iq}FNOT Ignoring new targets: 608.17 m."i}0*iy ProNav pure pursuit: ac range: 608.167603 m, nav range: 585.150208 m, bearing: 36.285205 deg, approach rate: -0.695219 m/s, LOS rate: nan deg/s, cmd heading: 36.286982 deg, new cmd heading: 36.285205 deg. HeadingCmd: 0.633296 target range: 608.167603 and range: 607.80 m.h"?hhhhggjgrgereZe:e*eB@jOBɢk) },i) <i ?E EE9E"E:*EVE4ZEBEa2E;aJE @;a:E@;ai"?V==I"?I :@ @@}2@^A =- 2Acoustic response timeout! A1 IA IQ O] >ys",T΋LA h)jIAjChhllilIllIpip rCp)pp vAtv֋FtttIx)xix)xIzAz\x ||||i||i) IYYMLByMHbD]VD]8yv%[=ٔQ->9Y = Dy D E >Q 54?Q 94^)BYy!Q I%?DIz:i ;4y)ɮ-YA1:iQUFNOT Ignoring new targets: 608.17 m."i]*iYm ProNav pure pursuit: ac range: 608.167603 m, nav range: 584.924683 m, bearing: 36.283882 deg, approach rate: -0.612753 m/s, LOS rate: nan deg/s, cmd heading: 36.285206 deg, new cmd heading: 36.283882 deg. uHeadingCmd: 0.633273 target range: 608.167603 and range: 607.80 m.hu1"?hqhqhqhqgqgyjgyrgyeyreZe:e*eB@颵xOBɢ ) 5i)f<项ic-i ",΋LA:$>:,?:G=ٱ:->:H?x@z???`+§?`/?i:$>I:i^;:CBPAR<BV>BVPCBTBTBV=BTBVDBVv;BV}Er2Acoustic response timeoutYLByHUonly read 2 of 4 data items for beam range. Device response is::RA,226.90, 263.65, 249.59 aU@a] a]@a] a]@a] a]@a] bDeVDe8yua<%uU=ٔuQ-}>9yYy=}DyD<E>Q 54?Q 94Z)BQ A+:YQ E:y3?Q I?DID;i>4yBɮSAE:iFNOT Ignoring new targets: 608.17 m."i͓*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 584.692322 m, bearing: 36.282331 deg, approach rate: -0.604980 m/s, LOS rate: nan deg/s, cmd heading: 36.283881 deg, new cmd heading: 36.282331 deg. HeadingCmd: 0.633246 target range: 608.167603 and range: 607.80 m.hk"?hhhhggjgrgYereZe:e*eC@5OBɢ=XԼ)9 =Y7i9)=f<9AiE8iEk"?M.W=MՎ=IMk"?II@ @@Q0@@zA@zAԁ2Acoustic response timeoutԱ^A- T=E  E lE <E "E 1:*E :VE 4ZE BE ;a 2E ;a JE C;a :E C;a I! I9 OE > ο",dy΋LA2#>2V-?2n=ٱ2 >2Hm?@ @2?`?`?"С?b?i2#>I2{N^;2CY~LByHbD˿VD|8yE%MM=ٔMQ-M>9IYQ=UDyUDUa <EU>YQ 5e4]?Q 9e4]V)]ݘBQ Am :YiQ Eme:ym4?Q Im?].DI]:i]H?]4yqɮueAy:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 584.451294 m, bearing: 36.280628 deg, approach rate: -0.604719 m/s, LOS rate: nan deg/s, cmd heading: 36.282330 deg, new cmd heading: 36.280628 deg. HeadingCmd: 0.633216 target range: 608.167603 and range: 607.80 m.hx"?hhhhggjgrgereZe:e*e`@C@OBɢ57) .=i)!<i5i x"? "tW= =I x"?IԱ:@ @@O0@BDAT read: Response Not Received *response not received RDAT read: user:27>Tx time:01:02:50.6693  A>IiIyO9>  DAT read:  2Acoustic response timeouts",SϋLA0En EnkEn;El"Enҝ:*En:VEn4ZEla@a@a@a@eU>e.?eB=ٱeg>eH`c?`3y?`P)?=?I[z?!?ieU>Ie9^;eCY5LBy=Ha}a} a}a} a}a} a}a} iMb@Mb@Mb@ 9S?:v?9Y=DyD;E>Q 545?Q 94P)ؘBQ AT:Y6?Q E:yD?Q I?@DIh;i ;"4yBɮ|AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i L*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 584.161926 m, bearing: 36.276747 deg, approach rate: -0.599766 m/s, LOS rate: nan deg/s, cmd heading: 36.280626 deg, new cmd heading: 36.276747 deg. %HeadingCmd: 0.633149 target range: 608.167603 and range: 607.80 m.h%"?h!h!h!h!g!g)jg)rg)e1re1Ze1:e1*e5~C@eOBɢeؼ)a e Cii)mBRCBHB-LBB=BBDB;B|E2Acoustic response timeouti ^A *=I! I9 OE >.",9)ϋLA Nζ>N%/?N.<ٱNlx>NH?1@Uq? 7?d?9`d,?@>?iNζ>INN^;NCYbLBybHbDrVDr8yz<%~=ٔ~lԑ  2Acoustic response timeout",N CϋLAPYvLByvH ~%=~%=bD~VD~8yE%ME=ٔMQ-M>9IYQ=UDyU DUEU>YQ 5e4]?Q 9e4]H)]јBYiyiQ Im?]]DI]:i]h:]/4yuBɮuA}E:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 583.723694 m, bearing: 36.270766 deg, approach rate: -0.628431 m/s, LOS rate: nan deg/s, cmd heading: 36.274144 deg, new cmd heading: 36.270766 deg. HeadingCmd: 0.633044 target range: 608.167603 and range: 607.80 m.h1"?hhhhggjgrgereZe:e*e@C@OBɢЄ) IJi)?<i+i 1"? QsX= =I 1"?I9@ @@00@e2Acoustic response timeoutE ExE:E"E:*E:VE(4ZEa@a@a@a@^AO=A%xAzA%sAIIO>! ",\ϋLAA"@AA"@AB&>B$B&,HB&7LBB$B$B&DB&;B&|EV>V/?V<ٱV>VH{?0@f ?PF??R?Q?iV>IVZ^;Tb2Acoustic response timeout|YLByHiMb@Mb@Mb@ 9\(\?p= ף?{GzY?y=#AA A)AYbDVD8yX\%D=ٔ^rQ->9Y=Dy1D/;E>Q 54&?Q 94C)ΘBY?Q E:yoK?Q I?mDI;i; 74yɮA:iFNOT Ignoring new targets: 608.17 m."iV&*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 583.473022 m, bearing: 36.266754 deg, approach rate: -0.567597 m/s, LOS rate: nan deg/s, cmd heading: 36.270767 deg, new cmd heading: 36.266754 deg. HeadingCmd: 0.632974 target range: 608.167603 and range: 607.80 m.h "?hhhhgg jg rg ereZe:e*e@>D@%OBɢ%))I MrPiI)MjhA",wϋLA2>2/?2Ѽ<ٱ2NV>2H?@q̺?wD? ?-NW`:? ?i2>I2J^;0YbLBybHbDjVDj8yr-<%rQ=ٔr߻Q-v>9tYt=vDyvADx~PaE~>|Q 54~5?Q 9 4~O?)~̘BY y XK?Q I ?~|DI~:i~:~=4yBɮA:i9EFNOT Ignoring new targets: 608.17 m."iE?;*iAU ProNav pure pursuit: ac range: 608.167603 m, nav range: 583.237915 m, bearing: 36.262995 deg, approach rate: -0.639806 m/s, LOS rate: nan deg/s, cmd heading: 36.266754 deg, new cmd heading: 36.262995 deg. ]HeadingCmd: 0.632909 target range: 608.167603 and range: 607.80 m.h]M"?hYhYhYhagagajgargieireiZei:eq*euCD@额OBɢf0) zQi)<顡i(%iM"?-(Y=ˋ=IM"?Im2Acoustic response timeoutu9@q @q@ua5@q!I^A2=A I I O >y  2Acoustic response timeout$",`ϋLAE. E.sE.@E,"E.:*E.Z:VE.4ZE,a2@a2@a2@a2@N>S>N t/?NL<ٱN>NH`I? a ?`v@?`?<e鐿@?d?iN>S>INn^;LYjLBynH  @AabD׿VD8yE}%M6=ٔuQ-}>9Y=DyTDcE>Q 54E?Q 94:)ɘBYy,K?Q I?DI:iX;E4yɮA5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 608.17 m."iE,*iI} ProNav pure pursuit: ac range: 608.167603 m, nav range: 582.961426 m, bearing: 36.258591 deg, approach rate: -0.589936 m/s, LOS rate: nan deg/s, cmd heading: 36.262994 deg, new cmd heading: 36.258591 deg. }HeadingCmd: 0.632832 target range: 608.167603 and range: 607.80 m.h}D"?hhhhggjgrgereZe:e*e`D@ԉOBɢ ) iXi),<ik_"iD"?DY==ID"?IBBBEHBLLBB=BBB;B|EBRCBQCBB=B=C-46}2Acoustic response timeout:@ @@>0@Ա^A Kk=A >A > A .AI I O >k",٬ϋLA2u>2'-/?2Y#d<ٱ2C>2H@$?3I2pI^;2CY>LBy>H@BA|%2Acoustic response timeouti}Mb@Mb@Mb@yyyy y9} ףp= ?K?~jtY}Q?y}^=}}A}A y)}AyY}AbDVD^8y5;%H=ٔ>лQ->9 ?Y ?=DydD2E>Q 54R?Q 94d5)ƘBY*?Q E:yV?Q I?DI;i;L4yBɮAE:iFNOT Ignoring new targets: 608.17 m."iAb*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 582.728027 m, bearing: 36.253793 deg, approach rate: -0.601157 m/s, LOS rate: nan deg/s, cmd heading: 36.258592 deg, new cmd heading: 36.253793 deg. HeadingCmd: 0.632748 target range: 608.167603 and range: 607.80 m.h!?h!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5@D@]PBɢe<)a e5[ia)eY",ϋLA2uq>2(.?2C<ٱ2>2H?!`?@t)?*?`}2v =?v?i2uq>I2k?^;0YfLByjHbDVDs8y%5<%-S=ٔ5xQ-5>9="?Y="?==DyEtDMڻEM>QaQ 5m4U8`?Q 9m4U0)UØBYqyuV?Q Iu?UDIUӃ;iU;US4yyɮA:iFNOT Ignoring new targets: 608.17 m."i!Z*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 582.498413 m, bearing: 36.249133 deg, approach rate: -0.587081 m/s, LOS rate: nan deg/s, cmd heading: 36.253794 deg, new cmd heading: 36.249133 deg. HeadingCmd: 0.632667 target range: 608.167603 and range: 607.80 m.hr!?hhhhggjgrgereZe:e*eND@PBɢN1) D\i ) }<  i Nir!?3Z==Ir!?I-2Acoustic response timeoutI@I @I@M/0@IԉE EsE@E"E7:*EZ:VE4ZEa@a@a@a@Թ^AQA .AI I O > B% <A! B- >B) B- QHB- VLBB- =B) B) B- ;B- |E 2Acoustic response timeout",xϋLA2>2>-?2/<ٱ2\l=2HB?N@˅? ?@Z?q?V?i2>I2N^;2CYRLByRH=PExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 95^I ?{Gz?MbY?yף=A A)AYAbDȿVDy8yZ%B=ٔ?Q->9 ?ԹY ?=DyD'AE>Q 54n?Q 94,)BY?Q E:yP?Q I?DIr;i;Z4ykBɮAE:i  FNOT Ignoring new targets: 608.17 m."i F*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 582.251587 m, bearing: 36.244628 deg, approach rate: -0.592563 m/s, LOS rate: nan deg/s, cmd heading: 36.249132 deg, new cmd heading: 36.244628 deg. %HeadingCmd: 0.632588 target range: 608.167603 and range: 607.80 m.h%K!?h)h)h)h)g)g)jg1rg1e9re9Ze9:e9*eEE@m)PBɢmb8)i mafiq)u|WE"E1:*E:VE4ZEBE;a2E;aJEh;a:Eh;a^A  =A yAzA yAI A5 ؟AIA IQ O] >J",iϋLAYLByHI=)<bD-VD-8y=~ =%=Q=ٔ=Q-=>9E"?YE"?=EDyEDEEM>IQ 5U4M2|?Q 9]4M')MBYYyYQ I]?MDIM2:iM:Ma4yenBɮeAmE:iFNOT Ignoring new targets: 608.17 m."iBE*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 582.021973 m, bearing: 36.240433 deg, approach rate: -0.589796 m/s, LOS rate: nan deg/s, cmd heading: 36.244628 deg, new cmd heading: 36.240433 deg. HeadingCmd: 0.632515 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*e sJE@:PB ߉ߍ=2Acoustic response timeoutɢAD)q ugiq)}旃6",<ЋLAyZ?^AEb>E)?E;ٱEk=EH6?`? Գ?@?`Ӵ tm??iEb>IEP^;ECiY}LBy}Honly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 228.07, 259.12, 242.40 a@a a@a a@a a@a bDԿVD8y5R5=%5.=ٔ=FQ-=>9= ?Y= ?==DyEDEAEE>IQ 5U4M?Q 9U4M7")MBQ AU+:YQQ E]:y]VM?Q I]?MDIM(:iM>Mih4yaɮeTAaB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."iI5*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 581.744873 m, bearing: 36.235762 deg, approach rate: -0.587340 m/s, LOS rate: nan deg/s, cmd heading: 36.240434 deg, new cmd heading: 36.235762 deg. HeadingCmd: 0.632433 target range: 608.167603 and range: 607.80 m.h'!?hhhhggjgrgereZe:e*eՆE@NPBɢo/) fi)hAy<i i '!? % [=l%=I'!?IB>BB^HB`LBBBBDB<;B|E2Acoustic response timeoutԡ9@ @@g5@5nManaging dock network, ignoring radio surface power off^A A I I) O= > ",&-ЋLAYbLBybHj@AjAAbDnVDn8yv%v{=ٔvQ-v ?9xYx=zDyzD~E~ ?Q 54?Q 9 4)BQ A  :Y Q E h:y Q I ?D2Acoustic response timeoutI:iL?$l4y%qBɮ%vA!:iAMFNOT Ignoring new targets: 608.17 m."iU7*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 581.552612 m, bearing: 36.232518 deg, approach rate: -0.594004 m/s, LOS rate: nan deg/s, cmd heading: 36.235762 deg, new cmd heading: 36.232518 deg. eHeadingCmd: 0.632377 target range: 608.167603 and range: 607.80 m.heq!?hihihihigigqjgqrgyeyreyZey:ey*e@YE@颭\PBɢj) li)jo<顱i&iq!?43[=B=Iq!?IE ErE9E"EC:*E?:VE4ZEBED;a2EE;aJEY;a:EY;ae:@i @i@mP5@i^AE=AE>AE>Am؟AIyIO\>2Acoustic response timeoutA %",GЋLA js>j(!)?jeúٱj=jH HD?`E`^??<? -zX?H˻??ijs>IjH^;hYvLByvH |||~AbDVD8yrr<%H=ٔQ->9"?Y"?=%Dy%D%KһE%>)Q 554-?Q 954-)-BQ A=9Y9Q E=<:y=L?Q I=?-DI-;i-9?-o4yAɮEiAA:iimFNOT Ignoring new targets: 608.17 m."iu|4*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 581.310791 m, bearing: 36.228498 deg, approach rate: -0.593098 m/s, LOS rate: nan deg/s, cmd heading: 36.232518 deg, new cmd heading: 36.228498 deg. HeadingCmd: 0.632307 target range: 608.167603 and range: 607.80 m.h!?hhh h g g jgQrgQeQreQZeQ:eY*e]E@oPBɢdF) 2pi)a<i ii!?g[==I!?Iq-2Acoustic response timeout9@ @@0@E EuE:E"Eغ:*E:VE(4ZEa@a@a@a@ԑ^Aܝ= B >B QCB wHB tLBB =B B B ;B 6}EA I I O% > 2Acoustic response timeoutZ",ԂaЋLALN[>NU(?N!ٱN=NHTG?a?֞? $?봿-du?@as?M?iN[>IN8^;NCYnLBynHamam auau auau auau iuMb@Mb@Mb@qqqq q9u-?~jt?v/Yu??yuD=uxiutAubA q)uAqYu3AbDVD8y ;%B=ٔ>Q->9Y=DyD$ºE>Q 54?Q 94z)BQ AT:Yv?Q E:yZ@?Q I? DI-;i ;Iw4ytBɮqAE:iFNOT Ignoring new targets: 608.17 m."i*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 581.066162 m, bearing: 36.225614 deg, approach rate: -0.581435 m/s, LOS rate: nan deg/s, cmd heading: 36.228498 deg, new cmd heading: 36.225614 deg. HeadingCmd: 0.632256 target range: 608.167603 and range: 607.80 m.h !?hhhhggjgrgereZe:e*e[F@MPBɢUq`X)Y ])tiY)e[T&",[{ЋLAFu>F(?F?ٱF=FH]K?``੧?`Q?`~/?`ⲿǁ?,??iFu>IFE^;FCYRLByRHbDZ VDZ8yb7%bY=ٔbQ-b>9dYd=fDyfDjdEj>hQ 5r4jB?Q 9r4j)jBYpyr??Q Ir?jDIj;ij';j}4ytɮzAx!:iFNOT Ignoring new targets: 608.17 m."i7*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 580.847412 m, bearing: 36.223076 deg, approach rate: -0.558319 m/s, LOS rate: nan deg/s, cmd heading: 36.225616 deg, new cmd heading: 36.223076 deg. HeadingCmd: 0.632212 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eRMF@%PBɢ%ls)) -|i))-H<))i-_ i5!?5[===I=!?I92Acoustic response timeout@ @@J0@Iy^AAzAxAI I O >ia Ie Am 2Acoustic response timeoutԡ E  E ~E >E "E :*E (:VE 4ZE a @a @a @a @%",7ЋLAFr>F(?F@ٱF`p=FH`L?j@J? H?.3?c+r???iFr>IFL^;DYVLByZHIfC=)fp<bD~$VD~ΰ8y5bu=%=C=ٔM1Q-U>ԁ9Y=DyDv,E>)Q 5e4-w?Q 9m4- )-BYy??Q I?-(DI-UuBBHB~LBBBBB;B}Eԡ2Acoustic response timeout9@9 @9@=/0@A^Ae X=I I O > >:+",rЋLA$$J>>J(?J`ٱJg=JH`M?Ԁ?]?P2?`V?F??iJ>>IJ|b^;JCYVLByZH2Acoustic response timeoutiEMb@Mb@Mb@AAAA A9E +? ףp= ?MbYE?yEQ8=EEAExA A)EAAYEAbDe.VDeװ8ym+=%uF=ٔuQ-u>9yYy=}Dy}D9E>Q 54?Q 94Q =tI)BY?Q E:yU>?Q I?7DIK;i`;`4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 580.361450 m, bearing: 36.217586 deg, approach rate: -0.617756 m/s, LOS rate: nan deg/s, cmd heading: 36.220070 deg, new cmd heading: 36.217586 deg. HeadingCmd: 0.632116 target range: 608.167603 and range: 607.80 m.h]!?hhhEy E}rE};Ey"Ey*E}?:VE}4ZEyBE}S;a2E}T;aJE}Y;a:E}Y;ahggjgrgereZe:e*e@F@PBɢtv)) -{i1)59.<11i5i=]!?= \==t=I=]!?IA@ @@@12Acoustic response timeout^A x=Ii I O >Y ~%2",ЋLA6>6{(?6 ٱ6O=6HI?u~?%? "?5K??v?i6>I6NR^;6CYBLByBHbDJVDJ8yR%RX=ٔVOQ-V>9TYT=VDyZDzQ;Ez>|Q 54~?Q 94~)~vBYy >?Q I ?~EDI~.:i~:~#4yɮA:i9=FNOT Ignoring new targets: 608.17 m."iEq*iAU ProNav pure pursuit: ac range: 608.167603 m, nav range: 580.133850 m, bearing: 36.215017 deg, approach rate: -0.589181 m/s, LOS rate: nan deg/s, cmd heading: 36.217587 deg, new cmd heading: 36.215017 deg. ]HeadingCmd: 0.632071 target range: 608.167603 and range: 607.80 m.h]m!?hYhYhYhYgYgYjgargaeareaZei:ei*emDF@额PBɢ.₽) ci)6"<顡iSim!?H\=m=Im!?II))m:@i @i@m00@i-2Acoustic response timeoutYE} E}nE}<Ey"E}:*E}:VE} 4ZEya@a@a@a@^A=I)IQO}>ԑB >B RCB HB LBB =B B B a;B ~EBABERCBEʓCBE=BE=CEʉc5Ա  2Acoustic response timeoutXL8",%ЋLA2>20)?2 ٱ2=2H*B?? ƣ? ?A?`? X?i2>I2^;2CY^LBy^H ``iUMb@Mb@Mb@QQQQ Q9Ux?~jt?v/YUK?yU=ٔ9Q->9Y=Dy(DM;E>Q 54?Q 94g)lBY?Q E:ym6?Q I?UDI:i:4ySBɮA:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 579.884216 m, bearing: 36.213028 deg, approach rate: -0.589643 m/s, LOS rate: nan deg/s, cmd heading: 36.215019 deg, new cmd heading: 36.213028 deg. HeadingCmd: 0.632037 target range: 608.167603 and range: 607.80 m.h&!?hhh h g gjgrge!re!Ze):e)*e5*G@}PBɢJr) {i)Q<顉iSԑi&!?{}\=ݝ=I&!?IM9@I @I@U5@QԹ=2Acoustic response timeout^Am=E ElEE"E1:*E:VEZEBE;a2E;aJEC;a:EC;aIIO> Gu>",HЋLAɰ4<2>2BD)?2ٱ2> >2H`@?}?? ;?$D? 0y? ?i2>I2L^;2CY>LBy> HbDFVDF8yN=%RZ=ٔR{Q-R>9TYT=VDyV7DVN:EV>XQ 5~4Z ?Q 94Z)ZdBYy6?Q I?ZdDIZJM 2Acoustic response timeoutE  E rE ;E "E :*E ?:VE 4ZE a @a @a @a @8]E",ыLAZ]$>Z(?Z/υٱZD>ZH H?x@???@U ? 8? }?iZ]$>IZ0^;ZCYfLByfH n4=n4=bDrBVDr8yz <%E=ٔ  ;Q->9Y!=%Dy-HD5KvE=>IQ 5m4M ?Q 9u4M?)M[BYyy6?Q I?MtDIMd;iM;M{4yVBɮdA:iFNOT Ignoring new targets: 608.17 m."i%q*i!IU ProNav pure pursuit: ac range: 608.167603 m, nav range: 579.412292 m, bearing: 36.209200 deg, approach rate: -0.539903 m/s, LOS rate: nan deg/s, cmd heading: 36.211218 deg, new cmd heading: 36.209200 deg. ]HeadingCmd: 0.631970 target range: 608.167603 and range: 607.80 m.h]!?hYhYhYhagagajgargaeiB5>B5SCB5HB5LBB5=B1B5DB5;B5D~EreiZea:ei*em ԍG@5QBɢ5J`)9 =Li9)=;99i=i!?\=?_=I!?Ix>i>2Acoustic response timeouty@ @@?0@ԩ ^A =A! zA% zA AQ ] 2Acoustic response timeoutIa Iq O >L",2ыLA2>2. (?2fٱ2>2H X?c`?@??A`ٌ?`?@?i2>I2X]^;2C-BBattery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-BBattery stick #40 (s/n: 0270) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.-FBattery stick #42 (s/n: 0C0C) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.-JBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-NBattery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-NBattery stick #51 (s/n: 0BDF) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.-RBattery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-VBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-ZBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.ZCalculating totals. Valid battery stick count: 14. Valid reserve battery stick count: 1.! b :*H):7A::PFɶ:A-fFailed to receive data from all sticks prior to timeout. Will not retry this scan cycle.YjMByn@HIr<)r<E- E-zE-8E)"E-:*E- :VE-F4ZE)BE-;a=2E-;a=JE-v;a=:E-v;a=i]Mb@Mb@Mb@ԁYYYY Y9]$C?~jthˡEY]?y]D]']A]bA ]A)YYY]AbD+VD԰8y-b=%-=ٔ-|;Q-5>91Y1=5Dy5]D}dɻE}>Q 54u2 ?Q 94>)RBYx?Q E:y5)?Q I?DIV:i:z4yYBɮ5AEB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 608.17 m."i-r*i)] ProNav pure pursuit: ac range: 608.167603 m, nav range: 579.102295 m, bearing: 36.208312 deg, approach rate: -0.650191 m/s, LOS rate: nan deg/s, cmd heading: 36.209199 deg, new cmd heading: 36.208312 deg. eHeadingCmd: 0.631954 target range: 608.167603 and range: 607.80 m.he!?hahahahagigijgirgiereZe:e*e:G@QBɢfFz) 3i)T;ii!?z]=f=I!?Iԩ@ @@/0@2Acoustic response timeout^A = A I! I9 OE >}S",NыLA2U>2&?21ٱ2xp>2H q?_F?g?3?`p@:???i2U>I2B^;2CY>MBy>DHbDF.VDFװ8yN <%Ri=ٔR9PYT=VDyVkDV mEV?Q 54@ ?Q 94)LBYy'?Q I?DI:i:4y%2Bɮ-A-٭E:iIUFNOT Ignoring new targets: 608.17 m."iӷ*iGG 2Acoustic response timeout=t99Y=pAE ProNav pure pursuit: ac range: 608.167603 m, nav range: 578.888855 m, bearing: 36.207818 deg, approach rate: -0.624868 m/s, LOS rate: nan deg/s, cmd heading: 36.208312 deg, new cmd heading: 36.207818 deg. HeadingCmd: 0.631946 target range: 608.167603 and range: 607.80 m.h1!?hhhhggjgrgereZe:e*eG@EM EMsEM<EI"EM1:*EMZ:VEM 4ZEIaU@aU@a]@a]@颅+QBɢ+)  i)4n;顑ii1!?4]==I1!?IA@A @A@E-0@II^A==B>BRCBHBLBBBBB};B(~EaAIIO> 2Acoustic response timeoutԑ bY",&qhыLA6>6%?6_ۻٱ6J=6HH?@&?M;?`?_`{{?v? ?i6>I6W^;6CYB3MByBaHi-Mb@Mb@Mb@)))) )9-Q?Zd;OY-(?y--j-A-?A ))-A)Y-=AbD VDʰ8ybU=%6=ٔ9Y=Dy ~D uE >Q 54R ?Q 94)HBYE?Q E%:y%4&?Q I%?DI:i:K4y-5Bɮ-nA-ڭE:iQUFNOT Ignoring new targets: 608.17 m."i]*iYm ProNav pure pursuit: ac range: 608.167603 m, nav range: 578.622620 m, bearing: 36.207363 deg, approach rate: -0.609841 m/s, LOS rate: nan deg/s, cmd heading: 36.207820 deg, new cmd heading: 36.207363 deg. quHeadingCmd: 0.631938 target range: 608.167603 and range: 607.80 m.hu!?hqhyhyhygygyjgrgereZe:e*e)H@颵>QBɢ) ji)ap;项iFi!?TH]=}=I!?IIY@ @@/0@2Acoustic response timeoutԙEe EeEe:Ea"Ee:*EeC:VEe(4ZEaBEef;am2Eeg;amJEeD;am:EeD;am^A% -=A- >A- >AY Ia Iq O > `",EыLA024=62Acoustic response timeoutBe>B#?BٱB=BH(?@`D??`؏? c?.?.?iBe>IBI<^;BCYb]MBybH ddbDj"VDj̰8yr=%r^=ٔvZ>9tYt=zDyzDzEz>Q 54a ?Q 9 4 )DBY y %$?Q I ?DI:i:ş4yɮA:i9EFNOT Ignoring new targets: 608.17 m."iE=#*iAU ProNav pure pursuit: ac range: 608.167603 m, nav range: 578.397888 m, bearing: 36.207158 deg, approach rate: -0.610139 m/s, LOS rate: nan deg/s, cmd heading: 36.207362 deg, new cmd heading: 36.207158 deg. ]HeadingCmd: 0.631934 target range: 608.167603 and range: 607.80 m.h]o!?hYhahahagagajgirgieireiZei:ei*euXH@颭PQBɢŊ)%< |i)~;项iƙ޻io!?DP]=i=Io!?IQ@Q @Q@Q@Q^A-=AYIaIqOY>2Acoustic response timeout) Ey  E} pE} =Ey "Ey *E}  :VE} |4ZEy a @a @a @a @Kf",7ыLA@ɰBp;=t>= !?=6:ٱ=G==H ?Y???In S&~?F?i=t>I=rP^;=CYMlMByMHB>BQCB?HBMBB=BBDBx;B~Ei5Mb@Mb@Mb@1111 195-?~jtx?9aYa=eDyeDm>Em>qQ 5}4ut ?Q 9}4u)uBBY};?Q E}:y}#?Q I}?uDIuk:iu1:u͟4y8Bɮ A:iFNOT Ignoring new targets: 608.17 m."i0*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 578.118225 m, bearing: 36.206930 deg, approach rate: -0.617880 m/s, LOS rate: nan deg/s, cmd heading: 36.207157 deg, new cmd heading: 36.206930 deg. HeadingCmd: 0.631930 target range: 608.167603 and range: 607.80 m.h-!?hhhhggjgrgereZe:e*eӒH@!m2Acoustic response timeout颵gQBɢy) ~i)nM;项i'ֻi-!?J]=tOP=I-!?I@ @@_5@Yy ^A 3=A zA  2Acoustic response timeoutAI IQ Ia bE4jE-4rE˟/Eu  Eu uEu ;Eq "Eu :*Eu :VEu 4ZEq BEu ;a 2Eu ;a JEu td;a :Eu td;a O >_m",ȔыLA6>6?6 p;ٱ6=6H<?B?`? ?.ln?\?i6>I6r,^;6CY>MBy>H FC=Fp=bDFVDFǰ8yN}=%Rf=ٔR;Q-R>9TYT=VDyVDV<EV>XQ 5^4Z ?Q 9b4Z>)Z@BY`yb!?Q Ib?ZDIZP:iZ::Zӟ4ydɮfAh:iFNOT Ignoring new targets: 608.17 m."iT*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 577.898621 m, bearing: 36.206921 deg, approach rate: -0.585280 m/s, LOS rate: nan deg/s, cmd heading: 36.206932 deg, new cmd heading: 36.206921 deg. HeadingCmd: 0.631930 target range: 608.167603 and range: 607.80 m.h*!?hhhhggjgrgereZe:e*e`\H@MyQBɢMs)Q U}iQ)U{;QQiUϻi]*!?]:]=]6=I]*!?IaIi)iI@ @@O5@^Adh==2Acoustic response timeoutqA II!O5q>ԙ s",!ZыLA@Y~MBy~HIp<)=bD)VDҰ8y%M=%%C=ٔ-Q-->9)Y1=5Dy5D5E5>2Acoustic response timeoutQ 54 ?Q 94)=BYyQ I?DI~:iT:۟4y;BɮAۭEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i*i- ProNav pure pursuit: ac range: 608.167603 m, nav range: 577.627502 m, bearing: 36.206909 deg, approach rate: -0.646991 m/s, LOS rate: nan deg/s, cmd heading: 36.206922 deg, new cmd heading: 36.206909 deg. -HeadingCmd: 0.631930 target range: 608.167603 and range: 607.80 m.h-&!?h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eEH@mQBɢmv)q u<{iq)u,:yyi}#XȻi}&!?(]=:=I&!?IE] E]E]?EY"E]g:*E]?:VE]^4ZEYae@ae@ae@ae@ԩqBBBqHB?MBB=BBDBr;B~E5:@1 @1@5/0@1M 2Acoustic response timeout ^A dO=9 Am.AIqIO>.{",}ыLA@BU}>B?BN٣;ٱB٩=BHE?88`cM?zD?8?) ${tҰ?1?iBU}>IB.Q^;BCYZMByZHiMb@Mb@Mb@ LD9ףp= ?;%"=ٔT,;Q->9 ?Y  ?= Dy D E>Q 54r ?Q 94N):BY%?Q E%:y%?#?Q I%?DI:i1:4y)ɮ5A1:iQ]FNOT Ignoring new targets: 608.17 m."i]dζ*iYu2Acoustic response timeoutu ProNav pure pursuit: ac range: 608.167603 m, nav range: 577.325928 m, bearing: 36.206738 deg, approach rate: -0.620534 m/s, LOS rate: nan deg/s, cmd heading: 36.206908 deg, new cmd heading: 36.206738 deg. }HeadingCmd: 0.631927 target range: 608.167603 and range: 607.80 m.h}!?hyhyhhggjgrgereZe:e*e`6I@颽QBɢ ) .i)Ep_&:AAiE׫iM!?Mc\=Mnz=IM!?IQE% E%{E%@E!"E%:*E%5":VE%4ZE!BE%4;a52E%6;a5JE%Kz;a5:E%Kz;a5Eh%<9@ @@00@^Al;=)A؟AIIO > 2Acoustic response timeouta `",\ҋLA66 t?6;ٱ6 Ȓ=6HY?`7w?(?I?! ?8pT??i6I6T9^;6CY^MBybHbDjVDj8yrв=%r_=ٔr.:Q-r>9v"?Yv"?=vDyvDvE=Ez>xQ 5~4zܹ ?Q 94z)z8BYy0"?Q I?zDIz;iz;zg4y >BɮoA:i15FNOT Ignoring new targets: 608.17 m."i=*iAM ProNav pure pursuit: ac range: 608.167603 m, nav range: 577.098999 m, bearing: 36.206702 deg, approach rate: -0.620290 m/s, LOS rate: nan deg/s, cmd heading: 36.206737 deg, new cmd heading: 36.206702 deg. ]HeadingCmd: 0.631926 target range: 608.167603 and range: 607.80 m.he!?hihihihqgygyjgrgereZe:e*e "fI@颽QBɢ~) |i)(xȸiOi!?\=wTx time:01:03:03.1193 i%>EE EEwEE:EA"EE:*EE:VEE(4ZEAaM@aM@aM@aU@@ @@*3@ԑB >B PCB HB hMBB B B DB ;B B~EB QCB QCB ˔CB B C 5^A C;= 5 DAT read: = 2Acoustic response timeoutAm.AIyIO>e",g'ҋLALRg>R[?Rc:ٱROL=RHb? ??mJ?t Wꢵ?@?iRg>IRh^;PYZMByZ"H ``iEMb@Mb@Mb@AAAA EA9EK7A?/$?9 ?Y ?=DyDkE>Q 54a ?Q 94)3BY3"?Q E:y#?Q I?DI#;iD;+4yBɮAҭE:iFNOT Ignoring new targets: 608.17 m."i{*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 576.781372 m, bearing: 36.206544 deg, approach rate: -0.628237 m/s, LOS rate: nan deg/s, cmd heading: 36.206703 deg, new cmd heading: 36.206544 deg. HeadingCmd: 0.631923 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eI@QBɢ)! %vi!)%̖!!i-im!?u\=u>u! 4L",?AҋLAɰ;Y%MBy%H 154=bD5VD58yE%EN=ٔMQ-M>9IYQ=UDyUDUEU>YQ 5e4][ ?Q 9e4])]0BYiyiQ Im?],DI]:i]:]4yuBɮuAq2Acoustic response timeout:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 576.530762 m, bearing: 36.206419 deg, approach rate: -0.638184 m/s, LOS rate: nan deg/s, cmd heading: 36.206543 deg, new cmd heading: 36.206419 deg. HeadingCmd: 0.631921 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*e@I@颵QBɢԚ)  i):i>i!?|U\=2v",3[ҋLA:Z>:?:6ջٱ:%=:H`[b? ] @ ?@(?`B?Ӂz?@Ż??i:Z>I: ^;:CYFNByF_HbDNVDN8yV>%VU=ٔZZQ-Z>9XYX=ZDyZD^[E^>`Q 5f4b ?Q 9f4b)b.BYdyf#?Q Ij?b<DIb:ib:b4ynBɮntAnӭEzB*** querying acoustic contact ***ixix:i FNOT Ignoring new targets: 608.17 m."i%*i)= ProNav pure pursuit: ac range: 608.167603 m, nav range: 576.287354 m, bearing: 36.206295 deg, approach rate: -0.633640 m/s, LOS rate: nan deg/s, cmd heading: 36.206420 deg, new cmd heading: 36.206295 deg. EHeadingCmd: 0.631919 target range: 608.167603 and range: 607.80 m.hEs!?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU@ J@y颥QBɢ;) i~i)b/iris!?j&\=kBMCBHBMBB=BBDB;B~E2Acoustic response timeoutԱ:@ @@`5@^A+O<A>A>A ؟A I I! O- >] 2Acoustic response timeout",S uҋLA2>2;?2w=ٱ2ֳ=2H<]?8㕤?!?@>?P+ͮ? s??i2>I2e4^;2CY: NBy:lHI>=)>p9-"?Y-"?=5Dy5&D5!;E5>9Q 5E4=B ?Q 9E4=)=*BYMt"?Q EM:yMX/?Q IM?=MDI=V:i=:=%4E EsE9E"E:*EZ:VE4ZEBE;a2E;aJE,];a:E,];ayɮ]A:iQ]FNOT Ignoring new targets: 608.17 m."i]e*iY ProNav pure pursuit: ac range: 608.167603 m, nav range: 576.020813 m, bearing: 36.204889 deg, approach rate: -0.595226 m/s, LOS rate: nan deg/s, cmd heading: 36.206297 deg, new cmd heading: 36.204889 deg. HeadingCmd: 0.631895 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eDJ@额RBɢ) Ԁi)a2liz#i!?[=c5",ЎҋLA@YNByuH-AA)bD5VD58yE]<%EI=ٔEQ-E>9IYI=MDyM7DUEU>Q iiQ 5u4U ?Q 94UX)U'BYyQ I?U]DIU3]BKCB HBMBB =B^A<BDB);B~E 2Acoustic response timeoutA9 II Ia O} >Թ ~",TҋLA2~>2?2ļٱ2=2HD?` ?Ws?@C??@:E ?`y?@N?i2~>I2~'^;2CY:!NBy:Hi]Mb@Mb@Mb@YYYY Y9]T㥛 ?㥛 ?9Y=DyHDH<E>Q 54# ?Q 94)$BY]"?Q E:yR:?Q I?nDI9;i";4yɮ@A:iFNOT Ignoring new targets: 608.17 m."ir*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 575.500549 m, bearing: 36.201012 deg, approach rate: -0.688484 m/s, LOS rate: nan deg/s, cmd heading: 36.203530 deg, new cmd heading: 36.201012 deg. HeadingCmd: 0.631827 target range: 608.167603 and range: 607.80 m.hh!?h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5`ܨJ@ԑ=RBɢU) vi)䔫iR؍ih!?6[==I-h!?I1@ @@?0@%2Acoustic response timeoutE ExEAE"Eҝ:*E:VEA4ZEBE;a2E;aJE_o;a:E_o;a^A8<AxAzAxAA .AI I O% > F",ҋLA:>:?:ٱ:@=:H]-?3^^?Ra?`w?`)F?,??i:>I:^;:CYF>NByFH HHbDRVDR8yV`=%ZZ=ٔZxQ-Z>9Z ?Y^ ?=^Dy^WD^AI<Eb>`Q 5f4b2 ?Q 9f4b)b"BYhyj;?Q Ij?b}DIbe:ib:b 4yn$BɮrArԭE:iFNOT Ignoring new targets: 608.17 m."i *i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 575.265259 m, bearing: 36.198635 deg, approach rate: -0.632903 m/s, LOS rate: nan deg/s, cmd heading: 36.201013 deg, new cmd heading: 36.198635 deg. %HeadingCmd: 0.631785 target range: 608.167603 and range: 607.80 m.h%!?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5pJ@ePRBɢe)a e?ia)m~Iûiiim iu!?uw[=u=Iu!?}2Acoustic response timeoutI@ @@T0@@%=@!^AV =A؟A!I)I9OMR>i) I) 5 2Acoustic response timeoutI E  E ~E :E "E :*E (:VE (4ZE a @a @a @a @nĶ",VbҋLA2/!>2?2ٱ2J=2H A? z`{0?@i~??@I qߡ?VѾ?@e?i2/!>I2I^;2CY>VNBy>H F%=F=bDJVDJǰ8yRm=%RK=ٔR'GQ-R>9V"?YV"?=VDyVgDV5<EZ>XQ 5~4ZfB ?Q 9~4Z )Z!BYyBUOCBUwHBUNBBU=BQBUDBUľ;BUY~Eh1hhggjgrgereaZe :e*eK@5kRBɢ5j")9 =i9)=^/99i=XiE!?2Acoustic response timeoutsX[=,=I!?Iy@ @@ 0@ԩ ^A K=A >A >E 2Acoustic response timeout A I I) O= >`",ҋLA6EX>6?6ٱ6>6H?@m`??1?Kྣ? ?@P?i6EX>I6G^;4YNcNByNHbEAjEET4rEEs0E^ E^E^<E\"E^s:*E^.:VE^ 4ZE\BE^!;af2E^";afJE^;af:E^;ajiEMb@Mb@Mb@AAAA A9EMbX9?333333?ˡEYE!?yE=E'EAEA EA)EGAAYAbD]VD]İ8ymp<%u2=ٔuwQ-u>9qYy=}Dy}zD}5<E}>Q 54T ?Q 94ѫ)BYC#?Q E:y??Q I?DI;i;,4yBɮ9AʭE:iFNOT Ignoring new targets: 608.17 m."i= *iI] ProNav pure pursuit: ac range: 608.167603 m, nav range: 574.720642 m, bearing: 36.192607 deg, approach rate: -0.658901 m/s, LOS rate: nan deg/s, cmd heading: 36.195945 deg, new cmd heading: 36.192607 deg. eHeadingCmd: 0.631680 target range: 608.167603 and range: 607.80 m.he˵!?hahahahagagjgrgereZe:e*e``IK@RBɢUX)  i ) k  iPi˵!?F[=:=I˵!?I@ @@@^A}Vw$=2Acoustic response timeoutAIIO>! FC","ӋLA6>6?6F(ٱ6uF>6H?@n-? ì?`?N??Ѳ?i6>I68^;6CY>}NBy>HIV=)V=bD^VD^8yf=%fV=ٔfQ׻Q-j>9hYh=jDyjDnR;En>pQ 5v4rc ?Q 9v4rt)rBYtyv??Q Iv?rDIr:ir~:r24y|ɮ~A|:i%FNOT Ignoring new targets: 608.17 m."i%f*i)5 ProNav pure pursuit: ac range: 608.167603 m, nav range: 574.478760 m, bearing: 36.189764 deg, approach rate: -0.633706 m/s, LOS rate: nan deg/s, cmd heading: 36.192609 deg, new cmd heading: 36.189764 deg. =HeadingCmd: 0.631631 target range: 608.167603 and range: 607.80 m.h=!?h9hAhAhAgAgAjgIrgIeIreIZeI:eQ*eUwK@}RBɢ}) ۂi)X 顁ikwi!? ;[= B=I!?IE2Acoustic response timeout1@1 @1@1@1@=zA@9aE EEE"Eg:*E3:VEZEa@a@a@a@y^A].=B>BBHB\NBB=BBB;B7~Eԩ  2Acoustic response timeoutA! I9 IQ O >Io",/+ӋLA<>>>J ?>U/ٱ>i >>H?8Ҧ?`G???)?;? ӭ?i>>I>lS^;>CYJNByJ HiMb@Mb@Mb@ 9Zd;?㥛 ?ˡEY?y=AnA A)^AY)-@AbD5VD5ư8yL=%==ٔQ->9Y=DyD;E>Q 546t ?Q 94)Yj ?Q E:y/@?Q I?DI{:i:M:4yBɮA˭E:iFNOT Ignoring new targets: 608.17 m."i*i!- ProNav pure pursuit: ac range: 608.167603 m, nav range: 574.210510 m, bearing: 36.186562 deg, approach rate: -0.616459 m/s, LOS rate: nan deg/s, cmd heading: 36.189764 deg, new cmd heading: 36.186562 deg. 5HeadingCmd: 0.631575 target range: 608.167603 and range: 607.80 m.h5!?h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM@rK@}RBɢ}>꠽)y }i)顁ioi!?1[=J=I!?IԩI@I @I@M4@IE2Acoustic response timeoutD=Da=E EE9E"E:*E.:VE4ZEBE;a2E;aJEa:Ea^A-D= AY Ii Iy O =W",EӋLAV2Acoustic response timeoutb>b ?b3ٱbT >bH _?  ;??`?1? :x9n?E?Ъ?ib>IbN^;l`YvNByzHbD &VD ϰ8y`;=%S=ٔ#Q->9!Y!=%Dy%D-};E->)Q 554-# ?Q 9=4-?)-BY9y=@?Q I=?-DI-;:i-i:-A4yAɮMAI:iiuFNOT Ignoring new targets: 608.17 m."iuU *iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 573.969666 m, bearing: 36.183645 deg, approach rate: -0.628460 m/s, LOS rate: nan deg/s, cmd heading: 36.186561 deg, new cmd heading: 36.183645 deg. HeadingCmd: 0.631524 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*e@`K@RBɢ) UiQ)U1'QQiUgi]!?]*[=evAO=Ie!?Ia  @ @@O5@1^A- L=e2Acoustic response timeoutE  E yE ;E "E *E :VE 4ZE a @a @a @a @a Ay I I O >",t_ӋLA2{>2, ?25ٱ2^/ >2H@c???`?%︦? }??i2{>I2q]^;0Y:NBy:NHbDF VDF8yJ=%JS=ٔNTQ-N>9PYP=RDyRDRؙEV>TQ 5Z4V ?Q 9Z4V)VBY\y^o@?Q I^?VDIV:iV;VG4yfBɮjAhB>BBHBNBB=BBBa;B}EBOCBNCBCB=B=C}6AUB*** querying acoustic contact ***iYiY:iFNOT Ignoring new targets: 608.17 m."i*i} ProNav pure pursuit: ac range: 608.167603 m, nav range: 573.728882 m, bearing: 36.180743 deg, approach rate: -0.539308 m/s, LOS rate: nan deg/s, cmd heading: 36.183644 deg, new cmd heading: 36.180743 deg. HeadingCmd: 0.631473 target range: 608.167603 and range: 607.80 m.2Acoustic response timeouth8!?hhhhggjgrgereZe:e*eL@i颍RBɢ,) (i)|c7顙i _i8!?![=L=I8!?I9@A @A@E{0@A@I@M=ԑ^Ae dO= e 2Acoustic response timeoutA I I O >",)zӋLAE E{ECE"EƱ:*E5":VE5ZEBEW;a&2EX;a&JEJz;a&:EKz;a&>>>A ?>a6ٱ>.>>H ?ݾc? ??Y`2ʦ?`#??i>>I>2^;>CYZNByZPH9iMb@Mb@Mb@ 9-?S㥫?I +Y5?y/]=94įA )YA C=R=bDVD8y};%1=ٔQ->9Y=DyDv'E>Q 54; ?Q 94)BY5?Q E:y8?Q I?DI ;i;O4y!ɮ%A!:iAMFNOT Ignoring new targets: 608.17 m."iM*iQ] ProNav pure pursuit: ac range: 608.167603 m, nav range: 573.443054 m, bearing: 36.178175 deg, approach rate: -0.710611 m/s, LOS rate: nan deg/s, cmd heading: 36.180741 deg, new cmd heading: 36.178175 deg. eHeadingCmd: 0.631428 target range: 608.167603 and range: 607.80 m.heH!?hahahahigigijgqrgqeqreqZeq:ey*e}`ML@颥RBɢko) qi)C顩i%3WiH!?[=H=IH!?II)E:@A @A@E0@Ai]2Acoustic response timeoutԉ^Ae\J=A Թ I I O >",tӋLA2\>2?25ٱ2j=2H ? B;7? ?`?Nҽ@I?ϖ??i2\>I2sB^;2CYNNByRdHbDZVDZ8yv^,=%z]=ٔz9Q-z>9|Y|=~Dy~DE>Q 5 4Բ ?Q 94)BYy7?Q I?DI:i:\V4y Bɮ%zA-̭E:iimFNOT Ignoring new targets: 608.17 m."iu¸*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 573.213867 m, bearing: 36.176184 deg, approach rate: -0.611604 m/s, LOS rate: nan deg/s, cmd heading: 36.178173 deg, new cmd heading: 36.176184 deg. HeadingCmd: 0.631393 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgԙereZe:e*e@}L@2Acoustic response timeoutSBɢj촽) "i)BPiNi!? [=! A=I!?IE] E]E];EY"E]:*E]|;:VE]4ZEYae@ae@ae@am@9@ @@0@B>BBXHBNBB=BBB;B}E^A<H=m 2Acoustic response timeoutAA II IY Om >! ",ʭӋLA2l>2?23ٱ2O=2H?`@??@?@Dz?xW??i2l>I2^;2CYNNByRvHiMMb@Mb@Mb@IIII I9MMbX9?Q?&1YM!?yM\=MPMAMA MA)MjAIYMAbDVD8yw=%>=ٔ:Q->9Y=DyDAλE>Q 54 ?Q 94a)BY"?Q E:y,/?Q I?DI:i:]4yBɮA­E:i%FNOT Ignoring new targets: 608.17 m."i%w*i!5 ProNav pure pursuit: ac range: 608.167603 m, nav range: 572.940674 m, bearing: 36.174739 deg, approach rate: -0.640125 m/s, LOS rate: nan deg/s, cmd heading: 36.176182 deg, new cmd heading: 36.174739 deg. =HeadingCmd: 0.631368 target range: 608.167603 and range: 607.80 m.h=Z!?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eML@}SBɢ}< )y [i)Tm_顁iDEiZ!?Z=8=IZ!?I @  @ @10@@@2Acoustic response timeout!Em Em~Em:Ei"Em7:*Em(:VEm(4ZEiBEm;au2Em;auJEm;au:Em;a}^A5l;=YAa Ii Iy O >y ",&ӋLA2Acoustic response timeout@FX>Fzv?FH:4ٱF+=FH ? @[???ql?` ??iFX>IF^;DYNNByRHTTbDZVDZ8yb5=%b\=ٔfypQ-f>9dYd=fDyfDjXEj>lQ 5r4n ?Q 9r4ny)nBYtyzv.?Q I~?n"DInK;inB;n`d4yBɮAíE:iAEFNOT Ignoring new targets: 608.17 m."iMe*iI] ProNav pure pursuit: ac range: 608.167603 m, nav range: 572.705383 m, bearing: 36.173559 deg, approach rate: -0.625784 m/s, LOS rate: nan deg/s, cmd heading: 36.174738 deg, new cmd heading: 36.173559 deg. eHeadingCmd: 0.631348 target range: 608.167603 and range: 607.80 m.he!?hahahahagagijgirgieireqZeq:eq*euL@颥5SBɢ) i)l顩id;i!?;Z=F1=I!?IQi@q @q@u/0@qIiԁFm9YgiA^A d6=2Acoustic response timeoutԱEu  Eu Eu ?Eq "Eu U:*Eu .:VEu ^4ZEq a} @a} @a} @a} @A .AI I O > ",ӋLAB"<A"<B&>B&KCB&HB&NBB&=B$B&DB&;B&_}EBJ>B?B5ٱB=BH@?`f軐?S|?`?{ ? /?6?iBJ>IB:!^;@YJOByJHbDRVDR8y^=%bK=ٔjHQ-n>9v ?Yz ?=zDy} DE>Q 54, ?Q 9 4) BYQy]-?Q I]?4DIP",%vӋLAY"OByH iMb@Mb@Mb@ 9+?9"?Y"?=Dy DE>Q 54 ?Q 94)BY9?Q E:y#?Q I?EDI:i:s4yBɮ]A:i!%FNOT Ignoring new targets: 608.17 m."i- ,*i)= ProNav pure pursuit: ac range: 608.167603 m, nav range: 572.156921 m, bearing: 36.172022 deg, approach rate: -0.697960 m/s, LOS rate: nan deg/s, cmd heading: 36.172252 deg, new cmd heading: 36.172022 deg. =HeadingCmd: 0.631321 target range: 608.167603 and range: 607.80 m.hE?!?hAhAhAhAgAgAjgIrgIeIreQZeQ:eQ*eU SM@hSBɢ) i)i(i-?!?-7Z=-b*=I5?!?I1@ @@2@M2Acoustic response timeoutIi^AK'=A I I O >ԙ ",DԋLA:p|>:?:|Kٱ:B=:H3"?vש?`e??j}z?@X??i:p|>I:^;:CYF9`Y`=bDyb/Df Ef>hQ 5j4j/ ?Q 9n4j |)jBYlyn"?Q Ir?jTDIj;ij;jz4ytɮv)At:i FNOT Ignoring new targets: 608.17 m."i*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 571.927734 m, bearing: 36.171901 deg, approach rate: -0.622620 m/s, LOS rate: nan deg/s, cmd heading: 36.172023 deg, new cmd heading: 36.171901 deg. -HeadingCmd: 0.631319 target range: 608.167603 and range: 607.80 m.h-!?h)h)h1h1g1g1jg1rg9e9re9Ze9:eA*eEM@m}SBɢmwŽ)q u"iq)uGqqiui}!?}Z=N)=I!?IEE EEEE<EA"EED:*EE0:VEE 4ZEAaM@aM@aM@aM@q@ @@0@BM>BMICBMHBM1OBBM =BIBMDBIBMQ}Eԩ^A})=U2Acoustic response timeoutA .AI I O > ۶ ","1ԋLA2Ob>2?2Wٱ2O=2H &"? v?`c??R ?옷??i2Ob>I2H>^;2CY:?OBy:Hi%Mb@Mb@Mb@!!!! !9%/$?QX9vY%?y%u%}%A%A %̾A)!!Y%AbD=VD=8yM;%MA=ٔU߻Q-U>9U ?Y] ?=]Dy]@D]E]>aQ 5m4eK ?Q 9m4e3x)eBYu?Q Eu:yu%?Q Iu?edDIe,:ie:e}4y}Bɮ}1AĭE:iFNOT Ignoring new targets: 608.17 m."ii8*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 571.667786 m, bearing: 36.172764 deg, approach rate: -0.614159 m/s, LOS rate: nan deg/s, cmd heading: 36.171900 deg, new cmd heading: 36.172764 deg. HeadingCmd: 0.631334 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eTM@SBɢ' ) i )  H  i UIi!?vZ=!=I!?I@ @@5@@@2Acoustic response timeoutbEę4jEİ4rEĴ0EM EM}EM;EI"EM:*EMk&:VEM4ZEIBEM;a]2EM;a]JEMɀ;a]:EMɀ;a]^A>J=) A I I O >e 2Acoustic response timeoutQ p",hKԋLA2u>2I?2dٱ2:"=2H`L ?GyK?@ d?@M??Lo??i2u>I2 ^;2CY:cOBy:HI><)>=bDFVDF8yNx=%NV=ٔNIQ-R>9PYP=RDyRODV9EV>XQ 5^4Z* ?Q 9^4Zt)ZBY\y^_?Q I^?ZsDIZP:iZ:Z'4ydɮfAd:itzFNOT Ignoring new targets: 608.17 m."iz8*i| ProNav pure pursuit: ac range: 608.167603 m, nav range: 571.433533 m, bearing: 36.173522 deg, approach rate: -0.614648 m/s, LOS rate: nan deg/s, cmd heading: 36.172764 deg, new cmd heading: 36.173522 deg. HeadingCmd: 0.631347 target range: 608.167603 and range: 607.80 m.h !?h h h hggjgrgereZe:e!*e%M@MSBɢM]ý)I U6iQ)U QQiUZTi]!?](ZZ=]}=Ie!?Ia @  @ @ 05@ 9Yi߹I߹2Acoustic response timeout^A5ȿ=Em EmzEm?Ei"Emغ:*Em :VEm^4ZEia}@a}@a}@a}@A ؟AI I O >ԩ BE >BE JCBE HBE dOBBE  =BA BE DBE ;BE u}E2",dԋLADYoOBy!H -2Acoustic response timeout AAbDEVDE8y}<%0=ٔQ->9"?Y"?=DybDE>Q 54> ?Q 94sp)BYyQ I?DI0;i0;X4yBɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i 8*iԩ ProNav pure pursuit: ac range: 608.167603 m, nav range: 571.145569 m, bearing: 36.174455 deg, approach rate: -0.588338 m/s, LOS rate: nan deg/s, cmd heading: 36.173522 deg, new cmd heading: 36.174455 deg. HeadingCmd: 0.631363 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe :e *e (N@]SBɢ])Y ]iY)e/aaieqi!?3Z=n5=I!?I9@9 @9@EQ0@A 2Acoustic response timeout ^A =A yAzA Ee  Ee Ee @Ea "Ee :*Ee ,:VEe 4ZEa BEe ;am 2Ee ;au JEe >;au :Ee ?;au Aq Iy I O >I",GԋLAHYvOByvWHiuMb@Mb@Mb@qqqq q9uCl?Qv/Yu;?yuuxiuݰAuA uA)u"AqYu=AbDVD8y=%T=ٔQ->9Y=DyrDE>Q 54{O ?Q 94 m)BY ?Q E:y?Q I?DI:i:4yǟBɮAE:iFNOT Ignoring new targets: 608.17 m."i8*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 570.908081 m, bearing: 36.175809 deg, approach rate: -0.659285 m/s, LOS rate: nan deg/s, cmd heading: 36.174454 deg, new cmd heading: 36.175809 deg. HeadingCmd: 0.631387 target range: 608.167603 and range: 607.80 m.h !?hhhhggjgrgereZe:e!*e%UN@MSBɢU>ν)Q UiQ)U>YYi]Wi]!?eZ=e=Ie!?Ia@ @@O0@2Acoustic response timeout^A! A I I O >V%",ԋLA"2Acoustic response timeoutB>B#?BꉽٱB=BH?@X?}??f!9?*? ?iB>IBL^;BCY^OBybjH ddbDjVDj8yrG#=%rW=ٔr?Q-v>9tYt=vDyvDz<<Ez>||Q 54~3` ?Q 9 4~i)~BY y +?Q I ?~DI~&;i~:~4y˟BɮA:i9EFNOT Ignoring new targets: 608.17 m."iEaq8*iAU ProNav pure pursuit: ac range: 608.167603 m, nav range: 570.671448 m, bearing: 36.177060 deg, approach rate: -0.623060 m/s, LOS rate: nan deg/s, cmd heading: 36.175810 deg, new cmd heading: 36.177060 deg. ]HeadingCmd: 0.631409 target range: 608.167603 and range: 607.80 m.h]!?hYhYhYhYgagajgargaeireiZei:ei*emjN@额SBɢ 0ʽ) i)˴顡ii!?4Z=/=I!?IE E{E<E"E,:*E5":VE 4ZEa@a@a@a@:@ @@0@)B>BLCB_HBOBB=BBDB(;B}EBuKCBuLCBqBu=Bu =Cu m6Y^A"= 2Acoustic response timeoutI I O >ԁ }#,",ԋLA2>2?2ٱ2=2H?@^td?r? &?@d ,? +a??i2>I2P^;2CY:OBy:HaiMb@Mb@Mb@ 9ʡE?S㥛:vY?y/ݼT9AA )QAYpA C==bDVD8y <=% 9=ٔ R Q->9Y=DyD);E>!Q 5-4%ks ?Q 9-4%e)%BY-h?Q E-:y-?Q I5?%DI%:i%:%X4y=ΟBɮ=A9:iaeFNOT Ignoring new targets: 608.17 m."imT8*ii} ProNav pure pursuit: ac range: 608.167603 m, nav range: 570.398193 m, bearing: 36.178343 deg, approach rate: -0.618729 m/s, LOS rate: nan deg/s, cmd heading: 36.177060 deg, new cmd heading: 36.178343 deg. HeadingCmd: 0.631431 target range: 608.167603 and range: 607.80 m.hz!?hhhhggjgrgereZe:e*eN@TBɢ\) Vi)kij溍U2Acoustic response timeouti]z!?]Y=]3=I]z!?IaԉD%=Dp=E EEE"E%:*E3:VEZEBE;a2E;a JE;a :E;a 9@ @@ 0@Ա^A .= 2Acoustic response timeout! I I O >0 3",&ԋLAB>BM?B ٱB6=BH?`{??@)? ?a?@ܲ?iB>IB#^;BCYJOByJHbDVVDV8yZY=%Zc=ٔ^x'Q-^>9`Y`=bDybDb;Ef>dQ 5j4f ?Q 9j4fib)fBYlyn?Q In?fDIf&:if;f4ypɮrOAt:i  FNOT Ignoring new targets: 608.17 m."iKC8*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 570.175415 m, bearing: 36.179303 deg, approach rate: -0.618767 m/s, LOS rate: nan deg/s, cmd heading: 36.178344 deg, new cmd heading: 36.179303 deg. -HeadingCmd: 0.631448 target range: 608.167603 and range: 607.80 m.h-!?h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*eE N@m)TBɢmVLν)i miq)uqqiuoܺi}!?}E E~E=E"EU:*E(:VE|4ZEa@a@a@a@qB <A B >B B HB OBB =B B B 4;B }Eԙ X79",ΧԋLABD>BJ ?BuٱB=BH ?P~?`?/?`kV¿, ?ƾ?@?iBD>IB0^;BCYZ PByZHI%=)%V>bDUVDU8=2Acoustic response timeoutyV\=%%6=ٔ-]Q-U>9aYa=mDqyD<E>Q 54) ?Q 94.^)ޗBYy?Q I?DI;i;ų4yџBɮ+AEB*** querying acoustic contact ***ii:iIMFNOT Ignoring new targets: 608.17 m."iU*8*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 569.887817 m, bearing: 36.180418 deg, approach rate: -0.601479 m/s, LOS rate: nan deg/s, cmd heading: 36.179304 deg, new cmd heading: 36.180418 deg. eHeadingCmd: 0.631467 target range: 608.167603 and range: 607.80 m.h٧!?hhhhggjgrgereZe:e*eE+O@EHTBɢMbw)M: MQiI)MƼIIiU3ֺiU٧!?]Y=]J=I]٧!?IYԡ@ @@ 0@m 2Acoustic response timeout^A= K@=I I O >E  E E ;E "E g:*E *5:VE 4ZE BE ;a 2E ;a JE ;a :E ;a S@",zՋLA2t>2)U!?2w-ٱ2}=2HT?Du?`?{?y~¿ߴ?e??i2t>I2s^;0Y:APBy:Ii%Mb@Mb@Mb@!!!! !9%Zd;?V- ףp= Y%?y%%Q8%hA%A %lA)%A!Y%GA99bDEVDE8yU>%UX=ٔU Q-U>9YYY=]Dy]De7<Ee>aQ 5m4e ?Q 9u4eZ)eߗBYu?Q Eu:yu?Q Iu?eDIe:ie@;e4yɮA:iFNOT Ignoring new targets: 608.17 m."i88*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 569.661987 m, bearing: 36.181301 deg, approach rate: -0.645764 m/s, LOS rate: nan deg/s, cmd heading: 36.180417 deg, new cmd heading: 36.181301 deg. HeadingCmd: 0.631483 target range: 608.167603 and range: 607.80 m.hܨ!?hhhhggjgrgereZe:e*e WO@%]TBɢ%ҽ)) -i1)=˼99i=κiEܨ!?EMY=MW=IMܨ!?IQi@i @i@m0@i2Acoustic response timeout C^ABJ= ) I9 II Y 9Y YY Oe >Q IF",_ՋLA2Acoustic response timeoutB!9>Bf"?BٱB,=BH?IB];BCYJgPByJ)IbDVVDVɰ8y^=%^T=ٔ^Q-^>9`Y`=bDybDf1<Ef>dQ 5j4f ?Q 9n4fPW)fBYlyn?Q In?fDIf:if;f4yr՟BɮvAt:i FNOT Ignoring new targets: 608.17 m."iy8*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 569.422180 m, bearing: 36.182139 deg, approach rate: -0.623029 m/s, LOS rate: nan deg/s, cmd heading: 36.181302 deg, new cmd heading: 36.182139 deg. -HeadingCmd: 0.631497 target range: 608.167603 and range: 607.80 m.h-ѩ!?h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE MO@muTBɢm.ɽ)i mȁii)u0Ҽqqiu\ɺi}ѩ!?}Y=}Ne=I}ѩ!?IE EtE=E"EC:*Ev:VE|4ZEa@a@a@a@@ @@@)BM>BIBMIBMDPBBM =BIBIBM;BMt}Ea^AmY=BDAT read: Response Not Received *response not received ԁ qL",314ՋLA02O>2#?2܆ٱ2ǹ=2H` ? 7D^e??K?¿I?ž?D?i2O>I2 ^;2CYNPByRII TTiUMb@Mb@Mb@QQQQ Q9US?~jthlYU/?yUDUUAUA U=A)U AQYQbDm#VDmͰ8y=%>=ٔ׻Q->9Y=DyD4<E>Q 54 ?Q 94(S)BYx?Q E:y;$?Q I?DI:i:WȠ4yɮA:iFNOT Ignoring new targets: 608.17 m."i)5*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 569.158081 m, bearing: 36.181873 deg, approach rate: -0.614531 m/s, LOS rate: nan deg/s, cmd heading: 36.182138 deg, new cmd heading: 36.181873 deg. HeadingCmd: 0.631493 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgere Ze :e *e  IO@=TBɢ=l>)= =t}i9)E(ټAAiE=BƺiM!?MY=M"u=IM!?II5RDAT read: user:29>Tx time:01:03:15.5693 =DAT read: =2Acoustic response timeoutԉE EsE8E"E:*EZ:VEF4ZEBE4;a2E5;aJE,];a:E,];a]<@ @@1@  2Acoustic response timeout^A h= A II)O5>AIT",7QՋLA2>2%?2ٱ2n>2Hx?m^r?'?@T'?`ÿ`E?@*?@؝?i2>I2^;2CY:PBy:ZI B4=Ba=bDFVDFȰ8yN =%N<=ٔN˻Q-R>9PYP=RDyRDVQU<EV>XQ 5^4Z ?Q 9^4ZN)ZBY\y^%?Q I^?ZDIZ:iZh:ZϠ4yfBɮfSAfE:itzFNOT Ignoring new targets: 608.17 m."iz6*ix ProNav pure pursuit: ac range: 608.167603 m, nav range: 568.890442 m, bearing: 36.181442 deg, approach rate: -0.615149 m/s, LOS rate: nan deg/s, cmd heading: 36.181872 deg, new cmd heading: 36.181442 deg. HeadingCmd: 0.631485 target range: 608.167603 and range: 607.80 m.h !?h h hhggjgrgereZe:e*e%O@MTBɢMW) <}i)/6i|ĺi!?Y=q =I!?I 9Y@Y @Y@e_5@a2Acoustic response timeout1^AMw=E EvE9E"Es:*E:VE4ZEa@a@a@a@AIIO>AiAiB>BNCBXIBPBB=BBDB;B&}Eԩ pZ",KkՋLA"2Acoustic response timeoutM>M&?M˼ٱM(H>MHsX? A{?O?`i?dĿ@Ӑ??`.?iM>IMf^;MCY]PBy]~IiMb@Mb@Mb@ 9MbX9?:v? rhY!?y<C  AVA )9AY=AbDVD8y o=% 5=ٔeاQ-e>9iYq=uDyu DuG_<E}>yQ 54}b ?Q 94}I)}BY)"?Q E:y2?Q I?})DI} ;i} ;}ؠ4yɮAԩB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 568.598450 m, bearing: 36.179458 deg, approach rate: -0.629770 m/s, LOS rate: nan deg/s, cmd heading: 36.181442 deg, new cmd heading: 36.179458 deg. HeadingCmd: 0.631451 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*e7P@-TBɢ-'蹽)) -Zvi1)511i5,źi=!?=#Z==ޥ=I=!?IAIIIIJ>i%>2Acoustic response timeout@ @@ 0@ bEC4jET4rEȼk0E  E E =E "E 1:*E a9:VE |4ZE BE ;a= 2E ;a= JE *;a= :E *;a= 1 ^A w=IIO>Ԃb",7ՋLA6\>6#(?6߷ٱ6 >6H`H;??s?.?@SĿ??J?i6\>I6k^;6CN2Acoustic response timeout\Y^$QBy^IIbC=)bp;bDjVDjŰ8yr=%r9=ٔr|SQ-v>9tYt=vDyvDzY<E>Q 5%4 ?Q 9%4EE)BY!y%i4?Q I-?;DI:i:ߠ4yUBɮUAUE:iFNOT Ignoring new targets: 608.17 m."iL*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 568.323975 m, bearing: 36.177427 deg, approach rate: -0.621251 m/s, LOS rate: nan deg/s, cmd heading: 36.179457 deg, new cmd heading: 36.177427 deg. HeadingCmd: 0.631415 target range: 608.167603 and range: 607.80 m.hm!?hhhhggjgrgereZe:e*e5P@UTBɢU5)Y ]piY)]3uYYi]IDƺiem!?eSZ=e=Imm!?Iy@y @y@y@y^AUq=I1IAM2Acoustic response timeoutOU>E  E wE <E "E :*E :VE 4ZE a @a @a @a @9 B >B OCB IB .QBB B B DB i;B |EOh",t\ՋLA@@v| >v-P)?vٱv >vH$?@SK?C?j?J ſ? P?` ?iv| >Iv^;tYiQByI@AbDVD8y-'>%-F=ٔ5QQ-5>99Y9==Dy=,D=5<EE>AQ 5M4E ?Q 9M4E@)EBYQyU5?Q IU?EKDIEb;iE+;E4y]Bɮ] Aa:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 568.065918 m, bearing: 36.175394 deg, approach rate: -0.643518 m/s, LOS rate: nan deg/s, cmd heading: 36.177425 deg, new cmd heading: 36.175394 deg. HeadingCmd: 0.631380 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eOP@eUBɢeU)a e^fia)e}iiim)Ǻiu!?}Z=}}=I}!?Iy2Acoustic response timeoutIY@Y @a@m0@iq^AyQ=II O >ԙ ] 2Acoustic response timeoutn",f-ՋLA2v>2*?2!ٱ2S% >2H?DY?@ ?@*?Ŀ~?#??i2v>I2i^;2CY:QBy:IEB EBEB:E@"EBC:*EB.:VEB(4ZE@BEBC;aJ2EBD;aJJEB;aJ:EB;aJiuMb@Mb@Mb@qqqqy q9uMb??V-Yu#?yuL=uuOAu&A uA)uhAqYqbD%VDϰ8y=%D=ٔ$.Q->9Y=Dy=Dj;E>Q 54! ?Q 94<)BY#?Q E:yz??Q I?\DI:i:4yɮA:iFNOT Ignoring new targets: 608.17 m."i% *i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 567.801086 m, bearing: 36.172266 deg, approach rate: -0.634081 m/s, LOS rate: nan deg/s, cmd heading: 36.175393 deg, new cmd heading: 36.172266 deg. HeadingCmd: 0.631325 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrge!re!Ze!:e!*e%iP@UUBɢU輽)Q UbiY)]LYYi]nȺie!?e8Z=eأ=Ie!?Ii@ @@@@yA@ԩ^A=A>A>I)I9OM1>2Acoustic response timeout 4u", ՋLA2>24*?2Dٱ2O >2H O? r??0?Ŀ ?(?|?i2>I2A^;2CYBQByBI DDbDJ VDJ8yf>%fY=ٔf:Q-f>9hYh=jDyjLDn:En>pQ 5v4r/ ?Q 9v4r7)r BYtyv??Q Iv?rlDIr:ir~:r4y|ɮ~EA|:i!%FNOT Ignoring new targets: 608.17 m."i- *i)= ProNav pure pursuit: ac range: 608.167603 m, nav range: 567.562012 m, bearing: 36.169430 deg, approach rate: -0.633314 m/s, LOS rate: nan deg/s, cmd heading: 36.172265 deg, new cmd heading: 36.169430 deg. EHeadingCmd: 0.631276 target range: 608.167603 and range: 607.80 m.hEH!?hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eUP@iIA2Acoustic response timeout-6UBɢ-R̽)) -VZi))581IiMWȺiUH!?UZ=]t=I]H!?IYE EtE?E"E:*Ev:VE^4ZEa@a@a@a@@ @@ 0@ B>BPCBIBQBB=BBDB';B|EBNCBNCBB=B=Cƿ51^A =I I  2Acoustic response timeoutO >a {",ՋLA2>2)?2ٱ2v >2H`&???`?OĿc?M??i2>I2C^;2CYNQByR!Ii]Mb@Mb@Mb@YYYY Y9]w/?v/?X9vY]&?y]xi=]Y]A ]=A)]ĬAYY]3A mC=ibDuVDu8yR=%?=ٔX:Q->9Y=Dy]DCE>Q 54A ?Q 942)BY'?Q E:yjA?Q I?~DI,:i:!4yBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 567.284546 m, bearing: 36.165931 deg, approach rate: -0.649028 m/s, LOS rate: nan deg/s, cmd heading: 36.169431 deg, new cmd heading: 36.165931 deg. HeadingCmd: 0.631215 target range: 608.167603 and range: 607.80 m.hG!?hhhhggjgrgere Ze :e *e ZP@1=SUBɢ=,)A EUiA)EMAAiMʺiMG!?M+[=U=IUG!?IQ:@ @@0@-2Acoustic response timeoutaDzD@AE EE;E"Ey:*E*5:VE4ZEBE$Թ ̂", ֋LA2 |>2s(?2ٱ2` >2H`m4?@?~? ? -Ŀ?X??i2 |>I2^;2CY:%RZ=ٔVb;Q-V>9TYT=VDyVmDZs;EZ>\Q 5b4^5P ?Q 9b4^O.)^BY`ybL@?Q If?^DI^;i^;^4yjBɮjAjE:ix~FNOT Ignoring new targets: 608.17 m."i*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 567.040833 m, bearing: 36.162964 deg, approach rate: -0.650423 m/s, LOS rate: nan deg/s, cmd heading: 36.165930 deg, new cmd heading: 36.162964 deg. HeadingCmd: 0.631163 target range: 608.167603 and range: 607.80 m.h!?hhhhggjg!rg!e!re!Ze!:e)*e-XP@UlUBɢU)Y ]KiY)e.(aaie˺im!?mcV[=m=Im!?Iqԑ9@ @@@@=@=^AlŠ=AxAzAzA=BDAT read: Rx Time:01:03:18.7327 ETRx dataTimestamp_ set to:1764896600.453401E2Acoustic response timeoutE  E E E "E :*E ]t:VE ZE a @a @a @a @AE .AII IY Oi B B QCB ?IB ,RBB =B B B $;B  6",К%֋LA:k&>:&?:ٱ:i>:HU? ׁ? GU?@?TĿ ?o??i:k&>I:!^;:CYFTRByFXIIJ=)Ja=bDNVDN8yVqg=%VJ=ٔZ;Q-Z>9Z ?YZ ?=^Dy^}D^E^>`Q 5f4b` ?Q 9f4b))b!BYhyj>?Q Ij?bDIb:ibu:b 4ylɮnAl:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 566.777222 m, bearing: 36.159930 deg, approach rate: -0.624657 m/s, LOS rate: nan deg/s, cmd heading: 36.162962 deg, new cmd heading: 36.159930 deg. HeadingCmd: 0.631110 target range: 608.167603 and range: 607.80 m.hj!?hhhhggjgrgereZe:e *e  P@颥UBɢ$) Mi)i,ͺij!?}[=2Acoustic response timeout =Imj!?Iq@ @@4@I ^A = DAT read: 01:03:18.7327 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 459,-0.06,-2.723, 2.017,-2.520,-3.106, PHS= 0.485,-1.116, 0.541, RAW= 151.7, 1.1, CAL= 150.4, 0.5, ROT= 359.6, -0.5  Ygot valid direction response: 01:03:18.7327 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 459,-0.06,-2.723, 2.017,-2.520,-3.106, PHS= 0.485,-1.116, 0.541, RAW= 151.7, 1.1, CAL= 150.4, 0.5, ROT= 359.6, -0.5  8DAT read: $Error in header  *Received a bad headerM X#Rx 1: Read direction message, but no range.e ^direction in FSK: [0.999938,-0.006981,0.008727]yI M :?a }?0||B7߁?I M M M q M )I IM Q>iM َM ~ ?M Us)@M nFp",A֋LARL>R$?RJٱR@>RH3|?Y*y?@N%? )?qÿ? ,?8?iRL>IR];RCYnRByz{I)iMb@Mb@Mb@ 9w/?I +?9"?Y"?=DyDpE>Q 54u ?Q 94#)(BY'?Q E:y7?Q I?DI:i:4yBɮ NA :i)5FNOT Ignoring new targets: 608.17 m."i5Lٸ*i1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 566.443604 m, bearing: 36.156989 deg, approach rate: -0.672948 m/s, LOS rate: nan deg/s, cmd heading: 36.159930 deg, new cmd heading: 36.156989 deg. MHeadingCmd: 0.631059 target range: 608.167603 and range: 607.80 m.hM !?hIhIhIhIgQgQjgQrgQeQreYZeY:eY*e]P@颍UBɢS) Gi)7 顑i7Ϻi !?z[==I !?I9@9 @9@=r1@9a}2Acoustic response timeout^A=AM.AYqIqԁIO>.9YAԱ ",[֋LA6K>6"?6eٱ6==6H ץ? " c? ?`?^? z¿ɵ?C9?Ũ?i6K>I6s^;6CYBRByBIbDJVDJ8yR]>%Vw=ٔV`B]OCB]IB]RBB]=BYB]DB]>;B]|E^AA>A>2Acoustic response timeoutA ؟AI I O > ",yu֋LA64[>6x ?6$ٱ6`=6H?g`H?{?0޴?T?`?i64[>I6j];6CYBRByBI DDiMb@Mb@Mb@ 9uV?Mb?ktYr(?y@= 0AA ȾA)AY\AbD-VD-8y=C<=%=A=ٔE 9E"?YE"?=EDyEDMEM>QQ 5]4U ?Q 9]4UQ)U0BY]<)?Q E]:ye_4?Q Ie?UDIU;iUr;U4ymBɮmAmEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."iH*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 565.949158 m, bearing: 36.153196 deg, approach rate: -0.660311 m/s, LOS rate: nan deg/s, cmd heading: 36.155272 deg, new cmd heading: 36.153196 deg. HeadingCmd: 0.630992 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eW Q@颍UBɢ) =i)H顱i̺i!?Ö[=zI=I!?I2Acoustic response timeout@ @@0@^Ae&lm=E EE5E"EV:*E:VE4ZEBE9i  2Acoustic response timeout",T֋LA >>>R?>$ٱ>y=>H`A?r킿??. d?ӷ?L?i>>I>];>CYF SByFI LN4=bDRVDR8yZB=%ZS=ٔZ9\Y\=bDybDb|Eb>dQ 5j4f8 ?Q 9j4f)f2BYhyj2?Q In?fDIf:if :f&4ypɮrcAt:i  FNOT Ignoring new targets: 608.17 m."i*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 565.694031 m, bearing: 36.151530 deg, approach rate: -0.659747 m/s, LOS rate: nan deg/s, cmd heading: 36.153195 deg, new cmd heading: 36.151530 deg. -HeadingCmd: 0.630963 target range: 608.167603 and range: 607.80 m.h-Ά!?h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*eE 9Q@mUBɢm𴶽)i m;ii)uqqiuQȺi}Ά!?}[=}2.=I}Ά!?I1@1 @1@50@1qԙ2Acoustic response timeout^Auh=Eu EuEu4Eq"Eul;*Euh:VEu4ZEqa}@a@a@a@Aa Iq I O > BU >BU JCBU IBU SBBU =BQ BU DBU X;BU |Eѩ",Z/֋LA2.>2a?2Yٱ2.=2H#?cs7M??L&?)?@ ?i2.>I2d];0PYV2SByVIbDfVDf8yr)=%rG=ٔvm9xYx=zDyzD~JE> Q 54  ?Q 94 u) 4BY!y%/?Q I%? DI @;i DA; -4y5Bɮ5"A1:iFNOT Ignoring new targets: 608.17 m."iق*im2Acoustic response timeout ProNav pure pursuit: ac range: 608.167603 m, nav range: 565.421692 m, bearing: 36.149988 deg, approach rate: -0.631074 m/s, LOS rate: nan deg/s, cmd heading: 36.151529 deg, new cmd heading: 36.149988 deg. HeadingCmd: 0.630936 target range: 608.167603 and range: 607.80 m.h !?h!h!h)h)gQgYjgargiereZe:eI*eMVYQ@颵VBɢۦ) :i) 项i[ĺi !?X[==I !?I@ @@ 0@^A.=AyAzAxAA I I O > 2Acoustic response timeout! bEa4jE˷4rE˻1E  E E E "E f;*E 5:VE ZE BE W%:=ٔQ->9Y=DyDE>Q 5 4 ?Q 9 4 )Yf'?Q E:y*?Q I?DI,;i*;z54y%zBɮ%A%E:iIMFNOT Ignoring new targets: 608.17 m."iU<8*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 565.136902 m, bearing: 36.148939 deg, approach rate: -0.682768 m/s, LOS rate: nan deg/s, cmd heading: 36.149989 deg, new cmd heading: 36.148939 deg. eHeadingCmd: 0.630918 target range: 608.167603 and range: 607.80 m.he؃!?hihihihigigijgrgereZe:e*e`oQ@=5VBɢ=p)9 =2i9)E AAiEФiM؃!?M:[=M=I؃!?I)E:@A @A@E0@Aim<u2Acoustic response timeoutY^Ai ԉ A I I O >",֋LA:.>:?:ٱ:?=:HV?`)+@ ?B?P?`f$? ?i:.>I:m#^;:CYFSByFILLbDRVDR8yV=%Za=ٔZN9\Y\=^Dy^Db2Acoustic response timeoutfEf>hQ 5n4j ?Q 9n4j )j3BYlyn(?Q Ir?jDIjv;ij?;j;4yv}BɮvAvE:i FNOT Ignoring new targets: 608.17 m."i*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 564.898804 m, bearing: 36.148326 deg, approach rate: -0.654591 m/s, LOS rate: nan deg/s, cmd heading: 36.148940 deg, new cmd heading: 36.148326 deg. -HeadingCmd: 0.630907 target range: 608.167603 and range: 607.80 m.h-$!?h)h)h1h1g1g1jg1rg9e9reAZeA:eA*eEආQ@YuMVBɢu()y }2iy)}.yyi֗i$!?[=B>CB IB{SBB =B+DBDBɽ;B|E^A-=ԉA].AIiIO[>Ա2Acoustic response timeout ",֋LA6V(>6?6 ٱ6=6HV?`*`h?@@?g~-?d?`?i6V(>I6y)^;6CYNSByR*Ii%Mb@Mb@Mb@!!!! !9%S㥛?V-?)\(Y%$&?y%<%Ga%A%;A %;A)% A!Y%AbD=VD=8yM=%MA=ٔU+9U ?YU ?=UDyUDe`:Ee>aQ 5m4e@ ?Q 9u4e)e1BYu&?Q Eu:yu&?Q Iu?e(DIe,:ieY;e=C4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."iķ*iԹ ProNav pure pursuit: ac range: 608.167603 m, nav range: 564.622925 m, bearing: 36.147759 deg, approach rate: -0.650982 m/s, LOS rate: nan deg/s, cmd heading: 36.148325 deg, new cmd heading: 36.147759 deg. HeadingCmd: 0.630897 target range: 608.167603 and range: 607.80 m.h~!?hhhhggjgQrgYeYreYZeY:eY*ee Q@颭mVBɢ) 0i)iXi~!?Z=AqIi Iy O >9  2Acoustic response timeout",׋LA2/`>2z?2pٱ2bk=2HM?8w ?Q6? $??\?i2/`>I2x^;2CY:SBy:6I <<bDFVDFð8yNC=%NW=ٔn?9pYp=rDyrDvq;Ev>xQ 5~4z6 ?Q 9~4z)z.BY|y~V'?Q I?z9DIz^;iz';z J4y Bɮ A :i)5FNOT Ignoring new targets: 608.17 m."i5ܷ*i1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 564.369507 m, bearing: 36.147174 deg, approach rate: -0.652515 m/s, LOS rate: nan deg/s, cmd heading: 36.147758 deg, new cmd heading: 36.147174 deg. MHeadingCmd: 0.630887 target range: 608.167603 and range: 607.80 m.hMӁ!?hIhIhIhQgQgQjgQrgYeYreYZeY:ea*ee@Q@颍VBɢ$() 2i)顙i`-iӁ!?ԬZ==IӁ!?IY@Y @Y@Y@Y^A-u2Acoustic response timeoutE] E]E]9EY"E]:*E]|:VE]4ZEYae@ae@ae@ae@qB >B 3CB FIB SBB " =B ,DB DB ;B A}EBJCBECBɟCB=B =C7ԙ A!",|*׋LAFۮ>Fۡ?F`ٱF.=FH:?UL^^@?@?ط?`E? `?iFۮ>IF;^;FCYVSByVJI b%=b<bDf(VDfѰ8yr=%rF=ٔr9tYx=zDyz"Dz5<Ez>|Q 54~ ?Q 94~I)~*BY y (?Q I ?~JDI~~:i~:~!Q4yɮGA:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 564.105042 m, bearing: 36.146428 deg, approach rate: -0.627077 m/s, LOS rate: nan deg/s, cmd heading: 36.147175 deg, new cmd heading: 36.146428 deg. HeadingCmd: 0.630874 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*eQ@=2Acoustic response timeoutEVBɢE@)A M1iI)M IIiMB1iU!?UZ=Uã=I]!?IYԙ:@ @!@!@!Թ^AM8<IIO> 2Acoustic response timeoutEe  Ee Ee 2Ea "Ee ;*Ee ą:VEe 4ZEa BEe LJ!?JRٱJ~=JH?Xz#_? #h?`+?@`Q??`@?iJo>IJA,^;JCYR TByVfIi]Mb@Mb@Mb@YYYY Y9]p= ף?/$?S㥫Y]%?y]<]/]]OA]jA ]jA)YYY] AbDu!VDu˰8y=%A=ٔ=9Y=Dy3Dxb<E>Q 540" ?Q 94)&BY%?Q E:yJ'?Q I?[DIo:i4:X4yBɮAE:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 563.830872 m, bearing: 36.145800 deg, approach rate: -0.671380 m/s, LOS rate: nan deg/s, cmd heading: 36.146430 deg, new cmd heading: 36.145800 deg. HeadingCmd: 0.630863 target range: 608.167603 and range: 607.80 m.h@!?hhhhggjgrgere Ze :e *e  Q@=VBɢ=)A E.iA)EcN"AAiE`!iM@!?MfZ=MN%=IU@!?IQ9@ @@@@=@=^Ad=I IO%,>E2Acoustic response timeoutI -2",.^׋LA2 >2N?2Fٱ2̸=2H?`@ە?`ɔ?@-?޼tϨ?`??i2 >I2J^;0R2Acoustic response timeoutPYVTByVoIIZ=)Zp=bDbVDb8yj=%jV=ٔj;Q-j>9lYl=nDynBDrj<Er>tQ 5v4v2 ?Q 9z4v)v"BYxyzN)?Q Iz?vkDIv:iv:v2_4yBɮA:i!-FNOT Ignoring new targets: 608.17 m."i-*i)= ProNav pure pursuit: ac range: 608.167603 m, nav range: 563.584106 m, bearing: 36.145036 deg, approach rate: -0.647990 m/s, LOS rate: nan deg/s, cmd heading: 36.145798 deg, new cmd heading: 36.145036 deg. EHeadingCmd: 0.630850 target range: 608.167603 and range: 607.80 m.hEa!?hAhAhAhIgIgIjgIrgIeQreQZeQ:eQ*e](R@颅VBɢ)2!< !1i)u$顉iaKiia!?/VZ=V;=Ia!?IEe EeEe4Ea"Ee:*Ee:VEe4ZEaa}@a}@a}@a}@)@) @)@1@1AAB>B6CBkIBTBBBBDB;B}EԱ^Aup=IIO>U2Acoustic response timeout [",:x׋LA2 >2t ?2Z=ٱ2=2H?@gY??`?K`4??Y?i2 >I29^;2CY:;TBy:Ili-Mb@Mb@Mb@)))) )9- r?~jtx?V-Y-#?y-;-m-ۧA-A -A)-A)Y)AAbDE VDE8yU=%UB=ٔ];Q-]>9aYa=eDyeSDe΄<Ee>iQ 5u4mD ?Q 9u4m)mBY}C$?Q E}:y}%?Q I}?m|DImv;im;mf4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 563.314392 m, bearing: 36.144589 deg, approach rate: -0.640118 m/s, LOS rate: nan deg/s, cmd heading: 36.145037 deg, new cmd heading: 36.144589 deg. HeadingCmd: 0.630842 target range: 608.167603 and range: 607.80 m.h~!?hhhhggjgrgereZe:e*e##R@VBɢ) k0i)&iחDi%~!?%OZ=%Q=I%~!?I)2Acoustic response timeout:@ @@4@^A8=DizDiE] E]E]8EY"E]:*E]X:VE]F4ZEYBE].1a e 2Acoustic response timeoutC",׋LA 442>2^B"?2 7ٱ26>2H`6?hL?? y?`KI?@?`B?i2>I2S^;0fGp|Y\TBy I-r9)Y-nA9bDEVDE8yUD=%UJ=ٔU>_;Q-U>9"?Y"?=DydD*<E>Q 54yV ?Q 94c)BYy'?Q I?DIP:i\:m4ydBɮAE:iFNOT Ignoring new targets: 608.17 m."i<*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 563.049194 m, bearing: 36.143953 deg, approach rate: -0.641175 m/s, LOS rate: nan deg/s, cmd heading: 36.144589 deg, new cmd heading: 36.143953 deg. HeadingCmd: 0.630831 target range: 608.167603 and range: 607.80 m.h$~!?hhhhg!g!jg!rg!e!re)Ze):e)*e-`=R@]WBɢ]a)a e/ia)e+)aaieim$~!?mTZ=mmg=Iu$~!?Iq 9@  @ @ O5@ @@i2Acoustic response timeoutԙ^A]6=EM  EM EM 6EI "EM :*EM :VEM c4ZEI aU @aU @aU @aU @B >B 7CB IB FTBB  =B B B O;B }EA I I O >= PExceeded connect timeout, disconnecting.o",aū׋LAR#>R#?R2ٱR>RH` ?m^?q? /Z?1Z?|?!?iR#>IR0^;RCYZgTByZI ``bDfVDf8yn8<%nR=ٔrF;Q-r>9pYp=rDyrsDvb<Ev>xQ 5~4zf ?Q 9~4zx)zBY|y~)?Q I?zDIz:iz;zft4y ɮ A :i)5FNOT Ignoring new targets: 608.17 m."i5 *i9E ProNav pure pursuit: ac range: 608.167603 m, nav range: 562.806458 m, bearing: 36.143227 deg, approach rate: -0.641423 m/s, LOS rate: nan deg/s, cmd heading: 36.143954 deg, new cmd heading: 36.143227 deg. MHeadingCmd: 0.630818 target range: 608.167603 and range: 607.80 m.hMO}!?hIhIhIhIgQgQjgYrgYeYreYZeY:ea*eeUR@颍7WBɢ`) 4iԑ)X+顙iiO}!?bZ=Ax=IO}!?I2Acoustic response timeout?B:Q@Q @Q@U:0@Q^A-h=i I  2Acoustic response timeoutI9 II O] >! E5  E5 E5 8E1 "E5 ;*E5 :VE5 F4ZE1 BE5 @2m$?2][/ٱ24`>2HF?,ة?@1?8???G?i2">I2}T^;2CY:TBy:IiMMb@Mb@Mb@IIII I9Mx&1?~jthx&YM!?yMDM7MAMA I)IIYMA e4=e=bDmVDm8y} =%}A=ٔ}B;Q-}>9Y=DyD=<E>Q 54x ?Q 94,)BYr"?Q E:yv'?Q I?DI;i;{4ygBɮAE:iFNOT Ignoring new targets: 608.17 m."iܷ*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 562.538086 m, bearing: 36.142591 deg, approach rate: -0.633004 m/s, LOS rate: nan deg/s, cmd heading: 36.143227 deg, new cmd heading: 36.142591 deg. HeadingCmd: 0.630807 target range: 608.167603 and range: 607.80 m.h|!?hhhhggjgrgereZe:e*e qR@5WWBɢ=A+)9 = 3i9)=-AAiEiE|!?M}yZ=M=IM|!?IIM<@ @@0@-2Acoustic response timeout)Y^AI I O >y ",u׋LA2>2%?2,ٱ2TW>2Ha??Yt?H?J ?~@¿Β??@?i2>I2 /^;2CY:TBy:IB2Acoustic response timeoutbDJVDJ8yR=%RY=ٔR:Q-R>9TYT=VDyVDZ<EZ>XQ 5b4Zz ?Q 9b4ZV)ZBY`yb(?Q Ib?ZDIZ;iZ{;Zb4yhɮjkAh:ix~FNOT Ignoring new targets: 608.17 m."i~*i|  ProNav pure pursuit: ac range: 608.167603 m, nav range: 562.299805 m, bearing: 36.141923 deg, approach rate: -0.633132 m/s, LOS rate: nan deg/s, cmd heading: 36.142591 deg, new cmd heading: 36.141923 deg. HeadingCmd: 0.630796 target range: 608.167603 and range: 607.80 m.h{!?hhhhggjgrg!e!re!Ze!:e!*e- R@UsWBɢUIj)Q Ub6iQ)]/YYi]Oie{!?eZ=e=Ie{!?IiaE EE6E"E:*Eg:VEc4ZEa@a@a@a@B1A5<B=>B=:CB=IB=yTBB= =B9B=DB=;B={E;<ԑnManaging dock network, ignoring radio surface power off-9@) @)@5 0@1@9@==^A[=52Acoustic response timeoutIyIO>ԩ ",O׋LA2&>23&?2,ٱ2Xv>2H@w?` K#?9T?^?@¿[?@?[?i2&>I2j^;2CYNTByRIiUMb@Mb@Mb@QQQQ Q9UX9v?L7A`尿YU?yU̼U+UAUlA UQA)U AQYUzAbDmVDm8yus=%}==ٔ}E7Q-}>9Y=DyDW;E>Q 54 ?Q 949)BY?Q E:y ?Q I?DI;i-;쉡4ykBɮ?AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i<6*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 562.032532 m, bearing: 36.142082 deg, approach rate: -0.618530 m/s, LOS rate: nan deg/s, cmd heading: 36.141922 deg, new cmd heading: 36.142082 deg. HeadingCmd: 0.630798 target range: 608.167603 and range: 607.80 m.h|!?hhhhggjgrgereZe:e*e`R@-WBɢM~)Y ].7ia)ea2aaie{8im|!?mzZ=m=Im|!?Iqyyyy12Acoustic response timeoutbEŜ4jEŭ4rEňt0E EE9E"E[";*EVE4ZEBEz",+؋LA06>6=&?6.ٱ6>6Hv?8O@ʇ?0U?? r`3? ??i6>I6^;6CY>TBy>IDF@AbDJVDJ8yR/=%RY=ٔRyQ-R>9TYT=VDyVDZg9EZ>XQ 5b4Z ?Q 9b4Z)ZBY`yb?Q Ib?ZDIZ;iZD;Z4ydɮjAh:ix~FNOT Ignoring new targets: 608.17 m."i~e6*i|  ProNav pure pursuit: ac range: 608.167603 m, nav range: 561.799316 m, bearing: 36.142233 deg, approach rate: -0.620650 m/s, LOS rate: nan deg/s, cmd heading: 36.142083 deg, new cmd heading: 36.142233 deg. HeadingCmd: 0.630801 target range: 608.167603 and range: 607.80 m.h,|!?hhhhggjgrge!re!Ze!:e!*e-R@UWBɢU!*½)Q U3iY)]4YYi]ZE9ie,|!?e\Z=e=Im,|!?IiQ@Q @Y@]m0@Yԉ^A-`=IIO>2Acoustic response timeoutԹE EE8E"E:*E:VEF4ZEa@a@a@a@B5 %>B5 2W%?2}41ٱ2A>2H ?#HVz?I?@ /?|$?H??i2>I2];2CYNTByRIbDZVDZ8\ybT=%fH=ٔfNQ-f>9dYh=jDyjDjEj>!Q 5-4%q ?Q 954%)%BY1y5-?Q I5?%DI%:i%:%ϗ4y=nBɮEAEE:iamFNOT Ignoring new targets: 608.17 m."im'7*ii} ProNav pure pursuit: ac range: 608.167603 m, nav range: 561.540161 m, bearing: 36.142473 deg, approach rate: -0.619229 m/s, LOS rate: nan deg/s, cmd heading: 36.142233 deg, new cmd heading: 36.142473 deg. HeadingCmd: 0.630805 target range: 608.167603 and range: 607.80 m.hr|!?hhhhggjgrgereZe:e*eR@WBɢ\) C6i)7iֺ9ir|!?Z=m=Ir|!?I2Acoustic response timeouti@i @q@u?0@y@@^A- p,=I I  2Acoustic response timeoutO >A Ee  Ee Ee 7Ea "Ee :*Ee xv:VEe Ժ4ZEa BEe I8J3%?J 4ٱJ=JH`N?@<@i[?a:??C? @z? ??iJ>IJ];JCYVUByVIiUMb@Mb@Mb@QQQQ Q9U-? rhX9vYU5?yUC U}U AUA Q)UOAQYUpAbDmVDm8y}=%}?=ٔ}ԺQ-}>9Y=DyDpE>Q 54l ?Q 94)ޗBY=?Q E:yu?Q I?DI;i;4yɮA:iFNOT Ignoring new targets: 608.17 m."i]57*iY} ProNav pure pursuit: ac range: 608.167603 m, nav range: 561.281067 m, bearing: 36.143200 deg, approach rate: -0.620932 m/s, LOS rate: nan deg/s, cmd heading: 36.142472 deg, new cmd heading: 36.143200 deg. }HeadingCmd: 0.630818 target range: 608.167603 and range: 607.80 m.h}G}!?hhhhggjgrgereZe:e*e R@WBɢ) ;i)9i :iG}!? [=I=IG}!?II = BDAT read: Response Not Received *response not receivedBDAT read: Tx time:01:03:28.0193 %$Ping request sent.%",Ua؋LA2>2$?26ٱ2e=2H?:0Z?@*?_W?Cn@8?I? -?i2>I2p];0Y:=UBy:"I xxbDVD8y% >%%I=ٔ-Q-5>95 ?Y5 ?=5Dy5D=oE=>IQ 5e4M ?Q 9u4M)M֗BYyy?Q I?MDIM;iM;MB4yJBɮAEE EE6E"E :*E]t:VEc4ZEa@a@a@a@:iFNOT Ignoring new targets: 608.17 m."i 8*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 561.026855 m, bearing: 36.144000 deg, approach rate: -0.607743 m/s, LOS rate: nan deg/s, cmd heading: 36.143199 deg, new cmd heading: 36.144000 deg. HeadingCmd: 0.630832 target range: 608.167603 and range: 607.80 m.h1~!?hhhhggjgrgereZe:e*e S@Bm)>BiBmIBmTBBm =BiBmDBm;Bm=xEB-:CB-:CB-–CB- =B- =C-”6XBɢĽ) 4i) <iG6:i1~!?B [=jƀ=I1~!?IY99@ @@@a^A] {=ԡ A ؟AI I O >'",B\{؋LA2g>2d#?25ٱ2z=2Hb?"ޞ?]?h?66` ?X??i2g>I2 ^;0Y:7UBy:Ii~Mb@Mb@Mb@|||| |9~jt?{Gz/$Y~ ?y~#~,~A~ A ~A)~A|Y~­AbDVD8y%R%%K=ٔ->9Q-->9-"?Y-"?=-Dy5D50E5>9Q 5E4= ?Q 9M4=])=җByYUs!?Q E:y?Q I?=DI={4yNBɮA%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 608.17 m."iUQ8*iYe ProNav pure pursuit: ac range: 608.167603 m, nav range: 560.775208 m, bearing: 36.145185 deg, approach rate: -0.607656 m/s, LOS rate: nan deg/s, cmd heading: 36.143998 deg, new cmd heading: 36.145185 deg. mHeadingCmd: 0.630853 target range: 608.167603 and range: 607.80 m.hm!?hihihihiggjgrgereZe:e*e (S@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse2XBɢFý) >i )>if:i%!?%;2[=y=I!?IԱE EE2E"E:*Exv:VE4ZEBE.AM > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse AU .AIa Iq O >)%",؋LA2Nv>2#?2Q 2ٱ2F=2H?`l6?p?`@r????`I2 ];2CYVtUByVDIIZR=)Za>bD^VD^8yfx>%jL=ٔj ;Q-j>9j ?Yn ?=nDynDnEn>pQ 5v4r?Q 9v4r)rΗBYxyz;?Q Iz?r/DIr";ir B;r;4y!ɮ%QA!:iIMFNOT Ignoring new targets: 608.17 m."iUl8*iQ] ProNav pure pursuit: ac range: 608.167603 m, nav range: 560.523438 m, bearing: 36.146420 deg, approach rate: -0.659754 m/s, LOS rate: nan deg/s, cmd heading: 36.145187 deg, new cmd heading: 36.146420 deg. eHeadingCmd: 0.630874 target range: 608.167603 and range: 607.80 m.hm!?hihihihigigijgqrgqeqreqZey:ey*e}?S@ԡNXBɢPO˽) 6i)?@i׈:i!?>[=t=I!?IQ9@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE7E"E%;*E:VEԺ4ZEa@a@a@a@BE5>BE>CBE IBE:UBBABABEDBE3;BEvE^A Pz=) AM ؟AIQ Ii Ou >H+",S؋LA2>2S#?2)ٱ2|=2H߮?#?` ?u? .@R>?*z?@?i2>I2y];2CY:UBy:ZI@@bDFVDF8yN=%NO=ٔr;Q-v>9v"?Yv"?=zDyzD %E>!Q 5%4%?Q 9-4%)%ʗBY)y-?Q I-?%?DI%\:i%h:%_4y5RBɮ=A9eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse:iimFNOT Ignoring new targets: 608.17 m."iuNg8*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 560.266174 m, bearing: 36.147700 deg, approach rate: -0.635094 m/s, LOS rate: nan deg/s, cmd heading: 36.146420 deg, new cmd heading: 36.147700 deg. HeadingCmd: 0.630896 target range: 608.167603 and range: 607.80 m.hm!?hhhhggjgrgereZe:e*eYS@lXBɢ&vɽ) ;5i)&Ci`:im!?oI[=+r=Im!?I@ @@0@A^A@p=q5 T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseA I I O% >E  E E 5E "E ~ ;*E :VE 4ZE BE V2#?2_ٱ2=2HI2\];2CYNUByRxIiMMb@Mb@Mb@IIII I9M'1Z?y&1QYM"?yM`弙MuII MݰA)IIYM\AbDeVDe8yu=%u==ٔu8;Q->9Y=Dy*D|:E>Q 54(?Q 94)˗BY#?Q E:y?Q I?QDI;i;¡4yɮA:i)-FNOT Ignoring new targets: 608.17 m."i5v8*i1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 559.992554 m, bearing: 36.148633 deg, approach rate: -0.638361 m/s, LOS rate: nan deg/s, cmd heading: 36.147700 deg, new cmd heading: 36.148633 deg. EHeadingCmd: 0.630913 target range: 608.167603 and range: 607.80 m.hE~!?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]IuS@q颍XBɢj½) !1i)%E顡i ո:i~!?vW[=u=I~!?Ii@i @i@m0@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse58GIa9YAԡ^Aur=AxAzAyAA .AI I O > E T****** received valid address query ******E R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseM\8",؋LAN>N_#?NٱN=NH@ħ?@??5q?@+5=?V ?p?iN>INϧ];NCYjUBy=IbDMVDMȰ8E} E}E}4Ey"E}I;*E}5:VE}4ZEya@a@a@a@y=%H=ٔ9 ?Y ?=Dy9D2;E>Q 54J:?Q 944)̗BYy??Q I?aDI&;i.';ɡ4yUBɮAE:iFNOT Ignoring new targets: 608.17 m.BK>BACBYIBUBB =B+DBDBI;BvE"i 8*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 559.740662 m, bearing: 36.149467 deg, approach rate: -0.635691 m/s, LOS rate: nan deg/s, cmd heading: 36.148633 deg, new cmd heading: 36.149467 deg. %HeadingCmd: 0.630927 target range: 608.167603 and range: 607.80 m.h%r!?h!h!h)h)g)g)jg)rg1e1re1Ze1:e9*e=S@eXBɢeǽ)i mZ2ii)mGiii-c:i5r!?5g[=5x=I5r!?I9:@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Aw=1 A ؟AI! II O >Q >",؋LA2>2*$?2ٱ2l=2H?@}5?"?@h?UO?ټ?f?i2>I2$];2CY:VBy:IiUMb@Mb@Mb@QQQQ Q9UuV?Mb?YUr(?yUU9"?Y"?=DyJDx;E>Q 54L?Q 94)җBYu(?Q E:y#?Q I?rDI;i/:С4yɮ.AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i0*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 559.476929 m, bearing: 36.149225 deg, approach rate: -0.656258 m/s, LOS rate: nan deg/s, cmd heading: 36.149466 deg, new cmd heading: 36.149225 deg. HeadingCmd: 0.630923 target range: 608.167603 and range: 607.80 m.h+!?hhhhggjgrgereZe:e *e `ZS@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)UXBɢUHƽ)Y ].iY)eJaaieE:iu+!?ux[=}T/~=I}+!?IyDzDE EE7E"E;*Ev:VEԺ4ZEBE:NlE",ًLA0:iN>:$?:Kٱ:fI=:H ? ,?W6?@ST?/Nh?zҾ??i:iN>I:<];:CYn4VBynIbDzVDz8y5Y=%5O=ٔ5e;Q-=>9= ?Y= ?=EDyEZDE;EE>IQ 5U4M]?Q 9U4M)MؗBYQyU$?Q I]?MDIM';iM;Mס4yeYBɮeAa:iFNOT Ignoring new targets: 608.17 m."iAk*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 559.217529 m, bearing: 36.148909 deg, approach rate: -0.659454 m/s, LOS rate: nan deg/s, cmd heading: 36.149224 deg, new cmd heading: 36.148909 deg. HeadingCmd: 0.630917 target range: 608.167603 and range: 607.80 m.hσ!?hhhhggjgrgereZe:e*e S@XBɢMȽ)4<  .i)5ELi];iσ!?[=x=Iσ!?Iq@q @q@u5@qԑT****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԹ^A=A>A>E EE5E"E ;*E:VE4ZEa@a@a@a@B>B;CBIBUBB =B,DBDBA;BuEA ؟AI I O >͖K",0ًLAJ/s>J'?J˼ٱJx=JHk?`\@5x?k?@9/? Y`l`?{۾??iJ/s>IJ_];JC\YbXVBybIbDzVDz8y=%M=ٔ VJ9 "?Y "?= Dy jD<E>Q 5%4(o?Q 9%4ͭ)ݗBY!y-&?Q I-?DI:i:ޡ4y51Bɮ5A5E:iQeBDAT read: Rx Time:01:03:31.1642 eTRx dataTimestamp_ set to:1764896612.804642mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapsemFNOT Ignoring new targets: 608.17 m."iuiŷ*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 558.955933 m, bearing: 36.148373 deg, approach rate: -0.657984 m/s, LOS rate: nan deg/s, cmd heading: 36.148909 deg, new cmd heading: 36.148373 deg. HeadingCmd: 0.630908 target range: 608.167603 and range: 607.80 m.h2!?hhhhggjgrgereZe:e*e@(S@ YBɢ Ƚ) ,i){Niq.;i2!?[= '=I2!?Iy@ @@@5@^A_= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >A D D <bE-*4jE-*4rE-#0E  E E 4E "E ;*E :VE 4ZE BE U\BX(?BٱBw`=BHR? |Vl?ō?.?׻`X??@?@?iB5>IBK];BCY^uVBybIiuMb@Mb@Mb@qqqq q9uMbX?X9v?/$?Yu*?yu9Y=Dy{DxH<E>Q 54g?Q 94)BY+?Q E:y13?Q I?DI:i:4y5BɮA:iFNOT Ignoring new targets: 608.17 m."i*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 558.673523 m, bearing: 36.146371 deg, approach rate: -0.664651 m/s, LOS rate: nan deg/s, cmd heading: 36.148373 deg, new cmd heading: 36.146371 deg. HeadingCmd: 0.630873 target range: 608.167603 and range: 607.80 m.h!?hhhhggjg!rg!e!re!Ze):e)*e-+S@U.YBɢ]8gǽ)Y ]#.iY)]Paaie$;ie!?mM[=m@=Im!?Ii @  @ @ _5@ ImT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse^Av=A1IAIQO]v>qԡ iX",LPdًLAFDAT read: 01:03:31.1642 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 254, 0.25, 2.336, 0.383, 2.660, 1.778, PHS= 0.660,-1.350, 0.838, RAW= 154.2, -1.4, CAL= 153.3, -2.6, ROT= 356.7, 2.6 JYgot valid direction response: 01:03:31.1642 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 254, 0.25, 2.336, 0.383, 2.660, 1.778, PHS= 0.660,-1.350, 0.838, RAW= 154.2, -1.4, CAL= 153.3, -2.6, ROT= 356.7, 2.6 N8DAT read: $Error in header N*Received a bad headerZ6>Zm)?Z䧼ٱZ6)=ZH3?͠@9?:??`ǻ/?@/?@A?iZ6>IZ$];ZCYbVBybIbDnVDn8yvq=%vW=ٔv_;Q-v>9xYx=zDyzDz<E~>~X#Rx 2: Read direction message, but no range.`direction in FSK: [0.997314,-0.057504,-0.045363]yQUH?)Hx9q99QQQQ Q)UOIU(?iU̬U+V?U9>,@U+ȼU<+@ U9)U8@IU9=QU%tbSu?չ3?jis U?)UB3CBIB.VBB =BBDB_;BuEHeadingCmd: 0.630839 target range: 608.167603 and range: 607.80 m.h~!?hhhhggjgrgereZe:e*e VT@MYBɢͽ) S0i )  S  i 5;i~!?e\=bt=I~!?Iԩ+<2Acoustic response timeout@ @@0@@@ ^A H=A zA 1A)52Acoustic response timeoutIAIO ?1ka",VًLAJ>J+?JTcٱJnu>JH}?=k? 0? ?`-@%̒?"?@@?iJ>IJ,];HE^ E^E\E\"E^;*E^:VE\ZE\BE^a9IYI=MDyMDUjU<EU>YQ 5]4]?Q 9e4])]BYe0?Q Ee:ye?B?Q Im?]DI]T;i];]4yu6BɮuAqB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i1&*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 558.031616 m, bearing: 36.139301 deg, approach rate: -0.687391 m/s, LOS rate: nan deg/s, cmd heading: 36.144395 deg, new cmd heading: 36.139301 deg. HeadingCmd: 0.630750 target range: 608.167603 and range: 607.80 m.hx!?hhhhggjgrgereZe:e*e2T@颕|YBɢ) 9i)yV顙i#+L;ix!?dy\==Ix!?Iԁ2Acoustic response timeoutԱR5< @  @ @ P5@ ^A%T=i߁I߁2Acoustic response timeoutE EE4E"EO;*E:VE4ZEa-@a-@a-@a-@B=>B=1CB=IB=uVBB=" =B=-DB=DB=;B=uEB;CB9CBЙCB =B =C<.7AqIyIO ?Zi",ًLA2c>2-?2ԗٱ2,>2H@??`/??`񩼿Ґ???i2c>I2];2CY:VBy: IbDFVDFɰ8HyRw|=%R&=ٔV;Q-V>9TYX=ZDyZD^i<E^>`Q 5j4bB?Q 9j4bg)bBYlynC?Q In?bDIb%H;ib2I;bD4yv:Bɮv}At:iFNOT Ignoring new targets: 608.17 m."iT'*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 557.695618 m, bearing: 36.134618 deg, approach rate: -0.655653 m/s, LOS rate: nan deg/s, cmd heading: 36.139299 deg, new cmd heading: 36.134618 deg. HeadingCmd: 0.630668 target range: 608.167603 and range: 607.80 m.hvs!?hhhhg g jgrgereZe:e*eQTT@颍YBɢYwʽ)  q",xًLAE EE6E"E ;*E1:VEc4ZEBEO^/?^Frٱ^7A>^H@E?`<u?@B8?Y?,yH??ٹ?i^ߦ>I^];^CYjVByjIi]Mb@Mb@Mb@YYYY Y9]9Y=DyD@<E>Q 54?Q 94)BY4?Q E:yN?Q I?DIM:i4: 4yQ Sw",?ًLA@B>B=0?B']^ٱB=BH`? )9a?`.T?? mˋ?ξ??iB>IB];BCYRVByVIIZ=)Z<bDjVDj8yv <%vU=ٔzVO;Q-z>9|Y|=DyD:<E >Q 5%4?Q 9%4d) BY)y-O?Q I-? DIQ;iR;4y=BɮEAEE2Acoustic response timeout:i!-FNOT Ignoring new targets: 608.17 m."i-zc*i)1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 557.075012 m, bearing: 36.123069 deg, approach rate: -0.657504 m/s, LOS rate: nan deg/s, cmd heading: 36.128135 deg, new cmd heading: 36.123069 deg. MHeadingCmd: 0.630466 target range: 608.167603 and range: 607.80 m.hM@f!?hIhIhIhIgQgQjgYrgYeYreYZeY:eY*eecT@颍YBɢ)< Fi)o_顑i;i@f!?]==I@f!?IE] E]E]3EY"E];*E]:VE]4ZEYam@am@am@am@B}>ByB}IB}VBB}! =ByByB};B}vEi@i @i@m0@qaԉ^A,=m 2Acoustic response timeoutA I I O5 >Թ ~",%ًLAmwc>m*0?m"Nٱm2=mH?O+?`f?x?^޷@ى?R? ?imwc>Im];mCYVByԉiMb@Mb@Mb@ 9i|?5??{GzY1?y=ף A hA)AY3AbDVD8y 6;%/=ٔ;Q->9Y=DyD?;E>Q 54??Q 94 )Y3?Q E:y1V?Q I?"DI;i;4yBɮAE:iFNOT Ignoring new targets: 608.17 m."i%*i!E ProNav pure pursuit: ac range: 608.167603 m, nav range: 556.757202 m, bearing: 36.116228 deg, approach rate: -0.729143 m/s, LOS rate: nan deg/s, cmd heading: 36.123067 deg, new cmd heading: 36.116228 deg. UHeadingCmd: 0.630347 target range: 608.167603 and range: 607.80 m.hUm^!?hQhQhYhYgYgajgirgieqreqZeq:eq*e}`T@UZBɢ]Lݽ)Y ]PiY)]4*bYYi;im^!?!^=E=Im^!?IiI2Acoustic response timeoutԹY@Y @Y@]0@YE EE5E"E;*EM:VE4ZEBEb GG  = u99 Y= qA",ڋLA2Acoustic response timeoutY=VBy=&IbDM1VDMڰ8y]v=%]e=ٔeQ-e>9e ?Ym ?=mDymDmEm>qQ 54uc?Q 94u))qYyQ I?u2DIu;iu1;u34yɮAB*** querying acoustic contact ***ii:iYeFNOT Ignoring new targets: 608.17 m."ie*iau ProNav pure pursuit: ac range: 608.167603 m, nav range: 556.511963 m, bearing: 36.110944 deg, approach rate: -0.646529 m/s, LOS rate: nan deg/s, cmd heading: 36.116227 deg, new cmd heading: 36.110944 deg. }HeadingCmd: 0.630255 target range: 608.167603 and range: 607.80 m.h}bX!?hyhyhhggjgrgereZe:e*eT@颽3ZBɢ) Si)diT;ibX!?z^=o\=IbX!?Ie>i>m:@i @i@m/0@i!2Acoustic response timeout^A2=I Eu  Eu Eu 2Eq "Eu ;*Eu :VEu 4ZEq a} @a} @a} @a} @B >B B IB VBB " =B B B ;B uEA ؟AI I! O5 >q)",.ڋLAɰ6>62?6o4ٱ6md=6H@?`[hpm??]a? ڍ?'??i6>I6T];4Y>VBy>IbDFVDFư8yN0#%RW=ٔR;Q-R>9V"?YV"?=VDyV DV:<EV>XQ 5^4ZY?Q 9^4Zz)XY`ybOW?Q Ib?ZCDIZ:iZ:Z#4yfBɮfAd:iFNOT Ignoring new targets: 608.17 m."iU*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 556.251587 m, bearing: 36.105207 deg, approach rate: -0.685723 m/s, LOS rate: nan deg/s, cmd heading: 36.110944 deg, new cmd heading: 36.105207 deg. HeadingCmd: 0.630155 target range: 608.167603 and range: 607.80 m.hQ!?hhhhggjgrgereZe:e*e`T@SZBɢ49) _i)'Bg i ;i Q!?^=:=IQ!?I52Acoustic response timeoutQ=m<ԁ9@ @@0@ԩ  2Acoustic response timeout^A a5=E  E E 6E "E ;*E :VE c4ZE BE L",bLڋLA6 N>6u2?6$ٱ6(=6H@~?}v 5i??GH?3۹?9?`?i6 N>I6g];4Y>VByBIi=Mb@Mb@Mb@9999 99=B`"?333333?ˡEY=.?y==='9=A =ĬA)=~A9Y=AbDU$VDUΰ8ye0<%e%=ٔe;Q-e>9iYi=mDymDu>;Eu>yQ 5}4}&?Q 94}nt)}BY60?Q E:yP?Q I?}XDI}:i}:}x,4yɮAԩ:iFNOT Ignoring new targets: 608.17 m."i9y*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 555.917358 m, bearing: 36.098773 deg, approach rate: -0.707099 m/s, LOS rate: nan deg/s, cmd heading: 36.105206 deg, new cmd heading: 36.098773 deg. HeadingCmd: 0.630042 target range: 608.167603 and range: 607.80 m.hvJ!?hhhhggjgrgereZe:e*eT@{ZBɢ)! %hi!)%rj!!i%9;i-vJ!?5k_=5e=I5vJ!?I1<M2Acoustic response timeout@ @@@^At=AIIO>1  2Acoustic response timeout5",fڋLA2>2B3?2!ٱ2^>2H@x?@{? ?>?@ ;I2G];2CYBVByBIbDJVDJ8y~ڼ%~R=ٔ~9Q->9Y=Dy/D P;E >Q 54B%>B!B%!IB%VBB% =B!B!B%;B%tEx5?Q 954EE EEEAEA"EE;*EE:VEAZEABEEa<2EEa<JEE;:EE;Lo)BYQyUP?Q IU?iDI"Π",`ڋLAYVByI}2Acoustic response timeoutiMb@Mb@Mb@ 9 rh?&1?&1YC+?yP=PjA A) AYAbD"VD̰8y7ͼ%)=ٔQ->9 Y = Dy BDE>Q 5%4H?Q 9%4Ci)BY%A,?Q E%:y% I?Q I%?~DIk:i:;4y1ɮ5_A1:iQ]FNOT Ignoring new targets: 608.17 m."i]TG*iam ProNav pure pursuit: ac range: 608.167603 m, nav range: 555.333435 m, bearing: 36.088481 deg, approach rate: -0.673850 m/s, LOS rate: nan deg/s, cmd heading: 36.093660 deg, new cmd heading: 36.088481 deg. uHeadingCmd: 0.629863 target range: 608.167603 and range: 607.80 m.hu>!?hqhqhyhygygyjgrgereZe:e*e/U@颵ZBɢ~) mi)q项iU;i>!?l`==I>!?IbE¹4jE%4rE/E EE5E"E;*E:VE4ZEa@a@a@a@Aa@a @a@e3@a^A=h=AiiIyIO~>! % <- 2Acoustic response timeoutԙ [",('ڋLA2A>2_k3?2J/3ٱ2c!=2Ht?l?{?H?`fBe?@>?@?i2A>I2];2CY:VBy: IybDVD8y%N=ٔ.Q->9Y=DyRD:E>Q 54X?Q 94Pd)BYyH?Q I?DI;i;B4yBɮA~E=B*** querying acoustic contact ***i9i9:iQ]FNOT Ignoring new targets: 608.17 m."ie@*ia ProNav pure pursuit: ac range: 608.167603 m, nav range: 555.070251 m, bearing: 36.084241 deg, approach rate: -0.653600 m/s, LOS rate: nan deg/s, cmd heading: 36.088483 deg, new cmd heading: 36.084241 deg. HeadingCmd: 0.629789 target range: 608.167603 and range: 607.80 m.h9!?hh h h gIgQjgQrgQeQreYZeY:eY*e][KU@颥ZBɢ^)i mii)muiiiu;iu9!?u]`=}=I}9!?Iy2Acoustic response timeoutԡB>B0CBIBVBB" =BBDB;BtE@ @@_5@E EE2E"E ;*E:VE4ZEBER/",NڋLAY~VBy~ I C=a=bD ;VD 8y ;%T=ٔ%Q-%>9!Y!=-Dy-bD-E->1Q 5=45!h?Q 9=45_)5BY9yAQ IE?5DI5:i5:5aI4yIɮMAIԱ:iFNOT Ignoring new targets: 608.17 m."i>*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 554.814453 m, bearing: 36.080115 deg, approach rate: -0.645346 m/s, LOS rate: nan deg/s, cmd heading: 36.084241 deg, new cmd heading: 36.080115 deg. HeadingCmd: 0.629717 target range: 608.167603 and range: 607.80 m.h5!?hhhhggjgrge!re!Ze!:e!*e-bU@u [Bɢuj)u = }biy)}xyyi}d;i5!?F\a=B=I5!?I:@ @@- 5@)@A@Au2Acoustic response timeout ^Amu=E  E E 5E "E ;*E :VE 4ZE a @a @a @a @A .AI I O >9 ",ڋLA2/{>22?2Tٱ2hѵ=2H҆? ??h? @!? ?@ ?i2/{>I2];2CY:VBy:I <9e ?Ye ?=eDyesDmG Em>iQ 5u4mx?Q 9}4mZ)mߗBY}&?Q E}:y}l??Q I}?mDIm;im;mP4yBɮA:iFNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 554.550171 m, bearing: 36.076879 deg, approach rate: -0.667541 m/s, LOS rate: nan deg/s, cmd heading: 36.080116 deg, new cmd heading: 36.076879 deg. HeadingCmd: 0.629660 target range: 608.167603 and range: 607.80 m.hk1!?hhhhggjgrgereZe:e*eQ|U@,[Bɢ%R)! %i!)%b|!)i-;i-k1!?5a=5u=I5k1!?I15@A^A*=qA% ؟AI) I9 OM > DAT read:  2Acoustic response timeoutB <A R=B >B B IB VBB ! =B B B G;B gsEBe1CBe1CBe˓CBe! =Be" =Ce˜c5 ?",;ڋLAE6 E6E63E4"E6;*E6Ǚ:VE64ZE4BE6]2E6]JE6;aB:E6;aBz۽>z\1?z;fٱz=zH@?bk?*w? z?={@<nj? \??iz۽>Iz9}];xYmVBymIbD}?VD}8yY%G=ٔK,Q->9"?Y"?=DyDE>Q 54#?Q 94U)֗BYy>?Q I?DI:i:W4yɮA:iIUFNOT Ignoring new targets: 608.17 m."i]*iYe ProNav pure pursuit: ac range: 608.167603 m, nav range: 554.284729 m, bearing: 36.073722 deg, approach rate: -0.627873 m/s, LOS rate: nan deg/s, cmd heading: 36.076878 deg, new cmd heading: 36.073722 deg. mHeadingCmd: 0.629605 target range: 608.167603 and range: 607.80 m.hm-!?hihqhqhqgqgqjgyrgyeyreyZe:e*e hU@ԑ颵Q[Bɢ~) i)}?项iypb==I-!?Im:@i @i@m`5@iԹ2Acoustic response timeout^AZ=A>A>A I I OU > &",ۋLA2z>21?2vٱ2=2H^?YX?g?`/?wo ю?? ?i2z>I2^];2CY:VBy:Ii-Mb@Mb@Mb@)))) )9-MbX9?Q+Y-!?y-u--A-A - A)-ۧA)E2Acoustic response timeoutY-AbDM1VDMڰ8y];%]N=ٔeU$Q-e>9aYa=eDymDm"̻Em>qQ 5}4u?Q 9}4uQ)uЗBY}%"?Q E:y,?Q I?uDIu;iu;u^4yBɮA:iFNOT Ignoring new targets: 608.17 m."iOY*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 554.034668 m, bearing: 36.072578 deg, approach rate: -0.648504 m/s, LOS rate: nan deg/s, cmd heading: 36.073723 deg, new cmd heading: 36.072578 deg. HeadingCmd: 0.629585 target range: 608.167603 and range: 607.80 m.h,!?hhhhggjgrgereZe:e*e@U@s[Bɢ:)! %i!)%)!!i%B",Af$ۋLA6;_>6 z0?6d ٱ6=6H@?`AK@@?`Y?ފ?쵿_A???i6;_>I6s];6CHYJVByNIIR=)R=bDV:VDV8y^;%b-=ٔbQ-b>9b ?Yf ?=fDyfDfוEf>hQ 5n4j^?Q 9n4jL)jȗBYpyr+?Q Ir?jDIj:ij:jf4yvܞBɮv@AvuE B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 608.17 m."iJ*i- ProNav pure pursuit: ac range: 608.167603 m, nav range: 553.735474 m, bearing: 36.071272 deg, approach rate: -0.634314 m/s, LOS rate: nan deg/s, cmd heading: 36.072579 deg, new cmd heading: 36.071272 deg. 5HeadingCmd: 0.629562 target range: 608.167603 and range: 607.80 m.h5+!?h1h1h9h9g9g9jg9rgAeAreAZeA:eA*eM@=U@u[Bɢu )y }qiy)}yyi}FBBIBVBBBBB;BrE;=E EE2E"E*Ev:VE4ZEBET\^",.>ۋLAJ >J/?JFٱJ=JH@?7M ?C??`@;? ??iJ >IJ ];JCYlyp!bD5 VD58ym;%u@=ٔ!iQ->95"?Y="?=EDyEDUmEu>yQ 54}z?Q 94}CH)}BYy+?Q I?}DI}:i}:}n4yBɮQA:iFNOT Ignoring new targets: 608.17 m."i/5*iM ProNav pure pursuit: ac range: 608.167603 m, nav range: 553.446838 m, bearing: 36.070122 deg, approach rate: -0.621172 m/s, LOS rate: nan deg/s, cmd heading: 36.071271 deg, new cmd heading: 36.070122 deg. UHeadingCmd: 0.629542 target range: 608.167603 and range: 607.80 m.hU)!?hQhQhQhQgYgYjgYrgYeareaZea:ea*ee xU@颕[Bɢ) i)顙i>>.?>#ٱ>=>H@5? @;?+?A?յ>?q??i>>I>0];>CYJVByJIi%Mb@Mb@Mb@!!!! !9%/$?V-~jtY%?y%%D%MA! !)!!Y%A U%=U<bD]VD]°8qy<%=ٔ"ݺQ->9 ?Y ?=DyDE>Q 54?Q 94C)BY?Q E:y#?Q I? DIV;iQU;nw4ymBɮmJAmvE:iFNOT Ignoring new targets: 608.17 m."iK*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 553.149048 m, bearing: 36.069898 deg, approach rate: -0.595911 m/s, LOS rate: nan deg/s, cmd heading: 36.070123 deg, new cmd heading: 36.069898 deg. HeadingCmd: 0.629538 target range: 608.167603 and range: 607.80 m.ho)!?hhhhggjgrgereZe:e1*e= V@[Bɢa) i)ډiEZ!Tx time:01:03:40.4693 BBIBVBB =BBB;BqEE EE5E"E~ ;*E:VE4ZEBEV ,{",DxۋLADAT read: 2Acoustic response timeout6>6-?69jٱ62=6H ?S6???@L? t??i6>I6eu];6CYBVByBI DDbDNVDN8yVA%VZ=ٔVXQ-V>9XYX=ZDyZD^+E^>`Q 5f4b ?Q 9f4b@)`Ydyf"?Q If?bDIbh:ibu:b}4yhɮnnAl:i|FNOT Ignoring new targets: 608.17 m."i*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 552.922607 m, bearing: 36.069819 deg, approach rate: -0.652164 m/s, LOS rate: nan deg/s, cmd heading: 36.069898 deg, new cmd heading: 36.069819 deg. HeadingCmd: 0.629537 target range: 608.167603 and range: 607.80 m.hX)!?hhhhggjgrgereZe:e*e`3#V@\Bɢ%H%/)% D= %-i!)%֋!!i-](Y c",fۋLA2g>2"*,?2}ᮼٱ2n=2H?I2:];2CY:VBy:Ii%Mb@Mb@Mb@!!!! !9%Q?L7A`堿/$?Y%(?y%+%9QYQ=UDy]D]ZE]>aQ 5m4e?Q 9m4e%<)eƗBYu{?Q Eu:yu?Q Iu?e*DIe:ie1:eO4y}Bɮ}Ay:iFNOT Ignoring new targets: 608.17 m."i 7*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 552.663208 m, bearing: 36.070194 deg, approach rate: -0.609914 m/s, LOS rate: nan deg/s, cmd heading: 36.069819 deg, new cmd heading: 36.070194 deg. HeadingCmd: 0.629544 target range: 608.167603 and range: 607.80 m.h)!?hhhhggjgrgereZe:e*e`k=V@7\Bɢ,) Ķi) x4  i n10aԉ 2Acoustic response timeout r",KۋLAB.>B.1CB.IB.VBB. =B,B.DB.?;B.MqEEB EBEB5E@"EBV:*EBą:VEB4ZE@BEB9b8Q*?b>Ƽٱb~=bH+?@FΝ?i??N<ǘ??@?ib >Ibd];bCYzVBy~IAAbD VD 8y=z=%=K=ٔE,Q-E>9AYA=MDyMDMEM>QQ 5}4U?Q 9}4Us8)U͗BYyy?Q I?U:DIUW:iUK:UW4yɮlAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i7*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 552.417725 m, bearing: 36.070726 deg, approach rate: -0.591970 m/s, LOS rate: nan deg/s, cmd heading: 36.070195 deg, new cmd heading: 36.070726 deg. HeadingCmd: 0.629553 target range: 608.167603 and range: 607.80 m.h5b*!?h1h1h1h9g9g9jg9rg9eAreAZeA:eA*eE`9XV@ԑ-]\Bɢ-,)) -`i1)5@11i5748 u",ۋLA2>21(?2$ٱ2X=2H@*T? @Mi?@l?b7?@P`?C? 8?i2>I2];0YNVByPIT)V;iUMb@Mb@Mb@QQQQ Q9UMb?I +I +?YU#?yU94U94=U AUA Q)QQYUAbDu VDu8y ;%F=ٔgQ->9Y=Dy DϤE>2Acoustic response timeoutQ 54?Q 94^4)ڗBY|#?Q E:y`"?Q I?JDI#:i:4yBɮzAwE:iFNOT Ignoring new targets: 608.17 m."iV*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 552.155823 m, bearing: 36.070599 deg, approach rate: -0.653330 m/s, LOS rate: nan deg/s, cmd heading: 36.070728 deg, new cmd heading: 36.070599 deg. HeadingCmd: 0.629551 target range: 608.167603 and range: 607.80 m.h<*!?hhhhggjg rg e re Ze :e*eqV@=\Bɢ=94)A EiA)EAAiE?J",MۋLAB>BF&?BٱBt=BH{?T@?T?`FX?`ѳ Xx??M?iB>IBD];@YVVByVIbDjVDj8yv A=%vT=ٔzrQ-z>9|Y|=DyD E >Q 5-4w)?Q 9-40)BY)y5# ?Q I5?ZDID;i?;P4yAɮMUAI:iFNOT Ignoring new targets: 608.17 m."i6*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 551.909485 m, bearing: 36.070702 deg, approach rate: -0.605930 m/s, LOS rate: nan deg/s, cmd heading: 36.070598 deg, new cmd heading: 36.070702 deg. HeadingCmd: 0.629552 target range: 608.167603 and range: 607.80 m.hZ*!?hhhhggjgrge!re!Ze!:e!*e%V@U\BɢU4)Q UiQ)]8YYi]"GB4CBIBVBB =B,DBDB;BqEyE EE:E"E:*EVE(4ZEBEz%] 2Acoustic response timeout&",KۋLAɰ8J>J5 $?JJ ٱJPA=JH?6$@D ? ??}?V8|h?c}??iJ>IJ];JCYjVByjIbDr*VDrӰ8yzC=%~I=ٔ~Q-~>9"?Y"?=Dy-DHE> Q 54 ;?Q 94 ,) BYy&?Q I? kDI o;i ; `4y%ȞBɮ%A-nE:iIMFNOT Ignoring new targets: 608.17 m."iUp7*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 551.652710 m, bearing: 36.071017 deg, approach rate: -0.669389 m/s, LOS rate: nan deg/s, cmd heading: 36.070700 deg, new cmd heading: 36.071017 deg. mHeadingCmd: 0.629558 target range: 608.167603 and range: 607.80 m.hm*!?hihihihigqgqjgqrgqeyreyZey:ey*e}/V@颭\Bɢ&:) ti)J顱i"O2ݨ!?2ٱ2X=2Hw?Ώ???ȵ\??K?i2>I2ڐ];2CY8y8i5Mb@Mb@Mb@1111 195y&1?Mb`Zd;?Y5`%?y55y=15QA 5A)5 A1Y5zAbDMVDMŰ8ٔ]Q-]>9YYa=eDye>De5Ee>iQ 5u4meM?Q 9u4m()mBY}&?Q E}:y}?Q I}?m|DIm;im ;m4yɮ:iFNOT Ignoring new targets: 608.17 m."i6(7*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 551.385803 m, bearing: 36.071255 deg, approach rate: -0.642901 m/s, LOS rate: nan deg/s, cmd heading: 36.071018 deg, new cmd heading: 36.071255 deg. HeadingCmd: 0.629562 target range: 608.167603 and range: 607.80 m.h*!?hhhhggjgrgereZe:e*eV@ \Bɢ <:)  8ƿi )|iVB ;CB 'IB VBB  =B B DB |;B pEBB3CB̗CB =B =Ç6E  E E E "E l;*E ga:VE ZE BE dF$ ",$ 1܋LA2V>2?2+ٱ2P=2H@?$q???#!z??@?i2V>I2`];2CYRVByVIbDnVDn8yv ;%v<ٔv;Q-v>9xYx=zDyzPDz@¼E~>|Q 5%4~a?Q 9-4~C$)~BY)y-?Q I-?~DI~;i~;~e4y5̞Bɮ5A9uB*** querying acoustic contact ***iqiq:iyFNOT Ignoring new targets: 608.17 m."iO7*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 551.099976 m, bearing: 36.071791 deg, approach rate: -0.630981 m/s, LOS rate: nan deg/s, cmd heading: 36.071257 deg, new cmd heading: 36.071791 deg. HeadingCmd: 0.629571 target range: 608.167603 and range: 607.80 m.h+!?hhhhggjgrgereZe:e*eV@e]Bɢe('8)a eʿia)eiiimT_Y % 2Acoustic response timeout",J܋LA 6,>6n`?6A@ٱ6cT=6H*/?d܁`kU?"?±b?ҁ??i6,>I6e];6CYRVByVIiuMb@Mb@Mb@qqqq q9uJ +?X9v?p= ף?Yu(?yu9Y=DyaD¼E>Q 54s?Q 94)/BY)?Q E:y&'?Q I?DI:iI:з4yОBɮAoEE EE7E"E:*E&p:VEԺ4ZEa@a@a@a@:i!-FNOT Ignoring new targets: 608.17 m."i-*i)= ProNav pure pursuit: ac range: 608.167603 m, nav range: 550.821594 m, bearing: 36.071116 deg, approach rate: -0.658333 m/s, LOS rate: nan deg/s, cmd heading: 36.071790 deg, new cmd heading: 36.071116 deg. EHeadingCmd: 0.629560 target range: 608.167603 and range: 607.80 m.hE*!?hAhAhAhIgIgIjgIrgQereZe:e*eV@%A]Bɢ%b?)! %οi!)-o))i-?g`",Bd܋LAPV>V2?V;:mٱV 4<VH\?@$e??ۗ ?K?~?iV>IVR];VCYbVBybIbDjVDj8yr%rW=ٔvQ-v>9tYt=vDyvqDz[HEz>|Q 54~?Q 94~)~CBY y #?Q I ?~DI~;i~:~t4yɮA:i9=FNOT Ignoring new targets: 608.17 m."iE*iAM ProNav pure pursuit: ac range: 608.167603 m, nav range: 550.572815 m, bearing: 36.070924 deg, approach rate: -0.666211 m/s, LOS rate: nan deg/s, cmd heading: 36.071117 deg, new cmd heading: 36.070924 deg. UHeadingCmd: 0.629556 target range: 608.167603 and range: 607.80 m.hU*!?hQhYhYhYgYgYjgargaeareaZei:ei*emW@颕b]Bɢ8O) Կi)[բ顙iAmB=CBFIBWBB =BBDBJ;BpE^AJM=E EE6E"E :*EP:VEc4ZEBEX"! ߥ %=ߥ R= DAT read: 01:03:43.6120 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 423, 0.03,-1.539, 3.119,-1.458,-2.046, PHS= 0.609,-1.074, 0.544, RAW= 148.0, -1.0, CAL= 147.3, -1.5, ROT= 2.7, 1.5  Ygot valid direction response: 01:03:43.6120 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 423, 0.03,-1.539, 3.119,-1.458,-2.046, PHS= 0.609,-1.074, 0.544, RAW= 148.0, -1.0, CAL= 147.3, -1.5, ROT= 2.7, 1.5  8DAT read: $Error in header  *Received a bad headerE X#Rx 1: Read direction message, but no range.M ^direction in FSK: [0.998548,0.047090,-0.026177]y  ?/Ԓ8?P!Κ ) I m?i x C ? MQ%@ 5 "$@ Pwּ) A=I Pw< SE) 8Fb0?F ٱF3<FH?`n@?@G?[?@(??iF˼>IF];FCYnVBynIbD%VD%8ym'=%mB=ٔm>Q-u>9yYy=}Dy}D9XE>Q 54t?Q 94)ZBYy!?Q I?DIL;i1M;Ţ4yԞBɮA:iIUFNOT Ignoring new targets: 608.17 m."iU6*iQe ProNav pure pursuit: ac range: 608.167603 m, nav range: 550.295898 m, bearing: 36.070877 deg, approach rate: -0.630039 m/s, LOS rate: nan deg/s, cmd heading: 36.070922 deg, new cmd heading: 36.070877 deg. mHeadingCmd: 0.629556 target range: 608.167603 and range: 607.80 m.hm*!?hihihihigigqjgrgereZe:e*e+W@]Bɢ@5 Cԉ A I I O > % A9! Y- eA%",QJ܋LAɰF.w>F?F>rٱF3=FH V?'s??`f J?@?@?iF.w>IF];FCY^VBy^IiEMb@Mb@Mb@AAAA A9EV-?v/?)\(?YE-?yExi=EGa=EۧAEhA A)EfAAYEA]2Acoustic response timeoutԙ UR=Up=bDVD8yXӼ%C=ٔ:Q->9Y=DyD%̻E>Q 54?Q 94 )pBY.?Q E:yv*?Q I?DI:i:%͢4y ɮA:i1=FNOT Ignoring new targets: 608.17 m."i=WB*i9M ProNav pure pursuit: ac range: 608.167603 m, nav range: 550.014465 m, bearing: 36.069813 deg, approach rate: -0.701835 m/s, LOS rate: nan deg/s, cmd heading: 36.070878 deg, new cmd heading: 36.069813 deg. UHeadingCmd: 0.629537 target range: 608.167603 and range: 607.80 m.hUV)!?hQhQhQhQgYgYjgYrgYeareaZea:ea*ee`{DW@颕]Bɢ;P) ݿi)"顙i| 2Acoustic response timeoutB =>B @CB _IB @WBB =B +DB DB F;B pEE  E E 7E "E :*E VL:VE Ժ4ZE BE >B`?BݔٱB( =BHu?^x?@~?@^??@"?iB,>IB];BCYRVByR I TTbDZVDZ8ybR@=%f^=ٔftbQ-f>9hYh=jDyjDj]ʺEj>)Q 554-?Q 954-)-BY1y55*?Q I5?-DI-:i-%:-Ӣ4yEBɮE AEfE]B*** querying acoustic contact ***iYiY:iimFNOT Ignoring new targets: 608.17 m."iu5*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 549.760071 m, bearing: 36.068876 deg, approach rate: -0.673310 m/s, LOS rate: nan deg/s, cmd heading: 36.069812 deg, new cmd heading: 36.068876 deg. HeadingCmd: 0.629521 target range: 608.167603 and range: 607.80 m.hD(!?hhhhggjgrgereZe:e*e@\W@]Bɢ(QV) F߿i)di⭁y  2Acoustic response timeoutj2", ܋LA>>>f?>rğٱ>R1H=>H?,@f џ?`?o _?#? U?i>>I>];>CYJVByJIiMb@Mb@Mb@ 9i|?5?Dl?L7A`?Y1?yO=+= AA A)£AYzAbD5VD58yE%EB=ٔEOQ-E>9IYI=MDyMDM;EU>E EE9E"E2:*E;J:VE4ZEa@a@a@a@Q 5 4?Q 9 4 )BY2?Q E:y.?Q I?DIm ;i/;Mۢ4yBɮA!:iAEFNOT Ignoring new targets: 608.17 m."iMgQ*iI] ProNav pure pursuit: ac range: 608.167603 m, nav range: 549.460815 m, bearing: 36.067218 deg, approach rate: -0.691816 m/s, LOS rate: nan deg/s, cmd heading: 36.068877 deg, new cmd heading: 36.067218 deg. eHeadingCmd: 0.629492 target range: 608.167603 and range: 607.80 m.he^&!?hahihihigigijgqrgqeqreqZey:ey*e}gxW@颥]BɢBS) i)顱iP>>l?> ٱ>"Un=>H`?@MӲ?}? 0'=? ?`?i>>I>h^;>CYFVByFILLbDRVDRİ8yZ$<%ZT=ٔZVQ-^>9^ ?Y^ ?=^Dy^Db<Eb>dQ 5j4f?Q 9j4f)fBYhynp/?Q In?fDIf;ife;f4yrBɮr%ArgE:i FNOT Ignoring new targets: 608.17 m."i V*i  ProNav pure pursuit: ac range: 608.167603 m, nav range: 549.209351 m, bearing: 36.065754 deg, approach rate: -0.690838 m/s, LOS rate: nan deg/s, cmd heading: 36.067217 deg, new cmd heading: 36.065754 deg. %HeadingCmd: 0.629466 target range: 608.167603 and range: 607.80 m.h%$!?h!h!h!h)g)g)jg)rg1e1re1Ze1:e9*e=`W@e ^Bɢenb)a mii)maLiiimB-ACB-rIB-_WBB- =B)B-DB-;B-pEE EE5E"E:*E[:VE4ZEBE '} 2Acoustic response timeout9 2?",s܋LAJ|>J,?JٱJ=JHo? @M?`$`?Ⱥ@욶? ??iJ|>IJ G^;JCYZVByZII`)b<bDr VDr8y~%~F=ٔ\TQ->9 "?Y "?=DyD/<E>!Q 554%?Q 954%)%BYyy0?Q I?%DI%{pF",݋LA 6)U>6?6{ٱ6)ʙ=6HV?c#?A?d???i6)U>I62^;6CYNVByR Ii%Mb@Mb@Mb@!!!! !9%m?X9v?{Gz?Y%.?y%}=%ף<%7A%9A !)%A!Y!E2Acoustic response timeoutbDVD8y%?=ٔ_Q->9Y=DyD4<E>Q 54?Q 94#)ӘBYc/?Q E:y/?Q I?,DI;i;Y4yɮbA:i FNOT Ignoring new targets: 608.17 m."ip*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 548.634583 m, bearing: 36.062246 deg, approach rate: -0.699397 m/s, LOS rate: nan deg/s, cmd heading: 36.063962 deg, new cmd heading: 36.062246 deg. -HeadingCmd: 0.629405 target range: 608.167603 and range: 607.80 m.h- !?h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eEqW@mq^Bɢmzc)i miq)uQ׷qqiuOB >CB xIB iWBB =B B DB ڲ;B BqE I I O >E  E E E "E :*E e:VE ZE BE Y"2:?2̽ٱ2=2HI2X];2CY:VBy>I ZC=Z%=\bDbVDbɰ8yj%jZ=ٔj?zQ-j>9lYl=nDynDrHY<Er>tQ 5z4v?Q 9z4v)vBYxyz0?Q Iz?v<DIv:ivP:v4yBɮAhEB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 608.17 m."i5*i1E ProNav pure pursuit: ac range: 608.167603 m, nav range: 548.380737 m, bearing: 36.060610 deg, approach rate: -0.676930 m/s, LOS rate: nan deg/s, cmd heading: 36.062245 deg, new cmd heading: 36.060610 deg. MHeadingCmd: 0.629376 target range: 608.167603 and range: 607.80 m.hM!?hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]rW@颍^Bɢmo) i)nߺ顑i24?2>G׽ٱ2{=2H?}u`I-??@K9ܺ?г?W?i2>I2^;2CY:VBy:I @@iMb@Mb@Mb@ 9|?5^?/$?Mb`Y-?y,=£A A QA)YbD%"VD%̰8y5!]%5D=ٔ5JQ-5>E EE9E"EO:*EVE4ZEa@a@a@a@9Y=DyD!N<E>Q 54(?Q 94)BY(.?Q E:y+?Q I?ODI:iC;4yBɮA:iaeFNOT Ignoring new targets: 608.17 m."imN*ii ProNav pure pursuit: ac range: 608.167603 m, nav range: 548.085999 m, bearing: 36.059357 deg, approach rate: -0.663979 m/s, LOS rate: nan deg/s, cmd heading: 36.060612 deg, new cmd heading: 36.059357 deg. HeadingCmd: 0.629355 target range: 608.167603 and range: 607.80 m.ha!?hhhhggjgrgereZe:e*eOW@颽^Bɢhgd) i)Ѿi ԡ BVY",x)g݋LA2r>2?2hٱ2=2HO?N?@X?6ÿ ?&??i2r>I2r];2CY:VBy:IbDF VDFʰ8yJ!%NT=ٔNtRQ-N>9PYP=RDyRDVRr<EV>TQ 5Z4V8?Q 9Z4V)VBY\y^,?Q I^?V_DIV;iV;V4ybBɮf0Af^E:ixzFNOT Ignoring new targets: 608.17 m."i~s*i| ProNav pure pursuit: ac range: 608.167603 m, nav range: 547.839722 m, bearing: 36.058169 deg, approach rate: -0.689745 m/s, LOS rate: nan deg/s, cmd heading: 36.059359 deg, new cmd heading: 36.058169 deg. HeadingCmd: 0.629334 target range: 608.167603 and range: 607.80 m.h !?h hhhggjgrgereZe!:e!*e%X@M^BɢMj)Q UiQ)UQYi]B?CBBB =B,DBB;BqEB?CB?CB”CB =B =Cœi6@ @@0@^A;=I)IAOM>ԩE EE=E"Es:*E n:VE|4ZEBEs0FF?FٱFR=FHd?ql,@l?H?=Ŀ`d?H?Ǖ?iFe>IF];FCY^VBy^IbDf'VDfа8y%C=ٔ  DQ- >9 Y=Dy%DU1=<EU>YQ 5e4]K?Q 9e4];)]BYiym/.?Q Im?]qDI]G:i]:]X 4yɮCA:iFNOT Ignoring new targets: 608.17 m."iz*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 547.551880 m, bearing: 36.056630 deg, approach rate: -0.661308 m/s, LOS rate: nan deg/s, cmd heading: 36.058170 deg, new cmd heading: 36.056630 deg. HeadingCmd: 0.629307 target range: 608.167603 and range: 607.80 m.hB!?hhhhggjg rg e reZe:e*e,X@= _BɢEs)A E:iA)ETŽIIiM,Y if",݋LA2Ԋ>2֏?2Fٱ2<=2H-?@"Ȟ`?S?`Ŀվ? 5?w?i2Ԋ>I2];0Y:VBy:II<)>=i~Mb@Mb@Mb@|||| |9~x&?:vY~7)?y~~T~MA~QA ~ƵA)~|A|Y~A2Acoustic response timeoutbD%VD%8y5,%5G=ٔ=bQ-=>99Y9=EDyE6DEL<EE>IQ 5U4M]?Q 9U4M))M#BY]?)?Q E]:y]$ ?Q I]?MDIM;iM;M]4yeBɮe\Ae_E:iFNOT Ignoring new targets: 608.17 m."i'6*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 547.287598 m, bearing: 36.056735 deg, approach rate: -0.672801 m/s, LOS rate: nan deg/s, cmd heading: 36.056630 deg, new cmd heading: 36.056735 deg. %HeadingCmd: 0.629309 target range: 608.167603 and range: 607.80 m.h%a!?h!h!h!h)g)g)1jgQrgYeYreaZea:ea*emGX@U7_BɢUb^z)Y ] iY)]ɽYYieYBU1>BU>CBQBQBU =BU+DBQBU;BUqEԉ2Acoustic response timeoutE  E E E "E :*E :VE ZE BE Y"6̭ ?6]ٱ6Hr=6HԱ? w;`?@t?@Wſ ?@RA??i6>I6];6CYNVByRIbDZVDZ8yb#%bR=ٔbkQ-f>9dYd=fDyfFDj8<Ej>lQ 5r4no?Q 9r4n4)n1BYpyrC!?Q Ir?nDIn;in;n'4yxɮzdAx B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 608.17 m."i%(<*i!5 ProNav pure pursuit: ac range: 608.167603 m, nav range: 547.032288 m, bearing: 36.056719 deg, approach rate: -0.656753 m/s, LOS rate: nan deg/s, cmd heading: 36.056736 deg, new cmd heading: 36.056719 deg. 5HeadingCmd: 0.629308 target range: 608.167603 and range: 607.80 m.h5\!?h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU^X@}Z_Bɢ}Q)y  i)UL̽顁ixУ 2Acoustic response timeout xs",~݋LA;ɰp;2>2T!?2zٱ2\u=2H?@(^?@_?@ſ`? ?@?i2>I2.^;2CY:VBy:Ii~Mb@Mb@Mb@|||| |9~}?5^I?Q91Y1=5Dy5WD5<E=>AQ 5E4E?Q 9M4E\)E>BYM"?Q EM:yMo?Q IM?EDIE4:iE:Er!4yUBɮ]AYE EE4E"E:*E1]:VE4ZEa@a@a@a@:iFNOT Ignoring new targets: 608.17 m."iB8*i 5 ProNav pure pursuit: ac range: 608.167603 m, nav range: 546.768799 m, bearing: 36.057872 deg, approach rate: -0.607809 m/s, LOS rate: nan deg/s, cmd heading: 36.056719 deg, new cmd heading: 36.057872 deg. =HeadingCmd: 0.629329 target range: 608.167603 and range: 607.80 m.h=!?h9h9hAhAgAgAjgArgIeIreIZeI:eI*eUzX@1-_Ben9aYe1jAɢUy)i mii)hн顉iH=2Acoustic response timeoutI ^A (a=A I I O >y",'j݋LA2U>2"?2] ٱ2=2H`>?CuL?FI?%Vƿ`? ]?{?i2U>I2K^;2CY>VBy>I @@bDJVDJ8yvV%vN=ٔzzQ-z>9xY|=~DygDl <E>Q 54?Q 9%4)LBY!y%P?Q I%?DI B;i2E;e(4y5Bɮ5A5`E:iiuFNOT Ignoring new targets: 608.17 m."iu?8*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 546.517822 m, bearing: 36.058880 deg, approach rate: -0.651503 m/s, LOS rate: nan deg/s, cmd heading: 36.057873 deg, new cmd heading: 36.058880 deg. HeadingCmd: 0.629346 target range: 608.167603 and range: 607.80 m.h!?hhhhggjgrgereZe:e*e@B=CB~IBsWBB =B,DBDBW;BrE_Bɢgu) i)%ӽ!!i%Ê",FދLA2i>2!7#?2yٱ2=2Hr?Zޥ ?G2? Aǿ^? !? p?i2i>I2^;2CY:~VBy:I@bDFVDFð8yN峻%NO=ٔRjQ-R>9PYP=VDyVwDV;EV>XQ 5^4Zd?Q 9^4Z )ZZBY`yb?Q Ib?ZDIZ;iZ;Z?/4ydɮfAd:ixzFNOT Ignoring new targets: 608.17 m."i~D.8*i|E ProNav pure pursuit: ac range: 608.167603 m, nav range: 546.270447 m, bearing: 36.059803 deg, approach rate: -0.637275 m/s, LOS rate: nan deg/s, cmd heading: 36.058881 deg, new cmd heading: 36.059803 deg. MHeadingCmd: 0.629362 target range: 608.167603 and range: 607.80 m.hM!?hIhIhQhQgQgQjgQrgYeareaZea:ea*ee`]X@_Bɢ) Miq)u׽qyi}:ŭ",d ދLA:n>:##?:bGٱ:i>:Ha?pS?@M? 7ȿ?_ҿ?"d?i:n>I:ݜ^;:CYFVByFIp2Acoustic response timeouti%Mb@Mb@Mb@!!!! !9%+?Dl9QYQ=UDyUD];E]>aQ 5m4e?Q 9m4e~)ejBYm ?Q Eu:yu?Q Iu?eDIew:ie_:e64y}Bɮ}Ay:i]FNOT Ignoring new targets: 608.17 m."ie8*iq ProNav pure pursuit: ac range: 608.167603 m, nav range: 546.005859 m, bearing: 36.062524 deg, approach rate: -0.617592 m/s, LOS rate: nan deg/s, cmd heading: 36.059803 deg, new cmd heading: 36.062524 deg. HeadingCmd: 0.629410 target range: 608.167603 and range: 607.80 m.h!!?hhhhggjgrgereZe:e*eX@`Bɢr) i)%ܽ!!i%!B>CBIBWBBBBDB;BysE2Acoustic response timeout^A Y=a E  E E 6E "E m:*E i:VE c4ZE BE `ތ",j5ދLA2͙>2U$?2ٱ2>2H-W?|; ? ?@Nȿ@? ]?Y?i2͙>I2)^;2CY:VBy:II>p<)>4<bD\VD\yfv=%fS=ٔjcQ-j>9hYh=jDyjDn2;En>pQ 5v4r=?Q 9v4rC)rzBYxyze?Q Iz?rDIr:ir:rz=4y|ɮ~~AB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 608.17 m."i-8*i)9E ProNav pure pursuit: ac range: 608.167603 m, nav range: 545.765381 m, bearing: 36.064972 deg, approach rate: -0.622464 m/s, LOS rate: nan deg/s, cmd heading: 36.062525 deg, new cmd heading: 36.064972 deg. MHeadingCmd: 0.629453 target range: 608.167603 and range: 607.80 m.hM#!?hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]`X@颍#`Bɢɒ) gi)V߽顑i+  2Acoustic response timeoutƓ",kOދLAY~VBy~IDD<bE%c4jE%Ժ4rE%0E EE5E"E>:*E1]:VE4ZEa@a@a@a@ԱiMb@Mb@Mb@ 9A`"?/$9Y=DyDE>Q 54?Q 94)BY?Q E:y>Q I?DIM:i:&E4y Bɮ AWE:i1=FNOT Ignoring new targets: 608.17 m."i=X9*iAM ProNav pure pursuit: ac range: 608.167603 m, nav range: 545.505493 m, bearing: 36.068553 deg, approach rate: -0.591944 m/s, LOS rate: nan deg/s, cmd heading: 36.064973 deg, new cmd heading: 36.068553 deg. UHeadingCmd: 0.629515 target range: 608.167603 and range: 607.80 m.hU'!?hQhYhYhYgYgYjgargaeareaZea:ei*em` X@颕P`Bɢ^) i)u顙i ",:iދLAɰ4<>[>>#?>)ٱ>>>H`U?5x@? ?ɿ ?w?`rN?i>[>I>];>CYJVByJI z%=z<bD~1VD~ڰ8y %Y=ٔټQ->9 ?Y% ?=%Dy%D%-E->1Q 5=45]?Q 9E45")5BYAyEn>Q IM?5DI5B;i5C;5K4yQɮUAQ:iy}FNOT Ignoring new targets: 608.17 m."i+9*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 545.281616 m, bearing: 36.071690 deg, approach rate: -0.589186 m/s, LOS rate: nan deg/s, cmd heading: 36.068552 deg, new cmd heading: 36.071690 deg. AA@AB7>B?CBIBWBB =B+DBDBs;BsEHeadingCmd: 0.629570 target range: 608.167603 and range: 607.80 m.h|+!?hhhhggjgrgereZe:e*e@Y@v`Bɢh) i)iП= 2Acoustic response timeouty ؠ",LދLA2ߝ>2_#?2-ٱ2>2H+Z?I2];2CY:VBy:I @@bDFHVDF8yN=%NR=ٔRFQ-R>9PYP=RDyVDVEV>XQ 5^4Z}?Q 9^4Z?)ZBY`ybZ>Q Ib?ZDIZr;iZ ;ZR4yfBɮfAfXE:ixzFNOT Ignoring new targets: 608.17 m."i~9*i|  ProNav pure pursuit: ac range: 608.167603 m, nav range: 545.052795 m, bearing: 36.074952 deg, approach rate: -0.592510 m/s, LOS rate: nan deg/s, cmd heading: 36.071691 deg, new cmd heading: 36.074952 deg. HeadingCmd: 0.629627 target range: 608.167603 and range: 607.80 m.h 7/!?hhhhggjgrgyeyreyZey:e*e-Y@`Bɢ!Ò) i)i쬽9 ",iދLA6;>6 "?61ٱ6=6H`?b}Ű`±?*?zɿ#?@?G?i6;>I6];6CYBVByB'IiEMb@Mb@Mb@AAAA A9Ev?RQQ?YE?yE½E\=EAA EA)EAAYEAbDu@VDu8y1=%<=ٔiQ->9Y=DyD䡻E>Q 54?Q 94,)љBY?Q E:y{>Q I?"DIGH;iSh;2Z4yBɮA:iFNOT Ignoring new targets: 608.17 m."i09*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 544.796814 m, bearing: 36.079349 deg, approach rate: -0.561605 m/s, LOS rate: nan deg/s, cmd heading: 36.074952 deg, new cmd heading: 36.079349 deg. HeadingCmd: 0.629703 target range: 608.167603 and range: 607.80 m.h>4!?hhhhggjgrgereZe:e*eKY@颅`Bɢڎ) i)_i4!?b=r=I>4!?I@ @@0@AB?>B@CBIBWBB =BBBǵ;B^tEB]>CB]>CBYB] =B] =C]ǥ5i ^A (z=A >A ?E  E E 8E "E :*E ;J:VE F4ZE BE "",ދLA(Bj&>B!?B'5ٱBZ=BH@_h?`OD?QC?ɿ ?ɼ?]J?iBj&>IB];BCYN WByN@IPPbDV8VDV8yn=%nX=ٔr#Q-r>9pYp=rDyvDvMEv>Q 54"?Q 94)BYy%2>Q I%?1DI:i:`4y)ɮ-0A)EB*** querying acoustic contact ***iAiA:iq}FNOT Ignoring new targets: 608.17 m."i}A9*iy ProNav pure pursuit: ac range: 608.167603 m, nav range: 544.575134 m, bearing: 36.083221 deg, approach rate: -0.605105 m/s, LOS rate: nan deg/s, cmd heading: 36.079347 deg, new cmd heading: 36.083221 deg. HeadingCmd: 0.629771 target range: 608.167603 and range: 607.80 m.h8!?hhhhggjgrgereZe:e*eaY@U`BɢUr;)Uvn< UXiQ)]YYi] T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseZ",jދLA2[>2j ?28ٱ2=2Hu?@4`C?a?Oȿ ?v?nN?i2[>I2];2CY:WBy>GIIB=)Bl>`iuMb@Mb@Mb@qqqq q9uS?{GzQ?Yu?yuףuu=qq u$A)uAqYuAbDVDð8E EEE"E7:*EV:VEZEa@a@a@a@ya<%>=ֻٔQ->9"?Y"?=DyDE>Q 545?Q 94q) BY?Q E:yS>Q I?ADI;i;Hh4yBɮ(AYE:i  FNOT Ignoring new targets: 608.17 m."iW(9*i% ProNav pure pursuit: ac range: 608.167603 m, nav range: 544.325745 m, bearing: 36.087100 deg, approach rate: -0.591084 m/s, LOS rate: nan deg/s, cmd heading: 36.083220 deg, new cmd heading: 36.087100 deg. -HeadingCmd: 0.629839 target range: 608.167603 and range: 607.80 m.h-=!?h)h)h)h)g)g1jg1rg1e9re9Ze9:e9*e=|Y@aBɢY-) P i)iy/", ދLAV>V ?Vc;ٱV=VH0?1]`Bj?`v?&ȿR?@B?`L?iV>IV];VCYfNWByfgIbDrVDr8yz >%zW=ٔzQ-~>9~ ?Y~ ?=~Dy~ DE> Q 54 zF?Q 94 ) ,BYy>Q I? ODI :i d*; n4y!ɮ-A):iIUFNOT Ignoring new targets: 608.17 m."iU:*9*iQBeQ>BeACBeIBeHXBBe =BaBeDBe;BetE ProNav pure pursuit: ac range: 608.167603 m, nav range: 544.104309 m, bearing: 36.090631 deg, approach rate: -0.583167 m/s, LOS rate: nan deg/s, cmd heading: 36.087100 deg, new cmd heading: 36.090631 deg. HeadingCmd: 0.629900 target range: 608.167603 and range: 607.80 m.h&A!?hhhhggjgrgereZe:e*e`DY@EaBɢL:) li)ij<}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapsei&A!?b=AkQ=I&A!?I @  @ @ 2@ IE EE<E"E:*ER:VE 4ZEBEh qE T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseԩ N",}ߋLAɰ;2>2V?2=ٱ2$=2H ?`m SU?@ ?@ ȿ? ?sK?i2>I21];0YRpWByR}IbDZͿVDZ~8yb=%bM=ٔbqQ-b>9dYd=fDyfDjKEj>hQ 5r4j X?Q 9r4j)jMBYpyr2>Q Ir?j^DIjI;ij;ju4yvBɮzAx:iFNOT Ignoring new targets: 608.17 m.y"i-9*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 543.872437 m, bearing: 36.094397 deg, approach rate: -0.584358 m/s, LOS rate: nan deg/s, cmd heading: 36.090631 deg, new cmd heading: 36.094397 deg. HeadingCmd: 0.629966 target range: 608.167603 and range: 607.80 m.huE!?hhhhggjgrgereZe:e*eǯY@paBɢ 0) i)!!!i%I",Af$ߋLA>u>>*?>?ٱ> X=>Hp?`w. B?s?@ǿ?q?J?i>u>I>g];9M"?YM"?=MDyM/DUEU>YQ 5e4]Un?Q 9e4])]BYe?Q Ee:yem?Q Im?]rDI]:i]:]~4yqɮuUAq:iFNOT Ignoring new targets: 608.17 m."i9*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 543.571594 m, bearing: 36.098237 deg, approach rate: -0.585140 m/s, LOS rate: nan deg/s, cmd heading: 36.094398 deg, new cmd heading: 36.098237 deg. HeadingCmd: 0.630033 target range: 608.167603 and range: 607.80 m.hI!?hhhhggjgrgereZe:e*e`NY@)颕aBɢ)8{< !i)顙i$=BDCB@IBXBB =BBDB;BtEGԱ ",,>ߋLA> >>9?>ʹAٱ>* =>HT?`i*`H6?@S?`ȿ`O?e?`G?i> >I>];>CYrWByvIbDVD8%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapsey==%=K=ٔEӖQ-M>9U ?YU ?=UDyU?D]{zE]>aQ 5m4e?Q 9m4e)eBYiym?Q Im?eDIe":ieP:e䅣4y}Bɮ}A}ZEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 608.17 m."i 9*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 543.335449 m, bearing: 36.101295 deg, approach rate: -0.584235 m/s, LOS rate: nan deg/s, cmd heading: 36.098236 deg, new cmd heading: 36.101295 deg. HeadingCmd: 0.630086 target range: 608.167603 and range: 607.80 m.hYM!?hhhhggjgrgereZe:e*e@+Y@aBɢ(8) !i)   i ",x[ߋLA6z>6?6Bٱ6,=6Hz?41H D0?@)?lǿq6? J̷?G?i6z>I6];6CYBWByBIi=Mb@Mb@Mb@9999 99=x&1?Mb+η?Y=!?y==v==|A=QA 9)99Y9bDUVDU8yu=%u-=ٔ}Q->9Y=DyRDӺE>Q 54ܓ?Q 94ȭ)ٚBYK#?Q E:y?Q I?DIa;i'r;,4]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseye|BɮeAeQE:iFNOT Ignoring new targets: 608.17 m."i38*i ProNav pure pursuit: ac range: 608.167603 m, nav range: 543.050049 m, bearing: 36.102520 deg, approach rate: -0.572089 m/s, LOS rate: nan deg/s, cmd heading: 36.101296 deg, new cmd heading: 36.102520 deg. HeadingCmd: 0.630108 target range: 608.167603 and range: 607.80 m.hN!?hhhhggjgrgereZe:e*eZ Z@mbBɢm )i mo!ii)iqqiui>Bx>BGCBIBYBBBBDB;BtEA @A  @A @E Q5@A @M yA@I  BDAT read: Rx Time:01:03:56.0517  TRx dataTimestamp_ set to:1764896637.765243 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԙ  PExceeded connect timeout, disconnecting.E5  E5 E5 =E1 "E5 Ʊ:*E5 .:VE5 |4ZE1 BE5 V;aE 2E5 W;aE JE5 ;aE :E5 ;aE ^A `9= IaIqO?i",s|ߋLA2?%>2 ?2[Cٱ2 =2H?8ع Y+? ?=ǿ@L?%?@H?i2?%>I2-];0Y:XBy:II>=)>=bDFVDFȰ8yN=%N*=ٔNQ-R>9PYP=RDyReDVEV>XQ 5 4Z?Q 94Z)Z BYy?Q I%?ZDIZq{",ߋLAD5>5rG?5cDٱ5T#=5H?4`J5??&ǿe?@௶?`H?i5>I5W];5CYE>XByuIi}Mb@Mb@Mb@yyyy y9}!rh?y&1|? ףp= ?Y}l'?y}`;}Q=yy }ȾA)yyY}AbDVDư8y[=%=ٔúQ->9Y=Dy zDK;E>9Q 5M4=?Q 9M4=)=FBYU)?Q EU:yU?Q IU?=DI=V;i=;=4yBɮAԹDAT read: BDAT read: Tx time:01:03:57.3193 $Ping request sent.w=I?Ia@a @a@e00@a B= >B= JCB= IB= YBB= =B9 B= DB= ;B= tE^A A zA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251076I I O >",㧲ߋLAɰrnManaging dock network, ignoring radio surface power offY%]XBy%IbD5VD58yEز=%El=ٔMQ-M?9IYI=MDyMDUEU?YQ 5e4]G?Q 9e4]V)]kBYayaQ Im?]DI]:i]:]4yqɮuEAqE EuE>E"Es:*E:VE4ZEBE!;a2E";aJEtd;a:Etd;a:iFNOT Ignoring new targets: 546.42 m."i*i ProNav: ac range: 546.423035 m, nav range: 542.130432 m, bearing: 34.594319 deg, approach rate: -0.680075 m/s, LOS rate: -0.000906 deg/s, cmd heading: 33.087205 deg, new cmd heading: 33.086640 deg. iVԷHeadingCmd: 0.577471 target range: 546.423035 and range: 546.20 m.h ?hhhhgg!jg!rg!e!re)Ze):e)*e-`4?颕bBɢP)r< +#i)顙iHٻchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503019qԡ ",ߋLABW}>B ?BDٱB=BH࿋? `H?s?ǿ9Z?g~?@(G?iBW}>IBd^;BCYN{XByN!I PPbDVVDV8y^2=%bS=ٔbw:Q-b>9`Yd=fDyfDf7;Ef>hQ 5n4j?Q 9n4j)jBYpyrq?Q Ir?jDIj:ij:jo4yvBɮvAvRE B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 546.42 m."iޑ*iޑ- ProNav: ac range: 546.423035 m, nav range: 541.888794 m, bearing: 34.593934 deg, approach rate: -0.623673 m/s, LOS rate: -0.000996 deg/s, cmd heading: 33.086638 deg, new cmd heading: 33.085866 deg. i-c鷝5HeadingCmd: 0.577457 target range: 546.423035 and range: 546.20 m.h5>?h1h1yh1hggjgrge re9Ze9:eA*eM?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757684bBɢУ-) S$i)i4?-ܢb=->=I->?I1E EsE=E"Eg:*EZ:VE|4ZEa@a@a@a@Թ=9@9 @9@EO0@A^A=IyIO~>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918 %",t^ߋLAJ>J7?JCٱJ5=JH`?$N CY?pz?ȿ@yN?s?`A?iJ>IJ^;JCYRXByR/Ii-Mb@Mb@Mb@)))) )9-Fx?S㥛?MbX9?Y-+?y-/<-ʡ=)-A -A)-zA)Y-AE@AAbDE6VDEް8yU~Y=%UA=ٔ]Db:Q-]>9YYa=eDyeDe;Ee>iQ 5u4m?Q 9u4mK)m›BY}-?Q E}:y}$'?Q I}?mDIm ;im;mճ4yBɮA:iFNOT Ignoring new targets: 546.42 m."it*it ProNav: ac range: 546.423035 m, nav range: 541.616577 m, bearing: 34.592519 deg, approach rate: -0.643282 m/s, LOS rate: -0.003344 deg/s, cmd heading: 33.085867 deg, new cmd heading: 33.083037 deg. iøHeadingCmd: 0.577408 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*e`o?bBɢO?) h%i)!!i%BLCBIBYBB=B*DBDB;BtEBGCBGCB×CB =B =C`7@ @@1@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259800E EtE;E"E:*Ev:VE4ZEBE;a2E;aJE`;a:E`;a1^A- =Y Ii I O >1",MLLAJE>JG ?JiCٱJ=JHu?-ൗ,i?a?@Jɿ@YG? S?c:?iJE>IJ? _;JCYRXByR@IbD^DVD^8yb=%fS=ٔf:Q-f>9hYhnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511181=rDyrDr;Er>tQ 5z4v?Q 9z4vJ)vBY|y~~'?Q I~?vDIv<;iv;v4yɮA:i)-FNOT Ignoring new targets: 546.42 m."i5{*i5{E ProNav: ac range: 546.423035 m, nav range: 541.366638 m, bearing: 34.591183 deg, approach rate: -0.643085 m/s, LOS rate: -0.003440 deg/s, cmd heading: 33.083036 deg, new cmd heading: 33.080362 deg. iEsɸMHeadingCmd: 0.577361 target range: 546.423035 and range: 546.20 m.hM?hIhIhIhIgQgQjgQrgQeYreYZeY:eY*e]o?颍cBɢD) &i)顑i E  E E E "E Ʊ:*E :VE ZE a @a @a @a @ %8",LA2k>2$ ?2rCٱ2=2Hk?>@䵿*w?`P?ɿoH?`?6?i2k>I2_;2CYJXByJ[IiEMb@Mb@Mb@AAAA A9E rh??)\(?YE,?yE9qYq=uDyuD}3;E}>Q 54-?Q 94)BY<-?Q E:y!(?Q I? DI:it:£4yBɮASE:iFNOT Ignoring new targets: 546.42 m."i*i ProNav: ac range: 546.423035 m, nav range: 541.092346 m, bearing: 34.589642 deg, approach rate: -0.649921 m/s, LOS rate: -0.003653 deg/s, cmd heading: 33.080362 deg, new cmd heading: 33.077278 deg. iոHeadingCmd: 0.577307 target range: 546.423035 and range: 546.20 m.hk?hhhhggjgrgereZe:e*e`@E=cBɢE?4)I M6&iIԹ)iFB B 'IB &ZBB =B B B |;B wuEI I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2670749 b ",g3LA>>>;B!?>bCٱ>=>Hc?I%?G?`>ʿ`|F?ؼ? 16?i>>I>_;>CYVXByVcI ^4=^R=bDbVDb8yju=%jU=ٔjE%9Q-j>9lYl=nDynDr;Er>tQ 5z4v#?Q 9z4vٌ)v8BYxyz(?Q Iz?vDIv:iv:vȣ4yeBɮAIE:i!-FNOT Ignoring new targets: 546.42 m."i-*i5򉸝E ProNav: ac range: 546.423035 m, nav range: 540.842285 m, bearing: 34.588194 deg, approach rate: -0.650301 m/s, LOS rate: -0.003769 deg/s, cmd heading: 33.077278 deg, new cmd heading: 33.074379 deg. iEܸEHeadingCmd: 0.577257 target range: 546.423035 and range: 546.20 m.hM?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]@E ErE=E"E:*E?:VE|4ZEBEf;a2Eh;aJEY;a:EY;a颥gcBɢ?) (i)顩i}I",MLA4<ɰ4< 6>6!?6Cٱ6=6H@?\?S ?`??`ʿ@oN? dʼ?6?i6>I6 _;6CYfXByjmIbDrVDr8yz$=%zH=ٔzQ-z>9|Y|=~Dy~D_o;E> Q 54 5?Q 94 ) ^BYy(?Q I? ,DI :i .: ϣ4y%gBɮ%A!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 546.42 m."iU*iUe ProNav: ac range: 546.423035 m, nav range: 540.577087 m, bearing: 34.586613 deg, approach rate: -0.649538 m/s, LOS rate: -0.003872 deg/s, cmd heading: 33.074378 deg, new cmd heading: 33.071216 deg. ie⸝mHeadingCmd: 0.577202 target range: 546.423035 and range: 546.20 m.hm|?hihihihigigqjgqrgqeqreyZey:ey*e}@cBɢ<) )i)io  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023028t",gLA2bh>2~!?2rCٱ2=2H ^? vN ߇?`(F?ɿO?{C?7?i2bh>I2^;2CLYRYByRtIbDZVDZ8yb<%fM=ٔfFQ-f>9dYh=jDyjDjEj>lQ 5r4nF?Q 9r4nb)nBYtyv(?Q Iv?n<DIn:in:n֣4yxɮzAx:iFNOT Ignoring new targets: 546.42 m."i%'*i%'= ProNav: ac range: 546.423035 m, nav range: 540.317871 m, bearing: 34.585078 deg, approach rate: -0.650722 m/s, LOS rate: -0.003856 deg/s, cmd heading: 33.071216 deg, new cmd heading: 33.068143 deg. i=ḝEHeadingCmd: 0.577148 target range: 546.423035 and range: 546.20 m.hM?hIhIhIhIgQgQjgYrgYeYreaZea:ea*em{% @EcBɢEB#<)I M+iI)IIIiU <BBGIBYZBB=BBB;BuE-9@) @)@-0@)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275090E EqEE"EU:*E$ :VEZEBE;a2E;aJEU;a:EU;a^AD%=II O >a 9\ ",ςLA2@>2?!?2Cٱ2V =2Hc?QDݶ@?@S?RɿMK?``? I2_g^;2CYB YByBIHJ@Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526938bDJVDJ8yjO=%jI=ٔn\9Q-n>9lYp=rDyr DrEr>tQ 5z4vpX?Q 9z4v )vBYxy~(?Q I~?vMDIv;iv;vݣ4ykBɮmAJE:i)-FNOT Ignoring new targets: 546.42 m."i5ߋ*i5ߋԙ ProNav: ac range: 546.423035 m, nav range: 540.054138 m, bearing: 34.583528 deg, approach rate: -0.649989 m/s, LOS rate: -0.003821 deg/s, cmd heading: 33.068142 deg, new cmd heading: 33.065041 deg. i߸HeadingCmd: 0.577094 target range: 546.423035 and range: 546.20 m.h l?h h h h g g jgrgereZe:e*e@ecBɢmm?)i m,ii)iqqiu{  &",\LA2>2R ?2ōCٱ2ޒ=2H k?w4_|w?_g?Bȿ K?`?B?i2>I2h^;0YN6YByRIa@a a@a a @a  a @a  bD!VD˰8y5A=%56=ٔ=Q-E>9IYI=MDyMDUdE>Q 54Nl?Q 94U{)՜BQ A+:YQ E~:yx(?Q I?`DI ;i]>b4yɮBA:iFNOT Ignoring new targets: 546.42 m."i*i ProNav: ac range: 546.423035 m, nav range: 539.756592 m, bearing: 34.581807 deg, approach rate: -0.650151 m/s, LOS rate: -0.003763 deg/s, cmd heading: 33.065041 deg, new cmd heading: 33.061597 deg. i^ܸHeadingCmd: 0.577034 target range: 546.423035 and range: 546.20 m.h{?hhhhggjgrgereZe:e*e@@5dBɢ5<<)1 5{.i9)999i=B MCB `IB ZBB =B B DB ;B vEI! I9 OE > DAT read: 01:04:00.4309 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 320, 0.28, 2.064, 0.583, 2.251, 1.618, PHS= 0.548,-0.990, 0.589, RAW= 151.3, -1.9, CAL= 150.4, -2.8, ROT= 359.6, 2.8  Ygot valid direction response: 01:04:00.4309 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 320, 0.28, 2.064, 0.583, 2.251, 1.618, PHS= 0.548,-0.990, 0.589, RAW= 151.3, -1.9, CAL= 150.4, -2.8, ROT= 359.6, 2.8  8DAT read: $Error in header  *Received a bad header = X#Rx 1: Read direction message, but no range.E `direction in FSK: [0.998782,-0.006973,-0.048850]y  nw>?ɭ|s!D ) OI I ?i p} ? )@  '@ +H) @I +H= ĽouS?v! *?S,b h ?) =,",6LAf>fW ?fwCٱf=fH`mt?$Ÿ`j?v?@ȿ`I?`O?`F?if>IfG^;dIi+H=nT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapseEe EeyEe>Ea"EeU:*Ee:VEe4ZEaBEaam2EaamJEes;au:Ees;auYCYByIIa=)=bD VD8y=~<%=J=ٔEG[9Q-E>9AYA=MDyM+DMBEM>qQ 5}4u}?Q 9}4u&w)uBQ A} :YQ EM:y (?Q I?uqDIu:iu!\?u4ylBɮ+AԱ:iFNOT Ignoring new targets: 546.42 m."iց*iց- ProNav: ac range: 546.423035 m, nav range: 539.496155 m, bearing: 34.580344 deg, approach rate: -0.631095 m/s, LOS rate: -0.003547 deg/s, cmd heading: 33.061596 deg, new cmd heading: 33.058668 deg. i-ϸUHeadingCmd: 0.576983 target range: 546.423035 and range: 546.20 m.hU"?hQhYhYhYgYgYjgargaeareaZea:ei*em@LdBɢ@) 0i)iݹ9 3",ELA6X@>6?6Cٱ6O=6H |? Qsи_?@B~?)ȿ O?=?`mE?i6X@>I6i^;6CYB6YByBI FC=Fp=bDJVDJ8yR%Rh=ٔV( Q-V>9TYT=ZDyZ9DZGEZ>\Q 5b4^׌?Q 9b4^s)^BQ Ab9YdQ Ef&:yf'?Q If?^DI^f:i^?^34yhɮjEAhzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 546.42 m."i *i  ProNav: ac range: 546.423035 m, nav range: 539.270142 m, bearing: 34.579114 deg, approach rate: -0.672710 m/s, LOS rate: -0.003662 deg/s, cmd heading: 33.058669 deg, new cmd heading: 33.056208 deg. iyָHeadingCmd: 0.576940 target range: 546.423035 and range: 546.20 m.hQ?hh!h!h!g!g!jg)rg)e)re)Ze):e1*e5@B@]qdBɢ]Mu^)Y e3ia)aaaieOmi  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse9",LA;ɰ 6v>6v?6!dCٱ6=6H?`wU?,?_ȿF?`׸?C?i6v>I6^^;6CYRVYByRIaa aa aa aa iMb@Mb@Mb@ 9p= ף?L7A`堿Q?Y%?y+u<dAhA A)AYAbD VD8y=%9=ٔ:Q->9Y=DyKDsdE>Q 54?Q 94o):BQ AT:Ya%?Q E:y?Q I?DI;i~ ;4yIBɮxAAE:i)-FNOT Ignoring new targets: 546.42 m."i5*+8*i5*+8E ProNav: ac range: 546.423035 m, nav range: 538.990479 m, bearing: 34.580147 deg, approach rate: -0.632320 m/s, LOS rate: 0.002338 deg/s, cmd heading: 33.056207 deg, new cmd heading: 33.058275 deg. iE8MHeadingCmd: 0.576976 target range: 546.423035 and range: 546.20 m.hM?hIhIhIhIgIgQjgQrgQeYreYZeY:eY*e]@|@颍dBɢ>q@) 4i) iWHf=@e=I?IB5<A5<B=>B9B=yIB=ZBB9B9B9B=n;B=wEi9@ @@0@MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseԙE} E}zE}:Ey"E}:*E} :VE}(4ZEyBE};a2E};aJE}v;a:E}v;a^A- (=I I O > @",LA6K>6&?6Bٱ67=6HA? pⷿM? 7? ȿ$1?q?7B?i6K>I6P^;6CRT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseTYVZYByVI XXbDb&VDbϰ8yj><%j\=ٔj:Q-j>9lYl=nDynYDrEr>tQ 5z4vb?Q 9z4v>l)vSBYxyz:?Q Iz?vDIv:iv%:vl4yMBɮABE:i!-FNOT Ignoring new targets: 546.42 m."i528*i528E ProNav: ac range: 546.423035 m, nav range: 538.755981 m, bearing: 34.581052 deg, approach rate: -0.632177 m/s, LOS rate: 0.002441 deg/s, cmd heading: 33.058276 deg, new cmd heading: 33.060087 deg. iE8MHeadingCmd: 0.577007 target range: 546.423035 and range: 546.20 m.hM?hIhIhIhIgIgQjgQrgQeQreQZeY:eY*e]`C@颍dBɢT) 7i)顑iƺU=UR=UT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse) E  E E =E "E C:*E |;:VE |4ZE a @a @a @a @xF",LA2Z%>2?2܆Aٱ2w=2H?s1!`F?I2v^;2CYBzYByBIiMb@Mb@Mb@ 9ףp= ? rhI +?Y?yC9<A  A)5AYץAAAbDVD8y=%;=ٔ,;Q->9Y=DykDC(E>Q 54?Q 94h)qBY?Q E:yt?Q I?DI;iX; 4yɮAA:i!-FNOT Ignoring new targets: 546.42 m."i-F8*i-F8E ProNav: ac range: 546.423035 m, nav range: 538.490845 m, bearing: 34.583823 deg, approach rate: -0.606890 m/s, LOS rate: 0.006346 deg/s, cmd heading: 33.060086 deg, new cmd heading: 33.065631 deg. iE99EHeadingCmd: 0.577104 target range: 546.423035 and range: 546.20 m.hE?hIhIhIhIgIgIjgQrgQeQreYZeY:eY*e]@颅dBɢgE) *8i)顉iJB5 NCB5 IB5 ZBB1 B1 B1 B5 F;B5 nxEBMCBMCBȓCB=B=CȆ25AE ؟AII IY Om >ԁ e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse@L",N6LA2>2J?2}?ٱ2=2HE?@@E5@?t?Eȿ??B?i2>I2;Y^;2CY:YBy:IbDr VDr8y-%+=%-V=ٔ-;Q-->95"?Y5"?=5Dy5zDEE EEzEEEEA"EE%:*EE :VEE 5ZEABEE;aM2EE;aUJEAaU:EAaU=XEU>YaQ 5m4et?Q 9m4ee)eBYiym"?Q Iu?eDIe\:ie:e4y}QBɮ}1Ay:iFNOT Ignoring new targets: 546.42 m."i8*i8 ProNav: ac range: 546.423035 m, nav range: 538.255798 m, bearing: 34.586313 deg, approach rate: -0.607864 m/s, LOS rate: 0.006442 deg/s, cmd heading: 33.065632 deg, new cmd heading: 33.070614 deg. i<9HeadingCmd: 0.577191 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*e]@(eBɢƿS) 9i)  i Db S",ZPLA2">2[?2 >ٱ2=2H`d?l I27^;2CY:YBy:II>=)>=bDFVDF8yN=%NT=ٔNy;Q-R>9R ?YR ?=RDyRDVkEV>XQ 5^4Z?Q 9^4Zb)ZBY\y^?Q Ib?ZDIZ;iZ;Zz4ydɮfAdrB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 546.42 m."i~?8*i~?8  ProNav: ac range: 546.423035 m, nav range: 538.024109 m, bearing: 34.588786 deg, approach rate: -0.607060 m/s, LOS rate: 0.006482 deg/s, cmd heading: 33.070615 deg, new cmd heading: 33.075562 deg. i =9HeadingCmd: 0.577277 target range: 546.423035 and range: 546.20 m.hu?hhhhggjgrge!re!Ze!:e!*e%g@USeBɢUV)Q U:iQ)ixa Z",d;jLAB>B(?B=ٱBH=BHE?`m 8?`p?ڋȿ}??G?iB>IBū^;BCYjYBynIiuMb@Mb@Mb@qqqq q9uףp= ?{GzV-?Yqyuףu9Y=DyDeE>Q 54?Q 94_)BY5 ?Q E:y>Q I?DI;i;4yVBɮACE:iFNOT Ignoring new targets: 546.42 m."i9*i9 ProNav: ac range: 546.423035 m, nav range: 537.758911 m, bearing: 34.592235 deg, approach rate: -0.607236 m/s, LOS rate: 0.007902 deg/s, cmd heading: 33.075563 deg, new cmd heading: 33.082465 deg. i _g9 HeadingCmd: 0.577398 target range: 546.423035 and range: 546.20 m.h Z?hhhhggjgrgere!Ze!:e!*e%@@qB>BMCBIBZBB=BBB;BByE-eBɢ+D) z`",σLA4<ɰ;29>2E?2<;ٱ25'=2H ?$a 3?@Ĝ?<ȿDF?'?K?i29>I288_;0Y:YBy:IbDF VDF8yN)<%N_=RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseٔV;Q-V>9V"?YV"?=ZDyZDZ>2EZ>\Q 5b4^g ?Q 9b4^\)^ڝBYdyft>Q If?^DI^:i^:^4yhɮjAh:i|~FNOT Ignoring new targets: 546.42 m."i9*i9 ProNav: ac range: 546.423035 m, nav range: 537.535400 m, bearing: 34.595166 deg, approach rate: -0.607264 m/s, LOS rate: 0.007967 deg/s, cmd heading: 33.082465 deg, new cmd heading: 33.088330 deg. iKi9HeadingCmd: 0.577500 target range: 546.423035 and range: 546.20 m.h?hhhhgg!jg!rg!e!re)Ze):e)*e-tM@UeBɢ]Dog)Y ]>iY)aaaieC%)]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseG 1 Y u j9q Yu fAIQ Iq E  E E 9E "E ,:*E C:VE 4ZE a @a @a @a @O >g",NLAYUYByUI YYiMb@Mb@Mb@ 9S?ʡE~jt?Y/?yD=AA jA)bAYAbD-VD-8y=%=%=2=ٔEQ-E>9AYA=MDyMDMEM>QQ 5]4U ?Q 9]4UY)UBYe?Q Ee:ye:>Q Ie?UDIUA;iU:U%4ymZBɮuAq:iFNOT Ignoring new targets: 546.42 m."i 9*i 9 ProNav: ac range: 546.423035 m, nav range: 537.262268 m, bearing: 34.598765 deg, approach rate: -0.597114 m/s, LOS rate: 0.007871 deg/s, cmd heading: 33.088329 deg, new cmd heading: 33.095530 deg. i{f9HeadingCmd: 0.577626 target range: 546.423035 and range: 546.20 m.hL?hhhhggjgrgereZe:e*e @eBɢ~H) |?i)iBHCBIB$[BB=B+DBDB;B'zEԡ I I O ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse@m",SLA2 >2sL?27ٱ2b=2H? +`&?`T?ǿ?`ٕ? R?i2 >I2/`;0ZBy>IF@AFAAbDJVDJ8yR=%Rh=ٔV9TYT=VDyVDZܻEZ> Q 54 C1?Q 94 V) BYy&>Q I? DI ;i ; +4y%_Bɮ%KA%DEE= E=E9E9"E=g:*E=VL:VE9ZE9BE=;aM2E=;aMJE=;aM:E=;aM:iaeFNOT Ignoring new targets: 546.42 m."ime9*ime9} ProNav: ac range: 546.423035 m, nav range: 537.046021 m, bearing: 34.601666 deg, approach rate: -0.592065 m/s, LOS rate: 0.007945 deg/s, cmd heading: 33.095531 deg, new cmd heading: 33.101335 deg. i}h9HeadingCmd: 0.577727 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*eL!@ fBɢO`) W?i)iz $t",p`LA:>:?:ɞ5ٱ:P=:H?@[ z"?@s?ǿl?Թ?`U?i:>I:`;:CY^/ZByb-IbDjVDj8lyrc=%rG=ٔvc;Q-v>9tYx=zDyzDzTEz>|Q 54~bC?Q 94~S)~8BY y >Q I ?~DI~:i~W:~24yɮA5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 546.42 m."iE[9*iE[9U ProNav: ac range: 546.423035 m, nav range: 536.805786 m, bearing: 34.604915 deg, approach rate: -0.603092 m/s, LOS rate: 0.008161 deg/s, cmd heading: 33.101334 deg, new cmd heading: 33.107835 deg. iUn9]HeadingCmd: 0.577841 target range: 546.423035 and range: 546.20 m.h]_?hahahahagagajgirgieireiZei:eq*eu"@额;fBɢ_iX) @i)顡i] T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsei QPz",JBLAYMZBy@II%<)%9iMb@Mb@Mb@ 9^I +?ʡEp= ף?YX?y= A)YfAbDݿVD8y=%<=ٔQ->9Y=DyDE>Q 54xV?Q 94P)[BY?Q E:y>Q I?.DI ;i3;u:4ycBɮABw>BGCBIBW[BB =BBDB;BzE:iFNOT Ignoring new targets: 546.42 m."i!9*i!9u ProNav: ac range: 546.423035 m, nav range: 536.553894 m, bearing: 34.608518 deg, approach rate: -0.550296 m/s, LOS rate: 0.007875 deg/s, cmd heading: 33.107836 deg, new cmd heading: 33.115046 deg. iuf9}HeadingCmd: 0.577967 target range: 546.423035 and range: 546.20 m.h}?hyhhhggjgrgereZe:e*e #@]ufBɢ]C)aa eqBiq)qqqiuп6",LART****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseY=aZBy=LI ]C=]p=ԙbDeVDeW8y*C=%M=ٔQ->9Y=DyDE>Q 54h?Q 94&N)|BYyQ I?=DI:i:nA4y;Bɮ,A;E:iFNOT Ignoring new targets: 546.42 m."i!9*i!9 ProNav: ac range: 546.423035 m, nav range: 536.322388 m, bearing: 34.611833 deg, approach rate: -0.617836 m/s, LOS rate: 0.008850 deg/s, cmd heading: 33.115045 deg, new cmd heading: 33.121678 deg. i9HeadingCmd: 0.578082 target range: 546.423035 and range: 546.20 m.h4?hhh!h!g!g!jg)rg)e)re)Ze):e)*e5#@]fBɢ]n)e g= eCia)aaaie bE4jErEʝ0E}  Ey E} <Ey "E} غ:*Ey VE} 4ZEy a @a @a @a @! a",ZLA;ɰ:ʦ>:Н?:j/ٱ:=:H`? 7??p#ȿ?`)!?U?i:ʦ>I:`;:CYfZByfaIiUMb@Mb@Mb@QQQQ Q9UV-?J +sh|??YU?yUHU=UAUA U"A)QQYUAbDmVDmT8y=%I=ٔgt9Y=DyDbE>Q 54y?Q 94 K)BY?Q E:y?Q I?MDI;i;H4y@BɮA:iFNOT Ignoring new targets: 546.42 m."i8*i8- ProNav: ac range: 546.423035 m, nav range: 536.082336 m, bearing: 34.614151 deg, approach rate: -0.590213 m/s, LOS rate: 0.005701 deg/s, cmd heading: 33.121677 deg, new cmd heading: 33.126315 deg. i-&95HeadingCmd: 0.578163 target range: 546.423035 and range: 546.20 m.h5?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE[$@ufBɢuY(Z)q }|Diy)yyyi}(BHCBIB[BB =BBDBR;By{EA I I O >e DAT read: e 2Acoustic response timeouty ؊",8LA2w>2?2L.ٱ2W=2HC?` ??@Cȿƥ?`?@U?i2w>I2U`;2CYbZBybqI ddbDjVDjo8yr==%rY=ٔvm;Q-v>9tYt=vDyzDzV}Ez>|Q 54~?Q 94~$H)~ŞBYy o?Q I ?~[DI~S:i~:~O4yɮAE% E%E%:E!"E%:*E%0:VE%(4ZE!BE% r",RLA6>68?6x,ٱ6=6HR?@<Z?`?f4ȿ`3?@?W?i6>I6m`;6CYBZByBIFAAF@AbDJVDJ8yR=%RN=ٔVq;;Q-V>9TYT=ZDyZ.DZr.:EZ>\Q 5b4^c?Q 9b4^E)^BYdyf?Q If?^jDI^:i^:^V4yjDBɮjAj5",oLA@2gr>2?2H+ٱ2=2H?¾@4?T? ȿ@d?䃼? Y?i2gr>I28J`;2CY>ZBy>IA A B B B :IB [BB =B B B ;B {EBHCBICBCB=B=C6i-Mb@Mb@Mb@)))) )9-Mb?~jtZd;O?Y- ?y-ļ-j=)-ĬA ))))Y-\AbDEVDE8yUE=%U0=ٔU:Q-]>9YYY=]Dy]ADeV(Ee>iQ 5u4m?Q 9u4m4A)mBYuX"?Q Eu:y}?Q I}?m|DIm:im:m(^4yɮ%nA!:iAMFNOT Ignoring new targets: 546.42 m."iM+a8*iM+a8} ProNav: ac range: 546.423035 m, nav range: 535.344177 m, bearing: 34.620085 deg, approach rate: -0.579207 m/s, LOS rate: 0.003076 deg/s, cmd heading: 33.135205 deg, new cmd heading: 33.138189 deg. i}"8HeadingCmd: 0.578371 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*ej'@`gBɢdI)  Hi )   i f",uLABO>BCr?BŠ+ٱB=BH@I?@ ??J'ȿ kZ? Vټ?GX?iBO>IBn_;BCYJZByNIIR=)R<bDVVDV8y^=%^V=ٔbM:Q-b>9`Yd=fDyfPDf5Ef>hQ 5n4j?Q 9n4j>)jK",LA>I2>>c?>,ٱ>p=>H@?2? ? zȿ`~i? /?T?i>I2>I>_;>CYF[ByFIiMb@Mb@Mb@ 9Mb?J +?Y#?y=A A)Y£A )-%=bD-VD-8y='=%=9=ٔEQ-E>9E ?YM ?=MDyMbDMEM>QQ 5]4U?Q 9]4U :)UjBYe$?Q Ee:ye?Q Ie?UDIU_:iU:Ul4ymMBɮmAu=E:iFNOT Ignoring new targets: 546.42 m."i}i7*i}i7 ProNav: ac range: 546.423035 m, nav range: 534.843506 m, bearing: 34.621672 deg, approach rate: -0.611911 m/s, LOS rate: 0.000797 deg/s, cmd heading: 33.140658 deg, new cmd heading: 33.141363 deg. 2Acoustic response timeout i˺75HeadingCmd: 0.578426 target range: 546.423035 and range: 546.20 m.h5?h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE@(@颵gBɢ}S) 'Ki)项ifByB}`IB}"\BB}=ByByB}y;B}{E^Ah=AzAwA BDAT read: Response Not Received  *response not received ԑ E  E E 9E "E 7:*E A:VE 4ZE BE ;a 2E ;a JE r;a :E r;a ",qLAɰ4f^?f -ٱf=fHk?`U?`C?ȿƚ?`>?@P?if(>Ifuj_;dYn4[ByrIbDzVDz8yA=%O=ٔ|Q- >9 Y = Dy rDrBE>Q 5%4?Q 9%46)BY!y%s?Q I%?DIu:i>:ss4y1ɮ5A1:iQ]FNOT Ignoring new targets: 546.42 m."i]s7*i]s7m ProNav: ac range: 546.423035 m, nav range: 534.601929 m, bearing: 34.622000 deg, approach rate: -0.611608 m/s, LOS rate: 0.000832 deg/s, cmd heading: 33.141362 deg, new cmd heading: 33.142019 deg. im7uHeadingCmd: 0.578437 target range: 546.423035 and range: 546.20 m.hux?hhhhggjgrgereZe:e*e)@UgBɢUf)Q UKiY)YYYi]Tx time:01:04:09.7693 DAT read: 2Acoustic response timeoutԡ^A5p=AA II IY Om > G y9 Y tA ",@LA"2Acoustic response timeout6>6?6ԥ0ٱ6=6H?  ?m?^Sɿ?Ͼ?`I?i6>I6A_;6CYn9[BynI ppbDzVDz8yR<%J=ٔFQ->9 Y = Dy D ;E>Q 54?Q 9%42)BY!y%?Q I%?DI;i;z4y-RBɮ-A1MB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 546.42 m."ieh7*ieh7m ProNav: ac range: 546.423035 m, nav range: 534.355408 m, bearing: 34.622321 deg, approach rate: -0.610235 m/s, LOS rate: 0.000795 deg/s, cmd heading: 33.142018 deg, new cmd heading: 33.142660 deg. iuT7uHeadingCmd: 0.578449 target range: 546.423035 and range: 546.20 m.hu4?hyhhhggjgrgereZe:e*eL*@hBɢ]i) ONi)i@BGCBIBi\BB =BBDB;B&{EB>B?B4ٱBA=BH?@@wϲ@???zɿ@?Ph?@E?iB>IBs_;@Y^G[By^IiMb@Mb@Mb@ 9J +?y&1?(\µ?Y(?y`<=KA )YAbD+VD԰8y=%?=ٔ!Q->9"?Y"?=DyD:E>Q 54e?Q 94.)BY@*?Q E:y#?Q I?DI;iD;4y*BɮA4E:iFNOT Ignoring new targets: 546.42 m."i N1*i N1 ProNav: ac range: 546.423035 m, nav range: 534.085022 m, bearing: 34.621288 deg, approach rate: -0.633591 m/s, LOS rate: -0.002422 deg/s, cmd heading: 33.142660 deg, new cmd heading: 33.140592 deg. i؍%HeadingCmd: 0.578412 target range: 546.423035 and range: 546.20 m.h%?h!h!h!h!g)g)jg)rg1e1re1Ze1:e1*e=2%+@eQhBɢeJc)a ePii)iiiimA?ԉ A9 IA IY Oa  2Acoustic response timeout",; LA@0>)>>?>^:ٱ>r=>H`j? w@W?Π?cɿ*?`g??'B?i>)>I>_;9tYt=vDyvDzEz>xQ 54z?Q 94z*)zBYy#?Q I?zDIz;izL;z4y /BɮA:i1=FNOT Ignoring new targets: 546.42 m."i=R3*i=R3M ProNav: ac range: 546.423035 m, nav range: 533.846741 m, bearing: 34.620365 deg, approach rate: -0.632254 m/s, LOS rate: -0.002450 deg/s, cmd heading: 33.140594 deg, new cmd heading: 33.138747 deg. iMtUHeadingCmd: 0.578380 target range: 546.423035 and range: 546.20 m.hU?hQhQhQhYgYgYjgargaeareaZea:ei*em`+@颕~hBɢp) Pi)顙i",%LA`Y~n[By~IIa=)p=iMb@Mb@Mb@ 9K7A`?/$?Q?Y+?y,=u= A)AY£Ai߹I߹2Acoustic response timeoutbDVD8yc%<=ٔQ->9Y=DyDE>Q 54$*?Q 94Q&):BY,?Q E:yq*?Q I?DI;i;'4yɮA:i!-FNOT Ignoring new targets: 546.42 m."i-7*i57E ProNav: ac range: 546.423035 m, nav range: 533.566101 m, bearing: 34.618510 deg, approach rate: -0.645040 m/s, LOS rate: -0.004268 deg/s, cmd heading: 33.138746 deg, new cmd heading: 33.135032 deg. iEEHeadingCmd: 0.578315 target range: 546.423035 and range: 546.20 m.hM{ ?hIhIhIhIgIgIjgQrgQeQreYZeY:eY*e] ,@额hBɢdc) RTi)顩iB!B%IB%\BB% =B!B!B%;B%zE^Am벫=m 2Acoustic response timeoutA A I I O >t",k>LAE EE8E"Eغ:*E,:VEF4ZEBE;a:E?;ar>>?FٱQ=H޺?ȸ`??L"ɿQ?r{?@G9?ir>It^;CY[ByI -4=-4=bD-VD-8y=|=%ET=ٔEOQ-E>9AYI=MDyMDMEM>QQ 5]4U:?Q 9]4UJ")U`BYayeV*?Q Ie?UDIU8;iU;Uᖤ4ym3BɮmAm5E:iFNOT Ignoring new targets: 546.42 m."iښ*iښ ProNav: ac range: 546.423035 m, nav range: 533.318604 m, bearing: 34.616882 deg, approach rate: -0.642908 m/s, LOS rate: -0.004231 deg/s, cmd heading: 33.135034 deg, new cmd heading: 33.131776 deg. iHeadingCmd: 0.578259 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*e-@hBɢt) Ui)iԡ J",dXLA2Acoustic response timeoutɰ;6>6s#?6Mٱ6=6Hγ?#?`+?Sɿ??.?i6>I6^;6CYB[ByBIbDJVDJ8yR=%RU=ٔR)Q-V>9TYT=VDyVDZEZ>\Q 5b4^J?Q 9b4^H)^BY`yb@*?Q If?^DI^;i^';^4yhɮjAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 546.42 m."i*i ProNav: ac range: 546.423035 m, nav range: 533.072205 m, bearing: 34.615269 deg, approach rate: -0.640838 m/s, LOS rate: -0.004197 deg/s, cmd heading: 33.131776 deg, new cmd heading: 33.128548 deg. iHeadingCmd: 0.578202 target range: 546.423035 and range: 546.20 m.h?hhhhg!g!jg!rg!e!re)Ze):e)*e-N.@ԙiBɢv) Wi)iM4@!2Acoustic response timeout^Am=A I I  O- >B% >B% ICB% IB% \BB%  =B! B% DB% =;B% [zE",rLA2|>2?2Tٱ2`=2H@X? 4?٬?`ʿh?`N? ?i2|>I2N_;0Y:[By:I <9)Y1=5Dy5D5Y~E5>Q 54j]?Q 94)BY?+?Q E:y-?Q I? DI:i(::4y8BɮuA:i9EFNOT Ignoring new targets: 546.42 m."iE!*iE! ProNav: ac range: 546.423035 m, nav range: 532.791443 m, bearing: 34.613017 deg, approach rate: -0.630293 m/s, LOS rate: -0.005058 deg/s, cmd heading: 33.128548 deg, new cmd heading: 33.124042 deg. iHeadingCmd: 0.578124 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*e@76/@=2Acoustic response timeoutEGiBɢEod)Ec< EYiA)IIIiM? ",όLA2,>2?2\ٱ2o=2H`2?`R?@?ՙ˿J?`|ϼ?V?i2,>I2H'_;2CY:[By:#I@BAAbDFVDFŰ8yN~<%NQ=ٔNQ-N>9PYP=RDyRDV̺EV>TQ 5^4V6m?Q 9^4V)VӠBY\y^}-?Q I^?V/DIV:iV;Vū4y`ɮfcAd:itzFNOT Ignoring new targets: 546.42 m."iz*iz ProNav: ac range: 546.423035 m, nav range: 532.551514 m, bearing: 34.611115 deg, approach rate: -0.656400 m/s, LOS rate: -0.005205 deg/s, cmd heading: 33.124044 deg, new cmd heading: 33.120239 deg. il HeadingCmd: 0.578057 target range: 546.423035 and range: 546.20 m.h ?h h hhggjgrgereZe:e!*e%/@MsiBɢM)Q U0[iQ)QQQi]Ct z5",LA:m*>:?:ecٱ:%=:Hʚ?6\?͑? h̿ 1?@.?@?i:m*>I:j?_;8Y^[Byb0IiEMb@Mb@Mb@AAAA A9EQ?~jt?I +?YE(?yE=E9=ٔmQ-u>9u ?Yu ?=uDBDAT read: Rx Time:01:04:12.8879 TRx dataTimestamp_ set to:1764896654.6526312Acoustic response timeoutyuDE>Q 54?Q 940)BYU)?Q E:y)?Q I?ADI;iZ;T4y=BɮMA6E:iuFNOT Ignoring new targets: 546.42 m."i}*i ProNav: ac range: 546.423035 m, nav range: 532.275574 m, bearing: 34.609340 deg, approach rate: -0.632137 m/s, LOS rate: -0.004067 deg/s, cmd heading: 33.120240 deg, new cmd heading: 33.116689 deg. i4ԹHeadingCmd: 0.577995 target range: 546.423035 and range: 546.20 m.h?hhhhggjgrgereZe:e*en0@eiBɢe0td)i m]ii)顉io|BLCBIB?]BBBBDB;B(zEBiBiBiBm =Bm =Cmʼn6 ) ) 5 2Acoustic response timeout^A =I E  E sE >E "E :*E Z:VE 4ZE BE ;a 2E ;a JE ,];a :E ,];a I O >9 d",F{LA2>2?2jٱ2/=2HƑ?n?Œ?VͿ?``? ?i2>I2 \_;2CY:[By:/II>=)>bDF VDFʰ8yN0%NY=ٔN.Q-R>9PYP=RDyRDVgEV>XQ 5Z4Zm?Q 9^4ZQ )ZBY\y=)?Q I=?ZPDIZTx time:01:04:13.9693 R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.352908,0.621230,0.699663]Fpublishing direction and range infoyP ֿVĄ?/;^c?YD )MI33iˡ%6?,?? aF?)0@IaF ͩȨ9? =oҋ? ÿ),I0@iaF-2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.9Ul=i 9@  @ @ 0@ = DAT read: E 2Acoustic response timeoutԑ ^A DD<E EnE;E"E:*E:VE4ZEa@a@a@a@II)OU?J",LAPɰPn>n?n/qٱnN=nH ?V g 2?:?Ϳ ?? ?in>InE_;nCYz[ByzDIiuMb@Mb@Mb@qqqq q9u#~j?Q?~jtx?Yu%?yuu9Y=Dy,D뤺E>Q 54ԧ?Q 94)IBY%?Q E:y`!?Q I?gDI<:i:ä4yBɮAiiLAjD"jD:j=@Rj$rlg  Ult@Z(qw@BjP ֿVĄ?/;^c?*j0@2jaFZjQ cx yBR@ZeVNv@Jj$uE)jɻ?NDN?jB jii }H?i^fjCjE(?jK5jBrjDzj*?ԑ addTargetRange:: Added new target pos. range: 535.799988 m, deltaT: 16.884039 s, deltaX: -10.400024 m, approachRate: -0.615968 m/s, rangeRepo size: 3  Added new target pos. range: 536.075623 m, bearing: 169.299020 deg, lat: 36.779503 deg, lon: -121.859777 deg, deltaT: 16.884039 s, deltaX: -10.347412 m, approachRate: -0.612852 m/s, posRepo size: 3 :iFNOT Ignoring new targets: 536.08 m."i*i ProNav: ac range: 536.075623 m, nav range: 518.308228 m, bearing: 34.056088 deg, approach rate: 0.000000 m/s, LOS rate: -0.003864 deg/s, cmd heading: 33.113631 deg, new cmd heading: 33.109255 deg. iHeadingCmd: 0.577866 target range: 536.075623 and range: 535.80 m.h?hhhhggjgrgereZe :e `f@*e @|'?颅!jBɢk^) bi2Acoustic response timeout)顩i/BQCBAIB]BB=B*DBDB;ByE< 9@  @ @ 0@ E 2Acoustic response timeout ^A ፨=E  E tE E "E :*E v:VE ZE BE ;a 2E ;a JE `;a :E `;a I1IAOU>0",hLAFEh>F~?FS`{ٱF_=FH?$@C??@ Ϳ}???iFEh>IF*_;FCYv \ByvQIxbDVD8y8=%5=ٔﴼQ->9Y=%Dy%>D%E%>)Q 554-?Q 954-h)-oBY9y=Q ?Q I=?-yDI-:i-;-ˤ4yEBɮEAE-E]B*** querying acoustic contact ***iaia:iimFNOT Ignoring new targets: 536.08 m."i}!)*i}!) ProNav: ac range: 536.075623 m, nav range: 518.026062 m, bearing: 34.055095 deg, approach rate: -0.656167 m/s, LOS rate: -0.002310 deg/s, cmd heading: 33.109257 deg, new cmd heading: 33.107270 deg. iNHeadingCmd: 0.577831 target range: 536.075623 and range: 535.80 m.h?hhhhggjgrgereZe:e*e?UjBɢ>z) di)i (U >U =U 2Acoustic response timeout\",hLAQY]E\By]vI iibDVDð8y>%B=ٔQ->9Y=DyODE>Q 54<?Q 94PQ =tI)BYyQ I?DI ;i ;Ӥ4yɮNA:iFNOT Ignoring new targets: 536.08 m."i!*i ! ProNav: ac range: 536.075623 m, nav range: 517.760681 m, bearing: 34.054160 deg, approach rate: -0.626890 m/s, LOS rate: -0.002210 deg/s, cmd heading: 33.107269 deg, new cmd heading: 33.105398 deg. ipHeadingCmd: 0.577798 target range: 536.075623 and range: 535.80 m.h%?h!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5 =S?Eu EukEuFEq"Eu:*Eu:VEu 5ZEqa}@a}@a}@a}@jBɢ`m) dԁi)顑iO B >B B yIB ]BB =B B B v;B yEh ",A4LA00N>NB?NٱN =NHn?¿@q?@(?EbͿ?@_Ժ?`?iN>IN_;NCYZc\ByZIi=Mb@Mb@Mb@9999 99=)\(?MbPY=G!?y==9= A =A)=A9Y=QAIM@AbDUVDU8ye=%eN=ٔm-Q-m>9iYq=uDy}_D}c_E}>Q 54 ?Q 94)BYG!?Q E:y?Q I?DI ;i ;ڤ4yɮAԱ:iFNOT Ignoring new targets: 536.08 m."ir$*ir$ ProNav: ac range: 536.075623 m, nav range: 517.519470 m, bearing: 34.054104 deg, approach rate: -0.609012 m/s, LOS rate: -0.000140 deg/s, cmd heading: 33.105398 deg, new cmd heading: 33.105286 deg. iHeadingCmd: 0.577796 target range: 536.075623 and range: 535.80 m.ht?hhhhggjgrgereZe:e*e`%? 2Acoustic response timeoutmjBɢuc)q ueiq)qyyi}mEl",W[NLA6>6xR?6ゾٱ6,=6H?@&ÿZ??_:Ϳ.? #? ?i6>I6R7_;6CY>\By>IbDJVDJ8yR4=%RX=ٔRQ-R>9V"?YV"?=VDyVnDV'EZ> Q 5 4 ?Q 94 E) ҡBYy?Q I? DI 3;i ; 4y!ɮ%A!:iAMFNOT Ignoring new targets: 536.08 m."iM5*iM5] ProNav: ac range: 536.075623 m, nav range: 517.282776 m, bearing: 34.054131 deg, approach rate: -0.610622 m/s, LOS rate: 0.000069 deg/s, cmd heading: 33.105285 deg, new cmd heading: 33.105338 deg. ie~6eHeadingCmd: 0.577797 target range: 536.075623 and range: 535.80 m.he?hihihihigigijgqrgyeyreyZey:ey*e@颭jBɢR() wfi)顱i3iE ErE<E"E*E?:VE 4ZEa@a@a@a@ԑ |",E*hLA:z>:y?:ٱ:}f=:H?jwoÿC?o?@pBͿ@Q??@?i:z>I:=_;8Y^\By^IIb>)b49Y=DyDE>Q 54?Q 94)BY??Q E:y ?qQ Iu?DI- <5 2Acoustic response timeout^A <=E  E xE =E "E s:*E :VE |4ZE BE !;a 2E #;a JE _o;a :E `o;a  IY Ii O} > ",VLA2>2/?2䄾ٱ2=2H?cmÿ.??_=Ϳm?ȹ?@?i2>I2?_;2CYj\ByjI prp=bDvVDv8y%{=%%R=ٔ-XQ-->9)Y)=5Dy5D5E5>9Q 5E4=?Q 9E4=)=BYIyM ?Q IM?=DI=":i=P:=4yYɮ]!AYuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 536.08 m."i>b8*i>b8 ProNav: ac range: 536.075623 m, nav range: 516.802551 m, bearing: 34.056414 deg, approach rate: -0.626242 m/s, LOS rate: 0.003091 deg/s, cmd heading: 33.107662 deg, new cmd heading: 33.109908 deg. i8HeadingCmd: 0.577877 target range: 536.075623 and range: 535.80 m.h?hhhhggjgrgereZe:e*e}@SkBɢI{)P< kgi)i  2Acoustic response timeout&",c%LA0Z54>Z?ZXٱZ=ZH{? 7J`p4Ŀ@?`? )̿?? ?`2?iZ54>IZ %_;ZCYn]BynIbDvVDv8y=3 >%=I=ٔ=cNQ-E>9AYA=EDyEDMn EM>QQ 5]4U7"?Q 9]4Ud)U2BYaye ?Q Ie?UDIU#;iU $;U64ymBɮmAm%E:i  FNOT Ignoring new targets: 536.08 m."iC\8*iC\8% ProNav: ac range: 536.075623 m, nav range: 516.564880 m, bearing: 34.057679 deg, approach rate: -0.565263 m/s, LOS rate: 0.003009 deg/s, cmd heading: 33.109909 deg, new cmd heading: 33.112439 deg. i%68-HeadingCmd: 0.577921 target range: 536.075623 and range: 535.80 m.h-?h)h)h)h)g)g)D1zD5AAbE4jE!4rE0E= E=nE=;E9"E=:*E=:VE=4ZE9aM@aM@aM@aM@jgQrgQeQreYZeY:eY*e]` @颥kBɢ)y)26< fi)顩ixAM >I I O >B% >B! B%  IB% ^BB! B! B! B% ߺ;B% 2zEY ,",LA2J>2?2ٱ2=2H`E?,`OĿ\? +? P{̿?`??i2J>I2_;2CY:O]By:IiMb@Mb@Mb@ 9On?Q롿~jt?Y?y\D<וA~A SA)AYbDVD8y%=%-L=ٔ-$ Q-->91Y1=5Dy5D5E5>Q 543?Q 94E)UBY?Q E:y?Q I?DI;i@;}4yɮA:iFNOT Ignoring new targets: 536.08 m."i8*i8  ProNav: ac range: 536.075623 m, nav range: 516.326233 m, bearing: 34.059678 deg, approach rate: -0.595496 m/s, LOS rate: 0.004990 deg/s, cmd heading: 33.112439 deg, new cmd heading: 33.116439 deg. i 9HeadingCmd: 0.577991 target range: 536.075623 and range: 535.80 m.h6?hhhhggjgrge!re!Ze!:e!*e%@9]kBɢ])a efia)aaaimiu9@q @q@u0@q@}yA@yԑ 2Acoustic response timeoutԹ ^A 2g=I1 IY O >`f4",\tLAQY]By6IbDVD8y[=%,=ٔQ->9Y=DyDE%>!Q 5-4% G?Q 954%)%{BY1y1Q I5?%DI%:i%:%4y9ɮ=0AA:iaeFNOT Ignoring new targets: 536.08 m."im8*im8} ProNav: ac range: 536.075623 m, nav range: 516.062988 m, bearing: 34.061886 deg, approach rate: -0.573046 m/s, LOS rate: 0.004809 deg/s, cmd heading: 33.116439 deg, new cmd heading: 33.120857 deg. i} 9HeadingCmd: 0.578068 target range: 536.075623 and range: 535.80 m.hD?hhhhggjgrgereZe:e*e&@kBɢ.Yr) sgi)i Tx time:01:04:18.1693 ER#Rx 1: Read range and direction messages.M`direction in FSK: [0.993160,-0.039889,-0.109734]MFpublishing direction and range infoyC?LH\l,=YsD^AUC|w= )II?iCk1?t*@¸*@ z0)@Iz0=ov? g+?1q, ?)=IQl$iz0=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IIOi>D%=D<E EzE>E"Es:*E :VE4ZEa%@a%@a-@a-@Թ ō:", DLA"DAT read: &2Acoustic response timeout>D>>#?>Isٱ>dp=>H? Ŀ?@>N? #̿8~?l?`?i>D>I>3(_;%O=ٔQ-;Q->9Y=DyD⑼E>Q 54W?Q 94)BY3?Q E:y?Q I?DI:it:j 4yɮA&Ei!i%#LAj%D"j%D:j%n ?Rj%<"@"0N5!+NMBj%C?LH\l,=*j%Ql$2j%z0=Zj% ;|@l q@8iS@Jj%k"l?vZ@j?Y{a?j%C j%Ci%j ?i%/6j%Cj%B?j%Gj%Brj%Dzj%? addTargetRange:: Added new target pos. range: 533.799988 m, deltaT: 4.293230 s, deltaX: -2.000000 m, approachRate: -0.465850 m/s, rangeRepo size: 4  Added new target pos. range: 534.114746 m, bearing: 31.239583 deg, lat: 36.779577 deg, lon: -121.859861 deg, deltaT: 4.293230 s, deltaX: -1.960876 m, approachRate: -0.456737 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 534.11 m."i*i ProNav: ac range: 534.114746 m, nav range: 518.552734 m, bearing: 32.872991 deg, approach rate: 0.000000 m/s, LOS rate: 0.004809 deg/s, cmd heading: 33.120858 deg, new cmd heading: 33.124868 deg. iHeadingCmd: 0.578138 target range: 534.114746 and range: 533.80 m.h ?h h h h g gjgrgereZe:e`f@*e?E,lBɢMï{)I M]fiI)QQQiUBPCBT IBO_BB=BBDBe;BzEB]QCB]QCB]ÓCB]=B]=C]52Acoustic response timeout@ @@/5@@@=E  E tE ;E "E :*E v:VE 4ZE BE ;a 2E ;a JE `;a :E `;a 9 ^A Hu=A zA yAiA!I)I9OM?B",U LA.2Acoustic response timeoutY5]By5{IbDE޿VDE8yU=%U(=ٔ]Q-]>9YYY=]DyeDeEe>iQ 5u4mLl?Q 9u4mC)mɢBYyyyQ I}?mDIm ;im ;m4yɮRAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 534.11 m."i%8*i%8 ProNav: ac range: 534.114746 m, nav range: 518.273193 m, bearing: 32.874843 deg, approach rate: -0.602507 m/s, LOS rate: 0.003993 deg/s, cmd heading: 33.124867 deg, new cmd heading: 33.128572 deg. i8HeadingCmd: 0.578203 target range: 534.114746 and range: 533.80 m.h?hhhhggjgrgereZe:e*er? glBɢ q) gi)i2Acoustic response timeoutԡEE  EE pEE <EA "EE :*EE  :VEE 4ZEA aM @aM @aM @aM @ I",*&LAed>e?epٱe=eH@ ?@L>Ŀ ?$[?@T̿ @?@? ?ied>Ie^_;aYJ^ByIi}Mb@Mb@Mb@yyyy y9}`"?I +Mb?Y}?y}94}@=}A} A }A)}ȇAyY}A 4=4=bDԱVDİ8y_M>%5=ٔ9Y=DyD"E>Q 54~?Q 94)BYO?Q E:y ?Q I?(DI:G;iC&;4yɮ A :i15FNOT Ignoring new targets: 534.11 m."i=8*i=8M ProNav: ac range: 534.114746 m, nav range: 518.019226 m, bearing: 32.875727 deg, approach rate: -0.559883 m/s, LOS rate: 0.001949 deg/s, cmd heading: 33.128572 deg, new cmd heading: 33.130340 deg. iMEd8UHeadingCmd: 0.578234 target range: 534.114746 and range: 533.80 m.hU?hQhQhQhQgYgYjgYrgYeareaZea2Acoustic response timeout:e!*e%ل?颵lBɢ]jh) ei)项iGBB IB_BB=BBB;B;{E ^A] u \=Ai Am > 2Acoustic response timeout1 A .AI I O >IAP",ALAD8zD:@AEB EBsEB:E@"EB%:*EBZ:VEB(4ZE@BEB;aF2EB;aFJEB,];aF:EB-];aFY5^By5IbDEVDE8yUQ>%U[=ٔ]Q-]>9] ?Y] ?=]Dye DeEe>iQ 5u4m?Q 9u4m)mBYqyyQ I}?m5DIm;im;mL#4yɮA:iFNOT Ignoring new targets: 534.11 m."i68*i68 ProNav: ac range: 534.114746 m, nav range: 517.810181 m, bearing: 32.876455 deg, approach rate: -0.565321 m/s, LOS rate: 0.001970 deg/s, cmd heading: 33.130341 deg, new cmd heading: 33.131798 deg. if8HeadingCmd: 0.578259 target range: 534.114746 and range: 533.80 m.h?hhhhggjgrgereZe:e*e R ?颅lBɢG|ԉ) ci)顱i>5 GGM {Aa s9 {AY ݛA fV",ZZLAB>BQ?B0ٱB=BH$?0@8ÿ ?Lj?˿ ?? ?iB>IBR_;@YR^ByR IbDbVDb8yn>%rS=ٔrݏ9v"?Yv"?=zDyzD~nۻE~>Q 54?Q 94)BBYy2 ?Q I?CDIdE;iS;*4y)ɮ5A5'E:i2Acoustic response timeoutFNOT Ignoring new targets: 534.11 m."iH8*iH8 ProNav: ac range: 534.114746 m, nav range: 517.590515 m, bearing: 32.877282 deg, approach rate: -0.537734 m/s, LOS rate: 0.002026 deg/s, cmd heading: 33.131800 deg, new cmd heading: 33.133455 deg. i@m8 HeadingCmd: 0.578288 target range: 534.114746 and range: 533.80 m.h  ?h h hhggYjgYrgYeYreaZea:ea*ee`b@ mBɢ{) ci)iB% >B! B%  IB% l`BB% =B! B! B% X;B% {E\",дtLA2>2dK?2{ٱ27=2H+?`ÿ3?i?*˿o,?d? ?i2>I2JR_;0Y>_By>4 IiMMb@Mb@Mb@IIII I9MA`"?%uA=ٔ}9} ?Y} ?=Dy*D\xE>Q 54|?Q 94)mBY?Q E:y?Q I?RDIv;i;x14yɮA:iFNOT Ignoring new targets: 534.11 m."i(5*i(5 ProNav: ac range: 534.114746 m, nav range: 517.352356 m, bearing: 32.877307 deg, approach rate: -0.591384 m/s, LOS rate: 0.000062 deg/s, cmd heading: 33.133456 deg, new cmd heading: 33.133506 deg. i5HeadingCmd: 0.578289 target range: 534.114746 and range: 533.80 m.h ?hhhhggjgrgereZe:e*e@-;mBɢ-W)) -ai))111iUHxc",&LA"2Acoustic response timeout@YC_ByM IbD-VD-8y==%EN=ٔEQ-E>9M"?YM"?=MDyM:DMEM>QQ 5]4Uc?Q 9]4Ug)UBYayaQ Ie?UaDIU<;iUY;Uh84ymBɮmAiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 534.11 m."i׋5*i׋5 ProNav: ac range: 534.114746 m, nav range: 517.127747 m, bearing: 32.877331 deg, approach rate: -0.565476 m/s, LOS rate: 0.000060 deg/s, cmd heading: 33.133507 deg, new cmd heading: 33.133555 deg. i5HeadingCmd: 0.578290 target range: 534.114746 and range: 533.80 m.h ?hQhQhQhQgYgYjgYrgYeareaZea:ea*ee@5rmBɢ5w)1 5bi1)999i=*i",WxLAl_>?8sٱL=HC1?&`<¿b?De?J5˿/?n? ;?i_>I?_;Y}_Byp II!>)p;imMb@Mb@Mb@iiii i9mX9v?L7A`?i|?5?Ym?ym+=mq=mAm£A mA)mlAiYmfAbDVD8y`>%6=ٔJ9Y=DyLD;E>Q 54q?Q 94l)ƣBY?Q E:yv?Q I?qDIL ;i?;<@4yaBɮAE:iFNOT Ignoring new targets: 534.11 m."iD*iD ProNav: ac range: 534.114746 m, nav range: 516.865662 m, bearing: 32.876132 deg, approach rate: -0.585300 m/s, LOS rate: -0.002679 deg/s, cmd heading: 33.133555 deg, new cmd heading: 33.131156 deg. i✸HeadingCmd: 0.578248 target range: 534.114746 and range: 533.80 m.h ?hhh h g g jgrgereZe:e*e@!F @M2Acoustic response timeoutUmBɢULv)Q UbiY)YYYi]>5@B>BNCBZ IB`BB=B+DBDBѼ;B%|E1^ABJ=Y I I O > BDAT read: Rx Time:01:04:21.2818  TRx dataTimestamp_ set to:1764896662.992553 2Acoustic response timeoutp",ELAE6 E6sE6;E4"E6g:*E6Z:VE64ZE4BE6;a:2E6;a:JE6,];a::E6-];a>J>JI?JIJ8_;JC9Y]_Bye I mC=m=bDuVDu8yIN>%^=ٔ+9Y=Dy[D;E>Q 54R?Q 94!)BYy?Q I?DI:iG:F4yɮA:iFNOT Ignoring new targets: 534.11 m."izH*i%zH- ProNav: ac range: 534.114746 m, nav range: 516.649414 m, bearing: 32.875100 deg, approach rate: -0.573593 m/s, LOS rate: -0.002739 deg/s, cmd heading: 33.131158 deg, new cmd heading: 33.129093 deg. i-aUHeadingCmd: 0.578212 target range: 534.114746 and range: 533.80 m.hU?hYhYhYhYgYgYjgargaeareaZei:ei*emQ @颽mBɢ)ٗ< )ai)i ʶv", )LA  > ? kٱ = H`,?]@מ?fE?˿ 8???i  >I ^_; CY_By Iԙ=DAT read: 01:04:21.2818 LVL= 30688, 32753, 32754, 32755, AGC= 72, IDX= 402,-0.19,-0.094,-1.676, 0.151,-0.692, PHS= 0.700,-0.939, 0.799, RAW= 152.9, -6.7, CAL= 153.0, -8.2, ROT= 357.0, 8.2 EYgot valid direction response: 01:04:21.2818 LVL= 30688, 32753, 32754, 32755, AGC= 72, IDX= 402,-0.19,-0.094,-1.676, 0.151,-0.692, PHS= 0.700,-0.939, 0.799, RAW= 152.9, -6.7, CAL= 153.0, -8.2, ROT= 357.0, 8.2 MPDAT read: Bearing 172.1, 9.3 (Local) M~Local bearing/azimuth received: Bearing 172.1, 9.3 (Local) ]DAT read: Range 11 to 50 : 531.2 m (Round-trip 708.3 ms) speed 0.4 m/s eRDAT read: user:37>Tx time:01:04:22.3693 eR#Rx 1: Read range and direction messages.m`direction in FSK: [0.988420,-0.051801,-0.142629]mFpublishing direction and range infoy /"?Sxx0A¿YDw )HI333?iNbpDL?{*@|*@ C)b@IC>2!?oGKD?zƽ k?)h=IQwViC>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.bDVD8bE™4jE>4rE/Eu Eu{Eu:Eq"Eu:*Eu5":VEu(4ZEqa}@a}@a@a@yÚ=%*=ٔ9Y=DyoD~;EE>IQ 5U4M-?Q 9U4M)MBYQyU0?Q I]?MDIMu:iM>:MJO4yaɮAEiiLAjD"jD:j ?Rjj@uX&;RBj /"?Sxx0A¿*jQwV2jC>Zj to|@wwp@6G-E@Jj*vd?EU?L ?jC j{Ci3?ijBjCf?j/6jBrjDzjl ?- addTargetRange:: Added new target pos. range: 531.200012 m, deltaT: 4.048430 s, deltaX: -2.599976 m, approachRate: -0.642218 m/s, rangeRepo size: 4  Added new target pos. range: 531.493652 m, bearing: 30.806056 deg, lat: 36.779651 deg, lon: -121.859945 deg, deltaT: 4.048430 s, deltaX: -2.621094 m, approachRate: -0.647435 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 531.49 m."i*i] ProNav: ac range: 531.493652 m, nav range: 519.299255 m, bearing: 31.690696 deg, approach rate: 0.000000 m/s, LOS rate: -0.002739 deg/s, cmd heading: 33.129091 deg, new cmd heading: 33.126195 deg. iamHeadingCmd: 0.578161 target range: 531.493652 and range: 531.20 m.hm_?hihihihggjgrgereZe:e@*e?(nBɢB MCB IB ~aBB =B B DB !;B p|E^A @W=IIiIyO>O}",LAf/>fa?fgٱfzZ=fH'?n?`,1?z7̿@?s??if/>Ifq._;dYv?`Byv I iMb@Mb@Mb@ 9)\(? ףp= ?y&1?YG!?yQ8=`e=A A)Y3AbDVD8y7F>%H=ٔ9Y=DyD=;E=>AQ 5M4E?Q 9M4E)EIBYUS"?Q EU:yU#?Q IU?EDIE;iE;EtV4yYɮ]AY:iFNOT Ignoring new targets: 531.49 m.ߍ=ߍ%=2Acoustic response timeout"i*i鸝 ProNav: ac range: 531.493652 m, nav range: 519.053589 m, bearing: 31.688360 deg, approach rate: -0.671653 m/s, LOS rate: -0.006389 deg/s, cmd heading: 33.126195 deg, new cmd heading: 33.121521 deg. i;HeadingCmd: 0.578080 target range: 531.493652 and range: 531.20 m.h?hhhhggjgrgereZe:e*eI?QnBɢ)qa= ai)iA E 2Acoustic response timeout",rLA68>6 ?6dٱ6=6H!?)?6"?:̿8D?`?`?i68>I6ց_;6CY>q`By> IDFAAbDJVDJ8yRf>%R_=ٔV+9TYT=VDyVDZ0<EZ>\Q 5b4^0?Q 9b4^)^mBY`yb?$?Q If?^DI^;i^Y;^\4yhɮjAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 531.49 m."iָ*iָ ProNav: ac range: 531.493652 m, nav range: 518.842102 m, bearing: 31.686289 deg, approach rate: -0.599283 m/s, LOS rate: -0.005874 deg/s, cmd heading: 33.121520 deg, new cmd heading: 33.117375 deg. i+HeadingCmd: 0.578007 target range: 531.493652 and range: 531.20 m.hH?hhhhggjgrgereZe:e*e ?=nBɢ=޳)9 EaiA)AAAiE]A= > U 2Acoustic response timeoutAIIO>y@",Rc3LA2֢>2ڛ?2PP`ٱ2=2HX?! ~!?a?8̿??L?i2֢>I2|m_;2CY:}`By: IBv>BtBv IBvaBBv=BtBtBv8;Bv|EBNCBOCBCB=B=C 6AiUMb@Mb@Mb@QQQQ Q9UT㥛 ?)\(?A`"?YU!?yUGa=UY=UAQ U\A)QQYUAbDVD8y<%=ٔu;Q->9Y=DyDr;E%>!Q 5-4%w'?Q 954%[)%BY54"?Q E5:y5)?Q I5?%DI%:i%:%e4yAɮEAA:iamFNOT Ignoring new targets: 531.49 m."im*im ProNav: ac range: 531.493652 m, nav range: 518.524231 m, bearing: 31.682505 deg, approach rate: -0.599679 m/s, LOS rate: -0.007142 deg/s, cmd heading: 33.117374 deg, new cmd heading: 33.109803 deg. i!QHeadingCmd: 0.577875 target range: 531.493652 and range: 531.20 m.h?hhhhggjgrgereZe:e*e`q??nBɢb)< di)io",MLA2Ak>2?2\ٱ2o>2H?6+@л .? ?&R̿f?bH?`:?i2Ak>I2ߍ_;0Y:`By:G II>=)>4<bDFVDF8yN>%Nc=ٔ 9 Y=DyDˆ;E>Q 5%4-6?Q 9%4ȵ)ƤBY)y-Z)?Q I-?DI:i:Il4y1ɮ5ҷA5 E:iY]FNOT Ignoring new targets: 531.49 m."ie*ieu ProNav: ac range: 531.493652 m, nav range: 518.304260 m, bearing: 31.679856 deg, approach rate: -0.601000 m/s, LOS rate: -0.007242 deg/s, cmd heading: 33.109803 deg, new cmd heading: 33.104502 deg. iuT}HeadingCmd: 0.577783 target range: 531.493652 and range: 531.20 m.h}?hyhyhyhyggjgrgereZe:e*e ?2Acoustic response timeoutnBɢ[C)m= ai)iԁZa",kLApɰp-4>-d?-Xٱ-=-H ?0@=?^ ?˿=? ? ?i-4>I-PU_;-CY=`By=W IiMb@Mb@Mb@ 9%C?J +?Zd;O?YZ$?yH=j<=AA A)AYA 4=4=bDVD8yUL=%U=ٔ]Z;Q-]>9YYY=]DyeDeA;Ee>iQ 5u4mK?Q 9u4m)mBYu@%?Q E}:y}/'?Q I}?mDIm:im(:m\u4yɮA2Acoustic response timeout:iFNOT Ignoring new targets: 531.49 m."i9*i9 ProNav: ac range: 531.493652 m, nav range: 517.984741 m, bearing: 31.676305 deg, approach rate: -0.612432 m/s, LOS rate: -0.006809 deg/s, cmd heading: 33.104503 deg, new cmd heading: 33.097398 deg. iaGHeadingCmd: 0.577659 target range: 531.493652 and range: 531.20 m.ho?hhhhggjgrgereZe:e*e9@ =oBɢ_)%q< %di!)!!!i-%BB/ IBSbBB=BBBe;B|E9Ul=9@ @@ 3@i E 2Acoustic response timeoutE  E pE =E "E :*E  :VE |4ZE BE a 2E a JE @R;a :E AR;a ԑ ^A- |=A5 xAzA5 zAAYIaIyO?",LA(B)>BE_?ByWٱBͭ=BH a??-Fl=? ?ϔ˿0?R?@?iB)>IB_;BCYJaByJn IbDR#VDRͰ8yz =%z,=ٔz+ ;Q-z>9|Y|=~Dy~Dg?E>Q 5 4^?Q 94)#BYy6'?Q I?DIQ;i;s}4y%6Bɮ%A%E:iIMFNOT Ignoring new targets: 531.49 m."iU*iUe ProNav: ac range: 531.493652 m, nav range: 517.699768 m, bearing: 31.673132 deg, approach rate: -0.617471 m/s, LOS rate: -0.006879 deg/s, cmd heading: 33.097399 deg, new cmd heading: 33.091050 deg. iemImHeadingCmd: 0.577548 target range: 531.493652 and range: 531.20 m.hm,?hihihihigqgqjgqrgqeyreyZey:ey*e}@颭zoBɢp) fi)顱i,C1Iu9yY}rAԑ^AS= % 2Acoustic response timeoutA I I O >E  E zE 9E "E :*E  :VE 4ZE a @a @a @a @",ۥLAJ7*>J_?JNUWPٱJy=JH`?#,]P =? ?*u˿?\?j?iJ7*>IJv_;JCYV@aByZ I \\bDbVDb8yjZ=%jM=ٔn:Q-n>9lYp=rDyrDrL47Er>tQ 5z4v^o?Q 9z4v)vIBYxy~:'?Q I~?vDIv;iv^;vn4yɮZA%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 531.49 m."i5*i5M ProNav: ac range: 531.493652 m, nav range: 517.453979 m, bearing: 31.670391 deg, approach rate: -0.615672 m/s, LOS rate: -0.006871 deg/s, cmd heading: 33.091051 deg, new cmd heading: 33.085565 deg. iM2IUHeadingCmd: 0.577452 target range: 531.493652 and range: 531.20 m.hU?hQhQhQhQgQgjgrgereZe:e*e@6 @额oBɢsQz) 0gi)iB}NCB}a IB}bBB}=ByB}DB}y;B}|E- 9@)  @) @- 0@1 1 5 2Acoustic response timeoutQ ^Am=DzDE EtEE"E*Ev:VEZEBEy;a2Ez;aJE`;a:E`;aԁAIIO ?]5",NCLA2>2ZX?2Vٱ2=2H?*g=?l?@O˿@?@ҽ? (?i2>I2_;2CY:naBy> I@B@AbDFVDF8yN&=%N=ٔR8:Q-R>9PYP=VDyVDV SEV>XQ 5^4Z?Q 9^4Z)Z|BY\yb9'?Q Ib?ZDIZ:iZ:Z4yf7BɮfAd:itzFNOT Ignoring new targets: 531.49 m."i~ *i~  ProNav: ac range: 531.493652 m, nav range: 517.117920 m, bearing: 31.666638 deg, approach rate: -0.616293 m/s, LOS rate: -0.006886 deg/s, cmd heading: 33.085566 deg, new cmd heading: 33.078057 deg. i I HeadingCmd: 0.577321 target range: 531.493652 and range: 531.20 m.h O?hhhhggjgrgere!Ze!:e!*e%x @MoBɢ2e) hi)i%( 2Acoustic response timeout8Z",WLA2 >2UP?2oVٱ2l=2HD ?`'Au%=??Q+˿؛? n? ?i2 >I2!%_;2CY>aBy> IbDFVDF8yN=%NK=ٔn:Q-r>9r ?Yr ?=rDyrDvEEv>xQ 5z4z?Q 9~4z)zBY|y~6'?Q I~?z.DIz;iz;z$4y ɮ ʵA EE% E%xE%=E!"E%:*E%:VE%|4ZE!a-@a-@a-@a-@:iAMFNOT Ignoring new targets: 531.49 m."iM*iM] ProNav: ac range: 531.493652 m, nav range: 516.865295 m, bearing: 31.663816 deg, approach rate: -0.610598 m/s, LOS rate: -0.006826 deg/s, cmd heading: 33.078056 deg, new cmd heading: 33.072408 deg. ieGeHeadingCmd: 0.577222 target range: 531.493652 and range: 531.20 m.he?hahihihigigijgqrgqeqreqZeq:ey*e}`4d@颥-pBɢ)= Eji)顩iXOTx time:01:04:26.5693 uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.993523,-0.029488,-0.109734]}Fpublishing direction and range infoy͵?L]1,=Y,D )JI)?i"{H:?)@¸Us)@ z0)@Iz0= ??76 . ?)=Iiz0=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.BA<B>BB IBbBB=BBB;B|E^A ԩ Ae ؟AIq I O >",LA6>6u=?6(Vٱ6=6H!?$@,w;?`? K˿E?>?@?i6>I6]8_;4=ٔe&&:Q-e>9m"?Ym"?=mDym#Dm3Em>qQ 5}4us?Q 9}4u~)uʥBQ A+:YQ E:y)'?Q I?u?DIu:iu>u4yɮAiAiE`LAjE?D"jE?D:jE?RjE l@oF2/xxw?MBjE͵?L]1,=*jE2jEz0=ZjE^{@q@P>XlxI@JjE;.o?]H?jࠟ?jEFC jE'CiEp驊?iE'!jEBjEp驊?jAjArjE!DzjEF ?DAT read: 2Acoustic response timeout addTargetRange:: Added new target pos. range: 528.700012 m, deltaT: 4.282151 s, deltaX: -2.500000 m, approachRate: -0.583819 m/s, rangeRepo size: 4  Added new target pos. range: 528.994202 m, bearing: 32.453516 deg, lat: 36.779692 deg, lon: -121.859945 deg, deltaT: 4.282151 s, deltaX: -2.499451 m, approachRate: -0.583690 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 528.99 m."i*i  ProNav: ac range: 528.994202 m, nav range: 520.518372 m, bearing: 31.395661 deg, approach rate: 0.000000 m/s, LOS rate: -0.006826 deg/s, cmd heading: 33.072408 deg, new cmd heading: 33.066285 deg. i HeadingCmd: 0.577116 target range: 528.994202 and range: 528.70 m.hؽ?hhhhggjgrg!e!re!Ze!:e%@*em(?ԩkpBɢ r) Vli)iy-",qWLA2>2%?2ZVٱ2^=2H@#? sջ 9?`?;ʿ{??#?i2>I2+_;2CY:aBy: I BC=Bp=bDFVDF8HyRb6=%RS=ٔR9Q-R>9V ?YV ?=VDyV3DVrEZ>xQ 5~4z۸?Q 9~4z)zBQ A :YQ EW:y'?Q I?zODIz:izQ?z4y ɮ nA1:iquFNOT Ignoring new targets: 528.99 m."i *i  ProNav: ac range: 528.994202 m, nav range: 520.274597 m, bearing: 31.392838 deg, approach rate: -0.650601 m/s, LOS rate: -0.007536 deg/s, cmd heading: 33.066284 deg, new cmd heading: 33.060637 deg. i\HeadingCmd: 0.577017 target range: 528.994202 and range: 528.70 m.hb?hhhhggjgrg)e1re9Ze9:eA*eE`?pBɢ^b) fni)!!!ie",-1LA:>:pF?:unVٱ:=:H` ?$ "I: U_;:CYBaByB IN2Acoustic response timeoutxaa aa aa aa% i%Mb@Mb@Mb@!!!! !9%ʡE?~jt?L7A`?Y%?y%<%+=%A%A %A)%A!Y%•AbD=#VD=Ͱ8yE9i=%E@=ٔMEQ-M>9IYQ=DyDDb:E>Q 54?Q 94)BQ AT:Y?Q E:y?Q I?_DI7:i:94y!ɮ%BUMCBU IBU=cBBU=BQBUDBUP;BU|EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 520.017212 m, bearing: 31.391121 deg, approach rate: -0.580883 m/s, LOS rate: -0.003879 deg/s, cmd heading: 33.060636 deg, new cmd heading: 33.057198 deg. i,㸝HeadingCmd: 0.576957 target range: 528.994202 and range: 528.70 m.hs?hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e] S?!-pBɢ-ҁ)1 5Xpi1)111i5J ?JuWٱJs7=JH?1G`I??ʿ?{S??iJ7>IJM_;JCYVaByV I XXbD^VD^°8yfѓ=%f=ٔj{Q-j>9j"?Yn"?=nDynZDn҇;En>pQ 5v4rj?Q 9v4r)r@BYtyzY?Q Iz?rsDIr:irb:ru4y~ Bɮ~@A~E:i%FNOT Ignoring new targets: 528.99 m."i%a*i-a5 ProNav: ac range: 528.994202 m, nav range: 519.703125 m, bearing: 31.388942 deg, approach rate: -0.615679 m/s, LOS rate: -0.004272 deg/s, cmd heading: 33.057197 deg, new cmd heading: 33.052838 deg. i=5=HeadingCmd: 0.576881 target range: 528.994202 and range: 528.70 m.h=w?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU x?}qBɢ}v)y }qi)顁i,",7nLA En>E'$?E XٱEB=EH`?:F,Q??`cʿ?r?P?iEn>IEl_;ECYU&bBy] IiMb@Mb@Mb@ 9Gz?~jt?Q?Yp?yD<\=A 9A)A2Acoustic response timeoutYAbDVD8y=%8=ٔQ->9Y=DylD/;E%>!Q 554%?Q 954%)%eBY5?Q E=:y=?Q I=?%DI%u*;i%i);%;4yEBɮE׳AA:iimFNOT Ignoring new targets: 528.99 m."iux*iux ProNav: ac range: 528.994202 m, nav range: 519.439392 m, bearing: 31.387428 deg, approach rate: -0.591761 m/s, LOS rate: -0.003399 deg/s, cmd heading: 33.052839 deg, new cmd heading: 33.049810 deg. iǸHeadingCmd: 0.576828 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e@nM@aAAAAB>BLCB IBcBB=BBB;BH|EB]MCB]MCBYB]=B]=C]5SqBɢ%v)! %ri)))))i-F>Rm?RFXٱR!a=RH@ ? 5C@ >@)X?q?@ʿ`?锼??iR>F>IRoM_;RCYnUbByn0 IbDvVDv8y~ѿ=%~'=ٔ~.Q->9Y=DyD ;E >U2Acoustic response timeoutQ 54?Q 94)BYy?Q I?DIS:i;4yɮxA:iFNOT Ignoring new targets: 528.99 m."i l|*i l| ProNav: ac range: 528.994202 m, nav range: 519.138855 m, bearing: 31.385665 deg, approach rate: -0.587396 m/s, LOS rate: -0.003448 deg/s, cmd heading: 33.049810 deg, new cmd heading: 33.046282 deg. iɸ%HeadingCmd: 0.576766 target range: 528.994202 and range: 528.70 m.h%?h!h!h)h)g)g)jg1rg1e1re1Ze1:e9*e=`me@eqBɢeV{)i msii)iiiiu 2Acoustic response timeoutԙ E  E E @E "E s:*E ,:VE 4ZE a @a @a @a @",wLA0Y]{bBy]G IbDmVDm8y=%@=ٔQ->9Y=DyDE>Q 54?Q 94)BYyQ I?DI~ ;ii ;Lȥ4y Bɮ.AE:i  FNOT Ignoring new targets: 528.99 m."i)*i%)] ProNav: ac range: 528.994202 m, nav range: 518.894165 m, bearing: 31.384228 deg, approach rate: -0.600572 m/s, LOS rate: -0.003529 deg/s, cmd heading: 33.046282 deg, new cmd heading: 33.043407 deg. i]θuHeadingCmd: 0.576716 target range: 528.994202 and range: 528.70 m.h}?hyhyhhggjgrgereZe:e*e@ԑ-qBɢ-)) 5ti1)111i5(=I=?IAiIIMAU2Acoustic response timeoutB>BMCB IBcBBBBDB;B6|E@ @@4@Թ ^A i=Ii Iy O > 2Acoustic response timeout@",<LA2u>2?2yZٱ2C=2H?MT`Ļ`5`??˿(?@? ?i2u>I2_;2CY:bBy:Y Ili5Mb@Mb@Mb@1111 195Zd;?Mbp?{Gz?Y5?y5;5#=5ԉA5AA 5-A)5SA1Y5AbDMVDM8y]=%]P=ٔ]WQ-e>9aYa=eDyeDm݀;Em>qE EzE:E"E%:*E :VE(4ZEBE;a2E;aJEv;a:Ev;aQ 54u(?Q 94u~)uԦBY3?Q E:yt?Q I?uDIu4;iuǸ;uϥ4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."i8*i8 ProNav: ac range: 528.994202 m, nav range: 518.669556 m, bearing: 31.383237 deg, approach rate: -0.571745 m/s, LOS rate: -0.002524 deg/s, cmd heading: 33.043407 deg, new cmd heading: 33.041424 deg. iʓHeadingCmd: 0.576682 target range: 528.994202 and range: 528.70 m.hh?hhhhggjgrgereZe:e*e & @-qBɢ5W)1 5vi1)119i=n=E=IEh?IAIQ)Q 9@ @@/@@=@=1}2Acoustic response timeout^Az= ! I9 IQ a O > 9 Y Aa #",NLA2C>2g?2C@\ٱ2+t=2H=?Yöa?? ̿`Q? X?v?i2C>I2!_;2CY:bBy:k IbDF VDF8yJ=%JX=ٔN5aQ-N>9PYP=RDyRDR:EV>TQ 5Z4V7?Q 9Z4Vn{)VBY\y^?Q I^?VDIVT;iV;Vե4y`ɮfAd:itvFNOT Ignoring new targets: 528.99 m."izj>*izj> ProNav: ac range: 528.994202 m, nav range: 518.450134 m, bearing: 31.382262 deg, approach rate: -0.585052 m/s, LOS rate: -0.002601 deg/s, cmd heading: 33.041423 deg, new cmd heading: 33.039471 deg. iU HeadingCmd: 0.576648 target range: 528.994202 and range: 528.70 m.h -?h h h hggjgrgereZe:e!*e%Z @9U%rBɢUsp)U];= UwiY)YYYi]Cԙ 2Acoustic response timeoutԹ B >B NCB N IB 'dBB =B B DB ;B B|EL",LA2W->2?2Q]ٱ2v=2H`? ~Y_?? g̿`Ԁ?a?`?i2W->I2 _;0YNbByN IԙiMb@Mb@Mb@ 9$C?~jth?ˡE?Y?yD;'=xAA ۧA)AY\AAAbD-VDְ8y ڔ=% 5=ٔ-UQ->9Y=DyDǹE>!Q 5-4%CJ?Q 9-4%w)%BY5x?Q E5:y5?Q I5?%DI%;i%;%ݥ4y9ɮ=wAA:iaeFNOT Ignoring new targets: 528.99 m."im2*im2 ProNav: ac range: 528.994202 m, nav range: 518.188721 m, bearing: 31.381158 deg, approach rate: -0.578649 m/s, LOS rate: -0.002444 deg/s, cmd heading: 33.039473 deg, new cmd heading: 33.037265 deg. i%HeadingCmd: 0.576609 target range: 528.994202 and range: 528.70 m.h%?h!h!h!h!g!g!jg)rgIeIreQZeQ:eQ*eU@@eerBɢeKx)} = }xiy)y顁iW",6LA2 ׽>2?2[V_ٱ2=2H?W Y/Y?? E̿D???i2 ׽>I2_;2CY:cBy: IbDBVDBȰ8yJ=%N`=ٔNQ-N>9LYP=RDyRDRER>TQ 5Z4VY?Q 9Z4Vt)V;BY\y^?Q I^?VDIV:iV:V4y`ɮbAbE:itvFNOT Ignoring new targets: 528.99 m.~2Acoustic response timeout"iz/*iu/} ProNav: ac range: 528.994202 m, nav range: 517.977722 m, bearing: 31.380284 deg, approach rate: -0.578723 m/s, LOS rate: -0.002400 deg/s, cmd heading: 33.037263 deg, new cmd heading: 33.035513 deg. iHeadingCmd: 0.576578 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e|:@ԱrBɢNߘ) yB= xi)iHEe  Ee yEe 9Ea "Ee :*Ee :VEe 4ZEa am @am @am @am @1 } ",K,LAY cBy II%p<)%<bD5VD58yEA=%E@=ٔEQ-E>9IYI=MDyMDMEU>QQ 5]4U\j?Q 9e4Up)U`BYayaQ Ie?UDIUs;iUM;Ug4yiɮmAq:iFNOT Ignoring new targets: 528.99 m."i/*i/ ProNav: ac range: 528.994202 m, nav range: 517.732117 m, bearing: 31.379264 deg, approach rate: -0.578490 m/s, LOS rate: -0.002402 deg/s, cmd heading: 33.035514 deg, new cmd heading: 33.033475 deg. iHeadingCmd: 0.576543 target range: 528.994202 and range: 528.70 m.hQ?hhhhggjgrgereZe:e*ei@rBɢ咊)! %*zi!)!!!i%GBMMCBM IBMxdBBM=BIBMDBM;BM{Ea5]=q@ @@G1@ԙ  2Acoustic response timeout^A m=IY Dq zDq E}  E} vE} ;Ey "E} %:*E} :VE} 4ZEy BEy a 2Ey a JE} h;a :E} h;a I O >u",HLA24>2d?2mcٱ2=2H@?T L?u?̿7??@?i24>I2l_;2CY:RcBy: IiMb@Mb@Mb@ 9333333?{Gz?&1?Y?y#<P=ȇAA -A)AY3A a=a=bDVDİ8y-=%-9=1ٔ5eQ-5>99Y9==Dy=DE6EE>AQ 54E%|?Q 94E=m)EBY,?Q E:y?Q I?E DIEZԱ +",EbLA6ӛ>6V?6xyeٱ6E2=6H 7?*J@7C??Ev̿`q? ? ?i6ӛ>I6_;6CY>ycBy> IbDJVDJɰ8yR=%RT=ٔRQ-R>9TYT=VDyV DVGEZ>XQ 5^4Z?Q 9b4Zj)ZBY`yb?Q Ib?Z DIZ;iZ;Z4ydɮfAh:ixzFNOT Ignoring new targets: 528.99 m."i`*i`  ProNav: ac range: 528.994202 m, nav range: 517.257935 m, bearing: 31.376865 deg, approach rate: -0.611869 m/s, LOS rate: -0.003069 deg/s, cmd heading: 33.030880 deg, new cmd heading: 33.028675 deg. iHeadingCmd: 0.576459 target range: 528.994202 and range: 528.70 m.hӒ?hhhhgg!jg!rg!e!re)Ze):e)*e-,@E2Acoustic response timeoute*sBɢeZp)eP;= e{ii)iiiimU",} |LA2L>2?2vgٱ2=2H~?@??"[9? ?@̿???i2L>I2L_;2CY:cBy: I <9iYi=mDym Dmu5Eu>qQ 5}4uל?Q 94uRf)uקBYG?Q E:y7?Q I?u DIu;iu]:uZ4yɮZA:iFNOT Ignoring new targets: 528.99 m."i^o*i^o ProNav: ac range: 528.994202 m, nav range: 517.009521 m, bearing: 31.375464 deg, approach rate: -0.579547 m/s, LOS rate: -0.003270 deg/s, cmd heading: 33.028674 deg, new cmd heading: 33.025871 deg. i~HeadingCmd: 0.576410 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e.@-_sBɢ-_)) U|iQ)QQYi]6c?6jٱ6[=6H@_?`r-@+?P ?@N˿G??C?i6@2>I6?_;6CY>cBy> IDF@AbDJVDJ8yR=%R'=ٔVڻQ-V>9TYT=VDyZ* DZREZ>\Q 5b4^?Q 9b4^b)^BY`yf ?Q If?^2 DI^ :i^::^ 4yjBɮjAj E:iq}FNOT Ignoring new targets: 528.99 m."i}d*i}d ProNav: ac range: 528.994202 m, nav range: 516.726074 m, bearing: 31.373885 deg, approach rate: -0.560871 m/s, LOS rate: -0.003126 deg/s, cmd heading: 33.025870 deg, new cmd heading: 33.022711 deg. iHeadingCmd: 0.576355 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e`@sBɢ{) #S= ~i )iހB B  IB NeBB =B B B ;B {EBqBqBu̓CBqBqCu(5A .AI I O>-",lLAxYmcByu1 IiMb@Mb@Mb@ 9X9v?S㥛?v/?Y?y/<xi=AA -A)}AYAbD VD8y%=%% =ٔ%Q-->9- ?Y- ?=5Dy5? D5E5>9Q 5E4=&?Q 9E4=])=;BYE?Q EE:yMq?Q IM?=E DI=; ;i=3;=4yQɮUAQ:iy}FNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 516.427551 m, bearing: 31.371520 deg, approach rate: -0.605167 m/s, LOS rate: -0.004798 deg/s, cmd heading: 33.022711 deg, new cmd heading: 33.017978 deg. i} HeadingCmd: 0.576272 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e j@]sBɢ]})Y ]n~iY)i_4",0LAɰ>>>~?>zMnٱ>=>H(?1"d,??P˿ ? ??i>>I>4._;>CYJdByJG IbDRVDR8yZ=%Zf=ٔZ:Q-Z>9\b2Acoustic response timeoutY\=fDyfM Df:Ef>hQ 5n4j?Q 9n4jZZ)j`BYpyr?Q Ir?jS DIj+;ij;j4ytɮvMAt B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 528.99 m."i*i%- ProNav: ac range: 528.994202 m, nav range: 516.218811 m, bearing: 31.369842 deg, approach rate: -0.584836 m/s, LOS rate: -0.004702 deg/s, cmd heading: 33.017978 deg, new cmd heading: 33.014622 deg. i- 5HeadingCmd: 0.576214 target range: 528.994202 and range: 528.70 m.h5?h1h9h9h9g9g9jgArgAeAreAZeI:eI*eM`vO@Y}tBɢ}ه)}9= ~i)顁i A=>Ա}2Acoustic response timeoutAe ؟AIq I O >E=  E= E= 8E9 "E= g:*E= *:VE= F4ZE9 aE @aE @aE @aE @ :",k LA2[ۻ>2?2|oٱ2=2H? <6.?.?@+˿`?g*?@?i2[ۻ>I2rG_;2CYN@dByR^ I TTbDZ VDZ8yb=%bI=ٔf4|Q-f>9f"?Yf"?=fDyj] Dj:Ej>lQ 5r4n?Q 9r4nV)nBYpyv?Q Iv?nb DIn:in:n 4yxɮzAx:iFNOT Ignoring new targets: 528.99 m."i9*i9 ProNav: ac range: 528.994202 m, nav range: 515.981873 m, bearing: 31.367933 deg, approach rate: -0.563266 m/s, LOS rate: -0.004541 deg/s, cmd heading: 33.014621 deg, new cmd heading: 33.010800 deg. iHeadingCmd: 0.576147 target range: 528.994202 and range: 528.70 m.ha~?hhhhggjgrgereZe:e*e @;tBɢ)! %i!)!!!i%BLCBB IBeBB=BBDB;B{E^AiA I I O >9  2Acoustic response timeoutxA",LA2[*>2?2Uqٱ2Z=2H?H@1??̿h?ȼ? ?i2[*>I2wm_;2CY:zdBy: IDn=Dn4=Er ErEr;Ep"Er:*Er H:VEr4ZEpBEr;az2Er;azJEr;az:Er;aziMMb@Mb@Mb@IIII I9MʡE?V-?v/?YM?yM%u@=ٔuVQ-u>9yYy=}Dy}o DK:E>Q 54?Q 94R)BY?Q E:y?Q I?r DI;i;'4yBɮA E:iFNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 515.733032 m, bearing: 31.365831 deg, approach rate: -0.606199 m/s, LOS rate: -0.005124 deg/s, cmd heading: 33.010799 deg, new cmd heading: 33.006593 deg. iHeadingCmd: 0.576074 target range: 528.994202 and range: 528.70 m.hy?hhhhggjgrgereZe:e*e: @-mtBɢ-ύ)1 57i)顱i02 ?2+rٱ2(=2H?`N95??̿j? ??i2>I2e_;2CY>dBy> IbDF0VDFٰ8yN<%N-=ٔRQ-R>9PYP=VDyV DV:EV>XQ 5^4Z?Q 9^4ZN)ZBY`yb?Q Ib?Z DIZw;iZQ;Z/4yfBɮfǭAfE:ixzFNOT Ignoring new targets: 528.99 m.E EE:E"Ey:*E*:VE(4ZEa @a@a@a@"i7*i75 ProNav: ac range: 528.994202 m, nav range: 515.456909 m, bearing: 31.363478 deg, approach rate: -0.583859 m/s, LOS rate: -0.004978 deg/s, cmd heading: 33.006592 deg, new cmd heading: 33.001883 deg. i5EHeadingCmd: 0.575992 target range: 528.994202 and range: 528.70 m.hE.t?hAhAhAhAgIgIjgQrgQeYreYZeY:ea*ee@e!@=tBɢ=F)E= EiA)AAAiE?NBB IBfBB =BBB;B{E:@ @@/@ 1 ^AU 8=AII2Acoustic response timeoutO>"Q",GLA@YdBy IE EzE;E"E%:*E :VE4ZEBE;a2E;aJEv;a:Ev;aiMb@Mb@Mb@ 9Cl?X9v?i|?5?Y;?y<q=lAA  A)YbD,VDհ8y/=%=ٔQ->9Y=Dy DE>Q 54"?Q 94I)BY $ ?Q E :y i ?Q I ? DI{:i:94yɮ_AE:i9EFNOT Ignoring new targets: 528.99 m."iEa*iEaU ProNav: ac range: 528.994202 m, nav range: 515.145508 m, bearing: 31.360729 deg, approach rate: -0.589031 m/s, LOS rate: -0.005201 deg/s, cmd heading: 33.001883 deg, new cmd heading: 32.996383 deg. iUN]HeadingCmd: 0.575896 target range: 528.994202 and range: 528.70 m.h]m?hYhYhahagagajgargieireiZei:ei*eu"@额tBɢm) Pi)顡i9NW",`LA2>2|B?2stٱ24=2H~?Qx`G8?`?`:̿`MD?`޻?@?i2>I2}_;2CY:dBy: IbDFVDF8yJ=%Jd=ٔN˻Q-N>9PYP=RDyR DR;EV>TQ 5Z4V+?Q 9Z4VF)VDBY\y^ ?Q I^?V DIV;iV;VS?4y`ɮbAdrB*** querying acoustic contact ***ipip:itzFNOT Ignoring new targets: 528.99 m."iz7*iz7|  ProNav: ac range: 528.994202 m, nav range: 514.934937 m, bearing: 31.358838 deg, approach rate: -0.587327 m/s, LOS rate: -0.005279 deg/s, cmd heading: 32.996384 deg, new cmd heading: 32.992599 deg. i HeadingCmd: 0.575830 target range: 528.994202 and range: 528.70 m.hi?hhhhggjgrgereZe:e*e`$#@uBɢ֔)+= `i)顱i%A5>Aa I  2Acoustic response timeout I AI AI Bm >Bm KCBm IBm ~fBBi Bi Bi Bm ;Bm |EO >i]",zLA ɰ B9 >B O?B_uٱB=BH 1? S08?s?̿a?`ܻ??iB9 >IB_;BCY^eBy^ IiEMb@Mb@Mb@AAAA A9EV-?ˡE?v/?YE|?yE'=Exi=EAE(A EΥA)EyAAYE(AbD]VD]8yei=%m==ٔm( Q-m>9qYq=uDqyu D}9E}>Q 54<?Q 94B)rBY ?Q E:y.%?Q I? DIۓ Ed",sLA2.s>2?2fwٱ2c=2H`?H] @4I2m_;2CY:.eBy: I BC=Bp=bDFVDF8yN=%NY=ٔRQ-R>9R ?YV ?=VDyV DV ;EV>XQ 5^4ZK?Q 9^4Z>)ZBY`ybO%?Q Ib?Z DIZ:iZ;ZtM4ydɮfAd:ixzFNOT Ignoring new targets: 528.99 m."i~iYI]Ae2Acoustic response timeout*ieu ProNav: ac range: 528.994202 m, nav range: 514.458862 m, bearing: 31.353618 deg, approach rate: -0.623014 m/s, LOS rate: -0.006855 deg/s, cmd heading: 32.987037 deg, new cmd heading: 32.982156 deg. iuHHeadingCmd: 0.575647 target range: 528.994202 and range: 528.70 m.h]?hhhhggjgrgereZe:e*eo0%@vuBɢlf) Ai)   i fԡ A k",+NLA:k>:?:yٱ:=:H?h ??`?Ϳ???i:k>I:=_;8YBNeByB IbDJ VDJ8yjך=%jG=ٔnwQ-n>9n"?Yr"?=rDyr DrJ;Er>tQ 5z4v\?Q 9z4v#;)vǩBYxy~n%?Q I~?v DIv:iv;vT4yɮBAE:i)-FNOT Ignoring new targets: 528.99 m."i5'*i5'E ProNav: ac range: 528.994202 m, nav range: 514.217163 m, bearing: 31.350944 deg, approach rate: -0.587883 m/s, LOS rate: -0.006507 deg/s, cmd heading: 32.982157 deg, new cmd heading: 32.976807 deg. iE>MHeadingCmd: 0.575554 target range: 528.994202 and range: 528.70 m.hMW?hIhQhQhQgQgQjgYrgYeYreYZea:ea*eeA%@颍uBɢ3i) i)顑i!B LCB  IB fBB =B B B :;B x|EԩA.AI!I1O=r>  = <% 2Acoustic response timeout/q",)LA00N;>N?NA2{ٱN=NH?`pL A??Ϳ?+? ?iN;>IN_;NCYvueByv IE EEE"E*E3:VEZEBE4;a2E5;aJE;a:E;aieMb@Mb@Mb@aaaa a9eףp= ?9 ?Y ?=Dy D:E>Q 54n?Q 946)BY?Q E:y#?Q I? DIi;ih;\4y ɮ A:i15FNOT Ignoring new targets: 528.99 m."i=)ڸ*i=)ڸM ProNav: ac range: 528.994202 m, nav range: 513.942871 m, bearing: 31.348140 deg, approach rate: -0.582648 m/s, LOS rate: -0.005960 deg/s, cmd heading: 32.976806 deg, new cmd heading: 32.971194 deg. iM.UHeadingCmd: 0.575456 target range: 528.994202 and range: 528.70 m.hUQ?hQhQhQhQgYgYjgYrgYeareaZea:ea*ee&@-uBɢ5xj)1 5Pi1)119i=r?r~ٱrQ=rH@?pC??zͿ Irɯ_;rCYeBy8 IAAbD%VD%ư8y5,=%=*=ٔ=Q-=>9AYA=EDyE DE:EE>IQ 5U4M?Q 9U4Ml2)M-BYYy]#?Q I]?M DIM:iM:M*e4yeBɮeAaB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."iV߸*iV߸ ProNav: ac range: 528.994202 m, nav range: 513.664368 m, bearing: 31.345239 deg, approach rate: -0.585460 m/s, LOS rate: -0.006102 deg/s, cmd heading: 32.971195 deg, new cmd heading: 32.965389 deg. i2HeadingCmd: 0.575355 target range: 528.994202 and range: 528.70 m.hpJ?hhhhggjgrgereZe:e*e o'@MvBɢMb)U= UiQ)QQQi]>}B9B=0IB=5gBB9B9B9B=[;B=|EBLCBLCBB=B =C)5^A x=I AQ IY Ii O} >}", LA2)>2H_?2,ٱ2|=2H$?w¿1H??@Ϳ? ??i2)>I2_;0Y>eBy>R IiMMb@Mb@Mb@IIII I9MZd;? rh?S㥫?YM?yMC =M/]=MAI MrA)MuAIYMAbDeAVDe8yu+=%uG=ٔ}_Q-}>9yYy=Dy!DF";E>Q 54?Q 94.)YBY?Q E:ym#?Q I?!DI;i;Wl4yBɮAE:iFNOT Ignoring new targets: 528.99 m."iF۸*iF۸ ProNav: ac range: 528.994202 m, nav range: 513.423950 m, bearing: 31.342783 deg, approach rate: -0.586174 m/s, LOS rate: -0.005991 deg/s, cmd heading: 32.965389 deg, new cmd heading: 32.960475 deg. ik/HeadingCmd: 0.575269 target range: 528.994202 and range: 528.70 m.hD?hhhhggjgrgereZe:e*e(@BDAT read: Response Not Received %*response not received%;a:E?;a@ @@N5@yԩ  RDAT read: user:39>Tx time:01:04:39.0192  DAT read:  2Acoustic response timeout^A H=A I! I1 O= > ",yLA4<ɰLYjeByjg IbDv|VDv8y=%T=ٔQ->9 Y = Dy !D E>1Q 5=45~?Q 9E45 +)5BYAyAQ IE?5!DI5:i58:5)s4yIɮuYAq:iFNOT Ignoring new targets: 528.99 m."iָ*iָ ProNav: ac range: 528.994202 m, nav range: 513.195312 m, bearing: 31.340446 deg, approach rate: -0.574081 m/s, LOS rate: -0.005871 deg/s, cmd heading: 32.960475 deg, new cmd heading: 32.955798 deg. i+HeadingCmd: 0.575187 target range: 528.994202 and range: 528.70 m.hx??hhhhggjgrgereZe:e*e s~)@颕vvBɢM) 8i)顙iW-",C7LAB>B?BV.ٱB]=BH? 9@f¿W?? ο@%??2?iB>IB`;BC^2Acoustic response timeout!B>BBhIBgBBBBYeBy[ IB;BQ|E R=a=bDEVDED8yu&%3=ٔQ->9Y=Dy/!D;E>Q 54}?Q 94&)BYy $?Q I?&!DI;i;;{4yɮAE:i9EFNOT Ignoring new targets: 528.99 m."iE$*iE$ḝu ProNav: ac range: 528.994202 m, nav range: 512.930115 m, bearing: 31.337660 deg, approach rate: -0.585157 m/s, LOS rate: -0.006151 deg/s, cmd heading: 32.955799 deg, new cmd heading: 32.950224 deg. iu4}HeadingCmd: 0.575090 target range: 528.994202 and range: 528.70 m.h}9?hyhhhggjgrgereZe:e*eh*@vBɢD) %i!)!!!i%5c&?:ٱ"=H 1?:8¿Y?@}?]Ϳ"?`^??i>I ?`;CY-3fBy- IiMb@Mb@Mb@ 9+?y&1?i|?5?Y?y`<q=nA £A)EtAYAbDVDl8y|/>%%=ٔGQ->9Y=DyC!D?:E>Q 5m4J?Q 9m4X")BYm ?Q Eu:yuX!?Q Iu?9!DI ;i;4yyɮ}ԩAy:iFNOT Ignoring new targets: 528.99 m."iŸ*iŸ ProNav: ac range: 528.994202 m, nav range: 512.640259 m, bearing: 31.334955 deg, approach rate: -0.579503 m/s, LOS rate: -0.005409 deg/s, cmd heading: 32.950222 deg, new cmd heading: 32.944811 deg. ifHeadingCmd: 0.574995 target range: 528.994202 and range: 528.70 m.h2?hhhhggjgrgereZe:e*e d+@vBɢ) i )   i !q2Acoustic response timeoutE  E E :E "E I:*E |;:VE (4ZE a @a @a @a @ԡ 6",frLA2>2.??2ٱ2=2H`?d ¿\?`?@ͿT?1f??i2>I2d`;0YNRfByR IbDZVDZb8yb}=%b^=ٔbr:Q-b>9dYd=fDyfR!Dj:Ej>hQ 5r4j?Q 9r4j)jBYpyre!?Q Ir?jF!DIjI;ij3;j"4yvBɮzAx B*** querying acoustic contact ***i i :iy}FNOT Ignoring new targets: 528.99 m."iOѸ*iOѸ ProNav: ac range: 528.994202 m, nav range: 512.424438 m, bearing: 31.332935 deg, approach rate: -0.610542 m/s, LOS rate: -0.005719 deg/s, cmd heading: 32.944810 deg, new cmd heading: 32.940767 deg. is'HeadingCmd: 0.574925 target range: 528.994202 and range: 528.70 m.hF.?hhhhggjgrgereZe:e*e",@额wBɢ<$)c/= i)顡iB}JCB}IB}gBB} =ByB}DB};B}{E2Acoustic response timeout=I=F.?IIԩ5>i5> @  @ @ 0@ A >A >II IY Om > 2Acoustic response timeout ",ALAE& E&E&7E$"E&>:*E&a9:VE&Ժ4ZE$BE&F?F ٱFB=FH@E? h??=ο@?`C??iF>IF`;FCYN~fByN Ii%Mb@Mb@Mb@!!!! !9%/$?/$?i|?5?Y%?y%,=!%A%A !)%rA!Y%GAbD=VD=Z8yM=%MB=ٔM;Q-U>9QYQ=UDyUc!D];E]>aQ 5m4eQ?Q 9m4e)eABYm?Q Eu:yu(?Q Iu?eV!DIeb:iek:e4yyɮ}?Ay:iFNOT Ignoring new targets: 528.99 m."i*i] ProNav: ac range: 528.994202 m, nav range: 512.181946 m, bearing: 31.329949 deg, approach rate: -0.575037 m/s, LOS rate: -0.007083 deg/s, cmd heading: 32.940766 deg, new cmd heading: 32.934792 deg. i]eO]HeadingCmd: 0.574821 target range: 528.994202 and range: 528.70 m.heq'?hahahahagagajgirgieireiZeq:e*e,@CwBɢg)  i)iUyE2Acoustic response timeoutԉԹ *",LA;ɰ2x>2?2ٱ2Z=2H? ``s?Ļ?CοK??@?i2x>I2`;2CYRfByR IbDZVDZI8yvr=%vP=ٔzz;Q-z>9xYx=~Dy~r!D~h;E~>Q 5 4o?Q 9 4m)kBYyb(?Q I?e!DI:i~:[4yBɮ A%E:iAMFNOT Ignoring new targets: 528.99 m."iM'*iM'] ProNav: ac range: 528.994202 m, nav range: 511.956665 m, bearing: 31.327142 deg, approach rate: -0.574772 m/s, LOS rate: -0.007166 deg/s, cmd heading: 32.934793 deg, new cmd heading: 32.929175 deg. i]QeHeadingCmd: 0.574723 target range: 528.994202 and range: 528.70 m.he!?hahahihigigijgirgqeqreqZeq:eq*e}*-@2Acoustic response timeout颭mwBɢѝ) i)项iJ/U 2Acoustic response timeoutBu >Bu HCBu IBu HhBBu  =Bq Bu DBu n;Bu {E Y@",LAYEfByM IIU!>)U49Y=Dy!D E > Q 54 k?Q 94 y) BYZ?Q E:y$?Q I? u!DI 7 ;i /; 4y)ɮ-A):iIUFNOT Ignoring new targets: 528.99 m."iUܸ*i]ܸe ProNav: ac range: 528.994202 m, nav range: 511.706329 m, bearing: 31.324500 deg, approach rate: -0.571562 m/s, LOS rate: -0.006034 deg/s, cmd heading: 32.929175 deg, new cmd heading: 32.923890 deg. ie0mHeadingCmd: 0.574630 target range: 528.994202 and range: 528.70 m.hm?hihqhqhqgqgqjgyrgyeyreyZe:e*em.@颭wBɢ) Іi)项i.] 2Acoustic response timeout0",LAY-fBy-IbD=VD=Y8yu=%uR=ٔyQ-}>9}"?Y}"?=}Dy}!DE>Q 54?Q 94)ɫBYyQ I?!DIz:i:Ц4yeBɮAE:iFNOT Ignoring new targets: 528.99 m."iݸ*iݸ ProNav: ac range: 528.994202 m, nav range: 511.483887 m, bearing: 31.322151 deg, approach rate: -0.571692 m/s, LOS rate: -0.006041 deg/s, cmd heading: 32.923889 deg, new cmd heading: 32.919188 deg. i0HeadingCmd: 0.574548 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*em/@Y颥wBɢ) i)顩i#BMFCBM IBMhBBM =BM,DBMDBDAT read: Rx Time:01:04:42.1156 TRx dataTimestamp_ set to:1764896683.9169432Acoustic response timeoutBMS;BMU{EA-.AIQIO?¾",LA̰>բ?'yٱo >H]?`:?.? Ͽ?6??ḭ>I a;Y% gBy%Ii=Mb@Mb@Mb@9999 99=Gz?Q?333333?Y=p?y=<===EA=`A =A)=(pA9Y=\AbDUVDUV8ye =%e=ٔm%9m ?Ym ?=uDyu!DuLy;Eu>yQ 54} .?Q 94}R )}BY?Q E:yx"?Q I?}!DI}:i};}4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."iXи*iXи ProNav: ac range: 528.994202 m, nav range: 511.123688 m, bearing: 31.318591 deg, approach rate: -0.575557 m/s, LOS rate: -0.005692 deg/s, cmd heading: 32.919186 deg, new cmd heading: 32.912062 deg. i&HeadingCmd: 0.574424 target range: 528.994202 and range: 528.70 m.hq ?hhhhggjgrgereZe:e*e Q0@xBɢ:D|)%= %Mi!)!!!i%:  oWb?IJ?f C?) >I )i -\->2Acoustic response timeoutAyIIO ? ", LA6Ӻ>6ا?6uuٱ6>6H?@=-`?}?xοI6`;6CYBDgByB9IbDbVDb+8yj=%n1=ٔnv;Q-n>9lYp=rDyr!Dr-9Er>tQ 5z4v/@?Q 9z4v&)vEBY|y~"?Q I~?v!DIv;iv;v͹4yfBɮA:i)-FNOT Ignoring new targets: 528.99 m."i5Ѹ*i5ѸE ProNav: ac range: 528.994202 m, nav range: 510.857452 m, bearing: 31.315948 deg, approach rate: -0.577506 m/s, LOS rate: -0.005736 deg/s, cmd heading: 32.912062 deg, new cmd heading: 32.906773 deg. iE'MHeadingCmd: 0.574332 target range: 528.994202 and range: 528.70 m.hMd?hIhIhIQhIgQgQjgYrgYeYreYZea:ea*ee/0@颕HxBɢz퍾) "i)顙iZ B% z>B! B% <IB% hBB%  =B! B! B% A;B% D{EBHCBHCB˕CB =B =Cm6A",:LA2Acoustic response timeoutrYE>rm?r:tٱr>>rH ?KP??\οUL?`??irYE>Ir`;rCY-sgBy-VIae@AbD}VD}@8y =%9=ٔEP ;Q-E>9U"?Y}"?=}Dy}!DE>Q 54kR?Q 94)yBYy_"?Q I?!DI$;i;4ygBɮAE:iquFNOT Ignoring new targets: 528.99 m."i}ʸ*i}ʸ ProNav: ac range: 528.994202 m, nav range: 510.589844 m, bearing: 31.313308 deg, approach rate: -0.560741 m/s, LOS rate: -0.005534 deg/s, cmd heading: 32.906772 deg, new cmd heading: 32.901490 deg. i "HeadingCmd: 0.574239 target range: 528.994202 and range: 528.70 m.hY?hhhhggjgrgereZe:e*e.A1@~xBɢE鋾) Xi)ili>Eu  Eu Eu 9Eq "Eu ,:*Eu F:VEu 4ZEq BEu 2I?2wtٱ2Z>2H?@ ĀG?M?1οD?`R7??i2B>I2a`;2CY:gBy:dI i5Mb@Mb@Mb@1111 195/$?X9v?333333?Y5?y5<15+A5A 5A)5nA1Y5AbDMuVDM8y]6=%]=ٔ]9Q-e>9aYa=eDye!DmEm>qQ 5}4u f?Q 9}4uq)uBY} ?Q E}:y}"?Q I?u!DIuV:iu:uʦ4yɮA:iFNOT Ignoring new targets: 528.99 m."iٸ*iٸ ProNav: ac range: 528.994202 m, nav range: 510.301605 m, bearing: 31.310413 deg, approach rate: -0.590018 m/s, LOS rate: -0.005931 deg/s, cmd heading: 32.901489 deg, new cmd heading: 32.895694 deg. i-HeadingCmd: 0.574138 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e :1@xBɢ*) Ri)i|",zLAi4I4:2Acoustic response timeoutFj>F?F]tٱF=FH`?@뿿 ?z?ͿA?Z?_?iFj>IFJ`;FCYRgByRIbD^YVD^8yrf=%v:=ٔzj9Q-~>9 ?Y  ?= Dy !D{$E%>9Q 54=w?Q 94=i)=BYy"?Q I?=!DI=LO",+LAN>N?NtٱN= llNH`?p@` t??xͿP?4??iN>E8GIN%`;LU{AA-9{AYAYgByIiMb@Mb@Mb@ 9Q?{Gz?ʡE?Y(?y#=={AA IA)pmAYGA bD2VDڰ8y=%)=ٔ uQ->9 "?Y "?= Dy  "DOE>Q 54%2Acoustic response timeout)Ӊ?Q 9-4)BY5?Q E5:y5@&?Q I5?!DIw;iu;ڦ4y9ɮEߥAA]B*** querying acoustic contact ***iYiY:iimFNOT Ignoring new targets: 528.99 m."im*iu ProNav: ac range: 528.994202 m, nav range: 509.773621 m, bearing: 31.304704 deg, approach rate: -0.638665 m/s, LOS rate: -0.007420 deg/s, cmd heading: 32.890561 deg, new cmd heading: 32.884272 deg. iFYHeadingCmd: 0.573939 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*eѪ2@eyBɢmʔ)m4= mii)iiqiu|m=iu?}3r=-=I?I1@1 @1@1@1Yy ^AU e=A] >A] > 2Acoustic response timeoutEu  Eu Eu 7Eq "Eu :*Eu *5:VEu Ժ4ZEq a} @a} @a} @a} @I I O ԩ Z",LA2>26?2uٱ2#=2H?``e? \? Ϳ`l?q??i2>I2L`;2CY:hBy:IbDFVDF8yN=%Rs=ٔRy.Q-R?9TYT=VDyV"DV̻EZ?XQ 5^4Zі?Q 9b4Z)ZABY`yb%?Q Ib?Z!DIZQ;iZ:Z4yfiBɮfAjE:ix~FNOT Ignoring new targets: 528.99 m."i~Y*i~Y񸝏  ProNav: ac range: 528.994202 m, nav range: 509.581268 m, bearing: 31.302501 deg, approach rate: -0.575328 m/s, LOS rate: -0.006594 deg/s, cmd heading: 32.884274 deg, new cmd heading: 32.879864 deg. i AHeadingCmd: 0.573862 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e3@ EyBɢ ) ][= UiQ)QQQiUg=i]?]Pr=]=I]?Ia)@ @@?0@BE>BEGCBEIBEiBBE =BABEDBE;BEzE2Acoustic response timeoutY^A=ԁ I I O% >2@",pLA02ׂ>2ڋ?2Tvٱ2=2H]?v`V?m?Ϳ@?s??i2ׂ>I2d@`;2CY>hBy>Ii-Mb@Mb@Mb@)))) )9-ףp= ?+?~jt?Y-?y-=E2Acoustic response timeout-=-r|A-A -A)-lA)Y-zAbDIVDIye==%e>=ٔm.Q-m>9iYi=mDym+"DuEu>yQ 54}?Q 94})}sBY8 ?Q E:y$?Q I?} "DI}b:i}:}(4y=BɮAE:iFNOT Ignoring new targets: 528.99 m."i*i縝 ProNav: ac range: 528.994202 m, nav range: 509.332214 m, bearing: 31.299772 deg, approach rate: -0.577622 m/s, LOS rate: -0.006332 deg/s, cmd heading: 32.879865 deg, new cmd heading: 32.874404 deg. il9HeadingCmd: 0.573767 target range: 528.994202 and range: 528.70 m.h^?hhhhggjgrgereZe:e*en3@-ryBɢ-Tۙ)1 5i1)111i=2=i=^?=~or=E땖=IE^?IAE EE9E"E:*E1]:VE4ZEBE 2Acoustic response timeout ]j",LLA6>6M?6MExٱ6=6H?q@TJ?6?דͿ`?m?`q?i6>I6ke`;4YBGhByBIDFAAbDJVDJ8\yb=%bU=ٔfbQ-f>9dYd=jDyj;"DjEj>lQ 5r4n˶?Q 9r4n)nBYtyv)$?Q Iv?n"DIn:in:n4yz>BɮzmAzE:iFNOT Ignoring new targets: 528.99 m."i%g*i%g帝5 ProNav: ac range: 528.994202 m, nav range: 509.109528 m, bearing: 31.297385 deg, approach rate: -0.584549 m/s, LOS rate: -0.006268 deg/s, cmd heading: 32.874404 deg, new cmd heading: 32.869629 deg. i575HeadingCmd: 0.573683 target range: 528.994202 and range: 528.70 m.h=?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eMZ3@}yBɢ}Q) i)顁i =i? r=: =I?IU2Acoustic response timeouty=E EE?E"E:*EA:VE^4ZEa@a@a@a@1@1 @9@= 0@9@EzA@EzAI ^A =A yAzA BA AE <BM >BM HCBM IBM iBBM  =BM +DBM DBM ;BM zEIa Iq O > 2Acoustic response timeout<",6LAF>FB?FNyٱF=FH?@lu ??`[? AͿ1??M?iF>IF[`;FCYkhByIbDmVDm8y=%0=ٔZQ->9Y=DyN"D9E>Q 54 ?Q 94O)խBYy#?Q I?-"DI:i:4yɮ$A:iFNOT Ignoring new targets: 528.99 m."i<*i<ฝ ProNav: ac range: 528.994202 m, nav range: 508.840637 m, bearing: 31.294549 deg, approach rate: -0.580478 m/s, LOS rate: -0.006126 deg/s, cmd heading: 32.869630 deg, new cmd heading: 32.863954 deg. ic3%HeadingCmd: 0.573584 target range: 528.994202 and range: 528.70 m.h%j?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=3H4@eyBɢm*!)mpY)= m)ii)iiqiuF=iuj?}Ar=}G=I}j?IyAul;=9@ @@0@U2Acoustic response timeoutiE EE7E"Eg:*E*5:VEԺ4ZEBE;a2E;aJE;a:E;a^A ̓=Ia Iq O >ԙ B|",LAB50>Bb?Ba{ٱB]=BHF?@=_e`'4?T?Ϳ???iB50>IBK`;BCYRhByVIyiMb@Mb@Mb@ 9K7A?S㥛?V-?Y "?y/<h=}A A)jAYQAbDVD8y=%W=ٔ0Q->9Y=Dy]"D0E>Q 54?Q 94)BY5#?Q E:yR?Q I?;"DI:i:4y ?BɮA:i1=FNOT Ignoring new targets: 528.99 m."i=*i=M ProNav: ac range: 528.994202 m, nav range: 508.613861 m, bearing: 31.292701 deg, approach rate: -0.595111 m/s, LOS rate: -0.004852 deg/s, cmd heading: 32.863954 deg, new cmd heading: 32.860256 deg. iMUHeadingCmd: 0.573520 target range: 528.994202 and range: 528.70 m.hU/?hQhQhYhYgYgYjgargaeareaZea:ea*em`4@颕yBɢeP) i)顙i{=i/?6r=ȏ=I/?I 2Acoustic response timeout5p=5=ԩ55[=9@ @@0@ 2Acoustic response timeout bE4jEa4rE90E  E E 9E "E I:*E VL:VE 4ZE a @a @a @a @^A5 \=A5 >A5 >)Ae.AIiIyO?J ",7LA<z?z&Fٱz_c=zH?:aCÿ??@̿?Ը?`^?iz^>IzI)`;zCYhByI p=bDVD8y-=%-'=ٔ-y)Q-->95 ?Y5 ?=5Dy5q"D5=ɻE=>AQ 5M4E?Q 9M4Ej)E:BYIyM?Q IM?EN"DIE::iEG:E%4yYɮ]AYuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 528.99 m."i6*i6 ProNav: ac range: 528.994202 m, nav range: 508.324005 m, bearing: 31.290363 deg, approach rate: -0.593107 m/s, LOS rate: -0.004787 deg/s, cmd heading: 32.860255 deg, new cmd heading: 32.855576 deg. i+ ԹB>BICB IB:jBB =BBB;ByE=HeadingCmd: 0.573438 target range: 528.994202 and range: 528.70 m.h=?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU *5@2Acoustic response timeout1zBɢÊ) Ai)i=i? r=n֊=I?I+,=M9@Q @Y@Y@Y@u=@u=^A x=m 2Acoustic response timeoutA E  E E <E "E Ʊ:*E E7:VE 4ZE BE V;a 2E W;a JE X;a :E X;a A ؟AI I O >$",`QLAV>VS?V+まٱV'=VH`?`/ÿ@?)?h˿?@Ʋ?v?iV>IVF`;VCY^hBy^.IiEMb@Mb@Mb@AAAA A9ET㥛 ?~jt?V-?YE!?yE=AEr|AEA E=A)EXiAAYEpAbD]VD]8ymL=%mH=ٔu]Q-u>9u"?Yu"?=uDy}"D}5E}>Q 54?Q 94)kBYV"?Q E:y"?Q I?^"DI:i1:K 4y@Bɮ\AE1:iAMFNOT Ignoring new targets: 528.99 m."iMAҸ*iMAҸ} ProNav: ac range: 528.994202 m, nav range: 508.083130 m, bearing: 31.287920 deg, approach rate: -0.566133 m/s, LOS rate: -0.005744 deg/s, cmd heading: 32.855577 deg, new cmd heading: 32.850688 deg. i}4(HeadingCmd: 0.573353 target range: 528.994202 and range: 528.70 m.h>?hhhhggjgrgereZe:e*e5@`zBɢט)  ei )  is=i>?r=3=I>?I!!mma2Acoustic response timeoutԑ 9@  @ @ P4@ ^Am =Aq zAu xA 2Acoustic response timeoutE EE9E"E:*E*5:VE4ZEa @a @a @a @AIIO?O ",rLA2J>2?2|ٱ2)=2H@? (tĿ`x?`k0? W˿}A?` ??i2J>I2$'`;2CY:hBy:6IbDBVDBư8yJ<%N&=ٔNлQ-N>9LYP=RDyR"DRER>TQ 5Z4V?Q 9Z4V)VBY\y^"?Q I^?Vp"DIV::iV:V4ybABɮbGA`:itvFNOT Ignoring new targets: 528.99 m."iz$*iz$ḝ ProNav: ac range: 528.994202 m, nav range: 507.794617 m, bearing: 31.285007 deg, approach rate: -0.609052 m/s, LOS rate: -0.006151 deg/s, cmd heading: 32.850690 deg, new cmd heading: 32.844862 deg. i4 HeadingCmd: 0.573251 target range: 528.994202 and range: 528.70 m.h ?h h h h ggjgrgereZe:e*e@ 6@zBɢ() i)i=i?r=k=I?IAa@a @a@e0@aAA@AB>BHCBCIBjBB =BBB;ByEBBBĔCB =B =C5u2Acoustic response timeouty^Ami=ԩA I I O > "",lALA28W>2 ?2ٱ2=2H >? 'Ŀ ;?1?˿Lp?` &?n?i28W>I2U`;2CY:iBy:MIr2Acoustic response timeouti5Mb@Mb@Mb@1111 195L7A`? ףp= ?T㥛 ?Y5+'?y5Q8=5=15;A 1)5gA1Y5AAE@AbDMVDMŰ8y]+=%]?=ٔeQ-e>9aYa=eDye"DmEm>qQ 5}4uY"?Q 9}4u)uخBY}V(?Q E}:y*%?Q I?u"DIu;iu;uS4yɮA:iFNOT Ignoring new targets: 528.99 m."is*is ProNav: ac range: 528.994202 m, nav range: 507.533356 m, bearing: 31.282074 deg, approach rate: -0.611609 m/s, LOS rate: -0.006870 deg/s, cmd heading: 32.844863 deg, new cmd heading: 32.838994 deg. i)IHeadingCmd: 0.573149 target range: 528.994202 and range: 528.70 m.hݹ?hhhhggjgrgereZe:e*e.y6@ zBɢҥ) ˍi)ix=i%ݹ?%s=%A=I%ݹ?I)ԱE EyE>E"E*E:VE4ZEBEx;a2Ey;aJEs;a:Es;a1m9@i @i@q@q@@yA2Acoustic response timeout ^A ff=A I! I1 9 OE > )",LA2EQ>2?2}ٱ24=2HJ?S+`Ŀ`? ,?Yi̿ f? ??i2EQ>I2`;0Y:@iBy:qIbDFVDF8yN.>%NY=ٔNKQ-N>9PYP=RDyR"DRxEV>TQ 5Z4V1?Q 9^4VM)VBY\y^%?Q I^?V"DIVS:iV:V#4ybBɮbܡAfE:itzFNOT Ignoring new targets: 528.99 m."iz$*iz$ ProNav: ac range: 528.994202 m, nav range: 507.302979 m, bearing: 31.279491 deg, approach rate: -0.611635 m/s, LOS rate: -0.006861 deg/s, cmd heading: 32.838993 deg, new cmd heading: 32.833824 deg. iH HeadingCmd: 0.573058 target range: 528.994202 and range: 528.70 m.h ?hhhhggjgrgereZe:e*e6@5zBɢ5j)1 =Ni9)999iE =i?s=[=I?I!2Acoustic response timeout9@9 @9@9@9E EsE:E"Ey:*EZ:VE(4ZEa@a@a@a@I^AE8=AU>AU>ԁ A B >B JCB IB jBB B B DB ;B yEI I O > 2Acoustic response timeout0/",ȶLA06e,>6?6ˇٱ6=6H`? 2Ŀ?@c"?/Ϳ?`u?ɸ?i6e,>I6`;6CY>`iBy>I @@bDJVDJ8yV=%ZJ=ٔ^ͻQ- >9Y=Dy"D%10E->AQ 5e4E_C?Q 9e4E7)E8BYqyu$?Q I?E"DIE#6",2?2Tٱ2Y=2H U?`K<`ƙĿ?@?@.ο ? ??i2.>I27`;2CY:iBy:ITiEMb@Mb@Mb@AAAA A9ES㥛?Q?X9v?YE$?yE\=E}=AEA EA)EfAAYA ]C=]R=bD]VD]8ym=%u==ٔuQ-u>9qYy=}Dy}"D})޹E}>Q 54|T?Q 94W)iBY%?Q E:y ?Q I?"DI:i:24yBɮ;A:iFNOT Ignoring new targets: 528.99 m."iٸ*iٸ ProNav: ac range: 528.994202 m, nav range: 506.795410 m, bearing: 31.274303 deg, approach rate: -0.639617 m/s, LOS rate: -0.005945 deg/s, cmd heading: 32.828088 deg, new cmd heading: 32.823439 deg. i.HeadingCmd: 0.572877 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*eɯ7@e2Acoustic response timeout颥A{Bɢ5) oi)顩iB3=i?G5s==I?Iu9@q @q@u0@q^A= 2Acoustic response timeout1 I I O >E  E zE ;E "E :*E  :VE 4ZE a @a @a @a @B<",7mLA2n>2(?2ٱ2=2H?<$Ŀ ? ? Tο (?`D??i2n>I2t `;0Y:iBy:IbDF5VDFݰ8yJr=%J[=ٔN Q-N>9PYP=RDyR"DREV>TQ 5Z4Vc?Q 9Z4V)VBY\y^ ?Q I^?V"DIVA;iV;V94y`ɮbAd:itvFNOT Ignoring new targets: 528.99 m."iz˸*iz˸ ProNav: ac range: 528.994202 m, nav range: 506.570770 m, bearing: 31.272223 deg, approach rate: -0.601660 m/s, LOS rate: -0.005572 deg/s, cmd heading: 32.823441 deg, new cmd heading: 32.819280 deg. i'# HeadingCmd: 0.572805 target range: 528.994202 and range: 528.70 m.h Q?h h h hggjgrge!re!Ze!:e!*e%8@Ui{BɢU)Q UiQ)i=iQ?BuLCBuIBu`kBBu=BqBuDBu;BuyE2Acoustic response timeout^A5t=AAzAEzAII O% >ԡ *C",G LAr2Acoustic response timeoutYriByvIIz4=)z;yiMb@Mb@Mb@ 9Pn?~jt?v/?Y$?y=xi=yA IA)cAYfAbD|VD8y6=%9=ٔQ->9Y=Dy"DE>Q 54u?Q 94)˯BY%?Q E:y-"?Q I?"DI& ;i':@4yBɮAE:iFNOT Ignoring new targets: 528.99 m."iqڸ*iqڸ- ProNav: ac range: 528.994202 m, nav range: 506.305969 m, bearing: 31.269589 deg, approach rate: -0.599662 m/s, LOS rate: -0.005968 deg/s, cmd heading: 32.819281 deg, new cmd heading: 32.814010 deg. i-.5HeadingCmd: 0.572713 target range: 528.994202 and range: 528.70 m.h5J?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eEy8@u{Bɢu)q }iy)yyyi}_' =iJ?Ps=F=IJ?IE} E}xE}8Ey"E}:*E}:VE}F4ZEyBE};a2EyaJE}_o;a:E}_o;a9@ @@@ԩ^AM8=2Acoustic response timeoutIIO> TI","'LA2ҷ>2Z&?2=ٱ2P=2H@?(ƿ? 1)?)Ϳ`??`?i2ҷ>I2`;2CY:jBy:ITVAAbDZVDZ/8yb3>%b\=ٔb6Q-f>9dYd=fDyf#DjʻEj>lQ 5r4n?Q 9r4n?)nBYpyr!?Q Iv?n"DIn@;in;nFG4yz"BɮzhAx:iFNOT Ignoring new targets: 528.99 m."i%gָ*i%gָ- ProNav: ac range: 528.994202 m, nav range: 506.083313 m, bearing: 31.267412 deg, approach rate: -0.598656 m/s, LOS rate: -0.005858 deg/s, cmd heading: 32.814011 deg, new cmd heading: 32.809654 deg. i5+5HeadingCmd: 0.572636 target range: 528.994202 and range: 528.70 m.h5N?h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM8@颅{Bɢ39) ui)顉iS =iN?{Zs==IN?I9@ @@@@!@%zABDAT read: Response Not Received *response not receivedBDAT read: Tx time:01:04:51.4692 $Ping request sent.1Bm >Bm NCBm IBm kBBm =Bi Bm DBm ź;Bm yEY .?.`Qٱ.}=.H@?!ƿ ?`"7?@TͿ?\I?`?i.>I.`;.CYB/jByBIbDJVDJ*8yf֖=%fJ=ٔfڻQ-f>9hYh=jDyj#DncEn>pQ 5z4r?Q 9z4rz)r(BYyg!?Q I?r"DIr"V",R\LA2/>2'?24ٱ2 =2H@M?[ ƿ?%??ͿS?jN?'?i2/>I2 `;2CY:]jBy: I <9)Y1=5Dy5+#D5KE5>9Q 5E4=ئ?Q 9E4=w)=\BYM ?Q EM:yMl$?Q IM?="DI=;i=;=V4yQɮUҟAQ:iy}FNOT Ignoring new targets: 528.99 m.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse"i%**i%*- ProNav: ac range: 528.994202 m, nav range: 505.587524 m, bearing: 31.262298 deg, approach rate: -0.637702 m/s, LOS rate: -0.007003 deg/s, cmd heading: 32.804992 deg, new cmd heading: 32.799423 deg. i5M5HeadingCmd: 0.572458 target range: 528.994202 and range: 528.70 m.h5?h9h9h9hYgYgYjgargaeareaZei:ei*em@ٽ9@颵|Bɢ5Cg)9 =i9)999i=C% =iE?E7gs=Mya bE4jE4rE+0E  E }E =E "E *E k&:VE |4ZE a @a @a @a @\",DuLAR>R?RڑٱRq=RH`4?\ UƿW?|>?{^ο@q? ??iR>IR`;PYfjByf8I %=bD VD yM=%MJ=ٔUͻQ-U>9YYY=eDye;#DmZEm>qQ 54uض?Q 94u)uBYy$?Q I?u #DIuz$ByB}PIB}JlBByByB}DB};B}-zET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@/@ @=@=ԁԱ^AM w=Ay I I O > c",׏LA%??T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6J<>6h?6ٱ6=6H{?_nǿ[?@?οD?~? C?i6J<>I6!3`;4YBjByBPIieMb@Mb@Mb@aaaa a9e'1Z?~jt?)\(?Ye"?ye=eGa=evAeA a)e_AaYeAbDVDV8yC=%@=ٔCQ->9Y=DyL#DoE>Q 5 4?Q 9 4)BY #?Q E :y< ?Q I?#DIV:i:d4yɮA:iAEFNOT Ignoring new targets: 528.99 m."iMɸ*iMɸ] ProNav: ac range: 528.994202 m, nav range: 505.101715 m, bearing: 31.257468 deg, approach rate: -0.604126 m/s, LOS rate: -0.005517 deg/s, cmd heading: 32.794327 deg, new cmd heading: 32.789759 deg. i]!eHeadingCmd: 0.572289 target range: 528.994202 and range: 528.70 m.he?hahahahagagijgirgieireqZeq:eq*eu O:@ԱE E{E?E"E:*E5":VE^4ZEBE;a2E;aJEJz;a:EKz;ao|Bɢ%)! %-i!)!!)i- =iE?ENhs=Erq=IE?IE9@A @A@A@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^Am Tw=A I I O >9 i",LA>>>?>Tٱ>'E=>H ?$_ǿ?`E?ο@@? ^?@6?i>>I>`;%v\=ٔzQ-z>9|Y|=~Dy\#DnE> Q 54 ?Q 94 x) BY!y%?Q I%? +#DI A;i B;  k4y5Bɮ5A5ܬE:iaeFNOT Ignoring new targets: 528.99 m."imO*imO} ProNav: ac range: 528.994202 m, nav range: 504.881073 m, bearing: 31.255485 deg, approach rate: -0.587366 m/s, LOS rate: -0.005281 deg/s, cmd heading: 32.789761 deg, new cmd heading: 32.785793 deg. i}HeadingCmd: 0.572220 target range: 528.994202 and range: 528.70 m.h}?hhhhggjgrgereZe:e*e :@|Bɢ ) ri)i' =i}?es=,:m=I}?IET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse9@ @@ 0@E EpE9E"E:*E :VE4ZEa@a@a@a@A^Aunp=Bu >Bu PCBu IBu lBBu =Bq Bu DBu 0;Bu jzEB5NCB5MCB5ɕCB5=B5=C5j6ԉ A .AI I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsep",;LA 6γ>6?6gٱ6+U=6H "?@ǿ?L?ο`?``?`|?i6γ>I6A`;6CYBkByBIbDJVDJK8yf>%jL=ٔjQ-j>9j ?Yn ?=nDynl#Dn`kEr>pQ 5v4rK?Q 9v4rפ)rBYxyz?Q Iz?r:#DIre:irP:rr4y|ɮ~AB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 528.99 m."i='*iU' ProNav: ac range: 528.994202 m, nav range: 504.645203 m, bearing: 31.253400 deg, approach rate: -0.556490 m/s, LOS rate: -0.004922 deg/s, cmd heading: 32.785793 deg, new cmd heading: 32.781620 deg. iHeadingCmd: 0.572147 target range: 528.994202 and range: 528.70 m.h=x?hhhhgg!jg!rg!e!re)Ze):e)*e58a;@i}|Bɢ}.V) %i)顁i =i=x?_s=h=I=x?II)xAE9@A @A@E0@A@MyA@I]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseԩE EE;E"E:*E[:VE4ZEBE;a2E;aJEI;a:EI;a^Am m= Ia Iy O >w",UhLA2#^>2y?2ڕٱ2=2H?@ǿ+}?`O?ο.w?yt?`4y?i2#^>I25`;2CY:VkBy:IPi5Mb@Mb@Mb@1111 195Gz??V-?Y5p?y5L=5m=5uA5҉A 5=A)5]A1Y5׃AbDMVDMW8y]>%]B=ٔ]R_Q-e>9aYa=eDye|#DmWEm>qQ 5}4u?Q 9}4u)uQBY}?Q E}:y} %?Q I?uJ#DIu;iu&;u`y4yBɮAAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:iFNOT Ignoring new targets: 528.99 m."is*is ProNav: ac range: 528.994202 m, nav range: 504.405060 m, bearing: 31.250685 deg, approach rate: -0.607443 m/s, LOS rate: -0.006870 deg/s, cmd heading: 32.781619 deg, new cmd heading: 32.776188 deg. i(IHeadingCmd: 0.572052 target range: 528.994202 and range: 528.70 m.hr?hhhhggjgrgereZe:e*e` ;@|BɢY) %i!)!!!i%z =i-r?-! E  E mE 9E "E :*E :VE 4ZE a @a @a @a @r.}",sILA00^`>^z?^>ٱ^|=^H`J?@0ȿX|?T?ο !? ȸ?`y?i^`>I^~=`;^CYvtkByvI|bDVDV8y=%O=ٔQ->9Y=Dy%#D%(f8E%>)Q 554-?Q 954-r)-BY1y= %?Q I=?-X#DI-;i-;-I4yAɮEAA:iimFNOT Ignoring new targets: 528.99 m."im*iu ProNav: ac range: 528.994202 m, nav range: 504.179932 m, bearing: 31.248129 deg, approach rate: -0.571875 m/s, LOS rate: -0.006496 deg/s, cmd heading: 32.776186 deg, new cmd heading: 32.771072 deg. i3>HeadingCmd: 0.571963 target range: 528.994202 and range: 528.70 m.h,l?hhhhggjgrgereZe:e*e"<@}BɢѠ) i)wGci1 =iU,l?]Ss=]5Rg=I],l?IYB<A<B%>B!B%IB%>mBB!B!B!B%K;B%zE 9@  @ @  0@ 1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ^Af=I) IA OM >ԁ }",J%LAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6>6?6kٱ6p=6H?:ȿG|?Y??qο$?ٷ?x?i6>I61_;6CYBkByBIqiMb@Mb@Mb@ 9S?y&1?Mb?Y/?y`e==AtA"A A)[AYAbDVDs8yO=%@=ٔkQ->9Y=Dy#D0:E>Q 54?Q 94)BY?Q E:y'?Q I?h#DIV:i:4yBɮAݬE:iFNOT Ignoring new targets: 528.99 m."ii*ii- ProNav: ac range: 528.994202 m, nav range: 503.938873 m, bearing: 31.245097 deg, approach rate: -0.566297 m/s, LOS rate: -0.007126 deg/s, cmd heading: 32.771070 deg, new cmd heading: 32.765003 deg. i-P5HeadingCmd: 0.571857 target range: 528.994202 and range: 528.70 m.h54C]>WGi]>E EpE>E"Es:*E :VE4ZEBE!;a2E";aJEAR;a:EAR;a9YAy]B?eAԡ9@ @@0@@=@=iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ae Xh=I I O > ?",*LANɴ>NФ?NptٱNԅ=NH?@ Uȿ }?Z?jWο`.?[v?$x?iNɴ>IN_;NCYZkBy^ IbDfVDfp8yn@+>%nZ=ٔrjQ-r>9pYp=rDyr#Dvv:Ev>xQ 5~4z:%?Q 9~4z#)zBY|y'?Q I?zv#DIzi ;iz" ;zF4y ɮ 4A :i15FNOT Ignoring new targets: 528.99 m."i=*i=M ProNav: ac range: 528.994202 m, nav range: 503.726868 m, bearing: 31.242415 deg, approach rate: -0.565397 m/s, LOS rate: -0.007158 deg/s, cmd heading: 32.765005 deg, new cmd heading: 32.759637 deg. iMQUHeadingCmd: 0.571764 target range: 528.994202 and range: 528.70 m.hU_?hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee<@颍b}Bɢ4) i) ,顙iGI =i_?Is=7j=I_?I@ @@0@MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseE EtE:E"E*Ev:VE(4ZEa@a@a@a@^AQIIO>1B B B 7IB mBB =B B B ;B zE T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseY '",DLAɰB>B?B%ٱBW=BH ?_ȿ?U? ο^?2?qt?iB>IBI@`;BCYJlByJ$IbDVVDVe8y^|=%^L=ٔ^]Q-b>9`Y`=bDyb#Df:Ef>hQ 5j4jh4?Q 9n4j{)jBYlyn'(?Q Ir?j#DIje ;ijP ;jB4yzBɮ~A%B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 503.500824 m, bearing: 31.239534 deg, approach rate: -0.559171 m/s, LOS rate: -0.007131 deg/s, cmd heading: 32.759636 deg, new cmd heading: 32.753871 deg. iP9UHeadingCmd: 0.571663 target range: 528.994202 and range: 528.70 m.h]X?hYhahahagigjgrgereZe:e*eEe=@颥}BɢzI) {i)oi\J =iX?Es=; m=IX?Ia9@ @@0@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseԑEm  Em qEi Ei "Em :*Em $ :VEi ZEi BEm S;a} 2Em T;a} JEm U;a} :Em U;a} ^A `k=Թ A ؟AI I O >wP",^LA2_}>2 ?2ٱ20=2Hϼ?@ȿj?M?@Lο,? i?n?i2_}>I29`;2CY>=lBy>HIi5Mb@Mb@Mb@1111 195+?V-?Q?Y5v?y5m=5u=5rA5ƇA 51A)5XA1Y5AIM@AbDUVDU{8yeK >%e@=ٔeQ-e>9m"?Ym"?=mDym#Du:Eu>qQ 54uD?Q 94u)uMBY?Q E:y))?Q I?u#DIu:iu:u4yҜBɮКAԬE:iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseFNOT Ignoring new targets: 528.99 m."i *i  ProNav: ac range: 528.994202 m, nav range: 503.258179 m, bearing: 31.236328 deg, approach rate: -0.577007 m/s, LOS rate: -0.007626 deg/s, cmd heading: 32.753872 deg, new cmd heading: 32.747458 deg. iN_HeadingCmd: 0.571551 target range: 528.994202 and range: 528.70 m.h*Q?hhhhggjgrgereZe:e*e =@%}Bɢ%tm)! %ċi))-Y))i- =i5*Q?ԑ Ds=p=I*Q?I!@ @@0@@zA@yA^Afm=u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseA I I OM > EY  E] pEY EY "EY *E]  :VEY ZEY ae @ae @ae @ae @炝",xLAY ~lBy pIbD% VD%8y5">%5L=ٔ5Q-5>99Y9==Dy=#D=EE>AQ 5M4ES?Q 9U4EՊ)EBYQyQQ IU?E#DIE;iE;E4y]ӜBɮ]RAa:iFNOT Ignoring new targets: 528.99 m."i8 *i8  ProNav: ac range: 528.994202 m, nav range: 503.029999 m, bearing: 31.233311 deg, approach rate: -0.570898 m/s, LOS rate: -0.007553 deg/s, cmd heading: 32.747458 deg, new cmd heading: 32.741421 deg. i']HeadingCmd: 0.571446 target range: 528.994202 and range: 528.70 m.hBJ?hhhhggjgrgereZe:e*ea)>@AAB>BBIBA>A A I I) O5 >c",EfLAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:y>:?:ٱ:=:H@? ?ȿo~?F?}\Ͽ?+?c?i:y>I:Jb;8YBlByBI DDiMb@Mb@Mb@ 9x&1?S㥫?y&1?Y!?y/]=`e=?qAІA `A)WAYAbD8VḎ8yv=%B=ٔ\ Q->9Y=Dy#DE>Q 54d?Q 94݆)BY "?Q E :y  '?Q I?#DI#;i?;4y!ɮ%A!:iamFNOT Ignoring new targets: 528.99 m."iu*iu ProNav: ac range: 528.994202 m, nav range: 502.783020 m, bearing: 31.230277 deg, approach rate: -0.573003 m/s, LOS rate: -0.007043 deg/s, cmd heading: 32.741420 deg, new cmd heading: 32.735349 deg. E- E-lE-9E)"E-a:*E-:VE-4ZE)BE-u;a=2E-v;a=JE-C;a=:E-C;a=iE9NMHeadingCmd: 0.571340 target range: 528.994202 and range: 528.70 m.hMPC?hIhIQhIhigqgqjgqrgqeyreyZey:ey*e}%>@ ~Bɢ壾) @i)tμi= =iPC?@s=UEp=IPC?I9@ @@0@@@@@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ A .AI I O >`",cBLA@>b>>?>Z%ٱ>gz=>H`? ȿ@Mz?"6?-п7?Ɨ?W?i>b>I>b;>CYJlByJI RR=Rp=bDV^VDV8y^:>%b]=ٔbɻQ-b>9f ?Yf ?=fDyf#DfEj>hQ 5n4jr?Q 9r4jn)jBYpyr&?Q Ir?j#DIj ;ij" ;j4yv՜BɮzAzլE:iFNOT Ignoring new targets: 528.99 m."ie*ie- ProNav: ac range: 528.994202 m, nav range: 502.568939 m, bearing: 31.227667 deg, approach rate: -0.593283 m/s, LOS rate: -0.007234 deg/s, cmd heading: 32.735348 deg, new cmd heading: 32.730127 deg. i-S5HeadingCmd: 0.571248 target range: 528.994202 and range: 528.70 m.h5W=?h1h1h1h9g9g9jgArgAeAreAZeA:eI*eM>@u,~BɢuG)y }iy)}Qyyi}V =iW=?I?s=o=IW=?IIyA)9@ @@?0@ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseԩAm؟AIIO=>bE(4jEƼ4rEuf0E EwE7E"Es:*E:VEԺ4ZEa@a@a@a@B>BQCBIBnBB=BBDBI;B{E  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseu",:LAFB>F?F8ٱF=FH 5?`9Pȿu?&?(п@mX?c?`K?iFB>IF2c;FCY^mBybIbDjVDj 8pyv^=%vG=ٔvQQ-v>9z"?Yz"?=zDyz$DzE~>Q 5 4?Q 9 4)BY y &?Q I ?#DI:i\:4yԜBɮ.A=B*** querying acoustic contact ***i9i9:iFNOT Ignoring new targets: 528.99 m."i*i% ProNav: ac range: 528.994202 m, nav range: 502.330780 m, bearing: 31.224787 deg, approach rate: -0.553317 m/s, LOS rate: -0.006694 deg/s, cmd heading: 32.730126 deg, new cmd heading: 32.724364 deg. iDHeadingCmd: 0.571148 target range: 528.994202 and range: 528.70 m.h6?hhhhggjg!rg!eqreqZey:e*e@Wn?@ M]~BɢM-)Q U`iQ)U$oQQiU =i]6?]a *",LAɰ2>2н?2ٱ2x=2H?v6ȿo?E ?пq?[?@C?i2>I2mb;2CY:ImBy:Ii5Mb@Mb@Mb@1111 195jt?/$?S㥫?Y5 ?9y5,=5/]=5lA5A 5vA)5TA1Y5=AbDMVDM!8y] >%]C=ٔeuQ-e>9aYa=mDym $DmۺEm>qQ 5}4u?Q 9}4u{)uMBY!?Q E:y>!?Q I?u#DIu ;iu;u4y՜BɮØAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:iFNOT Ignoring new targets: 528.99 m."i׸*i׸ ProNav: ac range: 528.994202 m, nav range: 502.088287 m, bearing: 31.222434 deg, approach rate: -0.607293 m/s, LOS rate: -0.005897 deg/s, cmd heading: 32.724365 deg, new cmd heading: 32.719656 deg. i,HeadingCmd: 0.571066 target range: 528.994202 and range: 528.70 m.h]1?hhhhggjgrgereZe:e*er?@~~Bɢ)! %i!)%.M!!i-l=i-]1?-r:s=5c(m=I5]1?I19@ @@>0@iAI!I9OEQ>ԑM T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse E  E E ;E "E :*E .:VE 4ZE a @a @a @a @xɽ",LA29 >2Z?2ٱ2=2H? kȿ`c?6?υп?t?G?i29 >I2b;2CYRymByR IbDZVDZ8yb=%bU=ٔfMQ-f>9dYd=fDyj/$DjEj>lQ 5r4nܢ?Q 9r4nbx)n~BYtyv !?Q Iv?n#DInZ:in:nƧ4yxɮzcAx:iFNOT Ignoring new targets: 528.99 m."i%͸*i%͸5 ProNav: ac range: 528.994202 m, nav range: 501.865570 m, bearing: 31.220289 deg, approach rate: -0.581683 m/s, LOS rate: -0.005604 deg/s, cmd heading: 32.719656 deg, new cmd heading: 32.715364 deg. i5$=HeadingCmd: 0.570991 target range: 528.994202 and range: 528.70 m.h=t,?h9hAhAhAgAgAjgIrgIeIreIZeI:eQ*eUN@@ԙ~Bɢyŭ) ci!)%Z!!i%f=i-t,?-5s=-gg=I-t,?I1=>i=>BaAe<Bm>BmRCBm1IBmXoBBm=BiBmDBmt;Bm{EB%PCB%QCB%“CB%=B%=C%*59@ @@O0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseePExceeded connect timeout, disconnecting.^A@p=Aa Ii Iy O > ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse", LA2ر>2۶?2螾ٱ27=2H?IɿxR?lT?` пۋ?@b?-N?i2ر>I2!Jb;2CY:mBy:1Ii Mb@Mb@Mb@     9 jt?L7A`??Y y += L= jA ІA A) SA Y AbD%pVD%8y5 >%55=ٔ=Q-=>99Y9=EDyEB$DEڴEE>D=DR=E EkE<E"E:*E:VE 4ZEBE;a2E;aJE @;a:E@;aQ 54?Q 94Kt)BY!?Q E:y?Q I?#DI:iV:Χ4y֜BɮA֬E:i FNOT Ignoring new targets: 528.99 m."i *i  ProNav: ac range: 528.994202 m, nav range: 501.595612 m, bearing: 31.218195 deg, approach rate: -0.576250 m/s, LOS rate: -0.004471 deg/s, cmd heading: 32.715363 deg, new cmd heading: 32.711174 deg. iEHeadingCmd: 0.570918 target range: 528.994202 and range: 528.70 m.hE'?hAhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]Q@@~Bɢo) ͈i)u.i=i'?+*s=p_=I'?I@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA^A h=q A I I) O= >",i-LA2#>2"?2㞾ٱ2?r=2H@?*ɿ C?c?Ͽ ???`O?i2#>I2|b;2CY:mBy>NI @@bDF^VDF8yN>%Nk=ٔN<8Q-R?9PYP=RDyRP$DV ջEV?XQ 5^4Z ?Q 9^4ZVq)ZBY\ybS?Q Ib?Z $DIZu:iZ:Zԧ4ydɮfAd:ixzFNOT Ignoring new targets: 528.99 m."i~*i~  ProNav: ac range: 528.994202 m, nav range: 501.399994 m, bearing: 31.216724 deg, approach rate: -0.588301 m/s, LOS rate: -0.004428 deg/s, cmd heading: 32.711173 deg, new cmd heading: 32.708228 deg. i HeadingCmd: 0.570866 target range: 528.994202 and range: 528.70 m.hK$?hhhhggjgrgere!Ze!:e!*e%{@@U~BɢU)UHiS= UOiQ)]9YYi]=ieK$?es=e"X=IeK$?Ia-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse9@ @@0@ԑE EwEE"EC:*E:VEZEa@a@a@a@^AS^=Bm>BiBmIBmoBBiBiBiBm;Bm{EI I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsem nManaging dock network, ignoring radio surface power off ",!#GLA2媯>2?2Wٱ28=2H$?@{ɿ7?jg?6Ͽ`z?? P?i2媯>I2 b;2CYbnBybnIbDjnVDj8yrB=%rG=ٔv);Q-v>9tYx=zDyza$DzEz>|Q 54~?Q 94~m)~BY y ?Q I ?~$DI~.:i~:~ۧ4yBɮ~AͬE5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 528.99 m."iE*iEU ProNav: ac range: 528.994202 m, nav range: 501.160797 m, bearing: 31.214984 deg, approach rate: -0.580978 m/s, LOS rate: -0.004228 deg/s, cmd heading: 32.708229 deg, new cmd heading: 32.704748 deg. iU]HeadingCmd: 0.570806 target range: 528.994202 and range: 528.70 m.h]P ?hahahahagagajgirgieireiZei:eq*euw@@额Bɢ) i)H顱i=iP ?s=R=IP ?I9@ @@1@ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse^A `T=AzAzAmGGE E~E9E"E1:*E(:VE4ZEBE;a2E;aJE;a:E;a) U j9Q Y] gAI I O- >Q ",laLAY~gnBy~IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9K7A?y&1?A`"?Y "?y`<Y=iAA A)QAYz|AbDsVD8y.>%==ٔQ->9Y=Dyr$DE>Q 54S?Q 94i)JBY"?Q E:y\?Q I?+$DIe;i;v4yɮA:i!%FNOT Ignoring new targets: 528.99 m."i-D*i-D= ProNav: ac range: 528.994202 m, nav range: 500.906769 m, bearing: 31.213406 deg, approach rate: -0.586018 m/s, LOS rate: -0.003641 deg/s, cmd heading: 32.704749 deg, new cmd heading: 32.701592 deg. i=:ոEHeadingCmd: 0.570750 target range: 528.994202 and range: 528.70 m.hE?hAhAhAhAgAgAjgIrgIeIreQZeQ:eQ*eU`@@颅DBɢ)T+= i)W顉i=i?r=,S=I?I)!@! @)@-0@)Y^AmdO=IIO>U =U 4=] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseԁ E  E |E <E "E s:*E P$:VE 4ZE a @a @a @a @",bzLA0B>B<?B8ٱB K=BH ? @\ɿ`!? x?Ͽ`D?Pڹ? W?iB>IB)c;BCYbnBybIIf<)fbDnVDn+8yvk->%vZ=ٔv9xYx=zDyz$Dz0E~>Q 54?Q 9 4f)yBY y I?Q I ?9$DIh:i:4yBɮjA:i9EFNOT Ignoring new targets: 528.99 m."iERv*iERvU ProNav: ac range: 528.994202 m, nav range: 500.687073 m, bearing: 31.212147 deg, approach rate: -0.586607 m/s, LOS rate: -0.003365 deg/s, cmd heading: 32.701593 deg, new cmd heading: 32.699073 deg. iUŸ]HeadingCmd: 0.570706 target range: 528.994202 and range: 528.70 m.h]?hYhahahagagajgirgieireiZei:eq*eu@A@额hBɢ)) i)c顡i&=i?r=+C=I?IB%>B!B%IB%kpBB%=B!B!B%;B%{EԉT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse[1=Թ9@ @@0@ ^A lT=I! I1 O= >",0LAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse69>6%?6Mٱ6=6H h? `ɿ? N?Dο`%? *?ob?i69>I6=c;6CYBnByBIxi=Mb@Mb@Mb@9999 99=)\(?I +?X9v?Y=G!?y=9<=}==lgA=A =A)=hOA9Y==zAimAAbDVD38yV=%3=ٔW;Q->9Y=Dy$DD%=D%=E EEE"E:*E,:VEZEBEy;a2E{;aJE?;a:E?;a$yE>Q 54?Q 94b)BY("?Q E:y?Q I?J$DI4:i: 4yɮ A:i FNOT Ignoring new targets: 528.99 m."i<7*i<7- ProNav: ac range: 528.994202 m, nav range: 500.419189 m, bearing: 31.210995 deg, approach rate: -0.581783 m/s, LOS rate: -0.002503 deg/s, cmd heading: 32.699073 deg, new cmd heading: 32.696768 deg. i--HeadingCmd: 0.570666 target range: 528.994202 and range: 528.70 m.h5/?h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eERA@mBɢu,)q uiq)uڸsqyi}L=i}/?r=?=I/?I!Q)=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsee 9@a  @a @e 0@a y ^A (A=ԩ I IO->",6LAY oBy IbD%VD%8y->%-D=ٔ5Q-5>99Y9==Dy=$D=EE>AQ 5M4E}?Q 9M4E[_]B]PCB]1IB]pBB]=BYB]DB]޼;B])|E9@ @@@ DAT read:  2Acoustic response timeout 9 ^A ==A.AII)O5>LP",LAF>F:M ?F]nٱF}=FH`?@h Pʿ?[?Ϳ??2v?iF>IFAvc;FCYRUoByR/I TTi-Mb@Mb@Mb@)))) )9-Gz?%U"=ٔU9] ?Y] ?=]Dy]$De$׻Ee>iQ 5u4m,?Q 9u4mL[)m)BYu?Q Eu:yu?Q I}?ml$DIm:im:m4߅%=߅%=2Acoustic response timeoutyɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."ix*ix ProNav: ac range: 528.994202 m, nav range: 499.893921 m, bearing: 31.209040 deg, approach rate: -0.564650 m/s, LOS rate: -0.001823 deg/s, cmd heading: 32.694695 deg, new cmd heading: 32.692857 deg. iUHeadingCmd: 0.570598 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e@]A@-Bɢ-M)) -Ȅi))511Qi]_=i]?eԄr=e4=Ie?Iau!>iu>E EE:E"E:*EVE(4ZEBE;a52E;a5JEY;a=:EY;a= 9@  @ @ @ԁ5 2Acoustic response timeout^A= lB=Ա A I I O >Oo",HLA:>:C ?:ٱ:=:H ?=w`wɿ ?G? ο`?`1a?p?i:>I: ac;:CYFoByFZILbDRVDR8yZ8>%ZW=ٔ^N:Q-^>9\Y`=bDyb$DbùEb>dQ 5j4f;?Q 9j4f:X)fZBYhynK?Q In?fy$DIf:if;f4yrBɮrAp:i  FNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 499.678192 m, bearing: 31.208379 deg, approach rate: -0.573796 m/s, LOS rate: -0.001760 deg/s, cmd heading: 32.692858 deg, new cmd heading: 32.691534 deg. i0NHeadingCmd: 0.570575 target range: 528.994202 and range: 528.70 m.h2?hhhhggjgrgereZe:e*eA@Bɢ ) >^= i ) ; ihg=i}2?}gr=}/4=I}2?I 9@  @ @ 0@ 2Acoustic response timeout^A·3=IIOn>bE4jEO4rE]%0E= E=sE=6E9"E=7:*E=Z:VE=c4ZE9aM@aM@aM@aM@B A <B >B OCB IB }qBB =B B DB *;B l|E! iQ IU A] 2Acoustic response timeout[",LAB{Ӫ>B+4 ?B;ٱBXR=BH ? ɿ ??ο??j?iB{Ӫ>IBc;BCYZoByZoIbDb}VDb 8yj~=%jH=ٔnHQ-n>9lYl=nDyr$DrEr>txQ 5~4vaL?Q 9~4vT)vBY|y~?Q I~?v$DIv*;iv+;v4yɮ HA :i)5FNOT Ignoring new targets: 528.99 m."i5v*i5v󷝏E ProNav: ac range: 528.994202 m, nav range: 499.446625 m, bearing: 31.207698 deg, approach rate: -0.565386 m/s, LOS rate: -0.001663 deg/s, cmd heading: 32.691532 deg, new cmd heading: 32.690170 deg. iEBMHeadingCmd: 0.570551 target range: 528.994202 and range: 528.70 m.hM?hIhQhQhQgQgQjgYrgYeYreYZeY:ea*ee@N-B@颍BɢZ>) i)˖顑i`@=i?Ir=4=I?IU9@Y @Y@e0@a!I^A2Acoustic response timeoutI I O >EA  EE {EE @EA "EA *EE 5":VEE 4ZEA BEE ;aM 2EE ;aM JEE Jz;aM :EE Kz;aM q ",6uLA2&Ϫ>22 ?2Iٱ2=2H@N ?`ȿ? ?>ϿE? ٹ?e?i2&Ϫ>I2>b;2CYN pByRIi%Mb@Mb@Mb@!!!! !9%X9v?Q?x&?Y%?y%<%7=!%{A %3A)!!Y%sAbD=VD=8yMA9>%MD=ٔU Q-U>9QYQY=]Dy]$DeZEe>iQ 5u4m]?Q 9u4mqQ)mĵBYu?Q Eu:yum?Q I?m$DImӓA I I O > 2Acoustic response timeout ̩ ",N9LA2 >28P ?2Wٱ2=2H@?ȿ`"?Q?Ͽ?es?``?i2 >I2/b;2CY:@pBy:IbDFVDF8yJF >%NW=ٔN^Q-N>9PYP=RDyR$DV:EV>TQ 5Z4V.l?Q 9^4VDN)VBY\y^y?Q I^?V$DIV;iVo;V4yfBɮfAfŬEE EuE:E"E%:*E:VE(4ZEa @a @a @a @:iFNOT Ignoring new targets: 528.99 m."iHa*iHaԹ ProNav: ac range: 528.994202 m, nav range: 498.992462 m, bearing: 31.205251 deg, approach rate: -0.569499 m/s, LOS rate: -0.003077 deg/s, cmd heading: 32.687609 deg, new cmd heading: 32.685274 deg. i:HeadingCmd: 0.570466 target range: 528.994202 and range: 528.70 m.h ?hhhhggjgrgereZe:e*eB@-ABɢ-Þ)) -i))5K11i5=i= ?Er=E95=IE ?IAB=>B9B=IB=rBB9B9B9B=e;B=|EBBPCB”CBBC5-BDAT read: Response Not Received -*response not received5RDAT read: user:41>Tx time:01:05:03.9192 E",-CTLA~DAT read: 2Acoustic response timeoutY {pBy IԑiMb@Mb@Mb@ 9Cl?ˡE?x&?Y;?y'=`A-|A A)IAYrAbDRVD8yV=%/=ٔQ->9Y=Dy %DE> Q 54 ~?Q 94 ",9 nLA2;>2Gh ?2 ٱ2VU=2Hs?56ɿ*?}?пbB?`)?@S?i2;>I2 kb;0Y:pBy:IbDFWVDF8yJt=%Je=ٔN@Q-N>9PYP=RDyR%DRq:EV>TQ 5Z4V̌?Q 9Z4V%G)V`BY\y^K?Q I^?V$DIV.dBNCB1IBrBB=BBB;B|Ey ^A 3= 2Acoustic response timeoutA ؟AI I O >ϲ"",vQLA2|>2+ ?2Eݝٱ2=2H&?K.ɿ?@s?dп`k?"?@J?i2|>I2a;2CY>pBy>IbDFsVDF8yN5>%N2=ٔRQ-R>9R"?YR"?=VDyV,%DVsF;EV>X\Q 5b4^?Q 9b4^/C)^BY`yb?Q Ib?^$DI^:i^:^=44yfBɮjrAh:ix~FNOT Ignoring new targets: 528.99 m."i~*i~  ProNav: ac range: 528.994202 m, nav range: 498.259308 m, bearing: 31.199662 deg, approach rate: -0.586502 m/s, LOS rate: -0.004524 deg/s, cmd heading: 32.678132 deg, new cmd heading: 32.674092 deg. i zHeadingCmd: 0.570270 target range: 528.994202 and range: 528.70 m.h??hhhhggjgrgereZe:e*e@:C@|Bɢ}I)) -i1)=99ie=i}??}Mq=2<=I??I}>}a=2Acoustic response timeout9@ @@0@ v>C}gGzA9zAYaA D=D<E EqE@E"E:*E$ :VE4ZEBE0;a2E1;aJEU;a:EU;a^A} d6=9 A .AI I O >(",rLA2a>2:?28ٱ2=2H ?@Ueɿ@?l?oп^?@«?`D?i2a>I2ra;2CY>qBy>GIr2Acoustic response timeouti}Mb@Mb@Mb@yyyy y9}ʡE?&1?Mb?Y}?y}P=}=}]Ay }A)}GAyY}(pAbDVD8y>%;=ٔǻQ->9 ?Y ?=Dy>%D;E>Q 54?Q 94X?)նBY?Q E:y!?Q I?$DI:i:;4yɮA:iFNOT Ignoring new targets: 528.99 m."iѸ*iѸ ProNav: ac range: 528.994202 m, nav range: 498.013245 m, bearing: 31.197174 deg, approach rate: -0.564616 m/s, LOS rate: -0.005711 deg/s, cmd heading: 32.674092 deg, new cmd heading: 32.669114 deg. i:'HeadingCmd: 0.570184 target range: 528.994202 and range: 528.70 m.h?hhhhg!g!jg!rg!e)re)Ze):e)*e-roC@Bɢ) i)i =i5?=hq==MB=I=?IAI9@ @ @ 0@ q2Acoustic response timeout^A- ==ԡ E-  E- oE- ;E) "E- :*E- :VE- 4ZE) a= @a= @a= @a= @A} ؟AI I O >/",LA4<ɰ4R)?R\ٱRJ=RH@?5mɿI?i?`п ?ٺ?T@?iRx٭>IRa;RCYZRqByZhIBb>BbPCBbIBb(sBB`B`BbDBb߽;Bb2}EbDpVDpyz >%zV=ٔ~Q-~>9"?Y"?=DyM%D;E > Q 54 ]?Q 94 ;) BYyv"?Q I? $DI o;i 8; B4y%Bɮ%A-ǬEy:iFNOT Ignoring new targets: 528.99 m."i θ*i θ] ProNav: ac range: 528.994202 m, nav range: 497.797943 m, bearing: 31.194936 deg, approach rate: -0.541448 m/s, LOS rate: -0.005632 deg/s, cmd heading: 32.669112 deg, new cmd heading: 32.664634 deg. i]$eHeadingCmd: 0.570105 target range: 528.994202 and range: 528.70 m.hen?hahihihigigijgqrgqereZe:e*eC@%Bɢ%赻)! %&i))-Fǽ))im,=iun?uYyq=u*I=Iun?Iy>i>2Acoustic response timeoutԩ9@ @@0@@=@=^A- B=  2Acoustic response timeoutA I I O >5",LA2?J>2o?2ٱ2=2H`?@ʿT)?`m\? {п@? ?@9?i2?J>I2a;0Y>qBy>Ii5Mb@Mb@Mb@1111 195?Mb?Q?Y5 ?y5=5u=5l[A5{A 1)5EA1Y5nAbD_VD8DzDE EmE<E"E*E:VE 4ZEBE;a 2E;a JEUG;a :EVG;a y>%==ٔ%»Q-%>9!Y!=-Dy-_%D-;E->1Q 5=45O?Q 9=457)5ABYE!?Q EE:yE(?Q IE?5%DI5A:i5(:5>J4yIɮMAImB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 528.99 m."i}Y*i}Y ProNav: ac range: 528.994202 m, nav range: 497.545197 m, bearing: 31.191576 deg, approach rate: -0.592939 m/s, LOS rate: -0.007888 deg/s, cmd heading: 32.664635 deg, new cmd heading: 32.657911 deg. if5HeadingCmd: 0.569988 target range: 528.994202 and range: 528.70 m.h5?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eExC@Bɢb) ~i)u}νicr=i?Vhq=S=I?I) 9@ @@@2Acoustic response timeout1^A BJ=a A I! I1 O= > <",zLA2?>2!?2XOٱ2Za=2H@'?`Tʿ7?I?@(п@? I?1?i2?>I2&a;2CYbqBybIbDjVVDj8yr>%r]=ٔv2Q-v>9tYt=vDyvn%DzP;Ez>|Q 54~?Q 94~4)~qBYyx)?Q I ?~%DI~":i~q:~P4yBɮA:iFNOT Ignoring new targets: 528.99 m."i *i  ProNav: ac range: 528.994202 m, nav range: 497.338806 m, bearing: 31.188767 deg, approach rate: -0.568029 m/s, LOS rate: -0.007733 deg/s, cmd heading: 32.657911 deg, new cmd heading: 32.652292 deg. ilbHeadingCmd: 0.569890 target range: 528.994202 and range: 528.70 m.hP?hhhhggjgrgereZe:e*eD@Iu2Acoustic response timeoutŀBɢ+;) |i)Խi_=iP?]q= l\=IP?I9@ @@0@E EhE7E"E:*E]9VEԺ4ZEa @a@a@a@yB<AB>BBIBsBB=BBB;B}Eԩ^A8R=- 2Acoustic response timeoutA .AI I) O= > B",A LA26>2?2їٱ2V=2H@?@ `ɿC?/?@;+ѿ8?`Ѽ?n%?i26>I2%a;2CYNqByRITTbDZPVDZ8yb >%bM=ٔfͻQ-f>9f ?Yf ?=fDyf~%Dj;Ej>lQ 5r4nQ?Q 9r4n0)nBYpyv)?Q Iv?n%DIn;in:nW4yxɮzIAx:iFNOT Ignoring new targets: 528.99 m."i]*i] ProNav: ac range: 528.994202 m, nav range: 497.111542 m, bearing: 31.185625 deg, approach rate: -0.574319 m/s, LOS rate: -0.007943 deg/s, cmd heading: 32.652293 deg, new cmd heading: 32.646007 deg. ihHeadingCmd: 0.569780 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e` 9 JI",*&LA2|>2{?2ٱ2.>2H`?+2J!ɿT??`lѿ@b?x??i2|>I2aa;2CYf@rByfIr2Acoustic response timeoutiMb@Mb@Mb@ 9{Gz?x&?Q?Y#?y7=;YAxA tA)~DAYlAbDVD 8y+>%;=ٔdʻQ->9"?Y"?=Dy%D;E>Q 54C?Q 94,)BYs%?Q E:y+?Q I?/%DIX%;i3;!_4ydBɮAE:i)FNOT Ignoring new targets: 528.99 m."iW*iW  ProNav: ac range: 528.994202 m, nav range: 496.857300 m, bearing: 31.181968 deg, approach rate: -0.578397 m/s, LOS rate: -0.008324 deg/s, cmd heading: 32.646006 deg, new cmd heading: 32.638688 deg. i sHeadingCmd: 0.569653 target range: 528.994202 and range: 528.70 m.h?hhhhgg!jg!rg!e!re)Ze):e)*eM:vD@Bɢi) lyi)[i=i?ITq== o=I?I9@ @@@Y2Acoustic response timeouty ^A c=bEjEʈ4rEʅ0E- ~ E- iE- >E) "E- :*E- 9VE- 4ZE) a= @a= @a= @a= @A I I O >G@O",?LABB>BBRCBB8IBBDtBB@B@BBDBBZ;BB|ELb4>bd?b*ٱb >bH|?@Vȿ4g?G? dҿ@ӆ?`7??ib4>IbJb;bCY~brBy~IbD VD J8y}=%%U=ٔ%rǻQ-%>9)Y)=-Dy-%D-x<E->1Q 5m45# ?Q 9m45()5BYqyu+?Q Iu?5=%DI5;i5;5e4yɮˌA:iFNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 496.633728 m, bearing: 31.178681 deg, approach rate: -0.567126 m/s, LOS rate: -0.008343 deg/s, cmd heading: 32.638687 deg, new cmd heading: 32.632110 deg. iHt%HeadingCmd: 0.569538 target range: 528.994202 and range: 528.70 m.h%:?h!h!h!h!g!g)jg)rg)e)re1Ze1:eQ*eUܥD@颽Bɢ˾) Uyi)hi=i:?UWq=U9z=IU:?IQy2Acoustic response timeout9@ @@0@ԙ^A np= A IA IQ Oe > 2Acoustic response timeoutA(V",JYLA;ɰp;2g>2F?2Fٱ2U>2Hn?Pm3ȿ_s?`F? ҿo? ??i2g>I2db;2CLYRrByR2IimMb@Mb@Mb@iiii i9m+?L7A`?&1?Ymv?ym+=mP=mWAm-|A mA)m7AAiYmlAbDVDC8y>>%C=ٔQ->9Y=Dy%DU;E>Q 54?Q 94%)NBY?Q E:y0-?Q I?L%DI7;in;'m4yeBɮaAED?AzD@AE EhE<E"E1:*E]9VE 4ZEBE;a2E;aJEa:EaB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 528.99 m."i "*i"% ProNav: ac range: 528.994202 m, nav range: 496.397400 m, bearing: 31.175050 deg, approach rate: -0.577785 m/s, LOS rate: -0.008881 deg/s, cmd heading: 32.632110 deg, new cmd heading: 32.624845 deg. i%%HeadingCmd: 0.569411 target range: 528.994202 and range: 528.70 m.h-?h)h)h)h)g)g)jg1rg1e1re9Ze9:e9*e=,D@e Bɢm-Ǿ)i mxii)mqqij=i?`q=K =I?I@ @@/0@2Acoustic response timeout^AJz=) A .AI) I9 OU >GR\",sLA2L>2p?2uEٱ2>2H`gb?` %uȿ@{?`?ҿ`?@oj??i2L>I2:b;2CYvrByvOIbDVDM8y5r=%5Q=ٔ=JQ-=>9E ?YE ?=EDyE%DM;EU>Q 54*?Q 948!)BYy-?Q I?[%DI;i;8t4yɮA:iFNOT Ignoring new targets: 528.99 m."iT"*iT" ProNav: ac range: 528.994202 m, nav range: 496.169373 m, bearing: 31.171504 deg, approach rate: -0.570128 m/s, LOS rate: -0.008870 deg/s, cmd heading: 32.624846 deg, new cmd heading: 32.617751 deg. i݁ HeadingCmd: 0.569287 target range: 528.994202 and range: 528.70 m.h ͼ?h h h h g g ]2Acoustic response timeoutjgrgereZe:e*e sE@颅 Bɢ2d) wi)I顉i=iͼ?lq=a=Iͼ?I)E EvE9E"Es:*E:VE4ZEa@a@a@a@9@ @@0@AyA}@AB>BSCBIBtBB=BBB;;B|EBABEQCBEƕCBE=BE=CE'5Q^A >=i I A 2Acoustic response timeoutԑ I I O >:c",ۈLA2Pݷ>2?2Gٱ2Ǎ>2HYY?@@|ȿ`>?@?Zӿ`?l??i2Pݷ>I2b;2CYRsByRIbDZVDZK8yb1\>%bR=ٔboQ-b>9dYd=fDyf%DjK:;Ej>hQ 5r4j8?Q 9r4j)jBYpyr-?Q Ir?ji%DIj;ijf;jz4yvgBɮz^AxY:iFNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 495.957092 m, bearing: 31.168175 deg, approach rate: -0.526114 m/s, LOS rate: -0.008256 deg/s, cmd heading: 32.617749 deg, new cmd heading: 32.611087 deg. iqHeadingCmd: 0.569171 target range: 528.994202 and range: 528.70 m.h.?hhh h g g jg rgereZe:e*e@E@]0Bɢeξ)i m!tii)miiim=iu.?}wq=}=I}.?Iy1@9 @9@E0@Aԑm2Acoustic response timeoutԱE EE<E"Eҝ:*EX:VE 4ZEBE;aE2E;aEJEw;aE:Ew;aE^Aƒ=I I O > `di",dLA2>2?2vٱ2vI>2H@2U?@81ȿ={?? ҿ?6??i2>I2Ob;2CYN;sByRIb2Acoustic response timeoutԹi Mb@Mb@Mb@     9 x&1?Q?&1?Y !?y u=  SA wA tA)  ?A Y iA MC=M=bDVD]8yJq=%.=ٔQ->9Y=Dy%D) E>Q 54K?Q 948)BY"?Q E:y*?Q I?z%DIM:i:4y)ɮ5%A1:iquFNOT Ignoring new targets: 528.99 m."i}a*i}a ProNav: ac range: 528.994202 m, nav range: 495.684937 m, bearing: 31.164287 deg, approach rate: -0.597946 m/s, LOS rate: -0.008545 deg/s, cmd heading: 32.611087 deg, new cmd heading: 32.603308 deg. i5zHeadingCmd: 0.569035 target range: 528.994202 and range: 528.70 m.hH?hhhhggjgrgereZe:e*ezE@FBɢa=)  ui)`2aieu =imH?mEq=ms=ImH?Iq9@ @!@%0@!u2Acoustic response timeout^A =E  E oE 9E "E :*E :VE 4ZE a @a @a @a @9 I I O >Kp",h>LABBBIBauBBBBBK;B|EBɶ>B./?B ٱBZt >BHW?Qr?ɿ`k?`"?ҿ.?f?`?iBɶ>IBrb;BCYJsByNIbDVVDVf8y^d>%^r=ٔblQ-b?9`Y`=bDyb%Df系Ef?hQ 5n4jW?Q 9n4j)j#BYlynv*?Q Ir?j%DIj:ijs;j鈨4yvhBɮvAvE:i FNOT Ignoring new targets: 528.99 m."i*i ProNav: ac range: 528.994202 m, nav range: 495.493408 m, bearing: 31.161574 deg, approach rate: -0.588413 m/s, LOS rate: -0.008339 deg/s, cmd heading: 32.603307 deg, new cmd heading: 32.597878 deg. i0tHeadingCmd: 0.568940 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e>E@=SBɢ=ʨܾ)A EqiA)EAAiEe!=iM?Mޏq=M#=IU?I2Acoustic response timeout9@ @@0@Aq^A[=IA IY O >m G {A ԩ ؎9 {AY A 2Acoustic response timeoutfvv", LA6G>69n?6 "ٱ6| >6H@z]?@VqʿhT?@R?\nҿ sY?`WD??i6G>I6v-b;6CY^sBy^Ia5@a5 a5@a5 a5@a5 a5@a5 bD=VD=R8yM=%MA=ٔUٻQ-U>9QYQ=UDE EwE;E"E:*E:VE4ZEBE4;a2E6;aJEk;a:Ek;ayU&D:ܻE>Q 54h?Q 94)^BQ A+:YQ E:y)?Q I?%DI:i_>4qyyɮ}EAyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."it *it  ProNav: ac range: 528.994202 m, nav range: 495.241943 m, bearing: 31.158074 deg, approach rate: -0.547110 m/s, LOS rate: -0.007620 deg/s, cmd heading: 32.597877 deg, new cmd heading: 32.590872 deg. i _HeadingCmd: 0.568818 target range: 528.994202 and range: 528.70 m.h?hhhhggjg rg e)re1Ze1:e1*e5`E@颽gBɢ) qi)#i!=i?q=-z=I?IE9@A @A@Eu0@Iԡ2Acoustic response timeout^A W^=Iy I O |",LA^h>^"?^꯾ٱ^>^Hfb?>V˿;?"?Rҿ @?g?@?i^h>I^ b;\YfsByfIIh)jR=bDrVDr/8yz >%zP=ٔzrQ-~>9|Y|=Dy&D5E> Q 54 .w?Q 94 x) BQ A :YQ E[:y8)?Q I? %DI ;i bQ? q4y%?Bɮ-4A-E:iIUFNOT Ignoring new targets: 528.99 m."iU;*iU;]2Acoustic response timeoutm ProNav: ac range: 528.994202 m, nav range: 495.025848 m, bearing: 31.155129 deg, approach rate: -0.606296 m/s, LOS rate: -0.008264 deg/s, cmd heading: 32.590873 deg, new cmd heading: 32.584982 deg. imquHeadingCmd: 0.568715 target range: 528.994202 and range: 528.70 m.hR?hhhhggjgrgereZe:e*e(F@5wBɢ5Ͼ)9 =pi9)=1 99i=6"=iER?E-q=E}p=IER?IIE EzE:E"EU:*E :VE(4ZEa@a@a@a@A@A @A@E0@AB!A!B->B-RCB-EIB-uBB-=B)B)B-C;B-|E1 ^Am Pz=Am >Am > 2Acoustic response timeoutA ؟AI I O >Q {",LA2>2g?2̱ٱ29=2Hi?@X!@!̿]?`0?90ҿ`?`t??i2>I2a;2CYN&tByN%IbDV|VDV 8y^a">%^M=ٔbXQ-b>9b"?Yf"?=fDyf!&DfEf>hQ 5n4js?Q 9n4j )jɹBQ Ar9YpQ Er1:yr](?Q Ir?j%DIjr;ij?j!4ytɮvAt:i)MFNOT Ignoring new targets: 528.99 m."iU*iUe ProNav: ac range: 528.994202 m, nav range: 494.798370 m, bearing: 31.152117 deg, approach rate: -0.525435 m/s, LOS rate: -0.006962 deg/s, cmd heading: 32.584982 deg, new cmd heading: 32.578953 deg. ieKmHeadingCmd: 0.568610 target range: 528.994202 and range: 528.70 m.hmm?hihihhggjgrge1reZe:e*esIF@e%=e%=e2Acoustic response timeoutBɢ) 6oi)R i~*#=im?ˎq=Gc=Im?IY9@ @@0@E EmEE"EC:*E:VEZEBEC;a2EE;aJEUG;a:EVG;aԁ ^A m=Ա 5 2Acoustic response timeoutAIIO>",4-LA>Nk>>?>oٱ>=>Ht?@g̿`?@9?@<ѿ+?`Q?{?i>Nk>I>a;>CYJYtByJDIaa aa aa aa iMb@Mb@Mb@ 9Zd;?Q?kt?Y?y< 0=PA?qA ^A):AYeA1bD=HVD=ڱ8yE&=%M$=ٔM_һQ-M>9QYQ=UDyU5&D]E]>YQ 5e4]?Q 9m4])] BQ AmT:Ym?Q Em:ym?Q Iu?]%DI];i]6;]؟4y}ABɮ}TAy:iFNOT Ignoring new targets: 528.99 m."is*is ProNav: ac range: 528.994202 m, nav range: 494.515656 m, bearing: 31.150137 deg, approach rate: -0.610084 m/s, LOS rate: -0.004274 deg/s, cmd heading: 32.578954 deg, new cmd heading: 32.574992 deg. iRHeadingCmd: 0.568541 target range: 528.994202 and range: 528.70 m.h?hhhhggjgrgereZe:e*e!F@额BɢѾ)  ni)gi#=i?q=U=I?IY}9@y @@O0@2Acoustic response timeoutԉE EE<E"E:*EA:VE 4ZEa@a@a@a@^AJc=B >B QCB IB vBB =B B DB O;B |EԱ A I I) O= >Ñ",0fGLA2>2FR?2ٱ2h=2H@6?M@@Ϳ[?^?ѿ`~ ? u??i2>I2a;0Y:tBy>yI JR=Ja=bDR2VDRƱ8yZ_>%ZU=ٔZuڻQ-Z>9`Y`=bDybE&DfXDEf>hQ 5n4jD?Q 9n4jP)j=BYlyr?Q Ir?j%DIj;ij;j4yv?BɮvAt:iFNOT Ignoring new targets: 528.99 m."i*i- ProNav: ac range: 528.994202 m, nav range: 494.297821 m, bearing: 31.148710 deg, approach rate: -0.567434 m/s, LOS rate: -0.003718 deg/s, cmd heading: 32.574992 deg, new cmd heading: 32.572137 deg. i-ٸ-HeadingCmd: 0.568491 target range: 528.994202 and range: 528.70 m.h5?h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eEBF@mBɢu$Ӿ)q ujiqԙ2Acoustic response timeout)rvi5$=i?qnq=E=I?Iu9@q @q@u1@q^AUlT=A]yAzA]wAm 2Acoustic response timeoutA I I O > D @AzD ?AE  E uE :E "E :*E :VE (4ZE BE ;a 2E ;a JE td;a :E td;a m",@aLA2Ԫ>24 ?2 ٱ2w}=2Hୌ?@@$Ͽ p?@|?@п`zG?? ?i2Ԫ>I29b;2CY:tBy:Ii]Mb@Mb@Mb@YYYY Y9]ʡE?V-?ˡE?Y]?y]<]'=]VNA]jA ]A)]h7AYY]paAbDubVDu8y'>%>=ٔQ->9Y=DyV&D.&E>Q 54?Q 94)uBY8?Q E:y~?Q I?%DIV:i:4yABɮ#AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."i9x*i9x ProNav: ac range: 528.994202 m, nav range: 494.056488 m, bearing: 31.147253 deg, approach rate: -0.561467 m/s, LOS rate: -0.003391 deg/s, cmd heading: 32.572137 deg, new cmd heading: 32.569222 deg. iƸHeadingCmd: 0.568440 target range: 528.994202 and range: 528.70 m.hK?hhhhggjg rg e re Ze:e*e@SF@BɢZ7ƾ) hi)i%=iK?sOq=M8=IK?I9@ @@0@2Acoustic response timeout!Q^AB=A I I O% >ԁ ] 2Acoustic response timeout-",.{LAYz4uByzIbD9VDͱ8y)>%Q=ٔQ->9Y=%Dy%f&D%E%>)Q 554-z?Q 954-)-BY9y9Q I=?-%DI-;i-;-紨4yAɮEAA:iimFNOT Ignoring new targets: 528.99 m."i y*i y ProNav: ac range: 528.994202 m, nav range: 493.836639 m, bearing: 31.145925 deg, approach rate: -0.562820 m/s, LOS rate: -0.003402 deg/s, cmd heading: 32.569221 deg, new cmd heading: 32.566563 deg. i=Ǹ-HeadingCmd: 0.568394 target range: 528.994202 and range: 528.70 m.h-A?h)h)h)h1g1g1jg1rg1e9re9Ze9:e9*eEG@IbEa4jE4rEn/E] E]E]>EY"E]y:*E]*:VE]4ZEYae@ae@ae@ae@ρBɢ\Jξ) fi)i%=iA?3q=~&:=IA?IAiAmAABu>BuPCBuIBuIwBBu=BqBqBuQ;Bu|Ee9@a @a@e1@a^A=;6=yAiIqIO}>2Acoustic response timeoutԡ ,",LAZ$b>Z{ ?ZٱZ=ZHޚ?@6S&п ?z?@-п@4?@t? ?iZ$b>IZ c;XYbuBybIIf<)f=bDnVDn8yvA>%vM=ٔvUQ-z>9xYx=zDyuv&DℼE>Q 54?Q 94)BY y ?Q I5?&DIi->Ee EepEe:Ea"Ees:*Ee :VEe(4ZEaBEe!;au2Ee";auJEe@R;au:EeAR;au9@ @@0@  2Acoustic response timeout^A 8=1 I I O >}",3LA2^D>2 ?2Źٱ2tx=2HX?> xпD?`?~ п?x?@?i2^D>I2c^b;2CY>uBy>3IiMb@Mb@Mb@ 9ףp= ?X9v?~jt?Y?y<D=ZfA )$4AY_AbDVD`8y%R>%-==ٔ-Q-->91Y1=5Dy5&D=ƫE=>9Q 5E4=,?Q 9M4=)=BYMd?Q EM:yMC?Q IM?=&DI=;i=;=mè4yYɮ]TAY:i)5FNOT Ignoring new targets: 528.99 m."i=k*i=ki ProNav: ac range: 528.994202 m, nav range: 493.370087 m, bearing: 31.143379 deg, approach rate: -0.584384 m/s, LOS rate: -0.003212 deg/s, cmd heading: 32.563996 deg, new cmd heading: 32.561470 deg. iHeadingCmd: 0.568305 target range: 528.994202 and range: 528.70 m.hm|?hhhhggjgrgereZe:e*eوG@=Bɢ=Q;)9 E`iA)EAAiEO&=iMm|?Mp=M&=IUm|?IQ59@9 @9@=o0@9}2Acoustic response timeoutԑ^AN!=E EsE;E"Ea:*EZ:VE4ZEa@a@a@a@IIO >B>BBIBxBB=BBDB*;Bl|EBQCBBȔCB=B=Cȣ5 _",LA2->2O ?2xܺٱ2=2H?? п ?`?=!п??@ ?i2->I2,Va;2CY:vBy:YIbDBVDBa8yJw!>%JU=ٔN˵Q-N>9lYl=nDr2Acoustic response timeoutyr&DvEv>xQ 5z4z?Q 9~4zn)zNBY|y~8?Q I~?z&DIz;iz;zGʨ4y EBɮ ߄A E:i)5FNOT Ignoring new targets: 528.99 m."i5 o*i5 oE ProNav: ac range: 528.994202 m, nav range: 493.149933 m, bearing: 31.142173 deg, approach rate: -0.595882 m/s, LOS rate: -0.003265 deg/s, cmd heading: 32.561469 deg, new cmd heading: 32.559056 deg. iM2Acoustic response timeoutI E  E E ?E "E :*E *:VE ^4ZE BE 0;a 2E 1;a JE m;a :E m;a ",)LA 6yr>6 ?6jٱ6\=6Hd?AD@п W? ?@;1п`? S??i6yr>I6,`;6CY>^vBy>I @@iMb@Mb@Mb@ 9x?L7A`?Mb?YK?y+=@=$LAaA A)1AY\AbDVDX8y- >%-A=ٔ5Q-5>91Y1=5Dy=&Dޟ:E>Q 54 ?Q 94)BY?Q E:y?Q I?,&DI:i:Ѩ4yBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 528.99 m."iXu*iXu ProNav: ac range: 528.994202 m, nav range: 492.920319 m, bearing: 31.140731 deg, approach rate: -0.533336 m/s, LOS rate: -0.003352 deg/s, cmd heading: 32.559054 deg, new cmd heading: 32.556168 deg. iFĸHeadingCmd: 0.568212 target range: 528.994202 and range: 528.70 m.h]v?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5G@]Bɢe%ɾ)a ev\ia)ej%aaimJ'=im]v?up=uF=Iu]v?Iqq2Acoustic response timeout-9@) @)@-O5@1@1@1ԙ^AU;=IIO>  2Acoustic response timeout",?LA2'!>2[ ?2ٱ2=2H@?`Qп@N?G?`Zп ?"q??i2'!>I2`;0Y:vBy:IXbDbVDbw8yf11>%jP=ٔj?Q-j>9hYl=nDyn&Dng;Er>pQ 5v4r?Q 9v4r )rBYxyzI?Q Iz?r9&DIr:ird:r`ب4y~Bɮ*AE:i!-FNOT Ignoring new targets: 528.99 m."i-{*i-{= ProNav: ac range: 528.994202 m, nav range: 492.719330 m, bearing: 31.139439 deg, approach rate: -0.534235 m/s, LOS rate: -0.003436 deg/s, cmd heading: 32.556168 deg, new cmd heading: 32.553583 deg. i=<ɸEHeadingCmd: 0.568167 target range: 528.994202 and range: 528.70 m.hEhs?hAhAhAhIgIgIjgIrgQeQreQZeQ:eQ*e]H@颅"BɢѾ)  Zi)~ (顉i%(=ihs?cp=#=E EjE<E"E:*E9VE 4ZEa@a@a@a@Ihs?IByA}<B>BBIBxBB=BBDB4;Bw|Em9@q @q@u/5@q2Acoustic response timeout^A=II O>A ",#LA :v>:4Cr8G!AFm9YgiAm2Acoustic response timeout}>}\ ?}aٱ}I=}H}?`phп?`?9п&?g? P?i}>I}۔`;}CYvByIiuMb@Mb@Mb@qqqq q9u/$?kt?V-?Yu?yu 0=um=u KAu_A uІA)u-AqYupYAbDVDo8yj+>%#=ٔZQ->9Y=Dy&D^v;E>Q 54*?Q 94)BY?Q E:y?Q I?J&DI<;i; 4yɮ~A:iFNOT Ignoring new targets: 528.99 m."iƧ*i%Ƨ5 ProNav: ac range: 528.994202 m, nav range: 492.444885 m, bearing: 31.137145 deg, approach rate: -0.548139 m/s, LOS rate: -0.004584 deg/s, cmd heading: 32.553583 deg, new cmd heading: 32.548993 deg. i58=HeadingCmd: 0.568087 target range: 528.994202 and range: 528.70 m.h=(n?h9h9h9h9g9g9jgArgAIeAreIZeQ:eQ*eUM]H@}6Bɢ}a)(Z/= 7WiE EuE:E"Eg:*E:VE(4ZEBE;a2E;aJEtd;a:Etd;a)%}+!!i%~E(=i-(n?-,4p=-Qj)=I-(n?I1U9@Q @Y@]:0@Yy 2Acoustic response timeoutԡ ^A $=AI IY Iq O >c",s3LA $ɰ&4rX ?r+ԾٱrF=rHi?@pп#?@S?PѿN???irթ>Ir`;rCYzVwByzIbD VD 8y\>%e=ٔQ->9!Y!=%Dy%&D-<E->)Q 5=4-8?Q 9=4-)-3BY9y=?Q I=?-W&DI-&:i-u:-]4yEBɮḾAI:iiuFNOT Ignoring new targets: 528.99 m."iuS*iuS ProNav: ac range: 528.994202 m, nav range: 492.249420 m, bearing: 31.135455 deg, approach rate: -0.547438 m/s, LOS rate: -0.004735 deg/s, cmd heading: 32.548993 deg, new cmd heading: 32.545612 deg. i HeadingCmd: 0.568028 target range: 528.994202 and range: 528.70 m.hJj?hhhhggjgrgereZe:e*eH@EBɢ.Ծ) =Si)O-i^(=iJj?1p=5=IJj?Ii9@ @@E5@52Acoustic response timeoutE} E}|EyEy"E}C:*E}P$:VEyZEya@a@a@a@ԙB=>B9B=qIB=yBB==B9B9B=A;B=|E^A)= A I I O > 2Acoustic response timeoutI",MLA2>2? ?2wٱ2\=2HS?@ WпF?m?ҿ`~?@@??i2>I2ya;2CY:wBy:MIbDF1VDFű8yJS>%NS=PٔNQ-R>9TYT=VDyV&DV?<EV>XQ 5^4ZF?Q 9b4Z)ZkBY`yb?Q Ib?Zd&DIZj;iZ3;Z$4ydɮf(Ah:ixzFNOT Ignoring new targets: 528.99 m."i~*i~  ProNav: ac range: 528.994202 m, nav range: 492.037628 m, bearing: 31.133561 deg, approach rate: -0.545933 m/s, LOS rate: -0.004884 deg/s, cmd heading: 32.545612 deg, new cmd heading: 32.541823 deg. i HeadingCmd: 0.567962 target range: 528.994202 and range: 528.70 m.he?hhhhggjgrgereZe:e*e@H@UBɢt˾) ,Pi)O0顙i )=ie?o=+,A=Ie?I-:@) @)@-O5@)]BDAT read: Response Not Received e*response not receivedmTt",gLA|YwBytIiMb@Mb@Mb@ 9"~j?~jt??YS#?yD=L=FA]A )z,AYWA C=bD FVD ر8y->%53=ٔ=Q-=>99YA=EDyE&DMEM>QQ 5]4UX?Q 9]4U)UBY]I$?Q E]:ye ?Q Ie?Uu&DIU:iUb:U 4ym BɮmAmEB*** querying acoustic contact ***iiRDAT read: user:42>Tx time:01:05:16.3692 DAT read: 2Acoustic response timeout:i-FNOT Ignoring new targets: 528.99 m."i5B˸*i5B˸E ProNav: ac range: 528.994202 m, nav range: 491.775909 m, bearing: 31.131005 deg, approach rate: -0.568348 m/s, LOS rate: -0.005553 deg/s, cmd heading: 32.541822 deg, new cmd heading: 32.536707 deg. iE"MHeadingCmd: 0.567873 target range: 528.994202 and range: 528.70 m.hM`?hIhIhQhQgQgQjgQrgYeYreYZeY:eY*eeH@)MhBɢMþ)I MNiQ)U3QQiU()=i]`?]o=]?=I]`?IaQgW=E 9@A  @A @E 0@I U 2Acoustic response timeoutԁ E  E E =E "E غ:*E ;J:VE |4ZE a @a @a @a @A1 A1 B= >B= QCB= IB= CzBB= =B9 B= DB= ۼ;B= |Eԩ ^AUB=AIIO ?",ůLA 6c>6 ?6yƾٱ6^>6HV?п`i??@ӿV:?z?@Tb?i6c>I6 c;6CYR-xByRIbD^[VD^8yfz >%f"=ٔfȼQ-f>9hYh=jDyj'Dn?<En>pQ 5v4rl?Q 9v4r")rBYtyv!?Q Iz?r&DIr;ir`;r4y|ɮ~$A|:i!%FNOT Ignoring new targets: 528.99 m."i-׸*i-׸=2Acoustic response timeoutE ProNav: ac range: 528.994202 m, nav range: 491.490417 m, bearing: 31.128066 deg, approach rate: -0.572655 m/s, LOS rate: -0.005898 deg/s, cmd heading: 32.536706 deg, new cmd heading: 32.530825 deg. iE,MHeadingCmd: 0.567770 target range: 528.994202 and range: 528.70 m.hM`Y?hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee`|7I@颍zBɢž) Li)6顑iv!)=i`Y?o=DdU=I`Y?Im[1=I9@ @@0@q^A-== >:? 2Acoustic response timeoutԩ A I I O >E=  E= uE= <E9 "E= 1:*E= :VE= 4ZE9 BE= ;aE 2E= ;aE JE9 aM :E9 aM Q",֤LA0YxByIiMb@Mb@Mb@ 9jt?l?l?Y ?y==hCA^A A)3)AYVAbD`VD8yю>%9=ٔQ->9Y=Dy$'DE>Q 545}?Q 94V)8BYS!?Q E:y?Q I?&DI;i;4y!Bɮ^~A :i)5FNOT Ignoring new targets: 528.99 m."i5*i5E ProNav: ac range: 528.994202 m, nav range: 491.241119 m, bearing: 31.125962 deg, approach rate: -0.565131 m/s, LOS rate: -0.004774 deg/s, cmd heading: 32.530825 deg, new cmd heading: 32.526613 deg. iE MHeadingCmd: 0.567697 target range: 528.994202 and range: 528.70 m.hMT?hIhIhIhQgQgQjgYrgYeYreYZeY:ea*eeoI@额Bɢƾ) Fi)79顡i")=iT?o=c+S=IT?Iԉ52Acoustic response timeoutԹ9@ @@0@  2Acoustic response timeout^A gW=A >A > bE͙4jE-4rE͟/E5 E5qE5:E1"E5s:*E5$ :VE5(4ZE1aE@aE@aE@aE@AiIqIO>",4dLAB>BPCBkIB{BB=B BDB;B{E^ZO>^?^'ʾٱ^>^H 0 ?,Aп L?+ ? Կ 2??H?i^ZO>I^l8c;^CYfxByfIln@AbDrVDr 8yz2>%z6=ٔzqQ-~>9|Y|=~Dy~7'DE> Q 54 ?Q 94 ) xBYyc?Q I? &DI :i ; p4y!ɮ%}A!:iAMFNOT Ignoring new targets: 528.99 m."iz*iz ProNav: ac range: 528.994202 m, nav range: 490.988770 m, bearing: 31.123852 deg, approach rate: -0.563387 m/s, LOS rate: -0.004712 deg/s, cmd heading: 32.526614 deg, new cmd heading: 32.522393 deg. i HeadingCmd: 0.567623 target range: 528.994202 and range: 528.70 m.hO?hhhhԱggjgrgereZe:e*eI@%Bɢ%Fľ)i mDii)m\",)BLA62Acoustic response timeoutxw>+? ʾٱv>Ho?@~#]п2??Կ??cC?ixw>Ib;YdyBy_II=)Y>1E EtE;E"E:*Ev:VE4ZEBE;a2E;aJE`;a:E`;aiMb@Mb@Mb@ 9RQ?A`"?+?Y"?yY===A]A A)%AY3SAbDVD8y]>%-=ٔ1aQ->9 Y = Dy J'D dE>Q 54ʠ?Q 94F)BY%n#?Q E%:y%#?Q I%?&DI;i;4y-Bɮ59zA5E:iQ]FNOT Ignoring new targets: 528.99 m."i]z*i]z븝m ProNav: ac range: 528.994202 m, nav range: 490.721252 m, bearing: 31.120820 deg, approach rate: -0.567283 m/s, LOS rate: -0.006433 deg/s, cmd heading: 32.522393 deg, new cmd heading: 32.516325 deg. imb`",&LA2m>2"?23˾ٱ2x>2H ? M{п@? ?ӿ?Dv?D?i2m>I2-b;2CY:yBy:IbDFmVDF8yNgS>%Np=ٔNQQ-N?9PYP=RDyRX'DREV?TQ 5Z4V?Q 9^4V;)VBY\y^#?Q I^?V&DIV;iV;V4y`ɮbyAdrB*** querying acoustic contact ***ipip:itzFNOT Ignoring new targets: 528.99 m."i~?*i~?踝 ProNav: ac range: 528.994202 m, nav range: 490.527893 m, bearing: 31.118657 deg, approach rate: -0.567026 m/s, LOS rate: -0.006345 deg/s, cmd heading: 32.516324 deg, new cmd heading: 32.511997 deg. i 9 HeadingCmd: 0.567441 target range: 528.994202 and range: 528.70 m.h C?hhhhggjgrgereZe:e*eJ@额Bɢ[Ͼ) =i)͡A顡i(=iC?o=dF=IC?I2Acoustic response timeoutE9@A @A@E0@A9EE EEmEE@EA"EE:*EE:VEE4ZEAaM@aM@aM@aM@B<A<BBBIB{BBB,DBB;B{EBePCBePCBeœCBe=Be=Ce(5^A%<H=A-xAzA-xAaAq I I  2Acoustic response timeoutO >ԑ C",LA2 ݫ>2 ?2mʾٱ2=2H ?>`п t ?E?BӿG??S?i2 ݫ>I2a;2CY:zBy:IbDjPVDj8yvP>%vF=ٔzjE;Q-z>9|Y=Dyi'D~E >Q 5%4?Q 9%4),BY)y-M#?Q I-?&DIfX;i*C;#4yMBɮMwAME:iFNOT Ignoring new targets: 528.99 m."i*i㸝 ProNav: ac range: 528.994202 m, nav range: 490.291443 m, bearing: 31.116031 deg, approach rate: -0.559582 m/s, LOS rate: -0.006217 deg/s, cmd heading: 32.511998 deg, new cmd heading: 32.506743 deg. i6HeadingCmd: 0.567350 target range: 528.994202 and range: 528.70 m.h=?hhhhggjgrgereZe:e*e nGJ@͂Bɢ,O̾) 9i) Po ",L+LA>jB>>k ?>c&ɾٱ>=>H3*?@ѿ?c?/ҿ|? Yw?c?i>jB>I>a;>CYFLzByFI HHiMMb@Mb@Mb@IIII I9MV-?Mb?ˡE?YM|?yM@=M'=]2Acoustic response timeoutM:AMVZA MA)M#AIYMPAbDmoVDm8y}.>%}A=ٔ;Q->9 ?Y ?=Dyz'D7E>Q 54 ?Q 94)iBYI ?Q E:y ?Q I?&DI* ;i/;=+4yɮvA:iFNOT Ignoring new targets: 528.99 m."iθ*iθ ProNav: ac range: 528.994202 m, nav range: 490.057220 m, bearing: 31.113698 deg, approach rate: -0.566626 m/s, LOS rate: -0.005647 deg/s, cmd heading: 32.506742 deg, new cmd heading: 32.502073 deg. i]%HeadingCmd: 0.567268 target range: 528.994202 and range: 528.70 m.h}8?hhhhggjgrgBereZe:e*e@&|J@5݂Bɢ5"Ⱦ)1 56i9)= OF99i=i(=iE}8?E8Xo=EX+>=IE}8?II9@ @@0@^Ah>= 2Acoustic response timeout) A I) I9 OA Ee  Ee lEe ;Ea "Ee :*Ee :VEe 4ZEa am @am @am @am @B >B B qIB |BB =B B B ;B ;|EY 0\",gELAZt˪>Z)0 ?ZWǾٱZN=ZH@07?@P%ѿ@`?u??ҿ K?'G? r?iZt˪>IZb;XYbzBybIbDnxVDn8yrR?>%vT=ٔv9xYx=zDyz'DzE~>|Q 54~?Q 94~)~BY y  ?Q I ?~&DI~;i~j;~14yBɮuA:iAEFNOT Ignoring new targets: 528.99 m."iM6ʸ*iM6ʸ] ProNav: ac range: 528.994202 m, nav range: 489.841309 m, bearing: 31.111561 deg, approach rate: -0.557997 m/s, LOS rate: -0.005525 deg/s, cmd heading: 32.502073 deg, new cmd heading: 32.497798 deg. i]!eHeadingCmd: 0.567194 target range: 528.994202 and range: 528.70 m.he3?hahahahagagajgirgieireqZeq:eq*euਭJ@额BɢIʾ) &4i)ÉH顡i(=i3?>o=n;=I3?I!e9@a @a@e/0@ieBDAT read: Rx Time:01:05:19.4375 mTRx dataTimestamp_ set to:1764896721.232758m2Acoustic response timeoutQ^A==AA>} Gy A ؟AI I O >  9 Y ?A% 2Acoustic response timeout",_LA0J>B ?Gžٱ3=HA?`Oѿ$??lѿ j?>??iJ>Ib;CYzByRIE EsE8E"E:*EZ:VEF4ZEBE;a%2E;a%JE,];a%:E,];a%i-Mb@Mb@Mb@)))) )9-Gz?ˡE?~jt?Y-p?y-'=-=-~8A-PA -pA)-z A)Y-=JAbDE:VDEͱ8ԉy3>%%=ٔ9"?Y"?=Dy'D:E>Q 54?Q 94)BY%?Q E-:y-[?Q I5?'DIڊTx time:01:05:20.5192 R#Rx 1: Read range and direction messages.`direction in FSK: [0.909163,-0.038105,-0.414693]Fpublishing direction and range infoyquK4?쵍u}~UڿYuCqu@kuavuk ur)uLIuZd?iushѾu-?u8(@u%˾u;*@ u!ھ)u@Iu!>qqu>%ag?;/` ?iؿ ut?)u?>IuQ+iu!>qq2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I) 9@  @ @ /@ ^Al;==DAT read: E2Acoustic response timeoutA5.A9IAIYO ? ",LA2|i>2, ?2y¾ٱ2=2H@CK?3@"ѿ4?C?=ѿ?`?!?i2|i>I2Mb;2CY:q{By:II>R=)><bDFwVDF8yNg>%N7=ٔR<9R ?YR ?=RDyR'DV8 ;EV>XQ 5^4Z ?Q 9^4Z)Z!BEf EfrEf9Ed"Ef:*Ef?:VEf4ZEdaj@aj@aj@aj@Y\yj?Q Ij?Z'DIZ';iZj;ZmB4ApApBv>BvQCBvIBv}BBv=BtBvDBvJ;Bv|Eyɮ3rAiAiE3oLAjE*C"jE*C:jEx2 ?RjEBF(Q|@1\/29?iBjEK4?쵍u}~Uڿ*jEQ+2jE!>ZjE7ȟ~z@Lp@Τy8JjE4H8?|b?m;njEgC jECiE˷?iE{jEoBjEj ?jAjEBrjE!CzjE ? addTargetRange:: Added new target pos. range: 498.000000 m, deltaT: 53.956105 s, deltaX: -30.700012 m, approachRate: -0.568981 m/s, rangeRepo size: 4  Added new target pos. range: 498.334595 m, bearing: 31.601564 deg, lat: 36.779723 deg, lon: -121.859945 deg, deltaT: 53.956105 s, deltaX: -30.659607 m, approachRate: -0.568232 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 498.33 m."i*i ProNav: ac range: 498.334595 m, nav range: 492.259094 m, bearing: 30.900675 deg, approach rate: 0.000000 m/s, LOS rate: -0.004640 deg/s, cmd heading: 32.492651 deg, new cmd heading: 32.488824 deg. i-HeadingCmd: 0.567037 target range: 498.334595 and range: 498.00 m.h-U)?h)h)h)h)g1g1jgqrgqeqreyZey:e} @*e}?ԱBɢƾ) *+i)yNi(=iU)?o=@=IU)?I@ @@@%2Acoustic response timeout^A== A ؟AI) I9 OM >l&",2LA2Acoustic response timeoutY5{By=IQa@a a@a a@a a@a bDqVD8y=%#=ٔQ->9"?Y"?=Dy'DE>Q 54 ?Q 94E)fBQ A+:YQ E:yQ I?%'DI:i?I4E EqE>E"E:*E$ :VE4ZEBEf;a2Eg;aJEU;a:EU;ayBɮrqA %B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 498.33 m."i=ȸ*i=ȸM ProNav: ac range: 498.334595 m, nav range: 491.980103 m, bearing: 30.898048 deg, approach rate: -0.581596 m/s, LOS rate: -0.005480 deg/s, cmd heading: 32.488823 deg, new cmd heading: 32.483565 deg. iMv UHeadingCmd: 0.566945 target range: 498.334595 and range: 498.00 m.hUR#?hQhQhQhQgQgYjgYrgYeYreYZea:ea*ee ?颍#BɢN)  *i)P顑i~(=iR#?n=T@=IR#?IY@Y @a@a@a@i@iԁM 2Acoustic response timeoutԩ ^A pC=A yAzA wAI I O >-",FLAYz!|ByzIbDVD8y!>%z=ٔQ-%?91Y9==DyE'DIEM?QQ 5]4U ?Q 9]4Ur)UBQ A] :YYQ E]a:yYQ Ie?U1'DIUk:iUV?UWM4yiɮmoAi:iFNOT Ignoring new targets: 498.33 m."iI*iI ProNav: ac range: 498.334595 m, nav range: 491.795929 m, bearing: 30.896312 deg, approach rate: -0.539779 m/s, LOS rate: -0.005089 deg/s, cmd heading: 32.483567 deg, new cmd heading: 32.480094 deg. iHeadingCmd: 0.566885 target range: 498.334595 and range: 498.00 m.hY?hh!h!h!g!g!jg!rg)e)re)Ze1:e1*e5?]/Bɢ]v̾)Y e#ia)eYRaaie(=imY?mdn=u r@=IuY?Iqi9@ @@@e2Acoustic response timeoutԑE EpEE"E:*E :VEZEa@a@a@a@B>BPCB_IBE~BB=BBB;B|E^Al;=Թ I I O > 2Acoustic response timeout%3",ZLA>>>?>ٺٱ>`=>H`M?Lrп@?}?`пN? Bɳ? I?i>>I>a;>CYJV|ByJ.I LLPbDVpVDV8y^>%^Q=ٔb=Q-b>9`Y`=bDyb'Df<Ef>hQ 5n4jX/ ?Q 9n4j)jƿBQ An9YlQ Er6:yr ?Q Ir?j?'DIj";ijv?jP4yv֛Bɮv^mAvE:i1EFNOT Ignoring new targets: 498.33 m."iM۸*iM۸m ProNav: ac range: 498.334595 m, nav range: 491.580170 m, bearing: 30.894057 deg, approach rate: -0.572184 m/s, LOS rate: -0.005983 deg/s, cmd heading: 32.480094 deg, new cmd heading: 32.475581 deg. im3/uHeadingCmd: 0.566806 target range: 498.334595 and range: 498.00 m.hu0?hyhyhyhggjgrgereZe:e*e`'?]>Bɢ]4ƾ)a e^"ia)e[Taaie)=im0?mWn=ma=Iu0?I-9@) @)@-0@)}2Acoustic response timeout^AUG=I I9 O] >E  E qE =E "E U:*E $ :VE |4ZE BE ;a 2E ;a JE a :E a 1 :",2;LAF =>F?FָٱF=FHD?XϿ7?P?@,ѿ0?Ӣ??iF =>IFWc;FCYR|ByRpIaa aa aa aa iMb@Mb@Mb@ 9)\(?Q?Zd;O?YG!?y<j<=K3A~DA qA)AY@AbD=VDб8yr>%;=ٔ9Y=Dy'D,<E>Q 54@ ?Q 94P)BQ AT:Y!?Q E:yQ?Q I?O'DI:i:X4y؛BɮkA:iFNOT Ignoring new targets: 498.33 m."iN*iN- ProNav: ac range: 498.334595 m, nav range: 491.330048 m, bearing: 30.891971 deg, approach rate: -0.577348 m/s, LOS rate: -0.004817 deg/s, cmd heading: 32.475582 deg, new cmd heading: 32.471409 deg. i- 5HeadingCmd: 0.566733 target range: 498.334595 and range: 498.00 m.h5j?h1h9h9h9g9g9jgArgEBeAreAZeA:eI*eM?uMBɢu)y }iy)}~Vyyi}:)=ij?.n=n=Ij?I2Acoustic response timeout)=9@9 @9@A@A^A%u \=IIO<>Q 2Acoustic response timeoutԉ @",ELAB0A2<B6>B4B6IB6~BB6=B4B6DB6;B6|EbE 4jE f4rE ?z0EB EBxEB:E@"EBC:*EB:VEB(4ZE@BEBC;2EBE;JEB_o;:EB`o; >?ٱŵ>H\.?Pq8̿@N??NҿD?`i??i >Ib;CY= }By=IbDM\VDM8Yye=>%eQ=ٔek9iYi=mDym(Du<Eu>Q 54HP ?Q 94ܥ)8BYy?Q I?]'DI:i:~_4yڛBɮjAE:iIMFNOT Ignoring new targets: 498.33 m."iu-*iu- ProNav: ac range: 498.334595 m, nav range: 491.103516 m, bearing: 30.889928 deg, approach rate: -0.551660 m/s, LOS rate: -0.004977 deg/s, cmd heading: 32.471409 deg, new cmd heading: 32.467321 deg. iHeadingCmd: 0.566662 target range: 498.334595 and range: 498.00 m.h?hhhhgQgQjgQrgYeYreYZeY:eY*ee @^Bɢ!Ѿ) i)JXi{)=i?An=؆=I?Iԉ9@ @@/@2Acoustic response timeoutԱ^A Jc=I I Om > {"G",LAY~f}ByII 8>) C=bDbVD8y%nh>%%N=ٔ-Q-->9)Y)=-Dy-(D5E5>=>=R=E2Acoustic response timeoutAQ 5U4E_ ?Q 94Em)EmBYyQ I ?El'DIEo2Acoustic response timeout9 MLM",7LA:_>:J?:Iٱ:>:Hz#? ˿Lf??#tӿ0?? O?i:_>I:Ya;:CYB}ByBIi-Mb@Mb@Mb@)))) )9-K7A?~jt?/$?Y- "?y-<-,=--A) -(jA)-IA)Y-=A ER=E%=bDMVDM8yUI>%]G=ٔ]ZQ;Q-]>9aYa=eDye#(De<Em>iQ 5u4m(p ?Q 9}4mޞ)mBY}"?Q E}:y}?Q I}?m{'DIm;im;mm4yܛBɮJhA:iFNOT Ignoring new targets: 498.33 m."iWи*iWиe ProNav: ac range: 498.334595 m, nav range: 490.642426 m, bearing: 30.885966 deg, approach rate: -0.695730 m/s, LOS rate: -0.005692 deg/s, cmd heading: 32.463257 deg, new cmd heading: 32.459395 deg. ie&mHeadingCmd: 0.566523 target range: 498.334595 and range: 498.00 m.hm?hihihihigigqjgrg݅BereZe:e*e @MzBɢMFž)I i)\顑i*=i?n=H3=I?IM2Acoustic response timeoutQe9@a @a@e0@aBe>BeOCBe@IBeBBe=BaBaBe;Be|EB9B9B9B==B9C=@R5E EyE:E"E:*E:VE(4ZEBE;a2E;aJEs;a:Es;ai^AM ;=A I I Թ O > BDAT read: Rx Time:01:05:23.5851  TRx dataTimestamp_ set to:1764896725.264490 2Acoustic response timeout44T",QLA2yB>2k?2֫ٱ2?>2H??@aʿ Ls?΢?@Oӿ`=? ?@?i2yB>I2Ia;2CYb}Byb2IbDYVD8ysN>%D=ٔ=;Q->9Y=Dy4(D;E>Q 54ۀ ?Q 948)BYyI?Q I?'DI:iS:t4yɮfA:iFNOT Ignoring new targets: 498.33 m."i%*i%- ProNav: ac range: 498.334595 m, nav range: 490.401215 m, bearing: 30.883951 deg, approach rate: -0.577373 m/s, LOS rate: -0.004827 deg/s, cmd heading: 32.459395 deg, new cmd heading: 32.455362 deg. i5V =HeadingCmd: 0.566453 target range: 498.334595 and range: 498.00 m.h=?h9h9h9h9g9gAjgArgAeAreAZeI:eI*eM@Y @ԑBɢ¾) ;i)dE^it*=i? o=%ȍ=I?I9@ @@0@]2Acoustic response timeout^Ap,=E  E nE E "E 1:*E :VE ZE a @a @a @a @A .AI I O  Y`Z",kLAVᓸ>V_?V,سٱVCD >VH }(?1˿8m?ӿ?@ӿg?`??iVᓸ>IVa;VCYbn~BybxI dfA5only read 0 of 1 data item for altitude. Device response is::BD0 a5@a= a=@a= a=@a= a=@a= bDE^VDE8yUC>%UR=ٔU;Q-]>9] ?Y] ?=]Dy]D(De_Ee>iQ 5m4mt ?Q 9u4mї)mBQ A+:YQ E:y?Q I?m'DIm7mUz4yޛBɮBY B] IB] :BB] =BY BY B] z;B] |Eq E  E pE <E "E :*E  :VE 4ZE BE a 2E a JE @R;a :E AR;a A ؟AI IO >%b",LAY~ByI!%BAbD-hVD-8y=@ >%=2=ٔ=Q-=>9E"?YE"?=EDyEV(DMEM>QQ 5U4Uâ ?Q 9]4Uӓ)UMBQ A] :YYQ E][:yYQ I]?U'DIU:iUkY?U4yaɮmAdAi:iԑFNOT Ignoring new targets: 498.33 m."i`*i` ProNav: ac range: 498.334595 m, nav range: 489.911560 m, bearing: 30.879892 deg, approach rate: -0.633465 m/s, LOS rate: -0.005256 deg/s, cmd heading: 32.451629 deg, new cmd heading: 32.447241 deg. iHeadingCmd: 0.566311 target range: 498.334595 and range: 498.00 m.h?hhhhggjgrgereZe:e*e@@MBɢM߽)I U1 iQ)UP;bQQiU*=i]?]8o=]~=I]?I 2Acoustic response timeout9@ @!@%0@! G1^A = ک9 Y A A9 IA IQ Oe > 2Acoustic response timeoutFOh",nڢLA|>E ErEE"Eҝ:*E?:VEZEa@a@a@a@,?ٱ%t=H=?R`̿K?k?+ҿ@} ?;'??i|>I$-a;CYM~ByMIaa aa aa aa iMb@Mb@Mb@ 9Gz?:v?Zd;O?Yp?y<j<=d%A7AA &aA)1AY 7AbDvVD8y">%1=ٔ;Q->9Y = Dy i(D 4E >Q 54 ?Q 94)BQ A%T:Y%?Q E%:y%?Q I%?'DI:i ;4y-Bɮ-aA5EMB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 498.33 m."i]*i]u ProNav: ac range: 498.334595 m, nav range: 489.653198 m, bearing: 30.877749 deg, approach rate: -0.558568 m/s, LOS rate: -0.004636 deg/s, cmd heading: 32.447241 deg, new cmd heading: 32.442952 deg. iu}HeadingCmd: 0.566236 target range: 498.334595 and range: 498.00 m.h}?hyhhhggjgrg…BereZe:e*e@}Bɢ) i)%+d顡ik+=i?Eo='=I?I59@9 @9@9@92Acoustic response timeoutI^A] =y A .AI I O >רn",|LA2P>2 ?2Lٱ2=2HG?@3`PͿ8??ѿ`?y?z?i2P>I2>a;2CYR`ByR IIV<)V<bDZeVDZ8yb>%bn=ٔfԺQ-f?9f ?Yf ?=fDyjw(Dj#En?lQ 5r4n ?Q 9r4n)nBYtyv?Q Iv?n'DIn:inh:n4yxɮzB`A|:iFNOT Ignoring new targets: 498.33 m."i%*i%5 ProNav: ac range: 498.334595 m, nav range: 489.460938 m, bearing: 30.876203 deg, approach rate: -0.560560 m/s, LOS rate: -0.004509 deg/s, cmd heading: 32.442951 deg, new cmd heading: 32.439858 deg. i5=HeadingCmd: 0.566182 target range: 498.334595 and range: 498.00 m.h=S?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eU@}ÃBɢ}ľ)y }^iy)e顁i\W+=iS?Ko={=IS?I2Acoustic response timeoutE9@I @I@M0@IB>BB-IBBBBBBp;B|E^A%W^=Em Em~Em>Ei"Em7:*Em(:VEm4ZEiBEm;a}2Em;a}JEm;a:Em;aAQIYIiO}X>A 2Acoustic response timeoutq u",CLA2>2??2ôٱ2H=2H MR?[@u%ο #?`(>?@Oѿ!?8c? ?i2>I2o;a;2CYNByR8I VC=V4=bDZ<VDZϱ8yb->%bK=ٔfQ-f>9dYd=fDyj(DjpEj>lQ 5r4n ?Q 9r4n)nBYpyv?Q Iv?n'DIn9:in2:n4yzBɮz;_Ax:iFNOT Ignoring new targets: 498.33 m."iA*iA ProNav: ac range: 498.334595 m, nav range: 489.235840 m, bearing: 30.874454 deg, approach rate: -0.538475 m/s, LOS rate: -0.004187 deg/s, cmd heading: 32.439857 deg, new cmd heading: 32.436357 deg. i5HeadingCmd: 0.566121 target range: 498.334595 and range: 498.00 m.hR?hhhhggjgrgereZe:e*e`@уBɢn) i)4gix+=iR?Mo=q=IR?I Q9@ @@@-2Acoustic response timeoutԁDyzD}AAE EuE=E"EƱ:*E:VE|4ZEa@a@a@a@^A=ԩA I I O > {",:"LA2T>2wt?22ٱ2؜=2H]?Rο ?]?п@-?I2na;2CY:By:iIF2Acoustic response timeoutiMb@Mb@Mb@ 9/$?l?~jt?Y1(?y=D=#A|;A V`A)AY(4AbDDVDױ8y7>%:=ٔQ->9Y=Dy(DE>Q 54 ?Q 94)*BY(?Q E:yG?Q I?'DI ;i/;Y4yɮ]A:i!-FNOT Ignoring new targets: 498.33 m."i-wӸ*i5wӸE ProNav: ac range: 498.334595 m, nav range: 488.973633 m, bearing: 30.872009 deg, approach rate: -0.619433 m/s, LOS rate: -0.005777 deg/s, cmd heading: 32.436357 deg, new cmd heading: 32.431465 deg. iE,)EHeadingCmd: 0.566036 target range: 498.334595 and range: 498.00 m.hM?hIhIhIhIgIgIjgQrgUBeQreYZeY:eY*e]qo@颅BɢH) Ei):h顑i+=i?Jo=h=I?IԹ 9@  @ @ 0@52Acoustic response timeout^Amnp= B A <B >B B IB BB =B B B u;B |EE  E zE :E "E 7:*E  :VE (4ZE BE a 2E a JE v;a :E v;a A ؟AI I O >1 ", LA2<>2 ?2ٱ2d9=2Hd?KMϿ`? pn?`п e>?˵?`?i2<>I2a;2CY:(By:I <>AbDZRVDZ8yb*s>%b]=ٔb=Q-f>9f"?Yf"?=fDyf(DjڻEj>lQ 5r4n ?Q 9r4nI)n^BYpyr?Q Iv?n'DIn;in;n̢4yzśBɮz\AzE:iFNOT Ignoring new targets: 498.33 m."i%gƸ*i%gƸ5 ProNav: ac range: 498.334595 m, nav range: 488.753174 m, bearing: 30.870010 deg, approach rate: -0.597400 m/s, LOS rate: -0.005421 deg/s, cmd heading: 32.431466 deg, new cmd heading: 32.427466 deg. i55HeadingCmd: 0.565966 target range: 498.334595 and range: 498.00 m.h5'?h9hAhAhAgAgAjgIrgIeIreIZeI:eQ*eU @}Bɢ}(p) =i)^Rj顁i+=i'?=Do=WU`=I'?I59@1 @1@50@12Acoustic response timeout9^AUXh=i A I I O >E 2Acoustic response timeoutÏ",$LA DaDe=E EvEE"E:*E:VEZEa@a@a@a@>bY?Yٱ$:=HQi?@{Ͽ>?@uv?@JпP?ɵ?0?i>Ira;CYGByIiuMb@Mb@Mb@qqqq q9uZd;O?/$?Mb?Yu~*?yu,=u@=u"Au4A uSWA)u AqYu /AbDfVD8y<>%.=ٔ\&Q->9Y=Dy(DaEEm>qQ 54uR!?Q 94u})uBYB+?Q E:y.?Q I?u(DIuI;iu9;u_4yɮ[AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 498.33 m."iո*iո ProNav: ac range: 498.334595 m, nav range: 488.455994 m, bearing: 30.867110 deg, approach rate: -0.597739 m/s, LOS rate: -0.005836 deg/s, cmd heading: 32.427467 deg, new cmd heading: 32.421664 deg. i%*%HeadingCmd: 0.565865 target range: 498.334595 and range: 498.00 m.h-?h)h)h)h)g)g)jg1rg5Be1re1Ze9:e9*e=f@Bɢe) i)=li+=i?7o=[=I?I2Acoustic response timeoutԡ9@ @@0@@@= ^A |^= I I O >",W@LA2F>2?2ٱ2]=2Hkn?VϿ ?q{?!пZ?@??i2F>I2^a;2CY:zBy:IbDBlVDB8yJW>%Nc=ٔN2Q-N>9PYP=RDyR(DR•ER>TQ 5Z4Va!?Q 9Z4Vz)VBY\y^?Q I^?V(DIV:iV:VE4ybǛBɮbhZA`:it52Acoustic response timeoutFNOT Ignoring new targets: 498.33 m."iPظ*iPظ ProNav: ac range: 498.334595 m, nav range: 488.251678 m, bearing: 30.865156 deg, approach rate: -0.617656 m/s, LOS rate: -0.005910 deg/s, cmd heading: 32.421665 deg, new cmd heading: 32.417755 deg. i -HeadingCmd: 0.565797 target range: 498.334595 and range: 498.00 m.h ?hhhhggjgrgereZe:e*e M@ Bɢ) i)a}mi+=i ?-o=U=I ?IB>BNCB.IBkBB=BBDB;B|E9@ @@_0@bE jE rE I"0E EE@E"EU:*E]t:VE4ZEBE;a2E;aJE;a:E ;a1^A[= 2Acoustic response timeouta I I O >N7",jZLA :̭>:ð?:5ٱ:=:H o?D@Ͽ@?Vz?п`Tj?`>? ?i:̭>I:)a;:CYBByB*IIF<)F%=bDNyVDN8yVr>%VJ=ٔV%Q-V>9XYX=ZDyZ(D^E^>`Q 5f4b>&!?Q 9f4bv)bBYdyfv?Q If?b$(DIb:ib:bW4yhɮn~YAl:i|FNOT Ignoring new targets: 498.33 m."i\Ѹ*i\Ѹ ProNav: ac range: 498.334595 m, nav range: 488.006775 m, bearing: 30.862843 deg, approach rate: -0.605374 m/s, LOS rate: -0.005720 deg/s, cmd heading: 32.417755 deg, new cmd heading: 32.413127 deg. i}'HeadingCmd: 0.565716 target range: 498.334595 and range: 498.00 m.h?hh!h!h!g!g!jg)rg)e)re)Ze):e1*e5@]Bɢ]\)a e߿ia)e]naaie+=im?mo=m8eS=Im?Iq9@ @@V1@qM2Acoustic response timeoutԡDzDE EvE6E"Ey:*E:VEc4ZEa@a@a@a @^A`T=II9OE>  2Acoustic response timeoutc",osLA2}>2C?2ٱ2c=2Ho?  Ͽ@?(y?ѿ@y?,??i2}>I2a;2CY:By:XILiMb@Mb@Mb@ 9㥛 ?{Gz?y&1?Y5?y#=`e=A1A ?SA)3 AY,A R=R=bD}{VD} 8yt/>%<=ٔQ->9Y=Dy(DE>Q 549!?Q 94r)SBY[6?Q E:y>?Q I?6(DI ;i3;뿩4yɛBɮ_XAE:iFNOT Ignoring new targets: 498.33 m."i#Ƹ*i#Ƹ ProNav: ac range: 498.334595 m, nav range: 487.728241 m, bearing: 30.860495 deg, approach rate: -0.641814 m/s, LOS rate: -0.005413 deg/s, cmd heading: 32.413127 deg, new cmd heading: 32.408429 deg. iHeadingCmd: 0.565634 target range: 498.334595 and range: 498.00 m.h`?hhh h g g jg rgBereZe:e*eI @E&BɢEʲ)I MڿiI)McbpIIiM߁+=iU`?]|o=]Q=I]`?IY9@ @@0@u2Acoustic response timeout^A8R=IQIaOu>AAB>BBIBЁBB=BBDB;B }EBOCBOCBB=B=Cȭg5E  E uE :E "E :*E :VE (4ZE BE ;a 2E ;a JE sd;a :E td;a ! I",lˍLA:s>:?:Qٱ:=:H2m?Ͽ+?y?@ ѿ?۶?`?i:s>I:.`;:CY^By^IbDjaVDj8yrX>%rV=ٔrEQ-r>9tYt=vDyv(Dv^Ez>x|Q 54zwJ!?Q 94zn)zBY y <?Q I ?zF(DIz);iz*;zƩ4yBɮUAE:i9=FNOT Ignoring new targets: 498.33 m."iE Ƹ*iE ƸU ProNav: ac range: 498.334595 m, nav range: 487.483551 m, bearing: 30.858431 deg, approach rate: -0.641019 m/s, LOS rate: -0.005411 deg/s, cmd heading: 32.408428 deg, new cmd heading: 32.404297 deg. iUn]HeadingCmd: 0.565562 target range: 498.334595 and range: 498.00 m.h]?hYhYhYhYgYgajgargaeareiZei:ei*emF !@额2Bɢ#Q) ҿi)q顡io+=i?No=.Q=I?I2Acoustic response timeout9@ @@1@)Y^A-Q=IIO>e %=e %=m 2Acoustic response timeoutԁ v",հLAEJ EJyEJ8EH"EJ:*EJ:VEJF4ZEHaZ@aZ@a^@a^@q>V?Qٱ4=H p?Y`Ͽ` ?`?`п?s?"?i>I 3`;CYByI iMb@Mb@Mb@ 9K7?~jt?Mb?YI,?y=@=fAf.A &OA)AYz(AbDdVD8yv*>%0=ٔ2,Q->9Y=Dy)DźE>9Q 5E4=^!?Q 9M4=~j)=BYM,?Q EM:yMM?Q IM?=X(DI=L ;i=/;=Ω4yUBɮ]TA]EuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 498.33 m."i̽*i̽ ProNav: ac range: 498.334595 m, nav range: 487.190430 m, bearing: 30.855947 deg, approach rate: -0.611501 m/s, LOS rate: -0.005185 deg/s, cmd heading: 32.404296 deg, new cmd heading: 32.399324 deg. iHeadingCmd: 0.565475 target range: 498.334595 and range: 498.00 m.h?hhhhggjgrgBereZe:e*e"@BBɢ)  Ϳi)>si+=i?@n=OO=I?Iԡ}9@y @@N0@@@@@2Acoustic response timeoutA) A- > AQ Ia Iq O} >[",LA:>:;?:෾ٱ:? =:H@s?@Ͽ`{??пi~?p??i:>I:p'_;:CYF9ByFILN@AbDRWVDR8yV~>%Zs=ٔZ';Q-Z?9\Y\=^Dy^)D^Eb?`Q 5f4bjl!?Q 9f4bg)bBYhyj-?Q Ij?be(DIb :ib:bԩ4ylɮrCSAp:iFNOT Ignoring new targets: 498.33 m."i *i %2Acoustic response timeout% ProNav: ac range: 498.334595 m, nav range: 486.993164 m, bearing: 30.854285 deg, approach rate: -0.612765 m/s, LOS rate: -0.005165 deg/s, cmd heading: 32.399323 deg, new cmd heading: 32.395998 deg. i%@-HeadingCmd: 0.565417 target range: 498.334595 and range: 498.00 m.h-(?h)h1h1h1g1g1jg1rg9e9re9ZeA:eA*eE-"@mMBɢmF)q uĿiq)u^Ctqqiu+=i}(?}n=xN=I(?IB>BMCB! IB1BBBBDB;B }E9@ @@?5@E EE<E"E%:*EVE 4ZEBE;a2E;aJEs;a:Es;aAE.AIIIYOm5>%PExceeded connect timeout, disconnecting.12Acoustic response timeouti G  k9 Y hA(",HLA.Ҭ>.3?. 0ٱ.=.Hw?ՀϿ ?)?=п i?`)ƶ?`?i.Ҭ>I.^;.CYVYByVIbD^_VD^8yfg>%fG=ٔf9W;Q-j>9j ?Yj ?=jDyj,)DnEn>pQ 5v4r}!?Q 9v4rc)r>BYtyv ?Q Iv?ru(DIr;ir{;r۩4y~Bɮ~RRA|:i%FNOT Ignoring new targets: 498.33 m."i%*i-5 ProNav: ac range: 498.334595 m, nav range: 486.742126 m, bearing: 30.852173 deg, approach rate: -0.612088 m/s, LOS rate: -0.005151 deg/s, cmd heading: 32.395997 deg, new cmd heading: 32.391772 deg. i5=HeadingCmd: 0.565343 target range: 498.334595 and range: 498.00 m.h=S?h9h9hAhAgAgAjgIrgIeIreIZeI:eQ*eUy#@}[Bɢ}) Gi)buiz*=i S? _n= I S?I!@ @@D5@%2Acoustic response timeoutIA)IYE EsE=E"Eg:*EZ:VE|4ZEa@a@a@a@IOMt>yԡ  2Acoustic response timeout!",7LA2>2n?2~{ٱ2.=2H`|?ݭwϿ`ۛ?G?%пT?z?e?i2>I25^;2CYVByVJIIZ<)Z;i=Mb@Mb@Mb@9999 99=w/?%eB=ٔeV;Q-e>9iYi=mDym=)Du{Eu>yQ 54}1!?Q 94}_)}wBYk'?Q E:y?Q I?}(DI}V:i}:}4yɮQA:iFNOT Ignoring new targets: 498.33 m."iŶ*iŶ ProNav: ac range: 498.334595 m, nav range: 486.491089 m, bearing: 30.850074 deg, approach rate: -0.596879 m/s, LOS rate: -0.004993 deg/s, cmd heading: 32.391773 deg, new cmd heading: 32.387572 deg. i7HeadingCmd: 0.565270 target range: 498.334595 and range: 498.00 m.h?hhhhggjgrgBereZe:e*eP$@ԑ颵hBɢ|) i)Mv项i*=i?6n=`,M=I?I@ @@O5@A؟AIIOj>=2Acoustic response timeoutBu<Au<B}>ByB} IB}BB} =ByB}DB};B}|EE  E E E "E :*E ;J:VE ZE BE 4;a 2E 5;a JE ;a :E ;a   nManaging dock network, ignoring radio surface power off$",YLA2ì>2D,?2ٱ2+=2H?ĩ.qϿ3?`? п8??@k?i2ì>I2b];2CYNByR}I VC=V4=bDZ0VDZı8ybW>%bU=ٔfޞ;Q-f>9f"?Yf"?=fDyjM)DjKD:Ej>lQ 5r4n!?Q 9r4ny\)nBYpyv?Q Iv?n(DIn:in:n4yzBɮzOAzE:iFNOT Ignoring new targets: 498.33 m."i*i ProNav: ac range: 498.334595 m, nav range: 486.261963 m, bearing: 30.848146 deg, approach rate: -0.597105 m/s, LOS rate: -0.005028 deg/s, cmd heading: 32.387572 deg, new cmd heading: 32.383713 deg. i9HeadingCmd: 0.565202 target range: 498.334595 and range: 498.00 m.h?hhh h g g jgrgere!Ze!:e!*e-#%@2Acoustic response timeout颵vBɢ) i)w项ix*=i?n=N=I?I9@ @@?5@^A`T=I M 2Acoustic response timeoutA I I O >",(LAE: E:uE:>E8"E::*E::VE:4ZE8aJ@aN@aR@aR@C>V?坴ٱ!Ӵ=H?ҦpuϿ`޲?;?kп?/??iC>I];YɁByIiMb@Mb@Mb@ 9{Gz?Q?y&1?Y#?y<`<A5&A  FA)AY!AbDTVD8y'=%.=ٔqy;Q->9Y=Dy`)D~:E>Q 54H!?Q 94YX)BY-$?Q E:y8?Q I?(DI:i:4yBɮNAB*** querying acoustic contact ***iiI:iFNOT Ignoring new targets: 498.33 m."i*i ProNav: ac range: 498.334595 m, nav range: 485.985687 m, bearing: 30.846058 deg, approach rate: -0.569331 m/s, LOS rate: -0.004304 deg/s, cmd heading: 32.383713 deg, new cmd heading: 32.379536 deg. i HeadingCmd: 0.565130 target range: 498.334595 and range: 498.00 m.hT?hhhhggjgrgSBereZe:e*e` &@=Bɢ=v)A i)?=y顉i,*=iT?Śn=Q=IT?IiߡIߡ2Acoustic response timeouty@ @@1@ԡ ^A dO= A I I) O5 > ",]DLA2Acoustic response timeout6>6j?6Rٱ6-=6H ?)8Ͽv?-?"tп- ?@w?@]?i6>I6];6CY>ByBI @@bDJ}VDJ 8yR->%R`=ٔR$c;Q-V>9TYT=VDyVn)DZ";EZ>\Q 5b4^;!?Q 9b4^"U)^BY`ybn?Q Ib?^(DI^:i^G:^_4yhɮjMAh:i|~FNOT Ignoring new targets: 498.33 m."i~F*iF  ProNav: ac range: 498.334595 m, nav range: 485.770752 m, bearing: 30.844412 deg, approach rate: -0.617740 m/s, LOS rate: -0.004734 deg/s, cmd heading: 32.379536 deg, new cmd heading: 32.376242 deg. B]>B]NCB]!IB]BBYBYB]DB];B]|Ei  HeadingCmd: 0.565072 target range: 498.334595 and range: 498.00 m.h?hhhhggjgrgereZe:e*e&@Bɢ#) i)v:zi*=i%?%n=%WT=I%?IIE ErEE"Ea:*E?:VEZEBEt;a2Ev;aJEY;a:EY;a@ @@5@^A2Acoustic response timeoutA>A?! A .AI! I1 OE >@",jl^LA2?>2d?2oٱ2=2H}? Xο L?{?Lп` ?@lX?`?i2?>I2V];2CY>By>IF@ADbDJmVDJ8yj,=>%nH=ٔn';Q-n>9r ?Yr ?=rDyr)Dv8Y;Ev>tQ 5z4v!?Q 9~4vQ)vIBY|y~?Q I~?v(DIv;iv;v4yBɮ LA E:i)5FNOT Ignoring new targets: 498.33 m."i5*i5E ProNav: ac range: 498.334595 m, nav range: 485.529266 m, bearing: 30.842528 deg, approach rate: -0.589838 m/s, LOS rate: -0.004605 deg/s, cmd heading: 32.376241 deg, new cmd heading: 32.372470 deg. iMMHeadingCmd: 0.565006 target range: 498.334595 and range: 498.00 m.hM??hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee@'@颍Bɢ) fi)T?{顑ir)=i??Ƀn="Y=I??I52Acoustic response timeoutQU9@Q @Y@]3@Y@ezA@ezAE EE<E"EU:*EVE 4ZEa@a@a@a@ԁ^AgW=ԩ A ؟AI I O > 2Acoustic response timeoutk",JxLA2 V>2vu?2ٱ2U7=2H@w?@JOο`?_h?@PпU?@y??i2 V>I28];2CY:>By:2 I@iMb@Mb@Mb@ 9v/?y&1?/$?Yx)?y`e<<A"A 7AA)t@YAbDVD8y%cd>%-E=ٔ-;Q-->95"?Y5"?=5Dy5)D5ߧ;E5>9Q 5E4=!?Q 9M4=M)=~BYM)?Q EM:yMh?Q IM?=(DI=V:i==:=4yUBɮUJA]E:iFNOT Ignoring new targets: 498.33 m."iS*iS ProNav: ac range: 498.334595 m, nav range: 485.274811 m, bearing: 30.841283 deg, approach rate: -0.590806 m/s, LOS rate: -0.002890 deg/s, cmd heading: 32.372470 deg, new cmd heading: 32.369981 deg. i5E=HeadingCmd: 0.564963 target range: 498.334595 and range: 498.00 m.h=f?h9h9h9h9gAgAjgArgEIBeIreIZeI:eI*eM@p(@颽Bɢ3q) i)X|i)=if?J{n=֍`=If?IԱ:@ @@4@EBDAT read: Response Not Received E*response not receivedMBDAT read: Tx time:01:05:32.9691 M$Ping request sent.MB]OCB]s!IB]CBB]=BYB]DB];B]|EbE1jE54rE5ۋ0E E{E:E"E:*E5":VE(4ZEBE;a2E;aJEJz;a:EKz;a^A-tY=) A9 IA IQ Oe >U",.LAJ>J?J񆲾ٱJ=JH^o?_`Ϳ, ?U?`1ѿ`? ^Z?|?iJ>IJ];JCYVbByV] IbD^mVD^8yf3>%fP=ٔf;Q-j>9hYh=jDy)D;E>!Q 5-4%P!?Q 9-4%IJ)%BY)y-?Q I5?%(DI%.:i%::% 4y=Bɮ= IA=E:iaeFNOT Ignoring new targets: 498.33 m."imDr*imDr} ProNav: ac range: 498.334595 m, nav range: 485.028564 m, bearing: 30.840010 deg, approach rate: -0.639830 m/s, LOS rate: -0.003309 deg/s, cmd heading: 32.369981 deg, new cmd heading: 32.367433 deg. i}HeadingCmd: 0.564918 target range: 498.334595 and range: 498.00 m.h|?hhhhggjgrgereZe:e*e3)@Bɢ(ө) 6i)$=}iV)=i|? xn=xh=I|?I9@ @@/@)Q^A(a=AzAxAA .AI I O >y E  E nE ;E "E s:*E :VE 4ZE a @a @a @a @", LAQmı>mҬ?mmٱm71=mHef?`NͿ@[? B?Nѿ?@NIm];mCYBy IiMb@Mb@Mb@ 9%C?~jth?:v?YZ$?yD;<vAA M%E5=ٔE9Q-E>9M ?YM ?=UDyU)DUۨ;EU>YQ 5e4]"?Q 9e4]FQ =mtI)]BYm}$?Q Eu:yu?Q Iu?](DI]uE;i]IW;]4yɮGAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 498.33 m."i *i  ProNav: ac range: 498.334595 m, nav range: 484.764496 m, bearing: 30.839159 deg, approach rate: -0.584424 m/s, LOS rate: -0.001886 deg/s, cmd heading: 32.367433 deg, new cmd heading: 32.365729 deg. i\HeadingCmd: 0.564889 target range: 498.334595 and range: 498.00 m.h?hhhhggjgrg%BereZe:e*e`**@MƄBɢU񸣾)Uv = UiQ)U\~YYi]q(=ԁi]?xn=`Zp=I?II)zAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse59@9 @9@=5@9@E=@E=ԩ^A] h= U >U 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 >_",LABB>B@BB!IBBBBB=B@B@BB;BB|EBENCBENCBECBE=BE=CE6vв>v2?vKٱvO=vH^? " 7Ϳ )?/?[ѿ?@`??ivв>IvW];vCYBy% I1bD=9VD=ͱ8yE0>%MR=ٔM1:Q-M>9U"?YU"?=UDyU)DUЬ;E]>YQ 5e4]}"?Q 9e4]MC)]BYiymA?Q Im?])DI]:i]:]P4yBɮcFAE EvEE"E%:*E:VEZEBE;a2E;aJEh;a:Eh;a:i1=FNOT Ignoring new targets: 498.33 m."i=h*i=hm ProNav: ac range: 498.334595 m, nav range: 484.534088 m, bearing: 30.838365 deg, approach rate: -0.576286 m/s, LOS rate: -0.001986 deg/s, cmd heading: 32.365729 deg, new cmd heading: 32.364141 deg. imhuHeadingCmd: 0.564861 target range: 498.334595 and range: 498.00 m.hu?hqhyhyhygygyjgrgereZe:e*ed*@颵҄BɢH/) 5i)7项i(=i?q|n=/w=I?Ia@ @@4@5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseԉ^A @p=Թ A .AI I O >",ALAY~҂By~ IbD *VD 8y=%%M=ٔ%Q-%>9- ?Y- ?=-Dy-)D-E->1Q 5=45I)"?Q 9=45?)5JBYAyAQ IE?5)DI5;i5;5C#4yMЛBɮMGAI:iquFNOT Ignoring new targets: 498.33 m."i}*i} ProNav: ac range: 498.334595 m, nav range: 484.297821 m, bearing: 30.837550 deg, approach rate: -0.625348 m/s, LOS rate: -0.002158 deg/s, cmd heading: 32.364141 deg, new cmd heading: 32.362511 deg. i|HeadingCmd: 0.564832 target range: 498.334595 and range: 498.00 m.hۘ?hhhhԙggjgrgereZe:e*e@+@݄Bɢ~) i)iN(=iۘ?n=7v=Iۘ?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseu9@q @q@u0@qE- E-E-9E)"E-ҝ:*E-A:VE-4ZE)a5@a5@a5@a5@^Aw=A>A>M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseAe ؟AIi Iy O >! ",ZLA2yֳ>2?2wٱ2=2H@U?n9@BM̿}5?@K?&ҿ?`μ??i2yֳ>I2];0YNByN!!Ii%Mb@Mb@Mb@!!!! !9%jt?{GzI +?Y% ?y%#%9<%^ A%bA %9A)%@!Y%AbD=SVD=8yM[_>%MG=ٔUVQ-U>9U"?YU"?=]Dy])D]t;E]>aQ 5m4e:"?Q 9m4e<)e{BYm ?Q Eu:yu2 ?Q Iu?e!)DIe_:ie$:en*4y}ӛBɮ}FA}E:i9EFNOT Ignoring new targets: 498.33 m."iE#5*iE#5u ProNav: ac range: 498.334595 m, nav range: 484.058502 m, bearing: 30.837284 deg, approach rate: -0.555972 m/s, LOS rate: -0.000619 deg/s, cmd heading: 32.362512 deg, new cmd heading: 32.361979 deg. i}鐷}HeadingCmd: 0.564823 target range: 498.334595 and range: 498.00 m.h}??hhhhggjgrg>BereZe:e*eD,@Bɢ࠾)! %ui!)%bg!!i%X'=i-??5n=5}=I5??I1!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB>BBT"IBBB=BBB;B|EAg3=a>i >E EsE?E"E*EZ:VE^4ZEBE;a%2E;a%JE,];a%:E-];a%IE 9@I  @I @M 1@I @U yA@U xAy ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse^A Bv=ԡ v>=҂GQiWh9YdAAIIO?",LA2u>2?2hٱ2=2H`T?`.@̿@7??HҿD?@k??i2u>I2I];0Y:0By>\!II>G>)>a=bDFVDF8yN@>%N$=ٔRm9Q-R>9PYP=RDyR)DV0:EV>XQ 5%4ZhO"?Q 9%4Z8)ZBY!y%B ?Q I%?Z4)DIZuq M ",b5LA2>2?2@ٱ2>2HU? D`9˿`V7??`qҿ?[6??i2>I2];2CY:dBy:!IBT****** received valid address query ******BR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapsei Mb@Mb@Mb@     9 p= ף?:v?Y %?y  < A A 4A) @ Y AbD%VD%8y53w>%5A=ٔ<:Q-%>9% ?Y- ?=-Dy- *D-7E->1Q 5=45b"?Q 9=454)5BYEA%?Q EE:yE[?Q IE?5E)DI5:i5(:5 ;4yM՛BɮMCAQQmB*** querying acoustic contact ***iiii:iyFNOT Ignoring new targets: 498.33 m."i*i ProNav: ac range: 498.334595 m, nav range: 483.497620 m, bearing: 30.836129 deg, approach rate: -0.614603 m/s, LOS rate: -0.001871 deg/s, cmd heading: 32.361313 deg, new cmd heading: 32.359667 deg. i[HeadingCmd: 0.564783 target range: 498.334595 and range: 498.00 m.h?hhhhggjgrg;BereZe:e*ec.@颕Bɢn) Qi)9顙i&=i?An=U}=I?Iԁ=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseԱB>BB"IB`BBBBB;B|E 9@  @ @ 0@ @ =@ E  E E :E "E U:*E R:VE (4ZE BE ;a 2E ;a JE ;a :E ;a ^A5 X=A5 xAzA1 I)I9OM?2",[ULABp>B?B RٱBl>BHe? >M4˿(?@?`\ҿ?Y?Q?iBp>IBu^;BCNT****** received valid address query ******NR****** received valid ping request ******Nreceived new query, but waiting for acoustic response period to elapseYRByR!I TT ZR=Za=bD^VD^8yb*>%b(=ٔfEu;Q-f>9dYh=jDyj*DjEn>lQ 5r4n,v"?Q 9r4n1)n(BYtyv?Q Iv?nV)DIn :in:nC4yz؛BɮzLBA~E:iFNOT Ignoring new targets: 498.33 m."i%r*i%r췝5 ProNav: ac range: 498.334595 m, nav range: 483.224335 m, bearing: 30.835394 deg, approach rate: -0.599366 m/s, LOS rate: -0.001615 deg/s, cmd heading: 32.359667 deg, new cmd heading: 32.358195 deg. i5(==HeadingCmd: 0.564757 target range: 498.334595 and range: 498.00 m.h=?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eUK/@}Bɢ}7˛)y }Bi)顁i<%=i?ɝn=.s=I?I-9@) @)@-D5@)^Am~=MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseA II IY Om >D zD ?AE  E tE ;E "E :*E v:VE 4ZE a @a @a @a @X\",zoLA L>?uٱ >Ho?4ʿ ??ҿ ?`o)??iL>I];CỸBy"Ii%Mb@Mb@Mb@!!!! !9%K7?~jth?I +?Y%)?y%D;%94=%A%A % 0A)%@!Y%AbD=,VD=8yM>%4=ٔm;Q->9Y=Dy.*DjdE>Q 54]"?Q 94-)hBY*?Q E:yn?Q I?i)DIm ;i ;%K4yBɮ ?AE:iFNOT Ignoring new targets: 498.33 m."iz*iz鷝  ProNav: ac range: 498.334595 m, nav range: 482.941528 m, bearing: 30.834653 deg, approach rate: -0.608640 m/s, LOS rate: -0.001595 deg/s, cmd heading: 32.358195 deg, new cmd heading: 32.356713 deg. i:HeadingCmd: 0.564731 target range: 498.334595 and range: 498.00 m.h9?hhhhggjg!rg%QBe!re)Ze):e)*e-`0@U!Bɢ]o )Y ]*iY)]5ၾYaieV8%=aim9?m{n=mo=Iu9?IqBDAT read: Rx Time:01:05:36.0264 TRx dataTimestamp_ set to:1764896737.864582T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse%9@! @!@%Q1@!ԑ^AE @p=I I O >] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseA A @AB% >B% NCB% N#IB% ńBB% =B! B! B% ;B% |E@"",sLALZ`>Z?ZٱZ>ZH~?'A˿` ?? bҿ?y8?J?iZ`>IZ];ZCYbByb^"IbDnVDn8yr >%vd=ٔv;Q-v?9xYx=zDyz;*Dz@Ez?|Q 54~z"?Q 9 4~.*)~BY y ?Q I ?~v)DI~:i~:~4Q4yBɮk=AEE EE9E"E:*E,:VE4ZEBEp;a:E?;a:iFNOT Ignoring new targets: 498.33 m."i5qƷ*i=qƷ ProNav: ac range: 498.334595 m, nav range: 482.730164 m, bearing: 30.834157 deg, approach rate: -0.577638 m/s, LOS rate: -0.001355 deg/s, cmd heading: 32.356713 deg, new cmd heading: 32.355721 deg. iHeadingCmd: 0.564714 target range: 498.334595 and range: 498.00 m.h?hhhhg gAjgArgAeAreIZei:eq*euD0@.Bɢ-|)) -i1)5@"11i=?$=iE?EWn=de=I?I9@ @@%0@!@-zA@-zADAT read: 01:05:36.0264 LVL= 21568, 26609, 21714, 27891, AGC= 71, IDX= 225, 0.35, 1.504,-0.027, 1.654, 1.080, PHS= 0.526,-1.063, 0.530, RAW= 150.1, 0.1, CAL= 149.0, -0.5, ROT= 1.0, 0.5 Ygot valid direction response: 01:05:36.0264 LVL= 21568, 26609, 21714, 27891, AGC= 71, IDX= 225, 0.35, 1.504,-0.027, 1.654, 1.080, PHS= 0.526,-1.063, 0.530, RAW= 150.1, 0.1, CAL= 149.0, -0.5, ROT= 1.0, 0.5  PDAT read: Bearing 178.4, 20.7 (Local)  ~Local bearing/azimuth received: Bearing 178.4, 20.7 (Local) DAT read: Range 11 to 50 : 489.9 m (Round-trip 653.2 ms) speed 0.6 m/s R#Rx 2: Read range and direction messages.%^direction in FSK: [0.999810,0.017452,-0.008727]%Fpublishing direction and range infoyp?Cޑ?B7߁YC@TgT l)GI?ib?ϩ'@:Bo&@ 5)5AM >I I O >.n(",\LA20>2F?2Fٱ2U>2Hۏ?C`j˿ ? 1?e ҿ]? :?+?i20>I2];0Y>'By>"IIB<)B=bDFVDFt8yN:>%NO=ٔR;Q-R>9PYP=RDyRK*DVEV>XQ 5^4Z"?Q 9^4Z&)ZBY\y^6?Q Ib?Z)DIZ;iZI;ZX4ydɮfDi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251495y .",'LA2eȭ>2?2ٱ2Y=2H ՞?5 =˿?E?`˾ѿ9?<\? &?i2eȭ>I2T];0YRNByR"Ii%Mb@Mb@Mb@!!!! !9%Q?y&1|?I +?Y%(?y%`;!%t@%A % .A)%^@!Y% AYbDVDl8y0>%;=ٔ;Q->9Y=Dy]*DdE>Q 54"?Q 94#)BYX)?Q E:y[?Q I?)DIE:i:_4yBɮ";AB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 490.23 m."i f*i f ProNav: ac range: 490.227753 m, nav range: 485.422089 m, bearing: 31.459797 deg, approach rate: -0.613909 m/s, LOS rate: -0.000788 deg/s, cmd heading: 32.354691 deg, new cmd heading: 32.354008 deg. i%HeadingCmd: 0.564684 target range: 490.227753 and range: 489.90 m.h%!?h!h!h)h)g)g)jg)rg5hBe1re1Ze1:e9*e= ?eDBɢe>)i mii)miiimoY#=iu!?un=}^lU=I}!?Iy 9@  @ @5@ԉ-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503357B>BMCB#IB0BBBBDB;B|EbEa4jEǼ4rEǩ]0E EuE=E"EU:*E:VE|4ZEBE;a2E;aJEsd;Աa:Etd;a^A5[=AE ؟AII IY Om > 8|5",LAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755310R=>R"?R۫ٱR=RH`?Z˿u?a?@)>ѿ?k?`[?iR=>IR];RCYZBy^#IbDfVDfj8yn>%~Y=ٔ~;Q->9"?Y"?=Dyl*D E >Q 54R"?Q 9=4)9BY9y=?Q I=?)DIP;i;kf4yIɮML9AI:iFNOT Ignoring new targets: 490.23 m."i?*i?Թ ProNav: ac range: 490.227753 m, nav range: 485.190125 m, bearing: 31.459543 deg, approach rate: -0.596860 m/s, LOS rate: -0.000655 deg/s, cmd heading: 32.354008 deg, new cmd heading: 32.353499 deg. ipHeadingCmd: 0.564675 target range: 490.227753 and range: 489.90 m.h?hhhhgqgqjgyrgyeyreyZey:e*e +? PBɢ `8)Y ]>ǾiY)eaaie"=im?mXun=PN=I?Ie9@a @a@e?5@a@m=@i5 ?54@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007518^A lT=E  E E E "E g:*E F:VE ZE a @a @a @a @A I I O >;",{LA=>Zi ?饪ٱs=Hݽ?a̿`? ?п@2?9u? 3?i=>I"];CYBy'#I AiUMb@Mb@Mb@QQQQ Q9UV-?:v?:v?YU-?yU9Y=Dy*DʻE>Q 54L"?Q 94)yBY4.?Q E:y?Q I?)DI;i;en4yBɮz8AE:iFNOT Ignoring new targets: 490.23 m.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259186"i}E*i}E ProNav: ac range: 490.227753 m, nav range: 484.905945 m, bearing: 31.458334 deg, approach rate: -0.633707 m/s, LOS rate: -0.002698 deg/s, cmd heading: 32.353500 deg, new cmd heading: 32.351079 deg. iHeadingCmd: 0.564633 target range: 490.227753 and range: 489.90 m.hNj?hhhhggjgrgDBereZe:e*e@K?5]Bɢ5 )9 =i9)=ڂ99i=L!=iENj?E^n=MUE=IMNj?I)E9@A @A@EJ5@AY^A L=- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511260B A 4=B >B B T$IB BB =B B B ӽ;B |EBqBqBqBqBqCul5 I I O >B",f LAJ>J ?JYٱJ=JHA?̿?J?;Zп??3?iJ>IJ^;JCYR݄ByVk#IE^ E^E^5E\"E^Ʊ:*E^.:VE^4ZE\BE^V;af2E^W;afJE^;af:E^;afbDnVDn8yrk>%v]=ٔv;Q-v>9tYx=zDyz*Dz˻E~>|Q 54~"?Q 94~h)~BY y F?Q I ?~)DI~q:i~:~t4yBɮ6A:i9=FNOT Ignoring new targets: 490.23 m."iE7*iE7U ProNav: ac range: 490.227753 m, nav range: 484.675018 m, bearing: 31.457404 deg, approach rate: -0.623731 m/s, LOS rate: -0.002511 deg/s, cmd heading: 32.351078 deg, new cmd heading: 32.349219 deg. iU ]HeadingCmd: 0.564600 target range: 490.227753 and range: 489.90 m.h]?hYhYhYhagagajgargaeireiZei:ei*euE?额fBɢ`) ~i)y顡i_4!=i?Jn=n==I?IQe9@i @i@m/@i^AE&t@=IIO>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763226ԡ I",Q%LA>7>>bf ?>5ٱ>fe=>H`T?y@a̿]? @?пయ? ? s"?i>7>I>!.^;>CY^By^#IbDjVDj8yr %>%rK=ٔr^;Q-r>9tYt=vDyv*Dv Ez>xQ 5~4z8#?Q 94z)zBYy?Q I?z)DIz;iz ;z{4y ɮ5A:i15FNOT Ignoring new targets: 490.23 m."i=90*i=90M ProNav: ac range: 490.227753 m, nav range: 484.424225 m, bearing: 31.456437 deg, approach rate: -0.623852 m/s, LOS rate: -0.002407 deg/s, cmd heading: 32.349220 deg, new cmd heading: 32.347285 deg. iMUHeadingCmd: 0.564567 target range: 490.227753 and range: 489.90 m.hUp?hQhQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015424hQhagagijgirgieireqZeq:eq*euq*@颥rBɢ)5< fgi)` 顩iq =ip?3/n=68=Ip?IԱQ@Q @Q@Q@Q@]yA@]yAE EE;E"E:*E3:VE4ZEa@a@a@a@^AB=II)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267181 9 E0O",?LARgZ>R ?R|ٱR=RH?gϷ̿ ,?@?Ͽk?_:?&?iRgZ>IR?^;RCYZ'ByZ#IIn4>)np%%8=ٔ%C:Q-%>9)Y)=-Dy-*D- yE->1Q 5=45)#?Q 9=45)5%BYE3?Q EE:yE?Q IE?5)DI5:i5R:54yMBɮM4AUEmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 490.23 m."iv*iv ProNav: ac range: 490.227753 m, nav range: 484.139038 m, bearing: 31.454936 deg, approach rate: -0.640249 m/s, LOS rate: -0.003372 deg/s, cmd heading: 32.347284 deg, new cmd heading: 32.344280 deg. i{ŸHeadingCmd: 0.564514 target range: 490.227753 and range: 489.90 m.h?hhhhggjgrg@BereZe:e*e&@~Bɢ툾) .i)=i2=i?"n=J3=I?Iԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5194119@ @@@B>BKCB$IBBB=BBDB;B}EE EE5E"E*EE7:VE4ZEBEh  % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771319vV",>YLA6G@Lb9`YbAlUN>U ?U#ٱU=UH`#?`@̿`t?!? ϿB?. ?'?iUN>IU];UCYeRBye#IbD}YVD}8y `>%T=ٔ'Q->9Y=Dy*DN E>Q 54n)#?Q 94 )]BYy?Q I?)DI:i:d4yBɮ1A}E:iFNOT Ignoring new targets: 490.23 m."is*is ProNav: ac range: 490.227753 m, nav range: 483.892212 m, bearing: 31.453657 deg, approach rate: -0.642079 m/s, LOS rate: -0.003328 deg/s, cmd heading: 32.344279 deg, new cmd heading: 32.341720 deg. i¸HeadingCmd: 0.564470 target range: 490.227753 and range: 489.90 m.h?hhhhggjgrg e re Ze :e *eb@=Bɢ=)9 E۽iA)E)AAiE=iM?M=m=M0=IM?IQ  9@ @@@1}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023152^AM3=IIO>D zD AAE  E E 4E "E :*E H:VE 4ZE a @a @a @a @a PE\",wsLA9}>} ?}$Zٱ}A=}H?b̿ s??Ͽඪ?.?%?i}>I}];}CYwBy)$Ii=Mb@Mb@Mb@9999 99=q= ףp?~jt?&1?Y=+?y=D==P==?@=A =A)=@9Y=AbDU_VDU8ye->%e==ٔej|Q-m>9iYi=mDyu*DuP8Eu>yQ 54};#?Q 94})}BYt,?Q E:y?Q I?} *DI}4:i}:}4yBɮ0A~E:iFNOT Ignoring new targets: 490.23 m."i*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275397 ProNav: ac range: 490.227753 m, nav range: 483.625641 m, bearing: 31.451555 deg, approach rate: -0.616248 m/s, LOS rate: -0.004863 deg/s, cmd heading: 32.341721 deg, new cmd heading: 32.337514 deg. idHeadingCmd: 0.564396 target range: 490.227753 and range: 489.90 m.hC|?hhhhggjgrgBereZe:e*eD @%Bɢ%V()) -ji))-/)1i5=i5C|?=m==1=I=C|?I9amV =IuxA)uyAԙ 9@  @ @ T4@  BDAT read: Rx Time:01:05:40.3604  TRx dataTimestamp_ set to:1764896742.148585 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528360A A AAB >B GCB N%IB fBB  =B -DB DB );B }EԹ ^A .=E  E E 5E "E :*E c:VE 4ZE BE J82- ?2Nٱ2 =2H`T?r ̿@??~п??<?i2"ƨ>I2j];2CY:By:W$I <<bDFTVDF8yN9'>%N9=ٔNQ-N>9PYP=RDyR*DVl;EV>TQ 5^4VN#?Q 9^4V)VBY\y^?Q I^?V*DIV';iV;V4ybBɮf/Ad:iimFNOT Ignoring new targets: 490.23 m."iu*iu ProNav: ac range: 490.227753 m, nav range: 483.353790 m, bearing: 31.449360 deg, approach rate: -0.594313 m/s, LOS rate: -0.004801 deg/s, cmd heading: 32.337514 deg, new cmd heading: 32.333121 deg. i HeadingCmd: 0.564319 target range: 490.227753 and range: 489.90 m.h=w?hhhhggjgrgereZe:e*e`@颵Bɢ) `6i)1项i=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779373i=w?m==7=I=w?ID%<]9@Y @Y@];5@Y1^A ߥ =ߥ %= DAT read: 01:05:40.3604 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 160,-0.16, 0.886,-0.816, 0.986, 0.413, PHS= 0.575,-1.185, 0.528, RAW= 148.7, 1.0, CAL= 147.7, 0.7, ROT= 2.3, -0.7  Ygot valid direction response: 01:05:40.3604 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 160,-0.16, 0.886,-0.816, 0.986, 0.413, PHS= 0.575,-1.185, 0.528, RAW= 148.7, 1.0, CAL= 147.7, 0.7, ROT= 2.3, -0.7  PDAT read: Bearing 178.3, 21.1 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 21.1 (Local) - DAT read: Range 11 to 50 : 477.9 m (Round-trip 637.2 ms) speed 0.0 m/s = R#Rx 1: Read range and direction messages.E \direction in FSK: [0.999120,0.040129,0.012217]M Fpublishing direction and range infoy  œ#?Ë?I:?Y C   Y ) LI 33?i  +? x&@ 5< $@ +H<) l$=I +H \h?O)?q? ?) I l$=i +H } T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I O >j",ILAD`Db<Er ErEr3Ep"ErV:*Er:VEr4ZEpav@av@av@av@5>5E ?5ٱ5"=5HU?|`̿>? ?9п`? ƨ?`]?i5>I5A];5CYƅBy$IAbDUVD8y ,>%+=ٔ?Q->9 Y=Dy*D|;E>Q 54 d#?Q 94)BYy?Q I?/*DI:i:4yBɮi.AiiɩLAjC"jC:jb?RjC1}@q.03@څg]@Bjœ#?Ë?I:?*jl$=2j+HZj(֔Pw@FjLOo@־pd@Jj"?I͔?P-?jzC jCig.?iR{CjgfCjp驊?jjrjCzju ?- addTargetRange:: Added new target pos. range: 477.899994 m, deltaT: 4.284827 s, deltaX: -12.000000 m, approachRate: -2.800580 m/s, rangeRepo size: 4 = Added new target pos. range: 478.165558 m, bearing: 33.882024 deg, lat: 36.779692 deg, lon: -121.859876 deg, deltaT: 4.284827 s, deltaX: -12.062195 m, approachRate: -2.815095 m/s, posRepo size: 4 a:i9mFNOT Ignoring new targets: 478.17 m."im*ii} ProNav: ac range: 478.165558 m, nav range: 480.118896 m, bearing: 31.660249 deg, approach rate: 0.000000 m/s, LOS rate: -0.004801 deg/s, cmd heading: 32.333122 deg, new cmd heading: 32.328077 deg. iyHeadingCmd: 0.564231 target range: 478.165558 and range: 477.90 m.hxq?hhhhggjgrgereZe:e`f}@*e@?(DAT read: user:45>  BDAT read: Tx time:01:05:41.6191  $Ping request sent. B @CB %IB ƆBB =B B DB v;B &}E^Aп8=A>A>E% E%E%4E!"E%;*E%&p:VE%4ZE!BE%A%~ ?%ٱ%=%HI% G];%CY5By5$IԉiMb@Mb@Mb@ 9ʡE?S㥫?/$?Y-2?y/]=,=@EA A)@Y @bD%\VD%8ym&>%m=ٔm_Q-u>9qYq=uDyu +D};E}>yQ 54}y#?Q 94})}bBY3?Q E:y!?Q I?}D*DI};i};}44yBɮ -AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 478.17 m."ii*ii츝 ProNav: ac range: 478.165558 m, nav range: 479.801086 m, bearing: 31.657261 deg, approach rate: -0.686575 m/s, LOS rate: -0.006459 deg/s, cmd heading: 32.328078 deg, new cmd heading: 32.322098 deg. i =HeadingCmd: 0.564127 target range: 478.165558 and range: 477.90 m.hj?hhhhggjgrgHBereZe:e*eE)?%Bɢ%,)-< -=i))-))i5k=i5j?5{m==/M=I=j?I9Թ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504834^A-B=IA IY Oe > y",LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755645F>F?FꈭٱFK=FH?`޾KͿh?v?`[пgG? ??iF>IF1A];FCYVByV$IbDfVVDf8yr6O>%rh=ٔv Q-v>9tYx=zDyz+D~;<E~>Q 5 4)#?Q 94v)BYy"?Q I?R*DI<;i6;c4y!ɮ-+A):iFNOT Ignoring new targets: 478.17 m."i0ݸ*i0ݸ% ProNav: ac range: 478.165558 m, nav range: 479.574402 m, bearing: 31.655016 deg, approach rate: -0.609741 m/s, LOS rate: -0.006043 deg/s, cmd heading: 32.322098 deg, new cmd heading: 32.317605 deg. i%0-HeadingCmd: 0.564049 target range: 478.165558 and range: 477.90 m.h-}e?h)h)h)h1g1gQjgYrgYeYreYZeY:ea*ee7?颭ƅBɢzDzD@AE EE7E"E7;*E]t:VEԺ4ZEa@a@a@a@) 2>i)Wi=i}e?qm=[=I}e?I9@ @@1@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007222Y^A;O=IQ Ia Om >y ؀",;LA61S>6 ?6//ٱ6Y=6H݀?@cͿ`?6_?jп'y? ? ?i61S>I6Q];6CYB-ByB %Ii Mb@Mb@Mb@     9 MbX?X9v?~jt?Y *?y }= < (@ EA A)  @ Y \@bD%FVD%ر8y-=%-E=ٔ5;Q-5>91Y9==Dy=,+D=+<EE>AQ 5M4E>#?Q 9M4EX)EBYU+?Q EU:yUp(?Q IU?Ec*DIEI:iE:E4y]BɮeV+Aa:iFNOT Ignoring new targets: 478.17 m."i*i ProNav: ac range: 478.165558 m, nav range: 479.319641 m, bearing: 31.651792 deg, approach rate: -0.645955 m/s, LOS rate: -0.008177 deg/s, cmd heading: 32.317604 deg, new cmd heading: 32.311154 deg. iloHeadingCmd: 0.563936 target range: 478.165558 and range: 477.90 m.h^?hhhhggjgrg BereZe:e*e`a?Q颥хBɢy) 8>i)B顩if|=i^?Mnm=Tj=I^?I B5<A1B=+>B=;CB=6&IB="BB= =B=.DB=DB=;B=}EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589059@ @@N3@ԁbEU4jEUž4rEU0E EE2E"E;*E:VE4ZEBE@ ",iLAY~NBy~1%I  AbDZVD8y%!>%%K=ٔ%Q-%>9)Y)=-Dy-<+D5E5>1Q 5u45#?Q 9}45S)5BYyyyQ I}?5s*DI5i9)=h傾99i=.=iEV?Ekm=Esh=IMV?IIԱechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763180",v:E?:ٱ:o=:H 0?n@B̿`b?.?@mWҿ@Y? ͼ??i:>I:U<];:CY^vBy^b%IiEMb@Mb@Mb@AAAA A9EQ?Zd;O?/$?YE(?yEj<=E%u"=ٔuQ-u>9qYy=}Dy}Q+D}<E}>Q 54#?Q 94p)>BYt)?Q E:y%?Q I?*DIF;i);jȪ4yqBɮ'A:iFNOT Ignoring new targets: 478.17 m."i<*i< ProNav: ac range: 478.165558 m, nav range: 478.764648 m, bearing: 31.645153 deg, approach rate: -0.624147 m/s, LOS rate: -0.007116 deg/s, cmd heading: 32.304858 deg, new cmd heading: 32.297867 deg. i`PHeadingCmd: 0.563704 target range: 478.165558 and range: 477.90 m.hN?hhhhggjgrgBereZe:e*e@Bɢs) r>i)aiJ=iN?+m=\+=IN?IԉmxB}:CB}&IB}}BB} =ByB}DB};B}|EBE@CBEACBEƚCBE =BE =CEƁC7checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266840Թ^Ae Xh= E  E E 4E "E :*E xv:VE 4ZE BE &5l",VLA2=>2?2Bٱ2g>2H?`6`˿|??@ҿ@X?? ?i2=>I23];2CY>By>%IbDFOVDF8yN@O>%NZ=ٔNQ-R>9PYP=RDyR`+DV=<EV>XQ 5^4Z#?Q 9^4Z`)ZoBY`yb&?Q Ib?Z*DIZS*;iZ*;ZΪ4ydɮf&AhvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 478.17 m."i?*i?  ProNav: ac range: 478.165558 m, nav range: 478.535980 m, bearing: 31.642434 deg, approach rate: -0.607341 m/s, LOS rate: -0.007226 deg/s, cmd heading: 32.297868 deg, new cmd heading: 32.292426 deg. iSHeadingCmd: 0.563609 target range: 478.165558 and range: 477.90 m.hH?hhhhggjg!rg!e!re!Ze):e)*e-@UBɢUk)N; 0>i)$i=iH?m==I H?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518843QQI)xA9@ @@0@@xA@zA^Am=Au>Au? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771405I IQ Ii Ou >)",^pLAEL ENEN6EL"EL*ENi:VENc4ZELaR@aR@aR@aR@^ >^?^ٱ^B >^H@ ?i`$˿?S?wZӿ *?`G?@?i^ >I^:H];^CYfByj%IInG>)n<bDr[VDr8yz">%zD=ٔ~Q-~>9|Y=Dyq+D;E> Q 54 #?Q 94 ) BYy'?Q I%? *DI i);i !*; ?֪4y-tBɮ-%A-wE:iIUFNOT Ignoring new targets: 478.17 m."iU*i]e ProNav: ac range: 478.165558 m, nav range: 478.283020 m, bearing: 31.639331 deg, approach rate: -0.608773 m/s, LOS rate: -0.007470 deg/s, cmd heading: 32.292427 deg, new cmd heading: 32.286220 deg. imZmHeadingCmd: 0.563501 target range: 478.165558 and range: 477.90 m.hmA?hihqhqhqgqgqjgyrgyeyreyZe:e*e? @颭Bɢ =j) e>i)w项ig(=iA?+m==IA?I9@ @@O5@Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022984y^AM=IIO>ԙ ~",vLAAA@AB>B9CB'IBهBB =BBBw;B{EBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274842Z߼>ZA:?ZٱZP>ZH?9Rʿ|?ఇ?`•ӿ`)?e? ?iZ߼>IZ7];ZCYBy%IyiMb@Mb@Mb@ 9NbX9?y&1?MbP?Y%?y`<:@@ A) @Y@bDZVD8y30>%==ٔ9Q->9Y=%Dy%+D%`;E->Q 54#?Q 94 )BE EE5E"E:*EVE4ZEBE.i)6>顡iC =i;?xm=?=I;?I im/C9@ @@0@@=@=G=BDAT read: Rx Time:01:05:44.6449 ETRx dataTimestamp_ set to:1764896746.433350Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528957ɫ9YA ^A D=I9 IQ O] >ݬ",bLA2e>2B}?2Jٱ2zl>2H`?">ʿ`L? ̅? ӿ?"??i2e>I2O];2CY>By>&&IbDF_VDF8yN/>%N`=ٔN;Q-R>9PYP=RDyR+DVO;EV ?XQ 5 4Z$?Q 9 4Z1)ZBYy$"?Q I?Z*DIZUEu EuEu9Eq"Eu&:*Eu1]:VEu4ZEqa}@a}@a}@a}@1e DAT read: 01:05:44.6449 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 282, 0.33, 1.787,-0.023, 1.957, 1.151, PHS= 0.738,-1.129, 0.762, RAW= 150.6, -4.0, CAL= 150.2, -5.1, ROT= 359.8, 5.1 m Ygot valid direction response: 01:05:44.6449 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 282, 0.33, 1.787,-0.023, 1.957, 1.151, PHS= 0.738,-1.129, 0.762, RAW= 150.6, -4.0, CAL= 150.2, -5.1, ROT= 359.8, 5.1 q } PDAT read: Bearing 174.5, 19.0 (Local) } ~Local bearing/azimuth received: Bearing 174.5, 19.0 (Local)  DAT read: Range 11 to 50 : 466.2 m (Round-trip 621.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.996035,-0.003477,-0.088894] Fpublishing direction and range infoy9 = QɄ?'[{lY= C9 9 9 9 9 )= KI= R)?ReHٱRҼ >RH`?`Pʿ` ?ő?5ӿ??a?iRss>IRG];RCY^6BybO&I ddQiMb@Mb@Mb@ 9NbX9?Zd;O?Yyj<V@V@  A)z@Y@ C= 4=bD5NVD58yE>%E'=ٔE;Q-E>9IYI=mDym+Duy_9Eu>yQ 54}R$?Q 94})};BY%?Q E:y! ?Q I?}*DI}:i}:}4yyBɮ"AxEiqiu&LAju.C"ju.C:ju*?Rju% -}@̙?:vDBjuQɄ?'[{l*jud2juK=Zju5;jJw@@Uo@F6#^@Jju ?]^?V\?ju(}C juSCiuhH׿?iu%ju)B- BDAT read: Tx time:01:05:45.9191 $Ping request sent.A >Au.AIIO?_",LA2ۢ>2?2UIٱ2^>2H@?K@ ˿ ޤ?d?tҿ@?М??i2ۢ>I2d];2CY:hBy>&IbDFaVDF8HyNK>%R&=ٔR݁;Q-R>9V ?YV ?=VDyV+DVOVEV>XQ 5^4Z)$?Q 9b4Z)ZsBY`yb?Q Ib?Z*DIZ>:iZ):ZQ4ydɮf AhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 466.36 m."i~p*ip  ProNav: ac range: 466.360107 m, nav range: 458.584351 m, bearing: 33.344574 deg, approach rate: -0.627531 m/s, LOS rate: -0.003288 deg/s, cmd heading: 32.270711 deg, new cmd heading: 32.267614 deg. i HeadingCmd: 0.563176 target range: 466.360107 and range: 466.20 m.hO,?hhhhggjg!rg!e!re!Ze):e)*e- ?)BɢYX) ?i)iTw =iO,?yn=s=IO,?Ivт;]9@a @a@e0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.508366DzDE EE3E"E:*ET:VE4ZEa@a@a@a@^A=! A ؟AI I O= >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758767",LA2>2?2Dٱ2=2H?@@I˿?/? pҿ?q?@?i2>I2I];2CY:By:&I|iMMb@Mb@Mb@IIII I9MV-?~jth~jthYM?yMDMDM@M@ MA)M@IYM@bDe[VDe8yu&>%u>=ٔ}m;Q-}>9}"?Y}"?=}Dy+ĎE>Q 54;$?Q 94r)BY?Q E:yz?Q I?*DIr;ie;4ySBɮ6AoE:iFNOT Ignoring new targets: 466.36 m."i)6*i)6 ProNav: ac range: 466.360107 m, nav range: 458.335999 m, bearing: 33.344636 deg, approach rate: -0.578118 m/s, LOS rate: 0.000145 deg/s, cmd heading: 32.267613 deg, new cmd heading: 32.267738 deg. iLJ6HeadingCmd: 0.563178 target range: 466.360107 and range: 466.20 m.hs,?hhhhggjgrgBereZe:e*epJ?-3Bɢ-kS)) -\,?i))5611i5=i=s,?= n==ә=I=s,?IA)!8B<A<B(>B;CB'IBBBBBDBӺ;B,yEQ}9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013182E  E E 4E "E :*E :VE 4ZE BE 6<",(LA2E>2?2㯾ٱ2=2H7*?ҋ`Z˿ޑ?&?`]%ҿ l?`h?E?i2E>I2I];0Y:ćBy:&IbDF(VDF8yN>%N>=ٔN;Q-N>9PYP=RDyR+DRéEV>TQ 5Z4VL$?Q 9^4V)VBY\y^?Q I^?V +DIV;iVD;VS4y`ɮftAd:itvFNOT Ignoring new targets: 466.36 m."iz6*iz6 ProNav: ac range: 466.360107 m, nav range: 458.087860 m, bearing: 33.344768 deg, approach rate: -0.578519 m/s, LOS rate: 0.000307 deg/s, cmd heading: 32.267736 deg, new cmd heading: 32.268000 deg. i7 HeadingCmd: 0.563183 target range: 466.360107 and range: 466.20 m.h ,?h h h h ggjgrgereZe:e*e%&?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266791>BɢM) C?i)݀ixm=i,?n=F(=I,?I  ))m9@i @i@i@i% >% ?- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519397A E]  E] E] 7EY "E] O:*E] X:VE] Ժ4ZEY ae @ae @ae @am @^A Ԙ=i AI I)OU>%k", H8LAA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770657YByA'Ii5Mb@Mb@Mb@1111 195Pn?Mb?Mb`Y5$?y5<55V@5@ 5`A)5M@1Y53@bDMVDM8y]B>%]=ٔeQ-e>9aYa=eDye+DmEm>qQ 5}4u8d$?Q 9}4u)u BY}$?Q E:y?Q I?u +DIu:iuk:u"4yVBɮA:iFNOT Ignoring new targets: 466.36 m."i'*i' ProNav: ac range: 466.360107 m, nav range: 457.748871 m, bearing: 33.344181 deg, approach rate: -0.603647 m/s, LOS rate: -0.001046 deg/s, cmd heading: 32.267999 deg, new cmd heading: 32.266824 deg. i HeadingCmd: 0.563162 target range: 466.360107 and range: 466.20 m.hh+?hhhhggjgrgBereZe:e*e@@KBɢrM) W?i) ei%=i%h+?%|n=-ϖ=I-h+?I)i9@ @@@ԑB= 0>B= w",'RLAY5HBy5'IbDE3VDEDZ8QyU>%]k=ٔYQ-]?9e ?Ye ?=eDye,DaEe?qQ 5}4ur$?Q 9}4u)u0BYyyyQ I}?u-+DIu:iuh:u64yXBɮApE:iFNOT Ignoring new targets: 466.36 m."iy*iy ProNav: ac range: 466.360107 m, nav range: 457.538849 m, bearing: 33.343817 deg, approach rate: -0.604420 m/s, LOS rate: -0.001048 deg/s, cmd heading: 32.266825 deg, new cmd heading: 32.266096 deg. iHeadingCmd: 0.563150 target range: 466.360107 and range: 466.20 m.h*?hhhhggjgrgereZe:e*e;@mTBɢms8)m mz?ii)uqqiu=i}*?} o=}=I}*?Iy;>i>ԁ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274727A@A @A@A@A@MyA@Iԩ^A= = Aq I I O >",lLA2(>2)?2Xٱ2m=2H@f? =#˿t?@?kѿ?`>?P?i2(>I2։];2CY:lBy:'I@BAbDFVDF8yNN<>%NX=Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527008ٔnc=Q-r>9pYp=rDyr,DvEv>xQ 5~4zJ$?Q 9~4z\)zYBYy?Q I?z<+DIz#;iz;z4yɮ%cA!mB*** querying acoustic contact ***iiii:iFNOT Ignoring new targets: 466.36 m.Թ"iM*iM ProNav: ac range: 466.360107 m, nav range: 457.304596 m, bearing: 33.343631 deg, approach rate: -0.583042 m/s, LOS rate: -0.000462 deg/s, cmd heading: 32.266097 deg, new cmd heading: 32.265726 deg. i{X-HeadingCmd: 0.563143 target range: 466.360107 and range: 466.20 m.h-&*?hAhAhAhAgAgIjgIrgIeIreIZeQ:e*e$@E EE8E"E>:*E[:VEF4ZEa@a@a@a@^Bɢ4) ?i)/i,",܁LA2j>2{?2ٱ2=2H@I}?#K˿Qk?@0??пv??@(?i2j>I2|i];2CY:By:(Ii%Mb@Mb@Mb@!!!! !9%rh|?~jth?%M?=ٔMM9QYQ=UDyU!,D]ɻE]>YQ 5m4]X$?Q 9m4])]BYm?Q Em:ymj?Q Im?]L+DI];i];]M"4y}[Bɮ}Ay:i9=FNOT Ignoring new targets: 466.36 m."ie7*ie7u ProNav: ac range: 466.360107 m, nav range: 457.063324 m, bearing: 33.343817 deg, approach rate: -0.567872 m/s, LOS rate: 0.000437 deg/s, cmd heading: 32.265725 deg, new cmd heading: 32.266097 deg. iuL7}HeadingCmd: 0.563150 target range: 466.360107 and range: 466.20 m.h}*?hyhyhyhyAABH>B>CB(IB`BB =BBDB~;BvEBUU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282795ԉ ",9LA2i>2f?2ٱ2e:=2H?B@ʿe?D?=#п&?%?l9?i2i>I2];2CY>ΈByBE(IbDV_VDV8y^>%^U=ٔb[9b"?Yb"?=fDyf0,DfѦEf>hQ 5n4j$?Q 9n4j)jBYpyr?Q Ir?jZ+DIj;ijP;j)4ytɮvgAt:iFNOT Ignoring new targets: 466.36 m."i,7*i,7 ProNav: ac range: 466.360107 m, nav range: 456.842560 m, bearing: 33.344040 deg, approach rate: -0.582737 m/s, LOS rate: 0.000588 deg/s, cmd heading: 32.266097 deg, new cmd heading: 32.266542 deg. i7HeadingCmd: 0.563157 target range: 466.360107 and range: 466.20 m.h+?hhhhggjgrgereZe:e*e@J @oBɢ˝") ?i)a}iӰ~5",}ʿLAVp>V?V$XٱV=VH?` ɿ`[?`W?PϿ@z?w?@S?iVp>IV?];VCYbByb(IIf=)f;iUMb@Mb@Mb@QQQQ Q9UCl?Q?Mb?YU;?yUu%}=ٔ}(9Y=DyE,D?E>Q 54S$?Q 94H)BYJ?Q E:y$?Q I?m+DI:i: 24y^BɮAqE:iuFNOT Ignoring new targets: 466.36 m."iu;*iu; ProNav: ac range: 466.360107 m, nav range: 456.537476 m, bearing: 33.343718 deg, approach rate: -0.607884 m/s, LOS rate: -0.000641 deg/s, cmd heading: 32.266541 deg, new cmd heading: 32.265897 deg. i=HeadingCmd: 0.563146 target range: 466.360107 and range: 466.20 m.hX*?hhhhggjgrgBereZe:e*e@{BɢU-) ?i)|iBBCB)IBЉBB =B-DBDBڷ;BBvE^AUp=yeDAT read: 01:05:48.9414 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.03, 3.002, 1.402, 3.112, 2.563, PHS= 0.541,-1.116, 0.504, RAW= 148.9, 0.9, CAL= 147.9, 0.6, ROT= 2.1, -0.6 Ygot valid direction response: 01:05:48.9414 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.03, 3.002, 1.402, 3.112, 2.563, PHS= 0.541,-1.116, 0.504, RAW= 148.9, 0.9, CAL= 147.9, 0.6, ROT= 2.1, -0.6 PDAT read: Bearing 179.4, 20.2 (Local) ~Local bearing/azimuth received: Bearing 179.4, 20.2 (Local) DAT read: Range 11 to 50 : 463.5 m (Round-trip 618.1 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999274,0.036642,0.010472]Fpublishing direction and range infoyO ?_¢?/;r?YC )DI~ ?iَ%?R&@<4%@ +<)Q =I+;Z^?5Bh?z]?  ?)zIQ =i+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AIIO>EM  EM EM 6EI "EM :*EM L_:VEM c4ZEI BEM Y"%E=ٔQ->9Y=DyV,DE>Q 54y$?Q 94) BYyQ I?}+DI;i;N94y ɮ A iIiMșLAjMC"jMC:jMZ?RjMqΟK|@ 0@1[Sl@BjMO ?_¢?/;r?*jMQ =2jM+ZjM-v@ =5o@ 5xhb@JjMZ BDAT read: Tx time:01:05:50.2191 $Ping request sent.Bur?B4ٱBL=BHX?%Oȿ B]?W?Ͽ?`v? k?iB P>IB^;@YJsByJ)IbDRVDR8yZ6>%Z/=ٔ^9^ ?Y^ ?=bDybi,DfEj>9tQ 54v $?Q 94v)v9BYy?Q I?v+DIv B@CB *IB?BB =B.DBDBp;BuE^A (z=- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755889 I I O >",;LAE EE6E"E:*Ei:VEc4ZEBE 'BJC?BٱB=BH`?*upǿ@a?@_?@@ Ͽ~N?O?m|?iB>IB];BCYJByJ^)I PPiMb@Mb@Mb@ 9%C? rh? rh?YZ$?yC =C<M@@ @)@Y=@ԙbDVD28yx>%<=ٔ99Y9==Dy={,D=ZѺEE>IQ 5U4M$?Q 9U4My)MhBYm$?Q Eu:yu?Q Iu?M+DIM=iM=M^I4y};Bɮ}C Ay:iFNOT Ignoring new targets: 463.73 m."i *i  ProNav: ac range: 463.730316 m, nav range: 446.214447 m, bearing: 33.972170 deg, approach rate: -0.641355 m/s, LOS rate: -0.001895 deg/s, cmd heading: 32.265715 deg, new cmd heading: 32.264100 deg. i]HeadingCmd: 0.563115 target range: 463.730316 and range: 463.50 m.hJ(?hhhhggjgrgBereZe:e*eY?eBɢe)i m?ii)m?wiiim4=<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919iJ(?Lo=!Up=IJ(?I9@ @@@! ^AE ur=I I O >R? ",,/LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260019zQ>z?zٱz^=zH?ƿWd? i?_ο@=??@?izQ>Izך];zCYBy )IbDVD78y-{>%-F=1ٔ5׉99Y9==Dy=,DEEE>AQ 5M4E%?Q 9U4Eˤ)EBYQyUw?Q IU?E+DIE&:iET:ELP4yYɮew Aa:iFNOT Ignoring new targets: 463.73 m."i!*i! ProNav: ac range: 463.730316 m, nav range: 445.971893 m, bearing: 33.971479 deg, approach rate: -0.681882 m/s, LOS rate: -0.001942 deg/s, cmd heading: 32.264099 deg, new cmd heading: 32.262718 deg. iicHeadingCmd: 0.563091 target range: 463.730316 and range: 463.50 m.h&?hhhhggjgrgereZe:e*e@ ?Bɢ) ?i)viVi>Em EmEm3Ei"Emf;*Em:VEm4ZEiau@au@au@a}@m9@i @i@m0@i@q@u=Yԉ^Anp=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513301I)I9OM>Ա !",NHLAɰ;2HI>2?2}ٱ2=2H ?YFƿ`@i?`p?Ϳ\w?۱??i2HI>I2l];2CYNByN)IiUMb@Mb@Mb@QQQQ Q9Uoʡ?J +?Zd;O?YU-?yUH=Uj>%}F=ٔ}9Y=Dy,DE>ԙQ 54%?Q 94)BY-?Q E:y["?Q I?+DIK,;i>+;~W4y>BɮT AiEBW>BACB*IBBB =BBDB;BruE:iFNOT Ignoring new targets: 463.73 m."iw*iw ProNav: ac range: 463.730316 m, nav range: 445.706818 m, bearing: 33.970072 deg, approach rate: -0.636900 m/s, LOS rate: -0.003383 deg/s, cmd heading: 32.262720 deg, new cmd heading: 32.259904 deg. i Ƹ HeadingCmd: 0.563042 target range: 463.730316 and range: 463.50 m.h ~#?h hhhggjgrgBereZe!:e!*e%?MBɢM))Q U/?iQ)UYuYYi]Ww checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014841 J",`bLA61>6 ?6-+ٱ6e=6H]?@`ſs?#r?&aͿ?"??i61>I6y];4YBBByB*IIF >)F>bDJVDJL8yRtv>%VY=ٔVv9XYX=ZDyZ,DZ:EZ>\Q 5b4^$%?Q 9f4^ܜ)^BYdyfl"?Q If?^+DI^:i^2:^^4yhɮjAl:i|~FNOT Ignoring new targets: 463.73 m."i*i ProNav: ac range: 463.730316 m, nav range: 445.463409 m, bearing: 33.968771 deg, approach rate: -0.653364 m/s, LOS rate: -0.003496 deg/s, cmd heading: 32.259906 deg, new cmd heading: 32.257301 deg. i̸HeadingCmd: 0.562996 target range: 463.730316 and range: 463.50 m.h ?hhhhg!g!jg!rg!e)re)Ze):e)*e-#@]Bɢ]l߽)Y ]?ia)eqsaaieKQDzDE EE3E"E;*E:VE4ZEa@a@a@a@ԙ r{",'|LAz>zW?z醾ٱzx=zH? [ ſ?@Us?@W̿q?@wIz`];zCYulBy}B*Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521330ibDVD'8y1>%,=ٔ[9Y=Dy,D"$;E>Q 548%?Q 94)BYy"?Q I?+DIu:i^;]f4yABɮA B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 463.73 m."i%*i%5 ProNav: ac range: 463.730316 m, nav range: 445.157074 m, bearing: 33.967086 deg, approach rate: -0.644710 m/s, LOS rate: -0.003548 deg/s, cmd heading: 32.257300 deg, new cmd heading: 32.253928 deg. i5ϸ=HeadingCmd: 0.562937 target range: 463.730316 and range: 463.50 m.h=?h9h9h9h9g9gAjgArgAeIreIZeI:eI*eMg@}Bɢ}E%)y }?iy)3ri(BbEc4jE˾4rE30E  E E 5E "E T;*E :VE 4ZE BE G2?2rٱ2of=2HU"?@Ŀ@ْ?qt?C!̿ I?`??i2+ɱ>I2o];2CY:By:{*Ii~Mb@Mb@Mb@|||| |9~ˡE?Q?{Gz?Y~'?y~u=~ף<~d@~M@ ~ @)~E@|Y~@bDVD8yd>%b=ٔ9Y=Dy,Dp;E>Q 54DH%?Q 94]):BY(?Q E:y&(?Q I?+DI:i:l4yɮ1A:iFNOT Ignoring new targets: 463.73 m."i*i  ProNav: ac range: 463.730316 m, nav range: 444.926727 m, bearing: 33.965186 deg, approach rate: -0.631153 m/s, LOS rate: -0.005209 deg/s, cmd heading: 32.253929 deg, new cmd heading: 32.250127 deg. i HeadingCmd: 0.562871 target range: 463.730316 and range: 463.50 m.hO?hhhhggjg!rg%ӄBe!re!Ze!:e)*e-@ @UņBɢU)Y ]?iY)]npYYieM ] >] <e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275895+",LAJ>J ?J>ٱJ2=JH@%?`[ÿ2?k?>˿?@*?`?iJ>IJKZ];HYRByR*I TTbD^6VD^ʱ8yf>%fU=ٔfg9j"?Yj"?=jDyj,Dno;En>pQ 5v4r7X%?Q 9v4r)r_BYtyv(?Q Iv?r,DIr:ir2:rbs4y~=Bɮ~0A~jE:i%FNOT Ignoring new targets: 463.73 m."i%¸*i-¸5 ProNav: ac range: 463.730316 m, nav range: 444.687958 m, bearing: 33.963168 deg, approach rate: -0.629995 m/s, LOS rate: -0.005327 deg/s, cmd heading: 32.250128 deg, new cmd heading: 32.246090 deg. i==HeadingCmd: 0.562800 target range: 463.730316 and range: 463.50 m.h=?h9hAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU@ @}͆Bɢ}) ?i)J?o顉i0o2",]5LA2>2n?2Qzٱ2=2H@%? k¿`$? ]?@˿@]? e??i2>I2x];2CLYRފByR*IBe>Be7CBe+IBeuBBe =Be/DBeDBeh;BenuEB%@CB%>CB%CB% =B% =C%6iUMb@Mb@Mb@QQQQ Q9UGz?x&?~jt?YU0?yU7=UD%>=ٔi9Y=Dy,D;E>Q 545k%?Q 94؋)BY1?Q E:y*?Q I?,DI:i:z4yBɮA`E:i FNOT Ignoring new targets: 463.73 m."i*i%鸝= ProNav: ac range: 463.730316 m, nav range: 444.401794 m, bearing: 33.960412 deg, approach rate: -0.663169 m/s, LOS rate: -0.006391 deg/s, cmd heading: 32.246091 deg, new cmd heading: 32.240576 deg. i=%;MHeadingCmd: 0.562704 target range: 463.730316 and range: 463.50 m.hMb ?hIhIhQhQgQgYjgYrgeBeareiZei:eq*e* @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778949=ֆBɢ=̽)9 E@iA)EZmAAiE;a}^Am |=!  DAT read: 01:05:53.2379 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403,-0.20,-2.810, 1.811,-2.704, 3.016, PHS= 0.559,-1.160, 0.519, RAW= 148.8, 1.0, CAL= 147.9, 0.7, ROT= 2.1, -0.7  Ygot valid direction response: 01:05:53.2379 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403,-0.20,-2.810, 1.811,-2.704, 3.016, PHS= 0.559,-1.160, 0.519, RAW= 148.8, 1.0, CAL= 147.9, 0.7, ROT= 2.1, -0.7 - PDAT read: Bearing 179.3, 16.3 (Local) - ~Local bearing/azimuth received: Bearing 179.3, 16.3 (Local) 5 DAT read: Range 11 to 50 : 461.0 m (Round-trip 614.7 ms) speed 0.4 m/s = R#Rx 1: Read range and direction messages.Ay I I O > \direction in FSK: [0.999254,0.036641,0.012217] Fpublishing direction and range infoy   ;"?d¢?I:?Y C ) GI ?i z /?8",LA6&@5< +H<)I+HAu?٢?r3w? ?)tIi+HT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.$ɰ&4b9x?btٱb =bHZ#? d>?O?˿@~Q? ?@ ?ib[>Ib}h];bCYjByn+IbDvXVDv8|y} K>%}M=ٔ}7u9Y=Dy,Do;E>Q 54|%?Q 94})BYy+?Q I?&,DId?颭߆Bɢ&) @i)tk顱io 5BDAT read: Tx time:01:05:54.5191 =$Ping request sent.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251485:@",#LA_>$?nٱϮ=H!?" 3+?>D?˿?I?@?i_>I];CYBy+II=)49U ?Y] ?=]Dy]-Dey;Ee>aQ 5m4e%?Q 9u4ex)eBYu{(?Q Eu:yuV.?Q Iu?e9,DIev;ie;e84yBɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 461.15 m."i^*i^ ProNav: ac range: 461.147522 m, nav range: 442.408173 m, bearing: 34.078754 deg, approach rate: -0.700093 m/s, LOS rate: -0.007834 deg/s, cmd heading: 32.234890 deg, new cmd heading: 32.228133 deg. ideHeadingCmd: 0.562487 target range: 461.147522 and range: 461.00 m.h&?hhhhggjgrgBereZe:e*e 6?=Bɢ=,)A Er@iA)E iAAiEUB5CB+IB‹BB =BBDB;BuE @  @ @ @Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501081q E  E E 6E "E ;*E ҆:VE c4ZE BE @F",aLAy.ʏ?2aAfVַ>f?f.hٱfk=fH T!?@`{?Ifm];fCYn%T=ٔ 9 "?Y "?= Dy  -D;E>Q 5%4%?Q 9%4j~)BY!y%.?Q I-?I,DI;i:4y1ɮ5@1:iQ]FNOT Ignoring new targets: 461.15 m."i]*iem ProNav: ac range: 461.147522 m, nav range: 442.164703 m, bearing: 34.075963 deg, approach rate: -0.632348 m/s, LOS rate: -0.007253 deg/s, cmd heading: 32.228131 deg, new cmd heading: 32.222547 deg. im]TuHeadingCmd: 0.562390 target range: 461.147522 and range: 461.00 m.hu?hqhyhyhygygyjgrgereZe:e*e mc?颵Bɢe)  @i)hiAe>ԁ A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005077E]  E] E] ;EY "E] ;*E] :VE] 4ZEY ae @am @am @am @L",i6LA2>2@F?2Ebٱ2.=2H 6!?9 @L^?3?`ʿ ?nI?@?i2>I2-a];0Y>]By>j+IbDFBVDFձ8yNY&>%NP=ٔR9R ?YR ?=VDyV0-DV;EV>XQ 5^4Z%?Q 9^4Z@z)ZBY\yb]/?Q Ib?ZY,DIZC:iZ:Zח4yfBɮj@jbE:ix~FNOT Ignoring new targets: 461.15 m."i~*i~  ProNav: ac range: 461.147522 m, nav range: 441.915619 m, bearing: 34.073041 deg, approach rate: -0.631588 m/s, LOS rate: -0.007415 deg/s, cmd heading: 32.222548 deg, new cmd heading: 32.216700 deg. i YHeadingCmd: 0.562288 target range: 461.147522 and range: 461.00 m.h?hhhhggjgrg!e!reZe:e*e`B?BɢX˖)  @i)*fiߦB B B =,IB BB B B B ;B uES",PLA2>2??2:[ٱ2i=2H`"?:S*?`n&?]ʿ j=?>S??i2>I2{];0Y:pBy:+I @@Pbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509218ieMb@Mb@Mb@aaaa a9e/$?Q?{Gz?Ye,?yeu=e#9"?Y"?=DyB-D;E>Q 54%?Q 94u)BBY,?Q E:y+?Q I?k,DI:i:d4yɮ@:iFNOT Ignoring new targets: 461.15 m."i'*i'츝 ProNav: ac range: 461.147522 m, nav range: 441.633118 m, bearing: 34.070257 deg, approach rate: -0.654309 m/s, LOS rate: -0.006452 deg/s, cmd heading: 32.216701 deg, new cmd heading: 32.211130 deg. i<HeadingCmd: 0.562190 target range: 461.147522 and range: 461.00 m.h?h h h h g g jgrgBereZe:e*e?eBɢm )q @E EE8E"E*Eą:VEF4ZEBEDZ",iLAR>RjC?RAUٱRP=RH"? %C`IR@l];PYbByb+IbDrVDr8yz\>%~T=ٔ\9 Y =DyQ-D;E>!Q 5-4%p%?Q 954%tq)%aBY1y5,?Q I5?%{,DI%;i%;%)4yE!BɮEc@A:iamFNOT Ignoring new targets: 461.15 m."im*im񸝏 ProNav: ac range: 461.147522 m, nav range: 441.379486 m, bearing: 34.067702 deg, approach rate: -0.653454 m/s, LOS rate: -0.006587 deg/s, cmd heading: 32.211131 deg, new cmd heading: 32.206017 deg. i@HeadingCmd: 0.562101 target range: 461.147522 and range: 461.00 m.h?hhhhggjgrgereZe:e*eЏ@mBɢm .) i@i)ab顙iخ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267591`",؃LAN4<ɰN;-y>-p?-HOٱ-mn=-H P&?@)ྭ@7I? j?ʿ@߻?)??i-y>I-];)Y=By=+IqiMb@Mb@Mb@ 9T㥛 ??~jt?Y!?yL=D<@z@  @)/@Y@bDVD8y==%=7=ٔEV9AYA=EDyEc-DM!;EM>QQ 5]4U%?Q 9]4U m)UBY]!?Q Ee:ye)?Q Ie?U,DIU:iU:U꭫4ymBɮm@mYEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 461.15 m."iƸ*iƸ ProNav: ac range: 461.147522 m, nav range: 441.107574 m, bearing: 34.065296 deg, approach rate: -0.613324 m/s, LOS rate: -0.005429 deg/s, cmd heading: 32.206019 deg, new cmd heading: 32.201205 deg. iHeadingCmd: 0.562017 target range: 461.147522 and range: 461.00 m.hZ?hhhhggjgrgsBereZe:e*e`O@uBɢu:)q ug@iq)}O`yyi}RB7CB,IBABB =BBDB;BuE 9@  @ @]0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517037^AX=E5  E1 E5 8E1 "E5 :*E1 VE5 F4ZE1 BE5 I8! g",LA2e>2W}?2DIٱ2=2H.?$`h0M?`?@Ԛʿ@v?`V?@&?i2e>I2y];0YRByR+IIV!>)VbDZVDZ8yb=%bf=ٔfʀ9dYd=fDyjr-DjXEj>lQ 5r4n%?Q 9r4ni)nBYpyv)?Q Iv?n,DIny:in::n4yzBɮz@x:iFNOT Ignoring new targets: 461.15 m."i%Ƹ*i%Ƹ5 ProNav: ac range: 461.147522 m, nav range: 440.889618 m, bearing: 34.063374 deg, approach rate: -0.614837 m/s, LOS rate: -0.005424 deg/s, cmd heading: 32.201207 deg, new cmd heading: 32.197361 deg. i55HeadingCmd: 0.561950 target range: 461.147522 and range: 461.00 m.h5?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM@%Bɢ%6)! %@i!)-^))i-\ԁ D= <D= =EE  EE EE 5EA "EE ;*EE :VEE 4ZEA aM @aM @aM @aM @=m",LA2P>2r?2+Dٱ2=2H96?`] @&P?J?V]ʿ!_?R? .?i2P>I2ݕ];2CY:ًBy:,IbDFVDF8yNR>%NM=ٔNfX9PYP=RDyR-DVYӹEV>XQ 5Z4Zc&?Q 9^4Ze)ZBYy|)?Q I?Z,DIZeAu>ԩII IY Om >B >B 8CB ,IB nBB  =B .DB B ;B uE .%t",bLA2c>2Y?2>ٱ2,=2H>? (R??Oɿf?Z? 6?i2c>I2y];2CRBDAT read: Rx Time:01:05:57.5475 VTRx dataTimestamp_ set to:1764896759.292451Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526047YZByZ,IiMb@Mb@Mb@ 9Zd;? ףp= ?~jt?Y?yQ8=/@@ @)?}@YQ@bDVD8y =%5=ٔ5>99Y9==Dy=-D=\EE>AQ 5M4EO&?Q 9M4E:a)EBYuQ?Q Eu:yu&(?Q Iu?E,DIEO;iE;E ë4y}BɮN@ZEԱ:iFNOT Ignoring new targets: 461.15 m.bE}œ4jE}4rE}ƒ0E EEE"E;*E:VEZEBEA9 YPz",lBLAF[>FV?F9ٱF=FHK? y`L?)?@[ɿ@?? )@?iF[>IFh];FCYRByR,,I TT XZp=bDZ VDZ8yb=%bb=ٔf}e9dYd=jDyj-DjEj>IQ 5m4M%&?Q 9u4M])MBYy'?Q I?M,DIMuX?['Ջ@?*U0ͻ F ?) =ID+Hi>%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.]/Bɢ]UG)Y ]z@ia)SXiI e BDAT read: Tx time:01:05:58.7691 m $Ping request sent.m >,",OLA,=(>=^?=h-0ٱ=I ==H`a?U@_I=Ul];=CYmBymR,Ii5Mb@Mb@Mb@1111 195\(\?I +?{Gz?Y5?y594<5#<5@5@ 5@)5{@1Y5̌@bDMVDMz8yU>%](=ٔ]u9aYa=eDye-Dm4Em>iQ 5u4m}9&?Q 9}4mY)m BY}?Q E}:y}?Q I}?m,DIm:imR:ԁmѫ4yBɮ@iiLAj.C"j.C:j+?RjWn}@Z߯dNBjǹn?ÿ) *jD+H2j>ZjElx@ap@^42@Jj/ ?#(Bi?g?jĀC jdCi(ۦ?iDjBjj%j)B7CB,IBBBBBBL;BGtEB]7CB]7CB]ĔCB] =B] =C]ıF6=6Bɢ=LF )9 =t@i9)EMVAAiEP",LA;ɰp;hY~By~Y,IbD VD s8y<%%x=ٔ%Q-%?9)Y)=-Dy--D-E-?1Q 5=45&G&?Q 9=45V)5BYAyAQ IE?5,DI5;i5;5׫4yIɮM0@ImB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 468.36 m."i}O6*i}O6 ProNav: ac range: 468.363556 m, nav range: 440.835510 m, bearing: 34.278409 deg, approach rate: -0.601872 m/s, LOS rate: 0.000177 deg/s, cmd heading: 32.181235 deg, new cmd heading: 32.181351 deg. i6HeadingCmd: 0.561671 target range: 468.363556 and range: 468.20 m.h?hhhhggjgrgereZe:e*e ? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754915A EE  EE EE 3EA "EE ;*EE ą:VEE 4ZEA |",8LA2>2D?2-,ٱ2!=2Hi? @? L?ǿk?-?Y?i2>I2];2CYN?ByN,IIR%=)RR=bDZVDZL8yb$>%bP=ٔb #9dYd=fDyf-Dj[$Ej>lQ 5r4noW&?Q 9r4n>S)n3BYpyrW?Q Ir?n,DInd:in:ngޫ4yzBɮz_@z[E:iFNOT Ignoring new targets: 468.36 m."i%6*i%65 ProNav: ac range: 468.363556 m, nav range: 440.602142 m, bearing: 34.278507 deg, approach rate: -0.595329 m/s, LOS rate: 0.000248 deg/s, cmd heading: 32.181352 deg, new cmd heading: 32.181546 deg. i56=HeadingCmd: 0.561674 target range: 468.363556 and range: 468.20 m.h=?h9h9h9hAgAgAjgArgAeIreIZeI:eI*eM`?CBɢ  )  @i ) [RiB >B 6CB -IB BB  =B /DB DB ;B sEԱ c",hRLA2 M>2?2g'ٱ2s =2Hq?@Z`??`S?@$ǿ?ѻ?$a?i2 M>I2p];0Y:NBy:,IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986yiuMb@Mb@Mb@qqqq q9uv?~jt?~jt?Yu?yu9Y=Dy-DjѺE>Q 54i&?Q 94mO)KBY?Q E:y?Q I?-DI:i(:4yݚBɮ@QE:iFNOT Ignoring new targets: 468.36 m."iT*iT ProNav: ac range: 468.363556 m, nav range: 440.348053 m, bearing: 34.278192 deg, approach rate: -0.586692 m/s, LOS rate: -0.000727 deg/s, cmd heading: 32.181546 deg, new cmd heading: 32.180916 deg. iPuHeadingCmd: 0.561663 target range: 468.363556 and range: 468.20 m.h}%?hyhyhyhygygyjgrgDBereZe:e*e 1?E EE6E"E%;*E:VEc4ZEBEK",GlLA6>6?6n#ٱ6W=6H@Yy?I6];4Y>jBy>,IbDVVDV98y5>%=R=ٔM9aYa=eDym-Dm Em>yQ 54} y&?Q 94}K)}bBYyh?Q I?}-DI}< ;i};}4yBɮa@RE:iFNOT Ignoring new targets: 468.36 m."iC*iC ProNav: ac range: 468.363556 m, nav range: 440.115265 m, bearing: 34.277926 deg, approach rate: -0.586296 m/s, LOS rate: -0.000669 deg/s, cmd heading: 32.180918 deg, new cmd heading: 32.180386 deg. iHeadingCmd: 0.561654 target range: 468.363556 and range: 468.20 m.h?hhhhggjgrgereZe:e*e@a^?%QBɢ%)) -#@i))-kN))i5Vyc",yɊLA YBy,I AB>BBP-IBBBBBBI;B.sEieMb@Mb@Mb@aaaa a9eOn?I +?Mb?Ye?ye949Y=Dy .DE>Q 54.&?Q 94G)BY?Q E:y?Q I?)-DI;i;4yɮ@:iFNOT Ignoring new targets: 468.36 m."i16*i16 ProNav: ac range: 468.363556 m, nav range: 439.814026 m, bearing: 34.278141 deg, approach rate: -0.586415 m/s, LOS rate: 0.000419 deg/s, cmd heading: 32.180385 deg, new cmd heading: 32.180815 deg. i'D7HeadingCmd: 0.561661 target range: 468.363556 and range: 468.20 m.h?hhhh g g jg rg5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518958",ՔLA2+>2?2zٱ2(=2H@ނ?~G?` W??}ƿ?¼?p?i2+>I2];2CY:By:,I@bDFVDF68yR&>%Rq=ٔRB=Q-R?9TYT=VDyV.DV:EZ?XQ 54Z&?Q 94ZD)ZBYy?Q I?Z6-DIZd)y",1DLAB%?BiٱBێ=BH@?ۭ`[K?X?@g.ƿ|?@?u?iBf?>IB];BCYZBy^ -IbDfVDf78ynQ=%nA=ٔnv9pYp=rDyr*.Dr9Ev>tQ 5z4v&?Q 9~4v@)vBY|y~?Q I~?vF-DIvj;iv;v;4yɮ,@ :i)-FNOT Ignoring new targets: 468.36 m."i=6*i=6E ProNav: ac range: 468.363556 m, nav range: 439.365417 m, bearing: 34.278437 deg, approach rate: -0.605603 m/s, LOS rate: 0.000394 deg/s, cmd heading: 32.181082 deg, new cmd heading: 32.181406 deg. iM87MHeadingCmd: 0.561671 target range: 468.363556 and range: 468.20 m.hM?hQhQhQhQgQgYjgYrgYeYreYZea:ea*ee@ @颍gBɢ) +)@i)ךG顙i^~B5CB-IBBBBBDB;BrE^AH=IQIaOm> E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274938 nManaging dock network, ignoring radio surface power offi",LAE& E&E&2E$"E&%;*E&:VE&4ZE$BE&KB*?BٱB<=BH Ȉ?@P?W?ſ? M?@y?iBos>IBԞ];BCYJByJ-IlI~=)~9Y=Dy<.D!q:E>Q 54Ͽ&?Q 94<)BYM?Q E:y?Q I?W-DIH;i]; 4yBɮ@SE:i  FNOT Ignoring new targets: 468.36 m."i *i % ProNav: ac range: 468.363556 m, nav range: 439.102173 m, bearing: 34.278322 deg, approach rate: -0.609779 m/s, LOS rate: -0.000265 deg/s, cmd heading: 32.181406 deg, new cmd heading: 32.181177 deg. i%3-HeadingCmd: 0.561668 target range: 468.363556 and range: 468.20 m.h-q?h)h)h)h1g1gjgrgSBereZe:e*eG{ @-oBɢ-)i m)@ii)uu EqqiuѢwi #",LA2t>2y?2?X ٱ2G=2H@? ٩S? =Z?@ѩſ H]?d?@9?i2t>I2g];2CY:׌By:;-IbDFfVDF 8yN>%N^=ٔNG9PYP=RDyRK.DVV7EV>XQ 5Z4Zd&?Q 9^4Z9)ZBY\y^?Q I^?Ze-DIZ;iZ;Z24ydɮf@d:itzFNOT Ignoring new targets: 468.36 m."iz%*iz%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779034 ProNav: ac range: 468.363556 m, nav range: 438.877899 m, bearing: 34.278225 deg, approach rate: -0.610393 m/s, LOS rate: -0.000265 deg/s, cmd heading: 32.181177 deg, new cmd heading: 32.180983 deg. i<HeadingCmd: 0.561664 target range: 468.363556 and range: 468.20 m.h8?hhhhg!g!jg!rg!e)re)Ze):e)*e-`&@9tBɢbI<) \,@i)9CiSp> ",a LA44bD>b?br]ٱb#=bH`?1@BT?m`?`"*ſ`Z?N??ibD>Ib];bCYrByvY-IB9A=4=BE>BABE-IBEDBBE =BABABE;BErEԙiMb@Mb@Mb@ 9Zd;?~jt?Q?Y?y<u<1p@@ @)m@Y@bD%?VD%8y5Y=%53=ٔ5.99Y9==Dy=].DEwOEE>IQ 5U4M&?Q 9U4Mv5)MBYU?Q EU:yU?Q I]?Mw-DIM;iM;M*4yeBɮe@a:iFNOT Ignoring new targets: 468.36 m."iN1*iN1 ProNav: ac range: 468.363556 m, nav range: 438.597931 m, bearing: 34.277949 deg, approach rate: -0.613523 m/s, LOS rate: -0.000606 deg/s, cmd heading: 32.180983 deg, new cmd heading: 32.180430 deg. i؍HeadingCmd: 0.561654 target range: 468.363556 and range: 468.20 m.h?hhhhggjgrgeBereZe:e*e@@{Bɢ!) }.@i)@ii i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5350755",Z&LA2=>2?2~ٱ2~=2H?*`$@R?@%d?ĿY+?м?`?i2=>I2];2CY: By:y-I @BAbDFVDF8yNM>%Nh=ٔRS9PYP=VDyVl.DVӺEV>XQ 5^4Z&?Q 9^4Z:2)ZBY`yb?Q Ib?Z-DIZ<;iZ;ZQ4yfBɮf:@fTEvB*** querying acoustic contact ***itit:ixzFNOT Ignoring new targets: 468.36 m."i}#*i}# ProNav: ac range: 468.363556 m, nav range: 438.381714 m, bearing: 34.277753 deg, approach rate: -0.613547 m/s, LOS rate: -0.000557 deg/s, cmd heading: 32.180429 deg, new cmd heading: 32.180037 deg. i}HeadingCmd: 0.561648 target range: 468.363556 and range: 468.20 m.h#?hhhhggjgrgereZe:e*e w@}BɢP5<) 0@i)f>顉i˯b2R?2ٱ2)=2H`̝?4f>T? 1b?`8Ŀ.?h?>?i2>I2];2CY:By:-IbDFVDF8yN}=%NJ=ٔN89PYP=RDyR|.DVOEV>XQ 5Z4Z'?Q 9^4Z.)Z BY\y^?Q I^?Z-DIZ;iZ;Z_&4yfŚBɮf@fJE:itzFNOT Ignoring new targets: 468.36 m."iz*iz ProNav: ac range: 468.363556 m, nav range: 438.133698 m, bearing: 34.277534 deg, approach rate: -0.615120 m/s, LOS rate: -0.000543 deg/s, cmd heading: 32.180037 deg, new cmd heading: 32.179599 deg. i ~ HeadingCmd: 0.561640 target range: 468.363556 and range: 468.20 m.h ?h hhhggjgrgereZe:e*e@Bɢ#V<) 1@i)G<i[BE4CBE-IBElBBE =BABABE;BErEB 5CB 5CB B  =B  =C Q5^Ae~4=ԩ- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291231A .AI I O > H",XZLAE EE7E"E;*EVEԺ4ZEBEACB?Bv%ٱB=BH ?`T?c? Ŀ ?(?ԍ?iBc>IB@^;BCYJ.ByJ-IiuMb@Mb@Mb@qqqq q9uT㥛 ?~jt?I +?Yu!?yuD9 ?Y ?=Dy.DaE>Q 54'?Q 94*)"BY&!?Q E:y~?Q I?-DIP;iT;.4yȚBɮ@KE:iFNOT Ignoring new targets: 468.36 m."i^7*i^7  ProNav: ac range: 468.363556 m, nav range: 437.861786 m, bearing: 34.277766 deg, approach rate: -0.621873 m/s, LOS rate: 0.000531 deg/s, cmd heading: 32.179600 deg, new cmd heading: 32.180064 deg. i x7HeadingCmd: 0.561648 target range: 468.363556 and range: 468.20 m.h+?hhhhggjg!rg%{Be!re!Ze!:e)*e-@@Ա=uAltitude envelope ACTIVE. Altitude:3.950000m. At depth:70.591644m.cd ?cd^^^^=cAltitude envelope ACTIVE. Altitude:3.950000m. At depth:70.591644m.]^^ ^iɢ ?I>A/$I%<)%qC)%%%Ҕi%61 Dr",+4tLA2gh>2~?2Cٱ2C=2HG?hn`AR?Pk?@AeĿ@??`m?i2gh>I2r^;2CY:GBy:-II>=)>=bDFVDFð8yN>%N\=ٔN89R"?YR"?=RDyR.DVEV>XQ 5^4Z#&'?Q 9^4Z$')Z4BY\y^V?Q Ib?Z-DIZ;iZ^;Z44ydɮf@drchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794980:i|~FNOT Ignoring new targets: 468.36 m."i?)7*i?)7 ProNav: ac range: 468.363556 m, nav range: 437.630798 m, bearing: 34.277981 deg, approach rate: -0.619766 m/s, LOS rate: 0.000578 deg/s, cmd heading: 32.180064 deg, new cmd heading: 32.180495 deg. if7HeadingCmd: 0.561656 target range: 468.363556 and range: 468.20 m.h?hhhhg!g!jg%rg!e)re-X<Ze):e)*e-@m;@d1d5d5dףcdcd^^^^]^^ ^iɢ I > Z#I <) )i5\",LLA R>R>?RcٱR=RH?M?u?ÿ!?U?@?iR>IR5K^;RCY^WBy^-IBn>Bn6CBn+.IBnBBn =BlBnDBnȴ;BnrEi]Mb@Mb@Mb@YYYY Y9]X9v?Q??Y]?y]u<]<]lg@]@ ]/@)]lg@YY]Qx@bDuVDuİ8yz=%<=ٔ9Y=Dy.DcE>Q 548'?Q 94:#)IBY ?Q E:yM?Q I?-DI(:i:<4ym̚BɮmL@i:iFNOT Ignoring new targets: 468.36 m."i6*i6 ProNav: ac range: 468.363556 m, nav range: 437.365295 m, bearing: 34.278098 deg, approach rate: -0.581719 m/s, LOS rate: 0.000256 deg/s, cmd heading: 32.180494 deg, new cmd heading: 32.180728 deg. i$6HeadingCmd: 0.561660 target range: 468.363556 and range: 468.20 m.h?hhhhggjgrgBereX<Ze:e*e @ddddcdcd^^^^]^^ ^iɢIh>"IԿ<))   sPi _;i?pr=K$=I?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.300268@ @@@ !%%CEM EMEM2EI"EM ;*EMą:VEM4ZEIBEM~T checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550873",LA2>2t"?2Iٽٱ2s=2H#?[᜿KL?`o}?@95ÿ+?(?`?i2>I2P];2CY:eBy:-IPbDn-VDnְ8yv=%vU=ٔv,9z ?Yz ?=zDyz.D~┺E~>Q 54I'?Q 94)[BYy9?Q I?-DIwX;iO;B4y)ɮ-i@)]B*** querying acoustic contact ***iYiY:iiuFNOT Ignoring new targets: 468.36 m."i}|6*i}|6 ProNav: ac range: 468.363556 m, nav range: 437.131073 m, bearing: 34.278211 deg, approach rate: -0.640211 m/s, LOS rate: 0.000308 deg/s, cmd heading: 32.180730 deg, new cmd heading: 32.180955 deg. ic7HeadingCmd: 0.561664 target range: 468.363556 and range: 468.20 m.h0?hhhhggjgrgereX<Ze:e*e3@ddddcdcd^^^^]^^ ^iɢIb>3!I<))iLb;i0?r==I0?I%=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803127u( @  @ @ /@ Eu  Eu Eu 4Eq "Eu V:*Eu h:VEu 4ZEq a} @a} @a} @a} @! Q checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054873^Ax=ԑA؟AIIB5>B58CB5W.IB5BB5 =B1B5DB5;B5vrEOU!?","mLA,Y%|By%.I ))iMb@Mb@Mb@ 9~jt?y&1?Mb?Y$?y`<<c@@ @)?e@Ys@ p=bDAVD8y=%<ٔQ->9"?Y"?=Dy.DE>Q 54#f'?Q 94Y)xBY$?Q E:y?Q I?-DI:i4:cN4yϚBɮ 7@ LE:i)5FNOT Ignoring new targets: 468.36 m."i5ַ*i5ַE ProNav: ac range: 468.363556 m, nav range: 436.707916 m, bearing: 34.277250 deg, approach rate: -0.643172 m/s, LOS rate: -0.001462 deg/s, cmd heading: 32.180955 deg, new cmd heading: 32.179031 deg. iEA+MHeadingCmd: 0.561630 target range: 468.363556 and range: 468.20 m.hU?hQhQhQhQgQgQjg]rg]BeYre]X<Zea:ea*eec'@didmdmdqc checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306916dcd^^^^]!^!^! ^!iYɢYIe,?ԁaIk<))顩ľiz:i?Ϫr=Pӎ=I?I=@WEm EmEm6Ei"Em&:*Em:VEmc4ZEiBEmk;B?B*_ǽٱB=BH?M엿@[??'¿?@?p?iBP>IBb];BCYJByJ!.IbDVVDV8y^=%^=ٔ^ 9`Y`=bDyb.DfR;Ef>hQ 5n4j|'?Q 9n4jV)jBYlyn ?Q In?j.DIjM;ij|:jdW4yvӚBɮv@t:i FNOT Ignoring new targets: 468.36 m."il*il귝% ProNav: ac range: 468.363556 m, nav range: 436.378937 m, bearing: 34.276425 deg, approach rate: -0.638689 m/s, LOS rate: -0.001601 deg/s, cmd heading: 32.179033 deg, new cmd heading: 32.177383 deg. i%;-HeadingCmd: 0.561601 target range: 468.363556 and range: 468.20 m.h-?h)h1h1h1g1g1jg=rg9e9re=X<ZeA:eA*eEu @dIdMdMdIcMdQcQdQ^Y^Y^Y^Y]Y^a^a ^aiyɢyI}>wI<))顁i@.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811022i?r=9=I?Imt۽ԑDzDE EE5E"E ;*Ev:VE4ZEa@a@a@a@9@ @@O5@@C<Ա^AU checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063839A I9 Ia O > )=#, LA>;?bռٱ,u=H }?sΒo?u?@? #?֮?i>I];CYBy:.IB] >BYB].IB]BB] =BYBYB]z;B]]rEiMb@Mb@Mb@ 9S㥛? ףp= ?{Gz?Y$?yQ8=#<`@l@ l@)`@Yp@bD&VDϰ8y=%9=ٔ"?9Y=Dy/D;E>Q 54Ə'?Q 94)BYI%?Q E:y%?Q I?.DI:i:_4yBɮ@@CE:i1=FNOT Ignoring new targets: 468.36 m."i=䖸*i=䖸M ProNav: ac range: 468.363556 m, nav range: 436.096191 m, bearing: 34.274607 deg, approach rate: -0.640424 m/s, LOS rate: -0.004123 deg/s, cmd heading: 32.177383 deg, new cmd heading: 32.173743 deg. iMm񸝏UHeadingCmd: 0.561538 target range: 468.363556 and range: 468.20 m.hU?hQhYhYhYgYgYjgergeBeareeX<Zea:ei*em`e @ddddcdcd^^^^]^ ^  ^ i1ɢ1I5Q>5>I=<)9)99=i= @iE?Ezr=e–=Im?IiE= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315050@ @@0@@E<E EE6E"E;*Eą:VEc4ZEBEAA >e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567463y AI IQ Ia Ou > #,)LAYUBy]R.IbD@VD8yɭ=%==ٔQ->9Y=Dy/DE>Q 54'?Q 94i )BYyQ I?).DIb;ic;f4yBɮK@1EB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 468.36 m."i]q*i]qm ProNav: ac range: 468.363556 m, nav range: 435.816742 m, bearing: 34.272806 deg, approach rate: -0.629177 m/s, LOS rate: -0.004056 deg/s, cmd heading: 32.173743 deg, new cmd heading: 32.170140 deg. imuHeadingCmd: 0.561475 target range: 468.363556 and range: 468.20 m.huѼ?hqhqhqhqgygyjg}rgyereX<Ze:e*e!@ddddc-d)c)d)^1^1^1^9]9^9^9 ^9iyɢyI}R>yIV<)_") iiѼ?; s=P=IѼ?IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.8187604ԉE EE5E"E ;*E:VE4ZEa @a @a @a @y @  @ @ 0@ @] <@e zA@e zAԱ iAIAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.071555^A~=AI9IaO?~#,کNLA8V>VqG?V8ٱVg=VH?R?`ǭ?HX?]Z? 7??iV>IV^;VCYbˍBybg.IB~>B~7CB~.IB~BB~ =B|B|B~B;B~rEi%Mb@Mb@Mb@!!!! !9%Mb?V-?:v?Y% ?y%m=%<%^@%{@ %v@)%^@!Y%k@bD=0VD=ٰ8yMl=%M =ٔM# =Q-M>9QYQ=UDyU*/D][<E]>YQ 5m4]'?Q 9m4]O)]BYmU!?Q Em:ym,?Q Im?]A.DI]j;i]n;]q4y}Bɮ}C@}DE:iFNOT Ignoring new targets: 468.36 m."i*i鸝 ProNav: ac range: 468.363556 m, nav range: 435.446350 m, bearing: 34.269067 deg, approach rate: -0.632139 m/s, LOS rate: -0.006387 deg/s, cmd heading: 32.170140 deg, new cmd heading: 32.162656 deg. i;HeadingCmd: 0.561344 target range: 468.363556 and range: 468.20 m.hA?hhhhggjgrgBereX<Ze:e*e #@ddddcdcd^^^^]^^ ^i ɢ I ?YiI<))-i/iA?Gs=%*=I%A?I!-=-=ԡc?#echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.323213@ @@/@@Ⱥ<E EE6E"E;*E:VEc4ZEBEa2EaJE=;a:E>;a ^A <= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574871) AA IQ IaO}>:#,ImLAv`Z>vw?v~jٱvb=vH O?@?@?F? K?Ƽ?`?iv`Z>Iv];tYMۍByM{.IbD]&VD]ϰ8ym=%m7=ٔu =Q-u>9qYy=}Dy}Q 54d'?Q 94)BYy-?Q I?S.DI;ig;x4yɮH@:i FNOT Ignoring new targets: 468.36 m."i *i ︝= ProNav: ac range: 468.363556 m, nav range: 435.167236 m, bearing: 34.266086 deg, approach rate: -0.612893 m/s, LOS rate: -0.006551 deg/s, cmd heading: 32.162654 deg, new cmd heading: 32.156687 deg. i=?EHeadingCmd: 0.561240 target range: 468.363556 and range: 468.20 m.hEn?hAhAhAhAgIgIjgMrgieireuX<Zeq:eq*eu#@dyd}d}dycdcd^^^^i]i^i^i ^iiɢIT>IB<))@i%in?s=b=In?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.826897bE*4jE4rEǃ/E EE3E"El;*E:VE4ZEa@a@a@a@IyA))- 9@)  @) @- 4@) B@5 yA:@5 zAq  B1B5.IB5BB1B1B5DB5;B5qEB7CB7CBB =B =C~5^AU&=AIIO%?a%#,LAB>BpY?BSٱBS =BH Z?o@_O?`E$??`̤ ʕ? ??iB>IB3];@YJByN.IPRAn2Acoustic response timeouti-Mb@Mb@Mb@))1)) )9-Q?kt?X9v?Y-(?y- 0=-<-\@-x@ -^r@)-c@)Y-j@ ER=ER=bDM"VDM̰8y]z=%]<ٔ]c=Q-]>9aYa=eDyeV/DmÎ<Em>qQ 5}4u'?Q 9}4uB)uBY?Q E:y*?Q I?ul.DIu:iu:u74yBɮ@:iFNOT Ignoring new targets: 468.36 m."i̸*i̸m ProNav: ac range: 468.363556 m, nav range: 434.773346 m, bearing: 34.262517 deg, approach rate: -0.616935 m/s, LOS rate: -0.005595 deg/s, cmd heading: 32.156688 deg, new cmd heading: 32.149543 deg. im#uHeadingCmd: 0.561115 target range: 468.363556 and range: 468.20 m.huB?hqhqhqhqgqgyjg}rg}BeyreX<Ze:e*e G%@ddddcdcd^^^^]^^ ^E- E-E-9E)"E-;*E-:VE-4ZE)BE)a=2E)a=JE-;a=:E-;a=iIɢQIU,?U0} IU@<)U)YY]Xi]2UYiB?s=kM=IB?I59@1 @1@5_0@1@ <ԑi߉I߉2Acoustic response timeoutԹ ^A5 "=A I I O >7,#,F?LA,2>27?2P]ٱ2=2HB?~'஑?^I?`/?P?Q???i2>I2];2CY>By>.IbDF'VDFа8yNB=%NA=ٔRC=Q-R>9PYT=VDyVg/DVN<EV>\Q 5b4^'?Q 9b4^)^BY`yb,?Q Ib?^}.DI^\:i^:^4yjBɮj@jEEvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 468.36 m."iٸ*iٸ ProNav: ac range: 468.363556 m, nav range: 434.514954 m, bearing: 34.259992 deg, approach rate: -0.609029 m/s, LOS rate: -0.005954 deg/s, cmd heading: 32.149543 deg, new cmd heading: 32.144491 deg. i[.HeadingCmd: 0.561027 target range: 468.363556 and range: 468.20 m.h{?hhhhggjgrgereX<Ze:e*e~ &@ddddcdcd^^^^]^^ ^)iAɢA2Acoustic response timeoutI7>MI<ԁ))顉eioi{?Ot=u=I{?ID=D=E EE3E"E;*E:VE4ZEa@a@a@a@y@y @y@}`0@y@U<Ա^A-<¼=AY Ii Iy O > ] 2Acoustic response timeout3#,]LAd> ?w<ٱy=H(? 9?`k?`?b`?!?i>I/];CYBy.IB>B6CBBBBBB;ByqEiMb@Mb@Mb@ 9X9v?:v?X9v?Y?yT=MZ@ i@)i@Yi@bD VD 8y<%(=ٔ2=Q-%>9!Y!=%Dy-{/D-].<E->1Q 5=45 (?Q 9=45)5BY=?Q E=:y=0?Q IE?5.DI5I:i51:54yIɮMN@I:iquFNOT Ignoring new targets: 468.36 m."i} *i}  ProNav: ac range: 468.363556 m, nav range: 434.215973 m, bearing: 34.256320 deg, approach rate: -0.617182 m/s, LOS rate: -0.007586 deg/s, cmd heading: 32.144492 deg, new cmd heading: 32.137143 deg. i ^HeadingCmd: 0.560899 target range: 468.363556 and range: 468.20 m.h?hhhhggjgrgBereX<Ze!:e!*e-'@dadededacedicidi^q^q^q^q]q^q^y ^yiɢI>I<))%ui%,ꇼi%?-A >u 2Acoustic response timeouty A%AI1IAO]>L:#,D3LA )> ? )=ٱ = H?jB.?? ?@bB> *=??i )>I ]; CY-#By-.IIE<)E;bDUVDU8ymR=%mE=ٔmR=Q-u>9u%?Yu%?=uDyu/D}#<E}>Q 54(?Q 94)BYy1?Q I?.DI:i:Y4yBɮ@eRIe<)eS )aaeimXim?mu=uM=Iu?Iqa2Acoustic response timeoutY ԑ9@ @@/@E EE5E"E ;*EǙ:VE4ZEa @a @a @a @@ <Թ ^A =iqIqu2Acoustic response timeoutA.AII1OM?1C#,e LAzr>z?z&=ٱzF7>zH?I???¾@ۿ?ഢ?izr>Iz];zCY5-By=.IbDVD8y =%=ٔb=BA<BU >BU8CBU.IBUBBU =BQBUDBU;BQQ->9 ?Y ?=Dy/Dz?<E>Q 543(?Q 94)BYy3?Q I?.DI;i;u4yBɮe@:i9=FNOT Ignoring new targets: 468.36 m."ie*i} ProNav: ac range: 468.363556 m, nav range: 433.603241 m, bearing: 34.248135 deg, approach rate: -0.612206 m/s, LOS rate: -0.008415 deg/s, cmd heading: 32.130562 deg, new cmd heading: 32.120761 deg. ihvHeadingCmd: 0.560613 target range: 468.363556 and range: 468.20 m.hV?hhhhggjgrgereX<Ze:e*e)@ddddcdcd^^^^]^^ ^iQɢYI]d?]ڲI]<)])aaeieғimV?mIu=m]=ImV?Iq5 BDAT read: Response Not Received *response not received(DAT read: user:50> BDAT read: Tx time:01:06:11.2190 $Ping request sent.2B5 ?2=ٱ2N=2HQ?(EP? ??@ . ?W?i2>I2];0Y:3ByR.Ii-Mb@Mb@Mb@)))) )9-Cl?kt?S㥛?Y-d?y- 0=-/<-\@-l@ -lg@)-^r@)Y-pm@bDEVDE8yU<%U=ٔ] =Q-]>9YYY=]Dy]/De0;Ee>iQ 5u4m4I(?Q 9}4m)mBY}?Q E}:y}0?Q I}?m.DImK,;im.+;m宬4yɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 468.36 m."iG *iG  ProNav: ac range: 468.363556 m, nav range: 433.276154 m, bearing: 34.244108 deg, approach rate: -0.608760 m/s, LOS rate: -0.007501 deg/s, cmd heading: 32.120761 deg, new cmd heading: 32.112700 deg. i[HeadingCmd: 0.560472 target range: 468.363556 and range: 468.20 m.h{?hhhhggjgrgBereX<Ze:e*e*@ddddcdcd^^^^]^^ ^iɢI ?վI<))i ^Ti {?Dv=U}=I{?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499841E EE6E"E ;*E:VEc4ZEa@a@a@a@0 A @A  @A @E 0@A I B@I :@I @ < checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751723y ^A%a=B>B5CB.IBBB =BBDBų;BqEԙA؟AIIO?dU#,VLAB>B0 ?Bu@>ٱBd=BHn?)?1? ?VӇ *¿?o?iB>IBX];BCYJByJ.IiMb@Mb@Mb@ 9`"? rh? rh?Y?yC =C<c@̀@ c@)l@Yq@bD5 VD58yEG%E=ٔM =Q-M>9U"?YU"?=UDyU/DUEU>YQ 5e4]^(?Q 9e4])]BYm?Q Em:ym-?Q Im?].DI]";i]7;]4yuBɮu@}=E:iFNOT Ignoring new targets: 468.36 m."iu*iuMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.023726u ProNav: ac range: 468.363556 m, nav range: 432.949341 m, bearing: 34.240561 deg, approach rate: -0.589836 m/s, LOS rate: -0.006406 deg/s, cmd heading: 32.112701 deg, new cmd heading: 32.105603 deg. iu;}HeadingCmd: 0.560348 target range: 468.363556 and range: 468.20 m.h}r?hyhyhyhyggjgrgBereX<Ze:e*e `J+@cdcd]a^a^i ^iiɢI ?tIG<)R)顩Di2¼ir?v=n=E EE0E"E*E:VE4ZEBEL2 ?2(>ٱ2̚=2H@??x?F!?صS?@ſZ?`Y?i2H|>I2];2CYV)ByV.I\\bDbVDb8yj%=%j=ٔj) =Q-j>9lYl=nDyn/Dn_Er>tQ 5z4vt(?Q 9z4v!)vBYxyz-?Q Iz?v.DIv:iv:v~¬4y~Bɮ@:i!-FNOT Ignoring new targets: 468.36 m."i-*i-踝= ProNav: ac range: 468.363556 m, nav range: 432.616760 m, bearing: 34.236965 deg, approach rate: -0.587379 m/s, LOS rate: -0.006357 deg/s, cmd heading: 32.105601 deg, new cmd heading: 32.098403 deg. i=$:EHeadingCmd: 0.560223 target range: 468.363556 and range: 468.20 m.hMj?hIhIhIhIgIgIjgUrgQeQreUX<ZeY:eY*e]@],@dadededacmdicidi^q^q^q^q]q^y^y ^yE EEE"EO;*EM:VEZEa@a@a@a@iɢIY?țI<))顱ciμij?Uow==Ij?I1@1 @1@1@1@MB 3CB W.IB BB  =B B DB ;B qEA I I OU >8)e#,LA$6>6ȳ?6;>ٱ6>=6H =?@Bc? `? C1??5^ǿ ż?A?i6>I6F];6CYV ByV.Ii5Mb@Mb@Mb@1111 195tV?V-?9aY=Dy/D=AEE>IQ 5U4Mc(?Q 9U4M)MBYU?Q EU:yU+?Q IU?M/DIMA:iMI:MTʬ4yɮ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031686:iAMFNOT Ignoring new targets: 468.36 m."iM*iMy ProNav: ac range: 468.363556 m, nav range: 432.362732 m, bearing: 34.234490 deg, approach rate: -0.536895 m/s, LOS rate: -0.005233 deg/s, cmd heading: 32.098402 deg, new cmd heading: 32.093450 deg. i=HeadingCmd: 0.560136 target range: 468.363556 and range: 468.20 m.he?hhhhggjgrgXBe1re5X<Ze9:e9*e=`g\-@cEdAcAdE]I^IE EE6E"Ef;*E:VEc4ZEBEWB?B`>ٱB*>=BHg?Y?(-?O?m'?˿`⫻? ?iB.d>IB];BCYJByJ.I LLbDVVDV8y^'&%^<ٔb1S=Q-b>9`Y`=bEyb0DfEf>hQ 5n4jҝ(?Q 9n4j)jBYlyn(+?Q In?j/DIj:ij:jլ4yvwBɮv@v4EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 468.36 m."iLʸ*iLʸ- ProNav: ac range: 468.363556 m, nav range: 431.994202 m, bearing: 34.231011 deg, approach rate: -0.585037 m/s, LOS rate: -0.005527 deg/s, cmd heading: 32.093450 deg, new cmd heading: 32.086487 deg. i-!5HeadingCmd: 0.560015 target range: 468.363556 and range: 468.20 m.h5"]?h1h1h9h9g9g9jg=rgAeAreEX<ZeA:eA*eM`.@dIdMdUdQcUdQcQdQ^Y^Y^Y^a]a^a^a ^aiyɢI+?Iڛ<)Lн)顉i i"]?x==I"]?IE9@I @I@M35@IA@eߡBB.IBBB =BBB;BqEB]5CB]5CB]ǕCBYB] =C]x96^AM=ԙ A I I O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039696Ov#,zLA2>2?2q>ٱ2=2HV?G P ??^?cv? XͿj? ?i2>I2B^;0Y: By:.IiUMb@Mb@Mb@QQQQ Q9UbX9?V-?Mb?YUE?yQU=ٔb=Q->9Y=Ey%0DE EE2E"EI;*E:VE4ZEBEojQ 54U(?Q 94)pBY?Q E:y*?Q I?//DI8:ib:Tݬ4yɮ@:iFNOT Ignoring new targets: 468.36 m."i*i ProNav: ac range: 468.363556 m, nav range: 431.745483 m, bearing: 34.228732 deg, approach rate: -0.574505 m/s, LOS rate: -0.005268 deg/s, cmd heading: 32.086487 deg, new cmd heading: 32.081925 deg. iE HeadingCmd: 0.559935 target range: 468.363556 and range: 468.20 m.hW?hhhhggjgrgBereX<Ze!:e!*e%o/@IɢUxEa>IUX<)UsI UP@iQ)]]]i]ʚieW?ex=e^=IeW?Ii9@ @@@5@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.293084@-< ^AM ^1=AU >AU >!AyIIO>u~#,/LA2>2P*?2€>ٱ2K=2H`C?`4??7k?@{׮?ϿnK??i2>I22];2CY:By:.IbDB VDB8yJKҽ%J5=ٔN=Q-N>9LYP=REyR70DRVER>^BDAT read: Rx Time:01:06:14.2471 bTRx dataTimestamp_ set to:1764896775.948648bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.544872fNew estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 24.21 mm (1 active estimators).hQ 5n4j(?Q 9n4j)jSBYpyrO*?Q Ir?j?/DIjS:ij:j84yvzBɮvM@v5E:iFNOT Ignoring new targets: 468.36 m."i7*i7- ProNav: ac range: 468.363556 m, nav range: 431.486969 m, bearing: 34.226399 deg, approach rate: -0.572584 m/s, LOS rate: -0.005170 deg/s, cmd heading: 32.081924 deg, new cmd heading: 32.077256 deg. i-_5HeadingCmd: 0.559854 target range: 468.363556 and range: 468.20 m.h5R?h1h1h1h1g9g9jg9rg9e9reAZeA:eA*eE +0@-Bɢ5^W>)1 5M@i1)5bF;19i=4Ui=R?Emy=Ec=IER?IAEU EQEQEQ"EU ;*EQVEQZEQa]@a]@a]@a]@ԩN>i>A@A @A@E91@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.796239@B< BA AE <Be >Be 2CBe -IBe NBBa Ba Be DBe ;Be qE9 ^A V=A=.A qu/Cԁ8GDAT read: 01:06:14.2471 LVL= 29264, 30049, 32562, 32755, AGC= 78, IDX= 402, 0.04, 0.538,-1.010, 0.765, 0.244, PHS= 0.396 0.478, RAW= 152.5, 4.1, CAL= 151.5, 4.0, ROT= 358.5, -4.0  !unknown deviceResponse_: 01:06:14.2471 LVL= 29264, 30049, 32562, 32755, AGC= 78, IDX= 402, 0.04, 0.538,-1.010, 0.765, 0.244, PHS= 0.396 0.478, RAW= 152.5, 4.1, CAL= 151.5, 4.0, ROT= 358.5, -4.0 q  (Communications Faultu9YAa  a  a  a  a  8DAT read: $Error in header *Received a bad headerI!&5LCommunications Fault in component: DATI9OE?9|#,8eLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.095249E: E:E:3E8"E:f;*E::VE:4ZE8BE:W2E:WJE: :E: =?= >ٱ=׳==H@c.?U?? u?M?~п@,H? ?i=c2>I=~];9YuByu.II}=)}p;iMb@Mb@Mb@ 9i|?5?Mb??Y?y=<|@@ k@)7@YQ@bDVD8yeZ%e<ٔe9m ?Ym ?=mEymR0DuֺE>Q 54(?Q 94))BY?Q E:yf+?Q I?W/DIb:i:4y~Bɮ@:iFNOT Ignoring new targets: 468.36 m."i%*i%U ProNav: ac range: 468.363556 m, nav range: 431.122040 m, bearing: 34.222894 deg, approach rate: -0.548809 m/s, LOS rate: -0.005275 deg/s, cmd heading: 32.077256 deg, new cmd heading: 32.070241 deg. iUw]HeadingCmd: 0.559731 target range: 468.363556 and range: 468.20 m.h]J?hYhYhYhYgYgajgargeυBeareiZei:eiq*em QAɢB9>)? K@i)y\;iiJ? z= %L=I J?Iԙu q  9@  @ @ 25@ @ K< Powering downiߥ Iߥ ߭ ߭ DDR=E EE4E"E;*E:VE4ZEa@a@a@a@^A%Sk=A)zA-xA!A]؟AIaIqO?y#,0FLA6^>6?6>ٱ6=6H`?` g?h?~?z?̬ҿ?u?i6^>I6];6CYB̍ByBi.IbDJVDJ8yR%R=ٔVi=Q-V>9V"?YV"?=VEyZg0Dz:Ez> Q 54 (?Q 94 ) BYy+?Q I? i/DI \:i : 4y!ɮ-@)EB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 468.36 m."i]Mȸ*i]Mȸe ProNav: ac range: 468.363556 m, nav range: 430.833740 m, bearing: 34.220079 deg, approach rate: -0.560102 m/s, LOS rate: -0.005472 deg/s, cmd heading: 32.070241 deg, new cmd heading: 32.064608 deg. im> uHeadingCmd: 0.559633 target range: 468.363556 and range: 468.20 m.huD?hqhqhqhqgqgqjgyrgyE} }Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeETransitioning to midcourse guidance. Received last range of 468.200012 m 29955705.600000 min ago.E1FereZe:e*e颽BɢR>) H@i)*<i^ݼiD?z=#=ID?Ih{̽E9@A @A@E4@A@]<B=>B=1CB=v-IB=BB= =B9B=DB=;B=qE)^A] l=Q A I I O >!#,_LAE6 E6E62E4"E6;*E6:VE64ZE4BE6#o:E6;a>Y=By=G.IiMb@Mb@Mb@ 9(\? ףp= ?{Gz?Yz?yQ8=ף</@z@ ^r@)7@Y @bDVD8y%8=ٔQ->9Y=Eyy0DE>Q 5 4(?Q 9 4ߴ)BY ?Q E :y 1?Q I ?y/DIA:i:h4yBɮ @6E1:iAEFNOT Ignoring new targets: 468.36 m."iM*iM ProNav: ac range: 468.363556 m, nav range: 430.590393 m, bearing: 34.216954 deg, approach rate: -0.560789 m/s, LOS rate: -0.007207 deg/s, cmd heading: 32.064607 deg, new cmd heading: 32.058352 deg. i SHeadingCmd: 0.559524 target range: 468.363556 and range: 468.20 m.h<?hhhhggjg rg BRg @1F-5Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE5 5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangee1re1Ze1:e9*e9ɢX>)  eE@i ) Y<i ۼi<?5z=i=I<?Il; i9@ @@@5@R@=J@=@u<ԉ^A w= A I &NClearing failed state for component DATq I O>#,}LA2S>2?2G>ٱ2=2H`?c?N???@|?MԿ۹?,?i2S>I2];0Y:By:.I <<bDFοVDF~8yN9%NC=ٔN=Q-N>9PYP=REyR0DR>;EV>XQ 5^4Z )?Q 9^4Z)ZBY\y^J2?Q I^?Z/DIZ:iZ:Z4y`ɮf|@dhqLrrAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDzzAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Ez zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFzzAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFz zUninitialize.qGzGzGz~ZTransitioning guidance mode to: UNINITIALIZED i~?~~Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@~ ~Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA~~Initialize.A~ Initialize.q@ffHBrfDzDE EE5E"E;*EVE4ZEa@a@a@a@Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630ereZe:e*eEBɢE|Z<)Eڜ`= E09ia)mYBY B] -IB] BB] =BY BY B] |;B] 'qEy ^A% V=A- >A) ԁ AqI&LHardware Fault in component: MassServoIO?+9#,KLA2,>2?2;>ٱ2Z=2H?:j??? ? \Կ@)??i2,>I2];2CY:rBy:-IiMb@Mb@Mb@  9S?:v??Y?yT=<@M@ {@)z@Y@bD%ؿVD%8y5%5=ٔ599Y9==Ey=0DEz;EE>IQ 5U4M)?Q 9U4M)MBYU?Q EU:yUR6?Q I]?M/DIM?;iM(:M4ye_Bɮe@e-EE EE3E"E%;*E:VE4ZEBE0 -(kpHeading = 0.400000I-: -(kiHeading = 0.001000-[=I-(? -(?IA9aI)iԑ !5 0Uninitialize Mass Servo.!5 Powering downB@5 :@5 R@5 J@5 ^A p= A].AIiIyO>?#,4LAr>r<?r>ٱr=rH_m?ج%p?ܓ?"~? ?տ;??ir>IrZ];rCY~JBy~-IbD]VD]8yu%%u'=ٔu9} ?Y} ?=}Ey}0D";E>Q 54,)?Q 94q)oBYy7?Q I?/DI:i:4yɮN@fffgffrfereZe:e*eBɢ>;)4}= i)4W<  i ZIɧ>WL2,i{N?${=I? ?IAEe EeEe4Ea"EeI;*Eek:VEe4ZEaam@am@au@au@r;^A`k=iAII!O-N>ԙB >B 0CB ,IB ZBB  =B B DB -;B pE n#,LAU>U( ?Urc>ٱU==UH\?`5?͙?v?Lѽ?տ@?i?iU>IU];QYeBye-IIm%=)m=iMb@Mb@Mb@ 9zG?l?~jt?Y ?y=D<r@@ @)Y(@)-@AbD-VD-8y=J^%=?=ٔE:9AYI=MEyM0DM9;EU>QQ 5]4Up<)?Q 9]4Un)UFBYe^?Q Ee:yeh0?Q Ie?U/DIU:iU:U "4yubBɮu@qB*** querying acoustic contact ***iifffgffrfereZe:e*eԩɢٺ) ]i)&T<ikJɧǺei?-O{=I? ?IB= !4Initializing EZServoServo.E EE0E"E*E8:VE4ZEBEoj1 #,LAF<>F ?F>ٱF&=FH`R?i??`p??`ֿ`D? ?iF<>IFn];FCYRByRh-IbDZVDZ8yb(-%bf=ٔf:Q-f>9f"?Yf"?=fEyf0Dj;Ej>lQ 5r4n[I)?Q 9r4n)n$BYpyv0?Q Iv?n/DIn:in`:n=(4yxɮzo@xfffgffrfe!re!Ze!:e!*e!QɢUX)Q U7iQ)]Pԙ #,j LA>f!?5m>ٱ5z=H@HF?j?@?e?8w?`տ ?M?i>Id];Y%׌By-<-IbD=VD=8yMd&%M>=ٔMQ-U>9U ?YU ?=UEyU0D]-<E]>aQ 5m4eY)?Q 9m4e)eBYiym1?Q Iu?e/DIe;ie;e/4y}fBɮ}@}.Efffgffrfere-z`Faild to read a valid mass position measurement.Ze:e*eBɢ0) zi)mL<iaMɧ߼زix?{=Ix? x?I0=!^A] ;B<A<B%>B%,CB%$,IB%BB%# =B!B%DB%;B%pEB1CB0CBB =B =CÈ6AII1QOeW>y EU  EU EU 3EQ "EU ;*EU :VEU 4ZEQ BEU m:"?:ϑ>ٱ:>:Hz;?`#? ?X? ?@Ąտᙿ??i:%f>I:];:CYRByR,IiUMb@Mb@Mb@QQQQ Q9Ul?Mb?{Gz?YU?yU=U#9Y=Ey0D#L<E>Q 54ag)?Q 94)BYt?Q E:y??Q I?/DI:i_:64yɮ@fffgffrfereZe:e*e Bɢ }) Gi)+F<iJ%Oɧ%7%i%p?%{=!I%p? %p?I)ԑ=t0=@i@i^A5jZX=Aa Iq I O > #,Զ>LA6wr>6$?6>ٱ6Q>6H1?@v`&P?`j?@D?û?M տ`A?@?i6wr>I6];6CYBlByB,IbDNVDN8yR%VY=ٔVQ-V>9XYX=ZEyZ1DZ<EZ>\`Q 5f4bt)?Q 9f4b)bBYhyje@?Q Ij?b/DIb:ibo:b=4ynjBɮn@pfffgffrfe re Ze :e *e 9ɢ=)9 = iA)E6V?B- >B- *CB- +IB- BB- ) =B) B- DB- ;B- epEA #,ԛXLAe?>e%?ed>ٱe!>eH`0?@ ?`G?,? 0U?uԿ?`?ie?>Ie];eCYEBy,IGG=9AYE~AiMb@Mb@Mb@ 9Zd;O?T㥛 ?Mb?Y~ ?y=<d@@ @)(@Y@bD VD 8y %)=ٔ줼Q->9!Y!=%Ey%1D-<E->1Q 5=45)?Q 9=45k)5BY=} ?Q E=:y=B?Q I=?50DI5:i5:5E4yMCBɮM@M%EeB*** querying acoustic contact ***iaiafqfqfqgqfqfqrfqeyreyZey:ey*ey颭Bɢ)  i)a5<顱iBXɧ-駽nWi}?>8|=33=I}? }?IAE% E%E!E!"E%=-;*E% :VE!ZE!BE%tԙ 6#,frLA<Z&?Z>ٱZ>ZH`@?`r?a???f?5ӿ!m?`k?iZ|>IZ];ZCYbByfD,IbDnVDn8yvX%vv=ٔzQ-z?9xYx=zEyz$1D~;E?Q 5 4)?Q 94?)uBYy>C?Q I?0DI:i:K4y!ɮ%W@!yfffgffrfereZe:e*e%Bɢ%4)%= %;i!)%4,<))i-u5\ɧ5ν5pi5?5Ae|=9I=? =?I9@M=@M>^AI=AzAzAԩAAIIIYOm5>E5 E5E54E1"E5x;*E5:VE54ZE1aE@aE@aE@aE@ #,eLAEԵ>EZ%?E>ٱEb:>EH^?$ -?`i??@ݸ?ӿ?8?iEԵ>IE];ECYuByu,IbDܿVD8yW<%;=ܼٔQ->9Y=Ey51DpcE>Q 54)?Q 94)VBYyB?Q I?0DI;i;gS4y-GBɮ-&@)fififqgqfqfqrfqeqrey-z}`Faild to read a valid mass position measurement.Zey:ey*ey颽Bɢ8) Oi)!<i!#bcɧyǻi%?u|=I%? %?IAAB>B+CB$+IB$BB( =BBDB;BpE!^Ae=A ؟AE5  E5 E5 2E1 "E5 s!;*E5 :VE5 4ZE1 BE5 x#,.LAR>R?$?Rm>ٱR >RH:? ?`a? ?J?`Rҿ`?`?iR>IRè];RCY^By^+IiEMb@Mb@Mb@AAAA A9Eq= ףp?V-?{Gz?YE ?yEm=Eף9u"?Y}"?=}Ey}E1D}0E>Q 54)?Q 94b)=BYf ?Q E:y>?Q I?*0DI:i ;.Z4yɮ@fffgffrfereZe:e*e9颍Bɢe) mi)<顡i:4Pjɧ -ib?|=Ib? b?I@-@-@-@-aԉA .AI I! O5 >Թ Z@#, LAf1>f"?f<>ٱfK>fH`??I? 0?N?ѿ ??@?if1>If];dYryByr+I xzR=bDzVDz8yu%Q=ٔ  Q- >9  ?Y ?=EyU1DhE>Q 5%4)?Q 9%4)$BY)y-E=?Q I-?80DI:iq:a4y5KBɮ5 @5&EfQfYfYgYfafarfaeareaZei:ei*ei颕Bɢ"օ) @i)' <顙ip??rɧ/駭-Li2?2|=I2? 2?IE EE4E"E;*E|:VE4ZEa@a@a @a @ԑX=A>A>A ؟AI I! O1 B >B .CB *IB BB # =B B DB S;B oE +#,LA l>v!?ֆ>ٱQ=H 2??`,?_F?@?"пj-?@@?i l>I(];CYRBy]+IieMb@Mb@Mb@aaaa a9e(\? rh?Zd;O?Ye?yeC=ej9"?Y"?=Eyg1DgE>Q 5%4)?Q 9%49|) BY-C?Q E-:y-\??Q I-?H0DI A R#,>LAYBy+IbD-߿VD-8y=ē%=c=ٔEQ-E>9E ?YM ?=MEyMv1DMEM>QQ 5]4U )?Q 9]4Ux)UBYayaQ Ie?UT0DIU/;iU;U?o4ymOBɮm@m'EfffgffrfereZe:e*e-Bɢ5~)1 5i1)=4;99i=('EwɧE1>E'iE@?E=T}=AIE@? M@?IIUzAUzAIyKs=DzD?AE EE0E"E1;*E˭:VE4ZEa%@a%@a%@a%@A ؟Aԩ I I O ><:#,z LA9"?Y"?=Ey1DE>Q 54)?Q 94t)BYyQ I?c0DI>:i:v4yɮf@fffgffrfereZe:e*e~Bɢw) `i)ű;iƐɧsP&i?}=I? ?IBu>Bu/CBu0*IBu^BBu" =BqBqBu;BuoEԩI I O  E%  E% E% 2E! "E% ;*E% :VE% 4ZE! BE% aZh?Zb>ٱZ=ZH-?@w?ഩ?? ?̿`ひ?J"?iZO>IZ];ZCYfŠByf*IliMb@Mb@Mb@ 9Zd;O?&1?S㥛?Y~ ?yP=/<@ @)(@Y@bDVD8y%I=ٔӽQ->9 Y = Ey 1DOE>!Q 5-4%)?Q 954%p)%BY=H ?Q E=:y=G1?Q I=?%q0DI%bp;i%wo;%}4yIɮM@QfyfyfygyffrfereZe:e*eU|BɢUu)Q ]iY)],t;YYi],&eGɧeTUe*iem?mf}=m#=Imm? m?IIIO%M>1i 5L#,?ALA^>^0+?^[ T>ٱ^.=^H?U??I?? PʿD?`>?i^>I^Q];^CYfByfq*IbDrVDrɰ8yv|%v\=ٔzcQ-z>9xY|=~Ey~1D~?E>Q 5 4)?Q 9 4m)BYy/?Q I?~0DI:i:@4y+Bɮ@%E9fAfAfIgIfIfIrfIeIreQZeQ:eQ*eQDD<bEe4jEe4rEe@o/E EE1E"EI;*E:VE-4ZEa@a@a@a@]{Bɢ]bѽ)a eia)eXQ;aaie;ϻmɧmUXmH-iuQa?}=IQa? Qa?III!O- >iԑBu >Bq Bu )IBu BBu ! =Bq Bu DBu ;Bu oEB5.CB5-CB1B5# =B5% =C5ɴn6 2z#,*[LAԙ鰡ɰ>l?(E>ٱ}=H?i?3q? ? Xr?ȿݯ?`W?i>I];CYnByD*I iMb@Mb@Mb@ 9?v/??Y ?yxi=< @7@ Ԥ@)@Y׻@bD2VDڰ8y%.=ٔQ->9Y=Ey1D$CE>Q 54Z *?Q 94Ai)BY ?Q E:y0?Q I?0DI7;i;p4yɮ@-B*** querying acoustic contact ***i)i)f1f1f9g9f9f9rf9e9reAZeA:eA*eAuyBɢu*˽)q u¿iq)}:yyi}7孻ɧT]駅o1i6N?}=I6N? 6N?IԹIE EE2E"E;*E:VE4ZEBE*d o#,tLAFD>F}l?Fx7>ٱFH~=FHE?LN`~g?Z??ɧ?@ƿ;?l?iFD>IF];FCYR8ByR*IbDZ]VDZ8yfo%ft=ٔf%Q-j?9hYh=jEyj1Dn{En?pQ 5v4r[*?Q 9v4r2f)rBYtyvE/?Q Iz?r0DIrq:ir:rJ4y~/Bɮ~l@~EfffgffrfereZe:e*exBɢ) Ͽi);:ieɧ_#3ihC?}=IhC? hC?I!^AP=IYIiO|>E EEE"E+$;*E:VEZEa@a@a@a@Qy r##,юLA>h>>$D?><\*>ٱ>h=>Hci?1@2?E??բ?j2ſ30?@D~?i>h>I>C];9XY\=^Ey^1D^8Eb>`Q 5f4b&*?Q 9f4bb)bBYhyj .?Q Ij?b0DIb:ib:bI4ypɮrApf f f g f f rf ereZe:e*eEvBɢE)A EhٿiA)M IIiM}jU?ɧUaU4iU*:?Uk~=YI]*:? ]*:?IYQ^AVo=B%>B!B%o)IB%BB% =B!B%DB%4;B%nEIIO=ԁ Uv>QIDO9YKAԱE  E E LE "E a;*E :VE !5ZE BE hW>>J?>Ks>ٱ>B=>H?` ??4?\??ÿ`F?@-?i>W>I> ];>CYBy%)I}only read 0 of 1 data item for BIT error. Device response is::TS,00061104552039,35.0, +13.4, 0.0,1501.6RA, 0.00, 56.63, 61.06, 56I,-32768,-32768,-32768, a@a a@a a@a a@a bD>VD8y%8=ٔQ->9Y=Ey1D E>Q 546*?Q 94^)BQ A+:YQ E:y,?Q I ?0DI:i>4y3BɮAuEԱfffgffrfereZe:e*e5tBɢ5E)5= 5H߿i1)=<99i=)EɧE(cE5iE2?Ef-~=IIM2? M2?II^Aп=AzAxA A! I) I9 OM >9 y0#,LA> >>>vi?>Ga>ٱ>AW=>H ?i?M%? ?@?¿m?Y?i> >>I>%];9Y=Ey1D%E%>)Q 5-4-D*?Q 954-"[)-xBQ A5 :Y1Q E5{:y5,?Q I5?-0DI-:i-R?-㣭4yAɮEAAfafafagafifirfieireiZeq:eq*eq额rBɢ9 ) ^i)Qfe顡i麩ɧsc駵+5i]/?}@~=E EE4E"Ex;*Ek:VE4ZEa@a@a@a@I]/? ]/?I@@@@9AIIO>B >B B )IB yBB ! =B B B 6;B i v6#, oLA0Ĕ>Ҕ?/>ٱ=H`? ??)??`@c??iĔ>IX];CYByM)Iaa aa aa aa iMb@Mb@Mb@ 9ʡE?{Gz?Mb?Y?y#==@@ @)@Y@bDVD8yN%2=ٔüQ->9Y=Ey 2DIE>Q 5U4U*?Q 9U4W)nBQ AUT:YU6?Q E]:y]"?Q I]?0DI! <#,gCLAɰ:F>:?:65=ٱ:=:H?=/? ? ?4?tӾ@L??i:F>I:];:CYBByB()IbDN5VDNݰ8yV2%Vs=ٔV;Q-V?9XYX=ZEyZ2DZE^?\`Q 5f4bb*?Q 9f4b)T)biBYhyj!?Q Ij?b0DIbq:ib:bɱ4ylɮn}Alfffgffrfe re Ze :e *e =nBɢ=:/#)9 =i9)EֻAAiEdMɧMRM9(iM*_?Mg~=QIU*_? U*_?IQ=A>A>DzDE EE5E"E1;*EǙ:VE4ZEa@a@a@a@A.AIIO>A wC#,LA>>>S?>H=ٱ>yV=>Hh?c???kJ%? ̳?i>>I>4];>CYFuByF)IbDR VDR8yZK%ZJ=ٔZ~Q-Z>9^ ?Y^ ?=^Eyb*2DbEf>dQ 5j4fjr*?Q 9n4fP)fcBYlynT!?Q In?f0DIfI;if#;fݸ4yr;Bɮv.Av Ef f f g f frfereZe:e*e!MlBɢMa)I MiI)UJQQiU$D:]vɧ]KI]H !i]z?ey~=aIez? ez?IaUc=B<ABBB(IByԡ E  E E 7E "E x;*E B:VE Ժ4ZE BE a 2E a JE n(?n_=ٱnm=nH@m?@־?p?&?势 @L??inl>InO];lY~UBy~(IqiMb@Mb@Mb@ 9Gz?V-?Zd;O?Y?y<j<=ƻ@ @ M@)@Y(@bDVD8y%:=ٔQ->9"?Y"?=Ey<2DڻE>Q 54*?Q 94L)aBYN?Q E:y?Q I?1DIQ;if;4yBɮAEfffgffrfereZe:e*eiBɢ@) i)"i:1 ɧ8i?~=I? ?IC==ԙ S= ^A =E  E E 4E "E *E :VE 4ZE a @a @a @a @!AE.AIIIYOm>Q#,6=HLA2|K>2-?2Y=ٱ2D=2H{?`P`g?l?.?1(@O8e??i2|K>I2];0Y:,By:(II><)>p;bDFVDF8yz6%~7=ٔeQ- >9  ?Y  ?= Ey N2D5E=>AQ 5u4E*?Q 9}4EI)E`BYyQ?Q I?E1DIEpBB(IBBB =BBB;BoE^A ܪ=A A= ؟AIA IQ O >g X#,bLAB2 >BO?B;=ٱB=BH`?n=?'?`7?XMų??iB2 >IB];BCYNByN(IiMMb@Mb@Mb@IIII I9MX9v? rh?A`"?YM?yMC =MY=M @Ml@ Mƻ@)M@IYM\@bDeVDe8yu%uC=ٔ}ㇼQ-}>9}"?Y"?=Ey_2D»E>Q 54 *?Q 94wE)Y?Q E:yt?Q I? 1DI#;i:ϭ4yɮ6AB*** querying acoustic contact ***iifffgffrfereZe:e*e dBɢ %))  J i)Y_iJ@[;ɧi?%F~=!I%? %?I!E EE2E"E;*E :VE4ZEBEaԡ SF^#,Y{LA2Oʫ>2 ?2.=ٱ2N=2H!?ߛ?@???ߴ?`'?i2Oʫ>I2f];2CY:By:x(I@@@bDFVDF8yN7 %NZ=ٔR=Q-R>9PYT=VEyVn2DVmԻEV>XQ 5^4Z8*?Q 9b4Z5B)ZbBY`yb?Q Ib?Z.1DIZ ;iZ ;Z:֭4yfBɮf' Ahfxfxfxgxfxfxrf|e|re|Ze|:e*e-bBɢ-/3)) -B i1)5z11i5І;=#ɧ=i=CڻiEA?E~=AIEA? EA?IIA>A>ԱIIO >bE5H4jE5ž4rE52E EEE"E;*E5:VEZEa@a@a@a@ /e#,#LAA A"@AB&>B&0CB&I(IB&҈BB& =B$B$B&p;B&oEB /CB /CB CB =B =C 5F>FRL ?F:l=ٱF=FH`+?`Ց?:?@C?晿Hc??iF>IF];FClYnڈByrS(I tt zR=zp=bDzVDz8y%D=ٔ btQ- >9 Y =Ey2DmE>Q 5%4 *?Q 9%4>)eBY)y-{?Q I-?>1DI:i:ݭ4y1ɮ5 A9fYfYfYgYfYfYrfaeareaZea:ea*ei颕_Bɢ/0) i)EԌ顙i;)ɧ_駥iu?\~=Iu? u?I I!IIOm5>1E  E E 3E "E I;*E :VE 4ZE BE oj2I! ?2=ٱ2U=2H1?`B¹??}C?г@?@ ?i2>I2];0YRByR4(Ii-Mb@Mb@Mb@)))) )9-X9v?l?V-?Y)y-=-m=- @-@9 - @)-@)Y-G@bDMVDM8y]%]E=ٔ]xQ-]>9aYa=eEye2DmϺEm>qQ 5}4u*?Q 9}4u:)uiBY}?Q E}:y}V?Q I?uM1DIuj;iu;u4y!Bɮ AEfffgffrfereZe:e*e\BɢT5) zi) ik; /ɧϽDi? e~= .ȓ=I ? ?I IIO>iԑ D D %=E%  E% E% 2E! "E% ;*E% v:VE% 4ZE! a- @a- @a- @a- @?Br#,WyLANQ>N ?NV =ٱN=NH@76?@$ V? I?A?룿$ܯ"g?`c?iNQ>IN];LYZBy^ (IbD5VD5ð8yE`(%EK=ٔMRQ-M>9IYI=MEyM2DUSEU>YQ 5e4]*?Q 9e4]|7)]nBYaym+?Q Im?]\1DI]:i]h:]4yqɮu AqԑfffgffrfereZe:e*eYBɢR>) \i)ki;3ɧi1?~=I1? 1?IAzAzAzAIqIO=BE>BABE (IBEBBE =BABABEZ;BEnEa y N9 Y }KA! e DAT read:  VDAT read: Teledyne Benthos DAT-900 Series x#,LA((F L>Ft ?Fb=ٱF=FH:? E@nf? ?Q@?@q? ŵ?@?iF L>IFi];DYRByR'IIV<)ViMb@Mb@Mb@ 9|?5^?L7A`?v/?Y?y+=xi=@@ @)@ԹY@bDVD8yNԽ%;=ٔCQ->9Y=Ey2D%v|E%>)Q 554-o*?Q 954-3)-tBY5?Q E5:y=`?Q I=?-l1DI-;i-;-p4yE%BɮE AA]B*** querying acoustic contact ***iYiYfififigififirfieqreqZeq:eq*eyEVBɢM8)y }iy)顁i&;7ɧ܋駵g_i?~=I? ?IE EE3E"E*E:VE4ZEBEa9 ~#,IfLA6/>6 ?6rC=ٱ6C =6H@?`Y??K@? +x ?`m?i6/>I6];6CYlBy'IbDVD8y %N=ٔQ->9Y=Ey2DE > Q 54 [+?Q 94 Y0) {BYy/?Q I? {1DI :i Q; ^4y!ɮ% A)9fQfQfQgQfYfYrfYeYreYZeY:ea*ea颍SBɢN) i);ͼ顑i<B:ɧS駥x)i4G?~=I4G? 4G?IaE EE4E"E;*EM:VE4ZEa@a@a@a@^A=ԙI I O >Թ B A <B% >B% -CB% 'IB% lBB% =B! B% DB% l;B% nE#,FLA2|>2| ?2N#=ٱ2hޱ=2H`F?`L=B?,?@?Fmh`!0?@?i2|>I2];2CY:\By:'IbDjVDj8yr%r^=ٔr{Q-r>9tYt=vEyv2DvEz>xQ 54z*+?Q 94z5-)zBYy?Q I?z1DIz<;izb:z4yBɮ7 AEf1f1f1g1f9f9rf9e9re9ZeA:eA*eAmPBɢmT)q uiq)uX)ܼqyi}Z<}<ɧ駅iy?~=Iy? y?Iԙ^A5D=A=>A=>IIO (>E  E E E "E ;*E y:VE ZE BE e2W ?21=ٱ2ٴ=2H@ L?K`-???`&@? '%ѐ??i2>I2$];2CYN:ByN'I PPiUMb@Mb@Mb@QQQQ Q9US?Zd;O?S㥫?YU?yUj<=U/]=QUV@ U@)U@QYU@bDuVDu8y^ %@=ٔQ->9Y=Ey2DjE>Q 54'+?Q 94))BY@?Q E:y?Q I?1DI:i:<4yɮGAfffgffrfereZe:e*eMBɢ- :DAT read: MF Frequency Band  vDAT read: Directional Acoustic Transponder version 8.15.0  BDAT read: Dec 5 2025 01:06:27 I -#,JLAE" E"E"1E "E"7;*E"$:VE"-4ZE a&@a&@a&@a&@>Ϯ>>! ?>+<ٱ>aƸ=>H HQ?4@ݰ??'??Zhޖ`N??i>Ϯ>I>];>CYJ"ByJq'IbDRVDR8yZ%ZX=ٔ^ǼQ-^>9`Y`=bEyb2DbEf>dQ 5j4f6+?Q 9j4fM&)fBY|y~?Q I~?f1DIf;ifi;f4yBɮ"A EfffgffrfereZe:e*e]JBɢ]U)Y e$ia)eMaaieGW+ɧm^m2i2?M=I2? 2?II@q@q@q@qB>B+CB'IB9BB% =BBDB;BnEyIyIO>ԡ  PExceeded connect timeout, disconnecting.O˘#,dLA@nf>n ?nO<ٱn5M=nHS?@ R~?@ͤ?:?XѲ ?A?inf>In2];nCYz ByzS'Ii}Mb@Mb@Mb@yyyy y9}K7A`?9Y=Ey3DUE>Q 54|F+?Q 94")BY ?Q E:y?Q I?1DIk:i:m4yIɮUAQB*** querying acoustic contact ***iifffgf f rf ereZe:e*eEM EMEM3EI"EMO;*EM:VEM4ZEIBEM2Y F#,~LA2>2@ ?2=1;ٱ2(=2HxT?@*?1?;4?``'f ??i2>I2];2CY:By:8'IbDFVDF8yJ%N]=ٔNeݼQ-j>9hYh=jEyn3Dlr7Er>tQ 5z4vT+?Q 9z4v)vBYxyz?Q Iz?v1DIve:iv:v4y BɮAf!f!f!g!f)f)rf)e)re)Ze1:e1*e1]CBɢeJv)a e)ia)em`aiimʩBB *CB ['IB BB ( =B B B s;B nEڥ#,.LA9Y=ByE 'IbDUVDUư8ye2%e>=ٔeQ-e>9iYi=mEym$3DuEu>yQ 54}d+?Q 94}F)}BYyQ I?}1DI}:i}q:}f$4yɮVAfffgffrfereZe:e*e@Bɢua) +i)iO<;ɧ<Ϩ:iV?o=IV? V?I nManaging dock network, ignoring radio surface power offiA=.AIIIaO8>ԑE-  E- E) E) "E- O;*E- :VE) ZE) BE- 1Y >2 ?2_ٱ2=2H9W? ?[?*?@Ñ? s??i2> >I2];2CY:̇By:'Ii~Mb@Mb@Mb@|||| |9~K7A`?S㥛?l?Y|y~/<~=~@~@ ~@)~@|Y~@bDVD8y%ͽ%%N=ٔ%OQ-->9- ?Y- ?=-Ey-43D5E5>AQ 5M4Es+?Q 9M4E!)EBYM ?Q EM:yM?Q IM?E1DIE8:iE:ET+4ԙyBɮAEfffgff!rf!e!re!Ze!:e)*e)颅! bE4jE˴4rE˒/E  E E 3E "E 1;*E ^:VE 4ZE a @a @a @a @"#,ALA ɰ"4<>D>>l ?>ݼٱ>:P=>H6\?@Zў??@.?3?@;?`?i>D>I>];9r"?Yr"?=rEyrD3Dr=~Er>tQ 5z4v+?Q 9z4v)vBY|y~Q?Q I~?v1DIvb;ivo;v324yɮA f)f)f)g)f)f)rf1e1re1Ze1:e1*e9e9Bɢe@w)a eS/ii)m\W+iiimd!B>B+CB0'IBBB& =BBB\;BnEB-+CB-,CB-ŕCB-% =B-# =C-6Qԁ T#,.LA > ? ٱ0=H@Ed?`I?؀?7?]/?f7? ?i >I];CY%By%&IiMb@Mb@Mb@ 9p= ף?I +?Q?Y?y9<9 ?Y ?=EyW3D2E>AQ 5M4EU+?Q 9M4Em)EBYUu?Q EU:yU)?Q IU?E1DIE:iE :E:4y]Bɮ]AYB*** querying acoustic contact ***iifffgffrfereZe:e*eU4BɢUuX`)Q U&2iQ)U|6YYi]Ipԡ J@#,LA2#>2 ?2?V4ٱ2=2H n? yχ?k?B?κꈦ?ก?g?i2#>I2.];2CY:By:&IbDB0VDBٰ8yJ`%J~=ٔNȼQ-N ?9PYP=REyRd3DRER ?TQ 5Z4V+?Q 9Z4V)VBY\y^{?Q I^?V2DIVi:iV^;V-@4y`ɮbAdftftftgtftftrfxexrexZex:ex*e|颥1Bɢ) }3i)=顩iqz<b+ɧ=駵;iM ?"==IM ? M ?IԹA؟AII1OM1>E EE2E"E+$;*EǙ:VE4ZEa@a@a@a@ Be <Ae <Bm >Bi Bm 'IBm ԇBBm % =Bi Bm DBm Z;Bm nE *entering command mode'#,_LAYBy&IAAAAbD@VD8y-`%-A=ٔ-Q-->95"?Y5"?=5Ey5u3D5E=> IM%CYQ 54]+?Q 94] )]BYyQ I?]2DI]2>駽;iǓ ?v#=IǓ ? Ǔ ?IQDAT read: &DAT read: user:1> (setting verbose to 3ԉA.AI)IO>E EEE"E7;*E:VEZEBEZ -TDAT read: Verbose | 3 - set verbose to 3-6setting DatVerbose to 27440iMb@Mb@Mb@ 9x&?/$?:v?Y7 ?y<<@@ V@)l@Yz@bD"VD̰8yR%?=ٔQ->9 ?Y ?=Ey3DE>Q 5 4+?Q 9 4 )BY { ?Q E :y ?Q I ?#2DI;i: O4yBɮYAfffgf f rf e re1Ze1:e1*e1})Bɢev) O4i)OR顁i3%<ԩɧ>駵@;i* ?#=I* ? * ?IA؟AIIO%o>&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8 D =D R=E  E E 1E "E ;*E ՚:VE -4ZE a @a @a @a @:#,MLA2Ɵ>2?2cٱ2|=2H?E1P$?W?ڽ[? 4??i2Ɵ>I2^;2CY:By:&IbDFVDF8yJͼ%Nb=lٔNaQ-r>9r"?Yr"?=rEyv3Dv3мEv>xQ 5%4z+?Q 9-4z)zBY)y-_?Q I-?z/2DIz;izY;zU4y1ɮ5~AYfffgffrfereZe:e*e%Bɢˆ) q4i)*,ZiŒ<ɧY-> =TDAT read: TxPower | 8 (Max) =.set transmit power to 8E6setting local address to 11B >B ,CB &IB ćBB & =B B DB D;B nE^AAAI IQ Ii Ou >a  &DAT read: user:4>  TDAT read: LocalAddr | 11  .set local address to 11- ZSetting time to: 1:6:37 And date to:12/5/2025&j#,|gLA1EU EUEU2EQ"EU ;*EU :VEU4ZEQBEUR?4ٱs=Hږ? ,6Xo ?@]? ???iX>I];CYBy&I iMb@Mb@Mb@ 9Pn?9Y=Ey3D>E>Q 54_+?Q 94f)BYK?Q E:y ?Q I?@2DI:i:K^4yBɮA EB*** querying acoustic contact ***iif)f)f)g)f)f)rf1e1re1Ze1:e1*e9Ym BɢmSp)i m3ii)u[eqqiu|<}ɧ}P>駅fz& =NDAT read: Fri Dec 5, 2025 01:06:37 =fLocal DAT time set to Fri Dec 5, 2025 01:06:37 E2Acoustic response timeoutE6setting remote address to 8ԑAII! O] >Ա 5L#,?LA2Q2>2?2TQٱ2=2H`?^0 ?Is?. 沈?`?@н?i2Q2>I2^;2CY8y:&IbDDVDDyN?%N=ٔNlZQ-R?9PYP=REyR3DVgEV?XQ 5^4Zg+?Q 9^4Z\)ZBY\y^?Q Ib?ZJ2DIZ;iZ;Z{c4yfBɮfAdfIfIfIgIfIfQrfQeQreQZeQ:ey*e}"C@ԙBɢ) 3i)uliPM<ɧ8e>d`7 TDAT read: RemoteAddr | 8 .set remote address to 82Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.@@@@Em EmEm4Ei"Em;*Em:VEm4ZEiau@au@au@au@A}yAzAyA.AIIO>M &DAT read: user:7> M BDAT read: Tx time:01:06:37.6496 U $Ping request sent.U B /CB &IB BB  =B B DB ;B nE! 4w#,mLA2/>27b?2J<ٱ2,=2H$?@߿{@e?S?@7J@?~??i2/>I2"^;2CY>{ByB&IbDJVDJ8yrJ%rF=ٔrQ-r>9v ?Yv ?=vEyv3Dz$iEz>|Q 5]4~+?Q 9e4~)~(BYaye?Q Ie?~W2DI~:i~:~j4ymBɮuAqfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@rTransitioning to terminal guidance at range 468.200012 m @1AereZe:e*eXC@MBɢ) 3i)ZWv顱i2%<Kɧ܁>XOQEu EuEu9Eq"EuO;*EuǙ:VEu4ZEqBEu2Y60?6ٱ6=6Hk?߿@w36?@|?`zM;?G??i6~%>I6];6CYBcByB&IIF<)F<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503102iMb@Mb@Mb@ 9S㥛?MbPy&1?Y?y`<@ @) @Yz@))bD-VD-ð8y=;%ED=ٔE޻Q-E>9IYI=MEyM3DMiEM>QQ 5]4U ,?Q 9e4U)U7BYe?Q Ee:ye5?Q Ie?Ue2DIU;iU:Uq4yiɮuAqfffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*eC@Q颕Bɢ) (6i)顙i<!ɧ>駥lchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754916ԹDy D} 4=E  E E 4E "E ;*E :VE 4ZE a @a @a @a @ U#, LA29>2I2];2CYf|Byf&IbDn/VDnذ8yve>%vP=ٔz1Q-z>9z"?Yz"?=zEyz3D~mE~>Q 5 4,?Q 9 4E)EBY y>Q I?r2DI:i:x4yBɮA EqL55~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalDEEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1EE EAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFEEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFEEInitialize.FEEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GM MInitialize.qGMGMqEMgMh7gUh7FUUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GU]DReached init depth of 67.743179 m.jgYrg]fB]$Terminal guidance.qE]G]eInitialize.edInitializing internal variables to default values.eZTransitioning guidance mode to: UNINITIALIZED iaeDRollout timeout set to 300.00 sec.mVIIR filter is initialized with decay: 0.00.mbTransitioning guidance mode to: TERMINAL_GUIDANCE im??mmAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@u uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAuuUninitialize.AuAuu>Uninitialize WaypointComponent.eqreqZey:ey*e}C@颥|Btӧ)  i)顩iIA>A>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008022B>B-CB&IBBB" =BBDB;BZnEAIIO$>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259075A #,~LA>6?"ٱ@=H`? ޿ a?@?@w7 }?I5];YxBy&IAE5 E5E55E1"E5 ;*E5:VE54ZE1BE5\Q9Y= Ey 3D 3E >Q 54@,,?Q 94")XBY%r ?Q E%:y%>Q I%?2DI;i;4y)ɮ-!A1hUϯ#,eLA2>2b>2ׯٱ26=2H@, ?޿@ףQ??ǭ? a?@?i2>I2^;2CY>By>&I DDbDF/VDFذ8yN=%Rw=ٔR5Q-R?9RYV=VEyTVPmEV?XQ 5^4ZR9,?Q 9b4Z)ZeBY`ybs>Q Ib?Z2DIZe:iZ~:Zㆮ4yfBɮfAhvB*** querying acoustic contact ***itith|h|h|h|h|g|g|jgrgereZe:e *e @0$D@[r ?[r ?"[@*[ s>颹ɢv) PDzD@AbEĀ4jEĀ4rEJv0E% E%E%7E!"E% ;*E%y:VE%Ժ4ZE!a-@a-@a-@a-@qԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015040B} <Ay B >B .CB 'IB ɇBB ! =B B DB ;B nEBE-CBE-CBEʔCBE" =BACEʔ:6#,LA2=->2!>2[ٱ28=2H?޿)?`?? յ??i2=->I2];0Y:By:&I@bDF VDF8yNV=%NK=ٔRQ-R>9PYT=VEyTVmEV>XQ 5^4Z?I,?Q 9^4ZX)ZuBY`yb=>Q Ib?Z2DIZ:iZs;Zꍮ4ydɮfAdhxhxhxhxhxgxg|jg|rg|ereZe:e*e WD@[![!"[!*[%==>1ɢ=Yr)9 =@:=i9)E AAiE, #,:LA>y)>>]>>̺ٱ>=>H@ ?w޿6⠿?@?@&IQ? x??i>y)>I>@];9AYA=MEyIMEM>QQ 5]4U],?Q 9]4U)UBYe?Q Ee:yel>Q Ie?U2DIU:iU:Uz4yߙBɮAE h1h1h1h1h1g1g1jg9rg=3Be9re9ZeA:eA*eED@[?[?"[$@*[l>颵wBɢHs) pA=i)m项iEE  EE EE 1EA "EE ;*EE $:VEE -4ZEA aM @aM @aM @aM @ԑ "#, sTLA6=>6 I>6oٱ6=6H`!? m޿%? 0?@X?@۹??i6=>I6];4Y^By^&IIb>)bC=df@AbDhVDhyro=%rQ=ٔvWQ-v>9tYt=zEyxzEz>|Q 54~Kn,?Q 94~)~BY y >Q I ?~2DI~:i~h:~P4yɮ!Ah9h9h9h9h9g9gAjgArgAeAreIZeI:eI*eMiD@[i[i"[i*[m%>yɢi) ,=i)7顁icBABE'IBEއBBE =BABABEU;BEmEq}z checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275594 #,LnLAE EE5E"E;*E:VE4ZEBE@9Y=EyE> Q 54 ,?Q 94 x) BY ?Q E:y?Q I? 2DI ;i 3; 4y%Bɮ% A-EhIhIhIhIhIgQgQjgrg[BereZe:e*eE@[5 ?[5 ?"[5Qn<*[5?EvBɢE&g)A Eİ=iA)M2~IIiMK :b> ٱ  = H`F?y޿@w?+?@!?`? ?i Y͋>I ]; CYBy&I ))bD5VD58yE1=%E =ٔEUA9IYI=MEyIUى;EU>YQ 5e4]ݓ,?Q 9e4])]BYaye?Q Ie?]2DI]:i]l:]䭮4yuBɮuAqB*** querying acoustic contact ***iihhhhhggjgrgereZe:e*eAE@[["[*[s?ɢ(a) =i)s~iBM-CBM6'IBMBBM" =BIBMDBMC;BMmEmPDAT read: Bearing 176.1, 6.6 (Local) u~Local bearing/azimuth received: Bearing 176.1, 6.6 (Local) }DAT read: Range 11 to 50 : 453.7 m (Round-trip 605.0 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.997948,0.055794,-0.031411]Fpublishing direction and range infoyef^0?;7?IzYC )Ij?i/݄l?S$@޹(#@ )d=I=GmTvb?4'? ^|>)  BDAT read: Tx time:01:06:41.9480  $Ping request sent. *#,%;LAw >X>>ٱP=H{?`޿@XN )R??@д?e?`y?iw >I];CYBy&IEu EuEu3Eq"Eu ;*Eu:VEu4ZEqBEuR9qYy=}Eyy} <E}>Q 54,?Q 94)BYk ?Q E:yz?Q I?2DI:iI:ն4yɮAi9i=јLAj=C"j=C:j= ?Rj=dFM|@'U.Q9@h,Bj=ef^0?;7?Iz*j=d=2j==Zj=8x@bZ[m@U@ns8@Jj=r,?AC?k1?j=RnC j=Ci=y&}?i=:dj=Bj=hH׿?j=:dj=9Crj=RCzj=1?m addTargetRange:: Added new target pos. range: 453.700012 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "im"<*iu"< Added new target pos. range: 453.760834 m, bearing: 31.736721 deg, lat: 36.779387 deg, lon: -121.859798 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iFNOT Ignoring new targets: 453.76 m."i*i ProNav pure pursuit: ac range: 453.760834 m, nav range: 420.642212 m, bearing: 34.509858 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 28.961956 deg, new cmd heading: 34.509858 deg. HeadingCmd: 0.602311 target range: 453.760834 and range: 453.70 m.h1?hhhhggjgrgTBereZe:e@3[|@*e?[5k ?[5k ?"[5ݤ=*[5z?EuBɢE^)A E>iI)M}IIiMD) 0#,LA,B>B>U?BZ>ٱB=BH@?`߿JvH??!C?5?=?iB>IB=];BCYPyPbDZ5VDZݰ8ٔbi)}顁i2?2ٱ2dV=2H?`߿8@??{? `q?@C?@}?i2¢>I2.];0YBɇByB'IIF=)Fi>bDJ&VDJϰ8\yb h=%f<ٔf%9hYh=jEyhjr<Ej>pQ 5r4r,?Q 9v4r)rBYtyv?Q Iv?r3DIr~:ir:r®4yxɮzA|:iFNOT Ignoring new targets: 453.76 m."i`7*i`7 ProNav pure pursuit: ac range: 453.760834 m, nav range: 420.280304 m, bearing: 34.511164 deg, approach rate: -0.509221 m/s, LOS rate: 0.001690 deg/s, cmd heading: 34.510453 deg, new cmd heading: 34.511164 deg. HeadingCmd: 0.602333 target range: 453.760834 and range: 453.70 m.h2?hhhhggjgrgereZe:e*e5?[["[*[c?sBɢgM) ,>i) }iHE EE6E"E ;*E:VEc4ZEBEO2?2Ϫwٱ2>2H?@)߿v?ok?@|?`¿???i2=>I2WH^;2CYNԇByR'Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256833i=Mb@Mb@Mb@9999 99=Mb?V-?v/?Y=?y=m==xi==@9 9)= @9Y9bDUVDUð8yfA=%:=ٔ9Y=Ey ^<E>Q 54,?Q 94)BY?Q E:y?Q I?3DI ;i:tʮ4y Bɮ A :i15FNOT Ignoring new targets: 453.76 m."i=P*i=PM  ProNav pure pursuit: ac range: 453.760834 m, nav range: 420.056549 m, bearing: 34.510863 deg, approach rate: -0.528796 m/s, LOS rate: -0.000712 deg/s, cmd heading: 34.511163 deg, new cmd heading: 34.510863 deg. MHeadingCmd: 0.602328 target range: 453.760834 and range: 453.70 m.hM.2?hIhQhQhQgQgQjgYrg]sBeYreY-ze`Faild to read a valid mass position measurement.Zea:ea*ee ?[?[?"[=*[S?颕rBɢzG) C>i)2b|顙iɗchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508811ԡ E  E E 3E "E ;*E :VE 4ZE a @a @a @a @4D#, LA28Қ>23?2Uٱ2>2H0?߿? L?C_?/¿??t?i28Қ>I2'^;2CY^؇By^'IbDjVDj8yv<%v[=ٔz޴9xYx=zEyx~`<E~>Q 5 4/,?Q 9 4)%BY y?Q I?3DIK:i:Ю4yɮA5B*** querying acoustic contact ***i1i1:iAMFNOT Ignoring new targets: 453.76 m."iM *iM ]  ProNav pure pursuit: ac range: 453.760834 m, nav range: 419.865936 m, bearing: 34.510475 deg, approach rate: -0.509806 m/s, LOS rate: -0.001039 deg/s, cmd heading: 34.510863 deg, new cmd heading: 34.510475 deg. eHeadingCmd: 0.602321 target range: 453.760834 and range: 453.70 m.he1?hahahahagigijgirgieireqZeq:eq*eub?y[["[*[?颭qBɢy@) L>i)-{顱i'B ,CB h'IB BB B B B ;B NmE^A-!=A-t>A->ԩA]2AIaIqOY>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012754_J#,+ LAY}ևBy}'I EM EMEM2EI"EM ;*EM:VEM4ZEIBEM~T9?Y?=Ey 4DE>!Q 5M4%,?Q 9M4%)%;BYQyQQ IU?%.3DI%;i%`;%Cٮ4yYɮ]AY:iFNOT Ignoring new targets: 453.76 m."i*i򕷝  ProNav pure pursuit: ac range: 453.760834 m, nav range: 419.624146 m, bearing: 34.509982 deg, approach rate: -0.502170 m/s, LOS rate: -0.001024 deg/s, cmd heading: 34.510473 deg, new cmd heading: 34.509982 deg. HeadingCmd: 0.602313 target range: 453.760834 and range: 453.70 m.h,1?hhhhggjg rg e re Ze :e*e_f@]pBɢ]2G)a ejM>ia)z顡iRԩ +FQ#, XE LA2ڟ>2ݷ?2ٱ2%>2H ?@(N?+???f?@K?ƨ?i2ڟ>I2)];2CY:؇By:'I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516801ԙimMb@Mb@Mb@iiii i9mV-?x&?Zd;?Ym|>ym7=my=m@m@ mV@)ml@iYm@bDVD8y;%M=ٔ/=Q->9?Y?=Ey4D<E>Q 54,?Q 94)MBY?Q E:y[%?Q I?:3DI:i:(4yЙBɮAE:iFNOT Ignoring new targets: 453.76 m."i%F^*i%F^5  ProNav pure pursuit: ac range: 453.760834 m, nav range: 419.427216 m, bearing: 34.508809 deg, approach rate: -0.509379 m/s, LOS rate: -0.003036 deg/s, cmd heading: 34.509982 deg, new cmd heading: 34.508809 deg. =HeadingCmd: 0.602292 target range: 453.760834 and range: 453.70 m.h=/?h9h9h9h9g9gAjgArgEBeAreIZeI:eI*eMm@}oBɢ}w=)} < }XR>iy)Tz顁iΗB B b'IB BB $ =B B DB ߯;B DmEBBBi AI A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768949BB" =C5A AI I O > MpW#,73_ LA>_z>> ?>Jܼٱ>>>H? 3C+K?Q?./? V`P?d!? k?i>_z>I>(^;>CYFԇByF'IbDNVDN8yV%Vs=ٔZii)m?yiiimy8i>1@1 @1@5 0@1^A 񖻝uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021483I !I)O=P>bE4jE4rE/E EE1E"Ef;*Eh:VE-4ZEBEW<2EW<JE;:E;I m]#,Zy LA02>2{ ?2Jǖٱ2>2Hh?`bh@:??%? ؒ?`??i2>I2o];2CYNЇByR 'Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272808iMb@Mb@Mb@ 9x&1?~jt?)\(?YA?y=Ga=@ )Y@AAbDVD8y%;=ٔ9Y=Ey64Dk{<E>Q 54-?Q 94)lBY|?Q E:y-?Q I?S3DI(;iݱ;4yԙBɮ!AE:i%FNOT Ignoring new targets: 453.76 m."i%跸*i%跸5  ProNav pure pursuit: ac range: 453.760834 m, nav range: 419.040253 m, bearing: 34.505487 deg, approach rate: -0.498383 m/s, LOS rate: -0.005025 deg/s, cmd heading: 34.507697 deg, new cmd heading: 34.505487 deg. =HeadingCmd: 0.602234 target range: 453.760834 and range: 453.70 m.h=,?h9h9h9h9gAgAjgArgEBeIreI-zM`Faild to read a valid mass position measurement.ZeI:eI*eM @lBɢD) G>i) yiGEa  Ee Ea Ea "Ea *Ee k:VEa ZEa am @am @am @am @Xd#, LAF>F6 ?F$s*ٱFp>FH@K?&A/?ͳ??@KN?@?z?iF>IF];FC\YbȇByb'IbDj$VDjΰ8yr'%vW=ٔvԬ9xYx=zEyzE4Dz<Ez>|Q 54~L!-?Q 9 4~W)~zBY y .?Q I ?~_3DI~:i~:~E4yɮaA5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 453.76 m."iE͸*iM͸U  ProNav pure pursuit: ac range: 453.760834 m, nav range: 418.849426 m, bearing: 34.503383 deg, approach rate: -0.507853 m/s, LOS rate: -0.005601 deg/s, cmd heading: 34.505487 deg, new cmd heading: 34.503383 deg. eHeadingCmd: 0.602198 target range: 453.760834 and range: 453.70 m.he)?hahahahagagijgirgieireiZeq:eq*eu@颥kBɢ}A) ^:>i)Cx顩i K!@ `= | @ =) Pw=I ĉ}sw ?tf?K? @[>) [ۘI Pw=i 5 T****** received valid address query ******5 R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.y ^A zl<A >A >E EE3E"E ;*EM:VE4ZEBELy=P=@ (@)@Y@bD VD8yͼ% =ٔQ->9Y=EyZ4DE>Q 543-?Q 94)BY>Q E:yJ1?5&DAT read: user:9> =BDAT read: Tx time:01:06:46.2480 =$Ping request sent.=_?z@afF@ vZ\A@Bj P&M?hǦW??*j Pw=2j Zj du@07 p@X7G@Jj WR?u?)O(E?j iC j Ci Ǹo?i ]j Bj Ǹo?j Rj Brj /Czj ?%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 431.899994 m, deltaT: 4.284610 s, deltaX: -21.800018 m, approachRate: -5.087982 m/s, rangeRepo size: 1:i!EFNOT Ignoring new targets: 453.76 m."igθ*igθ  ProNav pure pursuit: ac range: 453.760834 m, nav range: 418.568756 m, bearing: 34.499904 deg, approach rate: -0.454645 m/s, LOS rate: -0.005639 deg/s, cmd heading: 34.503384 deg, new cmd heading: 34.499904 deg. HeadingCmd: 0.602137 target range: 453.760834 and range: 453.70 m.h%?hhhhggjgrgBe!re!Ze!:e%`fz@*e-%8?uhBɢuP)q ut0>iq)}wyyi}h>>?>j;ٱ>8#>>H?y h??`ü?[[mJ?[?i>h>I>k];9hYh=nEynl4Dn*<En>pQ 5v4rA-?Q 9v4r޼)rBYtyz24?Q Iz?r3DIr;ir;rw4y|ɮ~A|:i!%FNOT Ignoring new targets: 453.76 m."i- *i5 ]  ProNav pure pursuit: ac range: 453.760834 m, nav range: 418.350159 m, bearing: 34.496847 deg, approach rate: -0.515790 m/s, LOS rate: -0.007216 deg/s, cmd heading: 34.499904 deg, new cmd heading: 34.496847 deg. eHeadingCmd: 0.602084 target range: 453.760834 and range: 453.70 m.he&"?hahahahigigijgirgqeqreqZeq:ey*e}"?颥fBɢR)J/ = >i)q/w顩i-!3Q|#,z LAY=ByE&IiMb@Mb@Mb@ 9tV?S㥫?+?Y>y/]==d@@ @) @Y@bDVD8y%"=ٔQ->9Y=EEyE~4DEEE>IQ 5U4MQ-?Q 9]4M)MBY]>Q E]:y][)?Q I]?M3DIM;iM;Mn4yeݙBɮeAi:iFNOT Ignoring new targets: 453.76 m.ԑ"i*i  ProNav pure pursuit: ac range: 453.760834 m, nav range: 418.106110 m, bearing: 34.494857 deg, approach rate: -0.475718 m/s, LOS rate: -0.003882 deg/s, cmd heading: 34.496847 deg, new cmd heading: 34.494857 deg. HeadingCmd: 0.602049 target range: 453.760834 and range: 453.70 m.h?hhhhggjgrgrBereZe:e*e`?dBɢ9Y) =i)vi checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260207 *#,|H LA2>2O?2T<ٱ2Ȓ>2H?.[r? Ev?,?4^@4j>??i2>I2&];2CY:By:&II>=)>[?bDF$VDFΰ8yNվ%Ne=ٔRF=Q-R>9R?YR?=REyV4DV5/=EV?XQ 5^4Z\-?Q 9^4Z.)ZBY\ybU-?Q Ib?Z3DIZ ;iZ;Z4ydɮfsAd:ixzFNOT Ignoring new targets: 453.76 m."iz*i~e  ProNav pure pursuit: ac range: 453.760834 m, nav range: 417.940643 m, bearing: 34.493152 deg, approach rate: -0.476015 m/s, LOS rate: -0.004906 deg/s, cmd heading: 34.494856 deg, new cmd heading: 34.493152 deg. mHeadingCmd: 0.602019 target range: 453.760834 and range: 453.70 m.hm?hihihihigqgqjgqrgqereZe:e*eHh?cBɢ \) 0=i) pv  i Ԡe#,g' LA f>f?fp<ٱf>fH`ݼ?@&EU??`ʅ?\黿 M ?q?if>If];fCYnByn&IbDzVDz8y %B=ٔ8V9 Y = Ey 4D<E>Q 5%4j-?Q 9%4ڲ)BY!y%\.?Q I%?3DI:i:4y1ɮ5A1UB*** querying acoustic contact ***iQiQ:iamFNOT Ignoring new targets: 453.76 m."iuK*iK   ProNav pure pursuit: ac range: 453.760834 m, nav range: 417.740204 m, bearing: 34.490975 deg, approach rate: -0.473320 m/s, LOS rate: -0.005144 deg/s, cmd heading: 34.493152 deg, new cmd heading: 34.490975 deg. Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764023MHeadingCmd: 0.601981 target range: 453.760834 and range: 453.70 m.hMo?hIhIhqhqgqgqjgyrgyeyreyZey:e*eU3@`Bɢ ]Ka) `=i)+vi&  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015059=#,A LA2n>2)?2Z=ٱ2.>2H@ۨ?@]@V??Hw?0⺿ `0??i2n>I2y];2CYNtByN&I\i-Mb@Mb@Mb@)))) )9-'1Z?Q?Q?Y->y-<-\=-z@-@ ))-M@)Y-@ 9=a=bDEVDE8yUн%UG=ٔUMD9]c?Y]c?=]Ey]4Dey(<Ee>iQ 5u4mWv-?Q 9u4m)mBYu >Q Eu:y}#?Q I}?m3DIm;im;m $4yBɮBAE:iAEFNOT Ignoring new targets: 453.76 m."iM#%*iM#%}  ProNav pure pursuit: ac range: 453.760834 m, nav range: 417.557770 m, bearing: 34.490009 deg, approach rate: -0.425908 m/s, LOS rate: -0.002256 deg/s, cmd heading: 34.490977 deg, new cmd heading: 34.490009 deg. HeadingCmd: 0.601964 target range: 453.760834 and range: 453.70 m.hT?hhhhggjgrgZBereZe:e*et@e^BɢeBEj) +=i)v顑iF<iT?Mz=ME=IMT?IQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267084E] E]E]3EY"E];*E]$:VE]4ZEYam@am@am@am@<V>i > 9@  @ @ 0@ A @ =@ =B} >B} +CB} &IB} BB} " =By By B} T;B} mE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519103i ^A3=A>A>ԙA1IAIQOe?#,we LA4<ɰ;2>2?2=ٱ25>2H@?o@??j? 4/?`p?i2>I2];0Y:fBy>&I @@bDFVDF8yNL%R=ٔV9\Y`=bEyb4Dj;Ej>pQ 5v4r-?Q 9z4r)rBY|y~$?Q I~?r3DIrew;irIr;r-4yiɮmAq:iFNOT Ignoring new targets: 453.76 m."i:*i:  ProNav pure pursuit: ac range: 453.760834 m, nav range: 417.312408 m, bearing: 34.488594 deg, approach rate: -0.441459 m/s, LOS rate: -0.002548 deg/s, cmd heading: 34.490010 deg, new cmd heading: 34.488594 deg. HeadingCmd: 0.601939 target range: 453.760834 and range: 453.70 m.h?hhhhg g jg rg ereZe:e*e @i[Bɢp)8= ݠ#,0 LAhYr_Byr&IiMb@Mb@Mb@ 9{Gz?Mb?Q?Y>y<@@ @)z@Y@@AbDVD8y%=ٔQ->9Y= Ey 4DE>!Q 554%-?Q 954%)%BY=>Q E=:y=?Q IE?%3DI%*;i%|;%64yUBɮUA]E:iFNOT Ignoring new targets: 453.76 m."iyH*iyH  ProNav pure pursuit: ac range: 453.760834 m, nav range: 417.083832 m, bearing: 34.488255 deg, approach rate: -0.461929 m/s, LOS rate: -0.000685 deg/s, cmd heading: 34.488593 deg, new cmd heading: 34.488255 deg. HeadingCmd: 0.601934 target range: 453.760834 and range: 453.70 m.hR?hhhhggjgrg_BereZe:e*e@ @mYBɢmr)i m@:BY B] &IB] _BB] % =BY B] DB] ;B] nEB,CB+CB˓CB# =B# =CR}5 BDAT read: Rx Time:01:06:49.2254  TRx dataTimestamp_ set to:1764896810.452497 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528081ԉ ^AdO=ԹA.AIIO5? w#, LAbL4>bd?b@T=ٱb3 >bHu?ਗ&S? v?``?!]@R? ?ibL4>Ib<];bCYjZByj{&IbDv VDv8y~)%~=ٔ~#9 ?Y ?=Ey4DH<E > Q 54 Ӧ-?Q 94  ) BYy?Q I? 3DI C ;i ? ; ?4y)ɮ-5A1]B*** querying acoustic contact ***iYiY:iiuFNOT Ignoring new targets: 453.76 m."i}K*i}K  ProNav pure pursuit: ac range: 453.760834 m, nav range: 416.847961 m, bearing: 34.487665 deg, approach rate: -0.448063 m/s, LOS rate: -0.001122 deg/s, cmd heading: 34.488255 deg, new cmd heading: 34.487665 deg. HeadingCmd: 0.601923 target range: 453.760834 and range: 453.70 m.h?hhhhggjgrgereZe:e*e@u@}VBɢ}s) iE E lg>E "$@E q=>E Y3$@ E 4QO>)E PwV=IE 4QOA A E pFr? ?䴏? E >)E d=IE PwV=iE 4QOA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A 1 I I O >ۡ#,ߦ LAMf>M}?Mhg=ٱM >MH@Gr?Н?? d?7@쬿 $??iMf>IMy];MCY]FBy]b&Iԉonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V a@a a@a a@a a@a bDVDð8y3%(=ٔp9!Y!=%Ey%4D-NN:E->1Q 5=45ܵ-?Q 9=45)5BQ A]+:YaQ Ee:ye?Q Ie?53DI5:;i5>5F4ymřBɮmAiiiY3 LAjC"jC:j?Rj%VIz@H) 6@U@BjeѮM?][??o?*jPwV=2j4QOZj/Z-Rݜu@2n@ɹs,P@JjTtkڼ?׃7e?,X&B?j'wC jCit ?i"=jSCjt ?jDjrjCzj? addTargetRange:: Added new target pos. range: 429.899994 m, deltaT: 8.568497 s, deltaX: -23.800018 m, approachRate: -2.777619 m/s, rangeRepo size: 2 - Added new target pos. range: 429.942291 m, bearing: 35.554336 deg, lat: 36.779409 deg, lon: -121.859743 deg, deltaT: 8.568497 s, deltaX: -23.818542 m, approachRate: -2.779781 m/s, posRepo size: 2 :i)-FNOT Ignoring new targets: 429.94 m."i5*i1e ProNav: ac range: 429.942291 m, nav range: 421.385498 m, bearing: 34.850696 deg, approach rate: 0.000000 m/s, LOS rate: -0.001122 deg/s, cmd heading: 34.487664 deg, new cmd heading: 34.486534 deg. ieomHeadingCmd: 0.601904 target range: 429.942291 and range: 429.90 m.hmZ?hihihihigigqjgqrgqereZe:e`fz@*e4?SBɢN|) ˼i)ui<(DAT read: user:10> %BDAT read: Tx time:01:06:50.5480 %$Ping request sent.%B ,CB O&I B 6BB $ =B B DB ;B pnE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250723= GU /{Ai ڡ9 /{AY ΞA1^Ai=A>A?AAIIO?`#, LA;ɰ(6`>6z?6foy=ٱ6>6H@p?`,"1?h?Ei? m{(`|^?m?i6`>I64];6CYB9Zc?YZc?=ZEyZ5D^E^>`Q 5f4b-?Q 9j4b/)bBQ An :YlQ En:yn?Q In?b3DIbT;ibԀ?bL4yvBɮv"At:iMFNOT Ignoring new targets: 429.94 m."iMGb*iMGb] ProNav: ac range: 429.942291 m, nav range: 421.157013 m, bearing: 34.850297 deg, approach rate: -0.442400 m/s, LOS rate: -0.000773 deg/s, cmd heading: 34.486534 deg, new cmd heading: 34.485735 deg. i]eHeadingCmd: 0.601890 target range: 429.942291 and range: 429.90 m.hep?hauchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502852hahhggjgrgereZe:e*e [?OBɢË)% \= %hi))-)v))i-$!p #,e LAYABy[&Iaa aa aa aa iMb@Mb@Mb@ 9Gz?{GztMb?Y>yף@=V@(@ @)(@Y@bDVD8yN<% =ٔQ->9% ?Y% ?=%Ey-(5D-E->1Q 5=45-?Q 9=45)5BQ A=T:Y=>Q EE:yE?Q IE?5 4DI5r;i5;5U4yiɮm{"AmE:iFNOT Ignoring new targets: 429.94 m."i!-8*i!-8M ProNav: ac range: 429.942291 m, nav range: 420.913757 m, bearing: 34.851487 deg, approach rate: -0.483216 m/s, LOS rate: 0.002365 deg/s, cmd heading: 34.485734 deg, new cmd heading: 34.488116 deg. iM8UHeadingCmd: 0.601931 target range: 429.942291 and range: 429.90 m.hU)?hQhQhQhQgYgYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006881jgrgBereZe:e*e@0?LBɢ {) Pi)i4v  i %B9 B= #&IB= BB= " =B9 B9 B= ;B= nE= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259329^AM ;h=q AIIO>o#,_# LA2>2?2$=ٱ2n0>2H9t??@^?r?`Ne@?7?i2>I2];2CYN,ByRC&IbDZVDZ8ybý%bG=ٔbϥ9dYd=fEyf85DfJ{Ej>hlQ 5r4ni-?Q 9r4nQ =vtI)nBYtyv?Q Iv?n4DIn;:in:n\4yɮ #A :iIMFNOT Ignoring new targets: 429.94 m."iU38*iU38e ProNav: ac range: 429.942291 m, nav range: 420.721497 m, bearing: 34.852480 deg, approach rate: -0.475205 m/s, LOS rate: 0.002457 deg/s, cmd heading: 34.488115 deg, new cmd heading: 34.490103 deg. ie8mHeadingCmd: 0.601966 target range: 429.942291 and range: 429.90 m.hmo?hqhqhqhqgygyjgrgereZe:e*e@4e?IBɢa) fi)6bv  i  #,b= LA2>2?2Fؕ=ٱ2a{ >2H w?uwC?? y? `{??i2>I2];2CY:6By:N&IVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766835i-Mb@Mb@Mb@)))) )9-X9v?{Gzt?v/?Y->y-ף;-xi=-@-V@ -(@)-l@)Y-@AE@AEAAbDMVDM8y]J0=%]B=ٔe9e"?Ym"?=mEymI5Dm:Em>qQ 5}4u-?Q 9}4u )uBYw>Q E:yW?Q I%?u%4DIuBB&IBBB# =BBB;BynE^A-5[=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270796Ae.AaIiIO?#,a LAB)>B?B R=ٱB^>BH@*?\E? ?`2?``*x? P?iB)>IB];BCYJ)ByJ?&IbDVVDV8y^5%^=ٔ^P9b ?Yb ?=bEyb`5DfлEf>hQ 5n4j6.?Q 9n4j2)jBYlyn?Q In?j64DIjS:ij:jm4yvBɮvg#At:i FNOT Ignoring new targets: 429.94 m."iB7*iB7% ProNav: ac range: 429.942291 m, nav range: 420.254547 m, bearing: 34.853927 deg, approach rate: -0.501133 m/s, LOS rate: 0.001641 deg/s, cmd heading: 34.491260 deg, new cmd heading: 34.492998 deg. i%5@8-HeadingCmd: 0.602016 target range: 429.942291 and range: 429.90 m.h5?h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE>@mBBɢu)q uIiq)uvqqi}FT5=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5229939@v6E  E E E "E ;*E VE ZE BE \QA- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774784AqIIO?#,䡂 LA26>2e?2^۪=ٱ2>2H@Š?WP?լ??lU ? ?i26>I2r];2CY>+By>@&IiMb@Mb@Mb@ 9jt?V-?i|?5?Y?y<q=@@ ?@)@Y@bDӿVD8y-;%-=ٔ5;Q-5>91Y1==Ey=u5D=eE=>AQ 5M4Eb.?Q 9M4E)EBYU?Q EU:yU)!?Q IU?EG4DIEe;iE;Ew4y]jBɮ]!A]E:iFNOT Ignoring new targets: 429.94 m."iDʷ*iDʷ ProNav: ac range: 429.942291 m, nav range: 419.987823 m, bearing: 34.853155 deg, approach rate: -0.477363 m/s, LOS rate: -0.001382 deg/s, cmd heading: 34.492998 deg, new cmd heading: 34.491454 deg. i!HeadingCmd: 0.601989 target range: 429.942291 and range: 429.90 m.h?hhhhggjgrgɄBereZe:e*eu @Am>Bɢm+)i mii)m^vqqiuBQ BU %IBU BBQ BQ BQ BU ̰;BU CnE iߡ Iߡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279160^AM0M=AIIO ? #, LA~>~?~=ٱ~7>~H?0< :??B?䗬ҭ?`?i~>I~];~CY By3&IbD-VD-8y=%==ٔE 9AYA=MEyM5DM EM>QQ 5]4U*.?Q 9]4U)UBYaye ?Q Ie?UY4DIU:iU:U4yiɮmP"Aq:iFNOT Ignoring new targets: 429.94 m."iʷ*iʷ ProNav: ac range: 429.942291 m, nav range: 419.706818 m, bearing: 34.852432 deg, approach rate: -0.538401 m/s, LOS rate: -0.001387 deg/s, cmd heading: 34.491455 deg, new cmd heading: 34.490007 deg. ie"HeadingCmd: 0.601964 target range: 429.942291 and range: 429.90 m.hS?hhhhggjgrgereZe:e*e @:BɢX)-= Si)JwiC0#, LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7908026I>6?6=ٱ6ͩ=6Hœ?4=b?S?I6];6CYBByB0&Ia^@a^ a^@a^ a^@a^ a^@a^ bDb VDb8yj#%jR=ٔn7;Q-n>9n"?Yr"?=rEyr5DrEr>tQ 5z4v8.?Q 9z4v)vBQ A~+:Y|Q E~:y~ ?Q I~?vf4DIv;iv+>v@4yɮb"A E:i)-FNOT Ignoring new targets: 429.94 m."i5*i5E ProNav: ac range: 429.942291 m, nav range: 419.509674 m, bearing: 34.851919 deg, approach rate: -0.506875 m/s, LOS rate: -0.001319 deg/s, cmd heading: 34.490007 deg, new cmd heading: 34.488981 deg. iEqMHeadingCmd: 0.601946 target range: 429.942291 and range: 429.90 m.hM'?hIhIhIhIgQgQjgQrgQeYreYZeY:eY*eeU@7Bɢj) Ii)BwiUiM>p!@¸2>!@ B>)=IBQS?\M,? ƟmL? e>)M3I=iBET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode. ^A A=A xAzA xAEm  Em Em 1Ei "Em ;*Em :VEm -4ZEi au @au @au @au @A I! 9 I1 OE >#,7q LAB>Bk?B=ٱB]=BH஑?E?? ?ַ|?@N?iB>IB];BCYNByN&&IbDVVDV8y^(%^M=ٔb;Q-b>9`Y`=bEyb5Df9Ef>hQ 5n4jE.?Q 9n4j)jBQ An :YlQ En:yn ?Q Ir?js4DIjt:ijJ?jҊ4ytɮv"Atii LAjC"jC:j '?RjQyg'z@8-7C@_Q}K9?jŁC jCiO?i/jBjj"=jBrj{Czj?B>BB%IBֆBB" =BBB;BnEBQBU,CBQBQBQCUG5 addTargetRange:: Added new target pos. range: 428.000000 m, deltaT: 4.295442 s, deltaX: -1.899994 m, approachRate: -0.442328 m/s, rangeRepo size: 3  Added new target pos. range: 428.050873 m, bearing: 37.575037 deg, lat: 36.779409 deg, lon: -121.859671 deg, deltaT: 4.295442 s, deltaX: -1.891418 m, approachRate: -0.440332 m/s, posRepo size: 3 :iFNOT Ignoring new targets: 428.05 m."i *i  ProNav: ac range: 428.050873 m, nav range: 422.967438 m, bearing: 35.557064 deg, approach rate: 0.000000 m/s, LOS rate: -0.001319 deg/s, cmd heading: 34.488982 deg, new cmd heading: 34.487868 deg. iHeadingCmd: 0.601927 target range: 428.050873 and range: 428.00 m.h%?h!h!hAhAgAgIjgIrgIeIreIZeQ:eUz@*eU_?额3BɢP⃽) (pi)vwi-W MBDAT read: Tx time:01:06:54.8480 M$Ping request sent.Mi>@ @@3@]!Overload Error-!Hardware Fault Y@z:y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250650Ա ^AE K@=bE jE Y4rE /E  E E 2E "E ;*E :VE 4ZE BE L^?^jC=ٱ^ns=^H $?I@?G?`? ~*!?`?i^y>I^];^CYjByj&Ia]a] aeae aeae aeae ieMb@Mb@Mb@aaaa a9eHzG?/$?i|?5?Ye= ?ye=ae?@e@ e@)e@aYe@bD}VD}8y5h%=ٔ;Q->9 ?Y ?=Ey5DSHE>Q 54Y.?Q 948})BQ AT:Y ?Q E:y9?Q I?4DI*:i:4yɮ)#AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 428.05 m."i7*i7 ProNav: ac range: 428.050873 m, nav range: 422.663330 m, bearing: 35.552717 deg, approach rate: -0.570052 m/s, LOS rate: -0.008154 deg/s, cmd heading: 34.487869 deg, new cmd heading: 34.479169 deg. inHeadingCmd: 0.601775 target range: 428.050873 and range: 428.00 m.h ?hhhh g g jg rg BereZe:e*em?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502608/BɢG) 0i)w i  2 ?2=ٱ23M=2HƆ?U???`ՠ .@??i25>I2];2CBXAXB^>B\B^%IB^BB\B\B\B^;B^mEYjByj%IllbDvVDv8 y ½%(=ٔ=;Q-E>GMA9YA9Y=5Ey55DER;yU-?U׈AEM>qQ 5u4uPk.?Q 9}4u&x)uBYyy}C:?Q I}?u4DIu:iu:uĝ4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006948yɮ#A:iFNOT Ignoring new targets: 428.05 m."i*i ProNav: ac range: 428.050873 m, nav range: 422.375122 m, bearing: 35.548516 deg, approach rate: -0.538578 m/s, LOS rate: -0.007857 deg/s, cmd heading: 34.479171 deg, new cmd heading: 34.470762 deg. i%f-HeadingCmd: 0.601628 target range: 428.050873 and range: 428.00 m.h-P?h)h)h1h1g1g1jg1rg9e9re9Ze9:e9*eE'?a颽*Bɢ芽) (i)Ux i I" #,r7 LAɰRG>RJn?R=ٱR8=RH ~?@?YzT?3?ѫ?U/广xU?`?iRG>IR];RCYeކBye%I %=bDVDǰ8yU%U-=ٔe;Q-e>9u"?Y}"?=}Ey5D@;E>Q 54z.?Q 94s)BYy:?Q I?4DIO;i;4y kBɮ c$A E:i15FNOT Ignoring new targets: 428.05 m."i=*i=M ProNav: ac range: 428.050873 m, nav range: 422.131714 m, bearing: 35.544932 deg, approach rate: -0.552234 m/s, LOS rate: -0.008137 deg/s, cmd heading: 34.470763 deg, new cmd heading: 34.463590 deg. iMAnUHeadingCmd: 0.601503 target range: 428.050873 and range: 428.00 m.hU?hQhQhQhQgQgYjgYrgYeYrea-ze`Faild to read a valid mass position measurement.Zea:ea*em ?5&Bɢ5&k)9 =|i9)Bx项iB5-CB5%IB5BB5! =B1B5DB5;B5;nE^AG=AzAyAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018791AI&ZClearing failed state for component MassServoIO/?P#,b LA:v>:…?:%Y=ٱ:D=:Hh?f@~?@ ??棿 F>ؽ?(?i:v>I:];8YFĆByF%IIZ>)Z>iMb@Mb@Mb@ 9m?A`"?y&1?Y?y=`e=@@ @)@Yz@bD5VD58yM%U<ٔUx;Q-]>9YYY=]Ey]6De;Ee>iQ 5u4m.?Q 9u4ml)mBYu?Q E}:y}D?Q I}?m4DImw:im:mC4y>Bɮ#AE:iFNOT Ignoring new targets: 428.05 m."iN*iN ProNav: ac range: 428.050873 m, nav range: 421.753967 m, bearing: 35.537406 deg, approach rate: -0.566409 m/s, LOS rate: -0.011294 deg/s, cmd heading: 34.463591 deg, new cmd heading: 34.448526 deg. i\HeadingCmd: 0.601240 target range: 428.050873 and range: 428.00 m.h?hhhhggjgrgBereZe:e*e @  Bɢ )E֗= 7i)yiLx#,| LAJ>J ?J=ٱJ[=JH ]?`Ap1?`E?`Ҏ?5sBk`@??iJ>IJ];HYRByR%IiUMb@Mb@Mb@QQQQ Q9Ux&?Cl?S㥫?YU7 ?yU;=U/]=U@UEA U@)U?@QYUQ@qbDmVDm8ym:%Y=ٔ;Q->9 ?Y ?=Ey6D;E>Q 54J.?Q 94i)BY ?Q E:yG?Q I?4DI:i=:׷4yɮ$AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 428.05 m."iCY*iCY ProNav: ac range: 428.050873 m, nav range: 421.549622 m, bearing: 35.532928 deg, approach rate: -0.541435 m/s, LOS rate: -0.011872 deg/s, cmd heading: 34.448527 deg, new cmd heading: 34.439566 deg. iϭHeadingCmd: 0.601084 target range: 428.050873 and range: 428.00 m.h?hhhhggjg rg  BereZe:e*e@EBɢEϠ)A EviA)MъzIIiM% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774750 +]%#,| LAE" E"E"3E "E" ;*E"$:VE"4ZE a*@a*@a*@a*@>>>?>=ٱ>)=>H`S?y@+?`?@^?&̻"??i>>I>];>CYFByFo%IbDvVDv8y~)%~T=ٔ}};Q->9"?Y"?= Ey #6D ;E >Q 54.?Q 94$e)BY!y%'H?Q I%?4DI:i:4y)ɮ-%A):iQUFNOT Ignoring new targets: 428.05 m."i]\*i]\m ProNav: ac range: 428.050873 m, nav range: 421.340332 m, bearing: 35.528286 deg, approach rate: -0.543656 m/s, LOS rate: -0.012063 deg/s, cmd heading: 34.439566 deg, new cmd heading: 34.430278 deg. imuHeadingCmd: 0.600922 target range: 428.050873 and range: 428.00 m.hu?hqhqhqhqgqgyjgyrgyereZe:e*e1 @颵Bɢ9) Li)z{项iJB].CB]a%IB]uBB] =BYBYB];B]lnEq@q @q@uV0@q@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027014^A]Jc=Au>Au?1A I I O >Y "+#,Y LA:b>:?:?=ٱ:=:H`J?@k?+? i?s ,9`=?s?i:b>I:$];:CY^^BybD%I ``bDjVDj8rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278791yv+%zK=ٔzۇ;Q-z>9|Y|=~Ey~36DӉ;E>Q 5 4,.?Q 94 a)BYyH?Q I?4DIC:i:ů4y?Bɮ% 'A!:iAMFNOT Ignoring new targets: 428.05 m."iM^*iM^] ProNav: ac range: 428.050873 m, nav range: 421.122131 m, bearing: 35.523394 deg, approach rate: -0.542254 m/s, LOS rate: -0.012163 deg/s, cmd heading: 34.430277 deg, new cmd heading: 34.420488 deg. i]eHeadingCmd: 0.600751 target range: 428.050873 and range: 428.00 m.he?hahahihigigijgirgqeqreqZeq:eq*e}i @颥BɢZ) ɶi) |顩i=i?Wx=1n=I?IE] E]E]4EY"E]l;*E]:VE]4ZEYBE]cF2Q?2i=ٱ2}=2HC?@? 6?yz?@ʣޝ`B+?R?i2>I2S];2CY:ABy:!%I~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782831i Mb@Mb@Mb@     9 p= ף?bX9ȶ?)\(?Y ?y E= Ga= @ A ?@) A Y @ bDܿVD8y۽%=ٔA;Q->9Y=EyH6D$;E>Q 549.?Q 94 \)BY?Q E:y@?Q I?4DI\:i:ί4yɮ'A:iFNOT Ignoring new targets: 428.05 m."i/*i/  ProNav: ac range: 428.050873 m, nav range: 420.847229 m, bearing: 35.518375 deg, approach rate: -0.525256 m/s, LOS rate: -0.009597 deg/s, cmd heading: 34.420489 deg, new cmd heading: 34.410443 deg. i HeadingCmd: 0.600576 target range: 428.050873 and range: 428.00 m.hQ?hhhhggjgrgBere!-z%`Faild to read a valid mass position measurement.Ze!:e!*e%`L@UBɢ])Y ]*ξiY)]b~Yaie_=ieQ?mSx=mqs=ImQ?IiDaDe<Eu EuEu3Eq"Eu=;*Eu$:VEu4ZEqa}@a}@a}@a}@<=%9@! @)@)@)BYBYB]%IB]8BB] =BYBYB];B]knEDAT read: 01:06:57.8330 LVL= 29104, 32753, 27714, 32755, AGC= 77, IDX= 40,-0.27,-0.309,-1.986,-0.196,-0.766, PHS= 0.559,-1.175, 0.526, RAW= 149.1, 1.1, CAL= 148.1, 0.8, ROT= 1.9, -0.8 Ygot valid direction response: 01:06:57.8330 LVL= 29104, 32753, 27714, 32755, AGC= 77, IDX= 40,-0.27,-0.309,-1.986,-0.196,-0.766, PHS= 0.559,-1.175, 0.526, RAW= 149.1, 1.1, CAL= 148.1, 0.8, ROT= 1.9, -0.8 PDAT read: Bearing 186.4, -4.9 (Local) ~Local bearing/azimuth received: Bearing 186.4, -4.9 (Local) DAT read: Range 11 to 50 : 435.6 m (Round-trip 580.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999353,0.033152,0.013962]Fpublishing direction and range infoyת?pJJ?4?YCqBl )MI?iff?ۋ&@nF<m%@ d<)=Idϔj?[n?)x20? *?)I=id T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! ^A m=AM .AIY Iq y O >4:#, LALɰL>?*=ٱ&=H9?`??r???i>I]];CY- ByU$IbDeؿVDe8y%G=ٔLt;Q->9 ?Y ?=EyY6Dw;E>Q 54.?Q 94X)BYy^A?Q I? 5DIM:i:կ4yɮ(AEiiD LAjC"jC:j!?Rjq6{@J,@26T@Bjת?pJJ?4?*j=2jdZjwu@i}*Zp@DJj|?tf?nj"C jCi?icbjAjj]jrjCzj"?u addTargetRange:: Added new target pos. range: 435.600006 m, deltaT: 4.287988 s, deltaX: 7.600006 m, approachRate: 1.772394 m/s, rangeRepo size: 4  Added new target pos. range: 435.661865 m, bearing: 36.223275 deg, lat: 36.779409 deg, lon: -121.859576 deg, deltaT: 4.287988 s, deltaX: 7.610992 m, approachRate: 1.774957 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 435.66 m."i*i ProNav: ac range: 435.661865 m, nav range: 425.622253 m, bearing: 36.445244 deg, approach rate: 0.000000 m/s, LOS rate: -0.009597 deg/s, cmd heading: 34.410442 deg, new cmd heading: 34.402227 deg. iHeadingCmd: 0.600432 target range: 435.661865 and range: 435.60 m.h?hhhhggjgrgereZe:e9{@*e@? u Bɢu')}= }2iy)}yyi} h=i?Tx=z=I?I(DAT read: user:12> BDAT read: Tx time:01:06:59.0980 $Ping request sent.r>2?2.=ٱ2j=2H+,?5? ?@f?@Ԣ@XUL? /?i2>r>I2];2CYRByR$IIV=)V49Y=Eym6D;E>Q 545.?Q 94S)Y?Q E:y8?Q I?5DI:i:ޯ4yɮ3*AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."iyٸ*iyٸ ProNav: ac range: 435.661865 m, nav range: 425.361481 m, bearing: 36.442322 deg, approach rate: -0.529861 m/s, LOS rate: -0.005942 deg/s, cmd heading: 34.402229 deg, new cmd heading: 34.396380 deg. i-HeadingCmd: 0.600330 target range: 435.661865 and range: 435.60 m.h;?h h h h g g jgrgڄBereZe:e*e!?MBɢM@ƽ)I M%iI)Uw QQiU۬ =i];?][x=]* =I];?IaYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.4984409@ @@/@E EEE"El;*EǙ:VEZEa@a%@a%@a%@ԁB>BB$IBBB =BBBӰ;B[nEB.CB-CBB =B! =Cȵ5^Au w=Ա iI IM AU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750608A ؟AI I O >H#,#% LAPm`>m?m1=ٱm=mH?@މ?0?@O?B^N? w?im`>Im];mCYЅBy$IbDVD8y7H%J=ٔg;Q->9"?Y"?=Ey}6Dg<E>Q 54S.?Q 94O)BYy9?Q I?(5DIN:i:4yBɮ*AݫE:iFNOT Ignoring new targets: 435.66 m."i*i㸝 ProNav: ac range: 435.661865 m, nav range: 425.154205 m, bearing: 36.439810 deg, approach rate: -0.513152 m/s, LOS rate: -0.006221 deg/s, cmd heading: 34.396378 deg, new cmd heading: 34.391353 deg. i'6HeadingCmd: 0.600242 target range: 435.661865 and range: 435.60 m.h{?hhh!h!g!g!jg!rg)e)re)Ze):e)*e58?BɢԽ) i ) 11i5& =i={?=akx=E=IE{?II9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002041bEjEj4rEȧ/E5  E5 E5 1E1 "E5 :*E5 :VE5 -4ZE1 BE5 H8;aM ^A xr=) A I IQ O= >6P#,@ LA @@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253980YByd$IiMb@Mb@Mb@ 9Zd;???Y>yL=@A )/AY@bDVD8y-)%-)=ٔ5Q-5>91Y1==E9y=6DEEE>IQ 5U4M/?Q 9U4MK)IYU?Q EU:yUZ2?Q I]?M75DIMa;iM;M`4yaɮeb+Aa:iFNOT Ignoring new targets: 435.66 m."i*i% ProNav: ac range: 435.661865 m, nav range: 424.910614 m, bearing: 36.437815 deg, approach rate: -0.502030 m/s, LOS rate: -0.004114 deg/s, cmd heading: 34.391351 deg, new cmd heading: 34.387359 deg. i-𸝏UHeadingCmd: 0.600173 target range: 435.661865 and range: 435.60 m.hU?hQhQhYhYggjgrgBereZe:e*e #?iuBɢurս)q u)iq)}yyi}(=i?x=A5=I?I=9@9 @9@=2@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506692@ =@ =ԙ EQ  EU EU 6EQ "EQ *EU :VEU c4ZEQ a] @a] @a] @a] @ ^A p,=A >A >B>B/CBT$IBBB =BBDB;BDnEGG{AAS9{AYYAAIIYIiOu?W#,HSa LAB6?B F=ٱB=BH?'? P?M9?Ͻ??iB>IB#];@YJByJC$I LLPRAbDVVDV8y^%%^@=ٔ^,D9Q-b>9`Y`=bEyb6Df$9<Ef>hQ 5n4j/?Q 9n4j0H)jBYlyn3?Q Ir?jE5DIjS:ij:j4ytɮv@,At:i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758142FNOT Ignoring new targets: 435.66 m."i%+*i%+5 ProNav: ac range: 435.661865 m, nav range: 424.696930 m, bearing: 36.435930 deg, approach rate: -0.502063 m/s, LOS rate: -0.004431 deg/s, cmd heading: 34.387359 deg, new cmd heading: 34.383588 deg. i5=HeadingCmd: 0.600107 target range: 435.661865 and range: 435.60 m.h=?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eU`x0@}Bɢ}]1)} = }45i)顁iT=i?Px=f=I?Iԡ=m9@q @q@u/0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010649 E=  E= E= 7E9 "E= l;*E= :VE= Ժ4ZE9 BE= cFZI`#,3 LA ɰ"p;>v>>?>=ٱ>k=>H$?`(?e?)?k @5b? ~?i>v>I>];>CYJnByJ$IiMb@Mb@Mb@! 9Zd;? rh?)\(?Y>yC =Ga=@A @)rAYf@bD5VD58Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262072yU>%U=ٔUm;Q-]>9YYY=]Eye6De;Ee>iQ 5u4m"/?Q 9u4mD)mBYu >Q Eu:y} ,?Q I}?mU5DIm:im:m4yɮ3-A:i1=FNOT Ignoring new targets: 435.66 m."ie**ie* ProNav: ac range: 435.661865 m, nav range: 424.442200 m, bearing: 36.434689 deg, approach rate: -0.476119 m/s, LOS rate: -0.002322 deg/s, cmd heading: 34.383589 deg, new cmd heading: 34.381104 deg. iHeadingCmd: 0.600063 target range: 435.661865 and range: 435.60 m.h?hhhhggjgrgBereZe:e*e 5@UBɢu)q uAiq)}%Iyyi};y=i?x=4=I?IQ =@ @@0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513991ԩ @- K6@5 yA@1 Em  Em Em 4Ei "Em T;*Em M:VEm 4ZEi au @au @au @au @ A A B >B B #IB DBB =B B B ư;B VnE^AM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766623I9IQOm?%i#,zĥ LA5>5TV?5=ٱ5>? >5H?l??`I ?U|?}?i5>I5 ];5CYEFByM#IIU>)U;bD]VD]8ym %m=ٔueQ-u>9qYy=}Ey}6D}g<E}>Q 54N5/?Q 94\?)BYy,?Q I?h5DI\:i:4yBɮv.AޫEB*** querying acoustic contact ***ii:i)5FNOT Ignoring new targets: 435.66 m."i5B*i=Bu ProNav: ac range: 435.661865 m, nav range: 424.159393 m, bearing: 36.433177 deg, approach rate: -0.495606 m/s, LOS rate: -0.002651 deg/s, cmd heading: 34.381103 deg, new cmd heading: 34.378077 deg. iu?HeadingCmd: 0.600011 target range: 435.661865 and range: 435.60 m.hL?hhhhggjgrgereZe:e*e0 @}Bɢ}S)y Qi)U4顁i=iL?x=m=IL?I?>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018226 C=I)yA Ee  Ee Ea Ea "Ee ;*Ee 8:VEa ZEa BEe Ly<`e=@/ A (@) AYAbDVD8y%=ٔQ->9 Y = Ey 6DE>Q 5%4G/?Q 9%4G;)Y%>Q E%:y%t?Q I%?y5DI:i:V4y1ɮ5/A1:iQ]FNOT Ignoring new targets: 435.66 m."i]7*i]7m ProNav: ac range: 435.661865 m, nav range: 423.893280 m, bearing: 36.433646 deg, approach rate: -0.505426 m/s, LOS rate: 0.000892 deg/s, cmd heading: 34.378077 deg, new cmd heading: 34.379016 deg. im7uHeadingCmd: 0.600027 target range: 435.661865 and range: 435.60 m.hu_?hyhyhyhygygyjgrgBereZe:e*e}; @Ա颽Bɢ) ai)iC =i_?O!y=P<=I_?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5218949@ @@0@@ :DDE EE=E"E%;*EM:VE|4ZEa@a@a@a@ BM >BM 1CBM #IBM BBM  =BM .DBM DBI BM enE9 ^A Т=Iy I O >}x#,E LA2>2T?26(=ٱ2&>2H?9"?@H? ?`Ț?6?i2>I2];2C>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773913YBByB#IbDNĿVDNu8ybB%bJ=ٔf$Q-f>9Y=Ey6D;E%>)Q 5]4-U/?Q 9e4- 8))Yaye?Q Im?-5DI-;i-,<-4yɮ0A:iFNOT Ignoring new targets: 435.66 m."iP7*iP75 ProNav: ac range: 435.661865 m, nav range: 423.688385 m, bearing: 36.433955 deg, approach rate: -0.471964 m/s, LOS rate: 0.000712 deg/s, cmd heading: 34.379016 deg, new cmd heading: 34.379634 deg. i5Ԧ7=HeadingCmd: 0.600038 target range: 435.661865 and range: 435.60 m.h=?h9h9h9hAgAgAjgArgAeIreqZeq:eq*eu@Yc@݆Bɢ#) ri)#顱i)$=i?Ry=9=I?I9@ @@O5@R@=J@=@u!l:@}=@}=-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0259581^A] *=Ae >Ae >E  E E 6E "E 7;*E :VE c4ZE BE ZQ ~#,f LAb>bv?bw=ٱb) >bH?#&???i@nm ?@?ib>Ib];bCY By o#IbDUVDU89yUoн%]4=ٔe뺻Q-m>9qYy=Ey7DݺE>Q 54d/?Q 944) BYy?Q I?5DI;i;~!4yɮ1A:iFNOT Ignoring new targets: 435.66 m."ig7*ig7 ProNav: ac range: 435.661865 m, nav range: 423.465485 m, bearing: 36.434298 deg, approach rate: -0.514292 m/s, LOS rate: 0.000791 deg/s, cmd heading: 34.379634 deg, new cmd heading: 34.380320 deg. iK7 HeadingCmd: 0.600050 target range: 435.661865 and range: 435.60 m.h ݜ?h h h higqgqjgqrgqeyreyZey:ey*e"@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279071颭؆BɢrI ) {i)ҍ顱i'=iݜ?$}y=;=Iݜ?I>i >a9@ @@1@]!uOverload Erroru-!uHardware Fault} Ա@ :E =E =M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530926 E  E E 7E "E ~ ;*E ą:VE Ժ4ZE a @a @a @a @^AT= B >B B .#IB BB  =B B DB ;B dnEI&LHardware Fault in component: MassServoIO ?‡#,C LA2>2vI?2=ٱ2 C>2H@?%'@I2];2CY:̈́By:X#Ii~Mb@Mb@Mb@|||| |9~ ףp= ?y&1|?p= ף?Y~Q>y~`;~=~?@~` A ~@)~ A|Y~ AbD VDʰ8y%┽%- =ٔ-&ܻQ-->91Y1=5Ey57D=9E=>AQ 5M4Eu/?Q 9M4E0)E BYM>Q EM:yM?Q IM?ԱE5DIEJ#,>z=LA:>:_?:Z=ٱ:=:H? $u?4??[ߥy^?`4?i:>I:5];8YBByF'#IHbDR"VDR̰8yVp7%V;=ٔZ^Q-^>9\Y\=^Eyb/7DbEb>dQ 5j4fM/?Q 9j4f-)fBYlynH?Q In?f5DIfP;ifL ;f14yrBɮr%2ArիEB*** querying acoustic contact ***ii:iAMFNOT Ignoring new targets: 435.66 m."iU7*iU7e ProNav: ac range: 435.661865 m, nav range: 423.006073 m, bearing: 36.435358 deg, approach rate: -0.531234 m/s, LOS rate: 0.001270 deg/s, cmd heading: 34.381420 deg, new cmd heading: 34.382442 deg. ie8mHeadingCmd: 0.600087 target range: 435.661865 and range: 435.60 m.hmJ?hihihihqgqgqjgqrgyeyre-z`Faild to read a valid mass position measurement.Ze:e*e@!@ˆBɢJ)M= mriq)}yyi,7/=iJ?y=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286756ߝ=IJ?I9@ @@@@zA@^A =A zA xA Ia Iq O} >} checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538007n#,=|WLA2J>2K?2E=ٱ2]=2H ?G?Yw??`IԾ?@'?i2J>I2Y];2CY:By:#II><)>=pi-Mb@Mb@Mb@)))) )9-V-?Mb?Mb?Y->y-<-=-@) -@)-E A)Y-AbDE VDE8yU%U?=ٔ]6Q-]>9YYa=eEye@7DerEe>iQ 5u4m/?Q 9u4mp*)mBY}>Q E}:y}e?E EE2E"E;*EP:VE4ZEa@a@a@a@Q I}?m5DIm@B0CB"IBjBBBBDB;BnEB}0CB}0CB}ÔCB} =B} =C}q6顉ik2=im?y=W=Im?I1y9@ @@@ ! 4Initializing EZServoServo.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790376AunManaging dock network, ignoring radio surface power off ! .Initializing MassServo.i ԑ ^A ܝ=IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046043&ZClearing failed state for component MassServoIO>#,zvLA>>>?>=ٱ>΅=>H`c?2?j?? N ? ?i>>I>];>CYFByF"IbDRVDRŰ8yZ%Z/=ٔZnͼQ-Z>9\Y\=^Ey^S7D^PEb>`Q 5f4bע/?Q 9j4b&)bBYhyj?Q Ij?b5DIb;ib:bA4ylɮrd3Ap:iFNOT Ignoring new targets: 435.66 m."i7*i7 ProNav: ac range: 435.661865 m, nav range: 422.561737 m, bearing: 36.436481 deg, approach rate: -0.511097 m/s, LOS rate: 0.001385 deg/s, cmd heading: 34.383435 deg, new cmd heading: 34.384691 deg. i5"8HeadingCmd: 0.600126 target range: 435.661865 and range: 435.60 m.hݡ?hhhhgg jg rg e re Ze:e*e@@bEc4jE4rE0EM EMEM6EI"EM ;*EM:VEMc4ZEIBEMLi #,XLAv>vX?v=ٱv=vH ?* ?@e??< X M??iv>Iv)];vCYeBy"IiMb@Mb@Mb@ 9MbX9?S㥛?p= ף?Y?y/<=@A ^@)YAbDVD8y:%:=ٔfQ->9Y=Eye7D!E>Q 54߱/?Q 94W#Q) BY} ?Q E}:y}&?Q I?5DIBM/CBM"IBMABBM =BIBMDBMC;BMnEYy9Y A =IyA)xAԩ- 9@)  @) @- d4@) @e =@e = checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805882 ^AU = A.AIIO?伫#,m;LA2|>2?2$u=ٱ2}=2H? j?`_? ?[*`Y?@?i2|>I2d];2CY:ZBy:"I <<bDFVDF8yr>%r)=ٔrPQ-r>9v ?Yv ?=vEyvx7Dz&Ez>|Q 54~k/?Q 94~i)~(BYyv&?Q I?~5DI~q:i~:~Q4yɮ4A:i1=FNOT Ignoring new targets: 435.66 m."i=t*iEtU ProNav: ac range: 435.661865 m, nav range: 422.090729 m, bearing: 36.435530 deg, approach rate: -0.539852 m/s, LOS rate: -0.001048 deg/s, cmd heading: 34.383746 deg, new cmd heading: 34.382788 deg. iUUHeadingCmd: 0.600093 target range: 435.661865 and range: 435.60 m.h]?hYhYhYhYgYgYjgargaeareaZei:ei*emV@颕Bɢ) ;i)Jә顙i<=i?Dz=t=I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054073ԑZ=9@ @!@%/@!E EEE"E=;*Ek:VEZEBEI -#,LA6J>6o?6K=ٱ6a=6H@+'? ə?.R?@i(?k6W?ư?i6J>I6_];4YBBByB"Ii Mb@Mb@Mb@     9 w/?J +?x&?Y ?y H= 7= (@ IA A)  Y AbD%VD%8y5%5F=ٔ=bQ-=>9="?Y="?==EyE7DEEE>IQ 5U4M/?Q 9U4M)M0BY]?Q E]:y]/?Q I]?M5DIM;iM3;MX4yeBɮeh5Ae׫EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."i5!*i5!E ProNav: ac range: 435.661865 m, nav range: 421.871277 m, bearing: 36.434004 deg, approach rate: -0.530753 m/s, LOS rate: -0.003692 deg/s, cmd heading: 34.382786 deg, new cmd heading: 34.379733 deg. iE5ظMHeadingCmd: 0.600040 target range: 435.661865 and range: 435.60 m.hM1?hIhIhIhIgIgqjgqrguBeyrey-z}`Faild to read a valid mass position measurement.Zey:ey*e@Bɢp)) -~i1)511i5?=i=1?=Yz===I=1?IAmyAmyAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.557950=4>i>E= E=E=3E9"E=;*E=?:VE=4ZE9aM@aM@aM@aM@M 9@I  @I @M O5@I a B >B B "IB BB =B B B {;B oEq ] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810451^A v=ԡAIIO%?z#,LA2>2?24q=ٱ2=2H56?@o?WB?`1?kа"J۾?@?i2>I2];2CYR7ByR"IIV<)Vp;bD^ VD^8yb9%b=ٔf(LQ-f>9dYh=jEyj7DnEn>lQ 5r4n/?Q 9v4n0)n;BYtyvL/?Q Iv?n 6DIn:in::na4yxɮ~5A|:i%FNOT Ignoring new targets: 435.66 m."i%^*i%^5 ProNav: ac range: 435.661865 m, nav range: 421.597534 m, bearing: 36.432187 deg, approach rate: -0.531881 m/s, LOS rate: -0.003534 deg/s, cmd heading: 34.379733 deg, new cmd heading: 34.376095 deg. i5θ=HeadingCmd: 0.599976 target range: 435.661865 and range: 435.60 m.h=?h9h9hAhAgAgAjgArgIeIreIZeI:eQ*eUch @}Bɢ}b)y i)n顁ip/C=i?]jz==I?Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.0618859@ @@0@E} E}E}2Ey"E} ;*E}ą:VE}4ZEyBE}Lw##,<LAB[>BH?BR=ٱB=BH`_G?`ݻ?|/?@=? E ]Z?`?iB[>IB]];@YJByJ"Ii%Mb@Mb@Mb@!!!! !9%x&?㥛 ?p= ף?Y%7 ?y%=%=%^@! %A)% A!Y%AbD=VD=8yE=߽%M3=ٔM脼Q-M>9IYQ=UEyU7D׻E>Q 54/?Q 94)FBYz ?Q E:y9?Q I?6DI] ;iD;j4y ɮ 6A ثE:i15FNOT Ignoring new targets: 435.66 m."i=*i=M ProNav: ac range: 435.661865 m, nav range: 421.343964 m, bearing: 36.429102 deg, approach rate: -0.533855 m/s, LOS rate: -0.006498 deg/s, cmd heading: 34.376096 deg, new cmd heading: 34.369923 deg. iMD>UHeadingCmd: 0.599868 target range: 435.661865 and range: 435.60 m.hU?hQhQhQhQgYgYjgYrg]BeareaZea:ea*ee@y[!@额Bɢ1") Ri)ߠ顡iwF=i?Ouz=b=I?Ie9@a @a@eB5@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566766ԉDi zDm AAE  E E E "E *E :VE ZE a @a @a @a @^A5 i=B A B >B 0CB `"IB BB  =B B DB ;B ?oEԑ A1 I9 II O] >O#,"LA2>2TF?2fT0=ٱ2 =2HV?N]ٹ? ?F?C꫽?%?i2>I2];2CY: By:i"IbDBVDB8yJս%NV=ٔNڴQ-R>9TYT=VEyZ7D^Eb>hQ 5}4jx/?Q 94j:)jPBYy9?Q I?j)6DIjk;ijgk;jp4yŚBɮ5AΫE:iFNOT Ignoring new targets: 435.66 m."iݸ*iݸ ProNav: ac range: 435.661865 m, nav range: 421.142395 m, bearing: 36.426715 deg, approach rate: -0.509816 m/s, LOS rate: -0.006040 deg/s, cmd heading: 34.369925 deg, new cmd heading: 34.365149 deg. i0 HeadingCmd: 0.599785 target range: 435.661865 and range: 435.60 m.h ?h h hhggjgrgereZe:e*e%@%"@5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818067UBɢ]j-)Y ]^iY)]aaie<9I=ԉie? zz=.=I?I@ @@3@^A [=A >A > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071286A  I! I1 O= >m#,<LA4<ɰ4<E EE4E"EO;*E:VE4ZEBE2Y9YYY=eEye7DeEe>Q 5 40?Q 9 4 )[BY yQ I?86DI\:i%:>x4yɮ06A:i9EFNOT Ignoring new targets: 435.66 m."iM*iMU ProNav: ac range: 435.661865 m, nav range: 420.904327 m, bearing: 36.423893 deg, approach rate: -0.578269 m/s, LOS rate: -0.006860 deg/s, cmd heading: 34.365151 deg, new cmd heading: 34.359503 deg. i]H]HeadingCmd: 0.599686 target range: 435.661865 and range: 435.60 m.h] ?hahahahagagijgirgieireiZeq:eq*eu@"@颥Bɢ -) 礿i)顩iL=i ? z==I ?IAM9@I @Q@"5@}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325735iԑ ^A p=AA II Ia O} >g#,\VLA$6x{>6*?6j<ٱ6=6HIq? a?@?U?@ _㧼?`?i6x{>I6 ];4Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.573814YJByJ?"IiMb@Mb@Mb@ 9w/?I +?)\(?Y?y9=Ga=AA\A A)A AYp AbD5VD58yE,ս%MI=ٔM6Q-M>9IYQ=UEyU7DUCEU>YQ 5e4]U0?Q 9e4][)]eBYm ?Q Em:ym@?Q Im?]E6DI];i];]4yyɮ6A%ϫE=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 435.66 m."iM+*iU+ ProNav: ac range: 435.661865 m, nav range: 420.698669 m, bearing: 36.420667 deg, approach rate: -0.502033 m/s, LOS rate: -0.007878 deg/s, cmd heading: 34.359502 deg, new cmd heading: 34.353048 deg. ifHeadingCmd: 0.599574 target range: 435.661865 and range: 435.60 m.h}?hhhhggjgrg}BereZe:e*e #@ Bɢ /)  i)ciCN=D=DR=E% E%E%3E!"E%7;*E%$:VE%4ZE!a-@a-@a-@a-@i5}?5{z=57r=IU}?IYԁB>B/CBG"IBBB =BBDB;B_oE9@ @@<5@ԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.825957 ^A S=A9 II IY Oe >#,pLA2X>2v?2y<ٱ2=2H|?@??^? A`+?`?i2X>I2C];2CY>By>4"IbDFVDF8HyN.%RT=ٔRżQ-R>9PYT=VEyV7DV뼻EV> Q 54 c(0?Q 94 ) pBYy??Q I? S6DI U;i ; 텰4y!ɮ%'7A!:iauFNOT Ignoring new targets: 435.66 m."i}*i} ProNav: ac range: 435.661865 m, nav range: 420.488525 m, bearing: 36.417408 deg, approach rate: -0.558438 m/s, LOS rate: -0.008666 deg/s, cmd heading: 34.353048 deg, new cmd heading: 34.346526 deg. i}HeadingCmd: 0.599460 target range: 435.661865 and range: 435.60 m.h5v?hhhhggjgrgereZe:e*e$@Bɢ7) \i)_i$Q=i5v?uz=l=I5v?II)zAM9@I @Q@U43@Q! M 2Acoustic response timeout#,1LA2>27?2Y4;ٱ2=2H ?:??bn?I {|@(?I2];0Y:̓By:"IxiMb@Mb@Mb@ 9K7?&1?{Gz?Y ?y=#=nAEA A)Y AbDVD8yM%U@=ٔUqQ-]>9YYY=]Ey]8DeɻEe>iQ 5u4m$60?Q 9u4mb)mzBYu ?Q Eu:y}E?Q I}?ma6DImA:im=:m54yƚBɮ7A:i!-FNOT Ignoring new targets: 435.66 m."i-4*i-4= ProNav: ac range: 435.661865 m, nav range: 420.262695 m, bearing: 36.413165 deg, approach rate: -0.525041 m/s, LOS rate: -0.009870 deg/s, cmd heading: 34.346525 deg, new cmd heading: 34.338034 deg. i=EHeadingCmd: 0.599312 target range: 435.661865 and range: 435.60 m.hEl?hahahahigigijgirgmBeqreqZeq:eq*e}si%@Bɢf2)= di)ƫiS=il?5jz=&Od=Il?I!9@ @@5@2Acoustic response timeoutID! zD% @AE-  E- E- 2E) "E- ;*E- B:VE- 4ZE) a5 @a5 @a5 @a5 @^A np=B} >B} .CB} ."IB} ܃BB} =B} /DB} DB} ұ;B} moEBE/CBE/CBEʓCBE =BE =CE5ԡ A I I9 OU >h#,:zLAR >Rv?RvٱR=RHݕ???@J?pON?Ϭ?IR)];RCYbByb"IbDnֿVDn8yv~Ƚ%vP=ٔvQ-z>9xYx=zEyz8D~M߻E~>Q 54aC0?Q 94v)BYypE?Q I?o6DI 2Acoustic response timeout bEם4jEj4rE?/E-  E- E- 5E) "E- ;*E- :VE- 4ZE) BE- ORbP?R ٱR=RH ??9?P?Ye@6?w?`?iR >IR];RCYnByr!IbDzVDzn8yJ%I=ٔ-Q-->9- ?Y- ?=5Ey5#8D58E5>9Q 5E4=P0?Q 9E4=_)=BYIyMD?Q IM?=}6DI=:i=:=24yUǚBɮU8AUЫE:iy}FNOT Ignoring new targets: 435.66 m."i=*i= ProNav: ac range: 435.661865 m, nav range: 419.828918 m, bearing: 36.405162 deg, approach rate: -0.564722 m/s, LOS rate: -0.010331 deg/s, cmd heading: 34.330136 deg, new cmd heading: 34.322023 deg. i@HeadingCmd: 0.599032 target range: 435.661865 and range: 435.60 m.h.Z?hhhhggjgrgereZe:e*e@&@额rBɢB=) i)-顡iIX=i.Z?CGz=$Q=I.Z?I%2Acoustic response timeoutI9@ @@4@q@ 6@ =@ =ԙ  2Acoustic response timeout^A%Jc=A->A->EU EUEQEQ"EU%;*EU҆:VEQZEQae@ae@ae@ae@G!uƀ9qYuY}AB>BB""IBуBB! =BBB;BoEA؟AIIO?#,LA jG>j?jIٱjZ=jH???@?ಿ?`zϲ??ijG>Ij];jCY~By~!I iMb@Mb@Mb@ 9#~j?&1? rh?Y?yC =AA  A) AYf AbDVD8ys2%=ٔQ->9"?Y"?=Ey<8D,E> Q 54 Rd0?Q 94 k) BY?Q E:yD?Q I? 6DI b:i : 奰4y!ɮ%i9A!EB*** querying acoustic contact ***iAiA:iIUFNOT Ignoring new targets: 435.66 m."iU0*iU0e ProNav: ac range: 435.661865 m, nav range: 419.506561 m, bearing: 36.399242 deg, approach rate: -0.526016 m/s, LOS rate: -0.009668 deg/s, cmd heading: 34.322022 deg, new cmd heading: 34.310172 deg. iemHeadingCmd: 0.598825 target range: 435.661865 and range: 435.60 m.hmL?hihqhqhqgqgqjgyrg}MBeyreyZey:e*e2(@2Acoustic response timeout颵hBɢx*) i)L项i,2[=iL?z=|>=IL?IAq-:=9@ @@0@@ Б9ԡ 9 = 4=E 2Acoustic response timeoutE  E E 6E "E :*E c:VE c4ZE BE '(M?iٱYę=H?``Hϑ?`ӂ??@2 ?1?@?io>BDAT read: Response Not Received *response not received(DAT read: user:13> BDAT read: Tx time:01:07:11.5495 $Ping request sent.9 ?Y% ?=%Ey%T8D%NE%>)Q 54-x0?Q 94-)-BY?Q E:y7?Q I?-6DI-gBereZe:e*e y)@]Bɢ+) ֵi)%z!9iE'^=i=D?y=9=I=D?I4== = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241571 =E  E E 5E "E O:*E T:VE 4ZE a @a @a @a @A 9@  @ @ n1@ R@ =J@ =B >B /CB "IB BB =B .DB B ʱ;B hoE@u Q:iiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.493819^AK@=ԙA؟AII O(?\| #,,0LABtE>B*m?BٱBP=BH?t?j?@?``\?"?`?iBtE>IB^;BCYNjByN!IIR<)RbDVVDV8y^ɽ%b=ٔb4Q-b>9b"?Yf"?=fEyfk8Df(̻Ef>hQ 5n4j]0?Q 9n4j)jBYpyr 7?Q Ir?j6DIjh:ij>:j4ytɮv9At:iFNOT Ignoring new targets: 435.66 m."iNݸ*iNݸ% ProNav: ac range: 435.661865 m, nav range: 418.893982 m, bearing: 36.392387 deg, approach rate: -0.550391 m/s, LOS rate: -0.006046 deg/s, cmd heading: 34.302839 deg, new cmd heading: 34.296452 deg. i- 1-HeadingCmd: 0.598586 target range: 435.661865 and range: 435.60 m.h5<?h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE`*@mUBɢm8@:)i uiq)u~qqiu`=i}<?}Iy=}U.=I}<?IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7456569@ @@/0@E EE9E"E:*Eg:VE4ZEBE57#,gLLA>ƶ>>-?>&ٱ>mc=>H`Y? os? b?`?`Ϥ?D?T?i>ƶ>I>];9u ?Yu ?=uEyu~8D}bE}>Q 540?Q 94)BY?Q E:y/?Q I?6DI:ib:S°4yBɮ:A:iFNOT Ignoring new targets: 435.66 m."i*i ProNav: ac range: 435.661865 m, nav range: 418.654633 m, bearing: 36.390690 deg, approach rate: -0.507255 m/s, LOS rate: -0.003599 deg/s, cmd heading: 34.296453 deg, new cmd heading: 34.293057 deg. iҸHeadingCmd: 0.598527 target range: 435.661865 and range: 435.60 m.h 9?hhhhggjgrg BereZe:e*es+@LBɢ%?)! %D%=D<E EE2E"E:*Ek:VE4ZEa@a@a@a@B >B 4CB !IB BB " =B B DB l;B 2oE) w5#,fLA6>68*?6cY3ٱ6=6H@?:pj? a?@f?ڵWi? eDz??i6>I6"];6CYNJByR{!IbDZ(VDZѰ8ybü%bW=ٔb3Q-b>9dYd=fEyf8DfMEj>hQ 5r4j0?Q 9r4j)jBYpyr/?Q Ir?j6DIj ;ij ;jȰ4yxɮz:Ax B*** querying acoustic contact ***i i :i%FNOT Ignoring new targets: 435.66 m."i%k*i%k5 ProNav: ac range: 435.661865 m, nav range: 418.461945 m, bearing: 36.389327 deg, approach rate: -0.507036 m/s, LOS rate: -0.003591 deg/s, cmd heading: 34.293058 deg, new cmd heading: 34.290329 deg. i5FҸ=HeadingCmd: 0.598479 target range: 435.661865 and range: 435.60 m.h=5?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU6,@}FBɢ} M)  i)顁id=i5?by=+=I5?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5017559@ @@?5@@:Iq^Ar.=A>A>U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754027A% ؟AI1 IA OM >ԡ E  E E 6E "E :*E [:VE c4ZE BE W"B3Y?B^>ٱB ߡ=BH`?qvnp?IB];@YJGByJx!IbDR!VDR˰8yZ?%ZI=ٔ^Q-^>9b"?Yb"?=bEyb8Db:Eb>dQ 5j4f0?Q 9j4f")fBYlyn/?Q In?f6DIfo;if8;fа4yrBɮr:AvȫE:i  FNOT Ignoring new targets: 435.66 m."iӄ*iӄ% ProNav: ac range: 435.661865 m, nav range: 418.255402 m, bearing: 36.387852 deg, approach rate: -0.508067 m/s, LOS rate: -0.003629 deg/s, cmd heading: 34.290330 deg, new cmd heading: 34.287379 deg. i%Ը-HeadingCmd: 0.598428 target range: 435.661865 and range: 435.60 m.h-2?h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eE-@a->Bɢ-G)) -i))UD½QQiUf=i]2?]'9y=].=I]2?Ia9@ @@N5@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009684@M;^Ae )= A I I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257661X&#,LAY>Byl!IiMb@Mb@Mb@ 9T㥛 ?Q?{Gz?Y?y<ף<AAA )Y AbDVD8y#)%:=ٔQ->9Y=Ey8DE>Q 540?Q 94)BYZ?Q E:y!?Q I?6DI;i;װ4yɮ;A:i!-FNOT Ignoring new targets: 435.66 m."i-6*i-6= ProNav: ac range: 435.661865 m, nav range: 418.034058 m, bearing: 36.387950 deg, approach rate: -0.503100 m/s, LOS rate: 0.000222 deg/s, cmd heading: 34.287379 deg, new cmd heading: 34.287574 deg. i=6EHeadingCmd: 0.598431 target range: 435.661865 and range: 435.60 m.hE2?hAhAhIhIgIgIDqzDqE} E}EyEy"E};*E}:VEyZEya@a@a@a@jgIrgBereZe:e*e`-@%6Bɢ%?H)! %i)BU">BU,#,fLA:4b>:{?:iZٱ:D=:H?@%|???I??`U?i:4b>I:];:CYF,ByFV!IbDNVDN8yVĽ%V^=ٔV4Q-Z>9XYX=^Ey^8D^SE<E^>`Q 5f4b0?Q 9f4b)bBYdyj"?Q Ij?b6DIb;ibM;b/ް4ynBɮn;Al:iFNOT Ignoring new targets: 435.66 m."i I>*i I> ProNav: ac range: 435.661865 m, nav range: 417.849091 m, bearing: 36.387935 deg, approach rate: -0.502998 m/s, LOS rate: -0.000041 deg/s, cmd heading: 34.287574 deg, new cmd heading: 34.287544 deg. i:%HeadingCmd: 0.598431 target range: 435.661865 and range: 435.60 m.h%2?h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5.@e0Bɢe|W)a e ia)mǽiiim@j=iu2?ux=u?=Iu2?Iy)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7619349@ @@4@@0;YE} E}EyEy"E};*E}:VEyZEyBE}BC checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015699Թ l3#,>]LAF>FH?ḞiٱF[=FH ?ZKy??|?pü@,?׸?`?iF>IF];DY^&BybO!IiMb@Mb@Mb@ 9v?yt<j<A\A A)AAY3 AbD VD8yҼ%;=ٔ Q->9Y=Ey8D;E>Q 5410?Q 94)BYG>Q E:y?Q I? 7DI;i:4yɮ;A:i FNOT Ignoring new targets: 435.66 m."i7*i7% ProNav: ac range: 435.661865 m, nav range: 417.637329 m, bearing: 36.388504 deg, approach rate: -0.483866 m/s, LOS rate: 0.001301 deg/s, cmd heading: 34.287543 deg, new cmd heading: 34.288682 deg. i%l8-HeadingCmd: 0.598450 target range: 435.661865 and range: 435.60 m.h- 4?h)h)h)h1g1g1jg1rg5Be9re9Ze9:e9*e= /@m(BɢmK)i uviq)uɽqqiul=i} 4?}x=}3H=I} 4?IԉE9@A @I@M5@I@F;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265694DDa=E EE3E"E7;*E:VE4ZEa@a@a@a@^AE &t@=BM >BI BM !IBM vBBM =BI BM DBM ;BM nEB 4CB 5CB əCB =B  =C Ɇ87II Ii O > K9#,x)LA2kx>2?2XKzٱ2=2HS?@Rr? A?bk?@ 㽿 oD???i2kx>I2"^;2CYN!ByRI!IbDZVDZư8ybb%b\=ٔbM4Q-f>9dYd=fEyf8Dj'<Ej>lQ 5U4n0?Q 9U4n)n Bmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518300YQymJ?Q Im?n7DInhbE%*4jE%˗4rE%I"0E  E E E "E ;*E ą:VE ZE BE @f?fx?ٱfG=fH э?gl?@\? nY?$?@VV?@?if>If];fCYv"ByvK!IbD VD Ȱ8y-x<%-D=ٔ5#Q-5>99Y9=EEyE8DM;EM>QQ 5e4Ux0?Q 9m4U)UBYiym?Q Iu?U#7DIUY;iU5;U4yvBɮ:A:iFNOT Ignoring new targets: 435.66 m."iH7*iH7 ProNav: ac range: 435.661865 m, nav range: 417.254272 m, bearing: 36.389314 deg, approach rate: -0.507128 m/s, LOS rate: 0.000985 deg/s, cmd heading: 34.289513 deg, new cmd heading: 34.290303 deg. i7HeadingCmd: 0.598479 target range: 435.661865 and range: 435.60 m.h5?hhhhggjgQrgQeYreYZeY:eY*ee 0@颭BɢJO) i)Mνip=i5?Ӳx=$Z=I5?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0244479@ @@4@@q;@@=ԙ ^A Q=Ii Iy O > = <% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274036VF#,LALY-By-8!I 11 iiWG%9!Y% AE] E]E]6EY"E] ;*E]:VE]c4ZEYae@ae@ae@ae@iMb@Mb@Mb@ 9K?~jth?/$?Y^>yD;<AAB>B4CB!IBgBB =B.DBDB*;BnE )YbD=VD=8yEʂ%M-=ٔMQ-U>9QYQ=UEyU9D]E]>aQ 5m4e 1?Q 9u4ea)e"BY}>Q E}:y}.?Q I}?e17DIe/;ie;e4yɮ;A:iFNOT Ignoring new targets: 435.66 m."i0W8*i0W8 ProNav: ac range: 435.661865 m, nav range: 417.025330 m, bearing: 36.390717 deg, approach rate: -0.479185 m/s, LOS rate: 0.002940 deg/s, cmd heading: 34.290302 deg, new cmd heading: 34.293111 deg. i&8%HeadingCmd: 0.598528 target range: 435.661865 and range: 435.60 m.h%9?hhhhggjgrgBereZe:e*e@'1@]BɢeJsI)q u iy)ѽ顁iEr=i9?xx=X=I9?IU9@Y @Y@]X4@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.527475@M&;! ^A u \=Q AIIQIaOu>M#,(:LA2O>2O?2Rٱ2=2H[t?%gH???`dD@?%~??i2O>I2]];2CY:By:>!IbDFVDF8yN}<%NT=ٔNQ-N>9PYP=REyR9DVG<EV>^checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777737TQ 5b4V1?Q 9b4V)V.BYdyf^?Q If?V=7DIV_;iV`;V4yjwBɮj:AnE:i|~FNOT Ignoring new targets: 435.66 m."iG8*iG8 ProNav: ac range: 435.661865 m, nav range: 416.838409 m, bearing: 36.391745 deg, approach rate: -0.496158 m/s, LOS rate: 0.002729 deg/s, cmd heading: 34.293109 deg, new cmd heading: 34.295165 deg. i˟8HeadingCmd: 0.598564 target range: 435.661865 and range: 435.60 m.hv;?hhhhg!g!jg!rg!e)re)Ze):e)*e5Fh1@BɢS]X) 껿i)ӽi1Ut=iv;? )x= -|j=I-v;?I1EU EUEU3EQ"EU ;*EU:VEU4ZEQBEUOT#,ASLAYy =!IԁiMb@Mb@Mb@ 9 ףp= ?~jth?{Gz?YQ>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281698yף<nA\A +A)+AY AbD]VD]8ymiI%m=ٔuQ-u>9u ?Yu ?=}Ey}*9D}E}>Q 54r)1?Q 94)>BY>Q E:ym?Q I?O7DIZ:i:o 4yɮ :A :i)5FNOT Ignoring new targets: 435.66 m."i5=8*i5=8E ProNav: ac range: 435.661865 m, nav range: 416.567963 m, bearing: 36.393224 deg, approach rate: -0.471879 m/s, LOS rate: 0.002583 deg/s, cmd heading: 34.295165 deg, new cmd heading: 34.298126 deg. iMH8MHeadingCmd: 0.598615 target range: 435.661865 and range: 435.60 m.hM>?hQhQhQhQgQgQEe EeEe5Ea"Ee;*EeZ:VEe4ZEaam@am@am@am@jgYrgu߃BeyreyZey:ey*e1@颭BɢC) ii)<׽顱i]xv=i>?Ox=g=I>?IIxA)yAB>B/CB!IB\BB =BBDB;B)oE59@1 @1@5?0@9@ ];1  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533987Y ^AU `k=ԁAIIO?\#,KuLA6K>65?6KȲٱ6<>6HNI??+???@ÿQ???i6K>I6Q^;6CYBByB8!IbDJVDJ8yR%R`=ٔVQ-V>9TYT=VEyZ89DZϮ<EZ>\Q 5b4^51?Q 9b4^)^IBYdyf-?Q If?^Z7DI^::i^h:^4yjxBɮj%;AhvB*** querying acoustic contact ***ixix:iy}FNOT Ignoring new targets: 435.66 m."i8*i8 ProNav: ac range: 435.661865 m, nav range: 416.392639 m, bearing: 36.394020 deg, approach rate: -0.477565 m/s, LOS rate: 0.002167 deg/s, cmd heading: 34.298126 deg, new cmd heading: 34.299717 deg. i}8HeadingCmd: 0.598643 target range: 435.661865 and range: 435.60 m.h@?hhhhggjgrgereZe:e*e[2@BɢR T) {i)ٽij x=i%@?-͏x=-؂=I-@?I)echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.7882069@ @@u0@@u;E EE4E"E&:*E:VE4ZEBEk;tc#,BLANF>Nm?NٱNA >NH`+>?`Of?%??Ŀ`I?H?ඒ?iNF>INf^;NCYZ(ByZR!Ii]Mb@Mb@Mb@YYYY Y9]?~jthy&1?Y]?y]D]`e9Y=EyJ9D;E>Q 54=E1?Q 94)WBY ?Q E:y?Q I?h7DI;i;4yɮ}:A:iFNOT Ignoring new targets: 435.66 m."i&Y8*i&Y8 ProNav: ac range: 435.661865 m, nav range: 416.169373 m, bearing: 36.395305 deg, approach rate: -0.514989 m/s, LOS rate: 0.002966 deg/s, cmd heading: 34.299718 deg, new cmd heading: 34.302290 deg. i8HeadingCmd: 0.598688 target range: 435.661865 and range: 435.60 m.hC?hhhhggjgrgBe re Ze :e *e 2@=Bɢ=Q)9 =?iA)E۽IIiMy=iMC?Uex=U,=IUC?IQԹ9@ @@g1@@;^AU|=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290408A}؟AIIO>Ee EeEaEa"Ee;*Ee՚:VEaZEaam@am@am@am@AAAAB>BB!IBbBB" =BBB ;BoE #j#,LA F>FZ?F0½ٱFy>FH5?`a[Рs??d?ſ`IFY^;FCYr)Byp |~R=bDVD8y:%S=ٔ%NQ-%>9-"?Y-"?=-Ey-Z9D5V;E5>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.541753IQ 5U4MR1?Q 9U4Mݹ)McBYYy]/?Q I]?Mu7DIM;iM];M!4yeyBɮe:AmE:iFNOT Ignoring new targets: 435.66 m."i(L8*i(L8 ProNav: ac range: 435.661865 m, nav range: 415.975220 m, bearing: 36.396396 deg, approach rate: -0.496104 m/s, LOS rate: 0.002789 deg/s, cmd heading: 34.302289 deg, new cmd heading: 34.304472 deg. iS8HeadingCmd: 0.598726 target range: 435.661865 and range: 435.60 m.hF?hhhhggjgrgereZe:e*e@7,3@Bɢq9R) 7i)~ ޽iWz=iF?x==IF?I M9@I @I@MO5@I@e|;9checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793720^Am xr=Am >Am >a E  E E 3E "E T;*E ҆:VE 4ZE BE Gp#,LA ɰ"p;^>^?^ɽٱ^5>^Ht3?^by???ƿ?;?{?i^>I^];\Yf.ByfX!IbDrVDr8yz<%zM=ٔzQ-z>9)Y)=-Ey5k9D5.9E5>9AQ 5M4E`1?Q 9M4E)EpBYIyM'?Q IM?E7DIE~:iE:E(4yYɮ]_:AY:iyFNOT Ignoring new targets: 435.66 m."iL8*iL8 ProNav: ac range: 435.661865 m, nav range: 415.775421 m, bearing: 36.397523 deg, approach rate: -0.495976 m/s, LOS rate: 0.002800 deg/s, cmd heading: 34.304471 deg, new cmd heading: 34.306727 deg. i8HeadingCmd: 0.598765 target range: 435.661865 and range: 435.60 m.hH?hhhhggjgrgereZe:e*e F3@݅BɢKP) i)BiPR|=iH?x=#ޅ=IH?I9@ @@@5@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.046450@m6;ԉԱ^A= A I I O% > = %= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298047tw#,LABp>BĂ?BqϽٱBc>BH@5?U[IB4 ^;BCYJ7ByJd!IiMb@Mb@Mb@ 9}?5^I?Mbp?9IYI=MEyM{9DUr$EU>YQ 5e4]n1?Q 9e4]س)]~BYec?Q Em:ym ?Q Im?]7DI]:i]I:]/4yqɮu:AqԹ:iFNOT Ignoring new targets: 435.66 m."i8*i8- ProNav: ac range: 435.661865 m, nav range: 415.570221 m, bearing: 36.398353 deg, approach rate: -0.485271 m/s, LOS rate: 0.001963 deg/s, cmd heading: 34.306725 deg, new cmd heading: 34.308386 deg. i-e8E= E=E=5E9"E=;*E=:VE=4ZE9aE@aE@aE@aE@B>B1CB!IBqBB =BBDB;BTpEHeadingCmd: 0.598794 target range: 435.661865 and range: 435.60 m.hJ?hhhhggjgrgBereZe:e*e@@4@ԅBɢ-G)-i= 51i1)5211i5}=i=J?=Ex===I=J?IA9@ @@0@@;echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.550426^A xr=A A I I) O= >׮}#,cLA2>2E?2սٱ2S>2HA?WJZx "?Q? Bƿ@Ѭ??` ?i2>I2];2CY:EBy:u!I@B@AbDFVDF8yNŋ=%NG=ٔNQ-N>9PYP=REyR9DREV>TQ 5Z4V_}1?Q 9^4V)VBY\y^y?Q I^?V7DIV^;iV;V64y`ɮf9AdrB*** querying acoustic contact ***ipip:itzFNOT Ignoring new targets: 435.66 m."i~(8*i~(8 ProNav: ac range: 435.661865 m, nav range: 415.362976 m, bearing: 36.399265 deg, approach rate: -0.523859 m/s, LOS rate: 0.002306 deg/s, cmd heading: 34.308385 deg, new cmd heading: 34.310210 deg. i  8 HeadingCmd: 0.598826 target range: 435.661865 and range: 435.60 m.h L?hhhhggjgrgereZe!:e!*e%d4@1checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801682̅BɢXS) ɡi)2i~=iL?x=H|=IL?I)a9@ @@2@R@=J@=E EE7E"E:*E n:VEԺ4ZEBE>ń#,LA2M>2?2~ڽٱ2Sh=2H T?m,+ ~? ?`ĿB?9+? ?i2M>I2~^;2CY:NByR!I1i=Mb@Mb@Mb@9999 99=S㥛?:v?~jt?Y=$?y=T<=<=l@=A =A)=nA9Y= AbDUVDU8yeY(=%e9=ٔelQ-e>9m ?Ym ?=mEym9Du((Eu>yQ 54}#1?Q 94}C)}BYE?Q E:y?Q I?}7DI}:i}:}>4yNBɮ7AE:iFNOT Ignoring new targets: 435.66 m."i7*i7 ProNav: ac range: 435.661865 m, nav range: 415.133698 m, bearing: 36.399863 deg, approach rate: -0.519243 m/s, LOS rate: 0.001356 deg/s, cmd heading: 34.310209 deg, new cmd heading: 34.311406 deg. i8HeadingCmd: 0.598847 target range: 435.661865 and range: 435.60 m.h N?hhhhggjgrg+BereZe:e*e4@颍…BɢC) i) 顑i"=i N?bx=Um=I N?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=8.3065949@ @@,1@@;B=>B9B=!IB=BB=! =B9B9B=;B=pEB1CB1CBƔCB =B =CB6ԑE% E%E%3E!"E%:*E%~:VE%4ZE!BE%P-<2E%Q-<JE%8;:E%8;^A} Pz=Թ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557701A I I O >=#,&/LA2>2?2n޽ٱ2<=2H@f?0? 1?''ÿlû?&p? 6?i2>I2[ ^;2CY>YBy>!IbDF'VDFа8xyE=%F=ٔsQ->9 Y = Ey 9D !E>Q 5%4ޛ1?Q 9%4)BY!y%?Q I%?7DIq:i~:E4y5OBɮ57A1:iQ]FNOT Ignoring new targets: 435.66 m."i]#7*i]#7m ProNav: ac range: 435.661865 m, nav range: 414.920105 m, bearing: 36.400524 deg, approach rate: -0.518823 m/s, LOS rate: 0.001606 deg/s, cmd heading: 34.311407 deg, new cmd heading: 34.312730 deg. iu<8uHeadingCmd: 0.598870 target range: 435.661865 and range: 435.60 m.huO?hyhyhyhygygyjgrgereZe:e*e>?5@ Bɢ ZL)  i)i=iO?x=x_=IO?I!! =checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809596QE9@A @I@M 0@IB@MyA:@MyA@% ;@% =@% =bE ɀ4jE o4rE 5/E=  E= E9 E9 "E= &:*E= ?:VE9 ZE9 BE= k;<2E= k;<JE= ;:E= ;y ^AM `k=ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061627A؟AII)OU?Q)#,CtQLA<}_>}gz?}qٱ}0=}Hlw?4/d?@L?Jq¿`w??Kp?-?i}_>I}E^;}CYdBy!I iEMb@Mb@Mb@AAAA A9ENbX9?Q?~jt?YE?yE\=AEAEA EA)AAYE AbDYVDYye=%m =ٔmfVQ-m>9u"?Yu"?=uEyu9DuE}>yQ 54} 1?Q 94};)}BY?Q E:y&?Q I?}7DI};i}[;}O4yQBɮe7AE:iFNOT Ignoring new targets: 435.66 m."i *i  ProNav: ac range: 435.661865 m, nav range: 414.619141 m, bearing: 36.399852 deg, approach rate: -0.517065 m/s, LOS rate: -0.001155 deg/s, cmd heading: 34.312729 deg, new cmd heading: 34.311385 deg. i>HeadingCmd: 0.598847 target range: 435.661865 and range: 435.60 m.hN?hhhhggjgrgBereZe:e*eX5@Bɢ%}:)! %i!)-))i-]=i5N?5x=5R=I5N?I9ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.313610GG!9m{9iYmwA=B>B5CB!IBBB =BBDB;BpEEE  EE EA EA "EE %;*EE :VEA ZEA BEE K<2EE K<JEE ;:EE ;y @  @ @ 0@  @M J=?JٱJk~=JH ?Uࡀ?K?vĿ ?}̽??iJ>IJF^;JCYVsByV!IbD^VD^Ű8yf.=%f*=ٔjڻQ-j>9hYh=nEyn9Dn$En>pQ 5v4r1?Q 9v4rN)rBYxyz\%?Q Iz?r7DIr;ir;rLX4y|ɮ~6A|:i!%FNOT Ignoring new targets: 435.66 m."i-d^*i-d^= ProNav: ac range: 435.661865 m, nav range: 414.371155 m, bearing: 36.399488 deg, approach rate: -0.517283 m/s, LOS rate: -0.000759 deg/s, cmd heading: 34.311384 deg, new cmd heading: 34.310655 deg. i=鱷EHeadingCmd: 0.598834 target range: 435.661865 and range: 435.60 m.hE.M?hAhAhAhAgAgIjgIrgIeQreQZeQ:eQ*eUO6@=Bɢ=<)A E8iA)EAiim=im.M?uOjx=uVeB=Iu.M?Iqyya%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817709ԑ@ @@2@EE EEEE2EA"EE:*EE:VEE4ZEAaU@aU@aU@aU@@<Թ  v?vٱv`=vH`s?`H4m?WU?Ŀ Oo?7&?F?iv4>Iv\^;vCY~By~!IiMb@Mb@Mb@ 9uV?L7A`??Yr?y+=<XAEA )AAYp AbDVDy/=%=ٔ3Q->9Y=Ey9DPE>Q 541?Q 94)BY?Q E:y #?Q I?7DIM:i:a4yRBɮ6A}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 435.66 m."i*i ProNav: ac range: 435.661865 m, nav range: 414.089386 m, bearing: 36.399427 deg, approach rate: -0.511104 m/s, LOS rate: -0.000112 deg/s, cmd heading: 34.310656 deg, new cmd heading: 34.310533 deg. iBQHeadingCmd: 0.598832 target range: 435.661865 and range: 435.60 m.h M?hhhhggjgrgBereZe:e*e6@}Bɢ8) i) 顉i=i M?1@x=K:=I M?I%C>i%>2Acoustic response timeout@ @@4@@] <AAB>B;CB"IBǃBB =BBDBZ;BXpED=D4=E= E=E=6E9"E=&:*E=:VE=c4ZE9BE=l;ڪ#,ۆLA>·>>ի?>B2Acoustic response timeoutٱ>]=>Hԣ?<62`hU?g? ߂Ŀǽ?g~?t?i>·>I>)^;9`Y`=bEyf9DfEf>hQ 5n4j 1?Q 9n4jݙ)jBYpyr2"?Q Ir?j7DIj;ij;jh4ytɮv6At:iFNOT Ignoring new targets: 435.66 m."i6*i6- ProNav: ac range: 435.661865 m, nav range: 413.894684 m, bearing: 36.399474 deg, approach rate: -0.551578 m/s, LOS rate: 0.000133 deg/s, cmd heading: 34.310533 deg, new cmd heading: 34.310627 deg. i5y65HeadingCmd: 0.598833 target range: 435.661865 and range: 435.60 m.h5&M?h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM67@uBɢuF)y }iy)}Ԉ顁i=i&M?Y!x=L$.=I&M?I1@1 @1@5/@1@ qq52Acoustic response timeoutԡ E  E E 4E "E ;*E :VE 4ZE a @a @a @a @±#,bLA2y>29?2>'ٱ2=2H?`ۣC?{?@}ÿ???i2y>I21^;2CY>By>!IbDFVDF8yN<%NL=ٔR=Q-R>9PYP=REyR:DVͻEV>XQ 5^4Z]1?Q 9^4Z)ZBY\yb!?Q Ib?Z8DIZ;iZ;Zo4ydɮf5Ad:itzFNOT Ignoring new targets: 435.66 m."iz6*i~6  ProNav: ac range: 435.661865 m, nav range: 413.684052 m, bearing: 36.399587 deg, approach rate: -0.526996 m/s, LOS rate: 0.000283 deg/s, cmd heading: 34.310629 deg, new cmd heading: 34.310855 deg. i f7 HeadingCmd: 0.598837 target range: 435.661865 and range: 435.60 m.hhM?hhhhggjgrgere!Ze!:e!*e%`7@MBɢU*?)Q UziQ)U"YyYiaj=ihM?w= ^&=IhM?Ii@q @q@u0@q2Acoustic response timeout@<ԩ^A8=A>A>Ia Iq O > E 2Acoustic response timeout^#,?LAɰ;:.>:a?:v6ٱ:q=:H?kO`1?? +¿Mt?w?@?i:.>I:^;:CYRByR!IBm>Bm7CBm;"IBmBBm =BiBmDBiBm=pEE EEE"E;*E:VEZEBE@9iYi=mEym!:DmڲEu>yQ 54}02?Q 94})}-BY ?Q E:y#?Q I?}8DI}:i}:}*w4yTBɮ5AE:i  FNOT Ignoring new targets: 435.66 m."i5tɶ*i5tɶE ProNav: ac range: 435.661865 m, nav range: 413.435120 m, bearing: 36.399424 deg, approach rate: -0.526395 m/s, LOS rate: -0.000344 deg/s, cmd heading: 34.310854 deg, new cmd heading: 34.310529 deg. iE)!MHeadingCmd: 0.598832 target range: 435.661865 and range: 435.60 m.hM M?hIhIhIhigigqjgqrguBeqreyZey:ey*e}8@Bɢ7)) -Ori1)5L11i5=i= M?Ew=E#=IE M?Iq 9@ @@/@B@ :@ 2Acoustic response timeout@ <1^A "=a A5 .AI9 II OU > #,:LA2>2k?2Nٱ2&e=2H?v#@?? ־?ܵ?2?i2>I24#^;2CY:By:!IbDFVDF8yN/6=%NX=ٔNQ-N>9R ?YR ?=REyR0:DVbڻEV>XQ 5^4Z 2?Q 9^4Z~)Z>BY\y^T#?Q Ib?Z$8DIZ;iZ ;Z}4yf)Bɮf$4AfE~%=|~2Acoustic response timeout:iFNOT Ignoring new targets: 435.66 m."i p*i p ProNav: ac range: 435.661865 m, nav range: 413.231323 m, bearing: 36.399348 deg, approach rate: -0.549872 m/s, LOS rate: -0.000205 deg/s, cmd heading: 34.310530 deg, new cmd heading: 34.310378 deg. i%HeadingCmd: 0.598829 target range: 435.661865 and range: 435.60 m.h%L?h!h!h!h!g!g)jg)rg)e)1re1Ze9:e9*e=`t8@yBɢAT?) Qji)rliL=iL?w=!c=IL?IE EE3E"E;*Exv:VE4ZEa@a@a@a@9@ @@0@a@!<ԉ2Acoustic response timeout^A ;= AU ؟AIy I O >=|#,LA2:,>2`?2mUٱ2B=2H`E?n2?`4?͕`V?L?ܤ?i2:,>I2AW^;2CY:By:!Ii-Mb@Mb@Mb@)))) )9-Dl? ףp= ?I +?Y-O ?y-Q8=))-rA -A)-?@)Y-AbDEVDE8yU=%U?=ٔ]Q-]>9]"?Ye"?=eEyeB:De1WEe>iQ 5u4m2?Q 9u4mˋ)mRBY} ?Q E}:y}%?Q I}?m38DIm;im ;m>4y*Bɮ3AEԙB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."i{*i{ ProNav: ac range: 435.661865 m, nav range: 412.998047 m, bearing: 36.398983 deg, approach rate: -0.547964 m/s, LOS rate: -0.000858 deg/s, cmd heading: 34.310380 deg, new cmd heading: 34.309649 deg. iȷHeadingCmd: 0.598816 target range: 435.661865 and range: 435.60 m.hL?hhhhggjgrg BereZe:e*e`8@%qBɢ%B9)! %]i))--))i-K=i5L?5]w=5S=I5L?I99@ @@/@BDAT read: Response Not Received *response not received%(DAT read: user:14> %Be5CBe`"IBeBBe =BaBeDBe[;Be0pEE EE4E"El;*E:VE4ZEBEdF BDAT read: Tx time:01:07:23.9979  $Ping request sent. 2p?2-ٱ2=2H? 9i ?/?6E¿ ??ޞ?i2>I2L^;2CY:By: "IbDF;VDF8yJ}'=%NW=ٔ]sƻQ-]>9aYa=eEyeR:DmJEm>qQ 5u4u,2?Q 9}4uL)ufBYyy}(%?Q I}?uA8DIu:iu:uQ4yɮl3A:iFNOT Ignoring new targets: 435.66 m."i*[*i*[ ProNav: ac range: 435.661865 m, nav range: 412.776917 m, bearing: 36.398682 deg, approach rate: -0.548101 m/s, LOS rate: -0.000748 deg/s, cmd heading: 34.309649 deg, new cmd heading: 34.309045 deg. iTHeadingCmd: 0.598806 target range: 435.661865 and range: 435.60 m.hVK?hhhhggAjgIrgIeIreQZeQ:eQ*eUL9@颽iBɢ6) Ui)Ui8=iVK?$w= =IVK?IYIyA)xA=9@A @A@A@AR@E=J@E=@,<@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251543QE  E E 2E "E ;*E :VE 4ZE a @a @a @a @^A =y A5 .AI9 II O] >#,GJLA2"j>2?2mٱ2O=2H`?Gm_'@?@?@Qÿ1b? ׸?`?i2"j>I2H^;2CY:By:!IbDF7VDF߰8yNH%NJ=ٔNQ-N>9R ?YR ?=REyRa:DR6EV>TQ 5^4V:2?Q 9^4V)VyBY\y^%?Q I^?VO8DIV;iVY;V4yb,Bɮf4AfE:itzFNOT Ignoring new targets: 435.66 m."i=N*i=NM ProNav: ac range: 435.661865 m, nav range: 412.569519 m, bearing: 36.398414 deg, approach rate: -0.545405 m/s, LOS rate: -0.000704 deg/s, cmd heading: 34.309044 deg, new cmd heading: 34.308509 deg. iMڤuHeadingCmd: 0.598796 target range: 435.661865 and range: 435.60 m.huJ?hqhqhqhqgqgyjgyrgyeyreZe:e*e`9@aBɢ==)  \i)ih=Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503546iJ?v= =IJ?I9@A @A@A@A@=}1 #,ydLAB>B2CB"IB#BB =BBDB;BDpEB]5CB]6CB]CB] =B] =C]#6EB EBEB6E@"EB:*EB~:VEBc4ZE@BEB>6?ٱv=H?@xR\u ?1?leĿ`x?@Ѻ? y?iز>I^;Y%By% "IiMb@Mb@Mb@ 9MbX?Mb? rh?Y ?y@=C<l@\ A +A) @YAbDeVD 8y==%=3=ٔEQ-E>9AYA=MEyMt:DM:EM>QQ 5]4UJ2?Q 9]4U)UBYeW ?Q Ee:ye&?Q Ie?U^8DIU:iU :U4yiɮmg3Ai:iFNOT Ignoring new targets: 435.66 m."i*iԹ ProNav: ac range: 435.661865 m, nav range: 412.324646 m, bearing: 36.397875 deg, approach rate: -0.535572 m/s, LOS rate: -0.001179 deg/s, cmd heading: 34.308508 deg, new cmd heading: 34.307430 deg. i! HeadingCmd: 0.598778 target range: 435.661865 and range: 435.60 m.h}I?hhhhggjgrgBereZe:e*e` :@5YBɢ5tP4)== =Li9)=AAiE=iM}I?MPv=U=IU}I?IYe9@a @a@e0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008682@}"7< ^A V =9 A ؟AI I O >e5#,LA4<ɰ4<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259557ZD>Zl?Z1 ٱZվ=ZHɺ?@ `?? +ſ`,2?&??iZD>IZ^;ZCYb̃Byb"IhjA lnp=bDnVDn.8yz=%~U=ٔFQ->9 "?Y "?=Ey:D ;E%>1Q 5=45X2?Q 9E45})5BYAyM&?Q IM?5l8DI5BI;i5I;54yu.Bɮ} 3Ay:iFNOT Ignoring new targets: 435.66 m."i-*i-= ProNav: ac range: 435.661865 m, nav range: 412.116486 m, bearing: 36.397398 deg, approach rate: -0.524050 m/s, LOS rate: -0.001203 deg/s, cmd heading: 34.307429 deg, new cmd heading: 34.306473 deg. i= EHeadingCmd: 0.598761 target range: 435.661865 and range: 435.60 m.hEeH?hAhAhAhAigIgijgqrgqeqreqZey:ey*e}:@bEuH4jEuH4rEu/E EE1E"E;*EM:VE-4ZEa@a@a@a@颅QBɢJ4) pBi)g顉i/=ieH?N~v=U\=IeH?Iy@y @y@}/@yԙ@U<<@]=@]=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511452^A ]= A .AI I O >~#,K;LA>9ϳ>> ?> ٱ> =>H@C? @`?`?ſ}t? ˼?@~?i>9ϳ>I>x];>CYFރByN2"Ii%Mb@Mb@Mb@!!!! !9%q= ףp?{Gz?I +?Y% ?y%#=%94<%?@%A %A)%@!Y%AbD=[VD=8yM=%M:=ٔUxQ-U>9U ?YU ?=UEyU:D];E]>aQ 5m4eh2?Q 9m4ez)eBYu ?Q Eu:yu#?Q Iu?e{8DIe ;ie? ;eQ4yyɮ}x2AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."iY*iY ProNav: ac range: 435.661865 m, nav range: 411.882172 m, bearing: 36.397225 deg, approach rate: -0.550232 m/s, LOS rate: -0.000405 deg/s, cmd heading: 34.306473 deg, new cmd heading: 34.306127 deg. i=HeadingCmd: 0.598755 target range: 435.661865 and range: 435.60 m.hH? Yqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764088hhhA9Y]AhggjgrgBereZe:e*e T:@颥IBɢ/) /5i)顩iC=iH?dHv==IH?IAA@AB>BB"IB?#,LA6SS>6?6 ٱ6TT=6H` ?@3?}?=ſ?`l? v}?i6SS>I61];6CYBByB5"IbDJdVDJ 8yR5<%RQ=ٔRQ-V>9TYT=ZEyZ:DZ);EZ>\Q 5b4^v2?Q 9b4^v)^BY`yf>$?Q If?^8DI^:i^:^%4yj/Bɮjs2AjE:i|~FNOT Ignoring new targets: 435.66 m."i *i  ProNav: ac range: 435.661865 m, nav range: 411.671570 m, bearing: 36.397041 deg, approach rate: -0.539906 m/s, LOS rate: -0.000473 deg/s, cmd heading: 34.306128 deg, new cmd heading: 34.305759 deg. i]HeadingCmd: 0.598748 target range: 435.661865 and range: 435.60 m.hG?hhhhgg!jg!rg!e!re)Ze):e)*e-`V;@]CBɢ]rc5)Y e0ia)eaaie|=iG?v=>=IG?I)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267413a-x=@ @@@E  E E 5E "E ;*E ҆:VE 4ZE a@a@a@a@ԁ@fH<ԩ ^A l=A zA zA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520057IIO>#,fLANU~>N?N/ ٱNݼ=NH?@X@ L@D+?o?Eƿ@??z?iNU~>IN];NCYeރBye1"IbDHVD8y}3%}=ٔ})Q-}>9Y=Ey:DY;E>Q 542?Q 94r)BYy$?Q I?8DIA;i;˹4yɮ2A:iFNOT Ignoring new targets: 435.66 m."i9*i9 ProNav: ac range: 435.661865 m, nav range: 411.373871 m, bearing: 36.396688 deg, approach rate: -0.535153 m/s, LOS rate: -0.000635 deg/s, cmd heading: 34.305759 deg, new cmd heading: 34.305053 deg. iHeadingCmd: 0.598736 target range: 435.661865 and range: 435.60 m.hF?h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5 ;@]8Bɢ]))a eq-ia)eiaaie==imF?mLu=uy =IuF?Iq}a=}p=]X=achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772690@ @@0@R@=J@=1@M<@yA@B>B4CB"IBUBB =BBDB;BpEEe EeEe3Ea"Ee:*Ee:VEe4ZEaBEeI8)#,gLA 69>66g?69u ٱ6>=6H? ҩ`B? ^?*3ƿD?`?Cy?i69>I6];6CYNByRG"Ii!I!%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023888i=Mb@Mb@Mb@9999 99= rh?l?I +?Y=C ?y===9<=@9 9)=@9Y=AbDU2VDUڰ8ye=%e_=ٔeQ-m>9iYi=mEym:Du[<Eu>Q 542?Q 94n)BY ?Q E:y#?Q I%?8DI;i@;4y-Bɮ-0A-E:iIUFNOT Ignoring new targets: 435.66 m."i][*i][e ProNav: ac range: 435.661865 m, nav range: 411.167114 m, bearing: 36.396566 deg, approach rate: -0.541926 m/s, LOS rate: -0.000320 deg/s, cmd heading: 34.305052 deg, new cmd heading: 34.304808 deg. immHeadingCmd: 0.598732 target range: 435.661865 and range: 435.60 m.hm~F?hqhqhqhygygyjgyrgBereZe:e*e6F<@颵2BɢOT/)  i)项i=i~F?uu=ax,=I~F?Iiԙ59@1 @1@54@1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276267@ T< E  E E E "E ;*E ՚:VE ZE a @a @a @a @ ^Am =I I O >b#, LA> >>P?>3ٱ>=>H0?WpY?O?@x1ƿ`ַ??`+y?i> >I>8];>CYFByFK"IbDRVDR8yVC<%V<=ٔZ`ۺQ-Z>9\Y\=^Ey^:D^<Eb>`Q 5f4b2?Q 9f4bXk)b BYhyj$?Q Ij?b8DIbs;ib;bDZ4ylɮr0Ap:i!5FNOT Ignoring new targets: 435.66 m."i=}**i=}*M ProNav: ac range: 435.661865 m, nav range: 410.944763 m, bearing: 36.396323 deg, approach rate: -0.531893 m/s, LOS rate: -0.000582 deg/s, cmd heading: 34.304810 deg, new cmd heading: 34.304323 deg. iMdUHeadingCmd: 0.598723 target range: 435.661865 and range: 435.60 m.hUE?hQhQhQhQgYgYjgYrgYeYreaZea:ea*ee<@颕*Bɢ?,) i)ؠ顙i&=iE?u=7=IE?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528657-9@) @)@-/@)@W<^Ab(=A>A>aIqIOD>ԁU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781169Ա B1 A5 p<B= >B9 B= "IB= jBB=  =B9 B= DB= ;B= pE #,%LAER ERER4EP"ERf;*ERv:VER4ZEPBERW9IYI=MEyM:DUEU>aQ 5m4e?2?Q 9m4eg)e"BYu ?Q Eu:yu$?Q I}?e8DIeN;ieL;eϱ4yBɮ0AԑB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."iR?*iR?u ProNav: ac range: 435.661865 m, nav range: 410.703430 m, bearing: 36.396023 deg, approach rate: -0.526521 m/s, LOS rate: -0.000653 deg/s, cmd heading: 34.304321 deg, new cmd heading: 34.303722 deg. iu}HeadingCmd: 0.598713 target range: 435.661865 and range: 435.60 m.h}@E?hyhyhyhygygjgrgBereZe:e*e ,=@"Bɢv() Ii)46i.[=i=@E?=utu== 6=I=@E?IAI]xA)]yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.032361@ @!@!@!B@!:@%zA@>^<^A .= A5 ؟Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284931Iq I O >#,BLAfV>f?f-ٱf>fHN?&z Ÿ?` ? ǿ`u?Ϳ?=j?ifV>If];fCYnBypbDzVDz8yO%H=ٔnjQ- >9 "?Y "?= Ey :Dc<E>Q 5%42?Q 9%4d)7BY!y-'?Q I-?8DI::ih:ֱ4y1ɮ50A1:iY]FNOT Ignoring new targets: 435.66 m."ieշ*ieշm ProNav: ac range: 435.661865 m, nav range: 410.488678 m, bearing: 36.395440 deg, approach rate: -0.536910 m/s, LOS rate: -0.001460 deg/s, cmd heading: 34.303724 deg, new cmd heading: 34.302556 deg. iu*}HeadingCmd: 0.598693 target range: 435.661865 and range: 435.60 m.h}C?hyhyhyhygygjgrgereZe:e*eь=@ԙ颽Bɢ-) Li)i"=iC?0gu=;_=IC?IEm EiEiEi"Em ;*EiVEiZEiau@au@au@au@9@ @@@@b<iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535631^AI6=I I O >! #,[`\LA2>2p?2ٱ2J~>2H@q??<j⨿?@?@ȿ~?(V?`c?i2>I2];0Y>By>]"Ii-Mb@Mb@Mb@)))) )9-sh|??{Gz?9YYY=]Ey];DeR;Ee>iQ 5m4m2?Q 9u4m`)mJBYu ?Q Eu:yu ?Q Iu?m8DIm=:imF:mޱ4y BɮF0AE:iFNOT Ignoring new targets: 435.66 m."i7*i7 ProNav: ac range: 435.661865 m, nav range: 410.268768 m, bearing: 36.395657 deg, approach rate: -0.531316 m/s, LOS rate: 0.000524 deg/s, cmd heading: 34.302556 deg, new cmd heading: 34.302990 deg. iu7HeadingCmd: 0.598700 target range: 435.661865 and range: 435.60 m.hiD?hhhhggjgrgBereZe:e*e =@ Bɢ n()  C i)]i=iiD?h]u=Nd=I%iD?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7880449@ @@0@B>B3CB"IBtBB =BBB ;BpE@hQm checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039603y #,=vLA21>2Nc?2rٱ2S$ >2H2?O@Xѽ?`~?nȿ`%?7? Q[?i21>I2];2CYR ByRg"IbDZ#VDZͰ8yb-=%bS=ٔf Q-f>9dYd=jEyj;DjC;Ej>lQ 5r4n2?Q 9r4n])n\BYtyv[!?Q Iv?n8DIn:iny:n4yxɮz0Ax:iFNOT Ignoring new targets: 435.66 m."i%6*i%65 ProNav: ac range: 435.661865 m, nav range: 410.063385 m, bearing: 36.395799 deg, approach rate: -0.532016 m/s, LOS rate: 0.000368 deg/s, cmd heading: 34.302989 deg, new cmd heading: 34.303274 deg. i5~,7=HeadingCmd: 0.598705 target range: 435.661865 and range: 435.60 m.h=D?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM@Y>@} Bɢ}4()y }iy)顁i=iD?Wu=;k=ID?IY>iQ9@ @@/@R@J@=@ m<ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.292495^A(a=II)O5>Eu EuEu4Eq"Eu~ ;*Eu1:VEu4ZEqa}@a}@a@a@ԩ m##,LA2~,>2?2Kٱ2 >2Hi&?Bbȧ7??ɿ?? O?i2~,>I2x];2CY> By>i"IbDF4VDFܰ8yNY<%NM=ٔRQ-R>9PYP=VEyV.;DV&;EV>XQ 5^4Z2?Q 9^4Z7Z)ZpBY`yb!?Q Ib?Z8DIZ;iZ;Z4yf Bɮdd:ixzFNOT Ignoring new targets: 435.66 m."i~6*i~6  ProNav: ac range: 435.661865 m, nav range: 409.851624 m, bearing: 36.395893 deg, approach rate: -0.530732 m/s, LOS rate: 0.000235 deg/s, cmd heading: 34.303273 deg, new cmd heading: 34.303460 deg. i 6HeadingCmd: 0.598708 target range: 435.661865 and range: 435.60 m.hD?hhhhg%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543642gjg)rg)e)re)Ze1:e1*e5@'>@BɢL&) i)ibLJ=iD?-Uu=Lq=ID?IԹ@ @@0@@}r<^Am=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796190 I! I1 OE >A A B >B 0CB #IB BB  =B B DB ;B pEBM3CBM3CBMʔCBM =BM =CMQ6E  E E 3E "E =;*E ?:VE 4ZE BE IF@?Fܢ!ٱFJ/>FH K?`Crԛ?`?oʿ?*y?LC?iFC>IF ];FCYrByrt"IiMb@Mb@Mb@ 9K7A`?{Gz?~jth?Y ?y#<D;l@ A A) @Y3AbD%VDϰ8yx=%:=ٔQ->9Y=Ey@;DZ;E>Q 54 3?Q 94V)BY ?Q E:y?Q I? 9DI:i":r4yɮ/AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."i 7*i 7 ProNav: ac range: 435.661865 m, nav range: 409.616852 m, bearing: 36.396515 deg, approach rate: -0.534889 m/s, LOS rate: 0.001420 deg/s, cmd heading: 34.303461 deg, new cmd heading: 34.304707 deg. iM&8%HeadingCmd: 0.598730 target range: 435.661865 and range: 435.60 m.h%`F?h!h!h!h!g)g)jg)rg-Be1re1Ze:e*e5?@MBɢM9#)M藇= i)Y顑iQʇ=i`F?Uu=5u=I`F?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048396%9@! @!@-/@)@=WxAm >I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.3006560#,(LA2>2I?2G&ٱ2B>2H?@z@d??˿@D?/?7?i2>I2 ];2CY>By>~"IbDF6VDFް8yNU.=%RZ=ٔRcQ-R>9TYT=VEyVO;DV9EV>XQ 5^4Z3?Q 9b4ZS)ZBY`yb?Q Ib@Z9DIZ:iZ:Z4ydɮf}/Ah:ix~FNOT Ignoring new targets: 435.66 m."i~)7*i~)7  ProNav: ac range: 435.661865 m, nav range: 409.415894 m, bearing: 36.397046 deg, approach rate: -0.535942 m/s, LOS rate: 0.001415 deg/s, cmd heading: 34.304707 deg, new cmd heading: 34.305768 deg. i %8HeadingCmd: 0.598749 target range: 435.661865 and range: 435.60 m.hG?hhhhggjgrg!e!re!Ze!:e!*e-?@UBɢU%)Q ]ܾiY)]wYYi]ȇ=ieG?e Uu=eu=IeG?IibE4jEʨ4rEϚ/E EE7E"E ;*Eą:VEԺ4ZEa%@a%@a%@a%@1A9@ @@0@B@:@yA@}|<@=@=qchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551496^Aw=ԙ A .AI) Iy O >W"7#,9LA@Yr$Byv"I)AY-9YA}=y}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803969iMb@Mb@Mb@ 9NbX9?Mbp?Mb`?Y?y;; @A rA)@YAbD&VDϰ8y? =%,=ٔQ->9 ?Y ?=Eyb;DE>Q 54 3?Q 94O)BY?Q E:y?Q I@(9DIL ;i;H4yBɮ-AE:i!%FNOT Ignoring new targets: 435.66 m."i-!8*i-!8= ProNav: ac range: 435.661865 m, nav range: 409.172272 m, bearing: 36.398049 deg, approach rate: -0.514333 m/s, LOS rate: 0.002119 deg/s, cmd heading: 34.305769 deg, new cmd heading: 34.307777 deg. i=5x8EHeadingCmd: 0.598784 target range: 435.661865 and range: 435.60 m.hEI?hAhAhAhAgAgIjgIrgMBeQreQZeQ:eQ*eU@@@颅Bɢ)@) ˾i)f 顉i=iI? Uu=Ou=II?IԱB>BB#IBBB =BBDB;BppED!zD!E- E-E-5E)"E-%;*E-:VE-4ZE)BE-K*r=#,|eLA6V>6u?6|2ٱ6I >6H?`zi`­?`?{ʿ`2?V? 27?i6V>I6];6CHYN2ByN"IbDTVDTy^J=%^l=ٔbQ-b?9b"?Yb"?=fEyfp;DfEf?hQ 5n4j/-3?Q 9n4jIM)jBYpyrL?Q Ir@j39DIj:ij:jV4ytɮv-Ax:iFNOT Ignoring new targets: 435.66 m."i+8*i+8- ProNav: ac range: 435.661865 m, nav range: 408.994354 m, bearing: 36.398861 deg, approach rate: -0.513565 m/s, LOS rate: 0.002345 deg/s, cmd heading: 34.307777 deg, new cmd heading: 34.309402 deg. i-T85HeadingCmd: 0.598812 target range: 435.661865 and range: 435.60 m.h5K?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE0@@uBɢu !)q uNiq)}Kyyi}=iK?OPu=uh=IK?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.308792  =@ @@@E EE4E"E=;*EM:VE4ZEa@a@a@a@@e<9 ^Am u?ִ7ٱh>Ht"?-Oa0?`?@Tʿ ? =?`;9?iV>I];Yu?Byu"IiMb@Mb@Mb@ 9x&?:vY7 ?yT@\ A A)@YfAbDVDð8y%P+=%% =ٔ- Q-->9)Y1=5Ey5;D59ٻE5>9Q 5E4=GC3?Q 9E4=H)=BYMA ?Q EM:yM5?Q IM@=G9DI=:i=;=4yUBɮU7-A]E):iFNOT Ignoring new targets: 435.66 m."iw8*iw8 ProNav: ac range: 435.661865 m, nav range: 408.684204 m, bearing: 36.401826 deg, approach rate: -0.498181 m/s, LOS rate: 0.004767 deg/s, cmd heading: 34.309403 deg, new cmd heading: 34.315338 deg. i 9HeadingCmd: 0.598916 target range: 435.661865 and range: 435.60 m.hR?hhhhggjgrgBereZe:e*e@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811656MBɢM)I U@iQ)UϴQQiUCM=i]R?]BB5#IBBBBBDB˲;BzpEYE EE5E"E ;*E:VE4ZEBEO?H@ٱ=H5?@?& >`[?(?Iʿ??>2?if>I>];CY%RBy%"I1bD=VD=8yM؋=%M=ٔUXvQ-U>9QYQ=]Ey];D]DE]>aQ 5m4e8X3?Q 9m4eD)eBYqyu{?Q Iu@eZ9DIe;ie;e[4y}Bɮ},Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.315581B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 435.66 m."i8*i8 ProNav: ac range: 435.661865 m, nav range: 408.391663 m, bearing: 36.404905 deg, approach rate: -0.557032 m/s, LOS rate: 0.005868 deg/s, cmd heading: 34.315338 deg, new cmd heading: 34.321501 deg. i+9HeadingCmd: 0.599023 target range: 435.661865 and range: 435.60 m.hY?hhhhggjgrgereZe:e*e@@؄Bɢ)a= i)i=i%Y?%u=%3D=I%Y?I!1111EA EEEE1EA"EA*EEv:VEE-4ZEAaU@aU@aU@aU@aM9@Q @Q@U/0@Qԉ@%<E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567479Թ ^AM [= AIIO>W#,_LAN>N?NDٱN.V=NHQ;? X qG? ?f9ʿp?`JF?.?iN>IN\];NCYbmByb"IiMb@Mb@Mb@ 9K7?Mb9Y=Ey;DE>Q 54Ek3?Q 94$A)BY ?Q E:y ?Q I@k9D checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819547!I:in<&%4yiɮm+Ai:iFNOT Ignoring new targets: 435.66 m."iu8*iu8 ProNav: ac range: 435.661865 m, nav range: 408.127350 m, bearing: 36.408072 deg, approach rate: -0.506967 m/s, LOS rate: 0.006078 deg/s, cmd heading: 34.321503 deg, new cmd heading: 34.327840 deg. i19 HeadingCmd: 0.599134 target range: 435.661865 and range: 435.60 m.h `?h h hhggjgrgӃBe9re9ZeA:eA*eEAA@Be>Be1CBeg#IBeڄBBe =BaBaBe޲;BepE颍τBɢF ) NDi)0顑i=i`?%t=% S==I%`?I!E EE4E"ET;*E:VE4ZEBEGA >Թ AA II Ia Om >`N^#,|LA27>2e?29 Jٱ2=2H @?Q) )0?c2?zʿ ??[+?i27>I2S];2CY>By>"I @@bDJ5VDJݰ8yNE=%RJ=ٔRSQ-R>9TYT=VEyV;DZEZ>\Q 5^4^z3?Q 9b4^<>)^'BY`yb) ?Q Ib@^y9DI^ :i^:^4,4yjBɮjF+AjE:ix~FNOT Ignoring new targets: 435.66 m."i~d8*i~d8  ProNav: ac range: 435.661865 m, nav range: 407.915680 m, bearing: 36.410694 deg, approach rate: -0.552069 m/s, LOS rate: 0.006841 deg/s, cmd heading: 34.327841 deg, new cmd heading: 34.333087 deg. i PH9HeadingCmd: 0.599225 target range: 435.661865 and range: 435.60 m.hf?hhhhggjg!rg!e!re!Ze!:e!*e-7A@UɄBɢUv)Y ]iY)]KYYi]"0=ief?e?t=ԩW3=If?I-V>i)@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323603@<E EE7E"E%;*E:VEԺ4ZEa@a@a@a@^Al;=A) 1 I9 II O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575489{/e#,ۿLA2>2s?2ɗPٱ2G=2H_C?S ?H8?Nʿ?X?@x?i2>I2/];2CYNByN#IbDZ VDZ8yb=%bI=ٔb̀Q-b>9dYd=fEyf;DfлEj>hQ 5E4j3?Q 9M4jR;)j?BYIyM{ ?Q IM@j9DIjwBQBU#IBUBBU =BQBUDBU;BUlpEԑ^Ae 3=E  E E 6E "E ;*E P:VE c4ZE BE 9N9Xk#,1LA2>2W?2Wٱ2J=2H??``ѻ"?`L5?o˿ ?`65??i2>I2];2CY:By>8#Ii=Mb@Mb@Mb@9999 99=q= ףp?~jthMb`?Y= ?y=D=;=@=A =\ A)=@9Y=@QQbDU VDQyeE>%m@=ٔmQ-m>9qYq=uEyu;DulEu>Q 543?Q 948)XBY ?Q E:y?Q I@9DI:i::4yBɮ)A:iFNOT Ignoring new targets: 435.66 m."i8*i8 ProNav: ac range: 435.661865 m, nav range: 407.476990 m, bearing: 36.415513 deg, approach rate: -0.548701 m/s, LOS rate: 0.005106 deg/s, cmd heading: 34.338523 deg, new cmd heading: 34.342729 deg. i9HeadingCmd: 0.599394 target range: 435.661865 and range: 435.60 m.hq?hhhhggjgrgBereZe:e*e@/A@Bɢ)%t6= %i!)%a!!i-2=i-q?-t=5%%=I5q?I1ԑ2?2B_ٱ2=2H`:?xQC?>?p˿ݯ?`??i2c|>I2];2CY:΄By:Y#II><)<bDF VDF8yN3=%N&=ٔNQmQ-R>9PYP=REyR;DVm!EV>XQ 5^4Z3?Q 9^4Zj4)ZvBY\y^|?Q Ib@Z9DIZ;iZ2:ZNC4ydɮf(AdrB*** querying acoustic contact ***ipip:iquFNOT Ignoring new targets: 435.66 m."i}'8*i}'8 ProNav: ac range: 435.661865 m, nav range: 407.216644 m, bearing: 36.417981 deg, approach rate: -0.530288 m/s, LOS rate: 0.005031 deg/s, cmd heading: 34.342731 deg, new cmd heading: 34.347671 deg. iR9HeadingCmd: 0.599480 target range: 435.661865 and range: 435.60 m.hw?hhhhggjgrgereZe:e*e.A@2Acoustic response timeoutԩ Bɢ Q)  S=i )Si"p=iw??Qt=o!=Iw?I!J=y@y @y@y@y@]ϙ< E 2Acoustic response timeout^A #'=B >B B #IB DBB  =B B DB ;B HpEB1CB0CBʓCB =B =C 51 E}  E} E} 5Ey "E} ;*E} :VE} 4ZEy BE} O;a A I I) OU >Iz#,LAN9'>N?Nr/fٱN3=NHW3? `;@L?`K?"˿ ?@? "?iN9'>IN];NCYVByZ#IiMb@Mb@Mb@ 9K7?I +?MbPYI ?y94<@A  A)z@Y3@bDVDy>%,=ٔhQ->9Y=Ey Q 54L3?Q 940)BYQ ?Q E:y(?Q I@9DI;i";K4yBɮ(AE-PExceeded connect timeout, disconnecting.:i1=FNOT Ignoring new targets: 435.66 m."i=;b8*i=;b8U ProNav: ac range: 435.661865 m, nav range: 406.962769 m, bearing: 36.419457 deg, approach rate: -0.531286 m/s, LOS rate: 0.003090 deg/s, cmd heading: 34.347672 deg, new cmd heading: 34.350626 deg. iU8UHeadingCmd: 0.599532 target range: 435.661865 and range: 435.60 m.h]z?hYhYhYhYgYgYjgargeBeareiZei:ei*em@=B@额Bɢ?W) >i)5顡i孃=iz?#t=1=Iz?I2Acoustic response timeout93=e9@a @i@i@ii@= ;<ԑ U 2Acoustic response timeout^Ae C"=Am >Am >bE ι4jE rE .0E EE2E"E;*EVE4ZEa@a@a@a@A.AIIO?>#,b LAjy>j-?j jqٱj[=jH?` ? K?C˿??@?ijy>Ijy];jCYv Byv#I ~4=~4=bD~VD~8y =% &=ٔ㶼Q->9 ?Y ?=Ey!!Q 5-4%3?Q 9-4%,)%BY1y5m?Q I5@%9DI%;i%;%3T4y=ʙBɮ=%A=E:iaeFNOT Ignoring new targets: 435.66 m."imy^8*imy^8} ProNav: ac range: 435.661865 m, nav range: 406.701172 m, bearing: 36.420941 deg, approach rate: -0.535382 m/s, LOS rate: 0.003039 deg/s, cmd heading: 34.350626 deg, new cmd heading: 34.353596 deg. i}8HeadingCmd: 0.599583 target range: 435.661865 and range: 435.60 m.hL~?hhhhggjgrgereZe:e*e\B@Bɢ)`= O>i) )i=iL~?1s="=IL~?IE2Acoustic response timeoutY 9@ @@/@ԉ @] Bq Bu B$IBu BBq Bq Bu DBu t;Bu &pE^A%B=E5 E5E1E1"E5%;*E5:VE1ZE1BE5K:R?:uuٱ:=:H ?@9¿?`>?Լ˿ Np?q?E?i:ǣ>I:A];:CYB0ByB#I=only read 2 of 4 data items for bottom velocity. Device response is::BS, +46, +0,A a=@a= a=@a= a=@aE aE@aE bDMQVDM8y]}=%]=ٔeQ-e>9e"?Ym"?=mEym7qQ 5}4uG3?Q 9}4uj()uBQ A+:YQ E:y?Q I@u9DIu:iuq?u\4yɮ$A:iFNOT Ignoring new targets: 435.66 m."iR8*iR8 ProNav: ac range: 435.661865 m, nav range: 406.404083 m, bearing: 36.422548 deg, approach rate: -0.531898 m/s, LOS rate: 0.002879 deg/s, cmd heading: 34.353598 deg, new cmd heading: 34.356813 deg. i8HeadingCmd: 0.599640 target range: 435.661865 and range: 435.60 m.h?hhhhggjgrgereZe:e*e9B@Bɢ0{) %>i)i=i%?%_s=%(=I%?I)2Acoustic response timeout@ @@/@ԁ@<ԩ^A% $= BDAT read: Response Not Received  *response not received (DAT read: user:15>  BDAT read: Tx time:01:07:36.4479  $Ping request sent. `#,yJLAEB EBE@E@"EB;*EBz:VE@ZE@aJ@aJ@aJ@aJ@YYBy$IbDVD8y%N>%%O=ٔ-Q-->9)Y)=-Ey-H9Q 5E4=3?Q 9E4=L%)=BQ AE :YAQ EM~:yIQ IM@=9DI=t:i=t?=`4yU̙BɮU#AUE:iyFNOT Ignoring new targets: 435.66 m."iR8*iR8 ProNav: ac range: 435.661865 m, nav range: 406.193726 m, bearing: 36.423687 deg, approach rate: -0.531504 m/s, LOS rate: 0.002880 deg/s, cmd heading: 34.356815 deg, new cmd heading: 34.359094 deg. i8HeadingCmd: 0.599679 target range: 435.661865 and range: 435.60 m.h?hhhhggjgrgereZe:e*eB@ԹBɢ:Խ) >i)8_i=i?s='=I?I J>i >9@ @@@R@J@=@m<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248674^Am)=A I I A O] ><#,OdLA2[>2?2u}ٱ2=2H^?@{<`??_Ϳ%c?`^??i2[>I2Q];0Y:oBy:$II><)>p=aa aa aa aa iMb@Mb@Mb@ 9I +?y&1?y&1|?Y9?y`e=`;@A )@Yz@AAAAechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500473B>BB$IB݅BBBBB5;BoEbDVD8y#=%>=ٔΑQ->9Y=EyYQ 5 44?Q 9 4Q!)BQ A T:Y ?Q E:y..?Q I@9DIC:i:#h4y!ɮ%"A!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 435.66 m."iU+*iU+e ProNav: ac range: 435.661865 m, nav range: 405.953308 m, bearing: 36.422170 deg, approach rate: -0.559191 m/s, LOS rate: -0.003529 deg/s, cmd heading: 34.359092 deg, new cmd heading: 34.356058 deg. ieθmHeadingCmd: 0.599626 target range: 435.661865 and range: 435.60 m.hm?hihihihigigqjgqrguBeyreyZey:ey*e C@颭Bɢ~ν) >i)iP=i%?%)ts=%>=I%?I)DzDE EE4E"E*E:VE4ZEBE@Ǟ#,}LA>Wػ>>?>hٱ>=>H?N9¿`?@;?KͿ`B?b??i>Wػ>I>w];>CYFByFL$IbDR,VDRհ8yZJ>%Zb=ٔZ Q-^>9^ ?Y^ ?=^Ey^hdQ 5j4f4?Q 9j4f)f3BYhyj.?Q In@f:DIf<;if;fsn4yrΙBɮr!Ap:i)=FNOT Ignoring new targets: 435.66 m."iEO*iEO] ProNav: ac range: 435.661865 m, nav range: 405.751190 m, bearing: 36.420824 deg, approach rate: -0.554769 m/s, LOS rate: -0.003697 deg/s, cmd heading: 34.356056 deg, new cmd heading: 34.353363 deg. i]~ظmHeadingCmd: 0.599579 target range: 435.661865 and range: 435.60 m.hm~?hihqhqhqgygyjgyrgyereZe:e*e t=C@mBɢm+)u8< u?iq)uۗqqiu1\}=i}~?}\s=}PZD=I~?Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004556ԱE EE6E"E ;*E:VEc4ZEa@a@a@a@ ;=9@ @@05@B@xA:@vA@e ث<@e =@e = 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256598^A ==9AIIO?z#,[LAD>?فٱN=H? ]@G¿"?`X?`t ο?@?o?iD>I];CYByp$I ԁiMb@Mb@Mb@ 9tV?9 Y = Ey Q 54&4?Q 9%4<)bBY%?Q E%:y%6?Q I%@:DI;i;x4y)ɮ5 A1:iQ]FNOT Ignoring new targets: 435.66 m."i]*i]丝m ProNav: ac range: 435.661865 m, nav range: 405.420135 m, bearing: 36.417126 deg, approach rate: -0.558784 m/s, LOS rate: -0.006247 deg/s, cmd heading: 34.353362 deg, new cmd heading: 34.345959 deg. im6uHeadingCmd: 0.599450 target range: 435.661865 and range: 435.60 m.huu?hqhqhyhygygyjgrgereZe:e*ekC@颵Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508534A5@AA1B=>B=4CB=%IB=3BB= =B9B=DB=;B=oEɢ4) ?i)顉i=Vz=iu?M;s=PLH=Iu?IԱD%<E= E=E=5E9"E=;*E=:VE=4ZE9BE=D#,LľLA,2>2hG?2ٱ2s=2H?Dk¿&?m?@[ο.?~?@?i2>I2];2CY>By>$IbDRVDRɰ8yfG>%fC=ٔj@Q-j>9n"?Yn"?=rEyr|Q 5 4~54?Q 9 4~0)~BY y$7?Q I@~(:DI~ y?9nٱ>H@?x)?S?Ͽ`??@?ذ?i^>I];CYBy$IIG>)=i]Mb@Mb@Mb@YYYY Y9]Q?Dl?y&1|Y]?y]O=]`]7@](@ ] A)]@YY]@ԙbDuVDu8y=%=ٔQ->9Y=Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516687Q 5 4rK4?Q 9 4+)BY ?Q E :y 5?Q I@>:DB>B6CBt%IBBB =BBDḆ;BoEI:i;4y=Bɮ=!A=E:iYeFNOT Ignoring new targets: 435.66 m."ieF*ieF㸝} ProNav: ac range: 435.661865 m, nav range: 404.836029 m, bearing: 36.410796 deg, approach rate: -0.589459 m/s, LOS rate: -0.006209 deg/s, cmd heading: 34.340668 deg, new cmd heading: 34.333290 deg. i}5}HeadingCmd: 0.599229 target range: 435.661865 and range: 435.60 m.h}g?hhhhggjgrg6BereZe:e*e@ D@颽vBɢ) F?i)Li/ct=ig?W s=8M=Ig?IE5 E5E53E1"E5&:*E5:VE54ZE1BE5k;21?27ٱ2e>2H`?c}Y,??Ͽ D?/&?`I2];0Y:'By:%IbDFVDF8yN>%N2=ٔN-Q-N>9PYP=REyRTQ 5 4V\4?Q 9 4V )VBYy5?Q I@VO:DIV8;iVj;V4yBɮAE=B*** querying acoustic contact ***i9i9:iAEFNOT Ignoring new targets: 435.66 m."iMiٸ*iMiٸ] ProNav: ac range: 435.661865 m, nav range: 404.575897 m, bearing: 36.408034 deg, approach rate: -0.559110 m/s, LOS rate: -0.005940 deg/s, cmd heading: 34.333288 deg, new cmd heading: 34.327761 deg. i]-eHeadingCmd: 0.599132 target range: 435.661865 and range: 435.60 m.he`?hahahahagigijgqrgqeqreqZeq:ey*e}cID@颥pBɢϐ)ҒJ< [?i){顩iq=i`?;r=O=I`?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020691)e9@a @a@a@iEE EEEE6EA"EEs:*EE:VEEc4ZEAaM@aM@aM@aU@@U9Ա 8"#,LAY%ABy%!%IbD]VD]ư8yu_=%u>=ٔQ->9Y=EyQ 54k4?Q 9]4o)BYayiQ Im@_:DI@BaBe%IBeֆBBaBaBaBeű;BeoEB4CB4CBĕCB =B =Ca6ɢ}9) k?i)i9rn=iZ?r=IZ?IEe EeEe3Ea"Ee=;*Ee:VEe4ZEaBEeIY#,0>LAO>?9ٱq>H?`n?;?@`ϿQX? >ȿ?Į?iO>IJ^;CYfByN%I Ai]Mb@Mb@Mb@YYYY Y9]|?5^?x&?QY]?y]7=]u]@]@ ]+A)]@YY] @bDuVDuİ8y >%=ٔQ->9Y=EyQ 54"4?Q 94P)BY?Q E:y[5?Q I@r:DIk:i:4yBɮ.A :iY]FNOT Ignoring new targets: 435.66 m."ieR*ieR縝 ProNav: ac range: 435.661865 m, nav range: 404.029724 m, bearing: 36.402305 deg, approach rate: -0.608875 m/s, LOS rate: -0.006320 deg/s, cmd heading: 34.322496 deg, new cmd heading: 34.316298 deg. i9HeadingCmd: 0.598932 target range: 435.661865 and range: 435.60 m.hS?hhhhggjgrg=BereZe:e*eCD@cBɢhx)! %?i!)%!isKk=iS?r=EH=IS?I]DAT read: 01:07:39.3906 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424,-0.48, 0.090,-1.523, 0.245,-0.297, PHS= 0.489,-1.181, 0.498, RAW= 150.3, 2.3, CAL= 149.2, 2.1, ROT= 0.8, -2.1 mYgot valid direction response: 01:07:39.3906 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424,-0.48, 0.090,-1.523, 0.245,-0.297, PHS= 0.489,-1.181, 0.498, RAW= 150.3, 2.3, CAL= 149.2, 2.1, ROT= 0.8, -2.1 uPDAT read: Bearing 190.1, 15.6 (Local) }~Local bearing/azimuth received: Bearing 190.1, 15.6 (Local) DAT read: Range 11 to 50 : 403.8 m (Round-trip 538.5 ms) speed 0.3 m/s (DAT read: user:16> BDAT read: Tx time:01:07:40.4979 $Ping request sent.i%+%>%'@%l$=%r&@ %Q =)%d#, WLA06>>6?64ٱ6r>6H P?@:_ 5¿`j?@?oϿSe?F??i6>>I6^;6CYBByBz%IbDJVDJ8iPIPy^4N>%^p=ٔ~Q->9Y=Ey#?u addTargetRange:: Added new target pos. range: 403.799988 m, deltaT: 41.600298 s, deltaX: -31.800018 m, approachRate: -0.764418 m/s, rangeRepo size: 4  Added new target pos. range: 403.909912 m, bearing: 34.024427 deg, lat: 36.779381 deg, lon: -121.859576 deg, deltaT: 41.600298 s, deltaX: -31.751953 m, approachRate: -0.763263 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 403.91 m."i*i ProNav: ac range: 403.909912 m, nav range: 401.340057 m, bearing: 36.663355 deg, approach rate: 0.000000 m/s, LOS rate: -0.006320 deg/s, cmd heading: 34.316298 deg, new cmd heading: 34.312042 deg. iHeadingCmd: 0.598858 target range: 403.909912 and range: 403.80 m.hN?hhhhggjgrgereZe:eBaBe6&IBe"BBe =BaBaBe;Be^oE@< D zD ?AE  E E 2E "E ;*E x:VE 4ZE BE AD@#,tbsLA2>>2 ?2䄾ٱ2F=2HH?M@¿`~?(?sϿ@l?T? ?i2>>I2_;2CY:By:%Ii~Mb@Mb@Mb@|||| |9~kt?)\(?X9vY~ ?y~Ga=~~d@~ @ ~nA)~@|Y~@bD= VD=8y=%1=ٔQ->9Y=Ey=DE>Q 544?Q 94)TBY?Q E:y0?Q I@:DI4:i:4yBɮAE:iFNOT Ignoring new targets: 403.91 m."i*i  ProNav: ac range: 403.909912 m, nav range: 401.089111 m, bearing: 36.661634 deg, approach rate: -0.557416 m/s, LOS rate: -0.003824 deg/s, cmd heading: 34.312043 deg, new cmd heading: 34.308599 deg. i߸HeadingCmd: 0.598798 target range: 403.909912 and range: 403.80 m.h%J?h!h!h!h!g!g!jg)rg-Be)re)Ze1:e1*e5Հ?eZBɢeTF)a e?ia)miiimOe=iuJ?ur=u.>;=IuJ?Iy!=?3<@ @@0@@,#,1LA0EB EBEB5E@"EB;*EB]t:VEB4ZE@aJ@aJ@aJ@aJ@Y~By~%IbD5VD58yMd>%MR=ٔMQ-M>9QYQ=UEyU=DUE]>aQ 5e4e4?Q 9m4e0)elBYiyiQ Im@e:DIe:ieP:eɸ4yqɮ}AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 403.91 m."iኸ*iኸ ProNav: ac range: 403.909912 m, nav range: 400.874451 m, bearing: 36.660161 deg, approach rate: -0.552486 m/s, LOS rate: -0.003794 deg/s, cmd heading: 34.308600 deg, new cmd heading: 34.305652 deg. i4޸HeadingCmd: 0.598747 target range: 403.909912 and range: 403.80 m.huG?hhhhggjgrgereZe:e*e?UBɢn) 6?i)  i Gc=i uG?ur=7<=IuG?IԉET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.]?B:Թ@ @@2@@W< ^A ;= A AAA AAB >B 7CB &IB iBB  =B B DB ;B poEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507515A%.AI)IAOM?e#,LADJ%=DJ%=EN ENELEL"EN%;*EN:VELZELBENKb?bٱbc=bH E?9Ŀ@?I?^˿ D?`e?@p?ibݘ>Ib!`;bCYnɆByn%IxiMb@Mb@Mb@ 9/$?l?Y1?y=̼ @d@ AA)@Y@bD.VDװ8y =%=ٔ;Q->9 ?Y ?=Ey)=D1E>Q 5 4B4?Q 9 4)BY ?Q E:y&?Q I@:DIY;i;4yBɮ<A:iAEFNOT Ignoring new targets: 403.91 m."iM*iM] ProNav: ac range: 403.909912 m, nav range: 400.602264 m, bearing: 36.659698 deg, approach rate: -0.521635 m/s, LOS rate: -0.000888 deg/s, cmd heading: 34.305653 deg, new cmd heading: 34.304726 deg. i]зeHeadingCmd: 0.598730 target range: 403.909912 and range: 403.80 m.hefF?hahahahagagijgirgmBeqreqZeq:eq*eu`)R?颥OBɢZ7) q?i)~顩ie_=ifF?VEr=G'=IfF?IyAxA!]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755805I9@ @@P5@B@:@R@J@y ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008629E EE6E"E:*E:VEc4ZEa@a @a @a @^AuC;=AyA}>A؟AIIO?#,LA2U >2O?2IXٱ2?=2H7?`{:Ŀc?U?@F˿` ?? ?i2U >I2-`;2CY>By>&IbDF9VDF8yN >%N =ٔRߊ;Q-R>9R"?YR"?=REyVA=DVEV>XQ 5^4Zw4?Q 9^4Z )ZBY`yb&?Q Ib@Z:DIZ\:iZG:Z̲4yfBɮfAfE:ixzFNOT Ignoring new targets: 403.91 m."i~h*i~h  ProNav: ac range: 403.909912 m, nav range: 400.300934 m, bearing: 36.659239 deg, approach rate: -0.521852 m/s, LOS rate: -0.000795 deg/s, cmd heading: 34.304728 deg, new cmd heading: 34.303809 deg. i HHeadingCmd: 0.598714 target range: 403.909912 and range: 403.80 m.hYE?hhhhggjg!rg!e!re!Ze!:e)*e-`K@UHBɢU')Y ]?iY)]YYieUZ[=ieYE?e r=m,b%=ImYE?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2637869M9@Q @Q@U0@Yq^AEK'=B >B 6CB &IB BB  =B B DB ;B oEߝ ?ߝ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516445ԩ A .AI I O >#,LADzD@AE EE4E"ED:*E n:VE4ZEBE2B E?BှٱBѻ=BH?`BĿ?V?@˿??|?iB1>IB`!`;BCY^ Byb3&IyiMb@Mb@Mb@ 9Cl?~jtx?lY?y;@@ @)E@Yp@bD VDʰ8y18>%9=ٔ;Q->9 ?Y ?=EyR=D5E>Q 544?Q 94t)BY1?Q E:y?Q I@:DIa;i;Ӳ4yɮQA:i)-FNOT Ignoring new targets: 403.91 m."i5<8*i5<8M ProNav: ac range: 403.909912 m, nav range: 400.056610 m, bearing: 36.660908 deg, approach rate: -0.552542 m/s, LOS rate: 0.003777 deg/s, cmd heading: 34.303809 deg, new cmd heading: 34.307149 deg. iM-8UHeadingCmd: 0.598773 target range: 403.909912 and range: 403.80 m.hU+I?hQhQhQhYgYgYjgYrg]݃BeareaZea:ea*eeS@CBɢܖ) ?i)AiRX=i+I?Oq=5$=I+I?Iԩ@ @@?0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767850^A A ؟AI! I1 OM >'#,[LA22>2tc?2~e~ٱ2*=2Hk?@ÿ9?T?3ʿ`4y?&??i22>I2q `;2CY:@By:[&IbDF(VDFѰ8yN1>%Na=ٔNh9R"?YR"?=VEyVa=DVn:EV>XQ 5^4Z4?Q 9^4Z)ZBY`yb?Q Ib@Z:DIZ;iZ ;Zڲ4ydɮfOAd:ixzFNOT Ignoring new targets: 403.91 m."i~8*i~8  ProNav: ac range: 403.909912 m, nav range: 399.855652 m, bearing: 36.662268 deg, approach rate: -0.553116 m/s, LOS rate: 0.003745 deg/s, cmd heading: 34.307149 deg, new cmd heading: 34.309870 deg. i P8HeadingCmd: 0.598820 target range: 403.909912 and range: 403.80 m.hHL?hhhhggjgrgere!Ze!:e!*e-A9@U?BɢUTͻ)Q U#?iQ)]YYi]'U=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019816imHL?m'q=u0U&=IuHL?IqE= E=E=2E9"E=:*E=1:VE=4ZE9aM@aM@aM@aM@i@q @q@u3@q 1^AP"=AxAzAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272286A I I O >i 2#,2"LA6&}>6?6I6_;6CYB[ByB|&IIF>)F<bDJ VDJ8yR8>%VK=ٔV9XYX=ZEyZr=DZϺ:EZ>`Q 5f4b94?Q 9f4b7)bBYdyf?Q If@b:DIbG:ibu:b4ynBɮnAnEzB*** querying acoustic contact ***ixix:i%FNOT Ignoring new targets: 403.91 m."i-`8*i-`8= ProNav: ac range: 403.909912 m, nav range: 399.632690 m, bearing: 36.663757 deg, approach rate: -0.549610 m/s, LOS rate: 0.003671 deg/s, cmd heading: 34.309871 deg, new cmd heading: 34.312849 deg. i=8EHeadingCmd: 0.598872 target range: 403.909912 and range: 403.80 m.hEO?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU |z @颭;Bɢ5)  ?i)@iiQ=iO?q=i'=I%O?I)BABDAT read: Rx Time:01:07:43.4665 TRx dataTimestamp_ set to:1764896864.681616checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526197B>B8CB{'IB*BB =BBDB;B}pE9@ @@N5@ԁEe EeEe3Ea"Ee:*Ee:VEe4ZEaBEeI8 M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777880F#,;LAYrwByr&IimMb@Mb@Mb@iiii i9mkt?~jtx rhYm ?ymĻmC m@m @ m @)m԰@iYmp@bD!VD˰8y=[=%E3=ٔEQ-M>9QYQ=uEy}=DE>ԹQ 54g5?Q 94)BYf?Q E:yA?Q I@:DI1=i2=14yBɮ%AI:iFNOT Ignoring new targets: 403.91 m."iñ8*iñ8 ProNav: ac range: 403.909912 m, nav range: 399.376801 m, bearing: 36.666280 deg, approach rate: -0.492209 m/s, LOS rate: 0.004857 deg/s, cmd heading: 34.312849 deg, new cmd heading: 34.317898 deg. i69HeadingCmd: 0.598960 target range: 403.909912 and range: 403.80 m.hwU?hhhhggjgrgBereZe:e*e@@5Bɢ^)9 =?i9)E4AAiECM=iMwU?Mbq=M,!'=IMwU?IQ߽%=߽R=DAT read: 01:07:43.4665 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 45,-0.36, 1.288,-0.573, 1.430, 0.679, PHS= 0.712,-1.207, 0.708, RAW= 149.9, -2.2, CAL= 149.2, -3.1, ROT= 0.8, 3.1 Ygot valid direction response: 01:07:43.4665 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 45,-0.36, 1.288,-0.573, 1.430, 0.679, PHS= 0.712,-1.207, 0.708, RAW= 149.9, -2.2, CAL= 149.2, -3.1, ROT= 0.8, 3.1 PDAT read: Bearing 183.6, 14.4 (Local) ~Local bearing/azimuth received: Bearing 183.6, 14.4 (Local)  DAT read: Range 11 to 50 : 423.3 m (Round-trip 564.4 ms) speed 0.4 m/s (DAT read: user:17> BDAT read: Tx time:01:07:44.5979 $Ping request sent.A5 >ԉA}.AIIO?R#,R\LA;ɰ;:F>:m?:+ nٱ:=:H ?  N?,? >˿7}???i:F>I:_;:CYBByB&IbDf#VDfͰ8ynA>%n.=ٔrg9r ?Yv ?=vEyv=Dv;Ev>xQ 5~4z#5?Q 9~4z)zBYy a?Q I @z ;DIzn?;izF;zI4yɮOA!iiLLAjC"jC:j?Rj4Wlz@-DR@6P6Bj6 7?I}?ʾ7*j2jk]=ZjR}u@^em@oR@Jj9d?B R?))y?j*kC jCiQS?iNjCjt ?jNjSCrjCzj!? addTargetRange:: Added new target pos. range: 423.299988 m, deltaT: 4.048533 s, deltaX: 19.500000 m, approachRate: 4.816559 m/s, rangeRepo size: 4  Added new target pos. range: 423.432281 m, bearing: 34.369048 deg, lat: 36.779409 deg, lon: -121.859612 deg, deltaT: 4.048533 s, deltaX: 19.522369 m, approachRate: 4.822085 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 423.43 m."i*i ProNav: ac range: 423.432281 m, nav range: 399.729309 m, bearing: 36.036140 deg, approach rate: 0.000000 m/s, LOS rate: 0.004857 deg/s, cmd heading: 34.317900 deg, new cmd heading: 34.321944 deg. i HeadingCmd: 0.599031 target range: 423.432281 and range: 423.30 m.h Z?h h h h g gjgrgereZe:etz@*e5?0Bɢ;) '?i)iJ=iZ?Aq=3=IZ?I 9@ @@0@ B >BB'IBqBB =BBB;BpEB57CB57CB5ƓCB5 =B5 =C5-5^A$=E- 1  E- E- 5E) "E- :*E- :VE- 4ZE) BE- Q-#,9}vLA>Vù>>?>iٱ>=>H0?@6f@ ?%?,˿?@û??i>Vù>I>_;>CYFByJ&IiMb@Mb@Mb@ 9oʡ?~jt rhY ?yļ@@ d@)@YQ@ -C=-a=bD5(VD5Ѱ8yE=%EF=ٔE$9IYI=MEyM=DM;EU>QQ 5e4U35?Q 9e4U)U.BYeu ?Q Ee:ye@ ?Q Ie@U;DIU;iU:U4yuBɮuAuE:iFNOT Ignoring new targets: 423.43 m."i8*i8 ProNav: ac range: 423.432281 m, nav range: 399.504730 m, bearing: 36.038885 deg, approach rate: -0.561866 m/s, LOS rate: 0.006872 deg/s, cmd heading: 34.321943 deg, new cmd heading: 34.327437 deg. i:I9HeadingCmd: 0.599127 target range: 423.432281 and range: 423.30 m.h``?h1h1h1h1g9g9jg9rg=BeAreAZeA:eA*eE?iI颕,Bɢ x<) N?i)i6G=i``?#q=X5=I``?IQ%9@! @!@%0@)y^AM 3=ԩ I! I9 OE >bE˹4jEܦ4rEַ/E=  E= E9 E9 "E= :*E= :VE9 ZE9 aM @aM @aM @aM @##,6ZLA2>2<?2!eٱ2%]=2HL?!Q"?`!?˿*g? #??i2>I2qg_;0Y>By>*'I@bDJVDJð8yR=z>%RU=ٔRB9TYT=VEyV=DV:EZ>XQ 5b4ZB5?Q 9b4Z)Z?BY`ybs ?Q Ib@Z(;DIZi:iZ:Z64ydɮjB Ah:iquFNOT Ignoring new targets: 423.43 m."i}8*i}8 ProNav: ac range: 423.432281 m, nav range: 399.296112 m, bearing: 36.041414 deg, approach rate: -0.522185 m/s, LOS rate: 0.006334 deg/s, cmd heading: 34.327438 deg, new cmd heading: 34.332499 deg. iy99HeadingCmd: 0.599215 target range: 423.432281 and range: 423.30 m.h*f?hhhhggjgrgereZe:e*e;?-'Bɢ5<)1 s?i)߽iVD=i*f?q=6=I*f?IԱ9@ @@?5@ EȃGa}A9YƯA^A d6=AyAzAxAI1 IA Ou > }*#,(CLAA@AA?AlxxEdž>E ?EX`ٱE?X=EH`? '$U<@-?e?_M˿?I??iEdž>IE_;ECBQBQBU*(IBUBBQBQBQBU;BUpEYm BymT'Ii=Mb@Mb@Mb@9999 99=K7?~jt{GzY=I ?y9=ף=@=M@ =@)=E@9Y=@bDU!VDU˰8y]>%e1=ٔe%9iYi=mEym=Du6:Eu>yQ 5}4}T5?Q 94})}VBY ?Q E:y ?Q I@}8;DI}:i}:}J4yBɮG AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 423.43 m."i8*i8 ProNav: ac range: 423.432281 m, nav range: 399.047272 m, bearing: 36.044523 deg, approach rate: -0.556848 m/s, LOS rate: 0.006960 deg/s, cmd heading: 34.332499 deg, new cmd heading: 34.338720 deg. iK9HeadingCmd: 0.599324 target range: 423.432281 and range: 423.30 m.hHm?hhhhggjgrgBE EE3E"E*E:VE4ZEBEI8;aereZe :e *e :$?="Bɢ=|<)9 E+?iA)EstܽAAiER@=iMHm?Mp=U>9=IUHm?IQ 1;IxA)wAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E 9@A  @A @E 0@A ^Am G5=ԉ I I O >F1#,uLA2Ǻ>2d.?2=:[ٱ2M=2H ?"$>5?`?e˿1?o??i2Ǻ>I20_;2CY:%NM=ٔNM9PYP=REyR=DV:EV>XQ 5^4Z}d5?Q 9^4Z)ZiBY\y^ ?Q Ib@ZF;DIZ;iZ;Z>4yfkBɮf} AfE:iimFNOT Ignoring new targets: 423.43 m."i8*i8 ProNav: ac range: 423.432281 m, nav range: 398.832947 m, bearing: 36.047186 deg, approach rate: -0.518477 m/s, LOS rate: 0.006447 deg/s, cmd heading: 34.338721 deg, new cmd heading: 34.344051 deg. i<9HeadingCmd: 0.599417 target range: 423.432281 and range: 423.30 m.has?hhhhggjgrgereZe:e*e?颍BɢL" =) @i)ؽ顑ik==ias?p=X:=Ias?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003653Eu EuEu4Eq"Eu;*Eu|:VEu4ZEqa@a@a@a@@ @@C2@A ^Ae C;=I I O >iY IY e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2558967#, FLA2>2U?2Uٱ2+=2H ? A%`ֻ >??ʿ?`_? ?i2>I2Ĝ_;2CYNbByN'IbDVVDV8y^<>%bH=ٔbN9`Yd=fEyf=Df:Ef>hQ 5n4jjt5?Q 9n4j)j|BYpyr$ ?Q Ir@jT;DIj;ihj_4yvnBɮv^At:iFNOT Ignoring new targets: 423.43 m."i8*i8- ProNav: ac range: 423.432281 m, nav range: 398.612946 m, bearing: 36.049901 deg, approach rate: -0.561273 m/s, LOS rate: 0.006930 deg/s, cmd heading: 34.344052 deg, new cmd heading: 34.349485 deg. i-J95HeadingCmd: 0.599512 target range: 423.432281 and range: 423.30 m.h5y?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE`Z@uBɢuxK=)uR u @iy)}սyyi}(5:=iy?p=t;=Iy?Ia==QBe>BaBe(IBe BBaBaBachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507867Be;BepE=3yDyzDyE EE3E"EV:*E:VE4ZEBE9?#,.LATɰV4<>F?Qٱo`=H#?@(@H??1ʿ@?;?,?i>I_;YBy'IiMb@Mb@Mb@ 9?I +y&1Y ?y94`e@@  @)Ԥ@Yz@bD VD8y>%!=ٔ9"?Y%"?=%Ey%=D%:E%>)Q 554-5?Q 9=4-)-BY= ?Q E=:y=)?Q I=@-f;DI-V:i-:-D4yAɮE3AI:iiuFNOT Ignoring new targets: 423.43 m."iuV8*iuV8 ProNav: ac range: 423.432281 m, nav range: 398.337738 m, bearing: 36.052366 deg, approach rate: -0.540638 m/s, LOS rate: 0.004845 deg/s, cmd heading: 34.349486 deg, new cmd heading: 34.354418 deg. i 9HeadingCmd: 0.599598 target range: 423.432281 and range: 423.30 m.h<?hhhhggjgrgBereZe:e*e @Bɢ =) |@i)нiT36=i<?ˎp=]>=I<?I=9@9 @9@=1@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011627)E EE5E"E;*E:VE4ZEa@a@a@a@^AE ;=Q Aq Iy I O >;E#,%LA2ۻ>2?2Kٱ2=2H'?@)` Q??Dcʿ R?f?&?i2ۻ>I2_;2CY:By:+(IbDF VDFʰ8yN1>%Ng=ٔNf9PYP=REyR >DV:EV>XQ 5Z4Z5?Q 9^4Z)ZBY\y^U?Q I^@Zr;DIZQ;iZ+;Zt$4yfpBɮfAfE:iIMFNOT Ignoring new targets: 423.43 m."iU8*iU8 ProNav: ac range: 423.432281 m, nav range: 398.146118 m, bearing: 36.054065 deg, approach rate: -0.523473 m/s, LOS rate: 0.004644 deg/s, cmd heading: 34.354417 deg, new cmd heading: 34.357817 deg. i9HeadingCmd: 0.599657 target range: 423.432281 and range: 423.30 m.h ?hhhhggjgrgereZe:e*es @1]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263907颍Bɢ<=) B@i)'ͽ项ij2=i ?up=[?@=I ?I))55au9@y @y@0@BAi B >B 6CB (IB [BB  =B B DB b;B 7qE@yA@ BDAT read: Rx Time:01:07:47.5492  TRx dataTimestamp_ set to:1764896868.716388 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516526Թ E  E E E "E &:*E ?:VE ZE BE k;9 ?Y ?=Ey$>DE%>)Q 5E4-5?Q 9E4-K)-BYEm?Q EM:yMJ?Q IM@-;DI-j;i-AQ;-.4yYɮ]Aa=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 423.43 m."iM>8*iU>8] ProNav: ac range: 423.432281 m, nav range: 397.819122 m, bearing: 36.056239 deg, approach rate: -0.543126 m/s, LOS rate: 0.003613 deg/s, cmd heading: 34.357819 deg, new cmd heading: 34.362169 deg. i]8eHeadingCmd: 0.599733 target range: 423.432281 and range: 423.30 m.he?hahihihigigijgqrguރBeqreqZeq:ey*e}@颽 Bɢ2/=) W@i)ǽi@.=i?#Rp=a|?=I?I@ @@0@ 5 DAT read: 01:07:47.5492 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 125, 0.20,-0.044,-1.742, 0.068,-0.574, PHS= 0.632,-1.123, 0.598, RAW= 149.0, -1.2, CAL= 148.2, -1.9, ROT= 1.8, 1.9 = Ygot valid direction response: 01:07:47.5492 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 125, 0.20,-0.044,-1.742, 0.068,-0.574, PHS= 0.632,-1.123, 0.598, RAW= 149.0, -1.2, CAL= 148.2, -1.9, ROT= 1.8, 1.9 E PDAT read: Bearing 184.6, 12.7 (Local) M ~Local bearing/azimuth received: Bearing 184.6, 12.7 (Local) U DAT read: Range 11 to 50 : 410.3 m (Round-trip 547.1 ms) speed 0.4 m/s ] (DAT read: user:18> ] BDAT read: Tx time:01:07:48.6479 e $Ping request sent.e qU#,VLABKּ>B5?Bh@ٱBK=BHV-?@-`)~g?@+?ɿ 3?1?8?iBKּ>IBZY_;BCYZByZ(IbDfVDf8y~>%~M=ٔ~<9Y=Ey4>D [;E >11Q 5=45k5?Q 9E45 )5BYAyE?Q IE@5;DI5:i5:554yMsBɮuAuEiYi]NLAj]5C"j]5C:j]K?Rj]I"ܟy@gʮ)@F 7+Bj]6t?&?B3*j]=2j]=Zj]xӯJ̔t@m@M3[9P@Jj]G٬?` 3j?>?j]4lC j]Ci]!?i]Cvxj]pCj]?j]Cvxj]pCrj]vCzj]so? addTargetRange:: Added new target pos. range: 410.299988 m, deltaT: 4.031205 s, deltaX: -13.000000 m, approachRate: -3.224842 m/s, rangeRepo size: 4  Added new target pos. range: 410.419403 m, bearing: 35.651691 deg, lat: 36.779476 deg, lon: -121.859587 deg, deltaT: 4.031205 s, deltaX: -13.012878 m, approachRate: -3.228037 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 410.42 m."i*i- ProNav: ac range: 410.419403 m, nav range: 404.925781 m, bearing: 35.683487 deg, approach rate: 0.000000 m/s, LOS rate: 0.003613 deg/s, cmd heading: 34.362169 deg, new cmd heading: 34.364975 deg. iiuHeadingCmd: 0.599782 target range: 410.419403 and range: 410.30 m.huO?hqhqhqhqgqgyjgyrgyeyreyZe:e̤y@*e`?-Bɢ- =)) -S!@i))5Gý11i5զ*=i=O?=;p==5F=I=O?IAa9@ @@0@ԉ^A &t@=B >B 5CB V)IB BB  =B B B ;B qEA5 ؟AIy ߵ =ߵ <I O >[#,JpLA2>2?2U:ٱ2l=2H 9+?#9Sz??Cɿ@5?? i>?i2>I2pe_;2CY>8By>(IEj EjEj2Eh"Ej ;*Ej1:VEj4ZEhBEjL%uC=ٔ}e9"?Y"?=EyE>D^;E>Q 545?Q 94g)BY?Q E:y$?Q I@;DI;i?;<4yɮAԹ:iFNOT Ignoring new targets: 410.42 m."i*i ProNav: ac range: 410.419403 m, nav range: 404.695709 m, bearing: 35.682781 deg, approach rate: -0.577061 m/s, LOS rate: -0.001771 deg/s, cmd heading: 34.364973 deg, new cmd heading: 34.363561 deg. ijOHeadingCmd: 0.599757 target range: 410.419403 and range: 410.30 m.h?hhhhggjgrgBere Ze :e *e g?BɢZ.=)7g &@i)Cim<'=i?)p=M=I?I9@ @@?0@@@=^A4|E=A I) I9 I OU >~b#,WvLA4<ɰ;2n7>2(f?2t5ٱ2=2H`&? E@??@=ɿ`?`@L?@E?i2n7>I2q_;2CY:UBy>(IbD^!VD^˰8yf >%fV=ٔfk9hYh=jEyjU>DnP;En>pQ 5v4r95?Q 9v4r)rBYtyv%?Q Iz@r;DIr:ir\:rC4y~vBɮ~ A|:i!%FNOT Ignoring new targets: 410.42 m."i- *i- 5 ProNav: ac range: 410.419403 m, nav range: 404.483093 m, bearing: 35.682054 deg, approach rate: -0.557514 m/s, LOS rate: -0.001907 deg/s, cmd heading: 34.363563 deg, new cmd heading: 34.362108 deg. i=^_EHeadingCmd: 0.599732 target range: 410.419403 and range: 410.30 m.hE?hAhAhAhAgIgIjgIrgIeIreQZeQ:eQ*eU@D?颅Bɢ5=) *@i)顉i #=i?-p=/V=I?IԙU9@Q @Q@U?5@QE EE3E"E%;*E:VE4ZEa@a@a@a@^AdO=A I I O- > h#,]RLA2R>2?2 /ٱ2=2H#? OŲ!?S?@Ͽȿ ? ?N?i2R>I2u_;2CY:nBy: )IbDF3VDF۰8yN=%NN=ٔNq9PYP=REyRe>DV;EV>XQ 5^4Z5?Q 9^4Z)ZBY\y^(&?Q Ib@Z;DIZ;iZ;ZJ4ydɮf>Ad:itzFNOT Ignoring new targets: 410.42 m."iz*iz ProNav: ac range: 410.419403 m, nav range: 404.261627 m, bearing: 35.681230 deg, approach rate: -0.557000 m/s, LOS rate: -0.002074 deg/s, cmd heading: 34.362108 deg, new cmd heading: 34.360459 deg. i r HeadingCmd: 0.599703 target range: 410.419403 and range: 410.30 m.h %?hhhhggjgrgere!Ze!:e!*e%#(?MBɢU>=)Q Uz.@iQ)UWQYi]8 =ie%?ep=em]=Ie%?Ia%9@) @)@505@1AAAAB>B4CB)IBBBBBB;BqEB6CB6CBĔCB =B =CĿ)6E EEE"ET;*E:VEZEBEGBn#,6LA Z>Zf?Z)ٱZ=ZH`?`T[@"}ڶ?~?ȿ`&?U?T?iZ>IZ8P_;ZCYBy0)IiMb@Mb@Mb@ 9Cl?ˡE?y&1|?Y?y'=`;@@ M@)/@Y@bD#VDͰ8y>%8=ٔ89 ?Y ?=Eyv>D;E>Q 54S5?Q 94)/BYC?Q E:y+?Q I@;DIR:i:IR4yQBɮ.@EB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 410.42 m."i%ց*i%ց5 ProNav: ac range: 410.419403 m, nav range: 404.016571 m, bearing: 35.679658 deg, approach rate: -0.552608 m/s, LOS rate: -0.003547 deg/s, cmd heading: 34.360458 deg, new cmd heading: 34.357312 deg. i=ϸ=HeadingCmd: 0.599648 target range: 410.419403 and range: 410.30 m.h=?hAhAhIhIgYgajgqrguBeqreqZey:ey*e}T?%Biɢ-=)q u2@iq)u Vyyi}>=i}? p=6e=I?Iԑߕ)?ߕR=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9@  @ @ 0@ @ zA@ xA bEM4jEMɣ4rEM6/E  E E 2E "E l;*E ą:VE 4ZE a @a @a @a @ ^A <|^=A؟A!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.272677IAIYO ?w#,\<LA )G{A :9:{AY:A>?TH!ٱT>HE?@u`~?`,?tȿ?Y?%[?i>IV_;CY-By-O)II5>)5>AE@AbDEVDE8yU=%U=ٔ]l9]"?Ye"?=eEye>De <Ee>iQ 5u4m 6?Q 9u4m)mKBYyy},?Q I}@m;DIm{;imD;m[4yɮ@:iFNOT Ignoring new targets: 410.42 m."iꎸ*iꎸ ProNav: ac range: 410.419403 m, nav range: 403.721436 m, bearing: 35.677581 deg, approach rate: -0.554330 m/s, LOS rate: -0.003905 deg/s, cmd heading: 34.357313 deg, new cmd heading: 34.353155 deg. i丝HeadingCmd: 0.599576 target range: 410.419403 and range: 410.30 m.h}?hhhhggjgrgereZe:e*ew@ Bɢ Ӿ=)  6@i)\i =i}?v p=zt=I}?I!ԙ59@ @@0@B>B5CB)IB5BB =B/DBB;BqEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526745DzDAAE EE3E"E&:*E:VE4ZEBEk;b~#,ZLA2;>2N?2ٱ2>'>2H7 ?[Ъ??`uȿ@?V(?]?i2;>I2e<_;2CY>ˉBy>|)IiMb@Mb@Mb@ 9d;O?T㥛 ?Y?y=@@ Լ@)@Y@bDVDư8y-6>%-O=ٔ-V-91Y1=5Ey5>D=;E=>AQ 5M4ES6?Q 9M4Eĥ)E^BYM?Q EM:yM6?Q IU@E;DIE(:iEt:E~b4y]SBɮ]@]E:i!%FNOT Ignoring new targets: 410.42 m."i5*i5u ProNav: ac range: 410.419403 m, nav range: 403.494904 m, bearing: 35.674721 deg, approach rate: -0.545403 m/s, LOS rate: -0.006888 deg/s, cmd heading: 34.353157 deg, new cmd heading: 34.347435 deg. iuIHeadingCmd: 0.599476 target range: 410.419403 and range: 410.30 m.h@w?hhhhggjgrgBereZe:e*ebK@i߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776903Bɢ =) ;@i)%0!!i%-==i-@w?-op=- |=I-@w?I19999Qyu9@q @q@u/@qԩ m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028654E  E E E "E ;*E VE ZE a @a @a @a @^A= C|w= IQIaOu>#,)LA5H>5?5ٱ56>5H?{먿`?` ?2ȿ ?`,?ab?i5H>I5=_;5CYMByM)IԉbD&VDϰ8y =%'=ٔ9Y=Ey>DE;E>Q 54G-6?Q 94)vBYy6?Q I@B} 6CB} C*IB} mBB}  =B} .DB} DB} ó;B} qEI I O > m BDAT read: Rx Time:01:07:51.5819 m TRx dataTimestamp_ set to:1764896872.766687u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535841##,2LA;ɰ4<D0D2p=E6 E6E62E4"E6;*E6҆:VE64ZE4BE6AC:E6;a>Be>Bj}?BKٱBo:>BHf?@@1`e?@?ǿx??`h?iBe>IB1_;BCYBy)IiMb@Mb@Mb@ 9zG?Zd;?%H=ٔE69Y=Ey>DҮ;E>Q 54<6?Q 94ʜ)BY?Q E:yj6?Q I@)! -C@i))-CIIiUoc =iUg?U6-p=]x=I]g?IY@ @@@ )checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784564Q^A- =I I O >ԁ #,LLABp>B?BٱB>BH_?`2~"?IB*_;@YJByJ)IbDRVDR8y^=%^]=ٔ^K9`Y`=bEyb>Db';Ef>dQ 5j4f`J6?Q 9n4f )fBYlyn6?Q In@f!)u' uF@iq)uӖyyi}e=i}ja? BDAT read: Tx time:01:07:52.6979 $Ping request sent.i= 7>*@޹=%:)@ q=)c9@Iqb-?`io ?MnU? )?)Iwּiq:publishing transmit ping timeFpublishing direction and range infoy}jv.?#հ{]U?Y )Ii)@) @)@-m1@)@1@5yA )Ib-?`io ?MnU? )IiEm EmEm7Ei"Em;*Em:VEmԺ4ZEia}@a}@a}@a}@ԙ^AU[=AUxAzAUwAIIO> 6#,wfLA2h>2~?2T ٱ2^ =2H? ɣ2?p?@ƿ`GQ?_?u?i2h>I2_;2CYB ByB)IIF<)F;bDJVDJư8yfL<%fI=ٔf69hYh=jEyj>Djj;En>pQ 5v4rY6?Q 9v4r)rBYtyvb7?Q Iv@r0\rs?jMRC jMˢCiM} =?iM~jMfCjIjMNjMCrjMCzjM6? addTargetRange:: Added new target pos. range: 397.299988 m, deltaT: 4.048246 s, deltaX: -13.000000 m, approachRate: -3.211267 m/s, rangeRepo size: 4  Added new target pos. range: 397.420868 m, bearing: 32.830880 deg, lat: 36.779476 deg, lon: -121.859612 deg, deltaT: 4.048246 s, deltaX: -12.998535 m, approachRate: -3.210906 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 397.42 m."i*i ProNav: ac range: 397.420868 m, nav range: 401.259369 m, bearing: 35.410022 deg, approach rate: 0.000000 m/s, LOS rate: -0.007687 deg/s, cmd heading: 34.328346 deg, new cmd heading: 34.321803 deg. i HeadingCmd: 0.599028 target range: 397.420868 and range: 397.30 m.hY?hhhhggjg!rg!e)re)Ze):e-x@*e59 ?uBɢu >)y }G@iy)}?顁i =iY?Rp=B>B5CBu*IBBBBBDB;BaqEʌ=IY?I9@ @@/0@E EE4E"E;*E:VE4ZEBEa2EaJE;a:E;a) ^A =Ii Iy O >#,yLAYb%Byb)IiMMb@Mb@Mb@IIII I9Mgfffff?Q?I +YM3?yM\=M94M@M԰@ M@)M@IYM¥@aabDmQVDm8yu<%}@=ٔ}Q-}>9Y=Ey>DE>Q 54h6?Q 94)BYP?Q E:y$>)1 5I@i1)(顱ibO=iP?gp=v=IP?IQi@i @i@m2@iy^A@=II O >E  E E :E "E ;*E :VE (4ZE a @a @a @a @ԩ sG#,!VLA2qK>2+p?2Kٱ2p>2H@?kP?`? Uƿ ?׿? ~?i2qK>I2Y_;0@YBDByB*IbDJ"VDJ̰8yR@%>%VY=ٔV 9XYX=ZEyZ?DZ<EZ>\Q 5b4^]v6?Q 9f4^Ō)^BYdyf =?Q If@^M) BM@i)3iajB4CB*IBBB =B/DBBa;B'qE ^A1 A= >A= >E  E E 2E "E 7;*E :VE 4ZE BE Z#,0LA2c>2#?2OMٱ2Y=2H@?@,]?@?ſ r־?@?@?i2c>I2L`;2CY:MBy:*I <9)Y1=5Ey5?D54;E5>9Q 5E4=E6?Q 9E4=)=BYM>?Q EM:yMf,?Q IM@=`)r? N@i)ii0#,9LA>i>>&??>ٱ>=>H?`FA` l?ɞ??ſ`b?j3?``?i>i>I>+`;% <=ٔ W9Y=Ey'?D†;E>!Q 5-4%Ù6?Q 9-4%)%BY)y-,?Q I5@%p?hhhhggjgrgereZe:e*e@%ӃBɢ%"K5>)%#2 %R@i!)-x+u))i-?Uxp=Uܘ=IU$>?IY)ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.}t'Y)@1 @1@5/@1ԁ BE >BA BE *IBE ӊBBE  =BA BE DBE ;BE pEB 5CB 5CB B  =B  =C ˌ5^Au = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505668A.AII)O5>#,.LAE EE2E "E:*E:VE4ZE BE6}k?nѽٱ=Hu?`s?s?`Ŀ<%?P_? ?iB>I_;CY%lBy%B*IԩiMb@Mb@Mb@ 9kt?I +?y&1|Y ?y94<`r@\@ \@)\@Y@bD/VDذ8y;%=ٔ9 ?Y ?=EyQ 546?Q 94M)BY*?Q E:y$?Q I@) S@i)Kg顙i{=? Ľٱ=HN?`r? ?`ÿ`w?̆?ٛ?i+>I5_;CY-By-a*IbD=jVD=8yM=%M=ٔUL9U"?YU"?=UEyUQ?D]];E]>aQ 5m4et6?Q 9m4ez)eBYiyu@%?Q Iu@e) 5W@i) X  i >[#,/LAn>n& ?nֵٱnbN=nHj?`0cX?%?`'?`~ÿ@6? ?h?in>In"_;lY%By%r*IBDAT read: Rx Time:01:07:55.6439 TRx dataTimestamp_ set to:1764896876.804261checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521065QbDuWVDu8y=%D=ٔ9Y=Eyb?D);E>Q 54)6?Q 94v)BYy%?Q I@)a mFY@ii)msLiiimFA5> IAIQO] ?G#,IQLA2>2E ?2Gٱ2_=2H?`y? ??j¿`?q\??i2>I2_;2CY:By:*IvDAT read: 01:07:55.6439 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 58, 0.19,-0.337,-1.917,-0.106,-0.638, PHS= 0.402,-1.234, 0.488, RAW= 152.5, 4.1, CAL= 151.6, 4.0, ROT= 358.4, -4.0 ]Ygot valid direction response: 01:07:55.6439 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 58, 0.19,-0.337,-1.917,-0.106,-0.638, PHS= 0.402,-1.234, 0.488, RAW= 152.5, 4.1, CAL= 151.6, 4.0, ROT= 358.4, -4.0 ePDAT read: Bearing 193.9, 4.0 (Local) e~Local bearing/azimuth received: Bearing 193.9, 4.0 (Local) mDAT read: Range 11 to 50 : 406.4 m (Round-trip 541.9 ms) speed 0.4 m/s u(DAT read: user:20> }BDAT read: Tx time:01:07:56.7478 }$Ping request sent.}i^󝿉^#>^X*@^C=^V)@ ^5=)^+@I^5\\^Tl?)9*?L9z? ^c?)^I^i^5\\:publishing transmit ping timeyFpublishing direction and range infoy\^'?b=&k۱?iMb@Mb@Mb@ 9> ףp=?Mb{GzY?y#/@@ Ԥ@)E@Y(@Y\\\\\ \)\I\i\\\\\ \)\I\\\^Tl?)9*?L9z? \)\I\i\\\E5 E5E56E1"E5 ;*E5ą:VE5c4ZE1a=@a=@a=@a=@bD-NVD-8yU=%U=ٔU S9YYY=]Ey]x?D]l:Ee>aQ 5u4e6?Q 9u4eir)e BYu?Q Eu:yu@?Q Iu@e)a mY]@ii)u`o#,kLA>)o>> ?>oHٱ>o=>Hk??@??@!¿bD?|Ծ??i>)o>I>_;>CYNByN*IbDZ)VDZҰ8Bb>Bb3CBb*IBbBBb =B`B`Bb;BbgpEyr=%re=ٔr+9tYt=vEyv?Dv >Ez>|Q 54~6?Q 94~Vo)~BYy?Q I@~)b "_@i)n>4顡iJeԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.731367Թ V#,LAF9/>F?F=ٱFK=FH ?`1Z???i`*?`N??iF9/>IF;_;DYNŊByR*Ii%Mb@Mb@Mb@!!!! !9%q= ףp?y&1{GztY% ?y%`e%ף%@%@ %@)!!Y%@bD=VD=ư8yM=%MD=ٔUy9QYQ=]Ey]?D]E]>aQ 5m4e{7?Q 9m4ek)eBYu ?Q Eu:yu?Q Iu@e>)k# |`@i)&顡i/ 9#,uLA2>2?2ٱ2>2H ?뾗???{`\?'??i2>I2D_;2CY:܊By:*IbDFVDF8yJ=%NW=ٔN9lYl=nEyn?Dr Er>tQ 5v4v-7?Q 9z4vh)vBYxyzx?Q Iz@v)YQ c@i)顉iRBB+IB BB =BBB;BbpE^AII)O5>Q ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501747D] =D] R=Ee  Ee Ee 2Ea "Ee l;*Ee ^:VEe 4ZEa BEa au 2Ea au JEe ^2x?2kٱ2g>2H;?^@`?}?q?`w@z?`:? .?i2]>I2ra_;0YNByR*Ii-Mb@Mb@Mb@)))) )9-/$?y&1Mbp?Y- ?y-`弙-;-@-@ -/@)-/@)Y-@bDEVDE8yMg>=%U?=ٔU"N9QY=Ey?DE>Q 54"7?Q 94ue)&BY8 ?Q E:y9?Q I@) e@i)顱i9f2(?2Vٱ2o>2H?ax?`?@=?`yת?1?2?i2F>I206_;2CY>By>*I @@bDFVDF8yN=%N$=ٔRu)9PYP=VEyV?DVz%EV>XQ 5^4Z57?Q 9^4Za)Z.BY`yb?Q Ib@Z=DIZ:iZ:Z14yfBɮf!@jrE:ix~FNOT Ignoring new targets: 406.51 m."i~:8*i~:8 ProNav: ac range: 406.507294 m, nav range: 393.929047 m, bearing: 34.454554 deg, approach rate: -0.556766 m/s, LOS rate: 0.002542 deg/s, cmd heading: 34.290172 deg, new cmd heading: 34.292599 deg. i8HeadingCmd: 0.598519 target range: 406.507294 and range: 406.40 m.h8?hhhhg!g!jg9rg9eIreZe:e*ePb@UBɢenG>)m( mBh@ii)m&iiiu?q9@ @@/@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255610ԉB% >B% 2CB% $+IB% $BB%  =B! B% DB% ;B% TpE^A= ͢=Թ A I I O >H#,LANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510112PDzDAAE EEE"E%;*EZ:VEZEBEK9Y=Ey?DE>Q 54}H7?Q 94])4BY?Q E:y?Q I@=DI ;i;4yɮj@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 406.51 m."i7*i7 ProNav: ac range: 406.507294 m, nav range: 393.663300 m, bearing: 34.455154 deg, approach rate: -0.503213 m/s, LOS rate: 0.001138 deg/s, cmd heading: 34.292601 deg, new cmd heading: 34.293802 deg. i>8=HeadingCmd: 0.598540 target range: 406.507294 and range: 406.40 m.h=9?hYhYhYhYgYgajgargeуBeareiZei:ei*em @BɢM>) k@i)iȜ2?2hٱ2=2H@q?@E??q?ޣ???i2W>I2_;2CY:"By:"+II>)>)<bDFVDFǰ8yN=%N"=ٔN9PYP=REyR?DVeEV>XQ 5^4Z [7?Q 9^4ZY)Z9BY\y^?Q Ib@Z#=DIZz:iZ:Z4yj"Bɮn@l):i)=FNOT Ignoring new targets: 406.51 m."iE;7*iM;7 ProNav: ac range: 406.507294 m, nav range: 393.398682 m, bearing: 34.455912 deg, approach rate: -0.541975 m/s, LOS rate: 0.001552 deg/s, cmd heading: 34.293803 deg, new cmd heading: 34.295318 deg. i58HeadingCmd: 0.598566 target range: 406.507294 and range: 406.40 m.h;?hhhhggjgrgereZe:e*e%X @mBɢmT>)i mtm@ii)uaļqqiu B1CBJ+IBCBB =BBDB;BapEB3CB3CBB =B =CC5^A5 =Ա A I I O >ѣ #,5LANBDAT read: Rx Time:01:07:59.6758 VTRx dataTimestamp_ set to:1764896880.848548^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522037D=D<E EE7E"E7;*E:VEԺ4ZEBEZ%?%I4 ٱ% 4=%H?? ?? rਅ?@t??i%hJ>I%_;%CY]5By]9+IieMb@Mb@Mb@aaaa a9e&1?Mb?Ye?ye9Y=Ey @D.E>Q 54'n7?Q 94U)>BY?Q E:y"%?Q I@5=DI;iA;4yɮ@:i!-FNOT Ignoring new targets: 406.51 m."i5*i= ProNav: ac range: 406.507294 m, nav range: 393.116364 m, bearing: 34.454114 deg, approach rate: -0.565845 m/s, LOS rate: -0.003605 deg/s, cmd heading: 34.295319 deg, new cmd heading: 34.291721 deg. i%ӸHeadingCmd: 0.598503 target range: 406.507294 and range: 406.40 m.h7?hhhhggjgrgԃBereZe:e*e xu @%Bɢ%]>)) -p@i))-*))i-kA? DAT read: 01:07:59.6758 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 407,-0.25, 1.286,-0.310, 1.555, 0.859, PHS= 0.529,-1.124, 0.652, RAW= 153.6, -0.7, CAL= 152.5, -1.7, ROT= 357.5, 1.7 Ygot valid direction response: 01:07:59.6758 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 407,-0.25, 1.286,-0.310, 1.555, 0.859, PHS= 0.529,-1.124, 0.652, RAW= 153.6, -0.7, CAL= 152.5, -1.7, ROT= 357.5, 1.7 PDAT read: Bearing 188.4, -0.6 (Local) %~Local bearing/azimuth received: Bearing 188.4, -0.6 (Local) -DAT read: Range 11 to 50 : 392.9 m (Round-trip 523.9 ms) speed 0.4 m/s 5(DAT read: user:21> =BDAT read: Tx time:01:08:00.7978 =$Ping request sent.= ;? !Xܼٱ := H?@?`v??|*?ֻ?@p?i  >I _; CYHByP+I@AbD<VD8y؅=%=ٔPX9Y=Ey @Dj ;E>Q 54L7?Q 94P)CBYym%?Q I@I=DI:i%:@ 4y%Bɮ@sE!GiiAVLAj~C"j~C:j@?Rjc x@d"1v!Q'렿9 Y KABj?x)ϙ?"gR `*jѸ22j<ZjIETt@W9c=j@&Jj /?i{?xO)~jVC jCi/õۣ?ijAj~Bj/õۣ?jjpCrjCzj_?M addTargetRange:: Added new target pos. range: 392.899994 m, deltaT: 4.043912 s, deltaX: -13.500000 m, approachRate: -3.338351 m/s, rangeRepo size: 4 } Added new target pos. range: 392.987427 m, bearing: 33.115599 deg, lat: 36.779527 deg, lon: -121.859698 deg, deltaT: 4.043912 s, deltaX: -13.519867 m, approachRate: -3.343264 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 392.99 m."i*i ProNav: ac range: 392.987427 m, nav range: 397.137299 m, bearing: 34.024065 deg, approach rate: 0.000000 m/s, LOS rate: -0.003605 deg/s, cmd heading: 34.291723 deg, new cmd heading: 34.287501 deg. iHeadingCmd: 0.598430 target range: 392.987427 and range: 392.90 m.h2?hhhhggjgrgereZe:e`fx@*e ?EBɢE7P>)A Er@iA)MցIIiMBB 0CB i+IB \BB  =B B B ;B pE^AI ԡ A .Aߝ %=ߝ <I I1O>DzD?AE EE4E"E:*E:VE4ZEBEH8~܏?~ؕٱ~7=~Hb ?`?h?+?Z)?5ռ? ?i~׊>I~^;~CY[Byh+IiMb@Mb@Mb@ 9^I +?~jt?y&1|YX?y<`@@ r@)@Y3@bD7VD߰8yu5=%)=ٔ;Q->9 ?Y ?=Ey4@D+;E>Q 547?Q 94K)EBYn?Q E:y&?Q I@\=DIZ:ib:4yBɮg@jEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 392.99 m."i*i ProNav: ac range: 392.987427 m, nav range: 396.845367 m, bearing: 34.021603 deg, approach rate: -0.614830 m/s, LOS rate: -0.005189 deg/s, cmd heading: 34.287502 deg, new cmd heading: 34.282574 deg. iHeadingCmd: 0.598344 target range: 392.987427 and range: 392.90 m.h-?hhhhggjg!rg%Be!re!Ze):e)*e-`E?Bɢtq>) fu@i)6IiwG4%#,ӕLA>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996378B;>B?B:-ٱB=BH u? h?@? f?IŔ?,+? ?iB;>IB^;BCYNgByRw+IbDb VDb8yjSx=%jT=ٔjT 9n"?Yn"?=nEynC@Drh;Er>pQ 5z4r7?Q 9z4r@H)rGBYxyzO'?Q Iz@rj=DIr;ir ;re4y~Bɮ;@:i!-FNOT Ignoring new targets: 392.99 m."i-Wʸ*i5Wʸ= ProNav: ac range: 392.987427 m, nav range: 396.618774 m, bearing: 34.019645 deg, approach rate: -0.639418 m/s, LOS rate: -0.005528 deg/s, cmd heading: 34.282574 deg, new cmd heading: 34.278656 deg. iE!EHeadingCmd: 0.598275 target range: 392.987427 and range: 392.90 m.hE(?hAhIhIhIgIgQjgQrgQeYreYZeY:eY*ee?颍BE EE2E"E:*EVE4ZEa@a@a@a@ɢf>)y  w@i)顡ijA @AA AAB >B 3CB +IB uBB  =B B DB ڲ;B pE8h+#,IدLA0>,&>>]?>,Ԋٱ>(=>HQ? ?`?`? Dغ OZ?c?`?i>,&>I>^;>CYJtByJ+IbDRVDR8yZ=z=%ZK=ٔ^9`Y`=bEybT@Db;Eb>dQ 5j4f77?Q 9j4f`D)fHBYlyn'?Q In@fz=DIf ;if ;fq4yrBɮv@t:i FNOT Ignoring new targets: 392.99 m."iJø*iJø% ProNav: ac range: 392.987427 m, nav range: 396.377594 m, bearing: 34.017495 deg, approach rate: -0.598075 m/s, LOS rate: -0.005335 deg/s, cmd heading: 34.278657 deg, new cmd heading: 34.274354 deg. i%;-HeadingCmd: 0.598200 target range: 392.987427 and range: 392.90 m.h-#?h)h)h1h1g1g1jg1rg9eAreAZeA:eA*eE?uBɢu n>)q ux@iq)gԻiN#[O2#,ͱLA`Yn~Byr+IimMb@Mb@Mb@iiii i9m^I +?S㥛?:vYiym/9Y=Eye@DE>Q 54W7?Q 94%@)Y?Q E:yv+?Q I@=DIr;i;&4yɮ@:iFNOT Ignoring new targets: 392.99 m."i^*i^񸝏 ProNav: ac range: 392.987427 m, nav range: 396.119110 m, bearing: 34.014647 deg, approach rate: -0.598081 m/s, LOS rate: -0.006594 deg/s, cmd heading: 34.274354 deg, new cmd heading: 34.268654 deg. iA HeadingCmd: 0.598101 target range: 392.987427 and range: 392.90 m.h #?h h h h g gjgIrgU BeQreQZeQ:eQ*e]6?Bɢ{>) .z@i) 9+1  i tJy8#,TLA2h`>2?2 ٱ2=2H|?ǟෲ?@X??`^?୽?]?i2h`>I2h^;2CY:By:+IbDBVDB8yJQ=%J\=ٔN69LYP=REyRt@DRn;ER>TQ 5Z4V7?Q 9Z4V~<)VGBY\y^,?Q I^@V=DIV :iVs;V|-4ybBɮb@fkE:itzFNOT Ignoring new targets: 392.99 m."iz)*iz) ProNav: ac range: 392.987427 m, nav range: 395.896973 m, bearing: 34.012119 deg, approach rate: -0.597814 m/s, LOS rate: -0.006807 deg/s, cmd heading: 34.268654 deg, new cmd heading: 34.263595 deg. iTG HeadingCmd: 0.598013 target range: 392.987427 and range: 392.90 m.h Z?h h h hggjgrgere!Ze!:e!*e% @Bɢ;>) {@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256696) ?i<Bu5CBu+IBuBBu =BqBuDBu;Bu~pE]#'q@ @@@@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509340ԩ E  E E 4E "E :*E ą:VE 4ZE BE <AE >I I O >>#,LA>Q>>^s ?>λٱ>=>H? +??a?`y? Ƚ?4?i>Q>I>}^;>CYJByJ+I LLpi%Mb@Mb@Mb@!!!! !9%V-?9QYQ=UEy]@D].;E]>aQ 5m4e7?Q 9m4e;8)aYu?Q Eu:yu1?Q Iu@e=DIe:ie:eK54y}Bɮ}9@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 392.99 m."iG*iG} ProNav: ac range: 392.987427 m, nav range: 395.643890 m, bearing: 34.008522 deg, approach rate: -0.565991 m/s, LOS rate: -0.008047 deg/s, cmd heading: 34.263596 deg, new cmd heading: 34.256399 deg. i}kHeadingCmd: 0.597887 target range: 392.987427 and range: 392.90 m.h?hhhhggjgrg BereZe:e*e@Bɢ>) |@i) bj;  i \,i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012542E#,,JLA2(>2 ?2ʧ!ٱ2=2H ?@c@#?@??4d??`x?i2(>I2^;2CY:By:+IbDFܿVDF8yN=%NX=Er ErEr1Ep"Er:*Er:VEr-4ZEpav@av@av@av@ٔ 9Y= Ey @D ;E >Q 5=47?Q 9=44)FBYAyEo1?Q IE@=DI;i;<4yMBɮM@IY:iFNOT Ignoring new targets: 392.99 m."i;*i; ProNav: ac range: 392.987427 m, nav range: 395.422791 m, bearing: 34.005324 deg, approach rate: -0.555769 m/s, LOS rate: -0.008045 deg/s, cmd heading: 34.256401 deg, new cmd heading: 34.250000 deg. ikHeadingCmd: 0.597775 target range: 392.987427 and range: 392.90 m.h?hhhhggjgrge reZeq:eq*e}@BɢԷ>) #~@i)]; i  B 7CB +IB BB  =B .DB DB ;B \pE^A p=A%.A5BDAT read: Rx Time:01:08:03.7228 5TRx dataTimestamp_ set to:1764896884.876993=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518035IYIO?M#,C9LAEB EBEB3E@"EBV:*EB~:VEB4ZE@BEB9}C !?}-L:ٱ}=}H@?`\?H??>m]@?m?i}>I}^;yYBy+II=)=iMb@Mb@Mb@ 9l?I +?9 ?Y ?=Ey@De:E>Q 54+ 8?Q 94T.)EBY?Q E:yq4?Q I@=DIV:i:F4yݘBɮI@bE:i  FNOT Ignoring new targets: 392.99 m."i1*i1% ProNav: ac range: 392.987427 m, nav range: 395.063171 m, bearing: 33.999493 deg, approach rate: -0.598101 m/s, LOS rate: -0.009706 deg/s, cmd heading: 34.250001 deg, new cmd heading: 34.238329 deg. i%-HeadingCmd: 0.597572 target range: 392.987427 and range: 392.90 m.h-s?h)h)h)h)g)g1jg1rg5 Be1re9Ze9:e9*e=`m @eBɢmz>)mrT m~@ii)mhi8  BDAT read: Tx time:01:08:04.8478  $Ping request sent. iFo>uY+@>+@ )>)T@I)Ҿa?T6 Um?wчl?  r?)\IQ]i)]:publishing transmit ping time ]Fpublishing direction and range infoyoԃ?ΠNG ?Y )Ii )IҾa?T6 Um?wчl? )IiE EE2E"E:*E҆:VE4ZEa@a@a@a@AE؟AIQIaO?V#,A ]LA(=l>=~"?=2U<ٱ=$==H)?` D?@?`|?co?L?i=l>I=^;=CYBy+IbDVD8yس<%&=ٔȺ9"?Y"?=Ey@D;E> Q 54 8?Q 94 I)) BBYyT5?Q I@ =DI :i : pO4yEBɮE$@AiIiMHSXLAjM\C"jM\C:jM ?RjM6 x@Ÿ4J" AP@BjMoԃ?ΠNG ?*jMQ]2jM)ZjM5:}t@cl6i@x<75L@JjMBA?+ ^qv?%F{?jMLC jMCiMmN?iM1jMsBjIjMjAjM9CrjMNCzjMy? addTargetRange:: Added new target pos. range: 390.600006 m, deltaT: 4.032320 s, deltaX: -2.299988 m, approachRate: -0.570388 m/s, rangeRepo size: 4  Added new target pos. range: 390.725739 m, bearing: 32.015447 deg, lat: 36.779527 deg, lon: -121.859783 deg, deltaT: 4.032320 s, deltaX: -2.261688 m, approachRate: -0.560890 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 390.73 m."i*i ProNav: ac range: 390.725739 m, nav range: 390.611206 m, bearing: 33.079075 deg, approach rate: 0.000000 m/s, LOS rate: -0.009706 deg/s, cmd heading: 34.238328 deg, new cmd heading: 34.228373 deg. i]HeadingCmd: 0.597398 target range: 390.725739 and range: 390.60 m.he?hahahahagagajgirgieireiZeq:euix@*eu`?yBɢ>) ~@i)e~<ih ;i?$u=H=I?I9@ @@/@ԩB>BBBB =BBBN;BpEB5CB5CBȖCB =B =C6^A = A I I O > ]#,YvLARn >RZ"?R<ٱR=RH@?4v?? l?@c0"-?t?iRn >IRw^;RCYZByZ+I`bDf VDf8ynw%n]=ٔrۍ9tYt=vEyv@Dzr;Ez>|Q 54~,8?Q 9 4~%)~?BY y 5?Q I @~=DI~):i~):~U4yɮY@:iaeFNOT Ignoring new targets: 390.73 m."imX*imX} ProNav: ac range: 390.725739 m, nav range: 390.395447 m, bearing: 33.074860 deg, approach rate: -0.606333 m/s, LOS rate: -0.011852 deg/s, cmd heading: 34.228373 deg, new cmd heading: 34.219938 deg. i}HeadingCmd: 0.597251 target range: 390.725739 and range: 390.60 m.hj?hhhhggjgrgereZe:e*e7?E EEE"E:*E:VEZEBE3)e݉ e~@ii)^<顙i;ij?>u=:=Ij?I R>i >9@ @@/@@=@=^A 箵=A A .AI I O c#,,LAB>Bn"?B9<ٱBͭ=BH7? `˷?? ~?`l??iB>IB^;@YNByN+I PP1ieMb@Mb@Mb@aaaa a9en?~jt?~jth?YeV?yeD=eD;e\@e@ e@)e@aYeQ@bDuVDu°8y%@=ٔ9 ?Y ?=Ey@D/;E>Q 54;8?Q 94q!)>BY?Q E:y\8?Q I@=DI:i:F]4yBɮ@cEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 390.73 m."i!X*i!X ProNav: ac range: 390.725739 m, nav range: 390.160614 m, bearing: 33.069899 deg, approach rate: -0.558716 m/s, LOS rate: -0.011810 deg/s, cmd heading: 34.219938 deg, new cmd heading: 34.210010 deg. i笹HeadingCmd: 0.597077 target range: 390.725739 and range: 390.60 m.h?hhhhgg jg rg Be reZe:e*eO?AɢE>)A E}@iA)MW7;?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9@  @ @ @ IbEH4jEH4rE0E EE4E"E:*E&p:VE4ZEa@a@a@a@y^A2= v>WGzAA9zAYAA! I1 IA OM >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248129$j#,]LAr>r"?r =ٱr=rH?#??i?@ Ⱦ??ir>Irp^;rCY~By~+IbDVDy{"=%%P=ٔ%9)Y)=-Ey-@D-;E5>9Q 5E4=I8?Q 9E4=)=DI=:i=:=!d4yQɮUr@Qq:iyFNOT Ignoring new targets: 390.73 m."iV*iV ProNav: ac range: 390.725739 m, nav range: 389.943970 m, bearing: 33.065291 deg, approach rate: -0.551873 m/s, LOS rate: -0.011746 deg/s, cmd heading: 34.210010 deg, new cmd heading: 34.200788 deg. iHeadingCmd: 0.596916 target range: 390.725739 and range: 390.60 m.h?hhhhggjgrgereZe:e*ep?Bɢή>) ~@i)<i";i?u=]W=I?IAiAiB}>B}8CB}+IB}BByByB}DB}@;B}pEԙUmachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500432PExceeded connect timeout, disconnecting.@ @@/@@!@%wAE  E E 2E "E :*E Ar:VE 4ZE BE 6r#,8LAiI"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.75241667>6R"?6%=ٱ6j=6HN?@8R??y?`+U`o\?p?i67>I6`^;6CY@y@ieMb@Mb@Mb@aaaa a9e(\?~jt?{GztYez?ye=eףeE@e/@ e@)e/@aYeG@bD}VD}8y:%(=ٔ&k9"?Y"?=EyAD9E>Q 54[8?Q 94)6BY?Q E:y3?Q I@>DI&;i;l4yBɮ@:iFNOT Ignoring new targets: 390.73 m."iC*iC ProNav: ac range: 390.725739 m, nav range: 389.664124 m, bearing: 33.060110 deg, approach rate: -0.576970 m/s, LOS rate: -0.010688 deg/s, cmd heading: 34.200789 deg, new cmd heading: 34.190421 deg. i{HeadingCmd: 0.596735 target range: 390.725739 and range: 390.60 m.h?hhhhg gjgrgBereZe:e*e@%5?Iɢ;>)Ic  @i)<i5G;i?5 v==I?IЉ9@9 @9@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004058^A A EE  EE EE 4EA "EE :*EE |:VEE 4ZEA aU @aU @aU @aU @A I I O >;x#,]LA6->6l"?6vA=ٱ65=6H ?!b?!??)ܰ.̽?`?i6->I6b^;6CY>By>+IbDFVDF8yNt><%N\=ٔR9PYT=VEyVADVREV>XQ 5^4Zi8?Q 9^4Z-)Z1BY`yb3?Q Ib@Z,>DIZG:iZ;Zs4ydɮf|@d:ixzFNOT Ignoring new targets: 390.73 m."i~wC*i~wC  ProNav: ac range: 390.725739 m, nav range: 389.449768 m, bearing: 33.056139 deg, approach rate: -0.576203 m/s, LOS rate: -0.010681 deg/s, cmd heading: 34.190421 deg, new cmd heading: 34.182474 deg. i _HeadingCmd: 0.596597 target range: 390.725739 and range: 390.60 m.h?hhhhggjgrge!re!Ze!:e!*e-`-@ɢr>) Z@i),q=iN;i?Jv=x"=I?I Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256140YYBm>Bm9CBm+IBmBBm =BiBmDBmO;Bm+pEy1@1 @1@5/@1ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508034 nManaging dock network, ignoring radio surface power off^A  = E%  E! E% 5E! "E% :*E! VE% 4ZE! BE% I8>_#,zLA2->2\"?2]]=ٱ2Ɓ=2H q? m?s??@`C4?x?i2->I2ML^;2CYNByN+I1i]Mb@Mb@Mb@YYYY Y9]K7?ˡE?Y]I ?y]'=]]S@]@ ]@)]r@YYYbDuVDu8yׂ%=ٔwX9Y=Ey+ADE>Q 54{8?Q 94U)*BY ?Q E:y5?Q I@>>DII:i:|4yBɮ@dE:iFNOT Ignoring new targets: 390.73 m."imD*imD ProNav: ac range: 390.725739 m, nav range: 389.169830 m, bearing: 33.050602 deg, approach rate: -0.542246 m/s, LOS rate: -0.010733 deg/s, cmd heading: 34.182474 deg, new cmd heading: 34.171392 deg. i$ HeadingCmd: 0.596403 target range: 390.725739 and range: 390.60 m.h ?h h h h g gjgrgBereZe:e*e|@EBɢMߑ>)I M~@iI)U=QQiUj;i]?]v=]f=I]?Iamp=m=Mfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761140a@ @@/@@@=ԑ^A A >A >Թ A1 IA IQ O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012043#,4LAj>j>"?jxw=ٱj9=jH@ѳ?I,o??@K?@"B?a?ij>Ijc^;jCY~By~+IbD#VDͰ8y%%%N=E- E-E-6E)"E-&:*E-:VE-c4ZE)a5@a5@a5@a5@ٔ=99YA=EEyE;ADEEE>IQ 5U4M8?Q 9U4M )M$BYYy]5?Q I]@ML>DIM:iM:M4yeŘBɮe@ZEB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 390.73 m."i5;*i5; ProNav: ac range: 390.725739 m, nav range: 388.952698 m, bearing: 33.046319 deg, approach rate: -0.519567 m/s, LOS rate: -0.010254 deg/s, cmd heading: 34.171392 deg, new cmd heading: 34.162822 deg. i HeadingCmd: 0.596254 target range: 390.725739 and range: 390.60 m.h?hhhhggjgrgereZe:e*e@Y @AɢE`>)I M|@iI)ME=IIiU3ͳ:iU?Uv=].=I]?IYaammiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264408!9@ @@4@B >B :CB u+IB fBB  =B B B _;B ?pEQ ^A :=BDAT read: Rx Time:01:08:07.7697 TRx dataTimestamp_ set to:1764896888.908567checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517176ԑII1O=>=#,x;LAEU EUEU7EQ"EU:*EUc:VEUԺ4ZEQBEU+"?=ٱ=Hʳ?T?`J?`߽? 8@R?@L?i>I7e^;CYBy+I iMb@Mb@Mb@ 9v/?y&1|?Yx ?y`;j@ @)@YAAAAbDVD8y[% =ٔ09Y=EySADMrE>Q 548?Q 94)BY{ ?Q E:y%?Q I@`>DI;iP;T4y-ɘBɮ5@5[E:iYeFNOT Ignoring new targets: 390.73 m."ieӸ*ieӸu ProNav: ac range: 390.725739 m, nav range: 388.639282 m, bearing: 33.043019 deg, approach rate: -0.548627 m/s, LOS rate: -0.005782 deg/s, cmd heading: 34.162820 deg, new cmd heading: 34.156213 deg. iuR)}HeadingCmd: 0.596138 target range: 390.725739 and range: 390.60 m.h}?hyhyhhggjgrgBereZe:e*e @颹ɢИ>) |@i)U1=i6*9i?@w=n=I?Iԑ59@1 @9@=3@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769036^AU  = II Iq O >N#,O@VLAETB>Ek"?ER=ٱEU=EHD?A???-N ?Ը?iETB>IEj^;AYYy]+IbDmѿVDm8y}V|%s=ٔDI#;i8;74yɮ@:iqDAT read: 01:08:07.7697 LVL= 32480, 32753, 32242, 32755, AGC= 69, IDX= 403,-0.41, 2.538, 0.930, 2.608, 2.296, PHS= 0.344,-1.321, 0.268, RAW= 147.7, 8.8, CAL= 147.3, 9.5, ROT= 2.7, -9.5 Ygot valid direction response: 01:08:07.7697 LVL= 32480, 32753, 32242, 32755, AGC= 69, IDX= 403,-0.41, 2.538, 0.930, 2.608, 2.296, PHS= 0.344,-1.321, 0.268, RAW= 147.7, 8.8, CAL= 147.3, 9.5, ROT= 2.7, -9.5 PDAT read: Bearing 200.2, 0.1 (Local) ~Local bearing/azimuth received: Bearing 200.2, 0.1 (Local) DAT read: Range 11 to 50 : 388.2 m (Round-trip 517.7 ms) speed 0.4 m/s (DAT read: user:23> BDAT read: Tx time:01:08:08.8978 $Ping request sent.iL7>$@nF>E EE3E"E:*Ee:VE4ZEa@a@a@a@iMZ$HeadingCmd: 0.596073 target range: 390.725739 and range: 390.60 m.h8?hhhhggjgrgereZe:e@3Cx@"$@ )A=IUd>?-{P(c?F[y? a>)hIA=i:publishing transmit ping timeFpublishing direction and range infoy&C?$Ҩɧ?G ?Y )Ii*e%? )IUd>?-{P(c?F[y? )IiqɢuKT>)q uq|@iq)}B>=yyi}Gi8?Jw=s=I8?Iԡy@y @y@}/@y@@zA^A =A yAzA I I O% > g#,VoLAB&>B&9CB&V+IB&MBB& =B$B&DB&;B&pEB>BIBuG^;BCY^Byb+IbDjVDj8y-1%-R=ٔ-|91Y1=5Ey5pAD=hpE=>AQ 5M4E'8?Q 9M4El)E BYIyM%?Q IM@Ey>DIE:iE::E4y]̘Bɮ]@]\EiIiM5_ZLAjM+C"jM+C:jM)?RjM_w@Ҟ 2@¡jP@BjM&C?$Ҩɧ?G ?*jMA=2jIZjMoҠs@VJm@GA@JjM~!?3u?vPK?jMmC jM~CiMU?iMHvjM+BjIjIjMsBrjM CzjM? addTargetRange:: Added new target pos. range: 388.200012 m, deltaT: 4.031978 s, deltaX: -2.399994 m, approachRate: -0.595240 m/s, rangeRepo size: 4  Added new target pos. range: 388.336945 m, bearing: 37.941011 deg, lat: 36.779527 deg, lon: -121.859783 deg, deltaT: 4.031978 s, deltaX: -2.388794 m, approachRate: -0.592462 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 388.34 m."i*i ProNav: ac range: 388.336945 m, nav range: 388.251434 m, bearing: 33.038976 deg, approach rate: 0.000000 m/s, LOS rate: -0.005613 deg/s, cmd heading: 34.152448 deg, new cmd heading: 34.148077 deg. iHeadingCmd: 0.595996 target range: 388.336945 and range: 388.20 m.h8?hhhhggjgrgereZe:e*eu?ɢ>)# Y{@i)2I=!i%\i%8?-ݴw=-}5=I-8?I)@ @@/@E EEE"E;*Ex:VEZEBE@I O#,-LA2.>2$"?2:=ٱ2=2H`?9Z?@k?@g?J݀@?`??i2.>I2)u^;2CY>rBy>+Ii@I@IF<)F499YA=EEyEADE*EE>IQ 5U4MT8?Q 9U4MQ =UtI)MBY?Q E:y%?Q I@M>DIM)b%r y@Qi)ukV=qqiu0i}?}0w=} 0=I}?I9@ @@@yԩ E  E E 4E "E :*E VE 4ZE a @a @a @a @^A IQ Ia Ou >y#,PLA2d>2$!?2 =ٱ2=2H`ն?`N>?@p?L?` p?`۱?i2d>I29)Y)=-Ey-AD56E5>9Q 5E4=8?Q 9E4= )=BYAyE$?Q IM@=>DI=\:i=:=4yUϘBɮU@QmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 388.34 m."iӸ*iӸM ProNav: ac range: 388.336945 m, nav range: 387.785828 m, bearing: 33.034319 deg, approach rate: -0.580834 m/s, LOS rate: -0.005765 deg/s, cmd heading: 34.143539 deg, new cmd heading: 34.138758 deg. iM(]HeadingCmd: 0.595834 target range: 388.336945 and range: 388.20 m.h]?hYhYhYhYgagijgyrgT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԱereZe:e*eA? ɢ :>) Az@i) e=iH/i%?%;x=]=I?IAAAABM>BIBM1+IBM.BBM =BIBIBMֲ;BMpEB9CB9CBƓCB =B =CƎ5y@y @y@}/@y ^A A >A >I I O% >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478664M#,iLAEN ENEN3EL"EN;*EN&p:VEN4ZELBELaf2ELafJEN{;aj:EN{;antu>6!?6=ٱP=H?@΄ !?z? v? ط@bӺ?@?iu>I'2^;CYufByuu+Ii%Mb@Mb@Mb@!!!! !9%p= ף?9yYy=}Ey}AD2E>Q 548?Q 94)BY$?Q E:y2?Q I@>DI ;i;4yɮ@:iFNOT Ignoring new targets: 388.34 m."iQ*iQ ProNav: ac range: 388.336945 m, nav range: 387.554749 m, bearing: 33.033038 deg, approach rate: -0.517325 m/s, LOS rate: -0.002869 deg/s, cmd heading: 34.138757 deg, new cmd heading: 34.136195 deg. iHeadingCmd: 0.595789 target range: 388.336945 and range: 388.20 m.h?hhhhggjgrgBereZe:e*e? 1ɢ5w>)1 5x@i1)=r=99i= aiE?E'xx=E[=IE?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7305841Mb @  @ @ /@ a ԑ ^A  =}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986975bE}π4jE}%4rE}ַ/E EE4E"E ;*E:VE4ZEa @a @a @a @AyIIO ?8#,GLA :m>:e ?:'=ٱ:=:H?j?@|?U?@ψ?Ĭ?i:m>I:"^;:CYBaByBo+I DDbDV׿VDV8=G]{Aiy}F%)=쭿9{AYAٔ9Y=EyAD^E>Q 548?Q 94)BYy+?Q I@>DI;i;4yӘBɮ@]E:iFNOT Ignoring new targets: 388.34 m."i ;*i ; ProNav: ac range: 388.336945 m, nav range: 387.303040 m, bearing: 33.031791 deg, approach rate: -0.517131 m/s, LOS rate: -0.002564 deg/s, cmd heading: 34.136196 deg, new cmd heading: 34.133700 deg. i)%HeadingCmd: 0.595745 target range: 388.336945 and range: 388.20 m.h%Ƃ?h!h!h!h!g)g)jg)rg1e1re1Ze1:e1*e=`%Q@eBɢe>)a edw@ii)m=顩izSiƂ?mx==IƂ?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238789qrB>B8CB+IBBBBBDB3;BqE9@ @@"5@ԡ ^A 箵=A xAzA 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491085E EE5E"E&:*E:VE4ZEBEk;86 ?==ٱf=H?_@e?@"?X?,)ۺ@?2?i>I?^;CY]Byj+Ii}Mb@Mb@Mb@yyyy y9}ʡE?I +MbY}-?y}9}}̌@y }@)}/@yY}@bDȿVDy8yu%=ٔ[;Q->9Y=EyAD_ E>Q 54O9?Q 94G)BYW?Q E:y ?Q I@>DI;i7;o´4yBɮ@SEԡ:i=FNOT Ignoring new targets: 388.34 m."iEᚷ*iEᚷU ProNav: ac range: 388.336945 m, nav range: 386.997589 m, bearing: 33.031181 deg, approach rate: -0.529526 m/s, LOS rate: -0.001058 deg/s, cmd heading: 34.133700 deg, new cmd heading: 34.132479 deg. iU]HeadingCmd: 0.595724 target range: 388.336945 and range: 388.20 m.h]a?hYhhhggjgrgBereZe:e*e@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.742688eBɢeL>)a mv@ii)m*=iiim=iua?oy==Ia?I 9@  @ @ 0@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995616) E EE4E"E*Eą:VE4ZEa@a@a@a@^A"=YAQIYIqO}?r#,>z%LA2.>2 ?2=ٱ2G=2H;?@Q ?G? ?VԻ@??i2.>I2i6^;2CY:dBy:r+II>>)<bDFVDF8yN<%N!=ٔNz;Q-N>9PYP=REyRADVAEV>XQ 5^4Zg#9?Q 9^4Z)ZBY\y^?Q I^@Z>DIZ:iZG:ZI˴4yfBɮf@fTE:ixzFNOT Ignoring new targets: 388.34 m."izU*i~U ProNav: ac range: 388.336945 m, nav range: 386.710938 m, bearing: 33.030671 deg, approach rate: -0.611058 m/s, LOS rate: -0.001088 deg/s, cmd heading: 34.132480 deg, new cmd heading: 34.131459 deg. i HeadingCmd: 0.595706 target range: 388.336945 and range: 388.20 m.h6?hhhhggjgrgere!Ze!:e!*e% @UBɢUB/>)Q Uw@iQ)]oF=YYi]ie6?e)9y=e^5=Ie6?Ia Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.247212U9@Q @Q@U>4@Y1B>B7CB*IBBB =BBB~;BXqE^AaA .AI I O > BDAT read: Rx Time:01:08:11.8319  TRx dataTimestamp_ set to:1764896892.945445 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501041ԉ #,@?LAD=D<E EE7E"E:*E$:VEԺ4ZEBE>%8Y?%=ٱ%=%HZ?pAV??}?^˼9@??i%>I%`I^;%CiYVBya+IieMb@Mb@Mb@aaaa a9eX9v?S㥛QYe?ye/ݼeue@er@ e@)er@aYe@bD}VD}8y[%$=ٔ;Q->9 ?Y ?=EyADuE>Q 5479?Q 94)BY?Q E:y?Q I@>DI,:i:Դ4yBɮ@-B*** querying acoustic contact ***i)i):i1=FNOT Ignoring new targets: 388.34 m."i="*i="M ProNav: ac range: 388.336945 m, nav range: 386.425507 m, bearing: 33.030601 deg, approach rate: -0.559951 m/s, LOS rate: -0.000139 deg/s, cmd heading: 34.131459 deg, new cmd heading: 34.131318 deg. iMUHeadingCmd: 0.595704 target range: 388.336945 and range: 388.20 m.hU ?hQhQhYhYgYgYjgarge7BeareaZei:ei*em @BɢU>) u@i)=E=99i=˷ܻiE ?Ety=MW,=IM ?IIԙechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7512069@ @@0@@=@=^A p=A >A > A- ؟AIQ I O >Ƭ#,[LAVDAT read: 01:08:11.8319 LVL= 27120, 28001, 23026, 32755, AGC= 76, IDX= 51,-0.40, 0.909,-0.653, 1.090, 0.563, PHS= 0.447,-1.171, 0.482, RAW= 151.1, 3.0, CAL= 150.0, 2.8, ROT= 360.0, -2.8 ZYgot valid direction response: 01:08:11.8319 LVL= 27120, 28001, 23026, 32755, AGC= 76, IDX= 51,-0.40, 0.909,-0.653, 1.090, 0.563, PHS= 0.447,-1.171, 0.482, RAW= 151.1, 3.0, CAL= 150.0, 2.8, ROT= 360.0, -2.8 ^8DAT read: $Error in header ^*Received a bad header-X#Rx 1: Read direction message, but no range.5\direction in FSK: [0.998806,0.000000,0.048850]y02)(I8?x{1yp>s!D?02i2am2Y 0)2LI2/>i2T㕿2>2(@2PwV=26'@ 2+H=)2@I2+H02[G_?Hm|?k/d? 2 ?)2 VI2.;4i2+HMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseiE EE9E"E:*Ev:VE4ZEa@a@a@a@ c> $? =ٱ -= H?(@?q?%?=N I?`ƚ?i c>I !^; CYUBy`+IbDVD8y襻%?=ٔc9"?Y"?=EyBDE>Q 5%4H9?Q 9-4~)BY)y-4?Q I-@>DI:i:|۴4y1ɮ=@9:iyFNOT Ignoring new targets: 388.34 m."i6*i6 ProNav: ac range: 388.336945 m, nav range: 386.180939 m, bearing: 33.030655 deg, approach rate: -0.580207 m/s, LOS rate: 0.000130 deg/s, cmd heading: 34.131319 deg, new cmd heading: 34.131429 deg. ir6HeadingCmd: 0.595706 target range: 388.336945 and range: 388.20 m.h-?hhhhggjgrgereZe:e*e[@=Bɢ=䖮>)9 =hu@iA)E=AAiEiM-?My=Mغ=IM-?IQԙ9@ @@/0@T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A =BM >BM 6CBM *IBM BBI BI BM DBM ;BM jqE I I! O- >[#,uLAYzGBy~O+I !!bD-VD-8y=g%=k=ٔEQ-E?9AYA=EEyMBDMEM?QQ 5]4UV9?Q 9]4U)UzBYYyaQ Ie@U ?DIU&:iUQ;U4ymBɮm@mUE:iFNOT Ignoring new targets: 388.34 m."i6*i6 ProNav: ac range: 388.336945 m, nav range: 385.982422 m, bearing: 33.030700 deg, approach rate: -0.578593 m/s, LOS rate: 0.000129 deg/s, cmd heading: 34.131429 deg, new cmd heading: 34.131517 deg. ixr6HeadingCmd: 0.595707 target range: 388.336945 and range: 388.20 m.hG?hhhhggjgrgereZe:e*e@@ɢ>) s@i)BE=iiG?fy= =I G?I }%=}4=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@75@^A`=E EE2E"E:*Exv:VE4ZEBE31% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseY #,LA2>2<?2=ٱ2=2H?@Y X?Bh?+?ˏ@@?@֖?i2>I2@2^;2CYBQByB\+IiUMb@Mb@Mb@QQQQ Q9U%C?{GzMb?YUZ?yU#U9Y=Ey'BD=E>Q 54e9?Q 94)nBYd?Q E:y?Q I@?DI ;i:4yɮw@:iFNOT Ignoring new targets: 388.34 m."i*i淝 ProNav: ac range: 388.336945 m, nav range: 385.770386 m, bearing: 33.030050 deg, approach rate: -0.513853 m/s, LOS rate: -0.001575 deg/s, cmd heading: 34.131517 deg, new cmd heading: 34.130218 deg. iv8HeadingCmd: 0.595685 target range: 388.336945 and range: 388.20 m.h~?hhhhggjgrg\BereZe:e*e @15Bɢ=h>)9 =t@i9)E=AAiEEiM~?M8y=M*h=IM~?II 9@  @ @ 5@ a}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE7E"EV:*Ez:VEԺ4ZEa @a @a @a @^A5h=A9zA=wAԉIIO>Թ #,A~LA:u>:<?:=ٱ:=:H?`q?`? 1? 3@0ſغ?'?i:u>I:"^;:CYFIByJQ+IbDVVDV8yr.%vT=ٔv ;Q-v>9xYx=~Ey~7BD~E> Q 54 s9?Q 94 ) bBYy?Q I%@ %?DI \G;i GH; 4y-Bɮ55@1:iimFNOT Ignoring new targets: 388.34 m."iuڷ*iuڷ ProNav: ac range: 388.336945 m, nav range: 385.571503 m, bearing: 33.029466 deg, approach rate: -0.508231 m/s, LOS rate: -0.001494 deg/s, cmd heading: 34.130216 deg, new cmd heading: 34.129047 deg. i.HeadingCmd: 0.595664 target range: 388.336945 and range: 388.20 m.ht}?hhhT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehggjgrgereZe:e*et8@ԉmBɢ>) s@i)U%=iit}? z=2=It}?IAAB >B7CB*IB؊BB =BBDB;BqE9@ @@4@Թ^A=I I) OE > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE  E E 3E "E ;*E ]t:VE 4ZE BE @9Y=EyJBDE>Q 549?Q 94)OBY?Q E:y?Q I@6?DI:in:4y ɮ @ %B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 388.34 m."i= M*i= MM ProNav: ac range: 388.336945 m, nav range: 385.303009 m, bearing: 33.028171 deg, approach rate: -0.580438 m/s, LOS rate: -0.002802 deg/s, cmd heading: 34.129048 deg, new cmd heading: 34.126456 deg. iMUHeadingCmd: 0.595619 target range: 388.336945 and range: 388.20 m.hU}z?hQhQhQhQgQgYjgYrg]{BeYreaZea:ea*ee@颕Bɢ->) s@i)1 =顙i*i}z?2z= =I}z?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehA E 9@A  @I @M H0@I i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE EE4E"E;*Ez:VE4ZEa@a@a@a@^A%=A->A->IIO>< #,#LA2>2uA?2F<>ٱ2R<=2H ?`?a?1?@??i2>I2E^;2CY:DBy:K+IbDFVDF8xy~|(%C=ٔ9Y = Ey [BD V;E >Q 54Ŗ9?Q 9%4);BY!y%?Q I%@E?DI:i:4y-Bɮ-@5VE:iQ]FNOT Ignoring new targets: 388.34 m."i]qQ*i]qQm ProNav: ac range: 388.336945 m, nav range: 385.061737 m, bearing: 33.026972 deg, approach rate: -0.575611 m/s, LOS rate: -0.002861 deg/s, cmd heading: 34.126456 deg, new cmd heading: 34.124058 deg. imuHeadingCmd: 0.595577 target range: 388.336945 and range: 388.20 m.huw?hyhyhyhygygyjgrgereZe:e*e @颵Bɢ>) r@i)=项i6iw?YZz=t=Iw?I!M9@I @I@M 5@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIB>B9CB*IBɊBB =BBDB;BqEBe7CBe7CBeǔCBe =Be =Ce6^AmТ=ԁ A I I O >H#,LAJB>J?JH >ٱJ=JH@.?@?g? -?̬~fǺ? ?iJB>IJ^;JCYR5ByR9+IbDZVDZ8ybҗ%bN=ٔf 9dYd=jEyjkBDj+J;Ej>lQ 5r4n9?Q 9r4nv)n)BYtyvm?Q Iv@nT?DIn:inh:n4yzB~T****** received valid address query ******~R****** received valid ping request ******~received new query, but waiting for acoustic response period to elapseɮl@LEQ:iFNOT Ignoring new targets: 388.34 m."iO*iO ProNav: ac range: 388.336945 m, nav range: 384.834015 m, bearing: 33.025799 deg, approach rate: -0.550554 m/s, LOS rate: -0.002839 deg/s, cmd heading: 34.124059 deg, new cmd heading: 34.121710 deg. iCHeadingCmd: 0.595536 target range: 388.336945 and range: 388.20 m.hu?hhhhggjgrgereZe:e*e^@eBɢe1>)a mp@ii)m=DqzDu@AE} E}E}6Ey"E}:*E}x:VE}c4ZEyBE}'5A#,> LAɰN>N?N>ٱN=NH@? #Pm?r?%?|?u`?`*?iN>INK];NCY^0By^2+Ii}Mb@Mb@Mb@yyyy y9}tV?{Gz?{GztY}?y}#<}ף}@}/@ }\@)}\@yY}@bDVD8yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse% =ٔ 9Y=EyBDA;E>Q 5 49?Q 9 4)BY ?Q E:y#?Q I@f?DI:i|:4yBɮ@ME:iAEFNOT Ignoring new targets: 388.34 m."iM˸*iM˸] ProNav: ac range: 388.336945 m, nav range: 384.544556 m, bearing: 33.023058 deg, approach rate: -0.585611 m/s, LOS rate: -0.005548 deg/s, cmd heading: 34.121709 deg, new cmd heading: 34.116225 deg. i]r"eHeadingCmd: 0.595440 target range: 388.336945 and range: 388.20 m.hen?hahahahigigijgirgmBeqreqZeq:eq*e}@P@颥Bɢ>)VG} o@i)=顩ixJOin?{z=U=In?ԹIbE¹4jE4rEƒA0Ee EeEe3Ea"Ee:*Eeą:VEe4ZEaam@am@am@am@  G!9]k9aYehA9@ @@0@  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseB} <A} <B >B B *IB BB  =B B DB ;B uqE^A h=A I I O >@ #,F7 LA:1>:?:>ٱ:=:HI?`x,?? ^?6r`Ί¿??+y?i:1>I:* ^;:CYN"ByN"+IbDVVDV8y^%^B=ٔb69`Yd=fEyfBDf;Ef>hQ 5n4j'9?Q 9r4j()jBYpyrx$?Q Ir@jv?DIj:ij:j64yvBɮv@x:iFNOT Ignoring new targets: 388.34 m."iM̸*iM̸- ProNav: ac range: 388.336945 m, nav range: 384.307190 m, bearing: 33.020716 deg, approach rate: -0.565381 m/s, LOS rate: -0.005582 deg/s, cmd heading: 34.116225 deg, new cmd heading: 34.111538 deg. i-q#5HeadingCmd: 0.595359 target range: 388.336945 and range: 388.20 m.h5mi?h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM@q颍Bɢ>) m@i)=顡iZimi?iz==Imi?IM=M<UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse9@ @@?5@ԡD=D<E EEE"EV:*E:VEZEBE9 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse $#,aQ LA2U>2?u ?2>ٱ2 =2H@1?`5??@?r@ %ÿ&?o?i2U>I2e];2CYNByN+Ii%Mb@Mb@Mb@!!!! !9%5^I ?L7A`?~jthY%?y%+=%D!%r@ %@)%@!Y%@bD=VD=ð8yMR%MB=ٔU99QYQ=]Ey]BD]?;E]>aQ 5m4eZ9?Q 9m4e )eBYuL?Q Eu:yu.?Q Iu@e?DIeI:ie1:e4y}Bɮ}@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 388.34 m."i%+*i%+ ProNav: ac range: 388.336945 m, nav range: 384.060791 m, bearing: 33.016777 deg, approach rate: -0.584470 m/s, LOS rate: -0.009352 deg/s, cmd heading: 34.111539 deg, new cmd heading: 34.103654 deg. iꈹHeadingCmd: 0.595221 target range: 388.336945 and range: 388.20 m.hh`?hhhhggjgrgBereZe:e*eˮ@ Bɢ 18>)   l@i)D=iWtfih`?&{=i=Ih`?I@ @@A5@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseE EE4E"E*Eą:VE4ZEa@a@a@a@1^A"=A>AIY Ii O} >Y P#,%Ak LA R(=>Ri!?RLw>ٱRT=RHԉ?`uB@? ?|?Tw@ÿ6?d?iR(=>IR ^;PYZBy^ +IIb<)bbDfVDf8yn%nR=ٔrB9pYt=vEyvBDvV<Ev>xQ 5~4zI9?Q 9~4z8)zBYy/?Q I@z?DIz:iz:za$4y ɮ '@ :i15FNOT Ignoring new targets: 388.34 m."i=1*i=1M ProNav: ac range: 388.336945 m, nav range: 383.833008 m, bearing: 33.013001 deg, approach rate: -0.585101 m/s, LOS rate: -0.009705 deg/s, cmd heading: 34.103654 deg, new cmd heading: 34.096097 deg. iMUHeadingCmd: 0.595089 target range: 388.336945 and range: 388.20 m.hUW?hQhQhQhYgYgYjgYrgaeareaZea:ea*emh @颕Bɢ7>) #k@i)=顙ioqiW? ]{=D=IW?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1Bu>Bu7CBuu*IBuBBu =BqBuDBuq;BuNqE@ @@/@a^A=IAIQO]>ԉm T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseD AAzD E  E E 5E "E ;*E ~:VE 4ZE BE ANg"?N#>ٱN_=NH`r?`VU_?`y??l"g5^Ŀ D?j]?iN:>INz];NCYEByE*IbDVD8y%==ٔ>9Y=EyBDQ<E>ԑQ 54"9?Q 94)BYy0?Q I@?DI2) i@i)=顑i}iM?{=n=IM?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei @i  @i @m @0@i  } T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapse^Ae 2=Am yAzAm zAE  E E 4E "E *E h:VE 4ZE a@a@a@a@AAIIO?)#,FA LA2>2-#?2o(>ٱ2=2H^?2m???Ap?@tſz@?jZ?i2>I27 ^;2CY:By:*Ii5Mb@Mb@Mb@1111 195S?~jt?Mbp?Y5?y5=5;5̘@5@ 1)5@1Y5z@bDMVDMİ8y].%]"=ٔ]B'9aYa=eEyeBDm;Em>qQ 5}4u :?Q 9}4u0)uBY}p?Q E}:y}j4?Q I@u?DIu:iu:u44yɮ@:iFNOT Ignoring new targets: 388.34 m."isI*isI ProNav: ac range: 388.336945 m, nav range: 383.302490 m, bearing: 33.003296 deg, approach rate: -0.568934 m/s, LOS rate: -0.011008 deg/s, cmd heading: 34.087230 deg, new cmd heading: 34.076674 deg. i)HeadingCmd: 0.594750 target range: 388.336945 and range: 388.20 m.hA?hhhhggjgrgBereZe:e*e@"@5Bɢ=ұ>)9 =f@ԡi)=i--iA?E|=s=IA?I]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseAA@AB>BB=*IBhBBBBB^;B:qEE|9@ @@/@  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse) ^A =E  E E 5E "E &:*E ҆:VE 4ZE BE k; }$? *3>ٱ d/= H (:?Hf?@??Ɗ?` Hƿ@ӄ?$O?i g>I ^; CY܊By%*I QQYYa@a a@a a@a a@a bD*VDӰ8yl%=ٔ9Y=EyBDS<E>Q 54:?Q 94)BQ A+:YQ E:y5?Q I@?DI];i+ ?b<4yBɮ@OE:iFNOT Ignoring new targets: 388.34 m."iyJ*iyJ ProNav: ac range: 388.336945 m, nav range: 383.007721 m, bearing: 32.997352 deg, approach rate: -0.548228 m/s, LOS rate: -0.011064 deg/s, cmd heading: 34.076674 deg, new cmd heading: 34.064777 deg. iHeadingCmd: 0.594543 target range: 388.336945 and range: 388.20 m.h3?hhhhg!g!jg!rg!e)re)Ze):e)*e-`#@]Bɢ]J>)Y ]c@aia)e=aiimˉim3?ucj|=u=Iu3?IqyyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉ@ @@@U 8#,N LA2p>2%?2Z8>ٱ2z=2H*? ????`ƿ?G?i2p>I2^;2CY:By:*IbDFJVDF8yJY %N?=ٔN69PYP=REyRCDR;EV>TQ 5Z4V-:?Q 9^4V)VBQ A^ :Y\Q E^x:y^L6?Q I^@V?DIVA:iVw?VLA4ybBɮf@fEErB*** querying acoustic contact ***ipipx:ix~FNOT Ignoring new targets: 388.34 m."i~M*i~M  ProNav: ac range: 388.336945 m, nav range: 382.772949 m, bearing: 32.992537 deg, approach rate: -0.545954 m/s, LOS rate: -0.011203 deg/s, cmd heading: 34.064776 deg, new cmd heading: 34.055141 deg. iHeadingCmd: 0.594374 target range: 388.336945 and range: 388.20 m.h(?hhhhggjg!rg!e!re!Ze!:e)*e-n$@5Bɢ5Ϸ>)9 =_@i9)E=AAi׎i(?|=S+=I(?Il>i>Y@Y @Y@]0@Y2Acoustic response timeout^AMD%=A]>A]>BU>BQBU)IBU5BBQBQBQBUd;BU>qEIAIIO>y ?#,r LA"2Acoustic response timeout6T>6?%?6Z<>ٱ6=6Hf!?@HI6];6CY>By>*IbDJ[VDJ8yNy%RK=ٔRE*9TYT=VEyVCDV~;EV>XQ 5^4Z<:?Q 9b4Z/)ZqBQ Ab9Y`Q EbI:yb6?Q Ib@Z?DIZ;iZ?Z E4yfBɮj@jFE:iQUFNOT Ignoring new targets: 388.34 m.Y"i}I*i}I ProNav: ac range: 388.336945 m, nav range: 382.552399 m, bearing: 32.987975 deg, approach rate: -0.532937 m/s, LOS rate: -0.011030 deg/s, cmd heading: 34.055142 deg, new cmd heading: 34.046013 deg. i|HeadingCmd: 0.594215 target range: 388.336945 and range: 388.20 m.hz?hhhE EE:E"El;*E$:VE(4ZEBEdF) ]@i)>iѓiz?W&}==Iz?Iԑ9@ @@0@Ա2Acoustic response timeout^AϚ= A I I O% >kF#,s!LAY By a*II4=)R=ԩaa aa aa aa iMb@Mb@Mb@ 9n?+?{GztY?y=ף@@ @)@Y@bDmVD8y+%5=ٔQ->9 Y = Ey #CD E>Q 54L:?Q 94)XBQ A%T:Y%Z?Q E%:y%6?Q I%@?DI%;i ;L4y)ɮ5Y@1:iQ]FNOT Ignoring new targets: 388.34 m."i]_*i]_m ProNav: ac range: 388.336945 m, nav range: 382.294250 m, bearing: 32.982607 deg, approach rate: -0.587452 m/s, LOS rate: -0.012224 deg/s, cmd heading: 34.046014 deg, new cmd heading: 34.035271 deg. imuHeadingCmd: 0.594028 target range: 388.336945 and range: 388.20 m.hu0?hqhyhyhygygyjgrgBereZe:e*e#&@颵ƃBɢø>) W@i)>i{i0?|}=A=I0?IE2Acoustic response timeout=9@9 @9@=z0@9E EE3E"E:*Ex:VE4ZEa@a@a@a@^AZ=A I I  2Acoustic response timeoutO >1 2L#, )3!LABAB>BB)IBBB =BBDB{;BVqEBQBQBQBQBQCUJ6F>FhM%?F$C>ٱF=FH k?`അ? ??q?@:ȿp? ?=?iF>IF];FCYNyByNQ*IbDVVDV"8y^Ë%bc=ٔb9dYd=fEyf1CDf:Ef>hQ 5n4jY:?Q 9r4j)jCBYpyr6?Q Ir@j@DIj:ij&:j;S4yvBɮv]@x:iFNOT Ignoring new targets: 388.34 m."iQ*iQ ProNav: ac range: 388.336945 m, nav range: 382.088287 m, bearing: 32.978310 deg, approach rate: -0.547063 m/s, LOS rate: -0.011422 deg/s, cmd heading: 34.035270 deg, new cmd heading: 34.026669 deg. i9HeadingCmd: 0.593877 target range: 388.336945 and range: 388.20 m.hZ?hhhhggjgrgereZe:e*e&@MȃBɢU>)Q uV@iq)}>yyi}6+iZ?}==IZ?IQ9@ @@0@@zA@Ae2Acoustic response timeoutE EE8E"ED:*E:VEF4ZEBE2ԡ ]S#,M!LA:>:F %?:E>ٱ: =:H ?>?@???@8? ȿ@? I:^;:CYFQByF!*IiMb@Mb@Mb@ 9L7A`?{Gz?MbPY+?y#<@@ &@)E@Y @!!bD-aVD-8y=:%=C=ٔ=;Q-E>9AYA=EEyEBCDM*EM>QQ 5]4Uch:?Q 9]4U)U-BY]1?Q E]:ye*?Q Ie@U@DIU;iU;UZ4yiɮm@i:iFNOT Ignoring new targets: 388.34 m."i*i ProNav: ac range: 388.336945 m, nav range: 381.871582 m, bearing: 32.975424 deg, approach rate: -0.536318 m/s, LOS rate: -0.007145 deg/s, cmd heading: 34.026671 deg, new cmd heading: 34.020897 deg. i4QHeadingCmd: 0.593777 target range: 388.336945 and range: 388.20 m.h?hhhh2Acoustic response timeoutggjgrgBereZe:e*eP'@q额˃BɢI>) P@i)] >顡iTi?P)~=S=I?I9@ @@A5@ԩ^AU:= 2Acoustic response timeoutIQ I 8G O >bEijEmʗ4rEmW0E  E E 3E "E &:*E Ar:VE 4ZE a @a @a @a @ u9 Y qA !EY#,f!LA2>2z$?2%H>ٱ2=2H`? ? ??z ?ȿ`IV?;?i2>I2^;2CY:?By: *IbDFQVDF8yNĽ%NU=ٔNO;Q-R>9PYP=REyRRCDV5EV>XQ 5^4Zu:?Q 9^4Z_)ZBY\y^)?Q Ib@Z@DIZ;iZ;ZEa4yfBɮf8@fGErB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 388.34 m."i~*i~  ProNav: ac range: 388.336945 m, nav range: 381.673553 m, bearing: 32.972817 deg, approach rate: -0.515920 m/s, LOS rate: -0.006797 deg/s, cmd heading: 34.020896 deg, new cmd heading: 34.015678 deg. i GHeadingCmd: 0.593686 target range: 388.336945 and range: 388.20 m.h?hhhhggjgrge!re!Ze!:e!*e-1w(@̓BɢG>)! %!N@i!)- >))i-iU?]z~=]=I]?Ia 9@  @ @ 5@ 2Acoustic response timeout!B9B9B=\)IB=BB= =B9B9B=;B=mqE^A1IIO>I ,`#,!LABDAT read: Response Not Received *response not received(DAT read: user:25> BDAT read: Tx time:01:08:21.3478 $Ping request sent.B{$?BϻJ>ٱB=BHX?`??`?@H?--ɿ`?)8?iBSb>IB ^;BCYN&ByN)IbDVKVDV8y^%^H=ٔb{;Q-b>9`Y`=fEyfcCDfU7Ef>hQ 5n4j:?Q 9%4j)jBY!y%s)?Q I%@j-@DIjd.) J@i)ɻ>itZi?~= L=I?IIyA)i9@ @@5@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249217^A- o=I I O > Xf#,!LAPN>N$?NɝM>ٱNl=NH!? m??`C?r?ɿ 4?`3?iN>IN9G^;NCYZByZ)Ii=Mb@Mb@Mb@9999 99=v/?Mb`Y=x ?y===@=@ =/@)=@9Y=G@ UC=U=bD]7VD]߰8yei%m@=ٔmn;Q-m>9iYq=uEyutCD[E>Q 54P:?Q 94M)BYy ?Q E:y3$?Q I@<@DI4:i:p4y Bɮ @ :i15FNOT Ignoring new targets: 388.34 m."i=ʸ*i=ʸM ProNav: ac range: 388.336945 m, nav range: 381.231354 m, bearing: 32.967778 deg, approach rate: -0.557180 m/s, LOS rate: -0.005534 deg/s, cmd heading: 34.010193 deg, new cmd heading: 34.005594 deg. iM "UHeadingCmd: 0.593510 target range: 388.336945 and range: 388.20 m.hU>?hQhQhQhQgQgYjgYrg]BeYreaZea:ea*ee@)*@颕ӃBɢ>) RH@i)xC>顙ii>?Q!==I>?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502521-9@) @)@-/@)E EE5E"E*Ex:VE4ZEa@a@a@a@^A/=II O >!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753400A A ?AB >B B )IB jBB B B DB ~;B _qERl#,Ps!LA2>2#?2P>ٱ2=2H]$? d{]?@S??^?ɿ(?-?i2>I2=^;2CY:By:)IbDj VDj8yr /%rS=ٔrL9tYt=vEyvCDztyEz>||Q 54~:?Q 9 4~<)~BY y #?Q I @~H@DI~:i~q:~v4ysBɮ@>E:i9EFNOT Ignoring new targets: 388.34 m."iE&*iE&U ProNav: ac range: 388.336945 m, nav range: 381.036530 m, bearing: 32.965883 deg, approach rate: -0.522768 m/s, LOS rate: -0.005086 deg/s, cmd heading: 34.005593 deg, new cmd heading: 34.001802 deg. iU]HeadingCmd: 0.593443 target range: 388.336945 and range: 388.20 m.h]?hahahahagagajgirgieireiZei:eq*eu`*@额փBɢi>) C@i)>顡iD}i?ri=2=I?IU9@Q @Q@U/@Y)=N>=4=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005502Y^AuL=E EEE"E;*E|:VEZEBEU\ԑ is#,N!LA2C?>2j#?2$xT>ٱ2(=2H%?bpԻ?@??@d5?`V^ʿ,?'?i2C?>I2u^;2CYNByR)Ii%Mb@Mb@Mb@!!!! !9%/$?{Gz~jthY% ?y%ף%D%E@%@ %@)% @!Y%@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257355bDVD8y%>=ٔ9Y=EyCDBE>Q 54:?Q 94͋)BY ?Q E:y?Q I@W@DI;i;$~4yvBɮZ@:i  FNOT Ignoring new targets: 388.34 m."i&*i&% ProNav: ac range: 388.336945 m, nav range: 380.806183 m, bearing: 32.964972 deg, approach rate: -0.535493 m/s, LOS rate: -0.002119 deg/s, cmd heading: 34.001802 deg, new cmd heading: 33.999978 deg. i%)i u@@iq)unA>qqi}i}?}=,=I?I 9@  @ @ /@ ԩ^A5=A5xAzA5zAm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512971A I I O >E  E E 4E "E ;*E v:VE 4ZE a @a @a @a @ 0y#,)!LAɰ;2IC>2"?2 X>ٱ2}=2H@**?@.cy???p?ʿ?"?i2IC>I2];2CY:ƉBy>u)I@BBAbDFVDF°8yN%N^=ٔR9PYP=REyVCDV2EV>XQ 5^4Z1:?Q 9^4Z)ZBY`yb?Q Ib@Zd@DIZ;iZ;Z4ydɮf @d-B*** querying acoustic contact ***i)i):iaeFNOT Ignoring new targets: 388.34 m."im *im  ProNav: ac range: 388.336945 m, nav range: 380.609680 m, bearing: 32.964252 deg, approach rate: -0.514286 m/s, LOS rate: -0.001886 deg/s, cmd heading: 33.999978 deg, new cmd heading: 33.998537 deg. i\HeadingCmd: 0.593386 target range: 388.336945 and range: 388.20 m.h,?hhhhggjgrgereZe:e*e2,@e܃Bɢeq>)a e?=@ia)m>iiimSi,?==I,?II@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761416B>BB(IB(BB =BBDBk;BJqE1^A=A I I O >Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013242怀#,"LA2ł>2Ӌ"?2[>ٱ2ƅ=2H],?`WKZ? ?r ?g?<˿Ѹ??i2ł>I2^;2CY:By>Y)I <<bDF(VDFѰ8yN޽%NI=ٔR 9PYP=REyRCDVymEV>XQ 5^4ZD:?Q 9^4Z)ZBY\y^$?Q Ib@Zr@DIZ":iZ:Z4ydɮfr@d:ixzFNOT Ignoring new targets: 388.34 m."i~ *i~  ProNav: ac range: 388.336945 m, nav range: 380.393250 m, bearing: 32.963507 deg, approach rate: -0.553455 m/s, LOS rate: -0.001906 deg/s, cmd heading: 33.998537 deg, new cmd heading: 33.997046 deg. i I_HeadingCmd: 0.593360 target range: 388.336945 and range: 388.20 m.hw?hhhhggjgrgereZe!:e!*e%P-@Eu EuEu2Eq"EuI;*Eu~:VEu4ZEqBEupj) :@i)u>i+iw?#==Iw?I)@ @@@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268032^A=ԉI I O >Ա l#,H"LA6S>6!?6>_>ٱ6f=6HE2?F`ذ?y?@?b? L˿ѭ??i6S>I6$^;6CYBByBM)Ii Mb@Mb@Mb@     9 /$?MbMbp?Y y  ; @ /@ ̤@) z@ Y @bD%VD%8y5@E%5B=ٔ58 99Y9==Ey=CDEEE>IQ 5M4M@:?Q 9U4Mw)MsBYUF ?Q EU:yU?Q IU@M@DIM{;iM;M4yezBɮeU@e?E:iFNOT Ignoring new targets: 388.34 m."i%6*i%6 ProNav: ac range: 388.336945 m, nav range: 380.167603 m, bearing: 32.963609 deg, approach rate: -0.534481 m/s, LOS rate: 0.000241 deg/s, cmd heading: 33.997045 deg, new cmd heading: 33.997248 deg. i6HeadingCmd: 0.593364 target range: 388.336945 and range: 388.20 m.h?hhhhggjgrgBereZe:e*e ).@Bɢ >) \8@i),d>iiu?}F=} =I}?Iyԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518039@ @@@E EE5E"EV:*E:VE4ZEa@a@a@a@^A/=A>A>I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769348B <A 4=B >B B b(IB BB  =B B B K;B (qE 4ό#,5"LA((F7>FM!?F:b>ٱF^=FHF9?1='? d?#??̿??iF7>IF>^;FCYRByR+)IbDZVDZ8yb %bR=ٔb9dYd=fEyfCDjuջEj>lQ 5r4n :?Q 9r4n)n[BYpyr?Q Iv@n@DIn;in{;n֙4yxɮz@x:iFNOT Ignoring new targets: 388.34 m."i%7*i%7- ProNav: ac range: 388.336945 m, nav range: 379.959198 m, bearing: 32.963784 deg, approach rate: -0.535191 m/s, LOS rate: 0.000451 deg/s, cmd heading: 33.997250 deg, new cmd heading: 33.997600 deg. i5S75HeadingCmd: 0.593370 target range: 388.336945 and range: 388.20 m.h5?h9h9h9h9g9gAjgArgAeAreAZeI:eI*eMY.@q]JTimed out from 2025-12-05T00:58:24.8Z8]q]fCompleted lineCaptureHoming:MicromodemComms:CheckIn8] qeAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInpeVCompleted lineCaptureHoming:MicromodemCommsBɢN>) 4@i)>i żi?d==I ?I@ @@0@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021140)E EEE"E:*E:VEZEBE6I ͹#,O"LAYvBy)II >) 9Y=EyCDE>Q 54:?Q 94|)ABY9 ?Q E:y?Q I@@DI;ip;4y~Bɮx@:i9=FNOT Ignoring new targets: 388.34 m."i=*iEU ProNav: ac range: 388.336945 m, nav range: 379.722534 m, bearing: 32.963590 deg, approach rate: -0.535840 m/s, LOS rate: -0.000440 deg/s, cmd heading: 33.997601 deg, new cmd heading: 33.997213 deg. iUN]HeadingCmd: 0.593363 target range: 388.336945 and range: 388.20 m.h]?hYhYhYhYgYgajgargeȄBeareiZei:ei*em/@q8upunAggregate::initialize lineCaptureHoming:MicromodemComms8} q}~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8}Bɢm>) 1@i!)%q?">!!i%ȼIiM?U$=U=IU?IQ @  @ @ /@q^Aл=- BDAT read: Rx Time:01:08:24.2886 5 TRx dataTimestamp_ set to:1764896905.5445895 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526357II IY ԡ E  E E 2E "E ;*E $:VE 4ZE a @a @a @a @ O} ?#,/r"LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7773076ט>6 ?6>i>ٱ6r=6H`9E? U?>? =?MF?@̿`h_??i6ט>I6L^;6CYBcByB(IbDJVDJ8yR%V"=ٔVPb9TYX=ZEyZCDZZE^>\Q 5b4^;?Q 9f4^8x)^"BYdyfr?Q If@^@DI^:i^:^H4B=>B=6CB=(IB=BB= =B9B9B=];B=8qEBBBCBB =CP5yhɮ@B*** querying acoustic contact ***ii:i9MFNOT Ignoring new targets: 388.34 m.Ա"i%X*i%X ProNav: ac range: 388.336945 m, nav range: 379.452118 m, bearing: 32.963565 deg, approach rate: -0.500672 m/s, LOS rate: -0.000046 deg/s, cmd heading: 33.997212 deg, new cmd heading: 33.997162 deg. i5 HeadingCmd: 0.593362 target range: 388.336945 and range: 388.20 m.h?hhhhggjg!rg!ereZe:e*eC0@颍BɢZ>) < .@i)%>顙i̼i?\=!=I?II=xA)9@ @@/@@@ = <MDAT read: 01:08:24.2886 LVL= 18128, 22113, 20322, 19939, AGC= 75, IDX= 0, 0.58,-3.042, 1.479,-2.830, 2.785, PHS= 0.558,-1.261, 0.624, RAW= 151.8, 0.9, CAL= 150.5, 0.2, ROT= 359.5, -0.2 ]Ygot valid direction response: 01:08:24.2886 LVL= 18128, 22113, 20322, 19939, AGC= 75, IDX= 0, 0.58,-3.042, 1.479,-2.830, 2.785, PHS= 0.558,-1.261, 0.624, RAW= 151.8, 0.9, CAL= 150.5, 0.2, ROT= 359.5, -0.2 ePDAT read: Bearing 190.3, -13.4 (Local) m~Local bearing/azimuth received: Bearing 190.3, -13.4 (Local) }DAT read: Range 11 to 50 : 402.5 m (Round-trip 536.7 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.999956,-0.008726,0.003491]Fpublishing direction and range infoy_?^7߁QC1ml?Y@CFaVbO M)KI?ishw?)@<0(@ d;)^@Idհ3?sBi?Sގ?  ?)vIDidT****** received valid address query ****** R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.E  E E 5E "E l;*E :VE 4ZE BE dF^#,!"LABB>B?Bl>ٱBa=BHJ?D?-?H?!(?ZͿ S0?`?iBB>IB)^;BCYJLByJ(IbDfVDf8y~ؽ%D=ٔ;Q->9Y=EyDDΚE>Q 54!;?Q 94t)BYy?Q I@@DI%:i:4 yBɮ%U@%@Ee(DAT read: user:26> mBDAT read: Tx time:01:08:25.6478 m$Ping request sent.mj=Rj=mN?j=ٷ{j=+Brj=Czj=M? addTargetRange:: Added new target pos. range: 402.500000 m, deltaT: 16.635983 s, deltaX: 14.299988 m, approachRate: 0.859582 m/s, rangeRepo size: 4  Added new target pos. range: 402.618744 m, bearing: 35.177458 deg, lat: 36.779531 deg, lon: -121.859698 deg, deltaT: 16.635983 s, deltaX: 14.281799 m, approachRate: 0.858488 m/s, posRepo size: 4 :i%FNOT Ignoring new targets: 402.62 m."i%*i!5 ProNav: ac range: 402.618744 m, nav range: 383.785858 m, bearing: 33.863582 deg, approach rate: 0.000000 m/s, LOS rate: -0.000046 deg/s, cmd heading: 33.997161 deg, new cmd heading: 33.997118 deg. i1]HeadingCmd: 0.593362 target range: 402.618744 and range: 402.50 m.h]?hYhYhahagagajgargieireiZei:em(y@*euQ?}BɢH>)\ze Y+@i)'>顁i9ϼi?ɀ=@=I?II@ @@/@Y %C gG checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250946] zAu MA 9 zAY A^A l=ԉ bE4jEʨ4rE@o/E  E E E "E %;*E ?:VE ZE a @a @a @a @A.AI!I9OE>#,,"LAR;r>R?R,p>ٱRz=RH@lO?pԇ? ?LS?2?@QͿ?@?iR;r>IR*];RCYb:Byb(IiiMb@Mb@Mb@ 9Q?V-~jt?Y?y<\@@ \@)@Y@bDVD8y%$=ٔ1;Q->9 ?Y ?=Ey!DDE>Q 54N2;?Q 94Xq)BY? ?Q E:y ?Q I @@DI~ ;i;>4yBɮ@AE:i9=FNOT Ignoring new targets: 402.62 m."iE/8*iE/8U ProNav: ac range: 402.618744 m, nav range: 383.554138 m, bearing: 33.864570 deg, approach rate: -0.560634 m/s, LOS rate: 0.002391 deg/s, cmd heading: 33.997120 deg, new cmd heading: 33.999097 deg. iU 8]HeadingCmd: 0.593396 target range: 402.618744 and range: 402.50 m.h]?hYhYhYhYgYgajgarge؄BeireiZei:ei*em ?额Bɢ>) (@i),)>顡i@Ҽi?ހ=ޭ=I?I9@9 @9@E/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503075ԙA9A=@ABE>BABE'IBEvBBE =BABEDBEQ;BE*qE^A=A ؟AI I O > 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754951#,9"LAB>BJ?BٱB=BH`P?@9??@Y?@J? οN??iB>IB];BCYJByJ(IbDVDȰ8y-|?%-X=ٔ-;Q-->95"?Y5"?=5Ey50DD=LE=>AQ 5M4E}@;?Q 9M4En)EBYIyM?Q IM@E@DIE:iE:E4DYD]%=Ee EeEe3Ea"EeV:*Ee:VEe4ZEaBEe9) #@i) +>  i [ռi?==I?I yJ>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.00761659@1 @1@5/@19Y ^A Y=A A >ԉAIIO>f#,<"LA*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258991>K|>>?>Av>ٱ>&=>H)N? =? ?`?&? ο? ?i>K|>I>y];>CYF ByF(IiMb@Mb@Mb@ 9kt?{GzI +?Y ?y#94<@@ @)7@YQ@bD-VD-8y=8%=&=ٔ=;Q-=>9AYA=EEyEDDDMWEM>QQ 5U4UTS;?Q 9]4Uj)UBY]-?Q E]:y]\?Q I]@U@DIU;iU;Uyɵ4ymgBɮm@m8EE EE4E"ED:*Ez:VE4ZEa@a@a@a@:iIMFNOT Ignoring new targets: 402.62 m."iU8*iU8 ProNav: ac range: 402.618744 m, nav range: 383.084747 m, bearing: 33.865131 deg, approach rate: -0.527588 m/s, LOS rate: -0.000630 deg/s, cmd heading: 34.000866 deg, new cmd heading: 34.000219 deg. iHeadingCmd: 0.593416 target range: 402.618744 and range: 402.50 m.h?hhhhggjgrgBԹereZe:e*e@{?%Bɢ%+>)-+> -!@ii)uH.>qqiuؼi}?}=}/K=I}?I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514440BBB'IB9BB =BBB@;BqENd u 9@q  @q @} 2@y A ^Aʞ=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762894A.AIIO ?)#,@#LAD@AzD E EE3E"EV:*Eą:VE4ZEBEa2EaJE$;a:E$;a>L>>rp?>1x>ٱ>=>HxM? K??b?/?@οù??i>L>I>^;>CYJByJc(IIN=)N9b ?Yb ?=bEybZDDf;2Ef>hQ 5n4j h;?Q 9n4j"f)jBYlynE?Q In@j@DIj:ij:jҵ4ytɮv@tB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 402.62 m."i?*i?- ProNav: ac range: 402.618744 m, nav range: 382.787262 m, bearing: 33.864791 deg, approach rate: -0.573950 m/s, LOS rate: -0.000656 deg/s, cmd heading: 34.000221 deg, new cmd heading: 33.999541 deg. i-ԑHeadingCmd: 0.593404 target range: 402.618744 and range: 402.50 m.hR?hhhhggjgrgereZe:e*e@颍Bɢ">) @i)P1>顑iڼiR?-==IR?I_>=9@A @A@M05@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015308^A  A ؟AI I O% > #,o #LA2AB>2k?2Jy>ٱ2A=2HK?@@F??b??ο&? ?i2AB>I2];2CY:ÈBy:7(Ii~Mb@Mb@Mb@|||| |9~ʡE?~jt?~jt?Y~-?y~D<~D<~@~@ ~@)~@|Y~@bD VD8y%,%%D=ٔ-T;Q-->9-"?Y5"?=5Ey5kDD5t;E5>9Q 5E4=w;?Q 9E4=b)=yBYM=?Q EM:yMX#?Q IM@= ADI=H:i=:=9ڵ4yUjBɮUx@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267027:i9EFNOT Ignoring new targets: 402.62 m."iE*iEu ProNav: ac range: 402.618744 m, nav range: 382.555267 m, bearing: 33.863157 deg, approach rate: -0.526119 m/s, LOS rate: -0.003708 deg/s, cmd heading: 33.999541 deg, new cmd heading: 33.996271 deg. i}$ٸ}HeadingCmd: 0.593347 target range: 402.618744 and range: 402.50 m.h}?hhhhggjgrgBereZe:e*e`~r@E= E=E=6E9"E= ;*E=z:VE=c4ZE9aE@aE@aE@aE@颕Bɢ6>) {@i)`s3>顙ihYݼi?D==I?I)Q 9@  @ @ l0@ u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518888B <A <B >B B H'IB BB  =B B B &;B pEy ^A \=A wAzA ԩAII!O->"#,@#LA2[>2w?2*z>ٱ2k_=2HLI? C??`wa? ?Ͽ? ?i2[>I2];2CY:By:$(IbD@VD@yJO{%N+=ٔNh:Q-N>9LYP=REyR~DDRr9ER>TQ 5Z4Vω;?Q 9Z4VQ^)V[BY\y^g#?Q I^@VADIV:iV0;V4y`ɮbh@`:itvFNOT Ignoring new targets: 402.62 m."izn*izn ProNav: ac range: 402.618744 m, nav range: 382.288818 m, bearing: 33.861269 deg, approach rate: -0.587265 m/s, LOS rate: -0.004165 deg/s, cmd heading: 33.996273 deg, new cmd heading: 33.992494 deg. i󸝏 HeadingCmd: 0.593281 target range: 402.618744 and range: 402.50 m.h B?h h h h g gjgrgereZe:e*e`@M BɢMr>>)I M @i)5>i߼checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771265iB?\=,=IB?IEu EuEqEq"Eu:*Eu:VEqZEqBEu&5G#,TZ#LAE'!>E?Ez>ٱE3=QEHA? m?, ?\?慬?` Ͽ@ι?m?iE'!>IE_];ECYuByu(I yyiMb@Mb@Mb@ 9 +?S㥛?95 ?Y5 ?=5Ey5DD=>;E=>9Q 5M4=;?Q 9M4=vY)=8BYM?Q EM:yMf*?Q IM@=1ADI= ;i=";=4y]nBɮ]y@]9E:iyFNOT Ignoring new targets: 402.62 m. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274770"i`*i`븝 ProNav: ac range: 402.618744 m, nav range: 381.990845 m, bearing: 33.857928 deg, approach rate: -0.573064 m/s, LOS rate: -0.006431 deg/s, cmd heading: 33.992492 deg, new cmd heading: 33.985805 deg. iL<HeadingCmd: 0.593164 target range: 402.618744 and range: 402.50 m.h?hhhhggjgrg&BereZe:e*e@1g @Bɢr>) @i)8>i|ei ? {= R=I ?IE EE3E"E:*E:VE4ZEa@a@a@a@ԑ9@ @@/0@ԩ ^A v= BDAT read: Rx Time:01:08:28.5846  TRx dataTimestamp_ set to:1764896909.829177 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528625A >A ? B% >B! B% &IB% ćBB! B! B! B% $;B% pEA%؟AI9IqO?$ #,Oz#LAf$?f#{>ٱf1=fH4=? 6j??(Z?:/? Ͽ? ?ife>If_];dY%oBy%'IbDU VDUʰ8ye=%eC=ٔm9Q-m>9m"?Y"?=EyDD;E>Q 54;?Q 94U)BYy*?Q I@AADI:i;4yɮ@:iYFNOT Ignoring new targets: 402.62 m."i^*i^帝 ProNav: ac range: 402.618744 m, nav range: 381.748444 m, bearing: 33.855175 deg, approach rate: -0.551409 m/s, LOS rate: -0.006267 deg/s, cmd heading: 33.985806 deg, new cmd heading: 33.980296 deg. i~7HeadingCmd: 0.593068 target range: 402.618744 and range: 402.50 m.hO?hhhhggjgrgereZe:e*e@C@uBɢuy>)q u( @iq)}9>yyi}ԡiO?蔁=Y=IO?I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779433@ @@0@DQzDQEe EeEe5Ea"Ee;*Ee:VEe4ZEaBEe:N DAT read: 01:08:28.5846 LVL= 21344, 23921, 20370, 27795, AGC= 70, IDX= 396, 0.07,-1.545, 3.125,-1.326,-1.937, PHS= 0.493,-1.177, 0.566, RAW= 152.1, 1.4, CAL= 150.9, 0.8, ROT= 359.1, -0.8  Ygot valid direction response: 01:08:28.5846 LVL= 21344, 23921, 20370, 27795, AGC= 70, IDX= 396, 0.07,-1.545, 3.125,-1.326,-1.937, PHS= 0.493,-1.177, 0.566, RAW= 152.1, 1.4, CAL= 150.9, 0.8, ROT= 359.1, -0.8  PDAT read: Bearing 189.9, -14.8 (Local)  ~Local bearing/azimuth received: Bearing 189.9, -14.8 (Local)  DAT read: Range 11 to 50 : 399.6 m (Round-trip 532.8 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.999779,-0.015706,0.013962] Fpublishing direction and range infoy  k0?F߂+"4?Y C `S q] O l) FI j>i 𧖿 `? )@ +< (@ d<) -@I d %?Ή?DUqh? W?) YȼI i d  T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.1 d#,#LA2>2F?2{>ٱ2J=2H9?x \??pW? ̪? kϿ2??i2>I2IF];2CY:NBy:'IiuMb@Mb@Mb@qqqq q9uoʡ??Mb?Yu ?yuL=u9Y=EyDD:E>Q 545;?Q 94Q!)BY% ?Q E%:y%5?Q I-@QADI?;i;c4y5rBɮ5!A1iizS#LAjC"jC:j ?RjKUx@"q`R@Bjk0?F߂+"4?*j2jdZjψs@<k@4&tWJjRF՝?BC?V絍Ϳj]C jCi++?i8Śjjj8Śj~Brj)Czj? addTargetRange:: Added new target pos. range: 399.600006 m, deltaT: 4.285176 s, deltaX: -2.899994 m, approachRate: -0.676750 m/s, rangeRepo size: 4  Added new target pos. range: 399.715393 m, bearing: 34.639253 deg, lat: 36.779531 deg, lon: -121.859602 deg, deltaT: 4.285176 s, deltaX: -2.903351 m, approachRate: -0.677534 m/s, posRepo size: 4 :i FNOT Ignoring new targets: 399.72 m."i*iE ProNav: ac range: 399.715393 m, nav range: 386.321381 m, bearing: 34.903974 deg, approach rate: 0.000000 m/s, LOS rate: -0.006267 deg/s, cmd heading: 33.980297 deg, new cmd heading: 33.974324 deg. iAMHeadingCmd: 0.592964 target range: 399.715393 and range: 399.60 m.hMz?hIhIhQhQgQgQjgyrg}*BeyreyZe:ex@*e`s?Bɢo>) [@i)=<>iiz?j==Iz?IQ@ @@#0@(DAT read: user:27> BDAT read: Tx time:01:08:29.8977 $Ping request sent.%E#,5A#LAɰ2/>23b?2-{>ٱ2=2H@7?`B`??`U?9?TϿ??i2/>I2L];2CY:&By>u'IbDFտVDF8yNh%Nl=ٔN9Q-N?9PYP=REyRDDRϟ:EV?XQ 5^4Z ;?Q 9^4ZM)ZBY\y^6?Q I^@Z]ADIZ:iZG:Z^4ybOBɮfLAf0ErB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 399.72 m."i~g*i~g  ProNav: ac range: 399.715393 m, nav range: 386.136993 m, bearing: 34.901174 deg, approach rate: -0.565963 m/s, LOS rate: -0.008601 deg/s, cmd heading: 33.974324 deg, new cmd heading: 33.968720 deg. i {HeadingCmd: 0.592866 target range: 399.715393 and range: 399.60 m.h?hhhhggjgrge!re!Ze!:e!*e%M?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250521Bɢ%Т>AIAIBM>BM7CBM&IBM}BBM =BIBMDBM);BMqEB6CB6CBB =B =C)5)! m@ii)mV=>qqiuiu?}0ǁ=}墲=I}?Iy!9@9 @9@E05@AI^A]=AexAzAewAԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503345I9 II O] >E=  E= E= 3E9 "E= V:*E= |:VE= 4ZE9 BE= 92Z?2Xz>ٱ2=2H8? ƃ?@? U?S? ]Ͽc?E?i2b >I2V'];2CY>By>L'IbDFVDF8yND(%NK=ٔRQ-R>9PYT=VEyVDDVvEV>XQ 5^4Z;?Q 9^4Z'J)ZBY`yb6?Q Ib@ZkADIZ';iZD;Ze4yfSBɮfyAd:iimFNOT Ignoring new targets: 399.72 m."iu*iu ProNav: ac range: 399.715393 m, nav range: 385.920197 m, bearing: 34.897878 deg, approach rate: -0.519855 m/s, LOS rate: -0.007907 deg/s, cmd heading: 33.968720 deg, new cmd heading: 33.962125 deg. igHeadingCmd: 0.592751 target range: 399.715393 and range: 399.60 m.h?hhhhggjgrgereZe:e*e.?#Bɢ٤>) -?i)>>i4i?ށ=:=I?Iԙ@ @@s4@i)I)-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754132Թ^A=IYIiOu> /{A A R9 /{AY A/#,#LA2>2A?2uz>ٱ27=2H;?` i??}U?@̒?Ͽ=ڹ??i2>I2?];2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005674YJByJ$'I\i}Mb@Mb@Mb@yyyy y9} +?~jt?Mb`?Y}?y}<};}@}z@ }@)}d@yY}z@bDVD8y%;=ٔڹQ->9Y=EyDDbE>Q 54;?Q 94F)BY?Q E:y)?Q I@{ADIA:iI: 4yɮ|AbE4jE^4rE7/E EE8E"El;*E:VEF4ZEa @a @a @a @:iFNOT Ignoring new targets: 399.72 m."i뭸*i뭸- ProNav: ac range: 399.715393 m, nav range: 385.669678 m, bearing: 34.895856 deg, approach rate: -0.588173 m/s, LOS rate: -0.004752 deg/s, cmd heading: 33.962125 deg, new cmd heading: 33.958078 deg. i-# HeadingCmd: 0.592680 target range: 399.715393 and range: 399.60 m.h?hhhhggjgrgBereZe:e*ek?u(Bɢu>)y }?iy)}@>yi` i?P= =I?Ie9@a @a@e5@a5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257738B]>B]6CB]B&IB],BBYBYB]DB];B]pE^A =I1 II Q Oe >,#,!#LA@:>: ?:*z>ٱ:(=:H=?_Q??V?@iN?οS?`T?i:>I:*];:CYbByb&I ddbDn+VDn԰8yv[4%vW=ٔv|Q-v>9xYx=zEyzDDzE~>Q 54;?Q 9 4B)BY y )?Q I @ADIq:i:4yWBɮA1E:iAEFNOT Ignoring new targets: 399.72 m."iM$*iM$] ProNav: ac range: 399.715393 m, nav range: 385.452209 m, bearing: 34.894114 deg, approach rate: -0.576639 m/s, LOS rate: -0.004621 deg/s, cmd heading: 33.958078 deg, new cmd heading: 33.954593 deg. i]PeHeadingCmd: 0.592619 target range: 399.715393 and range: 399.60 m.he?hahahahagigijgirgieqreqZeq:eq*eu-?颥,Bɢ[>) 3?i)rA>顩ii?1=nj=I?Im9@q @q@u/@q@y@}=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511701IE  E E 5E "E T;*E :VE 4ZE BE G } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768355 #,B$LARy>R-?R,y>ٱR3=RH>?`F?(?`V?u?kο?@q?iRy>IR-];PYBy&IiMb@Mb@Mb@ 9M?I +?MbPYn?y9<@ @ E@)AY3@bDVD8y7%==ٔѹQ->9Y=Ey EDE>Q 54)|BY?Q E:y9)?Q I@ADIv;i;D4yɮA:i!-FNOT Ignoring new targets: 399.72 m."i-}*i-}= ProNav: ac range: 399.715393 m, nav range: 385.211395 m, bearing: 34.892250 deg, approach rate: -0.555508 m/s, LOS rate: -0.004303 deg/s, cmd heading: 33.954592 deg, new cmd heading: 33.950861 deg. i=EHeadingCmd: 0.592554 target range: 399.715393 and range: 399.60 m.hE?hAhAhIhIgIgIjgQrgU3BeQreQZeQ:eY*e]@颅2BɢxX>) ?i)uC>  i i?u+=d=I?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017649E EE2E"E;*E?:VE4ZEa@a@a@a@1^A A9 IA IQ Y Oe > #,v2$LA2o>2_?2 y>ٱ2F=2H@?`K? ?? X?2?οTJ?2?i2o>I2 ];2CY:tBy:&IbDBVDB8yJI%J_=ٔNQ-N>9LYP=REyREDRnER>TQ 5Z4V)Q U?iQ)UD>QQi]v5i]?]u@=e=Ie?IaB<A<B>BB%IBۆBBBBB;BpEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271682!9@ @@/@Q^A=ԁA9 Ia Iq O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521831E  E E 4E "E :*E :VE 4ZE BE <9)Y)=-Ey-)ED5E5>1Q 5E45'$) M?i)F>ii?Y=A`=I?Iԑ@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776604^A=AzAA I I O >  #,if$LA6>6(?6x>ٱ6E=6Hm??~ P? ?>V?@;?`3ο4?s?i6>I6G];6CB>@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025892YF9ByFR&IiMb@Mb@Mb@ 9I +?MbP?Y9?y:@d@ @)Y@bD-VD-8y=%EH=ٔEQ-E>9AYI=MEyM:EDM:EM>QQ 5]4U3) ?i)RG>iW1iҨ?t= =I Ҩ?I 9@ @@/@B>BBn%IBBB =BBBò;BpEEBDAT read: Rx Time:01:08:32.8320 ETRx dataTimestamp_ set to:1764896913.865907Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280176^A= =i Ay I I O >A #,3$LA6>6|D?6w>ٱ6=6H??%W:??aS?Ls?ο ̀?2?i6>I6,];6CYv Byv&IbD~VD~8y A\% M=ٔ Q- >9Y=EyJED:E>!Q 5-4% C) ?i)aH>ii?=`=I?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529852@ @@/@E EE6E"Ea:*EX:VEc4ZEBE(] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784067,& #,$LALY-By-%IiMb@Mb@Mb@ 9 +?{GzMbPY?y#z@@ @)AY3@bDֿVD8yW/%0=ٔQ->9 ?Y ?=5Ey5\ED=E=>AQ 5M4EU) ;?i).I>iضi ? =I ?IC>i>9@ @@@@@DAT read: 01:08:32.8320 LVL= 32752, 27617, 32754, 32755, AGC= 75, IDX= 417,-0.03,-0.253,-1.919, 0.034,-0.660, PHS= 0.509,-1.214, 0.650, RAW= 153.9, 0.6, CAL= 152.6, -0.3, ROT= 357.4, 0.3 Ygot valid direction response: 01:08:32.8320 LVL= 32752, 27617, 32754, 32755, AGC= 75, IDX= 417,-0.03,-0.253,-1.919, 0.034,-0.660, PHS= 0.509,-1.214, 0.650, RAW= 153.9, 0.6, CAL= 152.6, -0.3, ROT= 357.4, 0.3 PDAT read: Bearing 188.2, -16.5 (Local) ~Local bearing/azimuth received: Bearing 188.2, -16.5 (Local) DAT read: Range 11 to 50 : 397.5 m (Round-trip 530.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.998957,-0.045362,-0.005236]Fpublishing direction and range infoy_jt?n9sNruYCk )KIM?iZdff&?o+@+<t*@ )@I;#~Iw?&͓C.? _&? q?)81I9i;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EEE"E:*E?:VEZEa@a @a @a @^A *= A ؟AI I O >IR, #,$LA2>2O$?2)Zv>ٱ2ٴ=2HC? (?l? T?7?rο߈??i2>I2];2CY>By>%IbDFVDF8yNi%Nx=ٔnQ-n?9r"?Yr"?=rEyrjEDrĺEr?tQ 5z4vbѲBj_jt?n9sNru*j92j;Zj-2z2t@Zm6j@XJj(?ޣv?spٗPϿjQC jCivr¦?i>8XjjxĢ?jjRrjCzjx/?] addTargetRange:: Added new target pos. range: 397.500000 m, deltaT: 4.286757 s, deltaX: -2.100006 m, approachRate: -0.489882 m/s, rangeRepo size: 4 m Added new target pos. range: 397.612335 m, bearing: 32.980251 deg, lat: 36.779548 deg, lon: -121.859602 deg, deltaT: 4.286757 s, deltaX: -2.103058 m, approachRate: -0.490594 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 397.61 m."iu*iq ProNav: ac range: 397.612335 m, nav range: 385.369965 m, bearing: 34.732306 deg, approach rate: 0.000000 m/s, LOS rate: 0.000343 deg/s, cmd heading: 33.942478 deg, new cmd heading: 33.942706 deg. iHeadingCmd: 0.592412 target range: 397.612335 and range: 397.50 m.hP?hhhhggAAB>B9CB%IB)BB =BBDB;BpEjgrgereZe:ex@*eK?PBɢĕ>) ?i)|J>(DAT read: user:28> BDAT read: Tx time:01:08:34.1977 $Ping request sent.<:3 #,z$LA2.>2a?22t>ٱ2v=2HA? D.?f!?@-Q?E?$Jο?M??i2.>I2A];0Y:By:%IbDFVDF8yN %NJ=ٔNQ-R>9R ?YR ?=REyRzEDV;EV>XQ 5Z4Zr) ?i)DlK>ii`?ׂ==I`?I9@ @@0@ԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507330Թ^AA! I) I9 OM > Id9 #,Nd$LAɰ4<2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754656>>>M?>r>ٱ>k=>HC??`>I>];>CYJmByJX%IiMb@Mb@Mb@ 9d;O?Zd;OY?yj@ @ z@)& AY@bD5VD58yEl%M@=ٔM΂Q-M>9QYQ=UEy]EDeZ0;Ee>iQ 5u4m)  ?i1)5I^L>11i5i=D?====I=D?IA@ @@_0@ BH>B@CB$IBͅBB =B-DBDBr;BBYB]9CB]ǗCB] =B] =C]ǡ6%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0080441^A- =A] ؟Aa Ii I O >N@ #,J%LA2o>2[ ?2$q>ٱ2m=2H;?#S?5? G?@Х?dͿ ?S?i2o>I2];2CY:`By:G%IbDFVDF°8yNh%NV=ٔNQ-R>9R"?YR"?=REyREDV_;EV>XQ 5 4Z) ?i)WM>顩iۭi۫? ==I۫?I1)@) @)@-95@1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259060DzDE  E E :E "E :*E 3:VE (4ZE BE  = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513893Թ G~F #,<%LA2ٍ>2] ?2o>ٱ2=2H`=?_ N?"8?^F?ʤ?Ϳ??i2ٍ>I2];2CY^ABy^!%IiUMb@Mb@Mb@QQQQ Q9U"~?~jt~jth?YU?yUUD;U@UA U@)U AQYU@bDmܿVDm8y}%}<=ٔ}WQ-}>9Y=EyEDd :E>Q 54)1 5m?i1)5M>99i=i=?E)=Eb=IE?IIԁ @ @@/5@G={AQ9{AYAԱuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762776bEU*4jEU4rEU0E EE9E"Ey:*EA:VE4ZEa%@a%@a%@a-@^AL=A I I O > iL #,4%LA@:>:+ ?:m>ٱ:Y9=:H=?@`PV? I:];:CYFByF$IbDRVDR8yV:<%VY=ٔZޔQ-Z>9XY\=^Ey^ED^:Eb>`Q 5f4bBMCCBM5$IBMBBM =BIBMDBM9;BMppE*ee@jBɢH>) Y?i) N>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024152iuFi}/?}nF=}ͷ=I}/?I-9@) @)@-4@)^AU/[=A]>A]>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275055A I I O >E!  E% E! E! "E! *E% ;J:VE! ZE! BE% #2vW ?2^l>ٱ2Q=2H@"I2#!^;2CY>By>$IbDFVDF8yNӽ%NK=ٔR\Q-R>9PYP=VEyVEDV:EV>XQ 5^4Z_) L?i)?O>i=iE?a==IE?IQ9@ @@/@i1I1Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.531008y^A=ԩ A% .AI) I9 OM >pY #,h%LA6o>62 ?66l>ٱ6=6H`#@??H?`??pC?@?@x=Ϳ@?&?i6o>I6˔^;4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778833DYJByJ$IiEMb@Mb@Mb@AAAA A9EʡE?9 ?Y ?=EyEDE>Q 54) 9?i)O>i˕i?=5Թ=I%?I!9@ @@4@BMf>BMDCBM#IBM5BBM =BIBMDBM3;BI5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030745^A ˺= A ؟A PExceeded connect timeout, disconnecting.I I O% >R` #,D%LAɰ2fi>2?2Vj>ٱ2an=2HE?7.?@;?F?? Ϳ'ν?`?i2fi>I2%^;0Y:˅By:$IIBC>)B=bDFVDF8yN%NZ=lٔPZQ->9"?Y"?=EyEDE>!Q 5-4%) *)?i)vfP>ik!i?[==I?IBDAT read: Rx Time:01:08:37.1283 TRx dataTimestamp_ set to:1764896918.156821checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2841369@ @@/@@yA@ E- E-E-7E)"E-:*E-0:VE-Ժ4ZE)BE-h ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537191f #,%LA)YmBymu$IiMb@Mb@Mb@ 9Q?Mb9!Y!=% Ey-ED-E->1Q 5=45)Q US?iQ)UP>QYii?=Ը=I?IY@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787168ԉE= E=E9E9"E=g:*E=C:VE9ZE9ae@ae@ae@am@^A =Թ A .AI I O >l #,K=%LA:$>:?:\ h>ٱ: =:HM?N ?r8?@.I?@?'̿#??i:$>I:`;:CYFByFF$IbDR׿VDR8ybT%be=ٔfQ-f>9j ?Yn ?ArAAApBzl>BxBz#IBzBBz =BxBxBz;BzpE= Ey FDg&E%>)Q 5=4-=?Q 9E4-)-BYAyM?Q IM@-BDI-r;i-m;-͎4yQɮ]/AYԙ:iFNOT Ignoring new targets: 397.61 m."i7*i7 ProNav: ac range: 397.612335 m, nav range: 383.111145 m, bearing: 34.737229 deg, approach rate: -0.537534 m/s, LOS rate: 0.001065 deg/s, cmd heading: 33.951760 deg, new cmd heading: 33.952560 deg. i7HeadingCmd: 0.592584 target range: 397.612335 and range: 397.50 m.h?hhhhggjgrgereZe:e*e|&@-DAT read: 01:08:37.1283 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 411,-0.10,-1.717, 3.025,-1.627,-2.102, PHS= 0.487,-1.112, 0.430, RAW= 148.2, 2.5, CAL= 147.4, 2.5, ROT= 2.6, -2.5 5Ygot valid direction response: 01:08:37.1283 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 411,-0.10,-1.717, 3.025,-1.627,-2.102, PHS= 0.487,-1.112, 0.430, RAW= 148.2, 2.5, CAL= 147.4, 2.5, ROT= 2.6, -2.5 =PDAT read: Bearing 190.5, -10.1 (Local) =~Local bearing/azimuth received: Bearing 190.5, -10.1 (Local) EDAT read: Range 11 to 50 : 394.8 m (Round-trip 526.4 ms) speed 0.6 m/s MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.998020,0.045320,0.043619]UFpublishing direction and range infoymD(? b"(4?GU?YfC )IX>iV(>~%@¸2=$@ ¸2=)9=I¸2(lz,?Sw6?e…q? >)3I9=i¸2uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.BɢXw>) ?i)!cQ>ii ?-<҃=52=I5?I1nManaging dock network, ignoring radio surface power offUB9@ @@4@ (DAT read: user:29>  BDAT read: Tx time:01:08:38.4977  $Ping request sent. Du #,%LA>->>4a?>bg>ٱ>*x=>HU?s?/? ;O?@O?v̿ս?@y?i>->I>w`;>CYFyByF+$ILNA LLbDRVDR8yf&%f$=ٔj-Q-j>9pYt=z Eyz!FDCE> Q 5%4 =?Q 9%4 ) BY!y-r?Q I-@ BDI T;i \G; l4y=9BɮEAE#EiQiU]%LAjUC"jUC:jUF)?RjUcc=|x@O1@U:1@BjUmD(? b"(4?GU?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252454Q*jU9=2jU¸2ZjUuA's@Vpm@l%dQJjUh2?'Zy:c?IvƿjUPoC jU:CiUW?iU/QnjU4jQjUhN>jQrjUkCzjU? addTargetRange:: Added new target pos. range: 394.799988 m, deltaT: 4.291951 s, deltaX: -2.700012 m, approachRate: -0.629087 m/s, rangeRepo size: 4  Added new target pos. range: 395.000031 m, bearing: 37.987021 deg, lat: 36.779548 deg, lon: -121.859563 deg, deltaT: 4.291951 s, deltaX: -2.612305 m, approachRate: -0.608652 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 395.00 m."i*i ProNav: ac range: 395.000031 m, nav range: 384.843536 m, bearing: 35.165479 deg, approach rate: 0.000000 m/s, LOS rate: 0.001065 deg/s, cmd heading: 33.952560 deg, new cmd heading: 33.953724 deg. iHeadingCmd: 0.592604 target range: 395.000031 and range: 394.80 m.h?hhhhggjgrgereZe:e̬x@*e ?mBɢuin>)q u>iq)uaQ>yii?==I?IyS-9@) @)@55@1ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502798^A =E}  E} E} 5Ey "E} :*E} H:VE} 4ZEy a @a @a @a @ A I I! O- >{ #,%LA2f>2?2f>ٱ2iO=2H]?@@?H&?-U?d?ɜ̿'6??i2f>I2ƕ`;2CYRXByR$Ii-Mb@Mb@Mb@)))) )9-@5^I ?I +:v?Y-b?y-9-T<-@-A -@)-A)Y-AbDEVDE8yU%U6=ٔUQ-]>9YYY=] Ey]3FDe_Ee>iQ 5u4m %=?Q 9u4m3)mBYu?Q E}:y}(?Q I}@mBDIm] ;im?;m+4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 395.00 m."is8*is8 ProNav: ac range: 395.000031 m, nav range: 384.598724 m, bearing: 35.166757 deg, approach rate: -0.637384 m/s, LOS rate: 0.003330 deg/s, cmd heading: 33.953724 deg, new cmd heading: 33.956282 deg. i8HeadingCmd: 0.592649 target range: 395.000031 and range: 394.80 m.h׷?hhhhggjgrgӄBereZe:e*e ?颍Bɢtip>) >i)2R>顑i~6i׷? =k:=I׷?IB5y>B5FCB5(#IB5BB5 =B1B5DB5W;B5qEechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754667!A@A @A@M/5@IQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006569^Am =E  E E <E "E :*E E7:VE 4ZE BE F # #,4&LAB.>B?Bxf>ٱBP=BH`d?ޭ?c?@Z?J?̿ļ?`?iB.>IB`;@YN8ByN#IbDVVDV8y^%^-=ٔ^Q-^>9b"?Yb"?=b EybGFDfrDEf>hQ 5n4j{7=?Q 9n4jt)jpBYlyr?Q Ir@jBDIj:ij:jl4y)9 =}>i9)=R>99i=:iE?ԩE%=r=I?IIyA)xAa@a @a@e/@a@i@muAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260893^A= A I I O >) &@ #,z*&LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511204J,>J`?J-f>ٱJ]=JHi?`o?j? ^?IJ`;JCYZ ByZ#IIb=)b=E EE;E"EƱ:*E3:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9I +?{Gzty&1|?Y9?yף`;M@ A M@)nAYAbDVD8y۽%9=ٔq\Q->9Y= EyYFDE> Q 54 H=?Q 94 ) TBY=?Q E:y?Q I@ BDI 3;i Y; *4y!ɮ%A!:iIMFNOT Ignoring new targets: 395.00 m."iU7*iU7e ProNav: ac range: 395.000031 m, nav range: 384.087158 m, bearing: 35.168374 deg, approach rate: -0.572616 m/s, LOS rate: 0.000457 deg/s, cmd heading: 33.959117 deg, new cmd heading: 33.959517 deg. ie.V7mHeadingCmd: 0.592705 target range: 395.000031 and range: 394.80 m.hm?hihihihigigjgrgBereZe:e!*e%?颕Bɢ(e>) >i)rR>顙in6i?>=C=I?I 9Bv>BB"IBjBB =BBBA;BrEBMDCBMECBMƔCBM =BM =CMƎ69@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762469a ^A d=ԑ A .AI I O >z #,3F&LAFWN>F?F d>ٱF5=FH`t?` ??7d?@g3? TE̿`f?o?iFWN>IFY_;FCYRByR#IbDZVDZð8ybv %bS=ٔfQ-f>9f ?Yf ?=f EyfhFDjEj>lQ 5r4nW=?Q 9r4ng)n)9 =|U>i9)=R>99i=,0iE?EpQ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723˚=I?I D!D%=E- E-E)E)"E-D:*E-|;:VE)ZE)BE-2+ #,``&LAJ.>J?Jb>ٱJ =JH`nz??@ ?4g?l?y!̿&??iJ.>IJ^;JCYRByR|#Ii-Mb@Mb@Mb@)))) )9-9YYY=] Ey]yFDe Ee>iQ 5u4mOh=?Q 9}4m)m"BYv?Q E:yk?Q I@mBDG1Iu铿9qYuAIm] ) >i)e8S>aaiemim?mh=m{=Im?Iq}V>i}>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518863q@ @@@@=@=bEԺ4jEF4rE0E= E=E=6E9"E=:*E=0:VE=c4ZE9aU@aU@aU@aU@ԡ ^A p=B >B GCB "IB -BB B B DB ;B sEI I O >m #,ez&LAiLILRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777:ۀ>:݊?:Jb>ٱ:q=:H~? b@?U? i?"p?̿`պ? ?i:ۀ>I:׆^;:CYZքBy^c#I ``bDfVDf8ynͽ%nL=ٔrZQ-r>9pYp=r EyrFDv޺Ev>xQ 5~4zw=?Q 9~4z`)z BY|y??Q I@zBDIz:izu:zJĶ4y $Bɮ jA E%B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 395.00 m."i=8*i=8M ProNav: ac range: 395.000031 m, nav range: 383.405060 m, bearing: 35.168550 deg, approach rate: -0.623146 m/s, LOS rate: -0.000039 deg/s, cmd heading: 33.959895 deg, new cmd heading: 33.959867 deg. iMUHeadingCmd: 0.592712 target range: 395.000031 and range: 394.80 m.hU?hQhQhQhYgYgYjgYrgYeareaZea:ea*eef@颕BɢZ>) T=i)%S>顙iKi?"x=w=I?I @  @@/@Ay^AM\=IIO>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024387ԙ D zD AAE  E E :E "E :*E C:VE (4ZE BE F 2?q?2 a>ٱ2>=2H ?߾`??`j?0?g˿ɺ?` ?i2M>I2#^;2CY:By:H#I@bDFVDF8yR۽%RO=ٔR'Q-R>9TYT=V EyVFDVEZ>XQ 5~4Z5=?Q 94Z)ZBYy&?Q I@ZBDIZ@#)I MM=iI)m1S>iiiuνiu?}ƍ=}<=I?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274764ԹI9@! @!@%/@! ^AA I I O >e BDAT read: Rx Time:01:08:41.4254 m TRx dataTimestamp_ set to:1764896922.693218u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528255O #,fN&LAER ERER5EP"ERƱ:*ER*5:VER4ZEPaV@aV@aZ@aZ@beK>b p?b_>ٱb=bHઃ? v??`bj? ? [˿ú?@?ibeK>Ib<^;bCYjByj"#IliMb@Mb@Mb@ 9$C?y&1|?Mbp?Y?y`;;7@nA @)nAYAbDVD8y %7=ٔEQ->91Y1=5 Ey=FD=E=>AQ 5M4E}=?Q 9M4E)EBYM ?Q EU:yUG ?Q IU@E CDIE;iE;E%Ӷ4y](Bɮ]2AeE:iFNOT Ignoring new targets: 395.00 m."iP*iP ProNav: ac range: 395.000031 m, nav range: 382.914581 m, bearing: 35.168058 deg, approach rate: -0.630252 m/s, LOS rate: -0.001156 deg/s, cmd heading: 33.959864 deg, new cmd heading: 33.958882 deg. isHeadingCmd: 0.592694 target range: 395.000031 and range: 394.80 m.hк?hhhhggjgrgBereZe:e*e6@BɢQ>) i)-S>iciк?=(=Iк?I 9@ @@/@A-@AA-AAB5>B5ICB5N"IB5BB5 =B5,DB5DB5;B5a  #,H1&LAF>FT?Ff^>ٱF=FH@x?@M? p?k?G?˿`? ~?iF>IFɋ^;DYRByR#IIV=)V%=XZ@AbDZVDZ8yb %f_=ٔfIiQ-f>9dYh=j EyjFDjuEj>lQ 5r4n=?Q 9v4n)nBYtyv, ?Q Iv@nCDIn:in:nkٶ4yxɮ~A|:i%FNOT Ignoring new targets: 395.00 m."i%&*i%&5 ProNav: ac range: 395.000031 m, nav range: 382.703247 m, bearing: 35.167683 deg, approach rate: -0.589455 m/s, LOS rate: -0.001046 deg/s, cmd heading: 33.958881 deg, new cmd heading: 33.958131 deg. 9i5 EHeadingCmd: 0.592681 target range: 395.000031 and range: 394.80 m.hE?hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*e`@EDAT read: 01:08:41.4254 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 410, 0.03,-2.622, 2.107,-2.392,-2.997, PHS= 0.477,-1.134, 0.562, RAW= 152.5, 1.2, CAL= 151.2, 0.5, ROT= 358.8, -0.5 MYgot valid direction response: 01:08:41.4254 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 410, 0.03,-2.622, 2.107,-2.392,-2.997, PHS= 0.477,-1.134, 0.562, RAW= 152.5, 1.2, CAL= 151.2, 0.5, ROT= 358.8, -0.5 UPDAT read: Bearing 188.8, -13.7 (Local) U~Local bearing/azimuth received: Bearing 188.8, -13.7 (Local) eDAT read: Range 11 to 50 : 392.7 m (Round-trip 523.6 ms) speed 0.5 m/s eR#Rx 1: Read range and direction messages.u^direction in FSK: [0.999743,-0.020942,0.008727]uFpublishing direction and range infoy9?JqB7߁?YYC )LIX9>i&;?X*@<[(@ 5<)Hd@I5'?6?Rb?Ɣ? >n?)}7Ii5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE6E"E*E.:VEc4ZEBEV;a2EW;aJE;a:E;aBɢM>)ҕ޼ i$i ? = v=I ?Ia9@ @@/@ԑ^A  (DAT read: user:30>  BDAT read: Tx time:01:08:42.7477  $Ping request sent.   #,&LAN>NR?Nk]>ٱN=NH.?/0?U?k?^?x˿@ ?o?iN>IN _;LYZoByZ"Ii=Mb@Mb@Mb@9999 99=Cl?~jt?~jtx?Y=d?y=<=;=A=A =7@)=A9Y=p AbDUVDU8ye%eA=ٔeM(Q-e>9iYi=m EymFDmEu>yQ 5}4}߸=?Q 94})}BYy?Q E:y-%?Q I@}*CDI}:i}:}4y,BɮAiIiM@&LAjMvC"jMvC:jM/?RjM̗T/x@bt QVn @BjM9?JqB7߁?*jM2jM5ZjMVUs@7Iwj@׫5uTJjM8+ƀ?0޶y?GɨʿjMVC jMlCiM5?iMzPjMyjM++?jM8ŚjIrjMľCzjM|? addTargetRange:: Added new target pos. range: 392.700012 m, deltaT: 4.283949 s, deltaX: -2.099976 m, approachRate: -0.490196 m/s, rangeRepo size: 4  Added new target pos. range: 392.925201 m, bearing: 33.936473 deg, lat: 36.779560 deg, lon: -121.859602 deg, deltaT: 4.283949 s, deltaX: -2.074829 m, approachRate: -0.484326 m/s, posRepo size: 4 :iquFNOT Ignoring new targets: 392.93 m."i}*iy ProNav: ac range: 392.925201 m, nav range: 381.536133 m, bearing: 34.623036 deg, approach rate: 0.000000 m/s, LOS rate: -0.001046 deg/s, cmd heading: 33.958130 deg, new cmd heading: 33.957236 deg. iHeadingCmd: 0.592666 target range: 392.925201 and range: 392.70 m.h?hhhhggjgrgBereZe:e@3x@*eD?颅BɢHI>) $i)-S>))i-ni5?=Ƅ==,=I=?IA -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247113}9@y @y@}/@yE EwE7E"E:*E:VEԺ4ZEa@a@a@a@1^A =B- >B) B- "IB- BB- =B) B) B- g;B- uEa A ؟AI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498829O >ߎ #,&LA2>2<?2R\>ٱ2%=2H]?ͼ=?O? 3l?@ˡ? T˿`1ͺ??i2>I2_;2CY:MBy:"IbDB!VDB˰8yJ.%NN=ٔNp=Q-N>9N"?YR"?=R EyRFDR\ER>TQ 5Z4V=?Q 9^4V)VBY\y^%?Q I^@V9CDIV:iV:V4y`ɮbAdrB*** querying acoustic contact ***ipip:iIUFNOT Ignoring new targets: 392.93 m."iU*iU񁸝 ProNav: ac range: 392.925201 m, nav range: 381.300323 m, bearing: 34.621598 deg, approach rate: -0.581639 m/s, LOS rate: -0.003550 deg/s, cmd heading: 33.957235 deg, new cmd heading: 33.954356 deg. iϸHeadingCmd: 0.592615 target range: 392.925201 and range: 392.70 m.h?hhhhggjgrgereZe:eԡ*e?BɢuD>) Ri)R>i[i?ل=(=I?IIxA)yA9@ @@@ߥ>ߥA@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751128E=  E= E= 5E9 "E= Ʊ:*E= *:VE= 4ZE9 BE9 aU 2E= X;aU JE= m;aU :E= m;a] ^Aq ) A .AI I O >o #,G'LAV>V.?V}7[>ٱVH=VH ???l?n?z1˿Һ??iV>IV7"`;TY5By"I  bDVD8y-%-B=ٔ-N(Q-5>95 ?Y5 ?== Ey=FD=*E=>AQ 5M4E=?Q 9M4E)EoBYQyU%?Q IU@EICDIE;iE;E4y]/Bɮ]AeE:iFNOT Ignoring new targets: 392.93 m."iN*iN ProNav: ac range: 392.925201 m, nav range: 381.049927 m, bearing: 34.620077 deg, approach rate: -0.612639 m/s, LOS rate: -0.003724 deg/s, cmd heading: 33.954356 deg, new cmd heading: 33.951312 deg. iڸHeadingCmd: 0.592562 target range: 392.925201 and range: 392.70 m.h(?hhhhggjgrgereZe:e*e`gu?Bɢ?>) {i)R>i_"i(?=t=I(?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003045AU9@Q @Q@Q@Qi checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255598^A .=ԙ E]  EY E] 4EY "E] :*EY VE] 4ZEY ae @ae @ae @ae @A I IO>v #,G4'LA2>21,?2Z>ٱ2=2H?g`E??@Sl??@L˿ )ֺ??i2>I2`;2CY>By>"IXi Mb@Mb@Mb@     9 ʡE?9IYI=M EyMFDUEU>YQ 5]4]=?Q 9e4]8)]QBYe?Q Ee:yec$?Q Ie@]\CDI];i];]4yu-Bɮu AqB<A<BBHCB!IBBB =BBDB;BuE:iFNOT Ignoring new targets: 392.93 m."iVz*iVz ProNav: ac range: 392.925201 m, nav range: 380.750305 m, bearing: 34.618368 deg, approach rate: -0.599045 m/s, LOS rate: -0.003420 deg/s, cmd heading: 33.951313 deg, new cmd heading: 33.947892 deg. iEȸHeadingCmd: 0.592502 target range: 392.925201 and range: 392.70 m.h>?hhhhggjgrgBeareaZea:ei*em ?颵Bɢ>>) 1i)%LR>项i7i>?\=G'=I>?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507921 Eybݼ @  @ @ /@ @ xA@ xA9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758906E  E E 8E "E *E *5:VE F4ZE BE p>>y?>Y>ٱ>=>H@?-ࡴ??@:m?ӡ?˿P?<?i>>I>_;>CY^BybS"IIf=)f<bDjVDj8yr %r=ٔvhQ-v>9v"?Yv"?=z EyzGDz?Ez>|Q 54~>?Q 94~O)~1BYy M$?Q I @~pCDI~;i~;~4yBɮ AE:i9=FNOT Ignoring new targets: 392.93 m."iE|*iE|U ProNav: ac range: 392.925201 m, nav range: 380.438568 m, bearing: 34.616603 deg, approach rate: -0.608983 m/s, LOS rate: -0.003450 deg/s, cmd heading: 33.947891 deg, new cmd heading: 33.944359 deg. iUʸ]HeadingCmd: 0.592441 target range: 392.925201 and range: 392.70 m.h]4?hYhYhYhagagajgargaeireiZei:eq*eu@@额„Bɢ1w8>) yɾi)Q>顡i+i4?=ا=I4?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013795 @ @@/@9 ] ?] %=e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263906^A p=E  E E 2E "E *E H:VE 4ZE a @a @a @a @i I I O >s: #,Js'LAY уBy !"IiMb@Mb@Mb@ 9'1Z? rh?Mbp?Y"?yC =;AnA  @)!AY AbDVD8y,%0=ٔQ-%>9!Y)=- Ey-'GD5E5>AQ 5U4E.>?Q 9U4E)EBY] #?Q E]:y]*?Q I]@ECDIEv\;iE;^;E4yuBɮu!"Ayԡ:iFNOT Ignoring new targets: 392.93 m."iո*iո ProNav: ac range: 392.925201 m, nav range: 380.148499 m, bearing: 34.613849 deg, approach rate: -0.615186 m/s, LOS rate: -0.005844 deg/s, cmd heading: 33.944360 deg, new cmd heading: 33.938849 deg. i +HeadingCmd: 0.592345 target range: 392.925201 and range: 392.70 m.h?hhhhggjgrgBereBM>BMICBMm!IBM>BBM =BIBMDBMs;BMvEBICBHCBB =B =C6Ze:e*e@DŽBɢ~2>) i)hQ>ii?5,=T=I%?I!%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515765@ @@/@ ^A ا=Iq I O >)  #,'LA2>26 ?25X>ٱ20=2H`?pJ??? l?p? kʿ]?@ ?i2>I2U_;2CY:By:!IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766944bDJVDJ8yR%Rf=ٔVQ-V>9TYT=V EyZ5GDZѹEZ>\Q 5b4^$>?Q 9b4^)^BY`yf*?Q If@^CDI^W:i^::^4yhɮj#AhvB*** querying acoustic contact ***itit:iy}FNOT Ignoring new targets: 392.93 m."i3Ҹ*i3Ҹ ProNav: ac range: 392.925201 m, nav range: 379.929138 m, bearing: 34.611768 deg, approach rate: -0.604882 m/s, LOS rate: -0.005743 deg/s, cmd heading: 33.938848 deg, new cmd heading: 33.934683 deg. i)(HeadingCmd: 0.592272 target range: 392.925201 and range: 392.70 m.h"?hhhhggjgrgereZe:e*eB@DzD@AE% E%E%:E!"E%U:*E%.:VE%(4ZE!BE%;a-2E%;a-JE%;a-:E%;a-UɄBɢ]2&>)Y ]' iY)]E Q>Yaieq /CE Gi 9 Y AE #,'LA 62>6(?65IW>ٱ6=6H˔?J?@?i?@C?ʿ?J!?i62>I6v_;6CYRByR!Ii]Mb@Mb@Mb@YYYY Y9]jt?/$?y&1|?Y] ?y],=]`;]A]A ] @)]"AYY]\AbDuVDu8y%==ٔQ->9Y= EyGGD:E>Q 54J6>?Q 94)BY#!?Q E:y..?Q I@CDI<;i@;4yBɮ#AE:iFNOT Ignoring new targets: 392.93 m."i  *i  % ProNav: ac range: 392.925201 m, nav range: 379.661865 m, bearing: 34.608685 deg, approach rate: -0.634625 m/s, LOS rate: -0.007324 deg/s, cmd heading: 33.934682 deg, new cmd heading: 33.928512 deg. i%yV-HeadingCmd: 0.592164 target range: 392.925201 and range: 392.70 m.h-?h1h1h1h1g9g9jg9rgEBeAreAZeI:eI*eM` @i颅̈́BɢY(>) i){P>BDAT read: Rx Time:01:08:45.6712 TRx dataTimestamp_ set to:1764896926.724685checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272081顩i}i?P=> =I?IbE*4jEĭ4rE0E5 E5}E55E1"E5:*E5k&:VE54ZE1aE@aE@aE@aE@a@a @a@a@aԙA) A) B= >B9 B= !IB= BB=  =B9 B9 B= ;B= vE^A} ܪ= I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522840, #,'LAF?>FIj?FU>ٱFs=FH?`=`v??e?{0?@ʿ Ⱥ??iF?>IF_;DPYRByR!IbD^VD^8yf %fW=ٔf]Q-f>9hYh=j EyjWGDj.;En>pQ 5v4rE>?Q 9v4r)rBYtyvi.?Q Iv@rCDIr:ir:rH4yxɮ~$A|:i%FNOT Ignoring new targets: 392.93 m."i%>*i%>5 ProNav: ac range: 392.925201 m, nav range: 379.428314 m, bearing: 34.605955 deg, approach rate: -0.622517 m/s, LOS rate: -0.007281 deg/s, cmd heading: 33.928510 deg, new cmd heading: 33.923048 deg. i50U=HeadingCmd: 0.592069 target range: 392.925201 and range: 392.70 m.h=ӑ?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU`@}ЄBɢ}S>)… ]'i)RP>顁iBiӑ?`==Iӑ?I9@  @ @ O0@ ߭=߭a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778902^A=.=ID54=D5%=EQ EUyEU4EQ"EQ*EU:VEU4ZEQBEU;ae2EU;amJEUs;am:EUs;amIO>) W #,'LA2>2?2U>ٱ2/=2Hz?o?? b?I?`Zqʿ`]?t?i2>I2i_;2CYN]ByR!IbDZVDZ8yb1%bK=ٔb Q-b>9dYd=f EyfgGDf;Ej>hQ 5r4jU>?Q 9r4j)jBYpyr.?Q Ir@jCDIj{;ij3;jQ$4yvBɮz%Ax9:iFNOT Ignoring new targets: 392.93 m."i:*i: ProNav: ac range: 392.925201 m, nav range: 379.180054 m, bearing: 34.603024 deg, approach rate: -0.592952 m/s, LOS rate: -0.007007 deg/s, cmd heading: 33.923046 deg, new cmd heading: 33.917179 deg. i*MHeadingCmd: 0.591966 target range: 392.925201 and range: 392.70 m.h?hhhhggjgrgereZe:e*e@ӄBɢ8G>-DAT read: 01:08:45.6712 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 403,-0.23,-2.834, 1.671,-2.627, 3.011, PHS= 0.540,-1.295, 0.602, RAW= 151.6, 1.7, CAL= 150.4, 1.2, ROT= 359.6, -1.2 5Ygot valid direction response: 01:08:45.6712 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 403,-0.23,-2.834, 1.671,-2.627, 3.011, PHS= 0.540,-1.295, 0.602, RAW= 151.6, 1.7, CAL= 150.4, 1.2, ROT= 359.6, -1.2 =PDAT read: Bearing 189.6, -12.3 (Local) =~Local bearing/azimuth received: Bearing 189.6, -12.3 (Local) EDAT read: Range 11 to 50 : 389.5 m (Round-trip 519.4 ms) speed 0.3 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.999756,-0.006980,0.020942]UFpublishing direction and range infoyYw?ئ|_2q?YC )F)q }:iy)fO>顁iԼi?u=㍬=Iq= ?i¥?V)@<'@I?IY <)@Iw:?JO?ea? g ?)hPIi]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.im9@i @i@m0@iԙ^A- *:=I I  (DAT read: user:31>  BDAT read: Tx time:01:08:47.1477  $Ping request sent. EE  EE EE :EA "EE :*EE *:VEE (4ZEA aM @aM @aM @aM @ #,ir'LAɰp;2Q>2?2(T>ٱ2=2H?`m ?;?ga?|?Qʿ ?`?i2Q>I2L_;2CYB9XYX=Z Ey^wGD^9E^>dQ 5j4f2f>?Q 9j4fn)fBYlyn.?Q I~@fCDIf;if;fZ+4yɮ'AYԡi)i-'LAj-C"j-C:j-A?Rj-u Zx@NWpR @Bj-Yw?ئ|_2q?*j-2j-Zj--s@+Hk@ɝ+8RJj-؏V?hG?YU}ǿj-AZC j-QCi-?i-gIj-Oj-?j)j-yrj-Czj-?- addTargetRange:: Added new target pos. range: 389.500000 m, deltaT: 4.284023 s, deltaX: -3.200012 m, approachRate: -0.746964 m/s, rangeRepo size: 4 e Added new target pos. range: 389.722412 m, bearing: 34.748090 deg, lat: 36.779584 deg, lon: -121.859602 deg, deltaT: 4.284023 s, deltaX: -3.202789 m, approachRate: -0.747613 m/s, posRepo size: 4 :iaeFNOT Ignoring new targets: 389.72 m."im*ii ProNav: ac range: 389.722412 m, nav range: 381.179352 m, bearing: 34.367348 deg, approach rate: 0.000000 m/s, LOS rate: -0.007007 deg/s, cmd heading: 33.917179 deg, new cmd heading: 33.911250 deg. iHeadingCmd: 0.591863 target range: 389.722412 and range: 389.50 m.hU?hhhhB>BKCB IBBB =BBDBI;B wEggjgrgereZe:eXx@*e?MքBɢmz>)i uLiq)uN>qqiu1i}U?}=}=I}U?Ii I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252010!@! @)@-J0@)^AM ̬= IA IQ Ou >h #,6?6$R>ٱ6=6Hَ?`s??d^?}?.ʿ ׻?+!?i6l >I6/`;6CYBByB:!IbDHVDHyzk=%zF=ٔ~/1Q-~>9Y= EyGD#:E > Q 54 v>?Q 94 2) BYy.?Q I@ CDI ;i ; 24y%!Bɮ-](A-EEB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 389.72 m."iU*i]m ProNav: ac range: 389.722412 m, nav range: 380.925140 m, bearing: 34.364171 deg, approach rate: -0.675123 m/s, LOS rate: -0.008442 deg/s, cmd heading: 33.911251 deg, new cmd heading: 33.904893 deg. im1wuHeadingCmd: 0.591752 target range: 389.722412 and range: 389.50 m.hu}?hqhqhqhqgqgyjgyrgyereZe:e*e`?颵لBɢۛ >) ai)N>项ifi}?=@=I}?ID?AzDAAE EE8E"EƱ:*E,:VEF4ZEBEV;a 2EW;a JE>;a :E?;a !?9@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755653Qԁ ^A I I O>yl #,c+(LA>q<>>?>.Q>ٱ>,=>H?@L`h`??4\??$ ʿ?"?i>q<>I>]`;>CYJByJ!IPchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007002a@a a@a  a @a  a @a  bD VD8y%%%$=ٔ%Q-->9)Y)=- Ey-GD5H:E5>9Q 5E4=>?Q 9E4=)=cBQ AE+:YAQ EE:yM.?Q IM@=CDI=I:i=>=94yUBɮUQ(AU E:i  FNOT Ignoring new targets: 389.72 m."i*i% ProNav: ac range: 389.722412 m, nav range: 380.618103 m, bearing: 34.360312 deg, approach rate: -0.594729 m/s, LOS rate: -0.007480 deg/s, cmd heading: 33.904892 deg, new cmd heading: 33.897168 deg. i%[-HeadingCmd: 0.591617 target range: 389.722412 and range: 389.50 m.h-9t?h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE?E] E]|E];EY"E]:*E]P$:VE]4ZEYae@ae@ae@ae@颅܄Bɢ*k>) ri)M>顉i&Ci9t? =#=I9t?Im9@ @@-0@BA<B%>B%JCB%` IB%dBB!B!B%DB%;B%rwE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262384^A =A A >) Ii Iy O >E #,2VE(LA:PJ>:?:eP>ٱ:=:H?\ 9? !?Z??ɿ ?$?i:PJ>I:uK`;:CYBByB IbDJVDJ8yVn%Vh=ٔVQ-V>9XYX=Z EyZGDZĝ9E^>hQ 5v4jT>?Q 9v4jr)jNBQ Az :YxQ Ez]:yz.?Q Iz@jDDIjjv;ij;[?j=4y~Bɮ~ *A E:i)-FNOT Ignoring new targets: 389.72 m."i5*i5E ProNav: ac range: 389.722412 m, nav range: 380.399780 m, bearing: 34.357562 deg, approach rate: -0.644817 m/s, LOS rate: -0.008128 deg/s, cmd heading: 33.897167 deg, new cmd heading: 33.891663 deg. iEnMHeadingCmd: 0.591521 target range: 389.722412 and range: 389.50 m.hMm?hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]]?颅ބBɢ_(=) Pi)LL>顑ieim?˅=~=Im?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859E EE3E"Eg:*E*:VE4ZEBE;a2E;aJEm;a:Em;a@ @@=0@yԡ ^A d=Ia Iy O >3p #,2_(LAi I &checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763303:wm>:*?:(O>ٱ:Y=:HS? @?@$?@%Y?E)?@ɿ )? &?i:wm>I:j5`;:CYBy IbDVD8yEٽ%EA=ٔM:Q-M>9IYI=M EyMGDU%:EU>YQ 5e4]b>?Q 9e4])]5BQ Ae9YaQ Em3:ym.?Q Im@]DDI]:i]J?]A4yqɮu*Aqy:iFNOT Ignoring new targets: 389.72 m."i *i  ProNav: ac range: 389.722412 m, nav range: 380.139679 m, bearing: 34.354271 deg, approach rate: -0.611665 m/s, LOS rate: -0.007744 deg/s, cmd heading: 33.891662 deg, new cmd heading: 33.885075 deg. ibHeadingCmd: 0.591406 target range: 389.722412 and range: 389.50 m.hdf?hhhhg!g)jgYrgaeareZe:e*e`@@Bɢ>)  ׍i )4K>i( idf?S=A=Idf?I!ԩ9@ @@B5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015020E  E ~E 7E "E :*E (:VE Ժ4ZE a @a @a @a @^A I I OU > u #,|y(LA2>2h ?2M>ٱ2=2H@?`R@a?@&?W??@ɿ?(?i2>I2t`;2CY:By: IBr>BrICBrIBr BBr =BpBpBr;BrwEa}a} a}a} a}a} aa iMb@Mb@Mb@ 9On?{Gzt?MbPY?yף;& AA A)'AYA@AbDVD8y%D=ٔgQ->9Y= EyGDg9E>Q 54>?Q 94[)BQ AT:Y?Q E:yE ?Q I@#DDI:i:H4y Bɮ+AE:i FNOT Ignoring new targets: 389.72 m."i -*i -% ProNav: ac range: 389.722412 m, nav range: 379.896271 m, bearing: 34.353300 deg, approach rate: -0.592099 m/s, LOS rate: -0.002363 deg/s, cmd heading: 33.885074 deg, new cmd heading: 33.883131 deg. i%g-HeadingCmd: 0.591372 target range: 389.722412 and range: 389.50 m.h-+d?h)h)h)h)g)g1jg1rg=Be9re9Ze9:e9*eE#@mBɢm,=)mPɻ mliq)u-[J>qqiu i}+d?}x=}=I+d?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2670359@ @@4@@yA@zA 1^A٦=AxAzAI I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518947Y I$ #,l(LAE& E&E&9E$"E&:*E&C:VE&4ZE$BE&p~T?~٠H>ٱ~I=~HВ?b?@2?`2P?Ҕ? ȿ4L? 0?i~>I~p}a;~CY dBy a IbD%'VD%а8y5V%5R=ٔ5NQ-5>99Y9== Ey=GDE<;EE>IQ 5U4M>?Q 9U4Mڝ)MBYQyU ?Q IU@M1DDIM:iM;MO4yaɮe%-AaB*** querying acoustic contact ***ii9:iAMFNOT Ignoring new targets: 389.72 m."iu'*iu' ProNav: ac range: 389.722412 m, nav range: 379.669189 m, bearing: 34.352355 deg, approach rate: -0.550921 m/s, LOS rate: -0.002294 deg/s, cmd heading: 33.883131 deg, new cmd heading: 33.881239 deg. i[HeadingCmd: 0.591339 target range: 389.722412 and range: 389.50 m.hb?hhhhggjgrgereZe:e*e@`>@ Bɢ &=)Q UviQ)UDI>QQiUĘi]b?]=eֲ=Ieb?Iaa9@ @@4@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771004ԑ^A Թ A I I O >* #,"Ŭ(LAB!>B@?BbF>ٱBe=BH t?/?3?O?X? qȿ ?6?iB!>IBa;BCYNBByN7 Ii%Mb@Mb@Mb@!!!! !9%1Zd?~jthY%"?y%%D% A%A %A)!!Y%AbD=VD=ð8yM)%MI=ٔMĻQ-M>9QYQ=U EyUGDUuLE]>aQ 5m4e>?Q 9m4e))eBYm#?Q Em:ymd?Q Iu@eADDIe:ie:eV4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022910y BɮX.A:iAEFNOT Ignoring new targets: 389.72 m."iM*iMԑ ProNav: ac range: 389.722412 m, nav range: 379.427338 m, bearing: 34.351656 deg, approach rate: -0.599394 m/s, LOS rate: -0.001733 deg/s, cmd heading: 33.881239 deg, new cmd heading: 33.879840 deg. iJHeadingCmd: 0.591315 target range: 389.722412 and range: 389.50 m.hg`?hhhhggjgrgBereZe:e*e @-Bɢ-u=)) -i1)5(H>11i51i=g`?='==/=I=g`?IAEU EUEU6EQ"EU7:*EUa9:VEUc4ZEQa]@ae@ae@ae@9@ @@/@AA@AB>BJCBIBBB =BBB;BwEBJCBJCBƓCBB =Cz5^Am =u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275619A I I O > 1 #,(LAJվ>J)?JcC>ٱJ=JH`n?Z?63?`P?`?Fȿ? :?iJվ>IJta;JCYR!ByR IbD^VD^8yb'%fS=ٔfVQ-f>9hYh=j EyjGDn3dEn>pQ 5r4r>?Q 9v4r)rBYtyvN?Q Iv@rPDDIr:ir:r]4yiɮm\/Aq:iFNOT Ignoring new targets: 389.72 m."i*i ProNav: ac range: 389.722412 m, nav range: 379.196686 m, bearing: 34.351001 deg, approach rate: -0.602644 m/s, LOS rate: -0.001714 deg/s, cmd heading: 33.879839 deg, new cmd heading: 33.878527 deg. iHHeadingCmd: 0.591292 target range: 389.722412 and range: 389.50 m.h^?hhhhggjgrgereZe:e*e wu @Bɢ,=) Ti)G>ii^? ;= =I ^?I BDAT read: Rx Time:01:08:50.0682 TRx dataTimestamp_ set to:1764896931.260571checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5280485(I9)9Em EmtEm8Ei"EmU:*Emv:VEmF4ZEiBEm;au2Em;auJEm`;a}:Em`;a}@ @@4@@=@A ^A ]9= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782363ԙ A ]8GqR9Y~AI)IqO?6l9 #,(LA ))-x>-?-|@>ٱ-=-HQ??@2?RQ?g?`ǿ?=?i-x>I-Æa;-CYMByMI YYonly read 0 of 1 data item for BIT error. Device response is::TS,00061104574552,35.0, 0.0,1501.2, 0 a@a a@a a@a a@a bD)VDҰ8y%=ٔQ->9Y= EyHDjtE>Q 54g??Q 94q)BQ A+:YQ E:y+?Q I@eDDI];ir?e4yBɮS0AE:iFNOT Ignoring new targets: 389.72 m.A"i}*i} ProNav: ac range: 389.722412 m, nav range: 378.855408 m, bearing: 34.350057 deg, approach rate: -0.610883 m/s, LOS rate: -0.001691 deg/s, cmd heading: 33.878527 deg, new cmd heading: 33.876638 deg. iFHeadingCmd: 0.591259 target range: 389.722412 and range: 389.50 m.h\?hhhhggjgrgereZe:e*e@ @BɢT=) =ڹi9)=[bE>99i=޼iE\?E[=E=IM\?IIDAT read: 01:08:50.0682 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405,-0.32,-0.637,-2.414,-0.501,-1.157, PHS= 0.622,-1.212, 0.612, RAW= 149.7, -0.2, CAL= 148.7, -0.8, ROT= 1.3, 0.8 Ygot valid direction response: 01:08:50.0682 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405,-0.32,-0.637,-2.414,-0.501,-1.157, PHS= 0.622,-1.212, 0.612, RAW= 149.7, -0.2, CAL= 148.7, -0.8, ROT= 1.3, 0.8 PDAT read: Bearing 188.1, -9.8 (Local) ~Local bearing/azimuth received: Bearing 188.1, -9.8 (Local) DAT read: Range 11 to 50 : 387.3 m (Round-trip 516.4 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999645,0.022685,-0.013962]Fpublishing direction and range infoyy}/s?K!:?4Y}Cyyyy y)}II}d;?i}"}?}m7'@}d}x&@ }d)}޹B B 4IB pBB B B B (;B wEԙ @  @ @ 0@ - (DAT read: user:32> 5 BDAT read: Tx time:01:08:51.3477 5 $Ping request sent.5 2?2W=>ٱ26=2H@? z|?).?`T?W? ǿ c? @?i2^>I2da;0Y:ӁBy:IbDF$VDFΰ8yN S%N'=ٔNQ-N>9PYP=R EyR(HDVGEV>XQ 5^4Zb??Q 9^4Z)ZBQ A^ :Y\Q E^e:y^?Q Ib@ZxDDIZ;iZ@?ZHk4yfBɮf1AfEii(LAjC"jC:j$?Rj%`0$6x@8;4!@a=Bj/s?K!:?4*j޹<2jd<ZjL# s@1gl@ZqRJj|_5'?k?ɿj>cC jOCiY`\?i 4jK-jjgIjK-rj'Czj.? addTargetRange:: Added new target pos. range: 387.299988 m, deltaT: 4.284450 s, deltaX: -2.200012 m, approachRate: -0.513488 m/s, rangeRepo size: 4 - Added new target pos. range: 387.521454 m, bearing: 36.722426 deg, lat: 36.779584 deg, lon: -121.859568 deg, deltaT: 4.284450 s, deltaX: -2.200958 m, approachRate: -0.513708 m/s, posRepo size: 4 :i)-FNOT Ignoring new targets: 387.52 m."i*i ProNav: ac range: 387.521454 m, nav range: 380.307129 m, bearing: 34.731500 deg, approach rate: 0.000000 m/s, LOS rate: -0.001691 deg/s, cmd heading: 33.876639 deg, new cmd heading: 33.874972 deg. iHeadingCmd: 0.591230 target range: 387.521454 and range: 387.30 m.hZ?hhhhggjgrgereZe:e4x@*eB?)MBɢmB-=)i m_ǿii)uC>qqiujۼi}Z?}v=}!f=I}Z?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250932E EE7E"E:*EVEԺ4ZEBEp;a:E?;aY%9@) @)@-/@)ԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502815Ա ^A- 5=IIIqO>I #,))LA fc>f{?f:>ٱfM=fH?#b? )?`X??<ǿ@.?A?ifc>If}na;fCYvByvIaa aa aa aa iMb@Mb@Mb@ 9bX9?:v9!Y!=% Ey%>HD- E->1Q 5=45,??Q 9=45)5zBQ A=T:Y=o?Q E=:y=?Q IE@5DDI5 :i5:5t4yIɮM;2AIeB*** querying acoustic contact ***iaia:iquFNOT Ignoring new targets: 387.52 m."i}0q8*i}0q8 ProNav: ac range: 387.521454 m, nav range: 380.001129 m, bearing: 34.733229 deg, approach rate: -0.582780 m/s, LOS rate: 0.003295 deg/s, cmd heading: 33.874972 deg, new cmd heading: 33.878432 deg. i8HeadingCmd: 0.591290 target range: 387.521454 and range: 387.30 m.h^?hhhhggjgrgCBereZe:e*ew.?i}Bɢ}4U=)y },ѿiy):B>顁iؼchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755076i^?$=t=I^?IEE EEEE9EA"EEg:*EEa9:VEE4ZEAaM@aU@aU@aU@U9@Q @Q@]0@Y@ezA@aԙB<A<B>BICBIB)BB =BBDBB;BxE^A "= A zA wAe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007409I I O >P #,C)LA2c>2:?28>ٱ2!g=2Hq?%??_?}?ƿ A?sE?i2c>I2Ja;2CLYRByR]IIV=)V=bD^VD^8y%_=ٔQ->9 Y =  Ey MHD ୻E>Q 5%4=;??Q 9%4)hBY!y%?Q I%@DDI{;iD;z4y-Bɮ5C3A1:iQ]FNOT Ignoring new targets: 387.52 m."i]|8*ie|8m ProNav: ac range: 387.521454 m, nav range: 379.788666 m, bearing: 34.734493 deg, approach rate: -0.579470 m/s, LOS rate: 0.003449 deg/s, cmd heading: 33.878432 deg, new cmd heading: 33.880961 deg. iu8uHeadingCmd: 0.591334 target range: 387.521454 and range: 387.30 m.hua?hyhyhyhygygyjgrgereZe:e*eu?Bɢd1}=) D; ؿi)@>isռia?==Ia?I9@ @@?5@߽?߽a?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259131^A6=I9IIEQ EUsEQEQ"EQ*EUZ:VEQZEQBEU;ae2EU;aeJEU,];ae:EU,];aeOu>! W #,h])LA2->20?2K)5>ٱ2ߥ=2H@??@d ?`~l?Xx?ƿ?J?i2->I2a;2CYNByRKIbDZ VDZ8yb %bN=ٔbaQ-b>9dYd=f Eyf]HDjEj>lQ 5r4nK??Q 9r4nt)nTBYpyrQ?Q Ir@nDDInf;in;nہ4yxɮz3Ax|:i%FNOT Ignoring new targets: 387.52 m."i%8*i%85 ProNav: ac range: 387.521454 m, nav range: 379.559418 m, bearing: 34.735965 deg, approach rate: -0.577778 m/s, LOS rate: 0.003713 deg/s, cmd heading: 33.880962 deg, new cmd heading: 33.883908 deg. i5o8HeadingCmd: 0.591386 target range: 387.521454 and range: 387.30 m.he?hhhhggjgrgereZe:e*e`X)?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511056MBɢM=)I MܿiI)U_?>QQi]9Ҽie?=Ћ=Ie?I)9@ @@@Q^A=Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762876ԁ Ee  Ee Ee 7Ea "Ee :*Ee =:VEe Ժ4ZEa am @am @am @am @v.] #,Iw)LAF>FbK?F+X2>ٱF=FH?lZ?? z?u?`6.ƿ@f? ZP?iF>IF\Ca;FCYrkByr.IYimMb@Mb@Mb@iiii i9mQ?~jty&1|?Ym(?ymļm`;mAm&A m A)m,AiYmA a=bD$VDΰ8yؽ%;=ٔDλQ->9Y= EyoHDE>B=>B9B=IB=BB= =B9B9B=X;B= xEQQ 5]4U^??Q 9]4U~)Uiϼih?=Ş=Ih?I ԁ9@ @@/5@@=@=-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015499^A=A>AIIO%M>Ա d #,)LA2,>2D?2_/>ٱ2=2H@"?`e??B?~t?ſ ? mV?i2,>I2Na;2CY:TBy:IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267027 DDbDJLVDJ8y~$%~X=ٔ~Q->9Y= Ey~HD -E >Q 54n??Q 94{)*BYy?Q I%@DDI;i;4y)ɮ-G5A):iIUFNOT Ignoring new targets: 387.52 m."i]8*i]8 ProNav: ac range: 387.521454 m, nav range: 379.068939 m, bearing: 34.739108 deg, approach rate: -0.601868 m/s, LOS rate: 0.004062 deg/s, cmd heading: 33.887256 deg, new cmd heading: 33.890198 deg. i8HeadingCmd: 0.591496 target range: 387.521454 and range: 387.30 m.h@l?hhhhggjgrgereZe:e*eu@ԹBɢP=) Ri)r<>i!̼i@l?Ɔ==I@l?IEU EU~EU6EQ"EU7:*EU(:VEUc4ZEQBEU;a]2EU;a]JEU;ae:EU;ae=9@ @@0@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518883A ^A T=A-.AI1IAOU>=k #,&)LA :O>:.?:w*>ٱ:=:H$?T[ ??@ ?P(s?5ſ k?sa?i:O>I:`;8YBJByBIiEMb@Mb@Mb@AAAA A9Erh|?~jt?YE?yE̼E9u ?Y} ?=} Ey}HD}E}>Q 54checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770986??Q 94w)BY?Q E:y ?Q I@DDItl;ixk;4yBɮ5AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 387.52 m."i8*i8 ProNav: ac range: 387.521454 m, nav range: 378.777130 m, bearing: 34.741599 deg, approach rate: -0.600107 m/s, LOS rate: 0.005128 deg/s, cmd heading: 33.890197 deg, new cmd heading: 33.895184 deg. i*9HeadingCmd: 0.591583 target range: 387.521454 and range: 387.30 m.hq?hhhhggjgrg_BereZe:e *e 4O@BɢR=) Vi):>iɼiq?Ɇ= j=I q?IIE9 E=E=8E9"E9*E=X:VE=F4ZE9aM@aM@aM@aM@Myb];9@ @@@5@A1A1B=>B9B=SIB=BB= =B9B9B=;B=\xEq^Ad=A؟AIIO >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022924ԙ r #,)LA2Ѿ>2B3?2'>ٱ29=2H9?FC??? r?ĿR ? f?i2Ѿ>I2`;0@YB*ByBIHJAAbDN3VDN۰8yV)%VX=ٔVQ-V>9Z"?YZ"?=Z EyZHD^&E^>`Q 5f4b??Q 9f4bkt)bBYdyf ?Q If@bDDIb:ib:b*4ynBɮn6AnE:i|FNOT Ignoring new targets: 387.52 m."i8*i 8 ProNav: ac range: 387.521454 m, nav range: 378.549286 m, bearing: 34.743677 deg, approach rate: -0.606663 m/s, LOS rate: 0.005536 deg/s, cmd heading: 33.895183 deg, new cmd heading: 33.899341 deg. i"9HeadingCmd: 0.591655 target range: 387.521454 and range: 387.30 m.hv?hhhhggjgrgereZe:e*e`x @}Bɢ}DL:=) i)79>顁iƼiv?Ȇ={ =Iv?Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274822E EE7E"E:*E.:VEԺ4ZEBE2?}$>ٱ$=H M?1#?@|?`? q?@Ŀ`ew?l?iGϼ>I`;Y-By-IIm>)mp;iMb@Mb@Mb@ 9V-?MbPy&1?Y|?y`<A(A A)//AY\AbD=VD8y%=ٔQ->9Y= EyHD%E%>)Q 554-??Q 954-Qo)-BY=?Q E=:y=?Q I=@-DDI-+;i-*;-$4yEBɮE6AME:iiuFNOT Ignoring new targets: 387.52 m."iu18*iu18 ProNav: ac range: 387.521454 m, nav range: 378.195740 m, bearing: 34.745064 deg, approach rate: -0.618293 m/s, LOS rate: 0.002427 deg/s, cmd heading: 33.899342 deg, new cmd heading: 33.902117 deg. i8HeadingCmd: 0.591704 target range: 387.521454 and range: 387.30 m.hy?hhhhggjgrggBereZe:e*e @mBɢmpv=)i muii)uI6>qqiu$üi}y?}†=}{=I}y?Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779737E EECE"E7:*E0:VE5ZEaE@aE@aM@aM@Ա9B>BHCBIBBBBBDBǹ;BxEBUICBUICBQBU =BU =CUy5 @  @ @ /@ ^A] xr= DAT read: 01:08:54.2649 LVL= 31920, 32753, 29410, 32755, AGC= 72, IDX= 402, 0.18, 0.275,-1.192, 0.418,-0.107, PHS= 0.484,-1.040, 0.480, RAW= 149.9, 1.0, CAL= 148.8, 0.6, ROT= 1.2, -0.6  Ygot valid direction response: 01:08:54.2649 LVL= 31920, 32753, 29410, 32755, AGC= 72, IDX= 402, 0.18, 0.275,-1.192, 0.418,-0.107, PHS= 0.484,-1.040, 0.480, RAW= 149.9, 1.0, CAL= 148.8, 0.6, ROT= 1.2, -0.6  PDAT read: Bearing 188.8, -8.1 (Local)  ~Local bearing/azimuth received: Bearing 188.8, -8.1 (Local)  DAT read: Range 11 to 50 : 384.7 m (Round-trip 513.0 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages.% \direction in FSK: [0.999726,0.020941,0.010472]% Fpublishing direction and range infoy  ^?®q?/;r?Y YC | r ) HI >i  > p'@ 5< 6&@ +<) < #,n1*LA(&e>}?t!>ٱe=H]?#`Y? ?l? C?l?Ŀ2?Wr?i&e>I`;CYByIbDoVD8yM %UA=ٔ]Q-]>9e ?Ye ?=e EyHDQϻE>Q 541??Q 94ck)BYy?Q I@EDI::i:ٰ4yBɮ7A%Eii0*LAjtC"jtC:j?Rj x@A @,oi@Bj^?®q?/;r?*j<2j+ZjBXs@hH' k@b!KJjUD7?Pm7?Caχ¿jIXC jCi,|?iG2j/ AjjG2jOrj6Czj4?ԁ addTargetRange:: Added new target pos. range: 384.700012 m, deltaT: 4.283635 s, deltaX: -2.599976 m, approachRate: -0.606955 m/s, rangeRepo size: 4  Added new target pos. range: 384.908234 m, bearing: 34.603824 deg, lat: 36.779584 deg, lon: -121.859558 deg, deltaT: 4.283635 s, deltaX: -2.613220 m, approachRate: -0.610047 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 384.91 m."i*i ProNav: ac range: 384.908234 m, nav range: 378.427063 m, bearing: 34.856217 deg, approach rate: 0.000000 m/s, LOS rate: 0.002427 deg/s, cmd heading: 33.902119 deg, new cmd heading: 33.904333 deg. iHeadingCmd: 0.591742 target range: 384.908234 and range: 384.70 m.hl|?hhhh!g!g!jg!rg!e)re)Ze):e-@3 x@*e53?额Bɢ`C?=) i)4>顡i_il|?w=r=Il|?I(DAT read: user:33> BDAT read: Tx time:01:08:55.6477 $Ping request sent.2(?2\/>ٱ2=2H p?`'?V? ?Pl?ϱÿ#\?x?i2s>I2>`;2CY>By>I DDbDF4VDFܰ8yN%N)=ٔRQ-R>9PYP=V EyVHDZbE5>QQ 5m4U??Q 9}4Ug)UBYy?Q I@U$EDIU"B!)i-i-?5=5ڣf=I5?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503361@ @@@@=@=^A@p=bE 4jE4rER1E EE6E"Eغ:*EE7:VEc4ZEa@a@a@a@A؟AIIO >A B <A B >B GCB IB bBB  =B B DB ڹ;B xE[ #,A*LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754513Y ̀By kIiMb@Mb@Mb@ 9'1Z?~jt?y&1?Y"?y<pA+A XA)r2AY"AbD;VD8y-%:=ٔQ->9"?Y"?= EyHDE>Q 54??Q 94c)BY #?Q E:y&?Q I@5EDI;i ;4yɮ 9AB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 384.91 m."i6*i6- ProNav: ac range: 384.908234 m, nav range: 377.859894 m, bearing: 34.857863 deg, approach rate: -0.717928 m/s, LOS rate: 0.000256 deg/s, cmd heading: 33.907443 deg, new cmd heading: 33.907632 deg. i-6-HeadingCmd: 0.591800 target range: 384.908234 and range: 384.70 m.h51?h1h1h1hggjgrguBereZe:e*e%项iøi1?=gh=I1?Ie9@a @a@e 0@aychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009836^AI Ա DM =DM 4=EU  EQ EU :EQ "EU ;*EQ VEU (4ZEQ BEU ]Q˅ #,[[*LA>&>>]?>~>@ٱ>/7=>H?`^e? h;? ?8Z¿x??i>&>I> a;>CYJByJWIbDR VDRʰ8yZ%Z\=ٔ^颼Q-^>9\Y`=b EybHDbSEb>dQ 5j4fF??Q 9j4f_)fBYlyn?Q In@fDEDIf;if;f+Ƿ4yrBɮr9At:i  FNOT Ignoring new targets: 384.91 m."iJ7*iJ7% ProNav: ac range: 384.908234 m, nav range: 377.624756 m, bearing: 34.858120 deg, approach rate: -0.634284 m/s, LOS rate: 0.000692 deg/s, cmd heading: 33.907631 deg, new cmd heading: 33.908143 deg. i%7-HeadingCmd: 0.591809 target range: 384.908234 and range: 384.70 m.h-ǀ?h)h)h)h1g1g1jg1rg1e9re9Ze9:eA*eE@Ƹ?iɢm <)i miq)u/>qqiui}ǀ?}=}FU=Iǀ?I9@ @@05@Ա^AXh=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259970AI!I9OEQ>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510664y #,xAu*LA$ɰ&;lE~ E~E~8E|"E~:*E~F:VE~F4ZE|a @a @a @a @YuByu4IiMb@Mb@Mb@ 9S㥛?/$?y&1?Y$?y,=A-A A)Y#AbDVD8y%%%5=ٔ%Q-->9)Y)=- Ey5ID5E5>9Q 5E4= @?Q 9E4=[)=BYE^%?Q EE:yE"?Q IM@=WEDI=:i=1:=Ϸ4yQɮU:AQ:iy}FNOT Ignoring new targets: 384.91 m."iH*iH ProNav: ac range: 384.908234 m, nav range: 377.334595 m, bearing: 34.856882 deg, approach rate: -0.642687 m/s, LOS rate: -0.002744 deg/s, cmd heading: 33.908143 deg, new cmd heading: 33.905665 deg. i-HeadingCmd: 0.591766 target range: 384.908234 and range: 384.70 m.h-}?h1h1h1h1g1g1jg9rg=|Be9re9Ze9:eA*eE3??B{>BFCBIB?BB =BBB;BlxEBɢ8<)  i)t->ii}?"=RKX=I}?I 9@ @@1@@@xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627231^Ae f=Y A I I O > #,*LA2\>2?2>ٱ2==2H? %ܲ?-9?`?}`޸?@9?i2\>I2)a;0Y:By:IbDF VDF8yN/%jg=ٔnQ-n>9lYl=r EyrIDr;Er>tQ 5z4v@?Q 9z4vpW)vBYxy~"?Q I~@vfEDIv+;iv;v[շ4yBɮe;AE:i)-FNOT Ignoring new targets: 384.91 m."i5A*i5A9M ProNav: ac range: 384.908234 m, nav range: 377.102692 m, bearing: 34.855932 deg, approach rate: -0.643212 m/s, LOS rate: -0.002637 deg/s, cmd heading: 33.905667 deg, new cmd heading: 33.903766 deg. iMhUHeadingCmd: 0.591732 target range: 384.908234 and range: 384.70 m.hU{?hQhQhQhQgQgQjgYrgYeYreaZea:ea*ee@颍BɢX<) i)+>顙i׮i{?m~=VT=I{?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014578D zD E EE7E"E:*Ea9:VEԺ4ZEBEQ-ª #,"*LAY-oBy-IiMb@Mb@Mb@ 9?)\(?Zd;O?Y ?yGa=j<A,A pA)1AY($AbDVD8yE%=ٔQ-->9)Y)=5 Ey55ID5E5>9Q 5E4=e2@?Q 9E4=Q)=BYM ?Q EM:yM(?Q IM@={EDI=;i=+;=޷4yUBɮUOIIiMѪiUu?Uj=UU=Ieu?IiE EE<E"E:*EA:VE 4ZEa%@a-@a-@a-@AABy>BBIBBB =BBB;BixE } 0< 9@  @ @ /@ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771560I ^A5`T=yAIIO? X #,8*LA2 o>2?2>ٱ2-=2H?@?oK?W? 4`x? ?i2 o>I2)`;2CY>WBy>IbDFVDF8yN=%N!=ٔN7̼Q-R>9PYP=R EyRIIDV9Q;EV>XQ 5^4ZG@?Q 9^4ZL)Z}BY\yb(?Q Ib@ZEDIZ2:iZ:Z4yfϗBɮf;AfErB*** querying acoustic contact ***ipipx:i|~FNOT Ignoring new targets: 384.91 m."i*i  ProNav: ac range: 384.908234 m, nav range: 376.452087 m, bearing: 34.850881 deg, approach rate: -0.623449 m/s, LOS rate: -0.004917 deg/s, cmd heading: 33.898546 deg, new cmd heading: 33.893654 deg. mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028344iHeadingCmd: 0.591556 target range: 384.908234 and range: 384.70 m.h4p?hhhhggjgrgereZe:e*e Od @颭Bɢ <) i)%&>顱i#i4p?Y=[=I4p?IE EE7E"E,:*EVEԺ4ZEBE.˻ #,\w*LA2/>2?2Q=ٱ2E=2H@?z ? X??풿`O,`?`n?i2/>I2)`;2CYR6ByRIBDAT read: Rx Time:01:08:58.5605 TRx dataTimestamp_ set to:1764896939.833779checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532995i Mb@Mb@Mb@     9 RQ?V-?~jt?Y "?y m= < A Z.A A)  Y G%A@AEM EMEM5EI"EMm:*EM?:VEM4ZEIaU@aU@aU@aU@bD% VD%8yX% =ٔQ->9Y= EyaIDp$;E>Q 54_@?Q 94F)oBY%Z#?Q E%:y%&*?Q I%@EDI顩i"@Br>BECBFIBBB =BBDB;B\xEih?UH=U_=IUh?IY@ @@@Y checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782636ԁ ^A 5[=I I O>v #,]+LA2>2B?2]=ٱ2=2HI2`;2CY:By:qIbDBVDB8dyf֏%j]=ٔj^Q-j>9lYl=n EynpIDr;Er>tQ 5v4v\o@?Q 9z4vC)vfBYxyz|*?Q Iz@vEDIv;ivo;v?4yɮ>A:i!-FNOT Ignoring new targets: 384.91 m."i-fظ*i-fظ= ProNav: ac range: 384.908234 m, nav range: 375.845367 m, bearing: 34.845616 deg, approach rate: -0.670635 m/s, LOS rate: -0.005912 deg/s, cmd heading: 33.887270 deg, new cmd heading: 33.883112 deg. iE-EHeadingCmd: 0.591372 target range: 384.908234 and range: 384.70 m.hE&d?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]`@颅Bɢ )  i)|/">顑i-i&d?G@=Ne=I&d?IY>i>i@i @i@u/@q DAT read: 01:08:58.5605 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 389, 0.38, 0.209,-1.454, 0.354,-0.277, PHS= 0.588,-1.132, 0.586, RAW= 150.0, -0.5, CAL= 149.0, -1.1, ROT= 1.0, 1.1 Ygot valid direction response: 01:08:58.5605 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 389, 0.38, 0.209,-1.454, 0.354,-0.277, PHS= 0.588,-1.132, 0.586, RAW= 150.0, -0.5, CAL= 149.0, -1.1, ROT= 1.0, 1.1 PDAT read: Bearing 186.4, -6.3 (Local) ~Local bearing/azimuth received: Bearing 186.4, -6.3 (Local) DAT read: Range 11 to 50 : 381.4 m (Round-trip 508.6 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.DzD@AE EE7E"E:*E|;:VEԺ4ZEBE ?m*R3ޑ?]~Y5C1515 1)5JI5+?i5`吿5?56'@555Bo&@ 5nF)559  (DAT read: user:34>  BDAT read: Tx time:01:08:59.9477  $Ping request sent. 2,?2=ٱ2=2H@5?#X?`r? Z?7ߜ1??i2}ù>I2`;2CY:By>LIbDFVDF8yN%NN=ٔbWQ-b>9dYd=f EyfIDj;Ej>Q 5 4@?Q 9 4>)^BYy*?Q I@EDI;iS.<Y4yeחBɮe?AmEiaie+LAje˾C"je˾C:je?RjeV#skUw@Gq.@gMMBje4o8,>?m*R3ޑ?]~*je5<2jenF<ZjeEs@8 j@. HJjekޖ/?ڥ79?*?ctujeUC je CieᕨI?ieqgHjemAje5?jeqgHjarjeqCzjeb?] addTargetRange:: Added new target pos. range: 381.399994 m, deltaT: 4.288570 s, deltaX: -3.300018 m, approachRate: -0.769492 m/s, rangeRepo size: 4 m Added new target pos. range: 381.586792 m, bearing: 34.395229 deg, lat: 36.779604 deg, lon: -121.859567 deg, deltaT: 4.288570 s, deltaX: -3.321442 m, approachRate: -0.774487 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 381.59 m."i*i ProNav: ac range: 381.586792 m, nav range: 376.885742 m, bearing: 34.553461 deg, approach rate: 0.000000 m/s, LOS rate: -0.005912 deg/s, cmd heading: 33.883114 deg, new cmd heading: 33.877959 deg. iUHeadingCmd: 0.591282 target range: 381.586792 and range: 381.40 m.h]A^?hYhahahaggjgrgereZe:e`fw@*e=?Iɢp) $i)s>i3iA^?4=ej=IA^?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252605@ @@/@qE EEE"E:*Ea9:VEZEa@a@a@a@B <A B n>B B IB MBB B -DB B ;B HxEBFCBFCBɔCB =B =Cl5Ա ^A] Xf=I I O >5 #,ˆB+LAY~By$Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503067iMb@Mb@Mb@ 9S㥛?)\(?I +?Y$?yGa=94<ZA0A A)Y&A R=bDVD8yj%8=ٔQ->9Y= EyIDE>Q 54 @?Q 94V:)RBY|%?Q E:y)?Q I@EDI;i+;4yۗBɮ@A :i)-FNOT Ignoring new targets: 381.59 m."i5 *i5 긝E ProNav: ac range: 381.586792 m, nav range: 376.606903 m, bearing: 34.550877 deg, approach rate: -0.689445 m/s, LOS rate: -0.006394 deg/s, cmd heading: 33.877960 deg, new cmd heading: 33.872788 deg. iE:;MHeadingCmd: 0.591192 target range: 381.586792 and range: 381.40 m.hMWX?hIhIhIhIgQgQjgYrg]BeYreYZeY:ea*ee?IɢUHN)Ule< U(iQ)U~>YYi]hi]WX?e<-=e2j=IeWX?Iaԩ%9@! @!@%/@)U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755304^Am j=I I O >D D %=E  E E 3E "E :*E F:VE 4ZE BE o6>?6P|=ٱ6:=6H ?A@,??~?J 6?%?i6m>I6h`;6CYBIByBIbDJVDJ8yR(%R`=ٔR:Q-R>9TYT=V EyVIDZ*<EZ>\Q 5b4^@?Q 9b4^6)^IBY`yb*?Q Ib@^EDI^;i^';^L 4yhɮjAAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 381.59 m."i*i帝 ProNav: ac range: 381.586792 m, nav range: 376.372437 m, bearing: 34.548588 deg, approach rate: -0.642746 m/s, LOS rate: -0.006279 deg/s, cmd heading: 33.872790 deg, new cmd heading: 33.868209 deg. i7HeadingCmd: 0.591112 target range: 381.586792 and range: 381.40 m.hS?hh!h!h!g!g!jg)rg)e)re)Ze):e)*e5S?Yɢ]?)a e,ia)e^>aaieimS?m*(=mbv=IuS?Iq9@ @@0@-҂GEzA]MAr9zAYKAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007072^A`k=A>A>IaIqO|>1Y m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260428 #,Hpv+LA2B>2?2=ٱ2a=2H^?`O ???9ã0`??i2B>I2(`;0YV ByVIi5Mb@Mb@Mb@1111 195K7A?Q?~jth?Y5 "?y5u<5D;5A1 5+A)50A1Y53'AbDMVDM8y]%]>=bEԺ4jE4rEL0Em EmEm=Ei"Emغ:*EmE7:VEm|4ZEiau@au@au@a}@ٔ}VQ-}>9Y= EyID\u;E>Q 54@?Q 94d2)i9]iR?"={=IR?IBo>BDCBIB~BB =BBDB;B1xE@ @@S0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832y^Aw=A I I! O- >ԡ m #,+LA2>2=?2=ٱ2R9=2H ?Y@@? f?>? {㥿A϶??i2>I2`;0Y:~By:IB@ABAAbDFVDF°8yN^ѽ%NY=ٔR)nQ-R>9PYP=R EyRIDV[;EV>XQ 5^4Z@?Q 9^4Z.)Z3BY\yb'?Q Ib@ZFDIZb;iZ;Zg4yfBɮf}BAfE:ixzFNOT Ignoring new targets: 381.59 m."i~D*i~D  ProNav: ac range: 381.586792 m, nav range: 375.863190 m, bearing: 34.548098 deg, approach rate: -0.630919 m/s, LOS rate: -0.000671 deg/s, cmd heading: 33.867729 deg, new cmd heading: 33.867228 deg. i 8HeadingCmd: 0.591095 target range: 381.586792 and range: 381.40 m.hQ?hhhhggjgrgereZe:e*e}?ɢ@b) 2i) > iՍiQ?%=-=I-Q?IYԑ?7?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764121E EE;E"Eg:*ER:VE4ZEBE;a2E;aJE;a:E;a<9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914^A |= A II)O5>H #,m+LAV1>V?V=ٱVm=VH`?m`w??K? w?b?iV1>IV7`;VCYb~BybIbDjVDj8yr%r,=ٔv Q-v>9tYx=z EyzID~;E>)Q 5E4-@?Q 9U4-@*)-(BYYy]?Q Ie@-FDI-;i-<-#4yėBɮCA:i!5FNOT Ignoring new targets: 381.59 m."i=Un*i=Unu ProNav: ac range: 381.586792 m, nav range: 375.559296 m, bearing: 34.547660 deg, approach rate: -0.564676 m/s, LOS rate: -0.000814 deg/s, cmd heading: 33.867230 deg, new cmd heading: 33.866354 deg. i}HeadingCmd: 0.591079 target range: 381.586792 and range: 381.40 m.hP?hhhhggjgrgereZe:e*e J@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267033A}Bɢ}0) 6i)a>顁iiP?= =IP?IE EE7E"E*E=:VEԺ4ZEa@a@a@a@iAABz>BFCBeIBO~BB =B,DBDBl;B&xE hW<ԑ @  @ @ /@ @ @  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519021 ^A0=A)I1IAOU?X #,;+LA;ɰ27>2e?2=ٱ2\=2H?|?]??q`T?ܰ?i27>I2`;2CY:g~By:sIiMb@Mb@Mb@ 9Q?Y(?yAr2A A)Y((AbD VD8yĽ% =ٔ>%Q->9Y= EyIDZ;E>Q 54@?Q 94$)BY(?Q E:ye?Q I@3FDI:i:..4y ȗBɮ DA E:i15FNOT Ignoring new targets: 381.59 m."i=7*i=7checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779019 ProNav: ac range: 381.586792 m, nav range: 375.198242 m, bearing: 34.548300 deg, approach rate: -0.673112 m/s, LOS rate: 0.001193 deg/s, cmd heading: 33.866352 deg, new cmd heading: 33.867632 deg. i 8HeadingCmd: 0.591102 target range: 381.586792 and range: 381.40 m.hqR?hhhhggjgrgBereZe :e *e pa@QɢU;)Y ]:iY)]p>YYieOiqR?=j=IqR?IE EE4E"E%:*E.:VE4ZEBE;a2E;aJE;a:E;a@ @@@! E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030918I ^A [=AI I)OU?F #,w+LAM&>M?Mr=ٱM =MHwy?`Z??z?v@(밿@@?=?iM&>IM-`;MCYu~ByuDIi-Mb@Mb@Mb@)))) )9-Zd;O?{GzMbP?Y-j?y-ף-:)-4A -"A)-0A)Y-)AbDeVDe8yu%u=ٔ}o:Q-}>9yYy=} Ey}JD&e;E>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283040Q 54 A?Q 94| )BY?Q E:y{?Q I@GFDI2:i;X74yɮEAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 381.59 m."i8*i8 ProNav: ac range: 381.586792 m, nav range: 374.878601 m, bearing: 34.550379 deg, approach rate: -0.608634 m/s, LOS rate: 0.003962 deg/s, cmd heading: 33.867633 deg, new cmd heading: 33.871794 deg. i8HeadingCmd: 0.591174 target range: 381.586792 and range: 381.40 m.h4W?hhhhggjgrg Be re Ze :e *e`Rj @9ɢ=:H)9 EY?iAI)M >IIiM[i]4W?]+ =]gՉ=Ie4W?IaEU EUEU9EQ"EUI:*EU0:VEU4ZEQae@ae@ae@ae@%9@! @!@!@!B>BGCB IB}BB =BBDBB;BxEq^Ae `=Ae >Aa ԡ E BDAT read: Rx Time:01:09:02.8583 E TRx dataTimestamp_ set to:1764896944.124616M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536070A .AI I O% > #,:A ,LA:>:5A?:Bw=ٱ:Α=@:Hu?`ʗ@,z??Wo?䳱㮿v??i:>I:`;:CYF}ByJ#IbDRVDR8yZ%Zm=ٔZ툼Q-Z?9^ ?Y^ ?=^ Ey^JDbߏ;Eb?dQ 5j4fA?Q 9j4f)fBYhyj?Q Ij@fUFDIfI:if:fZ=4yr̗BɮrFAt:iFNOT Ignoring new targets: 381.59 m."iD8*iD8 ProNav: ac range: 381.586792 m, nav range: 374.669006 m, bearing: 34.551695 deg, approach rate: -0.583929 m/s, LOS rate: 0.003668 deg/s, cmd heading: 33.871796 deg, new cmd heading: 33.874429 deg. i8HeadingCmd: 0.591220 target range: 381.586792 and range: 381.40 m.h7Z?hhhhggjgrgereZe:e*eL@BɢPش) Bi)2O >i~i7Z?"=X=I7Z?I 9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786893Eu EuEu5Eq"Eu:*EuVL:VEu4ZEqBEuE  #,&,LA6[>6?6`=ٱ6>6HLq??`?4e?岿 x?S?i6[>I6`;6CY>}By>IbDJ+VDJ԰8yR%RK=ٔR`^Q-R>9V"?YV"?=V EyV!JDVO;EZ>XQ 5b4ZB+A?Q 9b4Z)ZBY`yb4?Q Ib@ZdFDIZ;iZ;Z`D4yhɮjGAhp-DAT read: 01:09:02.8583 LVL= 28192, 32753, 31394, 32755, AGC= 73, IDX= 414, 0.27,-0.735,-2.465,-0.538,-1.385, PHS= 0.753,-1.035, 0.803, RAW= 151.4, -5.8, CAL= 151.3, -7.2, ROT= 358.7, 7.2 5Ygot valid direction response: 01:09:02.8583 LVL= 28192, 32753, 31394, 32755, AGC= 73, IDX= 414, 0.27,-0.735,-2.465,-0.538,-1.385, PHS= 0.753,-1.035, 0.803, RAW= 151.4, -5.8, CAL= 151.3, -7.2, ROT= 358.7, 7.2 =PDAT read: Bearing 181.7, -6.0 (Local) E~Local bearing/azimuth received: Bearing 181.7, -6.0 (Local) MDAT read: Range 11 to 50 : 379.8 m (Round-trip 506.4 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]`direction in FSK: [0.991859,-0.022508,-0.125333]]Fpublishing direction and range infoy|~lO?zt'l cK Y~C|~ n|~z |)~II~@?i~z~hM?~)@~4QϽ~)@ ~)~U@I~>||~qp.?LD/f?%U޹ ~' ?)~N=I~޹i~>||uT****** received valid address query ******uR****** received valid ping request ****** addTargetRange:: Added new target pos. range: 379.799988 m, deltaT: 4.291325 s, deltaX: -1.600006 m, approachRate: -0.372847 m/s, rangeRepo size: 4 :iFNOT Ignoring new targets: 381.59 m."ii8*ii8uQuerying Benthos address 50 with one ping in standard two-way mode.= ProNav: ac range: 381.586792 m, nav range: 374.423981 m, bearing: 34.553186 deg, approach rate: -0.607261 m/s, LOS rate: 0.003700 deg/s, cmd heading: 33.874429 deg, new cmd heading: 33.877415 deg. i=8MHeadingCmd: 0.591272 target range: 381.586792 and range: 379.80 m.hM]?hIhIhIhIgqgqjgyrgyeyreZe:e̼w@*eGé?!ɢ%()! %Ei))->)iiuvi}]?S'===I]?IM9@I @I@M/@IA(DAT read: user:35> BDAT read: Tx time:01:09:04.1976 $Ping request sent.B B IB z}BB  =B B B ;B wEI O >@ #,f?,LA2y>2*?2L=ٱ2MS>2H@n? ?j?\?%< Y??i2y>I2s`;2CYr}ByrI9iMb@Mb@Mb@ 9Cl?~jty&1|?Yd?y`;5A #A)Z.AYbD VD8y2%7=ٔ5Q->9 ?Y ?= Ey3JDu;E>Q 54>A?Q 9 4y)BY ?Q E :y ?Q I @vFDI(:iR:+L4yUϗBɮ]HA]Ei)i-0/(,LAj-C"j-C:j-1?Rj- (vw@8;0!u1*GBj-lO?zt'l cK *j-޹2j->Zj-8߼js@F^j@~PJj-mv)?.-?dޛƿj-GPC j-UCi-҉?i-dj- lj-,|?j)j- lrj-gCzj-?:iFNOT Ignoring new targets: 381.59 m."i8*i8 ProNav: ac range: 381.586792 m, nav range: 374.153564 m, bearing: 34.556075 deg, approach rate: -0.607868 m/s, LOS rate: 0.006499 deg/s, cmd heading: 33.877414 deg, new cmd heading: 33.883196 deg. iJ>9HeadingCmd: 0.591373 target range: 381.586792 and range: 379.80 m.h>d?hhh!h!g!g!jg!rg-hBe)reIZeI:eQ*eU ܹ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244126i颅BɢR5) Fi)>顉id?,=,=I>d?I@ @@/@!ԡ^AE =AM yAzAM zA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496227A I I O >\ #,Z,LA2]I>2?2P9=ٱ2s>2H:n?@(? ;?uW?@״(`Y~?@?i2]I>I2J`;2CY>T}By>IbDFVDF8yND%NZ=ٔNzNQ-R>9PYP=R EyRBJDV:EV>E^ E\E^8E\"E^y:*E\VE^F4ZE\BE^#i'Rhii?0=A=Ii?I@ @@0@@zA@zAԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747989^AĎ=A= ؟AIA IQ Oe > م #,Mt,LAzY>z4?z'=ٱz8y>zH@n? 4ʱ?? Q?L t⤿??izY>Izq`;zCY [}By IIE<)E=iMb@Mb@Mb@ 9zG?Zd;OVD8yq|<%6=ٔ7"Q->9"?Y"?= EyTJD d9E >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999945Q 5%4bA?Q 9%4)BY-?Q E-:y-0?Q I-@FDI ;i;Z4y5Bɮ5?HA=EUB*** querying acoustic contact ***iQiQ:iYeFNOT Ignoring new targets: 381.59 m."im9*im9} ProNav: ac range: 381.586792 m, nav range: 373.661011 m, bearing: 34.562027 deg, approach rate: -0.588976 m/s, LOS rate: 0.007865 deg/s, cmd heading: 33.888072 deg, new cmd heading: 33.895109 deg. i}Nf9HeadingCmd: 0.591581 target range: 381.586792 and range: 379.80 m.hq?hhhhggjgrg\BereZe:e*eKo?频ɢH)#P< Ji)g>顙i!`E EE:E"E:*Ea9:VE(4ZEa@a@a@a@iq?p6=o=Iq?I!ImyA)mxAB }>B FCB IB )}BB  =B B B ;B awEBBBBBC61@ @@/@A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251996^A =q I I) O5 > ^# #,,LA2>2. ?2=ٱ2 >2H n?!p??@^J?dϷ@@@?@?i2>I2l`;2CY:I}By:IbDF'VDFа8yNQ%Nf=ٔR9PYP=V EyVbJDVU:EV>XQ 5^4ZSrA?Q 9^4Z> )ZBY`yb>?Q Ib@ZFDIZ:iZG:Z`4yfBɮfHAd:iquFNOT Ignoring new targets: 381.59 m."i}I9*i}I9 ProNav: ac range: 381.586792 m, nav range: 373.452179 m, bearing: 34.564811 deg, approach rate: -0.591188 m/s, LOS rate: 0.007884 deg/s, cmd heading: 33.895107 deg, new cmd heading: 33.900677 deg. if9HeadingCmd: 0.591678 target range: 381.586792 and range: 379.80 m.h=x?hhhhggjgrgereZe:e*e!y?]Bɢ])Y ]KiY)eQ=aaiehYii}=x?};=}U=I=x?I@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504599ԙE EE7E"Eg:*E=:VEԺ4ZEBE;a2E;aJEΔ;a:EΔ;a^AA>A> 7w> I I  WG= {AOE >M A} s9} {AY} šA ) #,,LA2@u>2 ?2=ٱ2>2Ho?4 ̺??G?QРr??i2@u>I2Е`;0Y:;}By:IbDBVDB8yJ %JK=ٔNZQ-N>Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7559489TYX=Z EyZsJDZLKEZ>9Q 5E4=A?Q 9M4= )=BYIyM8?Q IU@=FDI=U9;i=9;=h4yqɮuHAy:iFNOT Ignoring new targets: 381.59 m."i 9*i 9 ProNav: ac range: 381.586792 m, nav range: 373.204529 m, bearing: 34.568119 deg, approach rate: -0.579823 m/s, LOS rate: 0.007752 deg/s, cmd heading: 33.900677 deg, new cmd heading: 33.907299 deg. ib9HeadingCmd: 0.591794 target range: 381.586792 and range: 379.80 m.h?hhhhggjgrgereZe:e*e ~@EBɢE}ӽ)A ELiA)M0=IIiMtRi??=[=I?I5*:iM>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0084519@ @@/@@@=) bEjEü4rEA0E  E E 6E "E غ:*E .:VE c4ZE a @a @a @a @B% >B% GCB% IB% }BB! B! B! B% ;B% EwEa ^A =I I O >'1 #,}u,LA6j>6?6N<ٱ6>z >6H u?߹??K? ? H;?@|?i6j>I6`;4YB4}ByBI DDiMb@Mb@Mb@ 9~jt?MbV-?Y?y<A:A (A)Z.AY+AbD%VD%ɰ8y56T%=/=ٔ=rQ-=>9AYA=E EyEJDEEM>IQ 5U4MUA?Q 9]4MT)MBY] ?Q E]:y] ?Q I]@MFDIM:iM:Mo4yBɮIAE:i)-FNOT Ignoring new targets: 381.59 m."i5Q8*i5Q8E ProNav: ac range: 381.586792 m, nav range: 372.931610 m, bearing: 34.570860 deg, approach rate: -0.590787 m/s, LOS rate: 0.005937 deg/s, cmd heading: 33.907299 deg, new cmd heading: 33.912785 deg. iE-9MHeadingCmd: 0.591890 target range: 381.586792 and range: 379.80 m.hM?hIhIhIhQgQgQjgQrgU{BeYreYZeY:eYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260032*ee '@颭BɢG) Li) =顱i3Ki?D=3č=I?IM7 #, ,LA2@H>2n?2+<ٱ2m >2H{?yn?@?Q?Z`s6j?ҳ?i2@H>I2`;2CY>*}By>IbDJ VDJ8yRż%RG=ٔRQ-R>9TYT=V EyVJDV=EZ>\Q 5^4^A?Q 9b4^)^BY`ybz ?Q Ib@^FDI^:i^:^#w4ylɮn=IApq:iFNOT Ignoring new targets: 381.59 m."ix8*ix8 ProNav: ac range: 381.586792 m, nav range: 372.681305 m, bearing: 34.573418 deg, approach rate: -0.607715 m/s, LOS rate: 0.006215 deg/s, cmd heading: 33.912784 deg, new cmd heading: 33.917903 deg. i59HeadingCmd: 0.591979 target range: 381.586792 and range: 379.80 m.h?hhhhggjgrgereZe:e*e@-Bɢ5bؽ)1 5tMi1)5=19i=UDi=?EG=EG=IE?IAIIQQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763795ԩ9@ @@0@ ^A tn=A xAzA yAI! I9 OE >= #,,LA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015984:J>:?:7]<ٱ:C>:H ?8I:x`;:CYV}ByVIiUMb@Mb@Mb@QQQQ Q9US?{Gz{Gz?YU/?yUףU#=Ur AQ UE*A)QE EE9E"E7:*E0:VE4ZEa@a@a@a@QYU,AbD VD8y%6=ٔ)Q->9!Y!=% Ey%JD%E->)Q 554-UA?Q 954-")-BY=?Q E=:y] ?Q I]@-FDI-;i-!;-~4yeBɮmIAmEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 381.59 m."i8*i8B>BHCBIB|BB =BBDB;BbwE ProNav: ac range: 381.586792 m, nav range: 372.405029 m, bearing: 34.575564 deg, approach rate: -0.631023 m/s, LOS rate: 0.004906 deg/s, cmd heading: 33.917903 deg, new cmd heading: 33.922199 deg. i 9 HeadingCmd: 0.592054 target range: 381.586792 and range: 379.80 m.h ې?hhhhggjg9rg=Be9re9ZeA:eA*eEY @颍BɢϽ) %Ni)l=i D #,-LAr뛾>rc?r$h<ٱr=rH`ה?`O?Y?dn?@( ? ?ir뛾>Iru`;rCY~ }By~II%>);bD VD 8y,%X=ٔ%NXQ-%>9!Y!=- Ey-JD-CE->1Q 5=45A?Q 9=45)5BYAyE ?Q IE@5FDI5.:i5:54yIɮMIAQ:iquFNOT Ignoring new targets: 381.59 m."i}8*i}8 ProNav: ac range: 381.586792 m, nav range: 372.172455 m, bearing: 34.577479 deg, approach rate: -0.628595 m/s, LOS rate: 0.005179 deg/s, cmd heading: 33.922199 deg, new cmd heading: 33.926032 deg. i9HeadingCmd: 0.592121 target range: 381.586792 and range: 379.80 m.h=?hhhhggjgrgereZe:e*e@ @Bɢ))< Oi)=id 6i=?G=?=I=? Ii=<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5210589@! @!@%4@!E EyE8E"E*E:VEF4ZEBE;a2E;aJEs;a:Es;a9^A8=iA1 IA IQ O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772603 J #,I--LA%->%i?%<ٱ%=>%H ?` 7j?? l?`^ FS;?˼?i%->I%v`;%CY=}By=IbDMVDM8yu<%D=ٔQ->9Y= EyJDE>Q 54A?Q 94a)BYy ?Q I@GDI:i2:4yėBɮIA:i1=FNOT Ignoring new targets: 381.59 m."i= 8*i= 8m ProNav: ac range: 381.586792 m, nav range: 371.914276 m, bearing: 34.579655 deg, approach rate: -0.602610 m/s, LOS rate: 0.005083 deg/s, cmd heading: 33.926031 deg, new cmd heading: 33.930386 deg. iu9uHeadingCmd: 0.592197 target range: 381.586792 and range: 379.80 m.hu8?hyhyhyhygygyjgrgereZe:e*e`@颭BɢOӽ) ONi)#=io.i8?%D=-wm=I58?I99=DAT read: 01:09:07.1040 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403, 0.03,-0.210,-1.712, 0.024,-0.525, PHS= 0.417,-1.143, 0.505, RAW= 152.7, 2.8, CAL= 151.6, 2.4, ROT= 358.4, -2.4 EYgot valid direction response: 01:09:07.1040 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403, 0.03,-0.210,-1.712, 0.024,-0.525, PHS= 0.417,-1.143, 0.505, RAW= 152.7, 2.8, CAL= 151.6, 2.4, ROT= 358.4, -2.4 MPDAT read: Bearing 192.0, -2.7 (Local) M~Local bearing/azimuth received: Bearing 192.0, -2.7 (Local) ]DAT read: Range 11 to 50 : 376.6 m (Round-trip 502.2 ms) speed 0.6 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.998733,-0.027897,0.041876]eFpublishing direction and range infoy聟?J ۷p?YLC )BI>iMG?J*@+H=V)@ +=)+@I+dV?́qF?_&? 2?)I%GIi+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@05@E EE7E"Ey:*E0:VEԺ4ZEa@a@a@a@BAB>BBIB|BBBBB;BowEa ^A =A >A ԑ A I I O >4R #,AI-LA2;>2 ?2 Y<ٱ2>2H?ǒ@_??f?w-5 ?X?i2;>I2X`;0N(DAT read: user:36> RBDAT read: Tx time:01:09:08.4976 R$Ping request sent.Rԩ9Y= EyJD:/E>Q 54A?Q 94) BY!?Q E:y#?Q I @GDI;iu;4yǗBɮJAEiqiuNd:-LAjufC"jufC:juJ?Rjuw\/w@4%om{/@Bju聟?J ۷p?*ju2ju+ZjuG׻s@{=h@uy"@JjuI,?o*?]O?juFC juCiu[oQJ?iuZjuBjuᕨI?jqju/ ArjuCzju? addTargetRange:: Added new target pos. range: 376.600006 m, deltaT: 4.284492 s, deltaX: -3.199982 m, approachRate: -0.746875 m/s, rangeRepo size: 4  Added new target pos. range: 376.801361 m, bearing: 31.846469 deg, lat: 36.779620 deg, lon: -121.859567 deg, deltaT: 8.575817 s, deltaX: -4.785431 m, approachRate: -0.558015 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 376.80 m."i*i ProNav: ac range: 376.801361 m, nav range: 373.151581 m, bearing: 34.417924 deg, approach rate: 0.000000 m/s, LOS rate: 0.005083 deg/s, cmd heading: 33.930385 deg, new cmd heading: 33.935170 deg. iHeadingCmd: 0.592280 target range: 376.801361 and range: 376.60 m.h?hhhhggjgrgBe re Ze :e w@*e@X?]Bɢ]ݽ)y }Ni)O=顁i6'i?A=,=I?IQ@Q @Q@]5@Y@e=@e=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251139 E  E E E "E :*E VL:VE ZE BE X #,c-LA2s>2?2h2<ٱ2X">2H@? !??h?`sL6?;?i2s>I2 `;2CY:|By:I <<bDFVDF8yN%Ni=ٔN߻Q-N>9PYP=R EyRJDREV?XQ 5Z4Z%B?Q 9^4Z)ZBY\y^?Q I^@Z&GDIZ\:iZ:Z#4y`ɮfGJAd:itzFNOT Ignoring new targets: 376.80 m."izó*izó ProNav: ac range: 376.801361 m, nav range: 372.933380 m, bearing: 34.417899 deg, approach rate: -0.655291 m/s, LOS rate: -0.000077 deg/s, cmd heading: 33.935170 deg, new cmd heading: 33.935119 deg. i HeadingCmd: 0.592280 target range: 376.801361 and range: 376.60 m.h ?hhhhggjgrgereZe!:e!*e%?MBɢU{)Q UkOiQ)U =QYi]V i]?e0?=ePg=Ie?IaԡMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503703 u<@ @@25@ > @? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228^A p=) E  E E :E "E O:*E A:VE (4ZE a @a @a @a @Be >Ba Ba Ba Be  =Ba Ba Be ݸ;Be wEI I O >-1` #,B΀-LA2%%>2\?2+ <ٱ2>2H@٢?@?? o?@@@ f?@,?i2%%>I2,E`;2CY:}ByjIieMb@Mb@Mb@aaaa a9eK7A?{Gz?A`"?Ye "?ye#=eY=e"Ae=A e,A)e//AaYe.AbD}VD}8ԑy<%)=ٔQQ->9Y= EyJD%E>Q 54B?Q 94)"BY"?Q E:y#?Q I@:GDIz;i;4yBɮhIAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 376.80 m."i[*i[ ProNav: ac range: 376.801361 m, nav range: 372.627411 m, bearing: 34.416087 deg, approach rate: -0.633394 m/s, LOS rate: -0.003753 deg/s, cmd heading: 33.935119 deg, new cmd heading: 33.931493 deg. i۸HeadingCmd: 0.592216 target range: 376.801361 and range: 376.60 m.h|?hhhhggjgrgBereZe:e*e@?-Bɢ-Wѽ)) -Ni))5=11i5ki=|?=9==|=I=|?IA%}<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007861nManaging dock network, ignoring radio surface power off@ @@~4@^A] |=Aa zAe wAI I O > Wf #,c-LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259039Y|ByIbD-VD-8y=e%EP=ٔEQ-E>9IYI=M EyMKDMEU>QQ 5]4U*B?Q 9e4U)U,BYayaQ Ie@UJGDIU;iU;Um4yiɮmIAq:iFNOT Ignoring new targets: 376.80 m."i҉*i҉ ProNav: ac range: 376.801361 m, nav range: 372.378845 m, bearing: 34.414614 deg, approach rate: -0.634732 m/s, LOS rate: -0.003765 deg/s, cmd heading: 33.931492 deg, new cmd heading: 33.928543 deg. iܸHeadingCmd: 0.592165 target range: 376.801361 and range: 376.60 m.h?E EE8E"Eغ:*E*5:VEF4ZEBESl #,+-LABH>Bv?B1:ٱB!=BHສ?3@Z?/?x?Iǹ IB`;BCYJ|ByJIIN=)Np>bDZVDZ8yr<%vC=ٔzQ-~>9 Y = EyKD%,E%>9Q 5U4==B?Q 9]4=)=8BYiym\#?Q Im@=[GDI=;i=R;=屸4y BɮIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765444:iFNOT Ignoring new targets: 376.80 m."is*is ProNav: ac range: 376.801361 m, nav range: 372.108002 m, bearing: 34.413051 deg, approach rate: -0.574961 m/s, LOS rate: -0.003320 deg/s, cmd heading: 33.928541 deg, new cmd heading: 33.925413 deg. it¸ HeadingCmd: 0.592110 target range: 376.801361 and range: 376.60 m.h ?h h h hggjg1rg9e9re9Ze9:eA*eELR@颍Bɢw) \Oi)#=顱i i?/={v=I?IE= E=E=6E9"E=:*E= H:VE=c4ZE9aE@aE@aE@aM@Bl>BDCBBB =BBDB6;BwEBHCBGCBB =B =C6m9@i @i@m/@i@u@u@u@uIy I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015040A s #,-LA2`%>2?2 )ٱ23=2H?E`?`^?{? \^!e?r??i2`%>I2p.`;0YN|ByRIiMMb@Mb@Mb@IIII I9MNbX9?Q?ˡE?YM%?yMu=M'=IMt;A MZ.A)M-AIYMf.AbDeVDe8yu=%uC=ٔ}' Q->9Y= Ey0KD&E>Q 54NB?Q 94l)CBY&?Q E:y~+?Q I@lGDI;i{;%4yɮJA:iFNOT Ignoring new targets: 376.80 m."iq *i%q 1E ProNav: ac range: 376.801361 m, nav range: 371.839355 m, bearing: 34.410180 deg, approach rate: -0.712446 m/s, LOS rate: -0.007619 deg/s, cmd heading: 33.925413 deg, new cmd heading: 33.919667 deg. iM_UHeadingCmd: 0.592010 target range: 376.801361 and range: 376.60 m.hU?hQhYhYhYgYgajgargeBeireiZei:eq*e}` S@颥Bɢ)) cPi)=顩)i-i5?5*==v=I=?I9@ @@@AA?IiIyO8>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266998E] E]E]9EY"E]:*E]F:VE]4ZEYBE] F?FٱF9=FH֭?@-?%? ߀?n |? Y8??iFb>IF5`;FCYn|ByryI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519290bD~ҿVD~8y%%%P=ٔ%9Q-->9)Y)=5 Ey5@KD5E=>AQ 5M4E_B?Q 9U4EF)EMBYQyU+?Q IU@E}GDIEE;iE;E4yeBɮegJAeE:iFNOT Ignoring new targets: 376.80 m."i*i ProNav: ac range: 376.801361 m, nav range: 371.586029 m, bearing: 34.407466 deg, approach rate: -0.655899 m/s, LOS rate: -0.007032 deg/s, cmd heading: 33.919665 deg, new cmd heading: 33.914233 deg. iMHeadingCmd: 0.591915 target range: 376.801361 and range: 376.60 m.h?hhhhggjgrgereZe:e*e4]@Bɢ0) Qi)_=iiu?u3%=uFu=I}?IyԱ 9@  @ @ /@ I)IIO]U>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772271 bE 4jEh4rE/Eu  Eu Eu 4Eq "Eu I:*Eu P:VEu 4ZEq a} @a} @a} @a} @B B B B B =B -DB B ;B HxE1 ؀ #,.LA2ڻ>2v?24?ٱ2.G=2H?;?&?H?@) ?ۺ?9?i2ڻ>I2 ;`;2CYB|ByBjIi Mb@Mb@Mb@     9 /$? rh?X9v?Y 1(?y C= < #A E99Y= EyQKDE>Q 54qB?Q 94)WBYF)?Q E:y.?Q I@GDI;i;CǸ4yBɮJAB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 376.80 m."i-*i-M ProNav: ac range: 376.801361 m, nav range: 371.312073 m, bearing: 34.403991 deg, approach rate: -0.645221 m/s, LOS rate: -0.008190 deg/s, cmd heading: 33.914232 deg, new cmd heading: 33.907277 deg. iMoUHeadingCmd: 0.591794 target range: 376.801361 and range: 376.60 m.h?hhhhggjgrgBereZe:e*e @UBɢU)Y ]cRiY)]࠮=YYi]ie?e=eku=Im?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023101E9@A @A@E/@A9I9IQOmx>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274992v #,j.LA 6F >6?6ٱ6u=6H?`Ġ O?L?n?'?-?`?i6F >I6B&`;6CY>|ByB]IbDJVDJ8yrW%rO=ٔrJQ-r>9tYt=v EyvaKDvIw:Ez>xQ 54zB?Q 94z)zaBYy.?Q I@zGDIz;iz;z͸4y ɮ $- #,C7.LA29P>2?2.ٱ2=2Hڨ? wS??}?@/? )˹? a?i29P>I2I`;2CPYZz|ByZEIbDfVDf8yn%nK=ٔrNQ-r>9pYt=v EyvqKDvЯ:Ev>xQ 5~4zbB?Q 9~4z)zkBYy /?Q I@zGDIz:iz;zԸ4yBɮ KAݪE:iAMFNOT Ignoring new targets: 376.80 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781408"i~*i~- ProNav: ac range: 376.801361 m, nav range: 370.796143 m, bearing: 34.397361 deg, approach rate: -0.632339 m/s, LOS rate: -0.008169 deg/s, cmd heading: 33.900855 deg, new cmd heading: 33.894007 deg. iU0oHeadingCmd: 0.591562 target range: 376.801361 and range: 376.60 m.hp?hhhhggjg rgere!ZeI:eQ*eU^@E EE6E"E:*E,:VEc4ZEa@a@a@a@Bd>BCCBxIB|BB =BBDB;BxEBɢa)! EUiA)EDǢ=AIiM^ϻiMp?Uv=U_y=IUp?IQIxA)yA9@ @@/@! ] DAT read: 01:09:11.4005 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 399, 0.21, 1.176,-0.552, 1.371, 0.679, PHS= 0.600,-1.185, 0.648, RAW= 151.3, -0.7, CAL= 150.3, -1.5, ROT= 359.7, 1.5 e Ygot valid direction response: 01:09:11.4005 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 399, 0.21, 1.176,-0.552, 1.371, 0.679, PHS= 0.600,-1.185, 0.648, RAW= 151.3, -0.7, CAL= 150.3, -1.5, ROT= 359.7, 1.5 m PDAT read: Bearing 187.3, 0.3 (Local) m ~Local bearing/azimuth received: Bearing 187.3, 0.3 (Local) } DAT read: Range 11 to 50 : 374.1 m (Round-trip 498.8 ms) speed 0.4 m/s } R#Rx 1: Read range and direction messages. `direction in FSK: [0.999644,-0.005234,-0.026177] Fpublishing direction and range infoy) - ?U ipuP!ΚY- C) ) ) ) ) )- II- ?i- - T%?- )@- +H- '@ - Pwּ)- @I- Pw<) ) - OU?a ?\C5 - C ?)- iIj( #,zpQ.LAlZm>Z4?ZD[ۼٱZ9=ZH?Ӭ@r١??x?_ƹj?f? ^?iZm>IZ}`;ZCYQyQIe=)e4=iMb@Mb@Mb@ 9J +?i|?5?9Y= EyKD9E> Q 54 2B?Q 94 ) vBYq)?Q E:y,?Q I@ GDI :i : Uݸ4yAɮIIi1i5ޑL.LAj5"C"j5"C:j5\?Rj5lOu.bw@A^PX6~/#Bj5?U ipuP!Κ*j52j5Pw<Zj5\s@mpi@]Ҳ?Jj5,Ŵ?᧐?b)?j50NC j5-Ci5y?i5|+ۙj5|Bj5҉?j5|+ۙj5mArj5Czj57? addTargetRange:: Added new target pos. range: 374.100006 m, deltaT: 4.284031 s, deltaX: -2.500000 m, approachRate: -0.583563 m/s, rangeRepo size: 4   Added new target pos. range: 374.269653 m, bearing: 33.429234 deg, lat: 36.779626 deg, lon: -121.859602 deg, deltaT: 4.284031 s, deltaX: -2.531708 m, approachRate: -0.590964 m/s, posRepo size: 4 :i  FNOT Ignoring new targets: 374.27 m."i*iE ProNav: ac range: 374.269653 m, nav range: 369.300629 m, bearing: 33.938250 deg, approach rate: 0.000000 m/s, LOS rate: -0.008169 deg/s, cmd heading: 33.894008 deg, new cmd heading: 33.886497 deg. iAMHeadingCmd: 0.591431 target range: 374.269653 and range: 374.10 m.hMh?hIhIhIhIgIgQjgQrgUuBeQreYZeY:e]aw@*e] ?Bɢ ) EUi)SX=ia»ih?=e(DAT read: user:37> eBDAT read: Tx time:01:09:12.7476 m$Ping request sent.mO #,@k.LARe>R^?R;ٱR+=RH`:?-`?`o?:p?@X?G0??iRe>IRR`;RCYZF|ByZ$Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825bDjVDjư8yr^%v<ٔvzxQ-v?9tYx=z EyzKDz4Ez?|Q 54~ҶB?Q 94~Q)~}BY y +?Q I @~GDI~.:i~::~34yBɮKA9:iAEFNOT Ignoring new targets: 374.27 m."iM7*iM7] ProNav: ac range: 374.269653 m, nav range: 369.079590 m, bearing: 33.935518 deg, approach rate: -0.690175 m/s, LOS rate: -0.008536 deg/s, cmd heading: 33.886498 deg, new cmd heading: 33.881031 deg. i]yeHeadingCmd: 0.591336 target range: 374.269653 and range: 374.10 m.hea?hahahahagagijgirgieireqZeq:eq*eu?颥Bɢ#K)= OXi)0=顩iJia? =QIUa?IQ@ @@2@iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504718^Av=A>A>B a>B B _IB |BB =B B B ;B xEE  E E 6E "E :*E ]t:VE c4ZE BE h <2E h <JE ;:E ; A .AI! I1 OE >6 #,.LA2>2?2Yٱ2=2H?S ?6?`m?wբ?@???i2>I2 `;0Y: |By> Ii~Mb@Mb@Mb@|||| |9~p= ף?l?:v?Y~%?y~=~T<|| ~1A)||Y~3/AbD VDʰ8y}!%}B=ٔ}j9 ?Y ?= EyKDE>ԙQ 54:B?Q 94 )BYl%?Q E:y#?Q I@GDI-;i,;4yɮLAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 374.27 m."i*i ProNav: ac range: 374.269653 m, nav range: 368.807587 m, bearing: 33.933509 deg, approach rate: -0.643638 m/s, LOS rate: -0.004757 deg/s, cmd heading: 33.881030 deg, new cmd heading: 33.877010 deg. iH HeadingCmd: 0.591265 target range: 374.269653 and range: 374.10 m.h+]?hhhhggjgrg]BereZe :e *e 4b?5Bɢ=F$)==< =VZi9)=H=AAiE闧iE+]?M =M zw=IM+]?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754890 9@  @ @ 55@ @zA@zAi^Au| u=A ؟AI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0066856` #,.LAR>>RQ?R'ٱR=RH֯?3̝??s?M- ?@&D? d?iR>>IR0`;RCYZ|ByZ I \\bDfCVDf8yn%nU=ٔnC0Q-r>9r"?Yr"?=r EyrKDvEv>xQ 5~4zB?Q 9~4z*)zBY|y~T#?Q I@zGDIz8;izf;zH4y Bɮ LA ުE:i)5FNOT Ignoring new targets: 374.27 m."i5A*i5AE ProNav: ac range: 374.269653 m, nav range: 368.560547 m, bearing: 33.931752 deg, approach rate: -0.645707 m/s, LOS rate: -0.004597 deg/s, cmd heading: 33.877011 deg, new cmd heading: 33.873493 deg. iMMHeadingCmd: 0.591204 target range: 374.269653 and range: 374.10 m.hM%Y?hQhQhQhQgQgQEe EeEe;Ea"Ee:*Ee|;:VEe4ZEaam@am@am@am@jgqrgqeqreqZeq:ey*e}8\?颥Bɢ1) ,Zi)=顩i}*i%Y?=q=I%Y?IQ@Q @Q@U4@Q!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262086^AuHu=iA I I! O= >y 犭 #,>͸.LA2>2?2K6ٱ2$=2H K? \Os?@Ն??tǦ?Kc?P?i2>I2`;0YN|ByRIbDZKVDZ8ybCe%bL=ٔj:Q-j>9!Y!=% Ey-KD-E->1Q 5=45B?Q 9E45)5BYIyM"?Q IU@5HDI5t;i5;5}4yuBɮ}MA:i FNOT Ignoring new targets: 374.27 m."i%b*i-bYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513558E ProNav: ac range: 374.269653 m, nav range: 368.294861 m, bearing: 33.929979 deg, approach rate: -0.615300 m/s, LOS rate: -0.004109 deg/s, cmd heading: 33.873493 deg, new cmd heading: 33.869945 deg. iE𸝏uHeadingCmd: 0.591142 target range: 374.269653 and range: 374.10 m.huU?hqhqhqhqgygyjgyrgyeyreZe:e*e@a?A)A)B5j>B5DCB5FIB5||BB5 =B5,DB5DB5;B5gxEEu EuEu3Eq"Eu:*Euga:VEu4ZEqBEu#)9Y= EyKDE>!Q 5-4%C?Q 954%)%BY5!?Q E5:y5?Q I5@%HDI%C*;i%(;% 4y=BɮEzMAAEu EuEu4Eq"EuD:*Eug:VEu4ZEqa}@a}@a}@a}@:iFNOT Ignoring new targets: 374.27 m."iG7*iG7 ProNav: ac range: 374.269653 m, nav range: 367.915649 m, bearing: 33.930664 deg, approach rate: -0.639157 m/s, LOS rate: 0.001156 deg/s, cmd heading: 33.869945 deg, new cmd heading: 33.871317 deg. il8HeadingCmd: 0.591166 target range: 374.269653 and range: 374.10 m.hV?hhhhggjgrg@BereZe:e*ey@额لBɢ^r) %\i)}~=i>|iV?=3h=IV?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266691 9@  @! @% /@! 9 ^AE c=i ߅>߅4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521645A.AII1Ou ?< #,-/LA Bo>B$?BZٱBnS=BH? *4q?|??, jU?@|?M?iBo>IB`;@YJ{ByJIBr[>BrCCBr-IBrS|BBr =BpBrDBr;Br.xEBCCBCCBCB =B =C6E= E=E=5E9"E=s:*E=ga:VE=4ZE9BE=t09 ?Y ?= EyKDE>Q 54C?Q 9 4B)BY ?Q E :y  ?Q I-@1HDI\;i;d 4y=Bɮ=MA=ժE:iyFNOT Ignoring new targets: 374.27 m."i9*i9 ProNav: ac range: 374.269653 m, nav range: 367.586060 m, bearing: 33.934600 deg, approach rate: -0.616468 m/s, LOS rate: 0.007368 deg/s, cmd heading: 33.871318 deg, new cmd heading: 33.879196 deg. iW9HeadingCmd: 0.591304 target range: 374.269653 and range: 374.10 m.h_?hhhhggjgrg%BereZe:e*e`3@I=ՄBɢU)Q U_iQ)Uro=YYi]`i]_?e`˅=ei1=Ie_?Ii9@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770796^A% Xh=ԩ Aq Iy I O >%( #,/LA:62>:c?:gٱ:H=:H?cy?`J?^?@% ???@i:62>I:_;:CYF{ByFIbDRVDRư8yV*%Za=ٔZ~Q-Z>9\Y\=^ Ey^LDbtEb>`Q 5f4bw/C?Q 9j4b_)bBYhyj?Q Ij@b@HDIb:ib:b4ylɮrMAp~B*** querying acoustic contact ***i|i|:i  FNOT Ignoring new targets: 374.27 m."i t9*it9% ProNav: ac range: 374.269653 m, nav range: 367.362366 m, bearing: 33.937462 deg, approach rate: -0.629395 m/s, LOS rate: 0.008057 deg/s, cmd heading: 33.879197 deg, new cmd heading: 33.884924 deg. i%k9-HeadingCmd: 0.591403 target range: 374.269653 and range: 374.10 m.h-8f?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=O @eӄBɢm*U)m = m_ii)mle=qqiuEiu8f?}=}!=I}8f?II)xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023016@ @@ 0@@xA@ԩ^AlT=A>A>EU EUEU4EQ"EU:*EU n:VEU4ZEQae@ae@ae@ae@ QQ׃GIIO J>=99YEA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274751 .S #,ȱ3/LAF>F ?FtٱF=FH`*?@P0k2???#=??1?iF>IF$_;FCY^{By^I ``bDj<VDj8lyra%vG=ٔv Q-v>9xYx=z EyzLDz$vEz>|Q 54~6BC?Q 9 4~$)~BY y ?Q I @~PHDI~:i~%:~4yBɮLNA֪E:i9EFNOT Ignoring new targets: 374.27 m."iEB9*iEB9U ProNav: ac range: 374.269653 m, nav range: 367.109222 m, bearing: 33.940946 deg, approach rate: -0.615952 m/s, LOS rate: 0.008484 deg/s, cmd heading: 33.884924 deg, new cmd heading: 33.891897 deg. iUjx9]HeadingCmd: 0.591525 target range: 374.269653 and range: 374.10 m.h]2n?hYhYhahagagajgargieireiZei:ei*euC @额ЄBɢJB) ai)Y=顡iލ)i2n?= =I2n?I1@1 @1@5{0@1 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529646BA<B%>B;CBIB+|BB =B-DBDBk;BwE9bE*4jEt4rE0E] E]E]2EY"E]:*E]$:VE]4ZEYBE]P-a q< #,M/LA2+#>2\ ?2f`ٱ27=2H`A? Eq q? ?"ݼ \ ? ??i2+#>I2_;2CY:{By:IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778827i Mb@Mb@Mb@     9 \(\?Zd;O{Gz?Y ?y j< ף<  8A ) p)A Y .AbD%IVD%8y5%5E=9ٔ==Q-=>9AYA=E EyE!LDEx_EM>IQ 5U4M UC?Q 9]4M))MBY]i?Q E]:y]O>Q I]@M`HDIMT;iM;M+!4yeBɮmtNAi:iFNOT Ignoring new targets: 374.27 m."i5:T9*i=:T9} ProNav: ac range: 374.269653 m, nav range: 366.860474 m, bearing: 33.945751 deg, approach rate: -0.599989 m/s, LOS rate: 0.011596 deg/s, cmd heading: 33.891897 deg, new cmd heading: 33.901513 deg. i}ȩ9HeadingCmd: 0.591693 target range: 374.269653 and range: 374.10 m.h2y?hhhhggjgrgBereZe:e*el@ĒBɢm(7)i m`ii)uԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030748Em  Em Em 6Ei "Em :*Em 1]:VEm c4ZEi au @au @au @au @Թ \d #,dg/LA2e>2 $ ?2aٱ2!=2H`dT?j@d?/?@ $ɰ??`?i2e>I2=T`;2CY:z{By:IbDV@VDV8y^:%bR=ٔbQ-b>9`Yd=f Eyf1LDfIEf>hQ 5n4jfC?Q 9n4je)jBYpyr>Q Ir@joHDIjT:ij;j'4ytɮvNAt:iFNOT Ignoring new targets: 374.27 m."i\9*i\9- ProNav: ac range: 374.269653 m, nav range: 366.627899 m, bearing: 33.950420 deg, approach rate: -0.599723 m/s, LOS rate: 0.012049 deg/s, cmd heading: 33.901514 deg, new cmd heading: 33.910860 deg. i-h95HeadingCmd: 0.591856 target range: 374.269653 and range: 374.10 m.h5?h1h1h1h1g9g9jg9rg9eAreAZeA:eI*eM@颍ʄBɢ^) aiԙ)aB=顡ii?G=Yi @ @@0@@@=u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540723ԉ ^A I I O >w #,@/LAB'>BBIB|BBBBB;BwEB>B ?B|.ٱB>=BHd?`ۇ`e?@I?`i;?³? ?iB>IBY_;BCYb~{BEf EfEf5Ed"Ef:*Ef՚:VEf4ZEdBEfz%9Y= EyBLDԡ|E>Q 54[zC?Q 94)BY?Q E:y>Q I@HDI;i;/4yBɮNAתE:iFNOT Ignoring new targets: 374.27 m."iކ9*iކ9 ProNav: ac range: 374.269653 m, nav range: 366.374969 m, bearing: 33.956945 deg, approach rate: -0.570983 m/s, LOS rate: 0.014739 deg/s, cmd heading: 33.910858 deg, new cmd heading: 33.923916 deg. i9 HeadingCmd: 0.592084 target range: 374.269653 and range: 374.10 m.h Ғ?h h hhggjgrgBereZe:e*e@ձ@ ƄBɢ 'm<)  `i )55=i򏫺iҒ?g=)k! #,ǝ/LA6ݢ>6T9 ?6Δٱ6v=6H`mp?q7L?Z?@M?S^?6?i6ݢ>I6K]_;6CYN{ByRIbDZdVDZ 8yb)<%bZ=ٔb"Q-f>9dYd=f EyfQLDjEj>lQ 5r4nC?Q 9r4n>)nBYpyr>Q Iv@nHDIn;in:n764yxɮzNAx B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 374.27 m."i%x9*i%x95 ProNav: ac range: 374.269653 m, nav range: 366.161774 m, bearing: 33.962559 deg, approach rate: -0.570134 m/s, LOS rate: 0.015023 deg/s, cmd heading: 33.923917 deg, new cmd heading: 33.935153 deg. i59=HeadingCmd: 0.592280 target range: 374.269653 and range: 374.10 m.h=?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM @}ÄBɢ}2a)y }_i)2+=顁i ki?&=F5# #,/LA2>2?2h\ٱ2 =2H)t? bk@@?Y?tƳ?,??i2>I2{^;0Y:z{By:IbDBgVDB 8yJ%JA=ٔNa4Q-N>9LYP=R EyRbLDRfER>TQ 5Z4VĝC?Q 9Z4V)VBY\y^,>Q I^@VHDIV;iV;V=4ybBɮbNAbتE:itvFNOT Ignoring new targets: 374.27 m."izC9*izC9 ProNav: ac range: 374.269653 m, nav range: 365.920227 m, bearing: 33.968997 deg, approach rate: -0.570597 m/s, LOS rate: 0.015219 deg/s, cmd heading: 33.935153 deg, new cmd heading: 33.948038 deg. i9 HeadingCmd: 0.592505 target range: 374.269653 and range: 374.10 m.h i?h h h h ggjgrgereZe:e*e@MBɢMVtL)I MO`iQ)U =QQiUp i]i?]=]c[B:CBIB |BB =BBDB;BOwEE= E=E=6E9"E=:*E=1]:VE=c4ZE9BE=.1 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810765 #,/LARu>R(?R{CٱR8T=RH 9r?@mo ]=?`L?`E"?~m??iRu>IR ^;PY{ByI !!iMb@Mb@Mb@ 9zG?/$?Y ?yL<&A4A 4A)Y.AbDRVD8yj<%7=ٔZCQ->9IYI=M EyMuLDUEU>YQ 5e4]AC?Q 9e4])]BYe?Q Ee:ye>Q Im@]HDI] :i]V:]E4yuBɮuNAq:iFNOT Ignoring new targets: 374.27 m."iv9*iv9 ProNav: ac range: 374.269653 m, nav range: 365.653595 m, bearing: 33.975164 deg, approach rate: -0.582465 m/s, LOS rate: 0.013480 deg/s, cmd heading: 33.948038 deg, new cmd heading: 33.960380 deg. i]9HeadingCmd: 0.592720 target range: 374.269653 and range: 374.10 m.h?hhhhggjgrgBereZe:e*e@0@Bɢk+E) 2_i) =ii ? = Ңԙ 0 #,/LABX>B?B1ٱB=BH k? y5@?a@?qH?=4?5?iBX>IBV_;BCYR{ByRIbDz[VDz8y[=%Z=ٔrQ- >9 Y =  Ey LDm;E>Q 5%4~C?Q 9%4) BY!y%>Q I-@HDIh:i:K4y1ɮ5NA1:iQ]FNOT Ignoring new targets: 374.27 m."ieTv9*ieTv9m ProNav: ac range: 374.269653 m, nav range: 365.442139 m, bearing: 33.980044 deg, approach rate: -0.582923 m/s, LOS rate: 0.013460 deg/s, cmd heading: 33.960380 deg, new cmd heading: 33.970145 deg. iu9}HeadingCmd: 0.592891 target range: 374.269653 and range: 374.10 m.h}?hyhyhyhygygjgrgereZe:e*e@颵Bɢc) ]i)=i69i?S=r checking for new query: numPingsReceived=0, elapsed TxPingTime=6.568749B 1>B N ?NٱN=NHe?}Y2B? ;? e?@0?@?iNΦ>INvq_;NCYr{ByrIieMb@Mb@Mb@aaaa a9eQ?L7A`尿I +?Ye?ye+e99Y= EyLD:E>Q 54{C?Q 94u)0BY?Q E:y>Q I@HDI:i+<US4yEBɮENNAE٪E:iFNOT Ignoring new targets: 374.27 m."im9*im9 ProNav: ac range: 374.269653 m, nav range: 365.199158 m, bearing: 33.986734 deg, approach rate: -0.541101 m/s, LOS rate: 0.014909 deg/s, cmd heading: 33.970144 deg, new cmd heading: 33.983534 deg. iH9HeadingCmd: 0.593125 target range: 374.269653 and range: 374.10 m.h?hhhhggjgrgBereZe:e *e n@uBɢuY C #,x0LA2i>23 ?2:ʽٱ2ۣ=2H@B\? `J? 1?OI2?_;2CY:{By:II><)>p;bDF`VDF8yNz%N[=ٔNCdQ-R>9PYP=R EyRLDVq;EV>XQ 5^4ZCC?Q 9^4Z)Z=BY\y^h>Q Ib@ZHDIZ:iZ:ZY4ydɮfNAdrB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 374.27 m.]=]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.071086"iM9*iM9 ProNav: ac range: 374.269653 m, nav range: 364.984222 m, bearing: 33.992612 deg, approach rate: -0.620229 m/s, LOS rate: 0.016972 deg/s, cmd heading: 33.983534 deg, new cmd heading: 33.995298 deg. i|9HeadingCmd: 0.593330 target range: 374.269653 and range: 374.10 m.hw?hhhhggjgrgereZe:e*eZ@颕Bɢn`) \i)65<顡i2:iw?=˟pk #,EI80LA0>>> ?>!սٱ>L=>HN?`㪠@X?K?¿`ԗ? Ȼ??i>>I>ٸ_;>CY^{BybIbDjaVDj8yr/=%rF=ٔr^SQ-v>9v"?Yv"?=v EyvLDzB;Ez>|Q 54~C?Q 94~)~MBYyn>Q I @~HDI~U;i~t:~a4yBɮqMAЪE:i1=FNOT Ignoring new targets: 374.27 m."iEʎ9*iEʎ9U ProNav: ac range: 374.269653 m, nav range: 364.746674 m, bearing: 33.999040 deg, approach rate: -0.576341 m/s, LOS rate: 0.015605 deg/s, cmd heading: 33.995296 deg, new cmd heading: 34.008160 deg. iUw9UHeadingCmd: 0.593554 target range: 374.269653 and range: 374.10 m.hU.?hYhYhYhYgYgajgargaeareiZei:ei*em@@颕Bɢ%d) qZi)W|<顡iC:i.?zŃ=BU;CBU IBU?|BBQBQBUDBU;BUGvEB;CB;CBŔCB =B =C 6Ea EeEe6Ea"Ea*Eexv:VEec4ZEaBEe+ - checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828235S #,9%R0LA\jeܥ>j ?j!ٱj=M=jHn@?3$g??@5Ŀ?@xH? ?ijeܥ>Ije`;jCYr{ByvIimMb@Mb@Mb@iiii i9m`"?&1:v?Ym?ymPm9Y= EyLD;E>Q 548 D?Q 94)`BY?Q E:y>Q I@HDI7;i;h4yɮLA:i!%FNOT Ignoring new targets: 374.27 m."i-q9*i-q9= ProNav: ac range: 374.269653 m, nav range: 364.493103 m, bearing: 34.004769 deg, approach rate: -0.583641 m/s, LOS rate: 0.013197 deg/s, cmd heading: 34.008161 deg, new cmd heading: 34.019628 deg. i=79EHeadingCmd: 0.593755 target range: 374.269653 and range: 374.10 m.hEL?hAhAhAhIgIgIjgIrgMBeQreQZeQ:eY*e]S @颅Bɢ@Q) Wi)z<顉i:iL?9=i>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079608@ @@/@@!@!Eu  Eu Eu 7Eq "Eu :*Eu y:VEu Ժ4ZEq a} @a} @a} @a} @ )G q9 Y mAA ^A5 oE #,p0LA:>:hB ?:q ٱ: >:H`3?0@NW s?+?YſS?@x ?@?i:>I:_;8Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.332210YZ{ByZI ``bDn&VDnϰ8yz#=%~6=ٔ~CQ-~>9Y= Ey LDΘ;E>Q 5-4b D?Q 954)tBY1y=>Q I=@ IDI;ie;p4yMBɮMlLA :iFNOT Ignoring new targets: 374.27 m."i%vb9*i%vb9U ProNav: ac range: 374.269653 m, nav range: 364.229675 m, bearing: 34.010654 deg, approach rate: -0.553530 m/s, LOS rate: 0.012374 deg/s, cmd heading: 34.019629 deg, new cmd heading: 34.031407 deg. iU+9]HeadingCmd: 0.593960 target range: 374.269653 and range: 374.10 m.h] ?hYhYhYhYgagajgargaereZe:e*eK!@BɢVB) Ti)%'sB 9CB LIB |BB  =B B B S;B uEY @a  @a @m 4@i bEjEɗ4rEn/EE  EE EE 4EA "EE ;*EE :VEE 4ZEA BEE Rfs ?fٱf>fH&?v`7??ͳſj???if>IfLh_;fCYn{BynIieMb@Mb@Mb@aaaa a9e5^I ?/$y&1?Ye?ye,e`9Y!=- Ey-LD-i;E->1Q 5=45p9D?Q 9=45)5BYE?Q EE:yE5>Q IE@5 IDI5;i5;5nz4yMBɮMLAMѪE:iquFNOT Ignoring new targets: 374.27 m."i}V\9*i}V\9 ProNav: ac range: 374.269653 m, nav range: 363.898987 m, bearing: 34.017169 deg, approach rate: -0.610584 m/s, LOS rate: 0.012040 deg/s, cmd heading: 34.031407 deg, new cmd heading: 34.044448 deg. iE9HeadingCmd: 0.594188 target range: 374.269653 and range: 374.10 m.h?hhhhggjgrg-BereZe:e*e\"@Bɢ@) Ti)--x<i;i?-=g)߲+ #,f0LAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.339476fé>f? ?fٱf=fH;?@0榿c?I?@!ƿ??K|?ifé>If^;dYv)|ByvIbD VD 8y-=%-1=ٔ-Q-->91Y1=5 Ey5MD5O<E=>9Q 5E4=MD?Q 9M4=n)=BYIyM>Q IM@=1IDI=u:i=:=24yQɮ]KAYuB*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 374.27 m."i%79*i%795 ProNav: ac range: 374.269653 m, nav range: 363.639740 m, bearing: 34.022140 deg, approach rate: -0.521215 m/s, LOS rate: 0.010001 deg/s, cmd heading: 34.044450 deg, new cmd heading: 34.054399 deg. Qim9HeadingCmd: 0.594361 target range: 374.269653 and range: 374.10 m.h(?hhhhggjgrgereZe:e*ela#@=Bɢ=\NA)=< =Pi9)E@B B xIB |BB B B DB ;B tEԱ ^A- S-<AE >Ee  Ee Ee 5Ea "Ee :*Ee &p:VEe 4ZEa BEe 'A .A I I O >&2 #,R_0LAɰ;6>6?J ?6h ٱ6|=6H@{?@©@N?C?#ƿ0?Ŕ?@z?i6>I6 '_;6CYN]|ByN2Ii%Mb@Mb@Mb@!!!! !9%/$?I + rh?Y%?y%9%C =%"A%:A %E95 ?Y5 ?=5 Ey5MD5;E=>9Q 5m4=jaD?Q 9u4=})=BYu?Q E}:y}E?Q I}@=BIDI=u;i='<=94yBɮKAҪE:iFNOT Ignoring new targets: 374.27 m."iO"9*iO"9 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843513% ProNav: ac range: 374.269653 m, nav range: 363.363770 m, bearing: 34.025845 deg, approach rate: -0.659972 m/s, LOS rate: 0.008869 deg/s, cmd heading: 34.054398 deg, new cmd heading: 34.061815 deg. i%؁95HeadingCmd: 0.594491 target range: 374.269653 and range: 374.10 m.h50?h1h9h9h9g9gAjgArgMWBeIreQZeQ:eY*e]d6$@BɢTO) Li)<i7;i0?Ԃ=RҊ9 #,0LAN>N ?NtٱN=NH ?@)@m?x?ƿ?@? y?iN>IN^;LYV\|ByTbDbVDb8yj%jS=ٔj?Q-j>9lYl=n Eyn#MDrԸ;Er>tQ 5z4vrD?Q 9z4vz)vBYxyz?Q I~@vQIDIv;iv_;v4yBɮ 0KA:iIFNOT Ignoring new targets: 374.27 m."i9*i9- ProNav: ac range: 374.269653 m, nav range: 363.130798 m, bearing: 34.028891 deg, approach rate: -0.612162 m/s, LOS rate: 0.008008 deg/s, cmd heading: 34.061815 deg, new cmd heading: 34.067911 deg. i-j95HeadingCmd: 0.594597 target range: 374.269653 and range: 374.10 m.h57?h1h1h1h1g9g9jg9rg9eAreAZeA:ea*em%@ԁBɢjf) 7Li);iSH;iE7?E'=Ee=IE7?II@ @@/@E2Acoustic response timeoutԱ^A8<A- ؟AI9 II OU > k@ #,/1LAZ2Acoustic response timeoutB%>B%:CB%IB%)}BB% =B!B%DB%3;B%ltEN%>N?NéٱNU=NH?@@ʭ ?H?`U]ƿ0E?`ɽ?s?iN%>IN^;LY|ByKIbD]VD]8E EE4E"E2:*E:VE4ZEBE.*9"?Y"?= Ey6MD;E>Q 54@D?Q 942*a?2<ٱ2=2H ?@Z? ? ƿ?J? l?i2u->I2k$_;0E> E>E>2E<"E>a:*E> n:VE>4ZE9Y= EyLMD;E>Q 54ND?Q 94r)BY#?Q E:y ?Q I@yIDIP;iP;4yBɮ%JAӪE:iFNOT Ignoring new targets: 374.27 m."i%ޟ8*i%ޟ8= ProNav: ac range: 374.269653 m, nav range: 362.515625 m, bearing: 34.034759 deg, approach rate: -0.630452 m/s, LOS rate: 0.004368 deg/s, cmd heading: 34.075021 deg, new cmd heading: 34.079658 deg. iE8MHeadingCmd: 0.594802 target range: 374.269653 and range: 374.10 m.hMD?hIhIhQhQgQgQjgYrg]{BeareaZea:ea*emx&@Bɢ>)! %AFi!)Ef9AIiMVa;iMD?Uj=U:=IUD?IQ%<ԉ9@ @@3@=2Acoustic response timeoutԩ^A Nw = A) I1 II OU >yP #,{M@1LA:Ѱ>:@3?:ٱ:9=:Hg?t@tX?`؊?Eaǿ`F? UȾ?qf?i:Ѱ>I:a&_;:CYF|ByFtIbDNVDN8yV=%V[=ٔZ!Q-Z>9\Y\=^ Ey^[MD^ <E^>`Q 5f4bD?Q 9f4beo)b0BYhyj ?Q Ij@bIDIb;ib;b4yn}BɮnHArʪE~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 374.27 m."i p8*i p8 ProNav: ac range: 374.269653 m, nav range: 362.282043 m, bearing: 34.036264 deg, approach rate: -0.633143 m/s, LOS rate: 0.004083 deg/s, cmd heading: 34.079659 deg, new cmd heading: 34.082672 deg. i%8%HeadingCmd: 0.594855 target range: 374.269653 and range: 374.10 m.h%hH?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=T'@eBɢel)i mCii)uXqqiuSp;i}hH?}S=}=I}hH?I2Acoustic response timeoutԱBA<B->B)B-IB-}BB- =B)B)B-;B-.tEE EEE"E :*Ee:VEZEBEX"YLV #,jZ1LA2QƲ>2-?2 ٱ2~9=2H~?R@ӯX?t?@iǿ`?Q?S`?i2QƲ>I2_;2CY:|By:{Ii~Mb@Mb@Mb@|||| |9~uV?9)Y)=- Ey-lMD5<E5>9Q 5E4=`D?Q 9E4=}k)=MBYE(?Q EM:yM2?Q IM@=IDI=:i=t:=l4yɮHA:iFNOT Ignoring new targets: 374.27 m."iZ8*iZ8E ProNav: ac range: 374.269653 m, nav range: 362.009064 m, bearing: 34.037088 deg, approach rate: -0.616439 m/s, LOS rate: 0.001863 deg/s, cmd heading: 34.082671 deg, new cmd heading: 34.084321 deg. i*Z8HeadingCmd: 0.594884 target range: 374.269653 and range: 374.10 m.hKJ?hhhhggjgrgxBereZe:e*e`!(@u{BɢuTL)q u0Biq)u܌yyi}{;i}KJ?8=o=+=IKJ?I;>i>2Acoustic response timeout9@9 @9@=4@9@A@E=E} E}EyEy"E}T;*E}k:VEyZEya@a@a@a@I^A= ȿ=Au .Aq I I O >i1 I5 A= BDAT read: Response Not Received = *response not received= (DAT read: user:38> E BDAT read: Tx time:01:09:25.1976 E $Ping request sent.E 2"<?2 ٱ2f>2H?` ?]?eFȿz?@Pƿ?`Z?i2g>I2^;2CY:|By>IIB=)B<bDFVDF8yN=%T=ֻٔQ->9 ?Y ?= Ey}MDI<E>Q 54D?Q 94g)jBYy;?Q I@IDI|:i:ط4yBɮHA:i!%FNOT Ignoring new targets: 374.27 m."i-{7*i-{7Q ProNav: ac range: 374.269653 m, nav range: 361.735260 m, bearing: 34.037741 deg, approach rate: -0.677129 m/s, LOS rate: 0.001615 deg/s, cmd heading: 34.084321 deg, new cmd heading: 34.085627 deg. i/=8HeadingCmd: 0.594906 target range: 374.269653 and range: 374.10 m.hK?hhhhggjgrgereZe:e*e@;j)@%vBɢ%a)! %@i!)-))i-!>;i5K?5$=58=I5K?I9@ @@/@ԙB>BB IB}BB =BBB;BsEB:CB:CBǓCB =B =CB5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252407Ա^AU )=E  E E E "E :*E n:VE ZE BE &5 iYc #,= 1LA2i>2E?2tB#ٱ2>2HI2^;2CY:}By:IiMb@Mb@Mb@ 9y&1?{Gz??Y`%?y#<<A9A )ZAY,AbDVD8yH=%:=ٔۼQ->9Y= EyMDU%<E>Q 54D?Q 94c)BY%?Q E:y?Q I@IDI߭ ;? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754799 1 1 Ay GG /{AI I O > u9 /{AY pAi #,1LAE& E&E&5E$"E&:*E&:VE&4ZE$a*@a*@a*@a*@@f*>f_?f T%ٱf>fHm?  ;L?@M-?(ɿ?`~?If^;fCYn}BynIbDzVDz8yg=%V=ٔ Q- >9 Y= EyMD9<E>!Q 554%|D?Q 954%O`)%BY1y=?Q I=@%IDI%.;i%A;%Ź4yMBɮMGAM˪E:iFNOT Ignoring new targets: 374.27 m."i@6*i@6 ProNav: ac range: 374.269653 m, nav range: 361.239044 m, bearing: 34.038227 deg, approach rate: -0.635753 m/s, LOS rate: 0.000405 deg/s, cmd heading: 34.086291 deg, new cmd heading: 34.086599 deg. i=7HeadingCmd: 0.594923 target range: 374.269653 and range: 374.10 m.hL?hhh1h1g9g9jg9rg9e9reAZeA:eA*eE+@颍lBɢr^) ;i)f>项i@;iL?\=T=IL?IԱ@ @@@@@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005901^AzG= A I I O >ikp #,1LA2?W>2 v?2A#'ٱ2>2H3X?@hg?@?ɿ? 7?K?i2?W>I2^;2CY:'}By:IBAA@bDFVDF8yN=%NQ=ٔRQ-R>9PYP=V EyVMDV=2<EV>XQ 5^4Z E?Q 9^4Z\)ZBY`yb!?Q Ib@ZIDIZ0;iZ<;ZV̹4ydɮf~GAdpvB*** querying acoustic contact ***itit:i|FNOT Ignoring new targets: 374.27 m."i"*i" ProNav: ac range: 374.269653 m, nav range: 360.992340 m, bearing: 34.038221 deg, approach rate: -0.638174 m/s, LOS rate: -0.000015 deg/s, cmd heading: 34.086599 deg, new cmd heading: 34.086587 deg. i洝HeadingCmd: 0.594923 target range: 374.269653 and range: 374.10 m.hL?hhh!h!g!g!jg!rg)e)re)Ze):e)*e5@1+@AYA]?ABe>Be9CBeLIBe'~BBe =BaBaBeC;BeisEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261799gBɢ%Dc)! %:i!)-c))i-S+;i5L?Ud=Ua=IUL?IYbEž4jEj4rE/Eu EuEu2Eq"EuD:*Euxv:VEu4ZEqBEu2v #,1LAY~B}By~I9iMb@Mb@Mb@ 9"~j?:v? rh?YS#?yT<C<A8A =A)AY+AbDԿVD8ys=%9=ٔQ->9Y= EyMDE>Q 54E?Q 94X)BYk#?Q E:y?Q I@IDI:i:Թ4yBɮ*GA:i%FNOT Ignoring new targets: 374.27 m."i%C*i%C5 ProNav: ac range: 374.269653 m, nav range: 360.715149 m, bearing: 34.037926 deg, approach rate: -0.628145 m/s, LOS rate: -0.000669 deg/s, cmd heading: 34.086588 deg, new cmd heading: 34.085998 deg. i==HeadingCmd: 0.594913 target range: 374.269653 and range: 374.10 m.h=6L?hAhAhAhAgAgAjgIrgMBeIreIZeQ:eQ*eU;,@}bBɢRY) !8i)k顁i;i6L?=_=I6L?IM9@I @I@M/@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766180Ee EaEe4Ea"Ee:*EaVEe4ZEaam@am@am@am@ԙ^AJc=A ؟A I I O = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017835 | #,_z1LA2>2!?2(ٱ2>2H$9?,9`X??ɿ?`&? UO?i2>I2^;0Y:\}By:IbDBڿVDB8yJ=%J`=ٔN;Q-N>9R"?YR"?=R EyRMDR<ER>TQ 5Z4V-E?Q 9Z4V U)VBY\y^?Q I=@VIDIVȖB]7CB]xIB]n~BB] =B].DB]DB]#;B]3sEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270497^A(a=A>A>E  E E E "E :*E i:VE ZE BE P-9 #,LT2LAɰ6@ܿ>6?6i)ٱ6p>6H.? G`Ӱ>?`6?`ȿ?j?@P?i6@ܿ>I6^;6CYR]}ByRIiMb@Mb@Mb@ 9MbX9?y&1|?Y!?y`;+A5A E9Y= EyMD/;E>Q 5 4HAE?Q 9 4 QQ = tI)BY!?Q E:y\?Q I@ JDI94;i4;D4y%Bɮ%FA%̪E:iAMFNOT Ignoring new targets: 374.27 m."iM6*iU6e ProNav: ac range: 374.269653 m, nav range: 360.208038 m, bearing: 34.037565 deg, approach rate: -0.644842 m/s, LOS rate: 0.000291 deg/s, cmd heading: 34.085024 deg, new cmd heading: 34.085276 deg. ieh7mHeadingCmd: 0.594900 target range: 374.269653 and range: 374.10 m.hmcK?hihihihigigijgqrguWBeyreyZey:ey*e}?.@颭WBɢ[X) 5i)3顱i%;icK?=>}=IcK?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522002m9@i @i@m0@i^AEEx=QAqIIO>i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773857ԙ щ #,E/)2LAE EEE"Ea:*E:VEZEa@a@a@a@>>>H?>/I*ٱ>s=>H`&?Q`O`u? ?ȿ@0?@h?`9P?i>>I> ^;>CY}}ByIbD%VD%8y5=%5W=ٔ=Q-E>9AYI=M EyMMDMz;EU>YQ 5e4]QE?Q 9m4]M)]BYiym?Q Iu@]JDI];i] ;]4ynBɮzEAêE:iFNOT Ignoring new targets: 374.27 m."ij6*ij6 ProNav: ac range: 374.269653 m, nav range: 359.970093 m, bearing: 34.037617 deg, approach rate: -0.619581 m/s, LOS rate: 0.000135 deg/s, cmd heading: 34.085277 deg, new cmd heading: 34.085381 deg. iv}6HeadingCmd: 0.594902 target range: 374.269653 and range: 374.10 m.hK?hhhhggjgrgereZe:e*e3/@ RBɢ c)  e2i)*i,;iK?p= =I%K?I!q@ @@a1@ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026751^AMw=AQzAUyAA I I O > #,$ C2LA6>63?6=+ٱ6TM>6H#?Ui`?@?@cɿ`;N?`?fN?i6>I6V^;6CYB}ByBIbDJVDJ8yRB<%RT=ٔR(Q-R>9TYT=V EyVMDZ:EZ>\Q 5b4^bE?Q 9b4^ J)^/BY`yb?Q Ib@^+JDI^{;i^3;^4yhɮj]EAhvB*** querying acoustic contact ***itit:i|BAB >B B IB ~BB  =B B DB ;B sEFNOT Ignoring new targets: 374.27 m."i%f5*i%f55 ProNav: ac range: 374.269653 m, nav range: 359.731812 m, bearing: 34.037653 deg, approach rate: -0.625197 m/s, LOS rate: 0.000095 deg/s, cmd heading: 34.085379 deg, new cmd heading: 34.085452 deg. i526=HeadingCmd: 0.594903 target range: 374.269653 and range: 374.10 m.h=K?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eMo/@echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278029颅LBɢc) ;1i)Iμ顉i;iK?%=r=IK?ID9zD=?AE] E]q@y @y@}55@EYEY"E]:*E]:VEYZEYBE].Q #,\2LAY}ByI !!iMb@Mb@Mb@ 9Zd;?~jtMbY?yļAr2A 8A)pAY'AbDVD8y<=%6=ٔQ->9 Y =  Ey NDE>Q 5%4UvE?Q 9%42F)EBY%?Q E%:y%?Q I%@=JDI:i:4y5qBɮ5 EA5ĪE:iY]FNOT Ignoring new targets: 374.27 m."i]8*ie8u ProNav: ac range: 374.269653 m, nav range: 359.455536 m, bearing: 34.039269 deg, approach rate: -0.614658 m/s, LOS rate: 0.003598 deg/s, cmd heading: 34.085451 deg, new cmd heading: 34.088685 deg. iu8}HeadingCmd: 0.594960 target range: 374.269653 and range: 374.10 m.h}IO?hyhyhyhygygjgrg)BereZe:e*e V0@颽FBɢB}V)  /i)>/iī;iIO?=:=IIO?I1m=m%=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7824079@ @@>5@YEm EmEm3Ei"Ema:*Eme:VEm4ZEia@a@a@a@^Aiԙ A I I O >E DAT read: 01:09:28.0721 LVL= 29152, 32753, 32754, 32755, AGC= 70, IDX= 126,-0.19, 0.261,-1.444, 0.374,-0.182, PHS= 0.545,-1.217, 0.512, RAW= 149.1, 1.8, CAL= 148.1, 1.7, ROT= 1.9, -1.7 M Ygot valid direction response: 01:09:28.0721 LVL= 29152, 32753, 32754, 32755, AGC= 70, IDX= 126,-0.19, 0.261,-1.444, 0.374,-0.182, PHS= 0.545,-1.217, 0.512, RAW= 149.1, 1.8, CAL= 148.1, 1.7, ROT= 1.9, -1.7 #,v2LAPDAT read: Bearing 191.0, 11.5 (Local) ~Local bearing/azimuth received: Bearing 191.0, 11.5 (Local) DAT read: Range 11 to 50 : 352.8 m (Round-trip 470.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999010,0.033141,0.029666]"Fpublishing direction and range infoyIM.|?@BT? `?YMfCIMqII I)MFIM ?iMƛMo?Mۋ&@M=Mm%@ M<)M=IMIIMJ0?M"q?92? M?)M IM=iMII.T****** received valid address query ******.R****** received valid ping request ******.Querying Benthos address 50 with one ping in standard two-way mode.0ZZ>Z?Zo.ٱZQ>ZH?.ol̰"?`?@ɿ`?q?`D?iZZ>IZ'^;ZCY}ByIbDVD8y}<%}C=ٔ} Q-}>9Y= Ey!ND;E>Q 54E?Q 94B)YBYy{?Q I@MJDI:i:4yɮEAiIiMAv2LAjMrC"jMrC:jMB ?RjM+kv@'c'@$@BjM.|?@BT? `?*jM=2jMZjMS#J}q@xbYi@ UQ@JjM_?{c?lx?jMJC jMCiM ?iMljMCjIjIjM|BrjMCzjMW?ԉ addTargetRange:: Added new target pos. range: 352.799988 m, deltaT: 16.651370 s, deltaX: -21.300018 m, approachRate: -1.279175 m/s, rangeRepo size: 4  Added new target pos. range: 352.891846 m, bearing: 35.932485 deg, lat: 36.779626 deg, lon: -121.859602 deg, deltaT: 16.651370 s, deltaX: -21.377808 m, approachRate: -1.283847 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 352.89 m."i*i  ProNav: ac range: 352.891846 m, nav range: 359.198578 m, bearing: 34.040648 deg, approach rate: 0.000000 m/s, LOS rate: 0.003598 deg/s, cmd heading: 34.088685 deg, new cmd heading: 34.091886 deg. i HeadingCmd: 0.595016 target range: 352.891846 and range: 352.80 m.hR?hhhhggjg!rg!e!re!Ze!:eM v@*eM`?颕?BɢS) -i)顙i;iR?4=Ydž=IR?I]9@Y @a@e4@aԹB  >B 8CB IB ~BB  =B B DB ʴ;B rE}(DAT read: user:39> BDAT read: Tx time:01:09:29.4476 $Ping request sent.A} >A .AI I O >F #,x2LAY5}By5IiMb@Mb@Mb@ 9Cl?Zd;O rhYd?yj<CAC3A -8A)AY&AbD  VD 8y=%F=ٔ%Q-%>9% ?Y% ?=% Ey%2ND]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254490]E]>aQ 5m4e"E?Q 9u4eB?)ejBYu?Q Eu:yu?Q Iu@e]JDIe;ie ;e%4y}tBɮ}DA:iFNOT Ignoring new targets: 352.89 m."i9*i9 ProNav: ac range: 352.891846 m, nav range: 358.946045 m, bearing: 34.043416 deg, approach rate: -0.642430 m/s, LOS rate: 0.007046 deg/s, cmd heading: 34.091885 deg, new cmd heading: 34.097425 deg. iSN9HeadingCmd: 0.595112 target range: 352.891846 and range: 352.80 m.hHY?hhhhggjgrg!BereZe:e*e [?:Bɢ6f) *i ) ߖ  i {;iHY?==IHY?I!I9@ @@4@@=@=q^Amz=ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503275A I I O >E  E E 4E "E :*E e:VE 4ZE a @a @a @a @,n #,2LA@>>>I?><0ٱ>T>>H`e ?@vɱ`?`?`ӟɿ@?ӿ?E?i>>I>>_;>CYJ}ByJ"IIN=)N;bDVVDVð8y^d=%^d=ٔ^Q-b>9`Y`=b Eyb@NDfTi;Ef>hQ 5n4jE?Q 9n4jt<)jyBYlyn?Q Ir@jkJDIj;ij;jJ 4ytɮvDAt:iFNOT Ignoring new targets: 352.89 m."i8*i8 ProNav: ac range: 352.891846 m, nav range: 358.734344 m, bearing: 34.045703 deg, approach rate: -0.575900 m/s, LOS rate: 0.006225 deg/s, cmd heading: 34.097424 deg, new cmd heading: 34.102001 deg. iG69HeadingCmd: 0.595192 target range: 352.891846 and range: 352.80 m.h^?hhhhggjgrgereZe:e*ek?4Bɢpoc) y(i)H i|;i^?=o/=I^?IIԩ@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754848^A)  AY Ia Iq O >AY A] @ABe >Be 9CBe IBe BBe  =Be -DBa Be ;Be rEB%8CB%8CB%̔CB% =B% =C%3 6h #,!2LA2>2XI?2m1ٱ2=2H@ ?tIJ?=?/ɿ?? `I?i2>I2ބ_;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858YB}ByB1IbDNVDN8yVw=%VI=ٔV8Q-V>9XYX=Z EyZPND\^JE^>`Q 5f4bE?Q 9f4b59)bBYhyj?Q Ij@bzJDIbP:ib߳I@ #,2LAYU~ByUEIGzAMA=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511931U9UzAYUAiMb@Mb@Mb@ 9`"?T㥛 :vY?yTA0A 6A)(AY$AbDVDİ8yx=%=ٔQ->9Y= EyeNDE>Q 54AE?Q 94^5)BY?Q E:y>Q I@JDI:i=:|4y zBɮ cCA :i15FNOT Ignoring new targets: 352.89 m."i=19*i=19M ProNav: ac range: 352.891846 m, nav range: 358.183685 m, bearing: 34.053210 deg, approach rate: -0.611997 m/s, LOS rate: 0.009718 deg/s, cmd heading: 34.107325 deg, new cmd heading: 34.117027 deg. iMI9UHeadingCmd: 0.595454 target range: 352.891846 and range: 352.80 m.hUo?hQhQhQhQgQgYjgYrg]BeYreaZea:ea*ee?颕'BɢVW) 4#i)E  E E 3E "E :*E ~:VE 4ZE a@a@a@a@顙9iE;iMo?M=MXb=IMo?IQ9@ @@4@@yA@I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763514^A5 {=i A ؟AI I O > #,{2LA2>2 ?24ٱ2Н=2H ? =mfT?`6?fȿ>??*K?i2>I2_;2CYRQ~ByRfI TTbD^ VD^8yb >%fh=ٔf Q-f>9j"?Yj"?=j EyjtNDn(En>pQ 5r4rE?Q 9v4r2)rBYtyv >Q Iv@rJDIr:ir:r"4yxɮ~BA|:i%FNOT Ignoring new targets: 352.89 m."i%-9*i%-95 ProNav: ac range: 352.891846 m, nav range: 357.976837 m, bearing: 34.056537 deg, approach rate: -0.587640 m/s, LOS rate: 0.009456 deg/s, cmd heading: 34.117027 deg, new cmd heading: 34.123684 deg. i=q9=HeadingCmd: 0.595571 target range: 352.891846 and range: 352.80 m.h=Qw?hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU@C?@}"Bɢzg) (i)6%顁i:;iQw?"=r=IQw?II@I @I@M/@IB >B 8CB IB CBB B .DB B r;B rEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014938bE-ƀ4jE-ƒ4rE-Ɵ.E EE4E"E:*Ei:VE4ZEBEz% #,A3LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266830:))>:?:a6ٱ:=:Hq ?:m@γ?y??iɿ?f?C?i:))>I:_;:CYBw~ByF~IiUMb@Mb@Mb@QQQQ Q9U@5^I ?Mb{GztYUb?yUUףUAAUZ.A U4A)UAQYU #AbDmVDmð8y}=%}@=ٔ}3Q->9 ?Y ?= EyNDۺE>Q 54wE?Q 94/)BYP?Q E:y->Q I@JDI&;i<;*4y_BɮAAE:iFNOT Ignoring new targets: 352.89 m."i49*i49 ProNav: ac range: 352.891846 m, nav range: 357.739655 m, bearing: 34.060721 deg, approach rate: -0.557383 m/s, LOS rate: 0.009839 deg/s, cmd heading: 34.123683 deg, new cmd heading: 34.132057 deg. i 9HeadingCmd: 0.595717 target range: 352.891846 and range: 352.80 m.h?hhhhggjgrgBereZe:e*e@-Bɢ5*T)1 5i1)='d.99i=s;iE?Ej=E#=IE?IIQ@ @@@y^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519553A>A>E  E E E "E :*E ]t:VE ZE a @a @a @a @ AE ؟AII IY Om >B #,'13LAF*>F?FZ7ٱF>FH ?s겿 ?`?Lʿ?:*?]:?iF*>IFT`;FCLYR~ByRIbDZVDZ8ybe=%fV=ٔf)PQ-f>9f"?Yj"?=j EyjNDj{8En>lQ 5r4noF?Q 9v4n9-)nBYtyvE>Q Iv@nJDIn~:in:n04yxɮ~t@A|:i%FNOT Ignoring new targets: 352.89 m."i%49*i%495 ProNav: ac range: 352.891846 m, nav range: 357.526794 m, bearing: 34.064474 deg, approach rate: -0.557544 m/s, LOS rate: 0.009837 deg/s, cmd heading: 34.132057 deg, new cmd heading: 34.139568 deg. i59=HeadingCmd: 0.595848 target range: 352.891846 and range: 352.80 m.h=|?h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU@BɢLa\) i) 5i;i |? = I |?I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771714@ @@/@@=@=^AW^=B <A <B >B B :IB BB  =B B DB 2;B ;rEA ! I) IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022837 #,YJ3LAE> E>E>2E<"E>;*E>:VE>4ZE<BE>@@;aF:E>;aFf>fp?f7ٱf֙>fH ?`q ˴??|ʿ?b?`N8?if>If`_;fCY-~By5IIM>)M4<bD>VD8y5=%]6=ٔeԨQ-m>9Y= EyND/aE>Q 5%4F?Q 9-4))BYQyU>Q IU@JDI` #,ɭe3LA2M3>2d?27ٱ2X >2H?@d D ? ?@ɿ`?i?=?i2M3>I2`;2CY: By:IxiMb@Mb@Mb@ 9"~?ʡEMbpY?yA+A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527009 )Y!AbD.VDװ8y>%L=ٔE׹Q->9 ?Y ?= EyNDE>Q 54(F?Q 94l')BYG?Q E:y#>Q I@JDI;i ;?4yɮ>A:iFNOT Ignoring new targets: 352.89 m."i i9*i i9% ProNav: ac range: 352.891846 m, nav range: 357.047791 m, bearing: 34.073719 deg, approach rate: -0.599836 m/s, LOS rate: 0.012736 deg/s, cmd heading: 34.148866 deg, new cmd heading: 34.158068 deg. i%v9-HeadingCmd: 0.596171 target range: 352.891846 and range: 352.80 m.h-?h1h1h1h1g1g9jg9rg=BeAreAZeA:eI*eM@颍Bɢ[H\) 9i)E顙i(;i?=E EE:E"Es:*E:VE(4ZEa@a@a@a@e=Ie?Ii!@ @@ /@ I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781686^A% S=A5 xAzA5 zAԉ A5 ؟AIY Ii O} > #,Xt3LA:f>:?:97ٱ:=:H9?ZUɴ}?`e?ɿ ?உ?@ E?i:f>I:_;:CYF<ByFIHJ@AbDNVDNŰ8yV>%V]=ٔZ 9Q-Z>9Z"?YZ"?=Z Ey^ND^\E^>`Q 5f4b8F?Q 9f4b$)b BYhyj=>Q Ij@bJDIb :ib~:bF4yneBɮn:>ArE:iFNOT Ignoring new targets: 352.89 m."i "a9*i "a9 ProNav: ac range: 352.891846 m, nav range: 356.836426 m, bearing: 34.078270 deg, approach rate: -0.570935 m/s, LOS rate: 0.012302 deg/s, cmd heading: 34.158070 deg, new cmd heading: 34.167178 deg. i9%HeadingCmd: 0.596330 target range: 352.891846 and range: 352.80 m.h%?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5Y@YeBɢmW)i m ii)mYxLiqiu,;iu?}=}uz=I}?Iy1@1 @1@5=0@1@9@9Bm >BiBmxIBmBBm =BiBmDBm;Bm"rE}DAT read: 01:09:32.3192 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.49, 2.029, 0.310, 2.193, 1.573, PHS= 0.558,-1.218, 0.576, RAW= 150.5, 0.9, CAL= 149.3, 0.5, ROT= 0.7, -0.5 Ygot valid direction response: 01:09:32.3192 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.49, 2.029, 0.310, 2.193, 1.573, PHS= 0.558,-1.218, 0.576, RAW= 150.5, 0.9, CAL= 149.3, 0.5, ROT= 0.7, -0.5 ԑPDAT read: Bearing 190.1, 11.0 (Local) ~Local bearing/azimuth received: Bearing 190.1, 11.0 (Local) DAT read: Range 11 to 50 : 350.5 m (Round-trip 467.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999887,0.012217,0.008727]Fpublishing direction and range infoyIMD?k?B7߁?YM@CIMII I)MDIM?iMm盿Mt?M0(@M  (DAT read: user:40>  BDAT read: Tx time:01:09:33.6976  $Ping request sent. 2 ?2d7ٱ2 z=2H!?UFq z??uȿE?@*?kJ?i2=>I2_;2CYBpByBIԹiMb@Mb@Mb@ 9㥛 ?i|?5~jtx?Y?yq;(A,A r2A)?AY AbDVD8y-f=%-4=ٔ59Q-5>91Y1== Ey=ND=qE=>AQ 5M4E(LF?Q 9M4E!)E#BYUE?Q EU:yU|>Q Iu@EJDIE;iE;EM4yyɮ}g=Ayiyi}~q3LAj}LC"j}LC:j}y?Rj}Ru@!@ wy@Bj}D?k?B7߁?*j}+H<2j}5Zj}5iq@ʈ_lh@! (QzP@Jj}"?hǯ?{E?j}fCC j}čCi}~)! %Ji!)%qU!aimQ;imE?u=u0et=IuE?Iq9@ @@0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251062E5  E5 E5 4E1 "E5 :*E5 Ar:VE5 4ZE1 a= @a= @a= @a= @^A% w=A I! I1 O= >' #,v3LA2!>2Z?267ٱ2M=2H$?a?{3?`?@Iȿ?>?L?i2!>I2_;2CY:By:+IbDFVDF8yNT=%Nj=ٔN|:Q-N>9PYP=R EyRNDVEV>TQ 5^4V,[F?Q 9^4V3)V6BY\y^>Q I^@VKDIV;iV;VT4ybhBɮfA>I) I9 O] >Ae AAAa Bm >Bm 9CBm IBm IBBm  =Bi Bi Bm ;Bm rE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754907Ա #,3LAE& E&E&5E$"E&:*E&1]:VE&4ZE$BE&P-RD?R7ٱRܲ=RH&?U;)=@?N?~ ȿ`?`f?N?iR]>IRz_;RCY^By^WIbDfVDf8yr,>%vG=ٔzR9Q-z>9 Y = EyND%ZE%>9Q 5U4=GmF?Q 9]4=3)=LBYiym>Q Iu@=KDI=;i=<=p[4yɮ;AԙB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 350.60 m."i 9*i 9= ProNav: ac range: 350.597839 m, nav range: 355.654022 m, bearing: 33.976013 deg, approach rate: -0.513711 m/s, LOS rate: 0.008717 deg/s, cmd heading: 34.185500 deg, new cmd heading: 34.193709 deg. i=B9EHeadingCmd: 0.596793 target range: 350.597839 and range: 350.50 m.hEj?hAhAhAhAgAgAjgIrgIeqreqZeq:eq*e}?BɢA) Vi)Tbi;ij?z=Dp=Ij?IIxA)9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006982^A #r=I) I9 O] > u5 #,3LAɰp;2"&>2]?2M'7ٱ2=2H$?`L> /??ȿ?2?1N?i2"&>I2;_;2CY: By:}IiMb@Mb@Mb@ 9S?ˡE~jt?Y?y'D<XA(A 0A) AYAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258965bDVD8y>%==ٔLQ->9Y= Ey OD:n:E>Q 54F?Q 94)eBY?Q E:y=?Q I@"KDI$;ia#;b4ykBɮ:AE:i9=FNOT Ignoring new targets: 350.60 m."iE9*iE9] ProNav: ac range: 350.597839 m, nav range: 355.402496 m, bearing: 33.978960 deg, approach rate: -0.664505 m/s, LOS rate: 0.007790 deg/s, cmd heading: 34.193710 deg, new cmd heading: 34.199607 deg. ied9mHeadingCmd: 0.596896 target range: 350.597839 and range: 350.50 m.hm)?hihihihigqgqjgyrg}CBeyreZe:e*e?E] E]E]4EY"E]:*E]k:VE]4ZEYae@ae@ae@ae@颽BɢF D) ei)Ehil;i5)?5=5݈q=I5)?I99@ @@r3@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909I ^A% hp=I I O >R #,z4LA:ſ>:@?:6ٱ:ȸ=:H?FH??@xeȿ??L?i:ſ>I:tj_;:CYB'ByBIbDNVDN8yV:>%V]=ٔVuu:Q-V>9XYX=Z EyZOD^VX;E^>`Q 5f4bF?Q 9f4b)bzBYdyf?Q If@b0KDIbX:ib:bHi4ylɮn:Al:iFNOT Ignoring new targets: 350.60 m."i{8*i {8 ProNav: ac range: 350.597839 m, nav range: 355.184174 m, bearing: 33.981479 deg, approach rate: -0.599822 m/s, LOS rate: 0.006925 deg/s, cmd heading: 34.199608 deg, new cmd heading: 34.204649 deg. iJ9%HeadingCmd: 0.596984 target range: 350.597839 and range: 350.50 m.h%?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5w?]BɢeO)a eia)emaiim;im?u=uvu=Iu?IqBBBIBBB =BBB˳;BqEBBB“CB =B =C`l559@9 @9@=/@9aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943Dm=DiԁE EEE"Es:*E:VEZEBEs0ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014844G #,V4LA2B>2?2$`6ٱ2T=2H?iT`(@j? ?ȿ6?Or?J?i2B>I2k_;2C@YBMByBIi Mb@Mb@Mb@     9 -?Q%5B=ٔ5:Q->9Y= Ey)OD{;E>Q 54dF?Q 94S)BYR?Q E:y?Q I@AKDI?;i;p4ymBɮ9A:iFNOT Ignoring new targets: 350.60 m."i@8*i@8 ProNav: ac range: 350.597839 m, nav range: 354.921509 m, bearing: 33.982621 deg, approach rate: -0.605369 m/s, LOS rate: 0.002634 deg/s, cmd heading: 34.204648 deg, new cmd heading: 34.206934 deg. i>8 HeadingCmd: 0.597024 target range: 350.597839 and range: 350.50 m.h ?h h h h g gjgrgRBereZe:e*e@MރBɢM7)M{; M;iI)UTtQQiU.;i]?]=]({=I]?IaԱ@ @@@ G {A%AM롿9M{AYMFA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267030^AmC|w=Eu  Eu Eu 3Eq "Eu ;*Eu z:VEu 4ZEq a} @a} @a} @a} @ A I I O >q #,144LA:L>:p?:6ٱ: B=:H d?] ?2?`ȿ?`?@0J?i:L>I: ^;:CYBXByBIbDN VDNʰ8yVr=%VT=ٔVNQ-V>9XYX=Z EyZ9ODZbf;E^>`Q 5f4b|F?Q 9f4b)bBYdyfG?Q If@bPKDIbG:ib:bfw4yjSBɮn7AnEp:i FNOT Ignoring new targets: 350.60 m."i j78*i j78 ProNav: ac range: 350.597839 m, nav range: 354.695099 m, bearing: 33.983559 deg, approach rate: -0.604354 m/s, LOS rate: 0.002506 deg/s, cmd heading: 34.206933 deg, new cmd heading: 34.208810 deg. i8%HeadingCmd: 0.597056 target range: 350.597839 and range: 350.50 m.h%?h!h!h!h)g)g)jg)rg)e1re1Ze1:e1*e5 @e؃Bɢe?)a e߿ii)malyiiim;iu?u=u*H=Iu?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.51934559@1 @1@5/@1 ^Aw=AB <A <B >B 8CB rIB ҀBB B B B ;B qEAa Iq I O >e >e 4=m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771051q pY #,[ N4LAbE1jE54rE5C0E EEE"E:*Ec:VEZEBE.B??B6ٱB`=BH ? l@{??ȿ ?`"? G?iBW>IBF^;BCYb{ByfIbDz.VDzװ8y %>%D=ٔ AQ->9Y= EyJOD;E>QQ 5m4UF?Q 94U6 )UBYy?Q I@UaKDIUA} > A .AI I O > #,Ci4LABBDAT read: Rx Time:01:09:36.5661 BTRx dataTimestamp_ set to:1764896977.661104Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276858R>R?RW6ٱR=RH?~?@?Iɿ ?>?D?iR>IR<^;RCY^BybIxiMb@Mb@Mb@ 9jt?Mb{Gz?Y ?y#<A#A ,A)& AYA 4=4=bD VD8yn=%7=ٔ!Q->9 ?Y ?= Ey[OD;E>Q 5u4F?Q 9u4)BYu ?Q Eu:yu?Q Iu@qKDI2BqBuIBuBBu =BqBqBu;BqDAT read: 01:09:36.5661 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.05, 1.422,-0.310, 1.578, 0.922, PHS= 0.603,-1.187, 0.612, RAW= 150.3, -0.3, CAL= 149.2, -0.9, ROT= 0.8, 0.9 Ygot valid direction response: 01:09:36.5661 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.05, 1.422,-0.310, 1.578, 0.922, PHS= 0.603,-1.187, 0.612, RAW= 150.3, -0.3, CAL= 149.2, -0.9, ROT= 0.8, 0.9 PDAT read: Bearing 188.3, 10.8 (Local) ~Local bearing/azimuth received: Bearing 188.3, 10.8 (Local) DAT read: Range 11 to 50 : 348.2 m (Round-trip 464.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999779,0.013960,-0.015707]Fpublishing direction and range infoyx0?L?y&YC )CI5^?i?'@r&@ )d9"?Y"?= EyuODE>Q 54F?Q 94) BYyQ I@KDI;i;t4yXBɮ5AEi1i5٘4LAj5&C"j5&C:j5?Rj5 u@qRs@Ug$Bj5x0?L?y&*j5d<2j5<Zj5L<*vq@vgwh@!㶅L@Jj5eӚ?.~Z ]BDAT read: Tx time:01:09:37.7476 e$Ping request sent.e=Im?I! 0;- 9@1  @1 @5 /@1 Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251300ԁ^A5z=AEyAzAEwAEi EmEm6Ei"Ei*Em]t:VEmc4ZEiau@au@au@au@A.AIIԡO?9, #,C4LA6G>6=?6"7ٱ6=6H ?Q+ D??@ɿ`'?? ??i6G>I6n];6CY>ĀBy>`IiMb@Mb@Mb@ 9S㥛?~jtx?9u ?Y} ?=} Ey}OD}D<E}>Q 54h G?Q 94).BY$?Q E:y3?Q I@KDI;i;㚺4yɮ4A:iFNOT Ignoring new targets: 348.30 m."i]*i] ProNav: ac range: 348.297394 m, nav range: 344.143036 m, bearing: 35.180652 deg, approach rate: -0.664109 m/s, LOS rate: -0.000003 deg/s, cmd heading: 34.212609 deg, new cmd heading: 34.212606 deg. i3HeadingCmd: 0.597123 target range: 348.297394 and range: 348.20 m.h?hhhhggjgrghBereZe:e*e7?%Bɢ%&)) -Ri))-މ))i-T;i5?5=5a=I5?I9AAAA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502830!I@ @@/@A% @AA! B% >B% 9CB% IB% QBB%  =B! B% DB% ȳ;B% qEy  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754674^A b$=ԩ D zD @AE  E E 5E "E :*E V:VE 4ZE BE 3Y4 #,>4LA>Ș? 7ٱb=ԱH? X /@?m?@ɿ@?8ؾ?@?i>I];CY߀ByIiMb@Mb@Mb@ 9'1Z?{Gzt?Y"?yף; AC!A (A)AYAbD/VDذ8y =%=ٔA9Q->9Y= EyODP1;E>)Q 5-4- G?Q 954-)-LBY5"?Q E5:y5?Q I5@-KDI-(:i-:-4y=[Bɮ3AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 348.30 m."iJ*iJ ProNav: ac range: 348.297394 m, nav range: 343.819214 m, bearing: 35.180561 deg, approach rate: -0.614700 m/s, LOS rate: -0.000173 deg/s, cmd heading: 34.212605 deg, new cmd heading: 34.212423 deg. i8HeadingCmd: 0.597119 target range: 348.297394 and range: 348.20 m.h?hhhhggjgrg;BereZe:e*e t?Bɢ) i)i;i%?%=-tƓ=I-?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0180619@ @@/@^Auv= A؟AIIO>1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259472}: #,`4LA:`>:?:~6ٱ:.=:H@\?ڽ@w?`? ? ѕɿ`h?t?C?i:`>I:O];8YBByFIbDNPVDN8yVU>%V|=ٔV%:Q-V ?9Z"?YZ"?=Z EyZOD^u;E^ ?Q 5%4 /G?Q 9-4)_BY)y-?Q I-@KDI:i:̩4y1ɮ53AY:iFNOT Ignoring new targets: 348.30 m."i¶*i¶!- ProNav: ac range: 348.297394 m, nav range: 343.609039 m, bearing: 35.180450 deg, approach rate: -0.622930 m/s, LOS rate: -0.000331 deg/s, cmd heading: 34.212424 deg, new cmd heading: 34.212201 deg. i-CMHeadingCmd: 0.597116 target range: 348.297394 and range: 348.20 m.Eu EuEu6Eq"Eum:*Eue:VEuc4ZEqa}@a}@a}@a}@h?hhhhggjgrgereZe:e*e? Bɢ ~)) ԙ Aq Iy I O >A #,qr5LA26>2e?2U5ٱ2=2H??N<?`_?@Kɿ`s?@?F?i26>I2C];2CY:By:IbDB-VDBְ8yJ=%NG=ٔN@;Q-N>9LYP=R EyRODRJ;ER>TB^>B\B^MIB^BB^ =B\B\B^;B^qEQ 5j4V@@G?Q 9j4V)VvBYlynm?Q In@VKDIV;iV;Vð4yr^Bɮrw2ArE:i  FNOT Ignoring new targets: 348.30 m."iU*iU ProNav: ac range: 348.297394 m, nav range: 343.359558 m, bearing: 35.180249 deg, approach rate: -0.637450 m/s, LOS rate: -0.000513 deg/s, cmd heading: 34.212202 deg, new cmd heading: 34.211801 deg. ipHeadingCmd: 0.597109 target range: 348.297394 and range: 348.20 m.h?hhhhggjgrgereZe:e*eg?%Bɢ%'+)))uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763066 i) 顡i;i?p=h#=I?IE= E=E=4E9"E=:*E=ga:VE=4ZE9aBE=&5ĮG #,79 5LA2+>2?2`3ٱ20=2H??ܠ? ɿS? 4? J?i2+>I2];2CY:"By:II>)>)>>i5Mb@Mb@Mb@1111 195NbX9?Mb`Y5%?y555& A5r A 5\%A)5=A1Y5AbDUVDUð8y]=%e?=ٔe ;Q-e>9iYi=m EymODmO;Em>qQ 5}4uSG?Q 94u)uBY%?Q E:y?Q I@uKDIu;iu:u?4yBBɮ1AE:iFNOT Ignoring new targets: 348.30 m."i5-6*i5-6 ProNav: ac range: 348.297394 m, nav range: 343.086456 m, bearing: 35.180312 deg, approach rate: -0.643034 m/s, LOS rate: 0.000148 deg/s, cmd heading: 34.211799 deg, new cmd heading: 34.211925 deg. i6HeadingCmd: 0.597111 target range: 348.297394 and range: 348.20 m.h@?hhhhggjgrgABereZe:e*e 3@Bɢ##) i) i%S;i%@?% =-2R=I-@?I)ԑ9@ @@@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267274^AԘ=E EE5E"E:*E n:VE4ZEa%@a%@a%@a%@A! I1 IA OM > M #,!:5LAɰ2">2/?2m1ٱ2=2H &?`^`(??` ɿ`?? L?i2">I2"];0Y:3By>IbDFVDF8yN=%NW=ٔN;Q-R>9PYP=R EyRODVƔ;EV>XQ 5^4ZcG?Q 9^4Z )ZBY\ybH?Q Ib@ZKDIZw;iZ;Z⾺4ydɮfx0Adnchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518899:i|FNOT Ignoring new targets: 348.30 m."i,.*i,. ProNav: ac range: 348.297394 m, nav range: 342.844360 m, bearing: 35.180297 deg, approach rate: -0.634741 m/s, LOS rate: -0.000037 deg/s, cmd heading: 34.211926 deg, new cmd heading: 34.211897 deg. iVHeadingCmd: 0.597110 target range: 348.297394 and range: 348.20 m.h8?hhh!h!g!g!jg!rg)e)re)Ze):e)*e5@?@]Bɢ]$)Y eia)eaaie8;im8?m+.=mV=Im8?Iq9@ @@>4@BAB>B:CBIBBB =B-DBDB;BqEB9CB9CBƔCB =B =Cƃ5^A5}ћ=A5xAzA5xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771159A A I I O >E  E E 2E "E D:*E k:VE 4ZE BE 2v:?v/ٱvR|=vHO?v`%`b6?v?@ȶȿ ?n?P?iv>Iv ^;vCYOBy IiMb@Mb@Mb@ 9%C?~jt~jthYZ$?yDDV AA )AYAbDܿVD8y=%+=ٔ~;Q->9Y= EyODs;E>Q 54xG?Q 94)BYa$?Q E:y?Q I@LDI:i::Ǻ4iy :Bɮ^/AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 348.30 m."i07*i07 ProNav: ac range: 348.297394 m, nav range: 342.541901 m, bearing: 35.181133 deg, approach rate: -0.613251 m/s, LOS rate: 0.001695 deg/s, cmd heading: 34.211898 deg, new cmd heading: 34.213571 deg. iF8HeadingCmd: 0.597139 target range: 348.297394 and range: 348.20 m.h"?hhhhggjgchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022907rgIBereZe:e*e`}5 @-Bɢ- )1 5i1)5]11i5;i="?=A==.=IE"?IA]9@Y @Y@e?5@aԙ 8G) A m Q9q Yu A ^A =ߵ %=ߵ %= BDAT read: Rx Time:01:09:40.6132  TRx dataTimestamp_ set to:1764896981.696734 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280363A I I  O >P[ #,ro5LAE  E E E "E :*E i:VE ZE a@a@a@a@]uS>])?],ٱ]=]H@{? s@?)?Cȿ؂?`ü?V?i]uS>I]];]CYuZByuI yybD VD8yq=%S=ٔ;Q->9Y= EyPDM;E>Q 54G?Q 94)BYyF?Q I@LDI:i:κ4yɮ/A:iFNOT Ignoring new targets: 348.30 m."i>7*i>7 ProNav: ac range: 348.297394 m, nav range: 342.295959 m, bearing: 35.181763 deg, approach rate: -0.663449 m/s, LOS rate: 0.001702 deg/s, cmd heading: 34.213572 deg, new cmd heading: 34.214834 deg. ieG8 HeadingCmd: 0.597162 target range: 348.297394 and range: 348.20 m.h ?h hhhggjgrgereZe:e*e%) @EBɢMX )I MiI)MGIQiUɕ;iU?]6R=]&=I]?IY9@ @@4@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5269099^A=Y A I I) O5 >B >B B IB ߁BB  =B B B ;B qE0b #,{/5LA 6P>6D?6*ٱ6}^=6H`ӷ? SJ?h?ȿ`_*?`oԼ?@bZ?i6P>I6];6CYNdByR&IbDZ2VDZڰ8ybO=%bZ=ٔbj;Q-b>9dYd=f EyfPDjDU;Ej>lQ 5m4nuG?Q 9u4nd)nBYyy?Q I@n%LDInI I M VQ ?we?=<ǿ M n%?)M >>IM TiM [>I I  T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.^A] Т=Ae >Ae > A I I O > i #,5LAYe~ByeFIonly read 2 of 4 data items for bottom velocity. Device response is::BS, 613, +0,A a@a a@a a@a a@a bD1VDy=%'=ٔQ->9Y= Ey$PD E>Q 5%4G?Q 9%4)BQ A-+:Y)Q E-:y)Q I5@9LDIBI;i>ۺ4y=@BɮE .AEEiii]5LAjC"jC:j4?Rj`t@;qAHcg7pRBjF^ ?P,CdAzUmD˿*jT2j[>ZjBDr@ UBDAT read: Tx time:01:09:42.0476 U$Ping request sent.U1p #,5LA2c>2?2$ٱ2=2H@ ? z[??ǿ?? `?i2c>I2];0Y:Byb\IIf<)f=bDn2VDlyvK=%vT=ٔv%W9z ?Yz ?=z Ey~4PD~;E~>Q 5 4G?Q 9 4%)BQ A  :Y Q E X:y?Q I@ILDI;iw`?ߺ4yɮz-A:iFNOT Ignoring new targets: 346.21 m."i:7*i:7  ProNav: ac range: 346.210602 m, nav range: 341.503845 m, bearing: 35.183556 deg, approach rate: -0.627468 m/s, LOS rate: 0.001279 deg/s, cmd heading: 34.217004 deg, new cmd heading: 34.217998 deg. i 8HeadingCmd: 0.597217 target range: 346.210602 and range: 346.10 m.h2?hhhhggjgrg!e!re!Ze!:e!*e-T?I]Bɢ],)a eC}ia)eaaie:;im2?uq=u=Iu2?IqAAB>B9CBIBBB =B.DBDB;BqE9@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949^AT=E EE1E"E:*Ei:VE-4ZEBEz% %Xv #,(5LAɰ4<:i>:/?:"ٱ:fv=:HS?&Ȯc?@v? ǿg=?]?+b?i:i>I:];:CYrByrhIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754968auau auau aua} a}a} i}Mb@Mb@Mb@yyyy y9}~jt?MbY}?y}}}A}AA }A)}AyY}(AbDNVD8y6=%@=ٔ2;Q->9"?Y"?= EyEPD ;E>Q 54;G?Q 94)'BQ AT:Y?Q E:yx?Q I@YLDIz:ia:X4yBBɮA-AB*** querying acoustic contact ***iiԱ:iFNOT Ignoring new targets: 346.21 m."i8*i8 ProNav: ac range: 346.210602 m, nav range: 341.247742 m, bearing: 35.185529 deg, approach rate: -0.588539 m/s, LOS rate: 0.004537 deg/s, cmd heading: 34.217998 deg, new cmd heading: 34.221947 deg. i9HeadingCmd: 0.597286 target range: 346.210602 and range: 346.10 m.h?hhhhggjgrgBere Ze :e)*e-@7&?额Bɢ) ui)?顡i;i? = Щ=I ?I @ @@/@@zA@xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006837 ^A H=A yAzA zAE  E E 7E "E a:*E VE Ժ4ZE a @a @a @a @A1 9 IA IQ Oe >`| #,5LA2P>2?2s ٱ2K=2HE?yƭdf??xǿy? {z?wd?i2P>I2^;2CYFByFIbDn+VDn԰8yr==%vV=ٔv ;Q-v>9xYx=z EyzUPD~*6:E~>|Q 54~G?Q 9 4~B)~9BY y ?Q I @~hLDI~M;i~;~4y%Bɮ+AE:i9EFNOT Ignoring new targets: 346.21 m."iEȴ8*iEȴ8U ProNav: ac range: 346.210602 m, nav range: 341.017975 m, bearing: 35.187290 deg, approach rate: -0.643846 m/s, LOS rate: 0.004939 deg/s, cmd heading: 34.221946 deg, new cmd heading: 34.225471 deg. iU9]HeadingCmd: 0.597347 target range: 346.210602 and range: 346.10 m.h]?hYhYhahagagajgargieireiZeq:eq*eu@_?额Bɢ) ji)<顡i;i?=o=I?IE9@A @A@A@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258964)^Aep=Y A I I B >B B  IB 'BB  =B B B ;B qEO > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912i #,N6LA npw>n'?n(ٱnz=nH V?;y@g? ?@ǿ?@Ž?9f?inpw>InU ^;lYBy I bDe;VDe8yu"=%uC=ٔ}Ԯ;Q-}>9yYy= EyfPDƹE>Q 54G?Q 94)LBYy?Q I@xLDI;i;\4y'Bɮ>+AE EE5E"E:*E n:VE4ZEBE&50 #,)(6LA2?>2?2cٱ2=2H? `"f?n?ԓǿ@lY?%?@3h?i2?>I2];2CY:ˁBy>IPiEMb@Mb@Mb@AAAA A9E\(\? rhMb`YE?yEC EE&AE+A EA)EAAYEAbDVD8y ?U=% A=ٔ;Q->9Y= EywPDE%>!Q 5-4%H?Q 9-4%)%_BY5 ?Q E5:y5?Q I5@%LDI%/;i%e;%4y9ɮE*AA:iamFNOT Ignoring new targets: 346.21 m."im8*im8} ProNav: ac range: 346.210602 m, nav range: 340.511353 m, bearing: 35.191346 deg, approach rate: -0.604324 m/s, LOS rate: 0.005025 deg/s, cmd heading: 34.229363 deg, new cmd heading: 34.233585 deg. i}!9HeadingCmd: 0.597489 target range: 346.210602 and range: 346.10 m.h?hhhhggjgrgBereZe:e*e`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015022yBɢ. ) Vi)}i;i?oۂ=ۨ=I?IQE EE4E"E:*E:VE4ZEa@a@a@a@9@ @ @ /@ ^AM \=AM >AM >!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270472Ay I I O >z #,B6LA29>2 ?2Cٱ2b'=2H]?I`c?`?Sǿ ?P?@k?i29>I2x^;2CY:By:IbDNVDN8yVd>%Vd=ٔV;Q-Z>9XYX=Z EyZPD^TٺE^>`Q 5f4bH?Q 9f4b)bnBYdyft?Q Ij@bLDIb.:ib:b4yn*Bɮn(*A=E:iFNOT Ignoring new targets: 346.21 m."i8*i8 ProNav: ac range: 346.210602 m, nav range: 340.296478 m, bearing: 35.193155 deg, approach rate: -0.572838 m/s, LOS rate: 0.004825 deg/s, cmd heading: 34.233584 deg, new cmd heading: 34.237204 deg. iF 9HeadingCmd: 0.597552 target range: 346.210602 and range: 346.10 m.h*?hhhhggjgrgereZe:e*eq@uBɢ ) Gi)ni;i*? =Eɧ=I*?IBu<Aup<B}>ByB}A IB}JBByByB}DB};B}qE@ @@0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851q^AK=E EE7E"E:*Ex:VEԺ4ZEBE3ԩ  #,[6LAR>R>?RAٱR=RH ?Y@W쩿$c??ǿ`??@o?iR>IR^;RCYZByZII^]>)^49Y= EyPDNE>Q 54)H?Q 94)BY?Q E:y ?Q I@LDI;i; 4yɮ)A%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 346.21 m."i5[9*i5[9E ProNav: ac range: 346.210602 m, nav range: 340.037872 m, bearing: 35.196166 deg, approach rate: -0.606465 m/s, LOS rate: 0.007068 deg/s, cmd heading: 34.237204 deg, new cmd heading: 34.243232 deg. iEN9MHeadingCmd: 0.597657 target range: 346.210602 and range: 346.10 m.hM?hIhQhQhQgQgQjgYrg]BeYreYZeY:ea*ee@颍pBɢ=) @i)顑i;i?=3=I?IE9@A @A@E00@Iԡ^Am==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024974A .AI I O >E  E E 5E "E :*E :VE 4ZE a @a @a @a @ OϜ #,ku6LAɰ;2 >2?2)}ٱ2$=2H?`W@ޜ"d?,?ƿ?`$?`2t?i2 >I2U];2CYFByFIbDfVDf8yn=%n\=ٔr;Q-r>9r ?Yv ?=v EyvPDvbcEv>xQ 5~4zR9H?Q 9~4z)zBYy ?Q I@zLDIz:izb;zC4y -Bɮ G)A :i1=FNOT Ignoring new targets: 346.21 m."iE8*iE8M ProNav: ac range: 346.210602 m, nav range: 339.820465 m, bearing: 35.198703 deg, approach rate: -0.584788 m/s, LOS rate: 0.006829 deg/s, cmd heading: 34.243232 deg, new cmd heading: 34.248310 deg. iUG9UHeadingCmd: 0.597746 target range: 346.210602 and range: 346.10 m.hU?hQhYhYhYgYgYjgargaeareaZei:ei*em] @颕lBɢX) 4i)顙i1;i?= =I?IU9@Y @Y@]A5@a=BDAT read: Rx Time:01:09:44.9094 =TRx dataTimestamp_ set to:1764896985.977431=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276812^A5K=A=xAzA=xA1Am ؟ABu >Bq Bu s IBu sBBu  =Bq Bu DBu ճ;Bu qEB1B1B5ɓCB5 =B5 =C5ə~5I I O >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528021 #,┏6LAR>R?R_ٱRz=RH?@n1`b??p"ƿ TK?&?y?iR>IRL];RCYZByZ IbDv+VDv԰8y~e=%H=ٔ;Q->9 "?Y "?=  Ey PD E >Q 5%4JH?Q 9%4M)BY!y-z ?Q I-@LDI3&;i&;e4y1ɮ5(A1:iQ]FNOT Ignoring new targets: 346.21 m."ie8*ie8m ProNav: ac range: 346.210602 m, nav range: 339.581787 m, bearing: 35.201508 deg, approach rate: -0.584740 m/s, LOS rate: 0.006874 deg/s, cmd heading: 34.248310 deg, new cmd heading: 34.253922 deg. iuKI9uHeadingCmd: 0.597844 target range: 346.210602 and range: 346.10 m.E EEE"E;*Eh:VEZEBEA5YYi];ieI ?ed%=mo;=ImI ?Iim9@q @q@}@5@yqUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781466ԑ^A A I1 U Gy I O > Թ ٠9 Y :AP #,p6LAY~+By I  iMb@Mb@Mb@ 9$C?9Y= EyPDE>Q 54\H?Q 94)BYc?Q E:y?Q I@LDI;id;4y/Bɮ $(A E:i)DAT read: 01:09:44.9094 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 395, 0.00, 2.356, 1.025, 2.680, 1.828, PHS= 0.629,-0.758, 0.808, RAW= 156.0, -9.2, CAL= 156.6, -10.9, ROT= 353.4, 10.9 Ygot valid direction response: 01:09:44.9094 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 395, 0.00, 2.356, 1.025, 2.680, 1.828, PHS= 0.629,-0.758, 0.808, RAW= 156.0, -9.2, CAL= 156.6, -10.9, ROT= 353.4, 10.9 PDAT read: Bearing 179.0, 0.3 (Local) ~Local bearing/azimuth received: Bearing 179.0, 0.3 (Local) DAT read: Range 11 to 50 : 343.3 m (Round-trip 457.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.-`direction in FSK: [0.975451,-0.112864,-0.189095]-Fpublishing direction and range infoy6?%p伿oG4ȿYC )CI%!?iJ BN?@.@l$.@ B)4`@IB>;?bm$?OnĿ  ?))$>IiB>MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.YFNOT Ignoring new targets: 346.21 m."i/8*i/8 ProNav: ac range: 346.210602 m, nav range: 339.324463 m, bearing: 35.203925 deg, approach rate: -0.596198 m/s, LOS rate: 0.005606 deg/s, cmd heading: 34.253921 deg, new cmd heading: 34.258760 deg. i&$9HeadingCmd: 0.597928 target range: 346.210602 and range: 346.10 m.h?hhhhggjg rg Be re Ze:etu@*ez?ecBɢeO)a ei)d顉i];i?:=kH=I?IE EE2E"E:*EZ:VE4ZEa@a@a@a@Y@Y @Y@ef1@aԉԩ M (DAT read: user:43> U BDAT read: Tx time:01:09:46.2975 U $Ping request sent.] $ #,d6LA6G>6?6cٱ6e=6H ? OX? ?8ſu?`a3?@_?i6G>I6];6CY>3By>$ IbDfVDf8yn%=%nO=ٔn 9pYp=r EyrPDvEv>xQ 5z4zmH?Q 9~4zm)zBY|y~?Q I~@zLDIz:iz;z&4y ɮ 'A iik֮6LAjC"jC:jC?Rjo/t@݁`C5;PBj6?%p伿oG4ȿ*j2jB>Zj`7r@y0Fte@u+5JjNHum?䪻?$^j+C jWCiV?i(j/BjjPjrjQCzj?U addTargetRange:: Added new target pos. range: 343.299988 m, deltaT: 4.284061 s, deltaX: -2.800018 m, approachRate: -0.653590 m/s, rangeRepo size: 4 e Added new target pos. range: 343.404083 m, bearing: 30.049834 deg, lat: 36.779520 deg, lon: -121.859651 deg, deltaT: 4.284061 s, deltaX: -2.806519 m, approachRate: -0.655107 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 343.40 m."iu*iq ProNav: ac range: 343.404083 m, nav range: 336.633759 m, bearing: 34.609598 deg, approach rate: 0.000000 m/s, LOS rate: 0.005606 deg/s, cmd heading: 34.258760 deg, new cmd heading: 34.263230 deg. iHeadingCmd: 0.598006 target range: 343.404083 and range: 343.30 m.h?hhhhggjgrgereZe:e*eeP?_Bɢ ) "i)M7i:H;i?H==I?IAYAYBe>Be8CBe IBeBBe =BaBeDBe;BeqEq@q @q@u3@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251401!bEjEM4rE+0E% E%E%7E!"E%:*E%k:VE%Ժ4ZE!BE%I8A>I A I I! OE >B #, u6LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502236}>P ?l ٱ;R=H`?p8jX?`.?Ŀv?Q޹?`?i}>I];CY?By2 Ii}Mb@Mb@Mb@yyyy y9}v?Q~jtx?Y}?y}};}=A}+A }A)} @yY}p AbDVD8yUL=%2=ٔ/;Q->9Y= EyPDE>Q 54-H?Q 94)BY?Q E:y?Q I@LDI:i:.4yBɮ&AEB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 343.40 m."i-8*i-8= ProNav: ac range: 343.404083 m, nav range: 336.362335 m, bearing: 34.611367 deg, approach rate: -0.589077 m/s, LOS rate: 0.003842 deg/s, cmd heading: 34.263231 deg, new cmd heading: 34.266772 deg. i=8EHeadingCmd: 0.598068 target range: 343.404083 and range: 343.30 m.hE?hAhAhAhAgAgIijgrgӂBereZe:e*e@?EZBɢE!)  i)2O顉iֽ;i?Y\=ޢ=I?I9@ @!@%/5@!ԙ>>?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755385 ^A =E-  E) E- 4E) "E- D:*E) VE- 4ZE) a= @a= @a= @a= @A I I O >k #,J6LA2>2?25 ٱ2=2H ?s[? ?CĿF?'չ??i2>I26];2CY:]By:X IIB=)B=bDFVDF8PyRz5>%Rq=ٔV;Q-V?9TYT=V EyVPDZq:EZ?\Q 5b4^mH?Q 9b4^Ŭ)^BY`yf?Q If@^MDI^;:i^:^44yhɮj%Ah:ix~FNOT Ignoring new targets: 343.40 m."i8*i8  ProNav: ac range: 343.404083 m, nav range: 336.162109 m, bearing: 34.612663 deg, approach rate: -0.601716 m/s, LOS rate: 0.003896 deg/s, cmd heading: 34.266772 deg, new cmd heading: 34.269365 deg. i,8HeadingCmd: 0.598113 target range: 343.404083 and range: 343.30 m.h?hhhhggjgrgereZe:e*e9?-WBɢ-8)) -Ki))5]1i.w;i?Bj=}=I?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068049@ @@/@B}>ByB} IB}BB} =ByByB}س;B}qE^A! A I - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259210I9 O} >S #,%7LAɰp;Dn=DlEr ErEpEp"Er:*Er n:VEpZEpBEr.91Y1=5 Ey5 QD5E=>AQ 5E4E'H?Q 9M4EA)EBYIyIQ IM@EMDIE:iE:E#<4yUBɮ]X%A]E:iFNOT Ignoring new targets: 343.40 m."i8*i8 ProNav: ac range: 343.404083 m, nav range: 335.913055 m, bearing: 34.614277 deg, approach rate: -0.590249 m/s, LOS rate: 0.003828 deg/s, cmd heading: 34.269364 deg, new cmd heading: 34.272595 deg. i,8HeadingCmd: 0.598170 target range: 343.404083 and range: 343.30 m.h!?hhhhggjgrgereZe:e*e?RBɢ) i);i`Q;i!?y=N]=I!?I@ @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510173Q^A&=A I I O >ԁ #, ,7LA6>6U?6Q ٱ6R=6H[? @o꨿`Sb?`? NĿ^G?ޏ? d?i6>I6N];4YB{ByF} IiEMb@Mb@Mb@AAAA A9EQ?X9vI +?YYE?yEE949Y= EyQD;E>!Q 5-4%H?Q 9m4%)%BYu?Q Eu:yu2?Q Iu@%"MDI%%ª #,F7LA2 >27O?2\ ٱ2w=2H?@:b??Yſ+?U߻?Մ?i2 >I2e];0Y:By: I <<bDFVDF8yN=%NR=ٔNN;Q-R>9R ?YR ?=R EyR+QDVኹEV>XQ 5^4ZH?Q 9^4Z)Z"BY\yb(?Q Ib@Z0MDIZ:iZ:Z@J4ydɮf*$Ad:ixzFNOT Ignoring new targets: 343.40 m."i~[8*i~[8 ProNav: ac range: 343.404083 m, nav range: 335.445343 m, bearing: 34.617550 deg, approach rate: -0.608389 m/s, LOS rate: 0.004272 deg/s, cmd heading: 34.276106 deg, new cmd heading: 34.279145 deg. i ,8HeadingCmd: 0.598284 target range: 343.404083 and range: 343.30 m.h#)?hhhhggjgrgere!Ze!:e!*e%`P@)B<A<B>B7CB!IBBB =BBB۳;BqEJBɢإ) ?i)it;i#)? =Q=I#)?I9@ @@@e?e<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267510qEu EuEu4Eq"Eu2:*Euc:VEu4ZEqBEu.*% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520170 #,˺`7LA2>2F8?2 ٱ2=2H?@d@[`?\?@ſc??}?i2>I2];2CY>By> IiMMb@Mb@Mb@IIII I9M\(\? rh~jtx?YM?yMC M;M7@MA MAA)M@IYM\AbDeVDe8yu=%u>=ٔuz:Q-}>9}"?Y}"?=} Ey}=QDfUE>Q 54H?Q 94)4BY!?Q E:ԙy?Q I@@MDI0;i/;Q4yBɮx#AE:iFNOT Ignoring new targets: 343.40 m."i8*i8  ProNav: ac range: 343.404083 m, nav range: 335.187714 m, bearing: 34.619471 deg, approach rate: -0.598592 m/s, LOS rate: 0.004469 deg/s, cmd heading: 34.279145 deg, new cmd heading: 34.282992 deg. i 9HeadingCmd: 0.598351 target range: 343.404083 and range: 343.30 m.h-?hhhhggjg!rg%Be!re!Ze!:e)*e- @UFBɢ]ؽ)Y ]iY)]qYYieIA;ie-?e=m@٣=Im-?Iim9@i @i@m/@i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770323^A&=E  E E 7E "E a:*E L_:VE Ժ4ZE a @a @a @a @A I I ! O- >9 #,ėz7LA:J>:?:ٱ:=:H?Y?`W?`yſ?o\? [?i:J>I:];:CYBByB I JC=Jp=bDN&VDNϰ8yVL=%VX=ٔVi7;Q-V>9XYX=Z EyZLQD^?E^>`Q 5f4b#H?Q 9f4b)bDBYdyf;?Q If@bOMDIb:ib:b_X4ylɮn#AlzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 343.40 m."i `8*i `8 ProNav: ac range: 343.404083 m, nav range: 334.960724 m, bearing: 34.621210 deg, approach rate: -0.600354 m/s, LOS rate: 0.004600 deg/s, cmd heading: 34.282990 deg, new cmd heading: 34.286469 deg. i9%HeadingCmd: 0.598412 target range: 343.404083 and range: 343.30 m.h%1?h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5 : @eBBɢe׽)a eΆia)mViiim~;iu1?u=uFǡ=Iu1?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022497)HB9CB4!IBBB =BBDB;B rEa BDAT read: Rx Time:01:09:49.1730  TRx dataTimestamp_ set to:1764896990.260571 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275348^AY ԁ E  E E 5E "E :*E ҆:VE 4ZE BE .r #,s7LAF:>Fg?F^ٱFv=FH@?L?l?!Ŀ??ԋ?iF:>IF];DYRςByR IIV>)V=bD^VD^8yfh=%f6=ٔfb;Q-f>9hYh=j Eyj^QDnXEn>pQ 5v4rkH?Q 9v4r&)rWBYtyv?Q Iv@r`MDIrP:ir:r7`4y}Bɮ}}"Ay:iFNOT Ignoring new targets: 343.40 m."i8*i8 ProNav: ac range: 343.404083 m, nav range: 334.691406 m, bearing: 34.623369 deg, approach rate: -0.578847 m/s, LOS rate: 0.004645 deg/s, cmd heading: 34.286470 deg, new cmd heading: 34.290793 deg. i9HeadingCmd: 0.598487 target range: 343.404083 and range: 343.30 m.hv6?hhhhggjgrgereZe:e*e Ɂ @%=Bɢ%̽)) -]i))-X))i5;i5v6?=̃==%=I=v6?I9=?B9Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5273109@ @@/@i^A= I I O- >m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780937 #,d7LAyY߂By IE EEE"E:*Eą:VEZEa@a@a@a@iMb@Mb@Mb@ 9Zd;O?9Y= EyrQDE>Q 54 I?Q 94)mBY?Q E:yI?Q I@sMDI;ie;h4yɮ!A:i%FNOT Ignoring new targets: 343.40 m."i%Y&8*i%Y&85 ProNav: ac range: 343.404083 m, nav range: 334.403320 m, bearing: 34.624413 deg, approach rate: -0.626405 m/s, LOS rate: 0.002272 deg/s, cmd heading: 34.290794 deg, new cmd heading: 34.292884 deg. i58=HeadingCmd: 0.598524 target range: 343.404083 and range: 343.30 m.h=8?h9hAhAhAgAgAjgIrgMBeIreIZeQ:eQ*eU @}9Bɢ}EȽ) 3i)𫰽顁i;i8?O܃==I8?IԡDAT read: 01:09:49.1730 LVL= 32752, 32033, 32242, 27747, AGC= 72, IDX= 71,-0.20,-2.887, 2.043,-2.623, 2.948, PHS= 0.550,-0.860, 0.668, RAW= 154.0, -4.9, CAL= 153.7, -6.3, ROT= 356.3, 6.3 Ygot valid direction response: 01:09:49.1730 LVL= 32752, 32033, 32242, 27747, AGC= 72, IDX= 71,-0.20,-2.887, 2.043,-2.623, 2.948, PHS= 0.550,-0.860, 0.668, RAW= 154.0, -4.9, CAL= 153.7, -6.3, ROT= 356.3, 6.3 PDAT read: Bearing 183.1, 3.0 (Local) ~Local bearing/azimuth received: Bearing 183.1, 3.0 (Local) DAT read: Range 11 to 50 : 353.4 m (Round-trip 471.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.991889,-0.064143,-0.109734]Fpublishing direction and range infoyqul O?ݩk,=YuCqqu!}u} ucl)uHIu ?iu(\u +?u,@u%u>+@ uz0)u@Iuz0=qqu"@,)+p??dO#i쵿 u@?)uY=Iu)Aiuz0=qq%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@@yA@zA A) A) BA BE :CBE m!IBE >BBE  =BA BA BE ;BE rEB8CB8CB˔CB =B =C2 6^A ܝ=A yAzA zAI I) O5 > #,7LAN>N:9?NxٱN=NH?`V` k`FI?`8?ÿ`?`=?@.?iN>IN@];NCY^By^ !I|bD=VD=Ȱ8yM=%MU=ٔM;Q-M>9QYQ=U EyUQD]E]>aQ 5m4eI?Q 9m4e)e~BYiym#?Q Im@eMDIe:ie ;e@o4y}!Bɮ}!A}Eii7LAjC"jC:j?RjM$n]u@ a6%qxeCBjl O?ݩk,=*j)A2jz0=Zjީ4r@~g@౨-@Jjy|W? _GO|?lin?j BDAT read: Tx time:01:09:50.5975 $Ping request sent.y F #,7LA2G>yAHjt9jyAYjaAzo >z'P?zٱzJ=zH?@ L?? ÿm??ђ?izo >IzX];zCY%By%!I ))YiMb@Mb@Mb@ 9-?y&1~jt?Y5?y`e@ A A)V@YAbDVDɰ8y[|=% ?=ٔ (:Q- >9Y= EyQDU:E%>)Q 5=4-k/I?Q 9=4-ƌ)-BY=G?Q EE:yE?Q IE@-MDI-C;i-mC;-v4yUBɮU0 AUE:i FNOT Ignoring new targets: 353.52 m."i*i] ProNav: ac range: 353.515106 m, nav range: 349.282684 m, bearing: 32.559528 deg, approach rate: -0.611374 m/s, LOS rate: -0.002153 deg/s, cmd heading: 34.294646 deg, new cmd heading: 34.292798 deg. i]#|eHeadingCmd: 0.598522 target range: 353.515106 and range: 353.40 m.he8?hhhhggjgrgBereZe:e*e?M1BɢM̾)I MҽiI)UQQiU;i]8?]=]o?=I]8?Iaԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988=9@9 @9@=/@AE EE3E"E:*E҆:VE4ZEa-@a-@a-@a-@Ա^AE =I I O > -#,08LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7546616eB>6k?6+ٱ6.=6H@?`l`6O??ĿY?Yݹ? ?i6eB>I6];6CYBByB=!IbDJVDJ8yR>%Rd=ٔV:Q-V>9TYT=Z EyZQDZ:EZ>\Q 5b4^>I?Q 9b4^)^BYdyf?Q If@^MDI^:i^:^|4yjBɮjlAjEzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 353.52 m."if"*if" ProNav: ac range: 353.515106 m, nav range: 349.064484 m, bearing: 32.558745 deg, approach rate: -0.617691 m/s, LOS rate: -0.002218 deg/s, cmd heading: 34.292799 deg, new cmd heading: 34.291231 deg. i끸HeadingCmd: 0.598495 target range: 353.515106 and range: 353.40 m.h6?h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5 ?]/Bɢ]Qn)a e7ia)e}%aaimԜ;im6?m=uM=Iu6?IqԹq@q @q@u?5@qB>B8CB!IBgBB =BBDB(;B%rE^A=A>A>II checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006874O%>bEɀ4jEɹ4rE#0E-  E- E) E) "E- :*E- :VE) ZE) BE- 62w?2ٱ2a.=2H?$ P??ÿL?@5Ĺ?`c?i2OY>I2̥];2CYN#ByRK!IbDZVDZ8yb~]=%bH=ٔb:Q-b>9dYd=f EyfQDj9Ej>lQ 5r4n&PI?Q 9r4n)nBYpyr ?Q Ir@nMDIn{;in#;n4yzBɮz&AzE:iFNOT Ignoring new targets: 353.52 m."i"*i"e ProNav: ac range: 353.515106 m, nav range: 348.815277 m, bearing: 32.557842 deg, approach rate: -0.612273 m/s, LOS rate: -0.002221 deg/s, cmd heading: 34.291231 deg, new cmd heading: 34.289423 deg. im HeadingCmd: 0.598463 target range: 353.515106 and range: 353.40 m.h4?hhhhggchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261514jgrgereZe:e*ec?=*Bɢ= )9 =miA)E-AAiEW;iM4?M=Mc=IM4?IQA9@ @@=1@q^AE L=- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511842ԙ Aq Iy I O >0 #, 58LAEN ENEN1EL"EN:*EN:VEN-4ZELaR@aV@aV@aV@Y6Byc!II=)=iMb@Mb@Mb@ 9S?MbP?y&1?Y?y:`e<@ A  A)l@Y3AbDVD8yK=%7=)ٔ=Q-=>99YA=E EyEQDEEE>IQ 5U4McI?Q 9]4M)MBY]?Q E]:y]H?Q I]@MMDIMo:iM:M*4yaɮeAi:iFNOT Ignoring new targets: 353.52 m."iۥ*iۥ ProNav: ac range: 353.515106 m, nav range: 348.540100 m, bearing: 32.555754 deg, approach rate: -0.596777 m/s, LOS rate: -0.004531 deg/s, cmd heading: 34.289425 deg, new cmd heading: 34.285246 deg. iHeadingCmd: 0.598390 target range: 353.515106 and range: 353.40 m.h0?hhhhggjgrgBereZe:e*e +q?'Bɢ) B 4CB !IB BB  =B B DB D;B )rEA I I O >Ա #,N8LAɰ:b>:?:aٱ:G=:H@Z?@h@^?`2?CĿ.?@? k?i:b>I:];:CYFJByF|!IbDfVDf8yn=%n[=ٔr-;Q-r>9pYp=v EyvQDv;Ev>xQ 5~4zqI?Q 9~4z~)zBYy?Q I@zMDIz;iz;zn4y  Bɮ A :i15FNOT Ignoring new targets: 353.52 m."i=*i=M ProNav: ac range: 353.515106 m, nav range: 348.326111 m, bearing: 32.554060 deg, approach rate: -0.596764 m/s, LOS rate: -0.004728 deg/s, cmd heading: 34.285244 deg, new cmd heading: 34.281853 deg. iMu UHeadingCmd: 0.598331 target range: 353.515106 and range: 353.40 m.hU<,?hQhQhQhQgYgYjgYrgYeYreaZea:ea*ee`8@颍$BɢLchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014967) Ę=i)顩i;i<,?0=Z=I<,?IԑM9@Q @Q@U/@QE EE2E"E&:*Ez:VE4ZEBEk; v#,2h8LA2\>2x?2ٱ29=2H`?9\k? ?Ŀ '?@??i2\>I2];0Y:ZBy:!IiMb@Mb@Mb@ 9Q?Mb`y&1|?Y(?y`;@ A A A)7@YfAbDEVDE8yU=%UC=ٔ:Q->9Y= EyQD;E>Q 54 I?Q 94}z)BY+?Q E :y M?Q I @MDI:i:4yɮA:iamFNOT Ignoring new targets: 353.52 m."i}X*i}X ProNav: ac range: 353.515106 m, nav range: 348.062042 m, bearing: 32.552047 deg, approach rate: -0.595879 m/s, LOS rate: -0.004545 deg/s, cmd heading: 34.281853 deg, new cmd heading: 34.277825 deg. iHeadingCmd: 0.598261 target range: 353.515106 and range: 353.40 m.h'?hhhhggjgrg BereZe:e*e 9@1e!Bɢetӡ)a eP=ia)mΰiiim9J;i'?~D==I'?I߭?߭%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519950!@! @)@-h0@)YE EEE"El;*EM:VEZEa@a@a@a@^A =ԉ A I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770771! #,8LA(2.>2?2zoٱ20=2H?F v?? ,ſ"??ԉ?i2.>I2Ķ];2CYblByf!I hhhjAbDrVDr8yv=%zP=ٔz9Q-z>9|Y|=~ Ey~QD~B;E>Q 5 4I?Q 94 w)BYy?Q I@MDI;i;4y Bɮ%A%E=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 353.52 m."iU鰸*iU鰸e ProNav: ac range: 353.515106 m, nav range: 347.836212 m, bearing: 32.550266 deg, approach rate: -0.612263 m/s, LOS rate: -0.004833 deg/s, cmd heading: 34.277827 deg, new cmd heading: 34.274261 deg. ie eHeadingCmd: 0.598199 target range: 353.515106 and range: 353.40 m.he#?hihihihigigqjgqrgqeqreqZey:ey*e}7@颥Bɢb$) j>i)顱i;i#?T==I#?Ii@i @i@m/@iԉBM>BM3CBM "IBMBBM =BIBMDBMI;BM#rEԩ^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024189D D E  E E 1E "E %;*E :VE -4ZE BE Kr&#,gb8LA2>2I?2nAٱ2(Z=2H?`9+С@? ?Aſ 4??8?i2>I2];0YN}ByR!IbDZ VDZ8\yb-=%fN=ٔf9Q-f>9hYh=j EyjRDj܂;Ej>lQ 5r4nI?Q 9v4nes)nBYtyv?Q Iv@nMDIn:in:n4yxɮzA|:i%FNOT Ignoring new targets: 353.52 m."i%*i% ProNav: ac range: 353.515106 m, nav range: 347.596283 m, bearing: 32.548308 deg, approach rate: -0.604312 m/s, LOS rate: -0.004935 deg/s, cmd heading: 34.274262 deg, new cmd heading: 34.270343 deg. iHeadingCmd: 0.598130 target range: 353.515106 and range: 353.40 m.h?h9h9h9hAgIgIjgyrgereZe:e*e5# @5BDAT read: Rx Time:01:09:53.4708 =TRx dataTimestamp_ set to:1764896994.548182Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280857Bɢؖ) *E>i)u7i|;i?l=P=I?IY@Y @Y@a@aI ^A .=A >A > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527340A E  E E E "E T;*E 1:VE ZE a @a @a @a @I I O >N-#,з8LA,2mi>2'?2a<ٱ2ۚ=2H?H@㡿? ?Ŀ???i2mi>I25];2CY>By>!IiMb@Mb@Mb@ 9+?~jtx?~jtx?Yv?y;;M@A  A) @YAbDVD8y%0=%-9=ٔ-;Q-->9)Y1=5 Ey5RD5:E=>9Q 5E4=~I?Q 9M4=2o)=!BYMz?Q EM:yM!?Q IM@=NDI=:i=t:=C4yBɮQAE:iFNOT Ignoring new targets: 353.52 m."i%*i%ḝU ProNav: ac range: 353.515106 m, nav range: 347.326416 m, bearing: 32.545475 deg, approach rate: -0.585183 m/s, LOS rate: -0.006148 deg/s, cmd heading: 34.270344 deg, new cmd heading: 34.264674 deg. iU4]HeadingCmd: 0.598031 target range: 353.515106 and range: 353.40 m.h]?hYhYhYhYgagajgargeBeireiZei:e*e @Bɢ񚐽) r^>i)ݯi Hp;i?=I=I?Iԉ@ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781392Ա^A벫=A AAA AAB >B B ;"IB BB  =B B B <;B rE A I! I1 OE >)44#,8LA:>:6?:lٱ:~=:H ?? ?Ŀ?Il?ҍ?i:>I:{K^;:CYFByF!IIJ=)J<bDRVDR8yVZ=%ZS=ٔZ);Q-Z>9XY\=^ Ey^&RDb=bR=zDAT read: 01:09:53.4708 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.37, 1.642, 0.109, 1.933, 1.014, PHS= 0.729,-0.860, 0.874, RAW= 154.3, -9.0, CAL= 154.9, -10.7, ROT= 355.1, 10.7 ~Ygot valid direction response: 01:09:53.4708 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.37, 1.642, 0.109, 1.933, 1.014, PHS= 0.729,-0.860, 0.874, RAW= 154.3, -9.0, CAL= 154.9, -10.7, ROT= 355.1, 10.7 PDAT read: Bearing 179.5, 0.9 (Local) ~Local bearing/azimuth received: Bearing 179.5, 0.9 (Local) DAT read: Range 11 to 50 : 351.9 m (Round-trip 469.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.979022,-0.083932,-0.185667]Fpublishing direction and range infoy`bv)3%T?q}݋| &K{ǿYbC``bb b)bGIb:?i`bw_?bZ,@b| bc-@ bt;?)bDS@Ibt;?>``bu3?f~?;gbÿ bIZ?)b >Ib%ibt;?>``=T****** received valid address query ******9=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.M;EU>YQ 5e4]yI?Q 9e4]Ok)]3BYiym!?Q Im@] NDI]u:i]):]a4yuܖBɮuTAqi`ib58LAjbC"jbC:jb?Rjb`Fpu@3t={>bVPBjbv)3%T?q}݋| &K{ǿ*jb%2jbt;?>Zjb6Rɓr@ BZg@ЊYL9JjbU[??A2jb:C jbCibA#?ib 9jb#BjbGK?j`jb/BrjbCzjb? addTargetRange:: Added new target pos. range: 351.899994 m, deltaT: 4.284350 s, deltaX: -1.500000 m, approachRate: -0.350111 m/s, rangeRepo size: 4 E EE6E"E:*E:VEc4ZEBE>i9)=]j99i=c;iE?i=-=I?Iԑ(DAT read: user:45> BDAT read: Tx time:01:09:54.8975 $Ping request sent.2?2Sٱ2=2H?}ْ? ?@Ŀѕ?0[??i2iJ>I2¨^;2CY>By>!IE EE5E"E;*E~:VE4ZEa@a@a@a%@iUMb@Mb@Mb@QQQQ Q9UK?9 ?Y ?= Ey>RD:E>Q 547I?Q 94e)JBYq?Q E:y['?Q I@5NDI,:iw:Q4yޖBɮA:iFNOT Ignoring new targets: 351.97 m."i.*i. ProNav: ac range: 351.973694 m, nav range: 349.829620 m, bearing: 32.215549 deg, approach rate: -0.636224 m/s, LOS rate: -0.009556 deg/s, cmd heading: 34.259464 deg, new cmd heading: 34.249293 deg. i鋹HeadingCmd: 0.597763 target range: 351.973694 and range: 351.90 m.h?hhhhggjgrgBereZe:e*e M?5Bɢ5)1 5>i9)=ծ99i=B 2CB f"IB BB  =B B DB ;B qEB3CB4CBʕCB =B =Cz6A I I O >C#,S9LA0>>>~, ?> ٱ>n=>Hq?`z@W ??ĿXD?@Ʀ?`ώ?i>>I> /_;9tYt=v EyvMRDz ;Ez>|Q 54~I?Q 94~6b)~ZBYy'?Q I @~DNDI~;i~:~ǻ4yɮ,A-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 351.97 m."iE`%*iE`%U ProNav: ac range: 351.973694 m, nav range: 349.601990 m, bearing: 32.212093 deg, approach rate: -0.594869 m/s, LOS rate: -0.009036 deg/s, cmd heading: 34.249294 deg, new cmd heading: 34.242378 deg. iUL]HeadingCmd: 0.597642 target range: 351.973694 and range: 351.90 m.h]?hYhYhYhagagajgargaeireiZei:ei*eu?额Bɢ0z) >i)TP顡i;H;i?L̄==I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749109ԉD)D-<E5 E5E5:E1"E5T;*E5Ar:VE5(4ZE1BE5G|J#,.u,9LANM>N7q ?NٱNjH=NH $??@~?@ĿA ?_¼?H?iNM>IN_;NCYbByf"IiMb@Mb@Mb@ 9On?~jt?y&1|?Y?yD<`;@A A)@Y(@bD.VDװ8y%x<%(=ٔ:Q->9Y= Ey`RD ;E>Q 54J?Q 94])nBY?Q E:yD%?Q I@VNDI4:i:{ϻ4yBɮ"AE:i!-FNOT Ignoring new targets: 351.97 m."i-*i5E ProNav: ac range: 351.973694 m, nav range: 349.316284 m, bearing: 32.208179 deg, approach rate: -0.588397 m/s, LOS rate: -0.008069 deg/s, cmd heading: 34.242378 deg, new cmd heading: 34.234542 deg. iEDlMHeadingCmd: 0.597506 target range: 351.973694 and range: 351.90 m.hM?hIhIhIhQgQgQjgQrg]BeYreYZeY:ea*ee?e Bɢm)i m>ii)mMiqiuC9;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253256i?%=O =I?II@I @I@M/@IE EE4E"E:*E~:VE4ZEa@a@a@a@1 ^A "=M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505260A ؟AI I O >9uQ#,iF9LA@ 6x_>6,z ?6ٱ6N=6H /?@L??`}?$Ŀ??@?i6x_>I6_;6CYNԃByR&"IbDZ<VDZ8yb>%b_=ٔb׽;Q-f>9f"?Yf"?=f EyfoRDjT9Ej>lQ 5r4n_J?Q 9r4n?Z)n}BYpyrL%?Q Iv@ndNDIno;in :nջ4yxɮzeAx:iFNOT Ignoring new targets: 351.97 m."ij*i%j- ProNav: ac range: 351.973694 m, nav range: 349.100433 m, bearing: 32.205213 deg, approach rate: -0.589848 m/s, LOS rate: -0.008110 deg/s, cmd heading: 34.234544 deg, new cmd heading: 34.228609 deg. i5vm5HeadingCmd: 0.597402 target range: 351.973694 and range: 351.90 m.h5U?h1h9hhggjgrgereZe:e*e@? Bɢma) y>i)qi)3-;i%U?%=%X=I%U?I)B<A<B>B3CB"IB(BB =BBDB;BqEq9@ @@@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757093^A=D zD bE]Ȟ4jE]ȣ4rE]0E  E E 2E "E ;*E VE 4ZE BE 9N,W#,_9LA2:>2g ?2Zٱ2^=2H?@-@ޢ??ZĿٽ?땼??i2:>I2(`;0YR܃ByR/"IbDZ4VDZܰ8`yb=%fJ=ٔf&;Q-f>9hYh=j EyjRDj,5Ej>pQ 5r4r{J?Q 9v4ruV)rBYtyv:%?Q Iv@rsNDIr:ir:rܻ4yzBɮz3A~E:i%FNOT Ignoring new targets: 351.97 m."i%*i%5 ProNav: ac range: 351.973694 m, nav range: 348.861969 m, bearing: 32.201942 deg, approach rate: -0.589050 m/s, LOS rate: -0.008084 deg/s, cmd heading: 34.228609 deg, new cmd heading: 34.222063 deg. i5l=HeadingCmd: 0.597288 target range: 351.973694 and range: 351.90 m.h=?h9h9hAhAgAgAjgArgIeIreQZe:e*e``@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011541Bɢϒi) >i)#4i;i-?-=5=I5?I19@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261509^A ǚ=Q A5 .AIA IQ O] > ]#,y9LAE> E>E<E<"E>:*E>:VE<ZE)=p9 ?Y ?= EyRDE>Q 54-1J?Q 94YR)BY?Q E:y#?Q I@NDI:i:4y BɮA:i1=FNOT Ignoring new targets: 351.97 m."i=e *i=e M ProNav: ac range: 351.973694 m, nav range: 348.601044 m, bearing: 32.198610 deg, approach rate: -0.591678 m/s, LOS rate: -0.007562 deg/s, cmd heading: 34.222062 deg, new cmd heading: 34.215392 deg. iUo]uHeadingCmd: 0.597171 target range: 351.973694 and range: 351.90 m.hu7?hyhyhyhyggjgrgBeAreAZeI:eI*eM p@颵BɢPQ) >i)s项i;i7?>7=o=I7?IV>i>A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5137549@ @@@@xA@iB>B4CB"IBFBB =BBDB|;BUqE^A =ԙ A- ؟AI1 II OU >d#, “9LA>>>=>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765427YbBybP"IbDnVDn8yv<%v[=ٔtQ-v>9~"?Y~"?=~ Ey~RD E >Q 5-4>@J?Q 954N)BY1y1Q I5@NDI;ix;94yUǖBɮUAUEquB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 351.97 m."i*i ProNav: ac range: 351.973694 m, nav range: 348.378876 m, bearing: 32.195769 deg, approach rate: -0.583132 m/s, LOS rate: -0.007462 deg/s, cmd heading: 34.215392 deg, new cmd heading: 34.209706 deg. i}ZHeadingCmd: 0.597072 target range: 351.973694 and range: 351.90 m.h?hhhhggjgrgereZe:e*eI@BɢA) >i)lǪi\;i?EL=g=I?IE EEE"E;*E:VEZEBEAC Dj#,9LAN>NzD ?N ٱNI=NH`? `? 5?ÿG?`?@?iN>INUO`;NCYVByVR"Ii5Mb@Mb@Mb@1111 195On?Mb{GztY5?y55ף5@5A 5A)5d@1Y5@bDMVDM8y]Q;%]C=ٔ]^9aYa=eEyeRDmEm>qQ 5}4uaQJ?Q 9}4u1K)uBY}?Q E:y?Q I@uNDIu:iu:u{4yʖBɮA:iFNOT Ignoring new targets: 351.97 m."i*i ProNav: ac range: 351.973694 m, nav range: 348.132629 m, bearing: 32.194217 deg, approach rate: -0.600128 m/s, LOS rate: -0.003784 deg/s, cmd heading: 34.209706 deg, new cmd heading: 34.206600 deg. iݸQHeadingCmd: 0.597018 target range: 351.973694 and range: 351.90 m.h)?hhhhggjgrgBereZe:e*e @MBɢUaO)Q U>iQ)U,橽YYi]@:i])?eg=e״=Ie)?IiBDAT read: Rx Time:01:09:57.7671 TRx dataTimestamp_ set to:1764896998.830253checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2719379@ @@/@ԁE EEE"ET;*EVEZEa@a@a@a@ԩ^A% 箵=I I O% >= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521181 q#,f9LAJ>J8 ?J>ܽٱJ==JH?V#?@?ÿJz? V?@a?iJ>IJzV`;HYVByVe"IbD^VD^ɰ8yfƠ=%fT=ٔj!;Q-j>9hYh=nEynRDnZEn>pQ 5v4rHaJ?Q 9v4rG)rBYxyz?Q Iz@rNDIr :ir::r64y|ɮ~A:i!%FNOT Ignoring new targets: 351.97 m."i-*i-= ProNav: ac range: 351.973694 m, nav range: 347.904114 m, bearing: 32.192781 deg, approach rate: -0.594143 m/s, LOS rate: -0.003736 deg/s, cmd heading: 34.206602 deg, new cmd heading: 34.203728 deg. i=ڸEHeadingCmd: 0.596968 target range: 351.973694 and range: 351.90 m.hE?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU@颅Bɢϩ3) ?i)&顉i:i?|=̴=I?IA@AA@AB>B3CB"IB[BB =BBDBV;B(qE 9@  @ @R3@@%=@%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775716^Aõ=A>A>IAIYOe>) E  E E E "E l;*E :VE ZE BE dF2; ?27׽ٱ2u=2Hi?`4B`??ÿ6ں??!?i2>I2D`;2CY>By>}"I XZ4=bD^VD^8yf=%fK=ٔf;Q-f>9hYh=jEyjRDj8En>pQ 5v4rqJ?Q 9v4r=D)rBYtyv?Q Iv@rNDIr:irS:rB4yz̖Bɮ~A~E:i%FNOT Ignoring new targets: 351.97 m."i%҈*i%҈5 ProNav: ac range: 351.973694 m, nav range: 347.664978 m, bearing: 32.191275 deg, approach rate: -0.593174 m/s, LOS rate: -0.003738 deg/s, cmd heading: 34.203730 deg, new cmd heading: 34.200716 deg. i5ڸ=HeadingCmd: 0.596915 target range: 351.973694 and range: 351.90 m.h=m?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU`B @}Bɢ}/)  ?i)Z8顁in:im?==Im?IYq@q @q@}35@yUDAT read: 01:09:57.7671 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.23, 1.242,-0.193, 1.580, 0.773, PHS= 0.571,-0.921, 0.763, RAW= 156.0, -5.2, CAL= 155.8, -6.7, ROT= 354.2, 6.7 ]Ygot valid direction response: 01:09:57.7671 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.23, 1.242,-0.193, 1.580, 0.773, PHS= 0.571,-0.921, 0.763, RAW= 156.0, -5.2, CAL= 155.8, -6.7, ROT= 354.2, 6.7 PDAT read: Bearing 183.5, -0.5 (Local) ~Local bearing/azimuth received: Bearing 183.5, -0.5 (Local) DAT read: Range 11 to 50 : 349.1 m (Round-trip 465.5 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.988086,-0.100366,-0.116671]Fpublishing direction and range infoy  88g?P6mu"޽Y C     ) I -?i k SC? @.@ ޹ .@ |) @I |=   䲞?pЂ⊸?,"?PgP ҿ ?) zź=I )QϽi |=  T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.y^A]=IIO>߭ =߭ 4= (DAT read: user:46>  BDAT read: Tx time:01:09:59.2475  $Ping request sent. :6 ?:ѽ@ٱ:3.=:H?@,|㒿@{?`?@¿`?2?ѻ?`9?i:>I:b`;:CY~By|"IiMb@Mb@Mb@ 9 ףp= ?Mb{GztYQ?y@nA A)M@Y@bDVDh8yd%==ٔ;Q->9Y=EyRDY6E>Q 54˃J?Q 94m@)BYa?Q E:y?Q I@NDIy;i6;4yɮAi9i=9LAj=C"j=C:j= ?Rj=MIu@wcօA%I^DBj=88g?P6mu"޽*j=)QϽ2j=|=Zj=^s(r@&Pbf@Ñ)!Jj=n}u?hQ/i?ᨩÙj=3C j=ѕCi=g%?i=PGj=eBj=A#?j=PGj9rj=Czj= ?U addTargetRange:: Added new target pos. range: 349.100006 m, deltaT: 4.285761 s, deltaX: -2.799988 m, approachRate: -0.653323 m/s, rangeRepo size: 4  Added new target pos. range: 349.177826 m, bearing: 30.864023 deg, lat: 36.779739 deg, lon: -121.859739 deg, deltaT: 4.285761 s, deltaX: -2.795868 m, approachRate: -0.652362 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 349.18 m."i*i = ProNav: ac range: 349.177826 m, nav range: 345.096954 m, bearing: 31.257589 deg, approach rate: 0.000000 m/s, LOS rate: -0.003738 deg/s, cmd heading: 34.200714 deg, new cmd heading: 34.197407 deg. i9EHeadingCmd: 0.596857 target range: 349.177826 and range: 349.10 m.hE?hAhAhAhAgIgIjgqrgu΂BeyreyZey:e}u@*e}l?ԩ%Bɢ-ݠ:)) -?i))5p11i58:i=?===,,=I=?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2511449@ @@1@B>B,CB"IBoBB =B/DBDBs;B qE^A Ii Iy O >#,:LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5023136(>6< ?6Eνٱ6k=6HU?@oВ`?O?¿?I6`;6CYB#ByB"IbDJVDJ8yR+=%R]=ٔV.;Q-V>9TYX=ZEyZRDZXv9EZ>\Q 5b4^J?Q 9b4^)=)^BYdyf?Q If@^NDI^::i^:^N4yjϖBɮj`AhlzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 349.18 m."i ȸ*i ȸ ProNav: ac range: 349.177826 m, nav range: 344.877533 m, bearing: 31.255603 deg, approach rate: -0.605120 m/s, LOS rate: -0.005480 deg/s, cmd heading: 34.197408 deg, new cmd heading: 34.193434 deg. is %HeadingCmd: 0.596788 target range: 349.177826 and range: 349.10 m.h%?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=@?eBɢe)a e?ia)m:Tiiim0:iu?uƅ=u]=Iu?Iy)@) @1@5/@1@=zA@9Eu EuEu0Eq"Eu;*Eu:VEu4ZEqBEuDiI5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757898a *#,Z.:LA2J>2B ?2˽ٱ2=2H? |ޑ?`ٕ?w¿&h?.??i2J>I2ta;2CY>3ByB"Ii Mb@Mb@Mb@     9 n?/$Y ?y   7@ =A =A) @ Y @!!bD%VD%8y5(=9%5B=ٔ=J;Q-E>9AYA=EEyESDMR9EM>QQ 5]4U[J?Q 9]4U9)UBY]?Q E]:y]?Q Ie@UNDIU;iU;U4yiɮmAi:iFNOT Ignoring new targets: 349.18 m."i&*i&% ProNav: ac range: 349.177826 m, nav range: 344.630981 m, bearing: 31.253770 deg, approach rate: -0.584362 m/s, LOS rate: -0.004348 deg/s, cmd heading: 34.193433 deg, new cmd heading: 34.189764 deg. i%-HeadingCmd: 0.596724 target range: 349.177826 and range: 349.10 m.h-?h)hQhQhQgQgQjgYrg]ÂBeYreYZeY:ea*ee@?颭Bɢ!) B?i ) 1i} Y:i?<==I?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.093945ԑE EE4E"E ;*Exv:VE4ZEa@a@a@a@ 9@  @ @ 0@ Թ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258428^A- 箵= B<A<B>B)CB"IBBB+ =BBDB;BqEBYB]0CB]ΘCB] =B] =C]6A!I)I9OM?4#,yN:LAZۃ>Z^ ?ZkŽٱZ 2=ZH.?@?@ ?@S¿@3?`W?`?iZۃ>IZc;XYf@Byf"IbDrVDr8yvP=%z&=ٔz;Q-z>9|Y|=~Ey~SD";E>Q 5 4nJ?Q 94W5)BYyd?Q I@ODIu:i;H4y%ҖBɮ%A%E:iAMFNOT Ignoring new targets: 349.18 m."iM6*iM6] ProNav: ac range: 349.177826 m, nav range: 344.344330 m, bearing: 31.251581 deg, approach rate: -0.583332 m/s, LOS rate: -0.004459 deg/s, cmd heading: 34.189765 deg, new cmd heading: 34.185383 deg. i]eHeadingCmd: 0.596648 target range: 349.177826 and range: 349.10 m.he?hahihihigigijgqrgqeqreqZey:ey*e}?颥Bɢ)  '?i)|顩ib:i?^=y6=I?I)@) @)@-3@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510494E EE1E"EV:*E:VE-4ZEBE9= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762447Y 8#,h:LA&G2{AH؏9{AY A)Et>E, ?EýٱE=EH ^?`r0??V¿` W?!?Ϊ?iEt>IEc;ECYmUBym"Ia@a a@a a@a a@a bDVD8y=%0=ٔG;Q->9Y=Ey+SD:E>Q 54iJ?Q 94[1) BQ A+:YQ E:y?Q I@ODI:i>$4yɮA:i%FNOT Ignoring new targets: 349.18 m."i%;*i-;5 ProNav: ac range: 349.177826 m, nav range: 344.073120 m, bearing: 31.249470 deg, approach rate: -0.583247 m/s, LOS rate: -0.004542 deg/s, cmd heading: 34.185384 deg, new cmd heading: 34.181160 deg. i5=HeadingCmd: 0.596574 target range: 349.177826 and range: 349.10 m.h=?hhhhggjgrgereZe:e*eg@Bɢ5o)1 5"3?i9)i 9i? !=ڪ=I?I Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014530@ @@?5@@=@=ԁE  E E 3E "E :*E :VE 4ZE a @a @a @a @^A `=Ա A! I) I9 OM >#,r:LA2>2Z ?2!ٱ2Je=2H`?6y? =?_¿d? ?`?i2>I2 c;2CY>bBy>"I @Ba=bDFVDF8yN=%N`=ٔR;Q-R>9PYP=REyR9SDVh:EV>XQ 5^4ZGJ?Q 9^4Z;.)ZBQ A^ :Y\Q Ebm:yb?Q Ib@Z ODIZ:iZT?Z )4yfBɮfAfE~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266530:ixFNOT Ignoring new targets: 349.18 m."i*i ProNav: ac range: 349.177826 m, nav range: 343.860718 m, bearing: 31.247804 deg, approach rate: -0.583387 m/s, LOS rate: -0.004581 deg/s, cmd heading: 34.181159 deg, new cmd heading: 34.177823 deg. i%HeadingCmd: 0.596516 target range: 349.177826 and range: 349.10 m.h>?hhh!h!g!g!jg!rg)e)re)Ze)ԑ:e)*eM@Bɢظμ) :?i)xi579i >?N7=pM=I>?I9@ @@/@BU>BU*CBU#IBUBBU, =BQBUDBU_;BUpEԹ^A%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519051IA IQ O] >! bE9jE=24rE=١/E  E E E "E V:*E :VE ZE BE a 2E a JE ;a :E ;a tA#,n:LA2_@>2 ?2ٱ2w=2H?}2b?1?@]¿`? A?@?i2_@>I2SFb;0YzqByz"II>)bD VD 8ys=%C=ٔ%$j;Q-%>9!Y!=-Ey-KSD-T:E->1Q 5=45eJ?Q 9=45*)5 BQ AE9YAQ EE@:yE?Q IE@50ODI5;i5?5,4yIɮM'AImB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 349.18 m."i}*i} ProNav: ac range: 349.177826 m, nav range: 343.616028 m, bearing: 31.245866 deg, approach rate: -0.582827 m/s, LOS rate: -0.004617 deg/s, cmd heading: 34.177823 deg, new cmd heading: 34.173946 deg. i3HeadingCmd: 0.596448 target range: 349.177826 and range: 349.10 m.hϰ?hhhhggjgrgereZe:e*e @Bɢz̼) fC?i)r7iH+iϰ?bR=R=Iϰ?IQ@Y @Y@]/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185)^A==QI1 IA OM >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022382k#,J:LA2͍>2X!?2<ٱ2=z=2H? #`??¿DL?̣??i2͍>I2+a;0Y>By>"Ia-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-9v?Mb~jth?Y-?y--D;-@- @ -M@)-@)Y-@bDEVDE8yU=%UG=ٔUO3;Q-]>9YYY=eEye[SDeR:Ee>iQ 5u4mJ?Q 9u4m')m,BQ A}T:Y} ?Q E}:y}?Q I}@m?ODIm ;im ;m44yBɮAE:iFNOT Ignoring new targets: 349.18 m."iŸ*iŸ ProNav: ac range: 349.177826 m, nav range: 343.378082 m, bearing: 31.243649 deg, approach rate: -0.579144 m/s, LOS rate: -0.005402 deg/s, cmd heading: 34.173947 deg, new cmd heading: 34.169508 deg. i.HeadingCmd: 0.596370 target range: 349.177826 and range: 349.10 m.h?hhhhggjgrgBereZe:e*e@> @ Bɢ vҵ)  QM?i)ݞi<`i?n=%V=I%?I!QE} E}EyEy"E}:*E}:VEyZEya@a@a@a@9@ @@@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274425^AIqIO>ԩBU >BU 1CBU ;#IBU BBU " =BU .DBU DBU ;BU rpE qS#,$:LA6z>6!?6ٱ6/=6H&?=? ? ~ ? }? ?i6z>I6a;6CYBByB#IHJ@AbDNVDN8yV=%VV=ٔV$;Q-V>9XYX=ZEyZkSDZ%ǹE^>`Q 5f4b\ K?Q 9f4b#)b6BYdyf?Q If@bMODIb:ib`:b:4ylɮnAl:i|FNOT Ignoring new targets: 349.18 m."iŸ*iŸ ProNav: ac range: 349.177826 m, nav range: 343.156860 m, bearing: 31.241589 deg, approach rate: -0.579179 m/s, LOS rate: -0.005396 deg/s, cmd heading: 34.169507 deg, new cmd heading: 34.165384 deg. iHeadingCmd: 0.596298 target range: 349.177826 and range: 349.10 m.h?h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5 @]Bɢ]b)eoJ eX?ia)e=aaie*Mim?mڈ=u"=Iu?IqBDAT read: Rx Time:01:10:02.1139 TRx dataTimestamp_ set to:1764897003.365827checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528805Ա@ @@/@E EE2E"E:*E:VE4ZEBEH8 - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778374A z#,:LA]q>]!?]¶ٱ]U=]H?ay ??Xж?aI??i]q>I]Ha;]CYmBym#I qqiMb@Mb@Mb@ 9-?y&1|~jth?Y??y`廙@ @ @)@Y(@bDVD8ya=%4=ٔ%;Q-%>9!Y)=-Ey-}SD-BR:E5>1Q 5=45pK?Q 9E45)5CBYEB?Q EE:yE?Q IE@5^ODI5:i5:5B4yUBɮUAQ:iy}FNOT Ignoring new targets: 349.18 m."i*i ProNav: ac range: 349.177826 m, nav range: 342.894501 m, bearing: 31.238446 deg, approach rate: -0.578220 m/s, LOS rate: -0.006932 deg/s, cmd heading: 34.165385 deg, new cmd heading: 34.159095 deg. iJHeadingCmd: 0.596189 target range: 349.177826 and range: 349.10 m.hҟ?hhhh!g!gAjgIrgMȂBeIreIZeI:eI*eU@颽BɢX.) C^?i)ӛiFi ҟ?  = U+=I ҟ?II)xADAT read: 01:10:02.1139 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.10,-0.405,-1.857,-0.096,-0.890, PHS= 0.587,-0.922, 0.750, RAW= 155.1, -5.2, CAL= 154.9, -6.7, ROT= 355.1, 6.7 Ygot valid direction response: 01:10:02.1139 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.10,-0.405,-1.857,-0.096,-0.890, PHS= 0.587,-0.922, 0.750, RAW= 155.1, -5.2, CAL= 154.9, -6.7, ROT= 355.1, 6.7 PDAT read: Bearing 183.7, -0.6 (Local) ~Local bearing/azimuth received: Bearing 183.7, -0.6 (Local) DAT read: Range 11 to 50 : 346.7 m (Round-trip 462.3 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.989541,-0.084833,-0.116671] Fpublishing direction and range infoyy}dPQ?hޥmu"޽Y}YCy159@ @@/@yyy y)}FI}E?i}1l}@?}?-@y}c-@ y)}DS@Iyyy}v?YhO?il }?)}=I}%iyyyUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.E EEE"E;*E?:VEZEa@a@a@a@a ^A ]=IY Ii O} >be#,;LA(>%>>"!?>mٱ>=>H M?lB ?2?B? =? ?i>%>I>]a;>CYFByJ8#IbDRVDR8yZ=%Zf=ٔZN";Q-Z>9\Y\=bEybSDb8Ef>dQ 5j4f+K?Q 9j4f)fMBYlr(DAT read: user:47> vBDAT read: Tx time:01:10:03.4975 v$Ping request sent.vE  E E E "E T;*E ą:VE ZE BE G2!?2Vٱ2@=2H?灿?Ϗ?@bc? ? ų?i2Ks>I2/a;2CY8y8 B4=B%=bDFVDF8yN %NL=PٔR;Q-R>9TYT=VEyVSDZ4EZ>XQ 5b4Z;K?Q 9b4Z)ZXBY`yb?Q Ib@ZzODIZ:iZ:ZO4yfBɮjUAjEzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 346.77 m."iθ*iθ ProNav: ac range: 346.765259 m, nav range: 345.320374 m, bearing: 32.007257 deg, approach rate: -0.589067 m/s, LOS rate: -0.005654 deg/s, cmd heading: 34.154054 deg, new cmd heading: 34.149591 deg. i%HeadingCmd: 0.596023 target range: 346.765259 and range: 346.70 m.h?hh!h!h!g!g!jg)rg)e)re)Ze):e1*e5`M?ނBɢ98) Hj?i)% !!i%#i-?-ކ=-a=I-?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502717eybݻ1@1 @1@5/@9!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754812^Aq A} zAzA} yAQ AE EE3E"E=;*E:VE4ZEa@a@a@a@IIO>L#,>;LA22>2 ?2창ٱ2o =2H?` ~0? ?]@? {ݺ? ?i22>I2`;2CY:By:C#II><)>=i~Mb@Mb@Mb@|||| |9~333333?Mbp?Y~?y~;~|| ~@)||Y|bD(VDѰ8y%j=%%!=ٔ-;Q-->9)Y)=5Ey5SD5E5>ԙQ 54PK?Q 943)fBY?Q E:y"?Q I@ODIA:i:!Y4yBɮ!A:i9=FNOT Ignoring new targets: 346.77 m."iE *iE M ProNav: ac range: 346.765259 m, nav range: 345.007294 m, bearing: 32.003273 deg, approach rate: -0.592560 m/s, LOS rate: -0.007547 deg/s, cmd heading: 34.149590 deg, new cmd heading: 34.141615 deg. iU\uHeadingCmd: 0.595884 target range: 346.765259 and range: 346.70 m.h}ԋ?hhhhggjgrgBereZe:e*e`H?颍܂Bɢ) 7p?i)顑i?Ⱥiԋ?c=T=Iԋ?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007301;e9@a @i@i@iB]>B]/CB]#IB]BB] =BYB]DB];B]IoE^A ! i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259615A .AI I OM >f#,Z;LA2>2k ?2ٱ2z=2H? N||?Z?@ ?r?`A?i2>I2`;0Y:ۄBy:i#IbDFKVDF8yJe>%ND=ٔNx;Q-N>9R ?YR ?=REyRSDRĺEV>TQ 5Z4VaK?Q 9^4V~)VpBY\y^n"?Q I^@VODIV;iV;V`4y`ɮf(Ad:itzFNOT Ignoring new targets: 346.77 m."izr *izr |  ProNav: ac range: 346.765259 m, nav range: 344.770294 m, bearing: 32.000278 deg, approach rate: -0.602456 m/s, LOS rate: -0.007620 deg/s, cmd heading: 34.141616 deg, new cmd heading: 34.135621 deg. i _HeadingCmd: 0.595779 target range: 346.765259 and range: 346.70 m.h?hhhhggjgrge!re!Ze!:e!*e%`i?UڂBɢUo9)Q U\?iQE EE2E"E;*E:VE4ZEBED8"#,+w;LAɰ,6dy>6$ ?6ʪٱ6%=6H@u?`? v??` S? *?`?i6dy>I6 a;4Y>By>#I^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801i Mb@Mb@Mb@     9 `"?Mb?Y ?y <  @ @ ) @ Y @bDQVD8y,=%,=ٔB;Q->9"?Y"?=EySDkغE>Q 54sK?Q 94 )|BY?Q E:yk'?Q I@ODIA:i:\h4yBɮ AE:iFNOT Ignoring new targets: 346.77 m."i+*i+ ProNav: ac range: 346.765259 m, nav range: 344.491394 m, bearing: 31.995836 deg, approach rate: -0.588202 m/s, LOS rate: -0.009375 deg/s, cmd heading: 34.135622 deg, new cmd heading: 34.126732 deg. iA HeadingCmd: 0.595624 target range: 346.765259 and range: 346.70 m.h z?h hhhggjgrgBereZe:e!*e%:~@M؂BɢMP)Q Ug?iQ)UoQQi]ai]z?];=eܚ=Iez?IaԉE EE3E"E:*E:VE4ZEa@a@a@a@9@ @@/@Ա^A% =A->A->mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015128 AY Ii I O >BM >BM +CBM #IBM BBM % =BM /DBM DBM n;BM nEB/CB.CB˖CB" =B! =C+6Z#,jݐ;LA2<>2rh ?2ٱ2)o=2H? 3Ąg ?`(?=@?h? O?i2<>I2a;2CY:By:#I\bDrVDr°8yz=%zV=ٔ~\;Q-~>9|Y|=EySDE> Q 54 K?Q 94 g) BYyL'?Q I@ ODI b;i ; o4y!ɮ%& A!:iIMFNOT Ignoring new targets: 346.77 m."iU+*iU+e ProNav: ac range: 346.765259 m, nav range: 344.266693 m, bearing: 31.992271 deg, approach rate: -0.588530 m/s, LOS rate: -0.009344 deg/s, cmd heading: 34.126733 deg, new cmd heading: 34.119598 deg. ieΈmHeadingCmd: 0.595499 target range: 346.765259 and range: 346.70 m.hmr?hihihihigigqjgqrgqeqreyZey:ey*e}@颭ւBɢб;) {?i)j顱iir?S=D.=Ir?Iq@q @q@u/0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267068E EE4E"E ;*E:VE4ZEBELA v> - gGA Y P9 Y ܓA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520540/#,;LA!E>E4B ?EYٱE&=EH@3?:@Pa?@?:? _?s?iE>IENb;ECYBy#IbD)VDҰ8y1=% :=ٔq;Q->9)Y)=-Ey5SDE.EE>YQ 5e4]K?Q 9e4]-)]BYiym%'?Q Im@]ODI]u:i]:]v4yBɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 346.77 m."ix$*ix$- ProNav: ac range: 346.765259 m, nav range: 344.003479 m, bearing: 31.988115 deg, approach rate: -0.568686 m/s, LOS rate: -0.008987 deg/s, cmd heading: 34.119599 deg, new cmd heading: 34.111280 deg. i-5HeadingCmd: 0.595354 target range: 346.765259 and range: 346.70 m.h5!i?h1h1h9h9g9g9jg9rgAeAreAZeA:eA*eM ?@uԂBɢuD:)q }?iy)}yyi}{-i!i?q==I!i?II @  @ @ 0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770757q^A=E  E E 1E "E ;*E :VE -4ZE a @a @a @a @ԡ A I! I9 OE >X#,;LA2z>2 ?2fٱ2n=2H` ?W??@v?I?(??i2z>I2b;2CY:By:#Ii~Mb@Mb@Mb@|||| |9~Q?/$?Y~?y~<|~d@~@ ~ @)~@|Y~@bD*VDӰ8y%D=%%Z=ٔ-ٜ;Q-->9)Y1=5Ey5TD5E5>9Q 5E4=K?Q 9E4=)=BYM?Q EM:yM5)?Q IM@=ODI=(:i=1:=D}4yQɮU{ Ay:i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022905EFNOT Ignoring new targets: 346.77 m."iE2*iE2U ProNav: ac range: 346.765259 m, nav range: 343.790405 m, bearing: 31.984456 deg, approach rate: -0.568453 m/s, LOS rate: -0.009766 deg/s, cmd heading: 34.111280 deg, new cmd heading: 34.103958 deg. i]]HeadingCmd: 0.595226 target range: 346.765259 and range: 346.70 m.h]`?hahahahagagajgirgmBeireiZei:eq*euC @额҂Bɢ@N<) W?i)g獽顡ix?i`?V=vq=I`?II@I @I@MV1@I@U@U@U@UԩAAB>BB#IB:BB' =BBB^;BnEAxAzAxA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692AE .AII IY Om >! rA#,n;LA6&>6y?6כٱ6yM=6H?$rQe??P?n"v??@Z?i6&>I6b;4bE-ם4jE-ם4rE-.ER ERER3EP"ERT;*ERą:VER4ZEPBERG9v ?Yv ?=vEyvTDzEz>|Q 54~>K?Q 94~)~BYy )?Q I @~ODI~ ;i~S:~+4yBɮ; AE:i1=FNOT Ignoring new targets: 346.77 m."iE@*iE@U ProNav: ac range: 346.765259 m, nav range: 343.561035 m, bearing: 31.980541 deg, approach rate: -0.616552 m/s, LOS rate: -0.010531 deg/s, cmd heading: 34.103958 deg, new cmd heading: 34.096122 deg. iU.UHeadingCmd: 0.595090 target range: 346.765259 and range: 346.70 m.h]W?hYhYhYhYgYgajgargaeareiZei:ei*em9 @颕тBɢ|><) \?i)e%顡iTQiW?*=p=IW?IQ@Q @Q@U5@Y!IM%=MBDAT read: Rx Time:01:10:06.3617 UTRx dataTimestamp_ set to:1764897007.649168Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528449AIIOI>Qy k#,I;LA2>2?2ҵٱ2c=2H?whb?`?@?@MI?9? e?i2>I2\b;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778733YV*ByV#Ii5Mb@Mb@Mb@1111 195x?:v?y&1|Y5K?y5<5`5@5z@ 5M@)5d@1Y5@bDVD8y-=%-7=ٔ=œ;Q-E>9IYIY=UEyu'TDE>Q 54qK?Q 94)BYs?Q E:y+?Q I@ODIy;ir;Q4y!ɮ% A!:iFNOT Ignoring new targets: 346.77 m."iB*iBDzDAAE EEE"E~ ;*E:VEZEa@a@a@a@ ProNav: ac range: 346.765259 m, nav range: 343.287506 m, bearing: 31.975488 deg, approach rate: -0.574950 m/s, LOS rate: -0.010631 deg/s, cmd heading: 34.096123 deg, new cmd heading: 34.086008 deg. iHeadingCmd: 0.594913 target range: 346.765259 and range: 346.70 m.h9L?hhhhggjgrgBereZe:e*e܍@5ςBɢ5.;)1 5͖?i9)=ȉ99i=t5fiE9L?E\=E#=Ie9L?Iiԁ@ @@^4@DAT read: 01:10:06.3617 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.20,-0.241,-1.722, 0.104,-0.779, PHS= 0.640,-0.898, 0.839, RAW= 156.0, -7.1, CAL= 156.2, -8.7, ROT= 353.8, 8.7 Ygot valid direction response: 01:10:06.3617 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.20,-0.241,-1.722, 0.104,-0.779, PHS= 0.640,-0.898, 0.839, RAW= 156.0, -7.1, CAL= 156.2, -8.7, ROT= 353.8, 8.7 PDAT read: Bearing 181.5, -3.0 (Local) ~Local bearing/azimuth received: Bearing 181.5, -3.0 (Local) DAT read: Range 11 to 50 : 345.0 m (Round-trip 460.0 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.982712,-0.106757,-0.151261]ԩAIIFpublishing direction and range infoyQUY}`r?(cgTni\ÿYUCQQQQ Q)QIU #?iUTeUV?U@.@UU!z.@ U|)Ue@IU|>QQU`"&ү?%? ζ U ?)UU/=IUiݽiU|>QQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O >B >B -CB $IB YBB $ =B B DB d;B nE )T#,'25?2ٱ2D=2H`?`a?;??@fk?s?̾?i2>I2b;2CY>=ByB#IDDbDJVDJ8yf=%fd=ٔfs;Q-f>9hYh=jEyj5TDjEn>Q 5%4K?Q 9%40)BY!y%*?Q I%@ PDI:i:\4y5Bɮ5| A1ii_ Zjg}Cr@E>Re@ .?Jj&s{?KG"?ն"j-C j*Ci~$\?ij Bj3?jjrjCzj/f?} addTargetRange:: Added new target pos. range: 345.000000 m, deltaT: 4.283343 s, deltaX: -1.700012 m, approachRate: -0.396889 m/s, rangeRepo size: 4  Added new target pos. range: 345.042084 m, bearing: 30.418691 deg, lat: 36.779749 deg, lon: -121.859677 deg, deltaT: 4.283343 s, deltaX: -1.723175 m, approachRate: -0.402297 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 345.04 m."i*i ProNav: ac range: 345.042084 m, nav range: 344.058502 m, bearing: 31.870588 deg, approach rate: 0.000000 m/s, LOS rate: -0.010631 deg/s, cmd heading: 34.086008 deg, new cmd heading: 34.078777 deg. iHeadingCmd: 0.594787 target range: 345.042084 and range: 345.00 m.hC?hhhhggjgrgereZe:eu@*eA?΂Bɢ܅<) ?i)#idwiC?'Ї=p=IC?I Ա9@ @@/@A>A(DAT read: user:48> BDAT read: Tx time:01:10:07.7475 $Ping request sent. E EE4E"E;*EVE4ZEBE9Nu?uٱu($=uH?mh???ѱ???iuTK>Iuc;uCYIBy#I bDMVDM8yM=%/=ٔܤ;Q->9"?Y"?=EyITDE>Q 54 K?Q 94)BYyw*?Q I@PDI:i;o4yɮ AB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 345.04 m."i%F*i%F] ProNav: ac range: 345.042084 m, nav range: 343.787323 m, bearing: 31.865614 deg, approach rate: -0.591182 m/s, LOS rate: -0.010852 deg/s, cmd heading: 34.078778 deg, new cmd heading: 34.068822 deg. i]➹eHeadingCmd: 0.594613 target range: 345.042084 and range: 345.00 m.he8?hahahahaggjgrgereZe:e*e6 ?%̂Bɢ-q<)) -?i))-11i5'i58?=a==~=I=8?I9@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504131D %=D %=E  E E 3E "E T;*E :VE 4ZE a @a @a @a @! ^A =A .AI I) OE >=#,G2?2,hٱ2=2H?*f? ێ??lI?=?`L?i2>I2b;2CY>DBy>#IiMb@Mb@Mb@ 9d;O?Q?95 ?Y5 ?=5Ey5XTD="úE=>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7540639Q 5U4=K?Q 9U4=)=BY]?Q E]:y]X,?Q I]@=)PDI=d;i=w:=4yeBɮed AmyE:iEFNOT Ignoring new targets: 345.04 m."iU,E*i],E ProNav: ac range: 345.042084 m, nav range: 343.567108 m, bearing: 31.861296 deg, approach rate: -0.549086 m/s, LOS rate: -0.010774 deg/s, cmd heading: 34.068823 deg, new cmd heading: 34.060181 deg. iHeadingCmd: 0.594462 target range: 345.042084 and range: 345.00 m.h.?hhhhggjgrgBereZe:e*e`b?5˂Bɢ5ٯ<)1 54?9iQ)]髃YYi]kie.?em=e1=Ie.?IiB>B,CB"$IBrBB# =BBB;BoE9@ @@/@^Aϰ=aAIIO%>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005994ԑ E  E E 7E "E ;*E |:VE Ժ4ZE BE LR%?R慽ٱRE=RH )?8;m?@??ʹ?۸??iRg>IRb;RCY^[By^$IbDf VDf8yn=%nQ=ٔr9;Q-r>9pYp=rEyvgTDvEv>xQ 5~4zL?Q 9~4ze)zBYy',?Q I@z8PDIzH;iz;z4y ɮ  A :i15FNOT Ignoring new targets: 345.04 m."i=Y*i=YM ProNav: ac range: 345.042084 m, nav range: 343.341278 m, bearing: 31.856891 deg, approach rate: -0.607719 m/s, LOS rate: -0.011862 deg/s, cmd heading: 34.060183 deg, new cmd heading: 34.051367 deg. iMUHeadingCmd: 0.594308 target range: 345.042084 and range: 345.00 m.hU$?hQhQhQhQgQgYjgYrgYeareaZea:ea*ee`?颕ʂBɢ=) B?i)ׁ顙iqi$?=J=I$?Iԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258390t@ @@4@ ^A =A zA tA% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510732Q I I O >#,~2VR?2dٱ2Ck=2H_?`ɟ#|???5)?`L??i2>I2Kb;2CY:^By: $II>=)>>E= E=E=2E9"E=:*E=:VE=4ZE9aE@aE@aE@aE@iuMb@Mb@Mb@qqqq q9u +?~jt?9Y=Ey{TDE>Q 54_L?Q 94)BY?Q E:y)?Q I@JPDI:i:L4yBɮ AzE:iFNOT Ignoring new targets: 345.04 m."i;*i;  ProNav: ac range: 345.042084 m, nav range: 343.061310 m, bearing: 31.851986 deg, approach rate: -0.585486 m/s, LOS rate: -0.010266 deg/s, cmd heading: 34.051369 deg, new cmd heading: 34.041551 deg. i MHeadingCmd: 0.594137 target range: 345.042084 and range: 345.00 m.h_?hhhhggjg!rg!e!re!Ze!:e)*e-R?UɂBɢU`<)Y ]K?iY)]d~YYi]Qie_?e*=m^ʯ=Im_?Ii)M?9@ @@/@@a=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763665YBM>BIBMB$IBMBBM$ =BIBIBM};BMoE^A٦=ԁ I I O >k%#,I2?2xٱ2%N=2H: ?@ޕ Ѓ?|?`?`??@?i2&p>I2{a;0YRmByR$IbDZVDZ8ybK=%bZ=ٔf;Q-f>9dYd=fEyfTDjTEj>lQ 5-4n#L?Q 9-4nL)nBY1y5(?Q I5@nXPDIn:in:nض4y=#Bɮ= AAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014051:iiuFNOT Ignoring new targets: 345.04 m."iu4*i}4 ProNav: ac range: 345.042084 m, nav range: 342.841888 m, bearing: 31.848181 deg, approach rate: -0.568863 m/s, LOS rate: -0.009871 deg/s, cmd heading: 34.041550 deg, new cmd heading: 34.033935 deg. iHeadingCmd: 0.594004 target range: 345.042084 and range: 345.00 m.h?hhhhggjgrgereZe:e*eOA@ȂBɢT=) J?i)Tpzi昬i?===I?IԉEU EUEU3EQ"EU%;*EU҆:VEU4ZEQBEUKc+#,4rY?raٱr=rH@?@iY? l??s7?N?@ ?ir#>IrHa;rCY~{By~.$IiMb@Mb@Mb@ 9"~? rh?y&1|Y?yC<`@@ d@)Y@bDܿVD8y=%9=ٔDI9Y=EyTDտE>Q 54;4L?Q 94D)BY ?Q E:y+%?Q I@hPDI8:i:4y ɮ@ A{E-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 345.04 m."i=!*iE!U ProNav: ac range: 345.042084 m, nav range: 342.587982 m, bearing: 31.844378 deg, approach rate: -0.589593 m/s, LOS rate: -0.008836 deg/s, cmd heading: 34.033934 deg, new cmd heading: 34.026324 deg. iU^]HeadingCmd: 0.593871 target range: 345.042084 and range: 345.00 m.h]?hYhYhYhYgYgYjgargeBeareaZei:ei*em α@额ǂBɢ?=) ?i),u顡iHWi?P=&ɩ=I?II)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517929y@ @@@EU EUEQEQ"EU ;*EU:VEQZEQa]@a]@a]@a]@^A"=I I O- >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770683V2#,b.?brUٱbeh=bH?Az@ɒ?Ki?`l?>`??4?ib>Iba;bCYjByjC$I ppbDtVDty~L=%~Z=ٔu;Q->9Y= Ey TD XE >Q 5%4BL?Q 9%4)BY!y%%?Q I%@vPDI(;iX);ż4y1ɮ5 A1:iQ]FNOT Ignoring new targets: 345.04 m."i]*i]m ProNav: ac range: 345.042084 m, nav range: 342.372467 m, bearing: 31.841170 deg, approach rate: -0.575230 m/s, LOS rate: -0.008569 deg/s, cmd heading: 34.026322 deg, new cmd heading: 34.019901 deg. imzuHeadingCmd: 0.593759 target range: 345.042084 and range: 345.00 m.hu?hyhyhyhygygyjgrgereZe:e*e@U@颵ƂBɢk)=) ?i)kq项ii?t`=b=I?IB>B-CB[$IBBB" =BBDBQ;BnEB,CB,CBCB$ =B$ =C5 @  @ @ /@ AiqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022164ԉPExceeded connect timeout, disconnecting.^Am=IIO>Ee  Ee Ee 6Ea "Ee ;*Ee ՚:VEe c4ZEa BEe @Bd?BIٱB=BH^!?`u?g?? `% ?S??iB>IB b;BCYNByNH$IbDVտVDV8y^V<%^O=ٔbS9`Y`=bEyfTDfhmEf>hQ 5n4j2RL?Q 9r4j=)jBYtyz$?MGaQ I]@jPDIj 5?#,9"?Y"?=Ey%TD%E%>)Q 554-dL?Q 954-))-BY=?Q E=:y=!?Q I=@-PDI-,:i-=:-Ӽ4yE!BɮE! AA:iiuFNOT Ignoring new targets: 345.04 m."iu*i} ProNav: ac range: 345.042084 m, nav range: 341.883392 m, bearing: 31.834437 deg, approach rate: -0.627760 m/s, LOS rate: -0.008060 deg/s, cmd heading: 34.013143 deg, new cmd heading: 34.006427 deg. ilHeadingCmd: 0.593524 target range: 345.042084 and range: 345.00 m.h2?hhhhggjgrgBereZe:e*e`4r@ɢr8=) ?i)fgiһi2?==I2?I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781378)B5>B5.CB5t$IB5BB5! =B1B1B5;B5nE^A=AzAxAA I I O >Q F#,=LA2>2 ?22ٱ2=2H#?pi?g??, gA? ??i2>I2b;2CYNByN`$IIR=)R<bDZVDZ8ybA=%bc=ٔb9dYd=fEyfTDjEj>lQ 5r4nXrL?Q 9r4n)nBYpyr!?Q Ir@nPDInG:in`:n)ڼ4yzBɮz AzrE:iFNOT Ignoring new targets: 345.04 m."i*i%- ProNav: ac range: 345.042084 m, nav range: 341.673492 m, bearing: 31.831747 deg, approach rate: -0.582944 m/s, LOS rate: -0.007476 deg/s, cmd heading: 34.006426 deg, new cmd heading: 34.001042 deg. i-ZeDAT read: 01:10:10.6082 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 399, 0.35,-2.029, 2.812,-1.776,-2.395, PHS= 0.468,-1.031, 0.574, RAW= 153.4, -0.1, CAL= 152.2, -1.1, ROT= 357.8, 1.1 mYgot valid direction response: 01:10:10.6082 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 399, 0.35,-2.029, 2.812,-1.776,-2.395, PHS= 0.468,-1.031, 0.574, RAW= 153.4, -0.1, CAL= 152.2, -1.1, ROT= 357.8, 1.1 uPDAT read: Bearing 188.0, 0.2 (Local) }~Local bearing/azimuth received: Bearing 188.0, 0.2 (Local) DAT read: Range 11 to 50 : 342.4 m (Round-trip 456.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.999079,-0.038381,-0.019197]Fpublishing direction and range infoy15½s?G-]~Y53C1111 1)5EI5>i55?5uY+@55P*@ 5nF)5M@I5nF<115|B7;?? c}d 5l*?)5#;I5Fi5nF<11T****** received valid address query ******R****** received valid ping request ******nManaging dock network, ignoring radio surface power offQuerying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 0.593430 target range: 345.042084 and range: 345.00 m.h ?hhhhggjgrgereZe:e`ffu@*e?)uĂBɢuŦC=)q u߷?iq)}76cyyi} ܻi ?o=_=I ?IbE4jEH4rEð/EY E]E]1EY"EY*E]:VE]-4ZEYBEYam2EYamJE];am:E];amu9@q @q@u0@q@=@=Y^Aʞ=ԉ(DAT read: user:49> BDAT read: Tx time:01:10:11.9974  $Ping request sent. dFL#,$|3=LAYByi$IiMb@Mb@Mb@ԉ 9Q?I +?{GzY?y94<#@ @)@Yp@bDVD8y3=%/=ٔQ->9Y=EyTDE>Q 54L?Q 94)BY?Q E:yI"?Q I@PDI#:i:T4yBɮH Aiiim'=LAjm9C"jm9C:jm?RjmF[@"bu@|I*;KBjm½s?G-]~*jmF2jmnF<Zjmo`q@ [g@ @Jjm##?@jtu?ݔ?jm:C jmsCimFC?imT9jmBjijijirjmCzjm5?5 addTargetRange:: Added new target pos. range: 342.399994 m, deltaT: 4.288184 s, deltaX: -2.600006 m, approachRate: -0.606319 m/s, rangeRepo size: 4 E Added new target pos. range: 342.448792 m, bearing: 33.074735 deg, lat: 36.779749 deg, lon: -121.859677 deg, deltaT: 4.288184 s, deltaX: -2.593292 m, approachRate: -0.604753 m/s, posRepo size: 4 :iAEFNOT Ignoring new targets: 342.45 m."iM*iI] ProNav: ac range: 342.448792 m, nav range: 341.400818 m, bearing: 31.828154 deg, approach rate: 0.000000 m/s, LOS rate: -0.007476 deg/s, cmd heading: 34.001040 deg, new cmd heading: 33.993988 deg. iYeHeadingCmd: 0.593307 target range: 342.448792 and range: 342.40 m.he?hahahahagigijgirgmBeqreqZeq:eq*eud?颡ɢ(=) ?i)V]顩iP)i?(=˳=I?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2486229@ @@B0@DU=DU<E] E]E]5EY"E]:*E]M:VE]4ZEYae@ae@ae@ae@^A ا= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503210! IY Ii Ou >>S#,,M=LAɰ2;>2D?2Kٱ2 =2H!?`p ?n?`?`[a?`X??i2;>I2a;2CY>By>t$I@@bDFVDF8yN?K=%Nq=ٔRӝBB$IBÅBB =BBDB;BtnEÂBɢt=) ! EE  EE EE 2EA "EE %;*EE :VEE 4ZEA BEE K2q?2t ٱ2=2H1? sf?s?`?@?j?@t?i2eN>I2 a;2CYRByRz$IbDZVDZ°8yb̾<%bH=ٔf 9dYd=fEyf UDj:Ej>lQ 5r4nL?Q 9r4n)nBYpyv"?Q Iv@nPDIn;in;nc4yxɮz Ax:iFNOT Ignoring new targets: 342.45 m."i/*i/ ProNav: ac range: 342.448792 m, nav range: 340.965027 m, bearing: 31.822304 deg, approach rate: -0.551464 m/s, LOS rate: -0.007441 deg/s, cmd heading: 33.988698 deg, new cmd heading: 33.982280 deg. iYHeadingCmd: 0.593103 target range: 342.448792 and range: 342.40 m.h?hhhhggjg!rg)e)re1Ze1:e1*e=?yɢ}#?=) ?i)QoT顁i1i?ʈ==I?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008680qIE9@A @A@E 5@A@MyA@MtAԡ^AM 벫=I I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2607984L`#,?=LA2>2?2%ٱ2=2H@M?3zl0?@}? ?n`=?1?@?i2>I2va;2CY:By:$IPE EEE"E:*E$:VEZEa @a @a @a @iMb@Mb@Mb@ 9X9v? rh?9IYI=MEyMUDU{];EU>QQ 54U߲L?Q 94U)UBY?Q E:y%?Q I@UPDIU:iU:U4yBɮ A:i1UFNOT Ignoring new targets: 342.45 m."i]$*i]$m ProNav: ac range: 342.448792 m, nav range: 340.723480 m, bearing: 31.818558 deg, approach rate: -0.580461 m/s, LOS rate: -0.009007 deg/s, cmd heading: 33.982281 deg, new cmd heading: 33.974785 deg. im݃uHeadingCmd: 0.592972 target range: 342.448792 and range: 342.40 m.hu?hhhhggjgrgBereZe:e*e`m?颉ɢ9N=) ?i);'O顑iri?߈=i=I?Ie9@a @a@e"4@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512592B>BB$IB҅BB =BBB;BAnE^A =I I O >! Yvf#,=LA2>2??2 ռٱ2+=2H`?` ?`?@?m?U?@a?i2>I2}a;2CY:ͅBy>$I BC=Ba=bDF1VDFڰ8yN{=%NV=ٔR"9PYP=REyV-UDVȓ;EV>XQ 5^4ZL?|%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764843Q 9E4Zr)ZBYAyE,&?Q IE@ZPDIZechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016703ԁ ;l#,=LA->-?-ٱ-a=-H ? `?`q?7?ν??4?i->I-a;-CYEԅByE$IQiMb@Mb@Mb@ 9 +?Zd;O?9Y=Ey?UDg;E> Q 54 YL?Q 94 +) BY?Q E:y)?Q I@ PDI V:i =: G4y%Bɮ- A-tE:iIUFNOT Ignoring new targets: 342.45 m."iUI*iUIe ProNav: ac range: 342.448792 m, nav range: 340.239868 m, bearing: 31.810394 deg, approach rate: -0.620434 m/s, LOS rate: -0.011031 deg/s, cmd heading: 33.967818 deg, new cmd heading: 33.958446 deg. iemHeadingCmd: 0.592687 target range: 342.448792 and range: 342.40 m.hmQ?hihqhqhqgqgqjgyrg}BeyreyZey:ey*e@@IɢMe=)I Mr?iI)U.IEQQiU3 i]Q?] =]/=I]Q?Ia5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269499ԁ9@ @@@@ @ =E EE2E"E;*E:VE4ZEa%@a%@a%@a%@ԩ^A% *= Ai I I O > > 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520874Zs#, =LA2B>2?2nٱ2=2H?@a? `? ? i?l? {?i2B>I2a;2CY:ՅBy:$IbDF2VDFڰ8yJ;%Nd=ٔN,.9 Y = Ey OUD3};E>Q 5%4L?Q 9%4)Y!y%n)?Q I%@ QDI\:i: 4y1ɮ5 A1BE>BABE$IBEBBE =BABEDBE;BEinEmB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 342.45 m."i}?*i? ProNav: ac range: 342.448792 m, nav range: 340.022125 m, bearing: 31.806468 deg, approach rate: -0.579893 m/s, LOS rate: -0.010464 deg/s, cmd heading: 33.958447 deg, new cmd heading: 33.950589 deg. i2HeadingCmd: 0.592550 target range: 342.448792 and range: 342.40 m.hT?hhhhggjgrgereZe:e*e@Թɢ뷂=) ?i)@ih iT?!=ո=IT?Ii@i @i@m/@i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772681^A箵=A I I O >E-  E- E) E) "E- ;*E- :VE) ZE) BE- L;a= A ey#,=LAɰ4<2>2n/?2G]kٱ26=2H?`ө? u?@r?@aKfk? D??i2>I2a;2CY:By:$I@BAAbDF#VDFͰ8yNc=%NJ=ٔR9PYT=VEyV_UDZt:EZ>dQ 5n4fVL?Q 9r4f)fBYtyv)?Q Iv@fQDIfZ;if$;f4yBɮAuE:iFNOT Ignoring new targets: 342.45 m."iN9*iN9 ProNav: ac range: 342.448792 m, nav range: 339.791260 m, bearing: 31.802282 deg, approach rate: -0.558118 m/s, LOS rate: -0.010125 deg/s, cmd heading: 33.950589 deg, new cmd heading: 33.942212 deg. i>HeadingCmd: 0.592403 target range: 342.448792 and range: 342.40 m.h?hhhhggjgrgereZe:e*e q @IɢM^y=)Q Uf?iQ)]5;YYi]-iu?};=}=I}?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0274649@ @@/@A^AG=A>A>qM BDAT read: Rx Time:01:10:14.8376 U TRx dataTimestamp_ set to:1764897015.972671U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277803Aa Ii Iy O >ԙ ĝ#,>LA2>2N?2f)ٱ2/=2H@?```Vu?@? \?-`,? l8?`?i2>I2ja;0YNڅByN$IEn EnEn1El"En ;*EnZ:VEn-4ZElar@ar@av@av@i=Mb@Mb@Mb@9999 99=ʡE?~jtx?MbY=-?y=;==E@=z@ =@)=@9Y=@bDMVDM8y]%e>=ٔey9aYi=mEympUDm6:Em>qQ 5}4uM?Q 9}4u)uBY2?Q E:y]"?Q I@u,QDIuA:iu(:u4yіBɮA kE:iQUFNOT Ignoring new targets: 342.45 m."i] *i] m ProNav: ac range: 342.448792 m, nav range: 339.548157 m, bearing: 31.799029 deg, approach rate: -0.574246 m/s, LOS rate: -0.007691 deg/s, cmd heading: 33.942212 deg, new cmd heading: 33.935700 deg. iim2aHeadingCmd: 0.592290 target range: 342.448792 and range: 342.40 m.hL?hhhhggjgrgBereZe:e*e4~ @ɢ-w=)) -?i1)5511i5 i=L?=V===I=L?IA@ @@/@@ @ zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528947ԩB9B9B=$IB=BB9B9B9B=6;B=nEB.CB.CBB =B =C55^At=I I O > qֆ#,>LAJi1>J&c?J׻ٱJW=JH?`m2??`_?`4 z?n]??iJi1>IJda;HYVByV$IbDbVDb8yj=%jR= DAT read: 01:10:14.8376 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.35,-1.390,-2.844,-1.074,-1.683, PHS= 0.394,-1.116, 0.564, RAW= 155.3, 2.0, CAL= 154.0, 1.1, ROT= 356.0, -1.1 Ygot valid direction response: 01:10:14.8376 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.35,-1.390,-2.844,-1.074,-1.683, PHS= 0.394,-1.116, 0.564, RAW= 155.3, 2.0, CAL= 154.0, 1.1, ROT= 356.0, -1.1 PDAT read: Bearing 190.8, -3.4 (Local) ~Local bearing/azimuth received: Bearing 190.8, -3.4 (Local) -DAT read: Range 11 to 50 : 327.0 m (Round-trip 436.1 ms) speed 0.7 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.997380,-0.069744,0.019197]=Fpublishing direction and range infoylnQ#?M50ڱ]~?YnCllll l)nJIn^>inَnNb?nx-@n5=n,@ nnF<)n@InnFlln6(?` w?:6Nء? n?)nIn)innFllUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.ٔe)9iYi=mEymUDmG:Eu>1Q 5=45M?Q 9=45:)1YAyEq"?Q IE@5;QDI5:i5:5!4yMҖBɮMIAmlEԱilinGt>LAjnC"jnC:jn` ?Rjn Dct@iC16ƈ!@BjnQ#?M50ڱ]~?*jn)2jnnFZjnlD.iq@sige@'@JjnYDA???jn;+C jnICin{Ũ?in}؅jnϑBjljnPGjneBrjn:Czjn ?} addTargetRange:: Added new target pos. range: 327.000000 m, deltaT: 4.035907 s, deltaX: -15.399994 m, approachRate: -3.815746 m/s, rangeRepo size: 4  Added new target pos. range: 327.046051 m, bearing: 31.577879 deg, lat: 36.779749 deg, lon: -121.859739 deg, deltaT: 4.035907 s, deltaX: -15.402740 m, approachRate: -3.816426 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 327.05 m."i*i ProNav: ac range: 327.046051 m, nav range: 336.458313 m, bearing: 31.005734 deg, approach rate: 0.000000 m/s, LOS rate: -0.007691 deg/s, cmd heading: 33.935699 deg, new cmd heading: 33.928860 deg. E EE3E"E~ ;*EM:VE4ZEBEV BDAT read: Tx time:01:10:16.0474 $Ping request sent.g#,68>LAPR@zV>zu?zZٱzA=zHx?`V@md? ?`?Tk?@:?z?izV>Izva;zCYBy $IiMb@Mb@Mb@ 9tV?~jt?QY?y<uM@ M@)Y@ 4=%=bDVDy=%2=ٔ;Q->9Y=EyUDR(:E>Q 54"M?Q 94`)BY?Q E:y(?Q I@KQDI:i];(4yɮA9:iFNOT Ignoring new targets: 327.05 m."iiZ*iiZ ProNav: ac range: 327.046051 m, nav range: 336.220734 m, bearing: 31.000957 deg, approach rate: -0.593151 m/s, LOS rate: -0.011934 deg/s, cmd heading: 33.928859 deg, new cmd heading: 33.919298 deg. iHeadingCmd: 0.592003 target range: 327.046051 and range: 327.00 m.h?hhhhggjgrgBereZe:e*eh?%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819MĂBɢM4=)Q Ua?iQ)u!*yyi}Ci?=C=I?Iq@ @@/@E  E E E "E  ;*E 1:VE ZE a@a@a@a@ԙ^A =A yAzA xAIQ Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502685 BA AE <BM >BM -CBM $IBM BBM " =BI BI BM u;BM nER#, #R>LAF_>FQz?F6ٱF3j=FH@,?c`Kί??? H&5?_??iF_>IFSa;FCYRByR$IbDZϿVDZ8ybc%bZ=ٔf9dYd=fEyjUDjsD9Ej>lQ 5r4n0M?Q 9r4n)nBYtyv(?Q Iv@nYQDIn ;in~:n{/4yzӖBɮzdAx B*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 327.05 m."i%][*i%][5 ProNav: ac range: 327.046051 m, nav range: 336.007904 m, bearing: 30.996668 deg, approach rate: -0.594456 m/s, LOS rate: -0.011987 deg/s, cmd heading: 33.919300 deg, new cmd heading: 33.910717 deg. i5~=HeadingCmd: 0.591854 target range: 327.046051 and range: 327.00 m.h=?h9h9h9hAgAgAjgArgAeIreIZeI:eI*eU,3?9ɢ==)9 =?i9)E&AAiEk iM?M㤉=M=IM?IIԑ@ @@0@@=@=i!I%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754970^AIyIO>bEȞ4jEȍ4rET/E  E E 2E "E ;*E :VE 4ZE BE ALA:>:RK?:LG;ٱ:=:H?Lذ?¦? ?z( h`һ?n?i:>I:a;8YFByF$IbDRVDR8yVY=%ZM=ٔZ 9\Y\=^Ey^UDbEb>`Q 5f4b@M?Q 9j4b@)bBYhyju(?Q Ij@bgQDIb:ibo;bq64ylɮr Ap:iaeFNOT Ignoring new targets: 327.05 m."im4K*im4Kchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912 ProNav: ac range: 327.046051 m, nav range: 335.781128 m, bearing: 30.992119 deg, approach rate: -0.553149 m/s, LOS rate: -0.011104 deg/s, cmd heading: 33.910718 deg, new cmd heading: 33.901614 deg. iHeadingCmd: 0.591695 target range: 327.046051 and range: 327.00 m.hOy?hhhhggjgrgereZe:e*eP?młBɢV=) 3?i) 顑iV $iOy?C==IOy?I @ @@2@9^A:=M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258574a Iq I O >D1 zD5 @AE=  E= E= 6E9 "E= l;*E= ҆:VE= c4ZE9 aE @aE @aE @aE @%V#,>LAɰ B>BF7?B=;ٱBM=BH? ޱ?`?J?k&z`i?9?iB>IBFa;BCYjByj$Ii]Mb@Mb@Mb@YYYY Y9]"~?y&1?:vY]?y]`e<]T]@Y Y)]M@YYYim@AbDuVDu8y}<%>=ٔ;Q->9Y=EyUD<:E>Q 54PM?Q 94L)BY ?Q E:y&?Q I@wQDI:iV:=4yԖBɮAmE:iAEFNOT Ignoring new targets: 327.05 m."iMA*iUAm ProNav: ac range: 327.046051 m, nav range: 335.533508 m, bearing: 30.987554 deg, approach rate: -0.573484 m/s, LOS rate: -0.010582 deg/s, cmd heading: 33.901613 deg, new cmd heading: 33.892475 deg. iu}HeadingCmd: 0.591535 target range: 327.046051 and range: 327.00 m.h}n?hyhyhhggjgrgBereZe:e*e:?AɢM6=i)I u3?iq)u6qqi}['i}n?}ډ=In?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511487A@A @A@E?5@AB >B .CB B B ! =B B B ;B oEԙ^A-  =A- >A) I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762689Ņ#,C>LA23>2 ,?2*<ٱ2D=2H`? &@?`b? ?@AY?I2a;2CHY^By^$IbDjVDj8yr.=%rT=ٔr 9tYt=vEyvUDz[Ez>|Q 54~_M?Q 94~Ö)~BYy%?Q I @~QDI~q:i~:~D4yɮA:i9=FNOT Ignoring new targets: 327.05 m."iEH*iEHU ProNav: ac range: 327.046051 m, nav range: 335.312439 m, bearing: 30.983478 deg, approach rate: -0.594890 m/s, LOS rate: -0.010974 deg/s, cmd heading: 33.892474 deg, new cmd heading: 33.884318 deg. iU]HeadingCmd: 0.591393 target range: 327.046051 and range: 327.00 m.h]e?hYhYhYhYgYgYjgargaeareaZei:ei*em@j@颕ƂBɢY=) &?i)Â顡i+ie?=C=Ie?IE EE5E"E;*Ev:VE4ZEBEa2EaJE;a :E;a 9@ @@/@@!@%xA^AM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015564A .AI I O > 4#,Na>LAx>?ZdS<ٱ=H? v`ల?@? ?`@[lʌ? ?i>I\a;CYBy$IiMb@Mb@Mb@ 9?~jtx?I +Y ?y;94/@@ @)Y=@bDVD8y&B<%;=ٔH;Q->9 ?Y ?=EyUDBE>Q 5 4pM?Q 9 4)BY ?Q E:y*"?Q I@QDI;i;VL4yՖBɮA!:iAEFNOT Ignoring new targets: 327.05 m."iMS*iMS] ProNav: ac range: 327.046051 m, nav range: 335.072845 m, bearing: 30.979670 deg, approach rate: -0.547410 m/s, LOS rate: -0.008706 deg/s, cmd heading: 33.884319 deg, new cmd heading: 33.876698 deg. i]~eHeadingCmd: 0.591260 target range: 327.046051 and range: 327.00 m.he\?hahahahagigijgirgu BeqreqZeq:eq*e}q@颥ǂBɢϔ=) ?i)顩i.i\? =9=I\?Ii߉I߉checking for new query: numPingsReceived=0, elapsed TxPingTime=2.284141!A@A @A@E/@AE EEE"E;*E1:VEZEa@a@a@a@I^Am =Ia Iq y O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534730B >B B $IB BB =B B B ;B .oE#,g+>LA2s>24?2:T<ٱ2m=2H7?l??@? nj Yj??i2s>I2(_a;2CYNByR$I TTbDZVDZİ8y=%Z=ٔf9!Y!=%Ey%UD-[E->1Q 5=45"~M?Q 9=45Ώ)5BY9y=!?Q IE@5QDI5;i5;5R4yMBɮM8AMdEYmB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 327.05 m."i*i ProNav: ac range: 327.046051 m, nav range: 334.867065 m, bearing: 30.976442 deg, approach rate: -0.546098 m/s, LOS rate: -0.008574 deg/s, cmd heading: 33.876697 deg, new cmd heading: 33.870235 deg. i {HeadingCmd: 0.591147 target range: 327.046051 and range: 327.00 m.hkU?hhhhggjgrgereZe:e*e@@ɢ1V=) ?i)@ i1ikU?!=ɷ=IkU?Iu9@q @q@u/@qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786693^AG=ԱAxAzAwAE%  E% E% 3E! "E% ;*E% ą:VE% 4ZE! BE% \Q #,[>LA:R>:H?:қ<ٱ:^/=:H`0?,f8??I:a;:CY^Byb$IbDjVDjɰ8yrU%rN=ٔr;Q-r>9tYt=vEyvVDz<Ez>|Q 54~M?Q 94~l)~BYy!?Q I@~QDI~;i~;~Y4yɮlA:i1=FNOT Ignoring new targets: 327.05 m."i=H*iEHM ProNav: ac range: 327.046051 m, nav range: 334.649841 m, bearing: 30.973065 deg, approach rate: -0.549031 m/s, LOS rate: -0.008540 deg/s, cmd heading: 33.870235 deg, new cmd heading: 33.863478 deg. iM zUHeadingCmd: 0.591029 target range: 327.046051 and range: 327.00 m.hUM?hQhQhYhYgYgYjgargaeareaZea:ei*em =0 @颕ȂBɢ=) H?i)!{顙i 5iM?k8=d=IM?IԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.038776@ @@@@=@=^AIqIO> BDAT read: Rx Time:01:10:18.8845  TRx dataTimestamp_ set to:1764897020.020576 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2918089 E  E E 2E "E ;*E 1:VE 4ZE a- @a- @a- @a- @#,?LA2>2F?2 <ٱ2=R=2H ?c?@??L5ি\?j?i2>I2a;2CYB ByB$Ii Mb@Mb@Mb@     9 B`"?Mbp?{GzY ?y ; # @ M@ @)  Y Q@bDVD8y <%9=ٔ%;Q-%>9)Y)=-Ey-VD=zE=>AQ 5M4EM?Q 9M4E)EBYM?Q EM:yU ?Q IU@EQDIE;iE5;Ea4y]Bɮ]<AY:iFNOT Ignoring new targets: 327.05 m."iN*iN ProNav: ac range: 327.046051 m, nav range: 334.401978 m, bearing: 30.969376 deg, approach rate: -0.555088 m/s, LOS rate: -0.008268 deg/s, cmd heading: 33.863477 deg, new cmd heading: 33.856093 deg. irHeadingCmd: 0.590900 target range: 327.046051 and range: 327.00 m.h>E?hhhhggjgrgBereZe:e*e r @ʂBɢC=) ?i)vIiM48iM>E?UT=U1=IU>E?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.543355ABBB$IBBB! =BBB;BoE9@ @@@i^A 箵=I I O >ԡ #, ?LAɰ;JDAT read: 01:10:18.8845 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413, 0.35, 2.346, 0.806, 2.619, 1.987, PHS= 0.462,-1.135, 0.589, RAW= 153.8, 1.0, CAL= 152.5, 0.1, ROT= 357.5, -0.1 NYgot valid direction response: 01:10:18.8845 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413, 0.35, 2.346, 0.806, 2.619, 1.987, PHS= 0.462,-1.135, 0.589, RAW= 153.8, 1.0, CAL= 152.5, 0.1, ROT= 357.5, -0.1 RPDAT read: Bearing 189.7, -3.9 (Local) R~Local bearing/azimuth received: Bearing 189.7, -3.9 (Local) VDAT read: Range 11 to 50 : 324.7 m (Round-trip 433.0 ms) speed 0.0 m/s ZR#Rx 1: Read range and direction messages.^^direction in FSK: [0.999047,-0.043619,0.001745]^Fpublishing direction and range infoy0290? w`GUn p\?Y2YC0000 0)2HI2D>i2G2?2+@25<2X*@ 2:)2i@I2亩0026,?3?E? 2?)2$.I2Ѹ2i2亩00zT****** received valid address query ******zR****** received valid ping request ******zQuerying Benthos address 50 with one ping in standard two-way mode.>F?O$<ٱg=Hc?`?Ŋ??㙿o? ?i>Ia;CYBy$IbDVD8y]<%]F=ٔ]K;Q-]>9aYa=eEye&VDe4Em>qiQ 54mM?Q 94m )mBYy ?Q I@mQDImT;im;mh4E EE1E"El;*E:VE-4ZEBEcF %BDAT read: Tx time:01:10:20.0974 -$Ping request sent.-A > I9 IY O >#,;?LA5&>5D?5o<ٱ5l[=5H?@]oy?@!? ? #ۺ?@t?i5&>I5^a;1YEByE$IiMb@Mb@Mb@ 9&1?Mb?~jthY?y<D7@ @)YbD-VD-8y=%%=I=ٔE;Q-E>9AYI=MEyM6VDMEM>QQ 5]4U M?Q 9]4Uf)UBYe?Q Ee:ye%?Q Ie@UQDIUH;iU];Uo4ymBɮmNAueE:iFNOT Ignoring new targets: 324.74 m.ԙ"ih0*ih0 ProNav: ac range: 324.744232 m, nav range: 333.591492 m, bearing: 31.904319 deg, approach rate: -0.621575 m/s, LOS rate: -0.009639 deg/s, cmd heading: 33.848693 deg, new cmd heading: 33.841570 deg. i HeadingCmd: 0.590647 target range: 324.744232 and range: 324.70 m.h4?hhhhggjgrgBereZe:e*e`[?̂Bɢ2=) ?i)Ri8>i%4?%s=%=I-4?I)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249666@ @@/@@zA@zAE EE6E"EV:*E~:VEc4ZEa@a@a@a@^A5 G= 4= %= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501929Ae ؟ABu >Bq Bu $IBu BBq Bq Bq Bu M;Bu nEB1B1B1B5! =B5! =C5P5I I ! O >C#,V?LA6>6l-?6=ٱ6Ҟ=6H?Xa?O?@d?b<C?E?i6>I6`;6CYBByB$IbDNVDN8yR[=%R\=ٔV9V"?YZ"?=ZEyZEVDZ!yE^>\Q 5b4^'M?Q 9b4^~)^BYdyf%?Q If@^QDI^:i^ :^dv4yhɮnAlzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 324.74 m."ip*ip ProNav: ac range: 324.744232 m, nav range: 333.382538 m, bearing: 31.901089 deg, approach rate: -0.563239 m/s, LOS rate: -0.008712 deg/s, cmd heading: 33.841569 deg, new cmd heading: 33.835105 deg. iHeadingCmd: 0.590534 target range: 324.744232 and range: 324.70 m.h<-?h!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5̇?]͂Bɢe=)a e&?ia)e!haaimAim<-?uy=uS=Iu<-?Iqi 9@  @ @ /0@ ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753622^A d=E- E-E-7E)"E- ;*E-v:VE-Ժ4ZE)BE-\Q a9 zAY *A g#,,o?LA2}>2/ ?26=ٱ2X=2H?YR` ?t? ?2@šoY?&?i2}>I2Q`;2CYBByB$I HJa=bDNVDN8yV <%VK=ٔV!;Q-V>9XYX=ZEyZVVD^E^>`Q 5f4b~M?Q 9f4bvz)bBYdyfd%?Q If@bQDIbP:ib~:bn}4ynBɮnAnfE:i|FNOT Ignoring new targets: 324.74 m."i*i ProNav: ac range: 324.744232 m, nav range: 333.155487 m, bearing: 31.897594 deg, approach rate: -0.564141 m/s, LOS rate: -0.008689 deg/s, cmd heading: 33.835104 deg, new cmd heading: 33.828110 deg. ik~%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005717-HeadingCmd: 0.590412 target range: 324.744232 and range: 324.70 m.h-<%?h)h)h)h)g1g1jg1rg1e1reZe:e*e{?ςBɢ =)  EU  EU EU 6EQ "EU :*EU :VEU c4ZEQ a] @a] @a] @a] @Y T#,Ɖ?LAnBW>n?n=ٱn\=nH@?O@7V?? ?c4ٺ??inBW>Inva;lYtyv$IIz=)z9Y=EygVDJE>Q 54uM?Q 94v)BYr?Q E:y!?Q I@ RDI :iV:4yɮA:iFNOT Ignoring new targets: 324.74 m."i6*i6 ProNav: ac range: 324.744232 m, nav range: 332.906769 m, bearing: 31.894396 deg, approach rate: -0.569808 m/s, LOS rate: -0.007334 deg/s, cmd heading: 33.828110 deg, new cmd heading: 33.821708 deg. iVHeadingCmd: 0.590300 target range: 324.744232 and range: 324.70 m.h?hhhhggjgrgBereZe:e*e`v?ЂBɢke=) ?i)3RʼiFi%?%NJ=)%h=IE?II-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510610B>BBBBBBB;BnE9@ @@0@@@=Y^A=I) I9 OU >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761563z#,?LA0Fe>F?F $=ٱF>=FH[?`L%?|?@ ?8@uV? ?iFe>IF9a;DYnByn$IbDzVDz8y==%U=ٔI;Q->9 Y = Ey wVD eE>Q 5%4WM?Q 9%43s)BY!y%}!?Q I%@RDI;i;4y-Bɮ5A1:iQ]FNOT Ignoring new targets: 324.74 m."i]*i]m ProNav: ac range: 324.744232 m, nav range: 332.688660 m, bearing: 31.891606 deg, approach rate: -0.570204 m/s, LOS rate: -0.007298 deg/s, cmd heading: 33.821707 deg, new cmd heading: 33.816124 deg. imUuHeadingCmd: 0.590203 target range: 324.744232 and range: 324.70 m.hu?hqhqhyhygygyjgrgereZe:e*et@bE4jE4rE 0E EE3E"E;*E:VE4ZEBEAC Z#,Ov?LA8ɰ:4<\z>zy?z ,=ٱz=zH?F`'?y??^ޒ /?A?iz>Iz_*a;zCYBy$IiMb@Mb@Mb@ 9M??Yy<E@M@ @)@YbDVD8y¤%?=ٔؠ;Q->9Y=EyVD}E>Q 54 N?Q 94Ao)BY?Q E:y(?Q I@'RDIr;i;84yBɮA]E:i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269693FNOT Ignoring new targets: 324.74 m."i9*i9 ProNav: ac range: 324.744232 m, nav range: 332.445160 m, bearing: 31.887270 deg, approach rate: -0.569015 m/s, LOS rate: -0.010141 deg/s, cmd heading: 33.816123 deg, new cmd heading: 33.807444 deg. ixHeadingCmd: 0.590051 target range: 324.744232 and range: 324.70 m.h ?hh)h)h)g1g1jg1rg5Be9re9Ze9:e9*e= V@MӂBɢM-=)I M?iI)UQQiUKi] ?]=]=I] ?IE  E E 2E "E  ;*E VE 4ZE a@a@a@a@59@9 @9@=C4@99 m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522496^Ay A A AAB >B B $IB BB =B B DB ;B nEA >A >I I Ou >#,|C?LA6 >6w?66=ٱ6Y=6H? XF`?z?'?I֦鷺? ?i6 >I6Ga;6CYBByB$I DDbDJVDJ8yRg%V^=ٔV;Q-V>9XYX=ZEyZVDZ:EZ>\Q 5b4^N?Q 9f4^k)^BYdyf(?Q If@^4RDI^P:i^:^4yjBɮjAlzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 324.74 m."i:*i : ProNav: ac range: 324.744232 m, nav range: 332.235291 m, bearing: 31.883519 deg, approach rate: -0.568541 m/s, LOS rate: -0.010167 deg/s, cmd heading: 33.807445 deg, new cmd heading: 33.799939 deg. iڔ%HeadingCmd: 0.589920 target range: 324.744232 and range: 324.70 m.h%?h!h!h!h)g)g)jg)rg)e1re1Ze1:e1*e= @eՂBɢeQ=)a eH?ii)mEiiim4Niu?u=uZj=Iu?Iy1@1 @9@=/@9@EyA@AIiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773933y^AE EE1E"E%;*E':VE-4ZEBEKԡ ݶ#,%"?LA2g>2?2w==ٱ2`=2H`?`Dɸ?x?`?@[DѬ=?@ ?i2g>I2'a;2CYNByN$IbDZVDZ8yv<%vF=ٔz;Q-z>9xYx=zEy~VD~"E~>Q 5 4n(N?Q 9 4 h)BYy(?Q I@CRDIe:i:⠽4%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025744y)ɮ-A):iIUFNOT Ignoring new targets: 324.74 m."iU9*i]9e ProNav: ac range: 324.744232 m, nav range: 332.000183 m, bearing: 31.879322 deg, approach rate: -0.567489 m/s, LOS rate: -0.010137 deg/s, cmd heading: 33.799939 deg, new cmd heading: 33.791540 deg. imjmHeadingCmd: 0.589774 target range: 324.744232 and range: 324.70 m.hmg?hqhqhqhqgqygqjgyrgereZe:e*eY @颵ׂBɢd3=) '?i)项iAQig?=1=Ig?I9@ @@@ԡ^A =BDAT read: Rx Time:01:10:22.9498 TRx dataTimestamp_ set to:1764897024.057546checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279999I I O > D zD E%  E% E% 2E! "E% ;*E% :VE% 4ZE! a- @a- @a5 @a5 @#, @LA>>>T?>B=ٱ>#9=>H?E?[z??@NS?H?i>>I>Za;>CYF ByF$Ionly read 0 of 1 data item for altitude. Device response is::BD, +187.68016.10, +47.65, 6.81, 0.00 a@a a@a a@a a@a =bD%VD%8y5;%5F=ٔ5jD;Q-5>99Y9==Ey=VDE>:EE>IQ 5M4M%8N?Q 9U4MM4yBɮA^E:i  FNOT Ignoring new targets: 324.74 m."i$4*i$4E ProNav: ac range: 324.744232 m, nav range: 331.765442 m, bearing: 31.875113 deg, approach rate: -0.548590 m/s, LOS rate: -0.009843 deg/s, cmd heading: 33.791538 deg, new cmd heading: 33.783114 deg. iEMHeadingCmd: 0.589627 target range: 324.744232 and range: 324.70 m.hM?hIhIhIhIgIgIjgrgereZe:e*e4 @颥قBɢ=) ?i)㐓iSi?F8=E*=I?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529735B=>B9B9B9B9B9B9B=$;B=nE!@! @!@%/@!1^A A zA xAa - DAT read: 01:10:22.9498 LVL= 32752, 32753, 30098, 32755, AGC= 70, IDX= 89, 0.06, 1.500,-0.157, 1.778, 1.052, PHS= 0.549,-1.165, 0.682, RAW= 153.7, -0.8, CAL= 152.6, -1.8, ROT= 357.4, 1.8 5 Ygot valid direction response: 01:10:22.9498 LVL= 32752, 32753, 30098, 32755, AGC= 70, IDX= 89, 0.06, 1.500,-0.157, 1.778, 1.052, PHS= 0.549,-1.165, 0.682, RAW= 153.7, -0.8, CAL= 152.6, -1.8, ROT= 357.4, 1.8 = PDAT read: Bearing 187.9, -5.7 (Local) E ~Local bearing/azimuth received: Bearing 187.9, -5.7 (Local) M DAT read: Range 11 to 50 : 336.1 m (Round-trip 448.2 ms) speed 0.6 m/s M R#Rx 1: Read range and direction messages.IY Ii O >t#,Me%@LA.`direction in FSK: [0.998478,-0.045341,-0.031411]2Fpublishing direction and range infoyLsa?y6IzY Cu )FID ?i.?>+@dt*@ )@I=۟? ^3?0Ȋ :?)CVz.?zzH=ٱz>=zH*?@FF@z?{?J? Gͬ s? J?izx%>Iz)b;zCY By $IbD=VD=ð8yM%MD=ٔUZd;Q-U>9YYY=]Ey]VD]n+:Ee>aQ 5m4eHN?Q 9m4ee`E EE1E"E7;*E:VE-4ZEBEZ  BDAT read: Tx time:01:10:24.1974 $Ping request sent.''#,X?@LA% >%?%PM=ٱ%z+=%H?`"D@*?6z? ? s`_p??i% >I%hb;!Y9y9aa aa aa aa iMb@Mb@Mb@ 9K7A`?Q?~jtx?Y ?y\=;\@z@ )@Y@bD"VD̰8i))I-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.264715yVz%3=ٔ);Q->9Y=EyVDE>Q 54bXN?Q 94D\)BQ AT:YN ?Q E:y-?Q I@rRDI6B B $IB BB B  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500874B B %;B nEԱ ^A 2=I1 IA OU > #,`Y@LAɰ;21>2g?2Q=ٱ2a=2H?E?{? ?~? Q: ܆??i21>I2b;2CYf Byf$IlnBAbDrVDr8yv%vm=ٔzU;Q-z?9|Y|=~Ey~VD~we:E?Q 5 4dN?Q 9 44Y)BYy-?Q I@~RDI;i;y4yɮ%DA!=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 336.15 m."iMIf*iUIfe ProNav: ac range: 336.149597 m, nav range: 330.755829 m, bearing: 31.898306 deg, approach rate: -0.588142 m/s, LOS rate: -0.012583 deg/s, cmd heading: 33.763186 deg, new cmd heading: 33.755321 deg. ie:eHeadingCmd: 0.589141 target range: 336.149597 and range: 336.10 m.hm?hihihihigigijgqrgqeqreyZey:ey*e}DIIO->EM EMEM4EI"EM;*EM:VEM4ZEIBEMA:?:5W=ٱ:=:H`?D`OS?@z|??@`㪿Ý?I: b;:CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004628YVByV$IbDbVDb°8yfx<%fM=ٔjjT;Q-j>9hYl=nEynVDn˩9Er>pQ 5v4rrN?Q 9v4rU)rBYxyz.?Q Iz@rRDIr:ir:rr4y~Bɮ~7A:i!%FNOT Ignoring new targets: 336.15 m."i-T*i-T= ProNav: ac range: 336.149597 m, nav range: 330.540588 m, bearing: 31.893692 deg, approach rate: -0.540249 m/s, LOS rate: -0.011589 deg/s, cmd heading: 33.755321 deg, new cmd heading: 33.746087 deg. i=EHeadingCmd: 0.588980 target range: 336.149597 and range: 336.10 m.hEj?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU|?颅Bɢu=) t?i)U顉i[]ij?u=Z=Ij?I9@ @@0@@ zA@ !^A=G=IIO>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256735I EY  E] E] 2EY "EY *E] :VE] 4ZEY ae @ae @ae @ae @##,:@LA2,>2?2y1]=ٱ2a=2H+? B9?z??k۫`ƺ?`?i2,>I2 1c;0Y>By ףp=?Q?YM?yIMMz@M@ I)M@IYM(@bDaVDayu%u@=ٔuRa;Q-u>9yYy=}Ey} WDѹE>Q 54N?Q 94Q)BY1?Q E:y-?Q I@RDI;i";ǽ4yɮ;A:iFNOT Ignoring new targets: 336.15 m."iZ*iZ ProNav: ac range: 336.149597 m, nav range: 330.299957 m, bearing: 31.888613 deg, approach rate: -0.566140 m/s, LOS rate: -0.011958 deg/s, cmd heading: 33.746086 deg, new cmd heading: 33.735921 deg. iHeadingCmd: 0.588803 target range: 336.149597 and range: 336.10 m.hɻ?hhhhggjgrg7BereZe:e*e_K?Bɢa=) ?i)=iا_iɻ?̫=d=Iɻ?IQBu>BqBu$IBuBBqBqBuDBu>;BunEBABABABE =BE =CEÅ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509152m9@q @q@q@qԁ^At=ԩ A .AI I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760627E)#,@LA2V>2?2Nmb=ٱ2e=2H.?=B`^*?|??@ I@ ?@r?i2V>I2(c;0<%B=ٔQ>;Q->9 ?Y ?=EyWD=:E>Q 54GN?Q 94pM)BYy-?Q I@RDI`;i;Ͻ4yrBɮ AVE:iAEFNOT Ignoring new targets: 336.15 m."iMW*iMW} ProNav: ac range: 336.149597 m, nav range: 330.048370 m, bearing: 31.883280 deg, approach rate: -0.556152 m/s, LOS rate: -0.011798 deg/s, cmd heading: 33.735920 deg, new cmd heading: 33.725246 deg. i}HeadingCmd: 0.588617 target range: 336.149597 and range: 336.10 m.h?hhhhggԩjgrgereZe:e*e`\@eBɢe=)a e?ii)m/F&iiimaiu?uƋ=ur=Iu?Iy9@ @@0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013440 ^AA AI zAM wAAu ؟AI I O >0#,Gq@LAF>F?Fg=ٱF=FH ?C ??`T ?`H @ެ e??iF>IF@lc;FCYNByN$Ii%Mb@Mb@Mb@!!!! !9%-?~jt?Mb`Y%??y%D=%!%@ %@)%@!Y%p@bD=ۿVD=8mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268662yK%<=ٔT3;Q->9%"?Y%"?=%Ey%/WD-:E->1Q 5=45ɢN?Q 9=45]I)5BY=?Q E=:yE3?Q IE @5RDI5 ;i5?;5ֽ4yIɮMAI:iiuFNOT Ignoring new targets: 336.15 m."iu9*i}9 ProNav: ac range: 336.149597 m, nav range: 329.810333 m, bearing: 31.877319 deg, approach rate: -0.589669 m/s, LOS rate: -0.014778 deg/s, cmd heading: 33.725247 deg, new cmd heading: 33.713316 deg. i\عHeadingCmd: 0.588408 target range: 336.149597 and range: 336.10 m.h?hhhhggjgrg>BereZe:e*e%@Bɢb=) ?i) AYi]:die?eދ=mi=Im?IqE EEE"ET;*E:VEZEa%@a%@a%@a%@9@ @@_0@@@=aAABBB$IB؅BB! =BBBU;BnE > % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521480^A5 ˺=ԙ Aa Iq I O >δ6#, @LA2@>2,?2&i=ٱ2=2H ?E ©?ց? 4 ?`z3@H? ?i2@>I2,c;2CY:By:$I@bDFؿVDF8yN%Nh=ٔR,:Q-R>9PYT=VEyV=WDVr:EV>XQ 5^4ZN?Q 9^4ZE)ZBY`yb33?Q Ib @ZRDIZT:iZ;Zܽ4yftBɮfAfWEvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 336.15 m."i~*i~  ProNav: ac range: 336.149597 m, nav range: 329.606415 m, bearing: 31.872193 deg, approach rate: -0.577772 m/s, LOS rate: -0.014533 deg/s, cmd heading: 33.713315 deg, new cmd heading: 33.703057 deg. i ԹHeadingCmd: 0.588229 target range: 336.149597 and range: 336.10 m.h2?hhhhggjgrgereZe:e*e؁@5Bɢ5=) G?i)imfi2?=F=I2?Iԩm9@i @i@m@5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773802bEƞ4jEƍ4rEƮ1/E EE4E"El;*E:VE4ZEBEcF= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024666E<#,]@LAɰ4J?Jm=ٱJ?=JH ?Beݻ?~?? 4q`SDF?`{?iJ>IJb;JCYVByV$I\^@AbDbVDb8yf %fG=ٔj";Q-j>9j ?Yn ?=nEynMWDlrtEr>tQ 5z4vN?Q 9z4vA)vBYxy~3?Q I~ @vRDIv2:itv-4yɮ1A:i)-FNOT Ignoring new targets: 336.15 m."i5 *i5 E ProNav: ac range: 336.149597 m, nav range: 329.368683 m, bearing: 31.866224 deg, approach rate: -0.578753 m/s, LOS rate: -0.014540 deg/s, cmd heading: 33.703056 deg, new cmd heading: 33.691111 deg. iEԹMHeadingCmd: 0.588021 target range: 336.149597 and range: 336.10 m.hM?hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]Κ @颍BɢiE=)  ?i)ʕڻ顑iwhi?- =7F=I?Im9@i @q@u3@q 1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276743^A=A>A>E  E E 1E "E ;*E ҆:VE -4ZE a @a @a @a @A ؟AI I O >a C#,ALA2>2#?2=r=ٱ2W=2Ha ?B@Z5?`n?} ?Cu;CP{?@A?i2>I2egb;2CY:By:$Ii%Mb@Mb@Mb@!!!! !9%?X9v?{GzY% ?y%<%#%\@! !)%@!Y!9bDEӿVDE8yUZ%UB=ٔUk%;Q-U>9]"?Y]"?=]Ey]_WDe!:Ee>iQ 5u4mN?Q 9u4m>)mxBYu ?Q Eu:yu-?Q Iu @mRDImH;im;m4yɮHA:iFNOT Ignoring new targets: 336.15 m."iO*iO ProNav: ac range: 336.149597 m, nav range: 329.139587 m, bearing: 31.861431 deg, approach rate: -0.542002 m/s, LOS rate: -0.011348 deg/s, cmd heading: 33.691110 deg, new cmd heading: 33.681517 deg. i$HeadingCmd: 0.587853 target range: 336.149597 and range: 336.10 m.h}?hhhhggjgrg(BereZe:e*e @%Bɢ%=)! %?i!)-W))i-Gji5}?5'=57=I5}?I9Bm>Bm/CBm$IBmÅBBm =BiBmDBm;BmnEBDAT read: Rx Time:01:10:27.0466 TRx dataTimestamp_ set to:1764897028.345286 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530771@ @@/@@yA@iԙ^A5:!=Aa Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780640 I#,)ALAEB EBEB2E@"EB:*EB:VEB4ZE@BEB>^K?Pu=ٱ[=H 1? Dw?5?`i ?ӫ`3 ?v?i>I!b;YBy$IbD=VD=8yMI%UJ=ٔU;Q-U>9YYY=]Ey]oWD]:Ee>aQ 5m4eWN?Q 9u4eX:)epBYqyu*-?Q Iu @eRDIe;ie;e4y}uBɮAԑ:iFNOT Ignoring new targets: 336.15 m."iR*iR- ProNav: ac range: 336.149597 m, nav range: 328.918732 m, bearing: 31.856780 deg, approach rate: -0.545882 m/s, LOS rate: -0.011505 deg/s, cmd heading: 33.681517 deg, new cmd heading: 33.672208 deg. i5p5HeadingCmd: 0.587691 target range: 336.149597 and range: 336.10 m.h=r?h9h9h9h9g9g9jgArgAeAreAZeI:eI*em@颵Bɢv=) X?i)՗ilir? C=?=Ir?Ie9@a @a@e/@aԹ%DAT read: 01:10:27.0466 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.23, 1.482,-0.158, 1.697, 1.016, PHS= 0.567,-1.130, 0.637, RAW= 152.0, -0.9, CAL= 150.9, -1.7, ROT= 359.1, 1.7 -Ygot valid direction response: 01:10:27.0466 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.23, 1.482,-0.158, 1.697, 1.016, PHS= 0.567,-1.130, 0.637, RAW= 152.0, -0.9, CAL= 150.9, -1.7, ROT= 359.1, 1.7 =PDAT read: Bearing 187.7, -4.8 (Local) =~Local bearing/azimuth received: Bearing 187.7, -4.8 (Local) EDAT read: Range 11 to 50 : 333.8 m (Round-trip 445.1 ms) speed 0.4 m/s MR#Rx 1: Read range and direction messages.U`direction in FSK: [0.999437,-0.015700,-0.029666]UFpublishing direction and range infoy:[b? `YC )GI&?iףo#?)@(@ )-@I<x"? V,)?gcĺ鎿 v?)Rw qP#,gCALA<b$^?by=ٱb:=bHk?@D?Ӆ?@ ?@6@5+??ibd'>IbŮb;bCYnޅByn$I(DAT read: user:53> BDAT read: Tx time:01:10:28.4474 $Ping request sent.9Y=EyWDG2:E>Q 54LN?Q 946)iBY ?Q E:y/?Q I @SDI:i:4y ɮAi)i-cC6ALAj-C"j-C:j-W2?Rj-?}t@Stu#Bj-:[b? `*j-2j-<Zj-2q@4g@5y>Jj-sb/?7!v'?U )j-i=C j-Ci-0٨?i-(j-Bj-0٨?j-sj)rj-Czj-ep? addTargetRange:: Added new target pos. range: 333.799988 m, deltaT: 4.285448 s, deltaX: -2.300018 m, approachRate: -0.536704 m/s, rangeRepo size: 4  Added new target pos. range: 333.850494 m, bearing: 34.734814 deg, lat: 36.779663 deg, lon: -121.859609 deg, deltaT: 4.285448 s, deltaX: -2.299103 m, approachRate: -0.536491 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 333.85 m."i*i ProNav: ac range: 333.850494 m, nav range: 327.411926 m, bearing: 33.446197 deg, approach rate: 0.000000 m/s, LOS rate: -0.011505 deg/s, cmd heading: 33.672208 deg, new cmd heading: 33.662327 deg. iE EE0E"E;*EVE4ZEa@a@a@a@%HeadingCmd: 0.587518 target range: 333.850494 and range: 333.80 m.h%g?h!h)hAhAgAgAjgIrgM5BeIreIZeQ:eUt@*eU`?}Bɢݻ=) ڹ?i)6<9顩iwnnig?ha=s=Ig?I]9@Y @Y@Y@YBM<AM<BU>BQBUm$IBUBBU =BQBQBU;BUMnEi- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249324^A] `=Ae yAzAe xAԙ A .AI I O >9W#,DN^ALA2@9>2g?2u}=ٱ2/l=2Hj?DW?y?m?+vjp??i2@9>I2b;2CY:…By:$IbDFVDF8yN%NY=ٔN;Q-N>9R ?YR ?=REyRWDR9EV>XQ 5Z4ZN?Q 9^4Z3)ZbBY\y^0?Q I^ @ZSDIZ:iZ:Z4ybwBɮbAfXErB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 333.85 m."i~9*i~9 ProNav: ac range: 333.850494 m, nav range: 327.208710 m, bearing: 33.442488 deg, approach rate: -0.555287 m/s, LOS rate: -0.010141 deg/s, cmd heading: 33.662328 deg, new cmd heading: 33.654905 deg. i xHeadingCmd: 0.587389 target range: 333.850494 and range: 333.80 m.h_?hhhhggjgrgereZe!:e!*e%3?]Bɢ]:C=)a ej?ia)e.raa ieVpi-_?-jw=-"=I-_?I19@ @@@@=@iIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5017881E= E=E=3E9"E=;*E=:VE=4ZE9BE=Dԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753464\]#,xALA2w/>2-b?2"=ٱ2u=2H ^?Cf?@? ?}@ 1? ?i2w/>I2Fib;0Y:By:s$IbDFVDF8yJ%NK=ٔN;Q-N>9R"?YR"?=REyRWDVBEV>TQ 5Z4VO?Q 9^4Vs/)VZBY\y^0?Q I @VSDIVe =Ld#,ALAɰ;2>25?2=ٱ2×=2H%? B@?? 5?so`T?@7?i2>I2Rb;2CY>By>n$Ii~Mb@Mb@Mb@|||| |9~|?5^?I +?y&1Y~ ?y~94<~`e|~ @ |)~z@|Y~@AAbDVD8y%_%5@=ٔ=;Q-=>9= ?YE ?=EEyEWDElϺEE>IQ 5U4MO?Q 9U4M+)MPBY] ?Q E]:y]#?Q I] @M-SDIM:iMt:M4yeTBɮm&AmOEB>BBN$IBBBBBB;B@nE:iIMFNOT Ignoring new targets: 333.85 m."iUƸ*iUƸ] ProNav: ac range: 333.850494 m, nav range: 326.756104 m, bearing: 33.436169 deg, approach rate: -0.543546 m/s, LOS rate: -0.005430 deg/s, cmd heading: 33.646960 deg, new cmd heading: 33.642262 deg. iemHeadingCmd: 0.587168 target range: 333.850494 and range: 333.80 m.hmP?hihihihigigijgqrguBeqreqZey:ey*e}`<A?! = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509405Am ؟AI I O >mj#,༫ALAE EE3E"E;*E:VE4ZEBE9NN1?N)=ٱN=NH?Aø?8}?`?`|zK&?`?iN>INNb;NCYrByvb$IbD~VD~8y '?% M=ٔ wr;Q->9"?Y"?=EyWDjE>!Q 5-4%&O?Q 9-4%P()%FBY)y-#?Q I5 @%;SDI%~:i%:%4yIɮMrAI:iiuFNOT Ignoring new targets: 333.85 m."iuӸ*iuӸ ProNav: ac range: 333.850494 m, nav range: 326.537659 m, bearing: 33.434007 deg, approach rate: -0.584390 m/s, LOS rate: -0.005787 deg/s, cmd heading: 33.642261 deg, new cmd heading: 33.637934 deg. iw)HeadingCmd: 0.587093 target range: 333.850494 and range: 333.80 m.hK?hhhhggjgrgereZe:e*e8?Bɢxz=) ?i)1u:i^uiK?JŌ=[=IK?IQ]9@Y @Y@]0@Y@a@eyAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761469y^A}O=ԩ A .AI I O >mYq#,ҨALA<^9&>^?^=ٱ^=^Hw ?;@?`'w?=? '7?B?i^9&>I^ b;^CYfByf`$Ii|I~A~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013705i=Mb@Mb@Mb@9999 99=w/?{Gzt?y&1|Y=?y=ף;=`=@=@ =@)99Y=@bDUVDU8ye%e6=ٔmm;Q-m>9m ?Ym ?=uEyuWDu Eu>yQ 54}6O?Q 94}$)}BB)$IBwBB =BBB;B~nEB]/CB]/CBYBYBYC]m5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265371^A ]w= A ؟AI I) O5 >uw#,FALAxY~By~S$I 4=<bD  VD 8yMAi%M`=ٔMQ-e>9e"?Ye"?=mEymWDmEm>qQ 5}4uCO?Q 9}4u!)u5BYyQ I @uVSDIuw:iu :u-$4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 333.85 m."iu*iu ProNav: ac range: 333.850494 m, nav range: 326.109375 m, bearing: 33.430699 deg, approach rate: -0.524496 m/s, LOS rate: -0.004056 deg/s, cmd heading: 33.634290 deg, new cmd heading: 33.631313 deg. iHeadingCmd: 0.586977 target range: 333.850494 and range: 333.80 m.h"D?hhhhggjgrgereZe:e*eϡ@Bɢ=)! %?i!)%b;!!i%Xwi-"D?-=5=I5"D?I1@ @@2@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519393A%G1Y 9YTAE] EYEYEY"E];*EYVEYZEYBEYae2EYamJE];am:E];amq^AE_=AMxAzAMyAA ԙ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769398_}#,ALA>Vs>>?>b=ٱ>v=>H? 0`g??m?`?@ ??i>Vs>I>]b;>CYFByFH$IbDR VDR8yZS=%ZU=ٔZh;Q-Z>9\Y\=^Ey^WDbjEb>dQ 5j4frQO?Q 9j4f)f,BYhyjI ?Q Ij @fcSDIf%:if:f*4yrXBɮr=Ap:i FNOT Ignoring new targets: 333.85 m."i R*iR% ProNav: ac range: 333.850494 m, nav range: 325.909546 m, bearing: 33.429200 deg, approach rate: -0.525431 m/s, LOS rate: -0.003943 deg/s, cmd heading: 33.631312 deg, new cmd heading: 33.628313 deg. i%渝%HeadingCmd: 0.586925 target range: 333.850494 and range: 333.80 m.h-@?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=@|@u Bɢu=Թ) ?i)ؐ;iU+yi@?=Z1=I@?I @ @@35@@=@=]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024296^A۽=Eu  Eu Eq Eq "Eu ;*Eu :VEq ZEq a} @a} @a} @a} @I I O >A C#,SBLA6/>6 F?6=ٱ6F:=6H?)?mf?@-%?ץ`??i6/>I6Mb;6CYBByBF$Ii Mb@Mb@Mb@     9 L7A`?~jt~jtxY +?y D Ļ   @ /@) @ Y @bD%VD%8y5%5B=ٔ5k;Q-5>99Y9==Ey=XDEEE>IQ 5M4M`O?Q 9U4M\)M#BYU6?Q EU:yU?Q IU @MqSDIMM:iM;M,24yqɮuFAq:iFNOT Ignoring new targets: 333.85 m."i|*i|B>BB $IB^BB =BBB);BnE ProNav: ac range: 333.850494 m, nav range: 325.688385 m, bearing: 33.428836 deg, approach rate: -0.523817 m/s, LOS rate: -0.000862 deg/s, cmd heading: 33.628313 deg, new cmd heading: 33.627585 deg. iʷHeadingCmd: 0.586912 target range: 333.850494 and range: 333.80 m.BDAT read: Rx Time:01:10:31.2939 TRx dataTimestamp_ set to:1764897032.380582checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274513h??hhhhggjgrgBereZe:e*eQS @% Bɢ%QM=)- -?i))M;IQiU65zie??en)=e\=Ie??Ii!@! @)@->5@)Qq^AM ˺=U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526322IQ Ii O} >ԡ u#,,BLAbE9jE=ם4rE=/E EE4E"E ;*E:VE4ZEBEOj$?jV=ٱjկ=jH?`!1?^?`*?@Q@V??ijei>IjSb;jCYrByr8$Ixz@AbD~޿VD~8y f% M=ٔ X;Q- >9Y=EyXD1E>!Q 5-4%oO?Q 9-4%G)%BY)y-|?Q I- @%SDI%.:i%:%%94y9ɮ=A9:iiuFNOT Ignoring new targets: 333.85 m."iu`*iu` ProNav: ac range: 333.850494 m, nav range: 325.478363 m, bearing: 33.428530 deg, approach rate: -0.526744 m/s, LOS rate: -0.000768 deg/s, cmd heading: 33.627586 deg, new cmd heading: 33.626974 deg. i糷HeadingCmd: 0.586901 target range: 333.850494 and range: 333.80 m.h,??hhhhggjgrgereZe:e*e <@BɢX=) ;?i)v;i i{i,?? ==)=I,??Iq9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780772^Aq$=A>A>IqIO>! #,FBLA-DAT read: 01:10:31.2939 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.36, 0.116,-1.440, 0.347,-0.198, PHS= 0.416,-1.196, 0.502, RAW= 152.6, 3.4, CAL= 151.5, 3.1, ROT= 358.5, -3.1 UYgot valid direction response: 01:10:31.2939 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.36, 0.116,-1.440, 0.347,-0.198, PHS= 0.416,-1.196, 0.502, RAW= 152.6, 3.4, CAL= 151.5, 3.1, ROT= 358.5, -3.1 ePDAT read: Bearing 192.4, -5.4 (Local) e~Local bearing/azimuth received: Bearing 192.4, -5.4 (Local) uDAT read: Range 11 to 50 : 331.7 m (Round-trip 442.3 ms) speed 0.3 m/s uR#Rx 1: Read range and direction messages.^direction in FSK: [0.998194,-0.026139,0.054079]Fpublishing direction and range infoypr^F“5? Ěʾ7?Yr٥Cpppp p)rDIr>irr?rt*@rs=r%:)@ rk]=)rc9@Irk]pproq ?t3?ãR? rԍ?)rzrIrwּirk]pp=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.YBy3$IE EE2E"E;*E҆:VE4ZEa@a%@a%@a%@iMMb@Mb@Mb@IIII I9M/$?{Gz~jtxYM1?yMףIM@M@ MM@)M@IYM=@bDVD8y܆%=ٔQ->9Y=Ey(XDE>Q 54CO?Q 94H) BYK?Q E:y?Q I @SDI;i2;RB4yZBɮAQEipirٳHBLAjrC"jrC:jr?RjrYtt@7(+W!bF1@Bjr^F“5? Ěʾ7?*jrwּ2jrk]ZjrwJQq@Ri2f@L_Jjr5c? x?(:ꔿjrA6C jrCir8?irZjroBjpjpjprjrCzjr\?u addTargetRange:: Added new target pos. range: 331.700012 m, deltaT: 4.288114 s, deltaX: -2.099976 m, approachRate: -0.489720 m/s, rangeRepo size: 4  Added new target pos. range: 331.752441 m, bearing: 33.331941 deg, lat: 36.779663 deg, lon: -121.859609 deg, deltaT: 4.288114 s, deltaX: -2.098053 m, approachRate: -0.489272 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 331.75 m."i*i ProNav: ac range: 331.752441 m, nav range: 325.199860 m, bearing: 33.428852 deg, approach rate: 0.000000 m/s, LOS rate: -0.000768 deg/s, cmd heading: 33.626975 deg, new cmd heading: 33.626146 deg. i HeadingCmd: 0.586887 target range: 331.752441 and range: 331.70 m.h 9>?h hhhggjgrg Bere!Ze!:e%@3t@*e%C?颍Bɢ}=) N?i)i;<顱i&{i9>?u\=3=I9>?IBAB>BB#IBDBB =BBBj;BoE59@1 @1@=;3@9@EzA@EzA(DAT read: user:54> BDAT read: Tx time:01:10:32.7474 $Ping request sent.#,VaBLABO>B6r?B=ٱB=BH"?V@Ӓ?|O?@5?s`@? ?iBO>IBc;BCYJzByJ,$IbDVVDV8yv%v=ٔv?hahihihigigijgqrgqeqreqZey:ey*e} ]3?颥Bɢʢ=) ?i)s <顩iI}i>?ui=\=I>?Iԩ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252133E EE4E"E ;*E]t:VE4ZEBEL6#,{BLA2%x>2?2ߚ=ٱ2/=2H )?@۾?C?@=?R0>WF? 2?i2%x>I2Wc;2CY:oBy:$I BC=B%=bDFVDF8yN2X%NP=ٔRg;Q-R>9PYP=REyRDXDVEV>XQ 5^4ZAO?Q 9^4Z )ZBY9yE?Q IE @ZSDIZB .CB #IB 5BB =B B DB ;B 1oE=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007482^AMX=AQzAUwAAIIO ?f#,BLA6#>6`?6=ٱ6֨=6H`=?5?~$?qT?T' S `??i6#>I6bib;6CY>lBy>$Ii Mb@Mb@Mb@     9 w/?y&1Mb?Y ?y `e < @  @ )  Y 3@bD%VD%8y% =ٔN;Q->9Y=Ey\XDE>Q 54O?Q 94 )BY?Q E:y?Q I @SDI:iI:X4y:BɮmAIE:iFNOT Ignoring new targets: 331.75 m."i%=7*i%=7 ProNav: ac range: 331.752441 m, nav range: 324.524719 m, bearing: 33.429834 deg, approach rate: -0.556083 m/s, LOS rate: 0.000646 deg/s, cmd heading: 33.627395 deg, new cmd heading: 33.628110 deg. i Q7HeadingCmd: 0.586921 target range: 331.752441 and range: 331.70 m.hx@?hhhhggjg!rg%Be!re!Ze!:e!*e-?UBɢU4=)Y ]?iY)]#/~#,4BLA 286>2e?2=ٱ2=2H -E?4?@? |]? ^ͣ^q??i286>I2b;2CY>nBy>$IbDFVDF8yN;%N6=ٔRad;Q-R>9PYP=VEyVnXDVEV>XQ 5^4ZO?Q 9^4Z?)ZBY`yb8?Q Ib @ZSDIZ:iZ:Z|`4ydɮfbAd:iy}FNOT Ignoring new targets: 331.75 m."i\7*i\7 ProNav: ac range: 331.752441 m, nav range: 324.288818 m, bearing: 33.430184 deg, approach rate: -0.507698 m/s, LOS rate: 0.000754 deg/s, cmd heading: 33.628109 deg, new cmd heading: 33.628809 deg. i7HeadingCmd: 0.586933 target range: 331.752441 and range: 331.70 m.hEA?hhhhggjgrgereZe:e*e`"?BɢƲ=) ?i)A<iͤ~iEA?Ƣ=߹=IEA?IAi@i @i@u4@q^AE\=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765594qAIIOe>DD4=E EEE"E%;*E:VEZEa@a@a @a @ԙ B5 >B5 /CB5 #IB5 &BB5  =B1 B5 DB1 B5 6oE#,׆BLAɰ@Y~oBy~$I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014725iMb@Mb@Mb@ 9V-?QY ?yu ) @Y(@AAbDVD8y W;% 6=ٔ Q->9Y=EyXDE>!Q 5-4%3O?Q 9-4%)%BY- ?Q E-:y5w?Q I5 @%SDI%";i%H;%Xh4y=A5 > E  E E 5E "E ;*E :VE 4ZE BE L^ƻ#,,cBLAR>RV?R=ٱR=RHW?@ֻ쵿??q? 'ԢM? S?iR>IR=`;RCYZcByZ$IbDfVDf8yj%n`=lٔr;Q-r>9pYp=vEyvXDv69Ev>xQ 5~4zxO?Q 9~4z)zBYyh?Q I @zSDIz;iz;zn4y ɮ A -B*** querying acoustic contact ***i)i):i1=FNOT Ignoring new targets: 331.75 m."i=k7*i=k7M ProNav: ac range: 331.752441 m, nav range: 323.839600 m, bearing: 33.430923 deg, approach rate: -0.550678 m/s, LOS rate: 0.001130 deg/s, cmd heading: 33.629461 deg, new cmd heading: 33.630287 deg. iMU8UHeadingCmd: 0.586959 target range: 331.752441 and range: 331.70 m.hUB?hQhYhYhYgYgYjgargaeareaZea:ei*ems@颕Bɢ}=) ?i)__<顙iiB?κ=|D=IB?I59@1 @1@5/@1@=yA@9 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188569^AU=I1 IA OM >i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772807I#,DO CLAjcl>j?jZ=ٱj=jH@]? X~?@1?@Rw?~/)?` ?ijcl>Iji`;jCYvjByv$IQiMb@Mb@Mb@ 9@5^I ?~jth?Yb?yD;/@d@ d@)7@Yf@DzD?AE EEE"E;*Exv:VEZEa@a@a@a@bDVD8y[<%:=ٔ9Q->9Y=EyXDfEE>Q 54O?Q 94))BYb?Q E:y\?Q I @SDIA:iI:_v4y >Bɮ A JE:i15FNOT Ignoring new targets: 331.75 m."i5*i=E ProNav: ac range: 331.752441 m, nav range: 323.593750 m, bearing: 33.430075 deg, approach rate: -0.562410 m/s, LOS rate: -0.001941 deg/s, cmd heading: 33.630287 deg, new cmd heading: 33.628590 deg. iEXcMHeadingCmd: 0.586930 target range: 331.752441 and range: 331.70 m.hUA?hQhQhQhQgQgQjgYrg]6BeYreYZea:ea*ee@颍!Bɢ=) 2?i)o<顙ihBB#IBBBBBB;B)oEBBBB =B =C55checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022670ԩ^AL=I I O% > #,{%CLA2 >2?2=ٱ2 =2H`?@P?`? z? `u?#?i2 >I2_;2CYrbByr$I xzR=bDzVDz8y9$%Y=ٔ@QQ-%>9)Y)=-Ey5XD= E=>IQ 5U4MkP?Q 9U4M)MBYYye'?Q Ie @MTDIMR;iM|S;M}4yqɮuAq:iԹFNOT Ignoring new targets: 331.75 m."iQ*iQ v>BDAT read: Rx Time:01:10:35.5909 TRx dataTimestamp_ set to:1764897036.665376checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276917 ProNav: ac range: 331.752441 m, nav range: 323.379486 m, bearing: 33.429366 deg, approach rate: -0.553858 m/s, LOS rate: -0.001835 deg/s, cmd heading: 33.628590 deg, new cmd heading: 33.627170 deg. iVGHeadingCmd: 0.586905 target range: 331.752441 and range: 331.70 m.)h%e??h1h1h1h1g9g9jg9rgAeAreAZeIuɪ9qY}A:ey*eMv @#Bɢ=) ?i):<imxie??΍==Ie??I)E EE3E"E*E~:VE4ZEBE@9 #,>CLA2>2?2j=ٱ2~=2H@8e? -=? ?@[}? Rc紿{?@a?i2>I2A`;2CYPyPbDZVDZŰ8yb;%bP=ٔb͹Q-f>9dYd=fEyfXDjEj>lQ 5r4nP?Q 9r4n)nBYpyr?Q Iv @nTDIn{;in;n׃4yzABɮzAx:iFNOT Ignoring new targets: 331.75 m."i%*i%- ProNav: ac range: 331.752441 m, nav range: 323.160461 m, bearing: 33.428676 deg, approach rate: -0.570476 m/s, LOS rate: -0.001799 deg/s, cmd heading: 33.627169 deg, new cmd heading: 33.625788 deg. i5R5HeadingCmd: 0.586881 target range: 331.752441 and range: 331.70 m.h5=?h1h9hhggjgrgereZe:e*eo>@$BɢUZ=)Q ]}?iY)],ԙ B B .CB #IB BB ! =B B DB z;B oE#,XCLAF>FN?Ft$=ٱFpV=FH 4d?@@'V?b?{?@mf޴~??iF>IF+`;DY^]Byb $I-DAT read: 01:10:35.5909 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415, 0.02,-0.587,-2.205,-0.350,-1.084, PHS= 0.598,-1.076, 0.690, RAW= 152.6, -2.5, CAL= 151.9, -3.6, ROT= 358.1, 3.6 5Ygot valid direction response: 01:10:35.5909 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415, 0.02,-0.587,-2.205,-0.350,-1.084, PHS= 0.598,-1.076, 0.690, RAW= 152.6, -2.5, CAL= 151.9, -3.6, ROT= 358.1, 3.6 =PDAT read: Bearing 184.8, -7.1 (Local) E~Local bearing/azimuth received: Bearing 184.8, -7.1 (Local) MDAT read: Range 11 to 50 : 329.4 m (Round-trip 439.3 ms) speed 0.1 m/s UR#Rx 1: Read range and direction messages.]`direction in FSK: [0.997478,-0.033089,-0.062791]]Fpublishing direction and range infoyT{&W?G$֏ YC )II?i^ף0?¸2)@ )3@I=}?1??"iFD .?)02=Ii=uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@q 9S?I +?Mbp?Y?y94<;M@M@ @)Y@bDVDư8yuZ%u&=ٔ}܎Q->9Y=EyXD=9E>Q 54%P?Q 94})BY"?Q E:yq?Q I @%TDIK;i;4yɮAii;ZCLAjC"jC:j>?Rj_5܉t@FToo%^^4BjT{&W?G$֏ *j2j=Zj'-&q@gАe e@ ':HJj35 ۦ?>?mb¿j/C j1Ci.w?iGjˑAj.w?jjCBrjCzj;? addTargetRange:: Added new target pos. range: 329.399994 m, deltaT: 4.283898 s, deltaX: -2.300018 m, approachRate: -0.536898 m/s, rangeRepo size: 4  Added new target pos. range: 329.447266 m, bearing: 32.645236 deg, lat: 36.779707 deg, lon: -121.859609 deg, deltaT: 4.283898 s, deltaX: -2.305176 m, approachRate: -0.538102 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 329.45 m."i*i- ProNav: ac range: 329.447266 m, nav range: 326.995148 m, bearing: 32.952747 deg, approach rate: 0.000000 m/s, LOS rate: -0.001799 deg/s, cmd heading: 33.625786 deg, new cmd heading: 33.623933 deg. i15HeadingCmd: 0.586848 target range: 329.447266 and range: 329.40 m.h5;?h9h9h9h9g9g9jgarge/BeareaZei:em`ft@*em?ԡ颽&BɢԬ=) ?i)<ii;?ލ=S7=I;?I9@ @@@(DAT read: user:55> BDAT read: Tx time:01:10:36.9974 $Ping request sent.A > A .AII!O5>#,vCLAɰp;2>2o?2ئ=ٱ2=2Hb?&N??Kz?lP@/մ +u? j?i2>I2$l`;2CY:SBy>#I@@bDFVDF8xy~,X%T=ٔŹQ->9  ?Y  ?= Ey XD T:E >Q 54O4P?Q 9%4I)BY!y%?Q I% @3TDI:i:+4y-Bɮ5eA5AEMB*** querying acoustic contact ***iIiI:iY]FNOT Ignoring new targets: 329.45 m."ie*ieu ProNav: ac range: 329.447266 m, nav range: 326.784149 m, bearing: 32.951260 deg, approach rate: -0.581294 m/s, LOS rate: -0.004099 deg/s, cmd heading: 33.623932 deg, new cmd heading: 33.620956 deg. iu 𸝏}HeadingCmd: 0.586796 target range: 329.447266 and range: 329.40 m.h}J8?hyhyhyhyggjgrgereZe:e*e@?颽(Bɢ=) ?i)<ixiJ8?=ߝ=IJ8?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249900e9@a @i@m/@i)I^Aஜ=I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504504O >ԁ E  E E 2E "E l;*E :VE 4ZE a @a @a% @a% @#,CLA:>:?:=ٱ:K=:H b?,?C? ty?祿d%?@ʶ?i:>I:~`;:CYBIByB#Ii Mb@Mb@Mb@     9 gfffff?:v?MbP?Y 3?y < : d@ @ @) @ Y @bD%VD%8y5D%5F=9ٔ=Q-E>9AYA=EEyEXDM:EM>QQ 5]4U\DP?Q 9]4U)UBY]Y?Q E]:ye?$?Q Ie @UBTDIU;iU;Uh4yiɮmAi:i FNOT Ignoring new targets: 329.45 m."i5'*i5'츝E ProNav: ac range: 329.447266 m, nav range: 326.546906 m, bearing: 32.948490 deg, approach rate: -0.552076 m/s, LOS rate: -0.006452 deg/s, cmd heading: 33.620957 deg, new cmd heading: 33.615412 deg. iEB/CB#IBBB =BBDBM;BnE) ?i) <顱i7i1?o=)o=I1?Ii5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7551169@9 @9@=/@9@EzA@Aԑ^Ae = IQ Iq O >#,wCLAi@I@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006961r=>r4?r9b=ٱre=rH_?`??@v?@'ݺ???ir=>Ir*`;rCY5?By5#IbDMVDM8y]<:%]H=ٔ]Q-e>9aYa=eEyeYDm:Em>qQ 5}4u)TP?Q 9}4u)uBYyy}f$?Q I} @uQTDIui:iuA;u4y"BɮABEԙ:iFNOT Ignoring new targets: 329.45 m."i*i ProNav: ac range: 329.447266 m, nav range: 326.313263 m, bearing: 32.945733 deg, approach rate: -0.595298 m/s, LOS rate: -0.007029 deg/s, cmd heading: 33.615411 deg, new cmd heading: 33.609894 deg. iMHeadingCmd: 0.586603 target range: 329.447266 and range: 329.40 m.h+?hhhhggjgrgereZe:e*e?+Bɢi=) ?i)<ii%+?%V=%C=I%+?I)E EEE"E%;*E:VEZEBEK #,QCLA2~>2 ?2=ٱ21}=2H@]?@!??`,u?ܞ\~.??i2~>I2|`;2CY::By:#I @Ba=bDF VDF8yNͼ%NW=ٔR޺Q-R>9PYP=REyRYDV:EV>XQ 5^4ZbP?Q 9^4Zk)ZBY\yb$?Q Ib @Z_TDIZ;iZ;Z+4ydɮf=Ad:ixzFNOT Ignoring new targets: 329.45 m."i~*i~  ProNav: ac range: 329.447266 m, nav range: 326.095886 m, bearing: 32.943144 deg, approach rate: -0.573354 m/s, LOS rate: -0.006832 deg/s, cmd heading: 33.609892 deg, new cmd heading: 33.604712 deg. i  HHeadingCmd: 0.586513 target range: 329.447266 and range: 329.40 m.h%?hhhhggjgrgereZe:e*e J?U-Bɢ]r=)a mH?ii)<顱ivhi%?\==I%?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512380!M9@I @I@I@IE EE4E"ET;*E՚:VE4ZEa@a@a@a@Q^A `=A A @AB >B 0CB #IB BB  =B .DB DB ;B nEI I O- >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761961y 2#,#.CLA:>:N'?:=ٱ:C=:Hb\?@q?? s?`[B9ȹ?@?i:>I:ta;8YB;By@i Mb@Mb@Mb@     9 zG? rh?MbpY  ?y C =  @  @) @ Y 3@bD%VD%8y5Y;%5A=ٔ54Q-=>99Y9=EEyE%YDE#:EE>IQ 5U4MsP?Q 9U4Mi)MBYUK?Q E]:y] (?Q I] @MoTDIM;iM;M4ye%BɮeOAeCE:i FNOT Ignoring new targets: 329.45 m."i *i= ProNav: ac range: 329.447266 m, nav range: 325.847076 m, bearing: 32.939575 deg, approach rate: -0.565903 m/s, LOS rate: -0.008124 deg/s, cmd heading: 33.604712 deg, new cmd heading: 33.597568 deg. iEmEHeadingCmd: 0.586388 target range: 329.447266 and range: 329.40 m.hE?hIhIhIhIgIgIQjgQrgTBereZe:e*e`@E/BɢMG=)I mނ?ii)u4S;a^AM L=I I O > [#,CLA2!>2I?2=ٱ2=2HqZ?@|2? R?o?UY۳ R?Ż?i2!>I2`;2CY:'By:#IbDF VDF8yJiϽ%NU=ٔN Q-N>9PYP=REyR4YDR:EV>TQ 5Z4VP?Q 9Z4V)V{BY\y^*(?Q I^ @V}TDIV. ;iV ;VH4yf BɮfAd%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 329.45 m."i5*i=e ProNav: ac range: 329.447266 m, nav range: 325.621674 m, bearing: 32.936317 deg, approach rate: -0.598912 m/s, LOS rate: -0.008665 deg/s, cmd heading: 33.597567 deg, new cmd heading: 33.591045 deg. im}mHeadingCmd: 0.586274 target range: 329.447266 and range: 329.40 m.hm?hqhqhqhqgqgqjgrgereZe:e*e&@1Bɢ1=) z?ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266049)<i?%i?%s=%=I%?I!I1)5yAԱ9@ @@$5@^A=A>A?IqIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520031E  E &E 2E "E l;*E ;VE 4ZE a @a @a @a @9 C#,DLAɰ;2Gz>2?2=ٱ2ݺ=2H`V? ߾@m?? *j?@? ?i2Gz>I2`;2CYrByv#IimMb@Mb@Mb@iiii i9mOn?~jt?{GzYm?ym=m#m@m@ m@)m@iYm@bDVDİ8yZ%;=ٔQ->9Y=EyFYDT;E>Q 54דP?Q 94)oBY?Q E:y@*?Q I @TDI;i;齾4y"Bɮ<A:iFNOT Ignoring new targets: 329.45 m."i0*i0 ProNav: ac range: 329.447266 m, nav range: 325.362946 m, bearing: 32.932197 deg, approach rate: -0.603890 m/s, LOS rate: -0.009624 deg/s, cmd heading: 33.591045 deg, new cmd heading: 33.582798 deg. i 匹 HeadingCmd: 0.586130 target range: 329.447266 and range: 329.40 m.h  ?hhhhggjgrg?BereZe!:e!*e% 1o@3Bɢp=) s?i)xپ<ipi% ?%!=%੤=I% ?I!B=>B9B=#IB=BB= =B9B=DB=;B=nE@ @@ 5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7700029^A=i A ؟AI! I9 OE >?y #,+DLA*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022068B#>B`?B]==ٱB(=BH`P?l? ?`d?@??iB#>IB`;@YNByN#I PPbDZVDZ8y^p,%bW=ٔbV!Q-b>9f"?Yf"?=fEyfUYDfq_;Ej>hQ 5n4j͢P?Q 9r4j)jeBYpyr*?Q Ir @jTDIjM;ij8;jľ4ytɮz}Ax:iFNOT Ignoring new targets: 329.45 m."i/*i/- ProNav: ac range: 329.447266 m, nav range: 325.138062 m, bearing: 32.928559 deg, approach rate: -0.593310 m/s, LOS rate: -0.009605 deg/s, cmd heading: 33.582797 deg, new cmd heading: 33.575516 deg. i-5HeadingCmd: 0.586003 target range: 329.447266 and range: 329.40 m.h5P?h1h1h9h9g9g9jg9rgAeAreAZeA:eI*eMuw @u5Bɢu=)y }n?iy)}fU#,EDLA2>2?2^=ٱ2"|=2HzL?:?`)?_?$Tκ? ?i2>I2Ka;0YB ByB#ITbD^ͿVD^~8yjv<%jJ=ٔnމQ-n>9pYp=rEyrfYDv;Ev>xQ 5}4z²P?Q 94z)zZBYy*?Q I @zTDIzi5>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529487@ @@@E EEE"E&:*E$:VEZEa@a@a@a@^Aܪ=AzAxAB9 A= <B] >B] /CB] a#IB] ԄBB]  =BY BY B] ;B] vnEBBBBBC5A ) I9 Ia O >M DAT read: 01:10:39.8193 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 229,-0.20,-0.300,-1.823,-0.109,-0.549, PHS= 0.350,-1.230, 0.396, RAW= 151.4, 6.1, CAL= 150.7, 6.3, ROT= 359.3, -6.3 U Ygot valid direction response: 01:10:39.8193 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 229,-0.20,-0.300,-1.823,-0.109,-0.549, PHS= 0.350,-1.230, 0.396, RAW= 151.4, 6.1, CAL= 150.7, 6.3, ROT= 359.3, -6.3 e PDAT read: Bearing 194.3, -4.6 (Local) e ~Local bearing/azimuth received: Bearing 194.3, -4.6 (Local) m DAT read: Range 11 to 50 : 313.2 m (Round-trip 417.7 ms) speed 0.0 m/s u R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.993887,-0.012143,0.109734]} Fpublishing direction and range infoy! % y? Aވ,=?Y% C! ! ! ! ! )! I% 33>i% p% >% )@% ^ =% aU(@ % z0=)% ū@I% z0Ὡ! ! % 2~'?<`?M*? % f ?)% aٽI% D+Hi% z0Ὡ! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.#,ut_DLA|YBy#IiMb@Mb@Mb@ 99v?V-?y&1|Y?y<` @)@Yz@ =bDֿVD8y=_%=)=ٔEQ-E>9AYA=EEyMyYDME>Q 54P?Q 94h)NBY0?Q E:y#'?Q I @TDIt;i;4Ծ4yBɮ 1A :E1iQiUB\DLAjUC"jUC:jUH ?RjU4[us@9:Vn/A@BjUy? Aވ,=?*jUD+H2jUz0ZjU0bp@Hde@?R#@JjUEX?@C{?b``>?jU$+C jUCiU4?iU{7jUܘBjQjQjQrjUNCzjUQ?WG1Ic9YA addTargetRange:: Added new target pos. range: 313.200012 m, deltaT: 4.031862 s, deltaX: -16.199982 m, approachRate: -4.017990 m/s, rangeRepo size: 4  Added new target pos. range: 313.249847 m, bearing: 33.135735 deg, lat: 36.779707 deg, lon: -121.859609 deg, deltaT: 4.031862 s, deltaX: -16.197418 m, approachRate: -4.017354 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 313.25 m."i*i ProNav: ac range: 313.249847 m, nav range: 324.613525 m, bearing: 32.920695 deg, approach rate: 0.000000 m/s, LOS rate: -0.009324 deg/s, cmd heading: 33.567655 deg, new cmd heading: 33.557895 deg. iEHeadingCmd: 0.585696 target range: 313.249847 and range: 313.20 m.hE(?hAhAhAhAgAgIjgIrgM*BeIreQZeQ:eU@3s@*eU`N?(DAT read: user:56> BDAT read: Tx time:01:10:41.0474 $Ping request sent.2]?2=ٱ2 =2H|B?P??T?` 4? ˶?i2ڵ>I2`;2CY:By:s#II>=)>4<bDFݿVDF8yNi%NE=ٔN9Q-R>9R ?YR ?=REyRYDV<;EV>XQ 5^4ZP?Q 9^4Z)ZDBY\yb'?Q Ib @ZTDIZC ;iZ:ZH۾4yfBɮf Af;ErB*** querying acoustic contact ***ipipԑ:iFNOT Ignoring new targets: 313.25 m."iY"*iY" ProNav: ac range: 313.249847 m, nav range: 324.379120 m, bearing: 32.917356 deg, approach rate: -0.622297 m/s, LOS rate: -0.008871 deg/s, cmd heading: 33.557894 deg, new cmd heading: 33.551211 deg. iHeadingCmd: 0.585579 target range: 313.249847 and range: 313.20 m.h?hhhhggjgrgereZe:e*e M?:Bɢuر=) T?i)<i}ii?\=>=I?I=9@9 @9@=0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502860 E EE4E"E=;*Eą:VE4ZEa@a@a@a@^A] = A I I O >B5 >B5 0CB5 A#IB5 BB5  =B1 B1 B5 ;B5 UnE> &#,7QDLAFS>F?F=ٱF =FH@??"ݿ?w#?R?]٧5`׻?U?iFS>IFR`;FCYRфByR\#IiUMb@Mb@Mb@QQQQ Q9Ud;O?~jt?~jtYU?yU9Y=EyYD8:E>Q 54vP?Q 94)8BY?Q E:y%?Q I @TDI:i:4yɮ A:iFNOT Ignoring new targets: 313.25 m."i`*i`checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549771} ProNav: ac range: 313.249847 m, nav range: 324.128448 m, bearing: 32.914089 deg, approach rate: -0.604835 m/s, LOS rate: -0.007889 deg/s, cmd heading: 33.551211 deg, new cmd heading: 33.544672 deg. i}gHeadingCmd: 0.585465 target range: 313.249847 and range: 313.20 m.h?hhhhggjgrgBereZe:e*e ?Թ bEeם4jEeş4rEeL/E  E E 2E "E %;*E ~:VE 4ZE BE a 2E a JE 8;a :E 9;a 2,#,t)DLA>4<ɰ>4f?f=ٱfV=fH@??L?`#?TR?Sh`3 Q?*?ifh>If`;fCYrÄByrK#IbDVD8y-ː%-Q=ٔ-L9Q-->91Y1=5Ey5YD58E=>AQ 5E4EP?Q 9M4E )E.BYIyM%?Q IM @ETDIE:iE::E4yUBɮU% A] 3#,DLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798^>^?^=ٱ^}=^H ???`#?R?p7.??i^>I^P`;^CYBy6#IE EEE"E&:*E:VEZEa@a@a@a@iEMb@Mb@Mb@AAAA A9E?{Gzt?y&1|YE ?yEף;E`AEM@ EM@)E @AYE@bD]VD]ɰ8ymw%m*=ٔu68Q-u>9u"?Yu"?=}Ey}YD}5E}>Q 54Q?Q 94)"BY ?Q E:yy?Q I @TDI;i:4yɮ A:iFNOT Ignoring new targets: 313.25 m."i*i ProNav: ac range: 313.249847 m, nav range: 323.640381 m, bearing: 32.909250 deg, approach rate: -0.558455 m/s, LOS rate: -0.004030 deg/s, cmd heading: 33.538770 deg, new cmd heading: 33.534985 deg. i븝HeadingCmd: 0.585296 target range: 313.249847 and range: 313.20 m.h?hhhhggjgrgereZe:e*e ?%>Bɢ%=)! -9?i))-d<))i-"i5?5t=5^=I5?I9AAAAB>BB#IBBBBBBհ;BlnE@ @!@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823I ^A "=} nManaging dock network, ignoring radio surface power offAI Ia Iy y O >h9#,dtDLAYBy#IbD$VDΰ8y%e=ٔQ->9Y=EyYDE>Q 54}Q?Q 94 )BY!y!Q I% @ UDI ;i;p4y5 Bɮ5d A1:iimFNOT Ignoring new targets: 313.25 m."iuu*iuu ProNav: ac range: 313.249847 m, nav range: 323.440735 m, bearing: 32.907809 deg, approach rate: -0.542485 m/s, LOS rate: -0.003919 deg/s, cmd heading: 33.534986 deg, new cmd heading: 33.532101 deg. i帝HeadingCmd: 0.585246 target range: 313.249847 and range: 313.20 m.h?hhhhggjgrgereZe:e*e @@Bɢ =) /?i),<iLi?w=T=I?II)wA-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014822a@a @a@e/@aEe EeEe4Ea"Ee%;*Ee:VEe4ZEaBEaam2EaamJEe;au:Ee;au1^Aa A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266895O >>L@#,?ELA JqF>Jm?J=ٱJ=JH@iE? ??S[?EXp?F?iJqF>IJ`;JCYRByR #IbDZ1VDZڰ8y~%~X=ٔ~;Q->9Y=EyYD RE >Q 54y#Q?Q 94)BYy%?Q I% @UDI;i;4y)ɮ- A)EB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 313.25 m."i]،*i]،m ProNav: ac range: 313.249847 m, nav range: 323.237915 m, bearing: 32.906396 deg, approach rate: -0.552089 m/s, LOS rate: -0.003848 deg/s, cmd heading: 33.532100 deg, new cmd heading: 33.529273 deg. imZḝuHeadingCmd: 0.585196 target range: 313.249847 and range: 313.20 m.huk?hqhqhqhqggjgrgereZe:e*e`@ABɢﶜ=) J&?i)s<i{ik?r=֫=Ik?I9@9 @9@E0@A@U=@U=yEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518817Ա^A}6=E EE5E"ET;*E:VE4ZEa@a@a@a@A I I O > B >B /CB "IB oBB  =B B B #;B nEXvF#,ELAFF>F4?F=ٱF;=FH@H?@ #?@? ^?`UNp?@?iFF>IF1e`;D`YzBy~#IiMb@Mb@Mb@ 9tV?~jtx{GzY?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770919yĻ#@ )@YbDVD8yE%>=ٔ];Q->9Y=EyYDE>QQ 5]4U75Q?Q 9]4U9)UBYe?Q Ee:ye?Q Ie @U&UDIU:iUA:U4ym Bɮm Am=E:iFNOT Ignoring new targets: 313.25 m."iK*iK ProNav: ac range: 313.249847 m, nav range: 322.983948 m, bearing: 32.905519 deg, approach rate: -0.570731 m/s, LOS rate: -0.001971 deg/s, cmd heading: 33.529272 deg, new cmd heading: 33.527518 deg. ifHeadingCmd: 0.585166 target range: 313.249847 and range: 313.20 m.hi?hhhhggjgrgBereZe:e*ej@BBɢ=) b$?i)Z<inxii?j==Ii?I m9@i @q@u0@q^A\=U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023140A A I I O >E  E E 3E "E =;*E x:VE 4ZE BE IB,?B|y=ٱBj=BH@jL?g? ?@a? y@M'??iBuc>IB`;BCYNzByN"IbDVVDV8y୽%V=ٔ%;Q-%>9!Y!=%Ey-YD-uE->1Q 5=45CQ?Q 9=45&)5BYAyE?Q IE @54UDI5:i5A;5 4yIɮM AI:iquFNOT Ignoring new targets: 313.25 m."iT *iT  ProNav: ac range: 313.249847 m, nav range: 322.774719 m, bearing: 32.904827 deg, approach rate: -0.570369 m/s, LOS rate: -0.001890 deg/s, cmd heading: 33.527517 deg, new cmd heading: 33.526131 deg. iS]HeadingCmd: 0.585141 target range: 313.249847 and range: 313.20 m.h?hhhhggjgrgereZe:e*et @CBɢ,=) ?i)<i|Ti?Ɏ=^=I?I e>i >9@ @@&3@IBDAT read: Rx Time:01:10:43.8665 TRx dataTimestamp_ set to:1764897044.980746checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276096y^AA>A>A I I O >Ա } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530655S#, 7OELAN>Nq?Nڮ=ٱN=NHQ?/?`?9h?J@ϴ-?@?iN>INS`;NCYnvByr"IbD-?VD-8ԱE EE4E"E;*EZ:VE4ZEaE@aE@aM@aM@ytu%1=ٔn;Q->9Y=EyZD3E>Q 545VQ?Q 94K)BYy{?Q I @EUDI;;i):(4yBɮ A4E:i9eFNOT Ignoring new targets: 313.25 m."ie*ieu ProNav: ac range: 313.249847 m, nav range: 322.512115 m, bearing: 32.904015 deg, approach rate: -0.560421 m/s, LOS rate: -0.001734 deg/s, cmd heading: 33.526130 deg, new cmd heading: 33.524505 deg. iu!KHeadingCmd: 0.585113 target range: 313.249847 and range: 313.20 m.h?hhhhggjgrgereZe:e*eAH@q}DBɢ}R=) X?i)<<顁iBi?؎=[=I?IB%>B%0CB%"IB%KBB% =B!B!B%;B%#oEI@Q @Q@]N0@YԡDAT read: 01:10:43.8665 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.22,-0.696,-2.003,-0.411,-0.817, PHS= 0.222,-1.141, 0.362, RAW= 154.8, 7.8, CAL= 154.3, 8.2, ROT= 355.7, -8.2 Ygot valid direction response: 01:10:43.8665 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.22,-0.696,-2.003,-0.411,-0.817, PHS= 0.222,-1.141, 0.362, RAW= 154.8, 7.8, CAL= 154.3, 8.2, ROT= 355.7, -8.2 PDAT read: Bearing 196.2, -8.2 (Local) ~Local bearing/azimuth received: Bearing 196.2, -8.2 (Local) DAT read: Range 11 to 50 : 311.1 m (Round-trip 414.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.986990,-0.074212,0.142629]Fpublishing direction and range infoyñjl?%཰x0A?YC )GISc>iJ X>,@'g >Z,@ C>)@IC?PD?ߓ]? G?)Z I)iCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Au = A I I O- >4Z#,-jELAB^>B;?B=ٱB^=BH`X?`H@?@6?Zp?%@<@$?`l?iB^>IB_;BCYVfByV"IpiUMb@Mb@Mb@QQQQ Q9U rh?Zd;O~jthYU ?yUjUDU@Ud@ Ud@)U @QYU@bDeZVDe8y6%J=ٔj;Q->9Y=Ey!ZDE>Q 54 fQ?Q 946)BY ?Q E:y?Q I @SUDI:i::4yɮ@ A(DAT read: user:57> BDAT read: Tx time:01:10:45.0974 $Ping request sent.5a#,ELA2n >2(?2=ٱ2x=2H `?,@??x?@,?O?i2n >I2-_;2CY:TBy:"IbDFUVDF8yJ(ƽ%Nb=ٔV:Q-Z>9^ ?Y^ ?A=EEyM/ZDeEe>iQ 54m)uQ?Q 94mHQ =tI)mBYyE?Q I @m`UDIm;im;m"4yBɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 311.15 m."ij7*i%j7- ProNav: ac range: 311.150513 m, nav range: 320.948334 m, bearing: 32.591965 deg, approach rate: -0.538263 m/s, LOS rate: 0.001260 deg/s, cmd heading: 33.523101 deg, new cmd heading: 33.524089 deg. i-8EHeadingCmd: 0.585106 target range: 311.150513 and range: 311.10 m.hE}?hIhIhIhIgIgIjgQrgQeqreqZey:ey*e}W?ɢa=) =?i)%=11i5Fi=}?===l=I=}?IAii9@ @@ 5@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502663Em EmEm4Ei"Em ;*Em:VEm4ZEiԙa@a@a@a@^A=AyAzAzABe >Ba Be "IBe #BBa Ba Ba Be ;Be GoEB 0CB 0CB B  =B  =C 5 A I I O- >kAg#,nELA2AK>2p?2[H=ٱ2EH=2Hf? ??_~?@`a"@UA?α?i2AK>I2]^;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754652YFQByF"IimMb@Mb@Mb@iiii i9mDl?~jt{GztYmO ?ymmףimA m@)mM@iYm@bDeVD 8yRԙ%;=ٔQ->9Y=EyAZDjE>Q 54Q?Q 94E)BY ?Q E:y?Q I @oUDIj;i;0*4yɮ A:iFNOT Ignoring new targets: 311.15 m."i8*i8  ProNav: ac range: 311.150513 m, nav range: 320.721130 m, bearing: 32.593631 deg, approach rate: -0.569515 m/s, LOS rate: 0.004180 deg/s, cmd heading: 33.524088 deg, new cmd heading: 33.527423 deg. i 8HeadingCmd: 0.585164 target range: 311.150513 and range: 311.10 m.hN?hhhhggjgrgBe!re!Ze!:e!*e%?UFBɢU]=)Q U?iY)]#v=YYi]ieN?e=eir=IeN?Ii9@ @@/@ QU CGzA%9%zAY%ܕA^A==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006793A ؟AI I O >Em  Em Em 2Ei "Em ;*Em ą:VEm 4ZEi BEm @6?6<=ٱ6ڳ=6Hl?`ฦ??? 厧n!`N? ?i6>I6^;6CYRKByR"IbDZyVDZ8ybD%bY=ٔbzvQ-f>9f"?Yf"?=fEyfPZDj\Ej>tQ 5v4vQ?Q 9z4v)vBYxyz?Q Iz @v|UDIv.:iv2:v04yBɮE A5E:i!-FNOT Ignoring new targets: 311.15 m."i-8*i-8= ProNav: ac range: 311.150513 m, nav range: 320.512878 m, bearing: 32.595208 deg, approach rate: -0.550218 m/s, LOS rate: 0.004168 deg/s, cmd heading: 33.527425 deg, new cmd heading: 33.530580 deg. iE8EHeadingCmd: 0.585219 target range: 311.150513 and range: 311.10 m.hE?hAhIhIhIgIgIjgQrgQeQreQZeY:eY*e]?颁ɢ=) y?i) =顉ii?= T=I?I9@ @@@ߕ>ߕ<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259835A^Aui=iA I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510652ԙ Wt#,6ELAD<D<E5 E5E51E1"E5l;*E5:VE5-4ZE1aU@aU@aU@aU@ο>|?k=ٱ|=H\t?`ӎ???a@??iο>I+J^;CYGBy"IiiMb@Mb@Mb@ 9Dl?Q롿~jthYy\Dd@ z@)d@Y@bD tVD 8y]%*=ٔ%'Q-%>9)Y)=-Ey-dZD5^E5>9Q 5=4="Q?Q 9E4=)=BYE ?Q EE:yE?Q IM @=UDI=P;i=e;=294yQɮUe AQ:iq}FNOT Ignoring new targets: 311.15 m."i}8*i}8 ProNav: ac range: 311.150513 m, nav range: 320.248535 m, bearing: 32.597052 deg, approach rate: -0.550110 m/s, LOS rate: 0.003841 deg/s, cmd heading: 33.530580 deg, new cmd heading: 33.534272 deg. i8HeadingCmd: 0.585283 target range: 311.150513 and range: 311.10 m.h#?hhhhggjgrgBereZe:e*eг?GBɢ=) 5?i)@=B>BBf"IB BB =BBDB;B7oEiSi #? ^= i=I #?I ԙ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762724^A ;= A I I1 OE >{z#,/ELA(ɰ(F|>FN?FN.=ٱF3=FHa{?|@ou?n?}?/`߻? ?iF|>IFX^;DYN@ByR"IbDZbVDZ8yb-%f{=ٔf]Q-f ?9hYh=jEyjqZDj֗Ej ?lQ 54n,Q?Q 94n)nBYyF?Q I @nUDIn4y%Bɮ% A-6E:iIMFNOT Ignoring new targets: 311.15 m."iU8*iU8e ProNav: ac range: 311.150513 m, nav range: 320.069519 m, bearing: 32.598351 deg, approach rate: -0.540110 m/s, LOS rate: 0.003922 deg/s, cmd heading: 33.534272 deg, new cmd heading: 33.536872 deg. ie8mHeadingCmd: 0.585329 target range: 311.150513 and range: 311.10 m.hm?hihihihigqgqjgqrgqeyreyZey:e*e@颩ɢƐ=) >i)4U=顱i΁checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014604i=?=I==t=I=?IA@ @@@@@xAbE4jE4rEJv/E5 E5E53E1"E5;*E5:VE54ZE1BE59N6W#,FLA V>VD?V'=ٱV=VH6?oMl?@ظ??Y ߴ W?~?iV>IVkN^;VCYj:Byn"IbD5cVD58yּ%1=ٔcQ->9Y=EyZD녻E>Q 54Q?Q 94D)BYy?Q I @UDI:i:F4yɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 311.15 m."i8*i8 ProNav: ac range: 311.150513 m, nav range: 319.815857 m, bearing: 32.600280 deg, approach rate: -0.556438 m/s, LOS rate: 0.004235 deg/s, cmd heading: 33.536871 deg, new cmd heading: 33.540732 deg. i8HeadingCmd: 0.585396 target range: 311.150513 and range: 311.10 m.h?hhhhgg!jg!rg!e!re)Ze):e)*e-@.@]HBɢ]ԧ=)Y ]>iY)e =aaieMԙim?  = ǔ=I ?I 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519479@ @@/@ԹEu EuEu2Eq"Eu;*Euz:VEu4ZEqa@a@a@a@^A ~= B B B N"IB BB B B B ];B oEI I O >#,GtFLA2{>2/?2*=ٱ2{=2H@R?.f?Z?F?Oȼ?A?i2{>I2>^;0Y:8By:"IB>@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770974`iMb@Mb@Mb@ 9ʡE? rh{Gzt?Y?yCף;A @)SAY@bD`VD8y-5%-R=ٔ-#Q-->91Y1=5Ey=ZD=)E=>AQ 5M4E@Q?Q 9M4E=)EBYM?Q EM:yU?Q IU @EUDIE;iEj;EM4y]Bɮ]AY:i5FNOT Ignoring new targets: 311.15 m."i=J7*i=J7e ProNav: ac range: 311.150513 m, nav range: 319.598053 m, bearing: 32.600751 deg, approach rate: -0.535229 m/s, LOS rate: 0.001156 deg/s, cmd heading: 33.540733 deg, new cmd heading: 33.541674 deg. ien8mHeadingCmd: 0.585413 target range: 311.150513 and range: 311.10 m.h?hhhhggjgrg BereZe:e*e @yɢ}=)y >i) =顁i݀i?~=F=I?IEN>iA9@ @@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022681I Eu  Eu Eq Eq "Eu T;*Eu :VEq ZEq BEu Gݍ#, &:FLA2>26V?2Σ=ٱ2$=2H ?`m`w?`{?`? i`At@)Ѽ?@?i2>I2a~^;2CY>.By>"I F4=F4=bDFAVDF8XybQ%b\=ٔbBQ-f>9dYd=fEyfZDjEj>1Q 5=45Q?Q 9=45D)5BYAyEZ?Q IE @5UDI5%:i5:5mT4yIɮMcAI:iFNOT Ignoring new targets: 311.15 m."i>7*i>7 ProNav: ac range: 311.150513 m, nav range: 319.383911 m, bearing: 32.601248 deg, approach rate: -0.582461 m/s, LOS rate: 0.001354 deg/s, cmd heading: 33.541676 deg, new cmd heading: 33.542672 deg. i8HeadingCmd: 0.585430 target range: 311.150513 and range: 311.10 m.h?hhhhggjgrgereZe:e*eJ @ɢn=) 8>i) =i i?=>ˑ=I?I 5BDAT read: Rx Time:01:10:47.9323 =TRx dataTimestamp_ set to:1764897049.013368Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276811@ @@0@^A̓=IIIaOm>9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526747Ô#,SFLAEj EjEj5Eh"Ej&:*Ej:VEj4ZEhav@az@az@az@9Y4By"Ii=Mb@Mb@Mb@9999 9BQBQBU;"IBUBBU =BQBQBU,;BUnE9=kt?~jth?{Gz?Y= ?y=D;=#<=@=A =@)=A9Y=Q@bDu<VDu8y<<%%=ٔQ->9Y=EyZDE>Q 54Q?Q 94K)BY'?Q E:y.?Q I @UDI;i;\4yܕBɮ? A-E:iFNOT Ignoring new targets: 311.15 m."if *if  ProNav: ac range: 311.150513 m, nav range: 319.112671 m, bearing: 32.600199 deg, approach rate: -0.566316 m/s, LOS rate: -0.002191 deg/s, cmd heading: 33.542673 deg, new cmd heading: 33.540574 deg. iQHeadingCmd: 0.585393 target range: 311.150513 and range: 311.10 m.hX?hhhhggjg rg Be re Ze :e*e@w@9ɢ=dƃ=A)A M>iI)M=IIiMR!iUX?U=U=IUX?IYUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781344y@ @@/@qԙ ^A ~4=IA IQ Om >i#,)mFLAY 6By "IbD%VD%Ű8y5A<%5y=ٔ1Q-5?99Y9==Ey=ZD9EE?AQ 5M4E{R?Q 9U4E)EBYQyQQ IU @EUDIET:iE;Eb4yYɮ]0 AaqDAT read: 01:10:47.9323 LVL= 24496, 27889, 24610, 30499, AGC= 72, IDX= 90,-0.47, 0.672,-0.870, 0.861, 0.318, PHS= 0.456,-1.144, 0.499, RAW= 151.3, 2.4, CAL= 150.2, 2.0, ROT= 359.8, -2.0 Ygot valid direction response: 01:10:47.9323 LVL= 24496, 27889, 24610, 30499, AGC= 72, IDX= 90,-0.47, 0.672,-0.870, 0.861, 0.318, PHS= 0.456,-1.144, 0.499, RAW= 151.3, 2.4, CAL= 150.2, 2.0, ROT= 359.8, -2.0 PDAT read: Bearing 188.5, -4.7 (Local) ~Local bearing/azimuth received: Bearing 188.5, -4.7 (Local) DAT read: Range 11 to 50 : 323.0 m (Round-trip 430.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999385,-0.003489,0.034899]Fpublishing direction and range infoyidų?į(lXޡ?YC_l"` #w)HIx>in|>)@+=g'@ 5=)B@I5!Y~P?V2?c +"q? e ?)(Idi5T****** received valid address query ******R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.u addTargetRange:: Added new target pos. range: 323.000000 m, deltaT: 4.282500 s, deltaX: 11.899994 m, approachRate: 2.778749 m/s, rangeRepo size: 4 :iquFNOT Ignoring new targets: 311.15 m."i}*i} ProNav: ac range: 311.150513 m, nav range: 318.928223 m, bearing: 32.599485 deg, approach rate: -0.472661 m/s, LOS rate: -0.001831 deg/s, cmd heading: 33.540573 deg, new cmd heading: 33.539144 deg. isVHeadingCmd: 0.585369 target range: 311.150513 and range: 323.00 m.h?hhhhggE EE3E"E ;*EVE4ZEBELi)7d=顉iؕi?9=4+=I?ԙIi@q @q@u 0@qE (DAT read: user:58> E BDAT read: Tx time:01:10:49.3473 M $Ping request sent.M ҡ#,FLA;ɰ;B>BG?Bd=ٱB=BH ? WR UD??`;?vm/???iB>IB^;@YV'ByV"IbD^1VD^ڰ8yfǜ%fR=ٔjF1Q-j>9hYh=nEynZDn}ŻEn>pQ 5v4rR?Q 9v4rd)rxBYxyz?Q Iz @rUDIrh:ir:rhi4y~ߕBɮ~ A.Eii['qFLAjC"jC:j?Rja-t@WI? a&@Bjidų?į(lXޡ?*jd2j5Zj1-@p@D Nf@WX,Jj i)=顩il8i?==I?IqU9@Q @Q@U 5@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251208ԡE EE1E"E ;*E:VE-4ZEa%@a%@a%@a%@^A=I1IYO}>BU >BQ BU 5"IBU BBQ BQ BQ BU ;BU nE ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502913#,FLA2C>2?2G=ٱ2^=2H?Qg ?`?!?@<h1 췻?)?i2C>I2;^;2CY>By>t"I @@iMb@Mb@Mb@ 9&1?I +?:v?Y?y9<T<&A  @)nAY@bD-VD-8y%<=ٔ8Q->9Y=EyZDЮE>Q 54&R?Q 94)qBY ?Q E:y?Q I  @VDI;iFk;q4yɮVAMB*** querying acoustic contact ***iIiI:iYmFNOT Ignoring new targets: 311.15 m."iu*iu ProNav: ac range: 311.150513 m, nav range: 318.461426 m, bearing: 32.596430 deg, approach rate: -0.560968 m/s, LOS rate: -0.005207 deg/s, cmd heading: 33.537629 deg, new cmd heading: 33.533029 deg. iwHeadingCmd: 0.585262 target range: 311.150513 and range: 323.00 m.h?hhhhggjgrgBereZea:ea*ee?aɢez=)a m>ii)m=iiiuT~i}?=h=I?I9u9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755132a E  E E 5E "E ;*E v:VE 4ZE BE DE#,Z~FLA2>2D?2=ٱ2=2H ?M ?g?@&?<;`?`q?i2>I2d^;2CY:By:"IbDFVDF8yN8P=%NM=ٔN9Q-N>9R ?YR ?=REyRZDVMLEV>TQ 5^4V76R?Q 9^4V.)VkBY\y^?Q I^ @VVDIVs;iV;Vw4ybBɮfAf/E:iimFNOT Ignoring new targets: 311.15 m."iu*iu ProNav: ac range: 311.150513 m, nav range: 318.237732 m, bearing: 32.594398 deg, approach rate: -0.552763 m/s, LOS rate: -0.005025 deg/s, cmd heading: 33.533029 deg, new cmd heading: 33.528962 deg. i$HeadingCmd: 0.585191 target range: 311.150513 and range: 323.00 m.h?hhhhggjgrgereZe:e*e e?GBɢ=) >i)W=iy}i?i=O=I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008164ԑ9@ @@0@Թ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258985A ؟AI I O >D D <E  E E 4E "E l;*E :VE 4ZE a- @a5 @a5 @a5 @ #,PFLA\IIغ>6?E=ٱ==H١?@4NpIG^;CYBy|"IB>B1CB."IB܃BB =BBBְ;BxnEBBBB =B =C4iMb@Mb@Mb@ 9Q?/$?I +?Y?y,=94<@=A 7@)AY(@ C=a=bDVDð8y%-=ٔF:Q->9"?Y"?=Ey [D`E>Q 54HR?Q 94{)dBY,?Q E:y&?Q I @ VDI;i;;4yɮEA:i FNOT Ignoring new targets: 311.15 m."i &*i & ProNav: ac range: 311.150513 m, nav range: 317.962250 m, bearing: 32.590247 deg, approach rate: -0.604018 m/s, LOS rate: -0.009110 deg/s, cmd heading: 33.528962 deg, new cmd heading: 33.520651 deg. ia%HeadingCmd: 0.585046 target range: 311.150513 and range: 323.00 m.h%?Ih!hhhggjgrgCBereZe:e*ez?!ɢ%E?=)! %a>i))-{=))i-_|i5?58=5x=I5?I9-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5118479@ @@/@yE Gm {A ԩ ꛿9 {AY _A^A =AQ IY Ii  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763103 O% >!#,FLA^w>^:?^~=ٱ^=^H@Z?N???@W? Jj?`ͻ?i^w>I^G?^;^CYzByzx"IbDVDɰ8y`%X=ٔs:Q->99YA=EEyE[DE9EE>IQ 5U4MWR?Q 9U4M0x)M^BYYy]'?Q I] @M.VDE EE2E"E&:*E:VE4ZEBEk;i)?=项i{i׽? =*ы=I׽?I@ @@0@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014967^AA>A>1 A% .AI) IA OM >#,A GLA2>2RC?2m=ٱ2=2HƠ?N[??u?=Z`-hB??i2>I2^;2CY>By>e"IbDb+VDb԰8yj%jQ=ٔj3Q-j>9n ?Yn ?=nEyn([Drr9Er>tQ 5z4vfR?Q 9z4vt)vWBYxyz '?Q Iz @vi)^=顉i{i?G =>=I?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268111QQ@Q @Q@]Q4@YE EE1E"E=;*E:VE-4ZEa@a@a@a@ԁBU>BQBU""IBUуBBU =BQBQBU;BUnE^A@=ԩ A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519041&#,a&GLAb`?b]*=ٱb]e=bH՞? SQq??$?_>K??ibm,>Ib];bCYjByj]"IiMb@Mb@Mb@ 9Q?~jt?Y(?yD=@&A M@)AY@@A@AbDVD8yܼ%==ٔQ->9"?Y"?=Ey:[D:E>Q 54|xR?Q 94Kp)NBY?Q E:yl)?Q I @MVDIiD;i6H;?4yBɮ=A0EB*** querying acoustic contact ***ii:i)5FNOT Ignoring new targets: 311.15 m."i=x9*i=x9U ProNav: ac range: 311.150513 m, nav range: 317.249878 m, bearing: 32.579014 deg, approach rate: -0.600424 m/s, LOS rate: -0.010134 deg/s, cmd heading: 33.507043 deg, new cmd heading: 33.498169 deg. iU`]HeadingCmd: 0.584653 target range: 311.150513 and range: 323.00 m.h]ث?hahahahagagijgirgm5BeqreyZey:ey*e}M@MEBɢM&[|=)Q U|>iQ)U=QQiU zi]ث?]* =]L=Ieث?IaԩE9@A @A@E1@A@M@M@M@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770963bEם4jEş4rEg/E EE3E"E;*E:VE4ZEBEAY#,.<@GLA2G>2Kn?2v =ٱ2L=2H? Sf?? H?; ,\;?˺?i2G>I2U];0Y:By:I"IbD^VD^8yf%fZ=ٔf Q-j>9hYh=jEyjI[Dln:Er>tQ 5v4vR?Q 9z4vl)vEBYxyzz)?Q Iz @v\VDIv:ivP:vϛ4yȕBɮA&E:i!-FNOT Ignoring new targets: 311.15 m."i- ?*i- ?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023147M ProNav: ac range: 311.150513 m, nav range: 317.021729 m, bearing: 32.575152 deg, approach rate: -0.616250 m/s, LOS rate: -0.010439 deg/s, cmd heading: 33.498171 deg, new cmd heading: 33.490442 deg. iM֘UHeadingCmd: 0.584518 target range: 311.150513 and range: 323.00 m.hU?hQhQhQhQgYgYjgYrgYeareaZea:ea*ee`? @频ɢ8=) >i)[=顙iByi? =Ѝ=I?IU9@Q @Q@U4@QA]xAzAY A.AIIOB>9BDAT read: Rx Time:01:10:52.1787 TRx dataTimestamp_ set to:1764897053.296941checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276460a E=  E= E9 E9 "E= %;*E= :VE9 ZE9 a] @a] @ae @ae @H<#,J'ZGLABn>BlBn"IBnƒBBlBlBlBn@;BnnE1m=h>m~?mâ=ٱmN=mH ?U ;@?`E?k?<S X??im=h>Im-];mCYBy<"IiMb@Mb@Mb@ 9\(\?:v?Y?yT= @A d@)Y@bDVD8y0%*=ٔGQ->9 ?Y ?=%Ey%\[Duv:Eu>yQ 54}KR?Q 94}g)};BYs?Q E:yb+?Q I @}oVDI}C ;i}z ;}[4y̕Bɮ(A'E:iFNOT Ignoring new targets: 311.15 m."iJ*iJ ProNav: ac range: 311.150513 m, nav range: 316.726959 m, bearing: 32.569753 deg, approach rate: -0.602389 m/s, LOS rate: -0.011043 deg/s, cmd heading: 33.490443 deg, new cmd heading: 33.479636 deg. iHeadingCmd: 0.584330 target range: 311.150513 and range: 323.00 m.h?hhhhggjgrg9BereZe:e*e&@DBɢn=)K! >i!)%^=!!i%wi-?-4 =-=I-?I1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527041i9@ @@05@ԉI1IIO]>Թ  DAT read: 01:10:52.1787 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 403, 0.19,-2.336, 2.357,-2.172,-2.705, PHS= 0.471,-1.176, 0.489, RAW= 150.5, 2.6, CAL= 149.5, 2.4, ROT= 0.5, -2.4 - Ygot valid direction response: 01:10:52.1787 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 403, 0.19,-2.336, 2.357,-2.172,-2.705, PHS= 0.471,-1.176, 0.489, RAW= 150.5, 2.6, CAL= 149.5, 2.4, ROT= 0.5, -2.4 5 PDAT read: Bearing 187.9, -4.1 (Local) 5 ~Local bearing/azimuth received: Bearing 187.9, -4.1 (Local) = DAT read: Range 11 to 50 : 320.4 m (Round-trip 427.2 ms) speed 0.4 m/s E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.999085,0.008719,0.041876]M Fpublishing direction and range infoy  -s?P1M^4ہ? ۷p?Y 3C    ) I &>i + 5^> 0(@ 9= <&@ +=) 5?4ɕ? vs?) giQ 5m4mR?Q 9u4mfd)m3BYqyyqQ I @m|VDIm!;im;mI4yɮAE EE2E"E:*E:VE4ZEBE.5Z@|~*@Bj -s?P1M^4ہ? ۷p?*j 5<2j +Zj HeCBp@7f@І'Jj }t<֙?Y\)?*y墿j 1C j 2Ci Y?i !j aXBj .w?j j aXBrj BCzj ?M addTargetRange:: Added new target pos. range: 320.399994 m, deltaT: 4.031625 s, deltaX: -2.600006 m, approachRate: -0.644903 m/s, rangeRepo size: 4  Added new target pos. range: 320.459442 m, bearing: 33.711200 deg, lat: 36.779707 deg, lon: -121.859633 deg, deltaT: 8.314125 s, deltaX: 9.308929 m, approachRate: 1.119652 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 320.46 m."i*i ProNav: ac range: 320.459442 m, nav range: 316.522369 m, bearing: 32.566000 deg, approach rate: 0.000000 m/s, LOS rate: -0.011043 deg/s, cmd heading: 33.479634 deg, new cmd heading: 33.471695 deg. iHeadingCmd: 0.584191 target range: 320.459442 and range: 320.40 m.h?hhhhg g jg rg ereZe:e`ft@*e ?颅CBɢq=) >i)=顩ivi? =;=I?Iԩ9@ @@u4@=(DAT read: user:59> EBDAT read: Tx time:01:10:53.3973 E$Ping request sent.E [Z#,4GLA2*>2?2=ٱ2E]=2Hқ?`Y?`?@Ʊ? ˹??i2*>I2%\;0YB΃ByB"IbDJVDJ8yC%M=ٔ`Q->9 Y = Ey z[D `d:E>Q 5=4R?Q 9E4`)+BYAyEx+?Q IE @VDIu;i:)4yMϕBɮU AQ:iqFNOT Ignoring new targets: 320.46 m."iT*iT ProNav: ac range: 320.459442 m, nav range: 316.285278 m, bearing: 32.561630 deg, approach rate: -0.628262 m/s, LOS rate: -0.011590 deg/s, cmd heading: 33.471694 deg, new cmd heading: 33.462946 deg. iHeadingCmd: 0.584039 target range: 320.459442 and range: 320.40 m.h?hhhhggjgrgereZe:e*eO?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250703颥BBɢ[o=)  >i)=顩iHui?: =a=I?II)yA@ @@/@E EEE"E:*E:VEZEa@a@a@a@ B>BB!IBBBBBBt;B"oE)^A=II O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502577a 3#,GLAY~By~!IiMb@Mb@Mb@ 9zG? rh?y&1|Y ?yC =`A @)AY @bDVD8y %<=ٔQ->9Y=Ey[D E >1yQ 54}R?Q 94}R\)}BYM?Q E:y$?Q I @}VDI} ;i};}4yɮ"AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 320.46 m."i*i ProNav: ac range: 320.459442 m, nav range: 316.020752 m, bearing: 32.558043 deg, approach rate: -0.592020 m/s, LOS rate: -0.008034 deg/s, cmd heading: 33.462948 deg, new cmd heading: 33.455768 deg. i?kHeadingCmd: 0.583913 target range: 320.459442 and range: 320.40 m.hX{?hhhhggjgrgBereZe:e*e@x?ABɢ%W=)! %rT>i!)%x=))i-rqti5X{?5 =5Ե=I5X{?I1Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754636FΞE EE4E"EV:*E:VE4ZEBE9QK#,mGLA";ɰ";R>R?R=ٱR=RHX?``w??? Yĥ㰳?_?iR>IRA\;PhYBy!IbD%VD%8y5ڼ%5;=ٔ=OoQ-=>99Y9=EEyE[DE_;EE>IQ 5U4M=R?Q 9U4MgX)MBYYy]$?Q I] @MVDIM;iM;Me4yeӕBɮenAe(E:iFNOT Ignoring new targets: 320.46 m."i#*i# ProNav: ac range: 320.459442 m, nav range: 315.773285 m, bearing: 32.554639 deg, approach rate: -0.587995 m/s, LOS rate: -0.008095 deg/s, cmd heading: 33.455769 deg, new cmd heading: 33.448956 deg. imHeadingCmd: 0.583794 target range: 320.459442 and range: 320.40 m.hs?hhhhggjgrgereZe:e*e|x?@BɢV=) J>i)'=isis? =~=Is?I5}9@y @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258570)^A{=I E=  E= E= 6E9 "E= ;*E= :VE= c4ZE9 aE @aE @aE @aE @II O] >Y A A B% >B% 2CB% !IB% BB%  =B! B% DB% ;B% 8oE^p#,3GLA2Et>2?2a=ٱ2Y=2H@e?@c߾?W?`??ꦿ~??i2Et>I2\;0YBByB!I DDi Mb@Mb@Mb@     9 ʡE?:v?{GzY -?y < # 7@ =A ) A Y @bD%׿VD%8y-ս%5K=ٔ5sQ-5>999YA=EEyE[DE:EE>IQ 5U4MR?Q 9U4MT)M BYY?Q E:y"?Q I @MVDIMeBɢK=) ">i)P=顑i2qiZm? = =IZm?Ii͢!?>i>ԙ9@ @@2@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762628 E]  E] E] 2EY "E] &:*E] y:VE] 4ZEY BE] k;>>/??>#=ٱ>]=>H?ah2?@? $? ӧ_ ??i>>I>\;9^"?Y^"?=bEyb[Db:Eb>dQ 5j4fR?Q 9j4f~P)fBYlynY"?Q In @fVDIf;if;fϿ4yr֕BɮrAr)E:i  FNOT Ignoring new targets: 320.46 m."i*i% ProNav: ac range: 320.459442 m, nav range: 315.266418 m, bearing: 32.548591 deg, approach rate: -0.590043 m/s, LOS rate: -0.007096 deg/s, cmd heading: 33.443536 deg, new cmd heading: 33.436852 deg. i%O-HeadingCmd: 0.583583 target range: 320.459442 and range: 320.40 m.h-e?h)h)h)h)g1g1jg1rg1e1re9Ze9:e9*e=@m=BɢmeE=)i mD>iq)u? =qqiuoi}e?,==Ie?IԩMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147219@ @@23@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266587^A 9 EM  EM EM 4EI "EM :*EM :VEM 4ZEI a] @a] @a] @a] @AY I I B>BB!IBbBB =BBB;BJoEB1CB1CBB =B =Cz4aOu>$#,HLAYsBy!II=)9Y=Ey[DE>Q 54S?Q 94L)BY?Q E:y]?Q I @VDI;i3;Uٿ4yBɮ2A E:iFNOT Ignoring new targets: 320.46 m."iI*iI ProNav: ac range: 320.459442 m, nav range: 314.968506 m, bearing: 32.547123 deg, approach rate: -0.556678 m/s, LOS rate: -0.002746 deg/s, cmd heading: 33.436853 deg, new cmd heading: 33.433914 deg. i͠HeadingCmd: 0.583532 target range: 320.459442 and range: 320.40 m.hXb?hhhhgg jgrgBereZe:e!*e%*@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519863M;BɢM};=)I M=iQ)UO =QQiU5mi]Xb?]2=]=I]Xb?Ia  @ @@"3@9u)G09YeAy=c?=}Aa ^A] = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770970A .Aԙ I I O > #,%8HLAE* E*E(E("E*;*E*~:VE(ZE(BE*A9 ?Y ?=Ey[DE>Q 54~!S?Q 94H)BYyQ I @VDI ;i ;4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 320.46 m."iI*iI ProNav: ac range: 320.459442 m, nav range: 314.754120 m, bearing: 32.546065 deg, approach rate: -0.555940 m/s, LOS rate: -0.002746 deg/s, cmd heading: 33.433913 deg, new cmd heading: 33.431795 deg. iӠHeadingCmd: 0.583495 target range: 320.459442 and range: 320.40 m.h_?hh h h g g jgrgereZe:e*e@; @E9BɢE :=)I M=iI)M!=IIiM OliU_?U=UV=IU_?IY@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023698)^A̓=a I I O > c#,kfRHLA4<ɰ >(>>?>=ٱ>P=>HC?@ah?A?M?ا`<ܲ? ?i>(>I>|c];>CYFVByF!IbDNVDN8yVs%V[=ٔZQ-Z>9XYX=^Ey^[D^&E^>`Q 5f4b0S?Q 9f4bE)bBYhyj?Q Ij @bVDIb~:ib:b4ynBɮn9Ap:iFNOT Ignoring new targets: 320.46 m."i >*i > ProNav: ac range: 320.459442 m, nav range: 314.546112 m, bearing: 32.545093 deg, approach rate: -0.557935 m/s, LOS rate: -0.002608 deg/s, cmd heading: 33.431795 deg, new cmd heading: 33.429851 deg. i%HeadingCmd: 0.583461 target range: 320.459442 and range: 320.40 m.h%]?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5w7 @EBDAT read: Rx Time:01:10:56.2261 ETRx dataTimestamp_ set to:1764897057.328636Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275740u8Bɢ}ټ2=)y }r=iy)}C1!=顁iji]?A=s=I]?I9@ @@@iE} E}E}2Ey"E}&:*E}:VE}4ZEya@a@a@a@BA4=B->B)B-f!IB-9BB)B)B)B-DZ;B-oEԡ^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527540I I! O= > #,JClHLA:߻>:Y?:p=ٱ:Y=:H`)?v^k,?? ?` 姿©ঌ??i:߻>I:0];:CYB=ByBk!I DDPiMb@Mb@Mb@ 9kt?~jt9AYA=MEyM\DMoEM>QQ 5]4U@S?Q 9]4UB)UBYe-?Q Ee:ye?Q Ie @U WDIU; ;iU;U4yiɮmAq:iFNOT Ignoring new targets: 320.46 m."iO6*iO6 ProNav: ac range: 320.459442 m, nav range: 314.309235 m, bearing: 32.545213 deg, approach rate: -0.560703 m/s, LOS rate: 0.000284 deg/s, cmd heading: 33.429852 deg, new cmd heading: 33.430092 deg. i 7HeadingCmd: 0.583465 target range: 320.459442 and range: 320.40 m.h]?hhhhggjgrĝBereZe:e*e@6Bɢ~$=) `_ (DAT read: user:60>  BDAT read: Tx time:01:10:57.3973  $Ping request sent. ? J=ٱ = Hl?@Z4?f? a?4/z?y?i >I ^; CY%5By%a!IbD5 VD58yI!%D=ٔ篺Q->9Y=Ey\DкE>Q 54QS?Q 94>?)BYy?Q I @WDI:i:B4yBɮdA!Eiit_uHLAjGC"jGC:jz?RjxXs@?eR@Bjg{0?xMtDy&?*jDd2jZj؄6넿p@9Fhe@cZ^2JjWM?ɹ4?ǿe:˭jB+C jCiц?i$QѦjC!=igiA^?H=;(=IA^?I)9@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249368aE  E E 5E "E *E :VE 4ZE a @a @a @a @^A H=Ii Iy ԁ O >B >B B ;!IB BB B B B ;B oEE'#,0 HLA<zƓ?zݑ=ٱzֈ=zH@?0Zb?H?Ƭ?@H7??iz>Iz ^;xYByE!IQiMb@Mb@Mb@ 9 rh?/$MbpYC ?y@A @)XAYAbDVDŰ8yH߽%H=ٔ>Q->9Y=Ey'\D<9E>Q 54|aS?Q 947<)BY_ ?Q E:y ?Q I @'WDIw:i:c4yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501435:iFNOT Ignoring new targets: 318.56 m."i8:8*i8:8% ProNav: ac range: 318.560913 m, nav range: 315.747284 m, bearing: 32.820582 deg, approach rate: -0.533304 m/s, LOS rate: 0.002544 deg/s, cmd heading: 33.430337 deg, new cmd heading: 33.432448 deg. i%8-HeadingCmd: 0.583506 target range: 318.560913 and range: 318.50 m.h-`?h)h)h1h1g1g1jg9rg=Be9re9Ze9:e9*eE !?颍2Bɢ=) p#i)!=顑i6ei`?=Fd=I`?Iԁ9@ @@/@ԩ^A {=I! I1 OM >e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753449 k-#,tӹHLAE& E&E$E$"E&;*E&:VE$ZE$BE&@K|>>?>l=ٱ>?M=>HȠ?@XU?`X?`٬?@ +?B?i>K|>I>"!^;>CYJ ByJG!IbDR/VDRذ8yZ<%Z^=ٔZ Q-Z>9\Y\=^Ey^6\DbpEb>dQ 5j4foS?Q 9j4fz9)fBYhyj ?Q Ij @f4WDIf:if:f4ypɮr Ap:i  FNOT Ignoring new targets: 318.56 m."i hK8*ihK8 ProNav: ac range: 318.560913 m, nav range: 315.547180 m, bearing: 32.821542 deg, approach rate: -0.578308 m/s, LOS rate: 0.002779 deg/s, cmd heading: 33.432448 deg, new cmd heading: 33.434370 deg. i8HeadingCmd: 0.583540 target range: 318.560913 and range: 318.50 m.hb?hhhhggjgrgereԹZe:e*e? 1Bɢ =)  i )!=ihci=b?=]=E.=IEb?IA9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006330^A!A I I O >I /4#,!HLA24>2d?2z\=ٱ2!=2H@?MV'???g@DZ ?@c?i24>I2^;2CY:By:1!IbDZVDZǰ8ybX%bI=ٔb"Q-f>9dYd=fEyfF\Dj㰺Ej>lQ 5r4nS?Q 9r4ny6)nBYpyr ?Q Iv @nBWDIn;in;n 4yzŕBɮzAz"E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257637=B*** querying acoustic contact ***iAiA:iI]FNOT Ignoring new targets: 318.56 m."im?8*im?8} ProNav: ac range: 318.560913 m, nav range: 315.327057 m, bearing: 32.822623 deg, approach rate: -0.533437 m/s, LOS rate: 0.002620 deg/s, cmd heading: 33.434370 deg, new cmd heading: 33.436533 deg. i}q8HeadingCmd: 0.583578 target range: 318.560913 and range: 318.50 m.hWe?hhhhggjgrgereZe:e*eh?/Bɢb=) Ȃi) =iaiWe?[=R=IWe?IyDU%=DUa=E] E]E]7EY"E]%;*E]҆:VE]Ժ4ZEYae@ae@ae@ae@9@ @@?5@AA@AB>BB!IBBBBBB;BoEԩ^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510293A ؟AI I O > h:#,HLA;ɰ2>2&?2-=ٱ2=2Hy?Og? Ր?`i?a4@t4? R?i2>I2^;0Y: By:-!Ii~Mb@Mb@Mb@|||| |9~MbX?V-{GztY~ ?y~~ף~z@~ A ~ @)~A|Y~AbD&VDϰ8y%ۘ%%D=ٔ-'Q-->9-"?Y-"?=5Ey5W\D59E5>9Q 5E4=&S?Q 9E4=y3)=BYM ?Q EM:yM?Q IM @=QWDI=:i=:=64yUɕBɮUAQ:iFNOT Ignoring new targets: 318.56 m."i%8*i%8- ProNav: ac range: 318.560913 m, nav range: 315.101746 m, bearing: 32.824369 deg, approach rate: -0.523804 m/s, LOS rate: 0.004063 deg/s, cmd heading: 33.436532 deg, new cmd heading: 33.440027 deg. i58]HeadingCmd: 0.583639 target range: 318.560913 and range: 318.50 m.h]Wi?hYhYhYhYgYgYjgargeBeareaZei:ei*emM?,Bɢ=) i)H =i_iWi?l=2=IWi?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762193%9@! @!@%75@!Ee EeEe3Ea"Ee&:*Ee:VEe4ZEaBEek; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013476Q A#,3nILA2.>2?2]g=ٱ2y5=2H? M7e???ȪIPI??i2.>I2^;2CY:By:*!I <<bDF7VDF߰8yzB %zM=ٔzQ-~>9|Y|=~Ey~g\DDzE> Q 54 ͟S?Q 94 0) BYy?Q I @ ^WDI ;i ; *4y!ɮ%A!:iAMFNOT Ignoring new targets: 318.56 m."iM<8*iM<8] ProNav: ac range: 318.560913 m, nav range: 314.886719 m, bearing: 32.826053 deg, approach rate: -0.569157 m/s, LOS rate: 0.004460 deg/s, cmd heading: 33.440029 deg, new cmd heading: 33.443399 deg. ie9eHeadingCmd: 0.583697 target range: 318.560913 and range: 318.50 m.he2m?hihihihigigijgqrgqeqreqZey:ey*e}x@颥*BɢR =) i).] =顩iP^i2m?O==I2m?I)i@i @i@m/@i@u=@u=Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265520^Atn=Da zDe @AEm  Em Ei Ei "Em :*Em ҆:VEi ZEi au @au @au @a} @ԁ A I I O >B B B IB ؂BB  =B B B ;B oELG#,DP!ILA0%`>%?%=ٱ%8=%H?K3??@? w`@nv?৾?i%`>I%(_;!YEByE!Ii-Mb@Mb@Mb@)))) )9-q= ףp?:vY- ?y-Լ--@-& A -7@)-A)Y-\AbDM5VDMݰ8y]W%]5=ٔ]BQ-e>9aYa=eEyey\DmI+Em>qQ 5}4uS?Q 9}4uS-)uBY} ?Q E}:y}?Q I @unWDIu=:iu:u 4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517508yBɮAE:i9=FNOT Ignoring new targets: 318.56 m."iE8*iE8u ProNav: ac range: 318.560913 m, nav range: 314.641602 m, bearing: 32.827773 deg, approach rate: -0.523459 m/s, LOS rate: 0.003675 deg/s, cmd heading: 33.443400 deg, new cmd heading: 33.446841 deg. iu88}HeadingCmd: 0.583758 target range: 318.560913 and range: 318.50 m.h}"q?hyhyhyhygygԁjgrg΂BereZe:e*e Mu@(BɢT =)A ETiA)M =IIiM=\iU"q?]t=]b =I]"q?Ia@ @@5@Ա ^A% @=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219I I) O5 > N#,:ILAE" E"E"6E "E";*E"1:VE"c4ZE BE"DB?B.w=ٱB)=BHh?|G@4?`? ?`2૰@??iB}>IBW_;BCYJByJ!IbDR>VDR8yZ`%Zl=ٔ^JQ-^?9\Y\=bEyb\DbʺEb?dhQ 5n4f?S?Q 9n4f*)fBYlyn?Q In @fzWDIf(;if);f&4ytɮvAt:i FNOT Ignoring new targets: 318.56 m."i&8*i&8% ProNav: ac range: 318.560913 m, nav range: 314.453461 m, bearing: 32.829112 deg, approach rate: -0.571971 m/s, LOS rate: 0.004075 deg/s, cmd heading: 33.446842 deg, new cmd heading: 33.449523 deg. i%8-HeadingCmd: 0.583804 target range: 318.560913 and range: 318.50 m.h-3t?h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE @&Bɢ  _=) hi)u=iZi3t?==I3t?I!9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0213311^A I I O- >Y T#,TILAY~By~!II=)4<bD*VDӰ8i!I!%BDAT read: Rx Time:01:11:00.2234 -TRx dataTimestamp_ set to:1764897061.360966-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749119y=Oʼ%EC=ٔEQ-E>9AYI=MEyM\DMEM>QQ 5]4US?Q 9]4U')UBYayaQ Ie @UWDIUP:iU:Un-4yiɮmAiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 318.56 m."i8*i8 ProNav: ac range: 318.560913 m, nav range: 314.224792 m, bearing: 32.830742 deg, approach rate: -0.544175 m/s, LOS rate: 0.003883 deg/s, cmd heading: 33.449523 deg, new cmd heading: 33.452786 deg. i`8HeadingCmd: 0.583861 target range: 318.560913 and range: 318.50 m.hw?hhhhggjgrgereZe:e*ea @#Bɢ,=) 輽i)G|=iYiw?= n=I w?I I)xAE] E]E]3EY"E];*E]:VE]4ZEYam@am@am@am@u9@q @y@}/@yiBqAu<B}>ByB} IB}ĂBB} =ByByB};B}oEB2CB2CBB =B =CM4^A=ԩI!I1O=>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525471 G  = b9A YE A[#,nILA28&>2]?2F=ٱ2R=2H }?`?\^? L}? ?@ݬ`?6?~?i28&>I2q_;2CYNByR!Ii-Mb@Mb@Mb@)))) )9-oʡ?I +~jtx?Y- ?y-94-;-@-A A - @)-XA)Y-3AbDETVDE8yU%UI=ٔUQ-]>9YYY=]Eye\DeEe>iQ 5u4mS?Q 9u4m$)m|BYu ?ԙQ E:y?Q I @mWDImĿi-j-M?-(@-nF=-6'@ -=)-I-))- Xb?`?@Z? -| ?)-I-i-))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Bɢ"=) i)=i"WiIy?+=%~=I%Iy?I!Ee EeEaEa"Ee:*Ee1:VEaZEaBEe>  BDAT read: Tx time:01:11:01.4473  $Ping request sent. Xb#,ILAɰ4<2>2=?2B=ٱ2=2H -?~9?v?B?[ݺ??i2>I2c_;2CY:By>!IbDFVDFŰ8yN\7<%NT=ٔNQ-N>9PYP=REyR\DR'EV>TQ 5Z4VS?Q 9^4V!)VvBY\y^?Q I^ @VWDIV:iVs;VD;4y`ɮfAdi1i5HwILAj5;C"j5;C:j58?Rj5R|s@NR$@Bj5S?B3?*j52j5Zj5$ p@ j@e@IiK"Jj5dA:?]=e?첲tj5 ,C j5Ci5EM  EM EM 2EI "EM :*EM k:VEM 4ZEI aU @aU @aU @aU @BE >BE 3CBE IBE BBE  =BA BA BE ;BE oEq >h#,hILAm9>mN?m}=ٱm=mH7?4ٻ?@aq???@P?im9>Im`O_;mCYBy!Ii5Mb@Mb@Mb@1111 195(\?MbP?{Gz?Y5?y5:5#<5@5 A 5d@)11Y5(AEAAAQbDMVDM8y] %e1=ٔeLQ-e>9aYi=mEym\Duchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502681}E}>Q 54$T?Q 94)qBY?Q E:y?Q I @WDI ;i;^C4yBɮOA:iFNOT Ignoring new targets: 316.46 m."i.*i. ProNav: ac range: 316.463013 m, nav range: 315.505707 m, bearing: 33.014405 deg, approach rate: -0.575051 m/s, LOS rate: -0.000149 deg/s, cmd heading: 33.454830 deg, new cmd heading: 33.454697 deg. i6HeadingCmd: 0.583895 target range: 316.463013 and range: 316.40 m.hz?hhhhggjgrgׂBereZe:e*e`½?%Bɢ%=)! %i))-Γ=))i-6(Ti5z?5=5ń=I5z?I9@ @@/@yԩ^Ab$=AzAzA- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755648A .AI! I1 O= > en#,5`ILAbEjEܦ4rE/E EEE"E;*E:VEZEBE@B?Bo{=ٱB=BH?0?l?@? h?'?iBGٷ>IB19_;BCYJByJ!IbDVVDV8y^+s%^j=ٔ^%ߺQ-b>9b ?Yb ?=bEyb\Df Ef?hQ 5n4jT?Q 9n4j7)jlBYlyn?Q Ir @jWDIjs;ij;jqI4ytɮveAt:i FNOT Ignoring new targets: 316.46 m."i*i% ProNav: ac range: 316.463013 m, nav range: 315.312927 m, bearing: 33.014381 deg, approach rate: -0.555006 m/s, LOS rate: -0.000070 deg/s, cmd heading: 33.454697 deg, new cmd heading: 33.454648 deg. i--HeadingCmd: 0.583894 target range: 316.463013 and range: 316.40 m.h-z?h1h1h1h1g1g1jg9rgereZe:e*e`V/? Bɢ P=)  i)K=iRi]z?]=]=I]z?IaԱ)@1 @1@5/0@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006653^AU[= A ؟AI I O >9 Mu#,>ILA2[>24x?2x=ٱ2i=2HM?-+f? f?@?`^7ot?@?i2[>I2^;2CY:By: IbDFVDF8yJ%%NL=ٔN.ԺQ-n>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586049r"?Yv"?=vEyv\DvEv>xQ 5~4zT?Q 94z)zgBYys?Q I @zWDIz2:izb;zP4y Bɮ AE-B*** querying acoustic contact ***i)i):i1=FNOT Ignoring new targets: 316.46 m."iEl4*iEl4M ProNav: ac range: 316.463013 m, nav range: 315.086151 m, bearing: 33.014391 deg, approach rate: -0.554038 m/s, LOS rate: 0.000025 deg/s, cmd heading: 33.454649 deg, new cmd heading: 33.454670 deg. iU#=5UHeadingCmd: 0.583894 target range: 316.463013 and range: 316.40 m.hUz?hYhYhYhYgYgYjgargaeareaZei:ei*em@y?颕Bɢ=) \Ži)=顙i@Qiz?c==Iz?IE5 E5E55E1"E5;*E5x:VE54ZE1aE@aE@aE@aE@Q@Q @Q@U3@QAAB>BB IBBBBBB;BoEA^AUxr=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511629i A I I O >y{#,ILA 64>6d?6+%v=ٱ6=6H?)@I6=^;6CY^By^!IiEMb@Mb@Mb@AAAA A9EtV?:v?{Gzt?YE?yET=ٔmúQ-m>9qYq=uEyu\D}<8E}>Q 54/T?Q 94d)aBY?Q E:y?Q I @WDI:i:W4y1ɮ5{A1:iY]FNOT Ignoring new targets: 316.46 m."ie*ieu ProNav: ac range: 316.463013 m, nav range: 314.844513 m, bearing: 33.013458 deg, approach rate: -0.547261 m/s, LOS rate: -0.002114 deg/s, cmd heading: 33.454670 deg, new cmd heading: 33.452802 deg. iuw}HeadingCmd: 0.583862 target range: 316.463013 and range: 316.40 m.h}w?hyhyhyhygygjgrgBereZe:e*e`щ?颽Bɢ=) ,i)H=i&Oiw?=Ě=Iw?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763590@ @@+5@EE EEEE3EA"EE;*EE:VEE4ZEABEEAA> A .AI I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014551z_#, JLA2_>22z?2 s=ٱ2=2H`?,J? f??̫vM^?`?i2_>I2/H^;2CY:By:!IbDFοVDF~8yJ%NY=ٔNuºpQ-r>9v ?Yv ?=vEyv ]DvB^:Ez>xQ 54z?T?Q 9%4z)z\BY!y%?Q I% @zWDIz;ize;z^4y-Bɮ-A5E:iquFNOT Ignoring new targets: 316.46 m."i)*i) ProNav: ac range: 316.463013 m, nav range: 314.623688 m, bearing: 33.012591 deg, approach rate: -0.590254 m/s, LOS rate: -0.002319 deg/s, cmd heading: 33.452801 deg, new cmd heading: 33.451066 deg. iЇHeadingCmd: 0.583831 target range: 316.463013 and range: 316.40 m.hu?hhhhggjgrgereZe:e*e@mBɢu%=)  i)p=iPNiu?6=R=Iu?I @ @@05@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668329^AS=EU  EU EU 1EQ "EU /;*EU xv:VEU -4ZEQ a] @a] @a] @a] @B >B B IB BB B B B ݱ;B oEa I I O >4#,/#JLAlɰn;9>~?Pq=ٱ:=H?f1ͺ? -j??`l%? &?i>I"*^;CYBy IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518706i]Mb@Mb@Mb@YYYY Y9]bX9??Mb?Y]E?y]<]9Y=Ey]D:E>Q 54QT?Q 94 )VBYl?Q E:y?Q I @WDI;i%;f4yBɮAE:iFNOT Ignoring new targets: 316.46 m."iܤ*iܤ ProNav: ac range: 316.463013 m, nav range: 314.354431 m, bearing: 33.010560 deg, approach rate: -0.596632 m/s, LOS rate: -0.004504 deg/s, cmd heading: 33.451067 deg, new cmd heading: 33.447001 deg. iHeadingCmd: 0.583760 target range: 316.463013 and range: 316.40 m.hQq?hhhhggjgrgBereZe:e*e|@U Bɢ]q=)Y ]УiYa)]D"=顁iLiQq?Z=N@=IQq?I]9@Y @Y@]?5@Yԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770611^A} t0=Թ EU  EU EU 4EQ "EU l;*EU :VEU 4ZEQ BEU dF؎#,EF>JLAY5By5 I9=AbDEVDE8Qy]1%]Z=ٔ]Q-]>9aYa=eEye,]DeEm>qQ 5u4u`T?Q 9}4u )uRBYyyyQ I} @u XDIu.:iu:uDm4yɮA:iFNOT Ignoring new targets: 316.46 m."i~*i~ ProNav: ac range: 316.463013 m, nav range: 314.134918 m, bearing: 33.008902 deg, approach rate: -0.587311 m/s, LOS rate: -0.004439 deg/s, cmd heading: 33.447003 deg, new cmd heading: 33.443684 deg. iHeadingCmd: 0.583702 target range: 316.463013 and range: 316.40 m.hm?hhhhggjgrg e re Ze:e*e @ Bɢ=) i)=i^Kim?xߎ=Z6=Im?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0244979@ @@4@^A} {=A zA wAI I O% > 㺕#,XJLA2>2}?2%Uj=ٱ2=2H? \5$? k?`7?@F@^? ?i2>I2L^;2CY>؂By> IFBDAT read: Rx Time:01:11:04.2707 FTRx dataTimestamp_ set to:1764897065.392680Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275791bDRVDR8yZ(5%ZV=ٔZQ-Z>9\Y\==Ey=;]D]|9E]>aQ 5m4epT?Q 9m4e)eMBYiyu#?Q Iu @eXDIe:ieG:eEt4y}Bɮ}}AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 316.46 m."iޢ*iޢ ProNav: ac range: 316.463013 m, nav range: 313.899811 m, bearing: 33.007116 deg, approach rate: -0.585240 m/s, LOS rate: -0.004450 deg/s, cmd heading: 33.443683 deg, new cmd heading: 33.440108 deg. iKHeadingCmd: 0.583640 target range: 316.463013 and range: 316.40 m.hni?hhhhggjgrgereZe:e*e @  Bɢ &<)  0Ľi)-=i.Jini?ڎ==I%ni?I!DD<E EE3E"E;*E n:VE4ZEa@a@a@a@BU<AU<Be>BaBaBaBaBaBeDBe;BeoE@ @@/@!^AII)=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526640OE>Qy &#,GqJLAYӂBy IYi}Mb@Mb@Mb@yyyy y9}On?{Gz?~jth?Y}?y}#=}D;}M@y }A)yyY}AbDVD8y%*=ٔ%Q-->9)Y1=5Ey5O]D5E5>9Q 5E4={T?Q 9E4=)=FBYM?Q EM:yM$?Q IM @=.XDI=;i=Y;=c|4yQɮUAYDAT read: 01:11:04.2707 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.02, 1.118,-0.435, 1.352, 0.719, PHS= 0.502,-1.108, 0.589, RAW= 152.6, 0.2, CAL= 151.4, -0.6, ROT= 358.6, 0.6 Ygot valid direction response: 01:11:04.2707 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.02, 1.118,-0.435, 1.352, 0.719, PHS= 0.502,-1.108, 0.589, RAW= 152.6, 0.2, CAL= 151.4, -0.6, ROT= 358.6, 0.6 PDAT read: Bearing 184.3, -4.7 (Local) ~Local bearing/azimuth received: Bearing 184.3, -4.7 (Local) DAT read: Range 11 to 50 : 314.4 m (Round-trip 419.2 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.999647,-0.024431,-0.010472]Fpublishing direction and range infoy6 ?4W/;rY3C )AI?iҍ?t*@d;)@ +)G@I+<^TL?G)>? m? ?) mI*ȼi+<T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԁiiUyJLAj;C"j;C:j ?Rj9,Hs@X Bj6 ?4W/;r*j*ȼ2j+<ZjDp@Vڛd@;[6JjH\:(?6?F"z@뱿j$C jpCi\?E EEE"EV:*E:VEZEBE9i% > @  @ @ 2@ M (DAT read: user:62> U BDAT read: Tx time:01:11:05.4973 U $Ping request sent.] 2?23b=ٱ2_=2H?p@ǹ?`v? ?QB?k?i2p>I2pL^;2CY:΂By: II>=)>bDFVDF8yNu%N?=ٔNgQ-N>9PYP=REyR`]DV_;EV>XQ 5^4ZT?Q 9^4Z)ZABY\y^$?Q I^ @Z>XDIZ;iZ;Z҃4yfBɮfAfE:itzFNOT Ignoring new targets: 314.47 m."i~y5*i~y5  ProNav: ac range: 314.466644 m, nav range: 313.927734 m, bearing: 32.934465 deg, approach rate: -0.779686 m/s, LOS rate: -0.009916 deg/s, cmd heading: 33.435084 deg, new cmd heading: 33.428643 deg. i - HeadingCmd: 0.583440 target range: 314.466644 and range: 314.40 m.h Q\?hhhhggjgrg!e!re!Ze!:e!*e-ਇ?Bɢ<) Dսi)e=iBGiQ\?nΎ=Ύ=IQ\?Iԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250037@ @@/@E EE2E"E:*EM:VE4ZEa@a@a@a@B>BB IBBBBBDB;BoEB3CB3CBB =B =C%4^A [= Ay I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503495  G yA9 = MA#,^JLA9yAY8A^>^@?^^=ٱ^=^H(?RG@ѣ?|?`?᫿ ̫o??i^>I^tR^;^CYfByf Ii]Mb@Mb@Mb@YYYY Y9]A`"?~jt?~jth?Y]?y]D=Y]7@]X A Y)] AYYYbDu!VDu˰8y}%<=ٔQ->9YI=MEyMq]DU];EU>YQ 5]4]T?Q 9e4]F)];BYe?Q Ee:ye(?Q Im @]OXDI] ;i];]׋4yuBɮuAq:iFNOT Ignoring new targets: 314.47 m."iJ'*iJ' ProNav: ac range: 314.466644 m, nav range: 313.653564 m, bearing: 32.930271 deg, approach rate: -0.597159 m/s, LOS rate: -0.009141 deg/s, cmd heading: 33.428643 deg, new cmd heading: 33.420249 deg. iԅHeadingCmd: 0.583293 target range: 314.466644 and range: 314.40 m.hR?hhhhggjgrg҂BereZe:e*eo?Bɢ\<) Li)K=i Ei R? ʎ=0=IR?I}9@ @@/@1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753678^Ab$=E EE5E"EV:*E|:VE4ZEBEa2EaJEf;a:Eg;aY A) IA IY Ou >u#,JLAɰ4< 6~>6܉?6Z=ٱ6=6H ?`N??`??jSGܹ?`\?i6~>I6]^;6CYNByR IbDZVDZ8yb(=%bX=ٔb`!Q-b>9dYd=fEyf]DfN;Ej>hQ 554jT?Q 954j)j7BY9y=(?Q I= @j]XDIjAUE  E E 3E "E ;*E :VE 4ZE a @a @a @a @A A B% >B! B% IB% BB%  =B! B! B% ;B% oEԞ#,^JLAPY%By% IbD5VD58y]H%]A=ٔ]Q-]>9e"?Ye"?=mEym]DuEu>Q 54T?Q 94)1BYyQ I @mXDIq$#,JLAbEjE4rEA/E" E"E"5E "E";*E"ą:VE"4ZE BE"ACB1T?BR=ٱB=BHX?n^ r]?&??6@N? ?iB>IBs^;BCYBy IqiMb@Mb@Mb@ 9^I +?91Y1=5Ey5]D=;EE>Q 54T?Q 94)*BY?Q E:y$?Q I @XDIo:i:̢4y}BɮA E:i  FNOT Ignoring new targets: 314.47 m."i *i % ProNav: ac range: 314.466644 m, nav range: 312.868439 m, bearing: 32.919031 deg, approach rate: -0.700205 m/s, LOS rate: -0.008794 deg/s, cmd heading: 33.405779 deg, new cmd heading: 33.397748 deg. i%-HeadingCmd: 0.582901 target range: 314.466644 and range: 314.40 m.h-8?h)h)h)h)g)g1jg1rg5Be1re9Ze9:e9*e= @mBɢm.<)i m| ii)u=qqiu)iAi}8?}fŎ=}=I}8?Iyԩ%9@! @!@%/@!MR?Ma=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015208^AE = A .AI I O >#,OKLARchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265686YnByr IbDzVDz8y]o%]X=ٔeQ-e>9e ?Ye ?=mEym]DmEm>qQ 5}4u*T?Q 9}4uL)u%BYyQ I @uXDIu;iu;u4y|BɮA:iFNOT Ignoring new targets: 314.47 m."is *is  ProNav: ac range: 314.466644 m, nav range: 312.653595 m, bearing: 32.916331 deg, approach rate: -0.597183 m/s, LOS rate: -0.007511 deg/s, cmd heading: 33.397747 deg, new cmd heading: 33.392343 deg. i[HeadingCmd: 0.582806 target range: 314.466644 and range: 314.40 m.h2?hhhhggjg rg e re Ze:e*e@=BɢE|)<)A EB2CB IBBBBBB;BoEE] E]E]2EY"E]:*E]:VE]4ZEYBE]I8<2E]I8<JE];:E];@ @@/@9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520477^AH=A>AA ؟AI I O >ԉ 93#,+3KLA2>2?2XI=ٱ2=2Hե?@Zg6?`? ޚ?Aq`z( ?)??i2>I2&n^;2CY:By: Ii~Mb@Mb@Mb@|||| |9~7A`?S㥛?~jtxY~?y~/<~Ļ~d@~A ~A)~ A|Y~\AbDVD8y%%%N=ٔ-Q-->9-"?Y-"?=5Ey5]D5G;E5>9Q 5E4= T?Q 9E4=)=BYM?Q EM:yM!?Q IM @=XDI=:i=:=4yUBɮUAY:iFNOT Ignoring new targets: 314.47 m."i?ٸ*i?ٸ ProNav: ac range: 314.466644 m, nav range: 312.420532 m, bearing: 32.913882 deg, approach rate: -0.564494 m/s, LOS rate: -0.005935 deg/s, cmd heading: 33.392344 deg, new cmd heading: 33.387443 deg. i-=HeadingCmd: 0.582721 target range: 314.466644 and range: 314.40 m.h=1-?h9h9h9h9g9gAjgArgEۂBeAreIZeI:eI*eM@Q颽Bɢb<) :Wi)w=i >i1-?ǎ=f֒=I1-?Ii߱IߵAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7711089@ @@/@ԁEe EeEaEa"Ee:*Ee҆:VEaZEaam@am@am@am@^Amx=ԱA I I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021780 #,)MKLA2>2?23@E=ٱ2Ύ=2H?riE(?`.?ښ?Q@ټ?A?i2>I2nq^;2CY:By: IbDfVDf8yzi%zN=ٔz$Q-~>9|Y|=Ey]D8E> Q 54  U?Q 94  ) BYy!?Q I @ XDI ;i ; 4y!ɮ%A!:iIMFNOT Ignoring new targets: 314.47 m."iU*iU븝e ProNav: ac range: 314.466644 m, nav range: 312.187225 m, bearing: 32.911426 deg, approach rate: -0.611608 m/s, LOS rate: -0.006443 deg/s, cmd heading: 33.387443 deg, new cmd heading: 33.382528 deg. ieY NP#,gKLA>4<ɰ<>?p;=ٱq=Hl?hܜ???瑱y?`{?i>I_;CYqByp I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526323iMb@Mb@Mb@ 9d;O??y&1|Y?y<`A A) AYAbD% VD%8y-%5*=ٔ5ZQ-5>99Y9==Ey=]D=NEE>AQ 5M4EU?Q 9U4E)EBYU?Q EU:yU ?Q IU @EXDIET;iAEY4yeBɮeAe E}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 314.47 m."iӸ*iӸ ProNav: ac range: 314.466644 m, nav range: 311.908844 m, bearing: 32.908646 deg, approach rate: -0.579384 m/s, LOS rate: -0.005790 deg/s, cmd heading: 33.382529 deg, new cmd heading: 33.376965 deg. i)HeadingCmd: 0.582538 target range: 314.466644 and range: 314.40 m.h5!?hhhhggjgrg͂BereZe:e*e @BɢL+<) Z~i)?=ib;i5!?ˎ=g=I5!?I@ @@0@@=@Aq ^A 㲒=A xAzA  DAT read: 01:11:08.2981 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 219,-0.18,-1.548, 3.136,-1.375,-1.917, PHS= 0.471,-1.185, 0.497, RAW= 150.8, 2.6, CAL= 149.8, 2.4, ROT= 0.2, -2.4  Ygot valid direction response: 01:11:08.2981 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 219,-0.18,-1.548, 3.136,-1.375,-1.917, PHS= 0.471,-1.185, 0.497, RAW= 150.8, 2.6, CAL= 149.8, 2.4, ROT= 0.2, -2.4  PDAT read: Bearing 187.3, -2.1 (Local)  ~Local bearing/azimuth received: Bearing 187.3, -2.1 (Local) - DAT read: Range 11 to 50 : 297.5 m (Round-trip 396.7 ms) speed 0.6 m/s 5 R#Rx 1: Read range and direction messages.= \direction in FSK: [0.999117,0.003488,0.041876]= Fpublishing direction and range infoy  ?BZl? ۷p?Y C ) FI &>i  v> q(@ 9= T'@ +=) d;I + (w?z*Z?EA? ~ ?) "8-#,KLAE EE1E"E ;*Eą:VE-4ZEa@a@a@a@0Y]hByee I bD5VD58yE>%E\=ٔMQ-M>9IYI=MEyU]DuEu>yQ 54}+U?Q 94}[)} BYyQ I @}XDI}:i}:}4yɮAi i {KLAj ǔC"j ǔC:j lV?Rj  ɹr@F ?X(@Bj ?BZl? ۷p?*j d;2j +Zj MbW o@;'N|d@+_΍VJj Vx,?bN?Rɍoj #C j XxCi 4t릊?i kuj Bj j $QѦj aXBrj SCzj ?} addTargetRange:: Added new target pos. range: 297.500000 m, deltaT: 4.033954 s, deltaX: -16.899994 m, approachRate: -4.189436 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 297.558167 m, bearing: 33.423491 deg, lat: 36.779730 deg, lon: -121.859607 deg, deltaT: 4.033954 s, deltaX: -16.908478 m, approachRate: -4.191540 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 297.56 m."i*i ProNav: ac range: 297.558167 m, nav range: 310.655273 m, bearing: 32.610018 deg, approach rate: 0.000000 m/s, LOS rate: -0.005790 deg/s, cmd heading: 33.376966 deg, new cmd heading: 33.372348 deg. iHeadingCmd: 0.582457 target range: 297.558167 and range: 297.50 m.h?hhhhggjgrgereZe:er@*e`)=?mBɢmҘ<)q uiq)u=qqi}]L:i}?}~͎=rR=I?I-(DAT read: user:63> 5BDAT read: Tx time:01:11:09.4972 =$Ping request sent.=#,͛KLA2t>2?2T7=ٱ2K'=2H ۩?Gh@Y??@Z?Q? #?i2t>I25_;2CY>YBy>S IbDFVDFð8yNɠ%N^=ٔR3Q-R>9R ?YV ?=VEyV^DV$2EZ>lQ 5r4ng:U?Q 9v4n )nBYtyv ?Q Iv @nXDInL ;in ;n[4yzBɮzA~E:iFNOT Ignoring new targets: 297.56 m."iq*iq ProNav: ac range: 297.558167 m, nav range: 310.441193 m, bearing: 32.607672 deg, approach rate: -0.591496 m/s, LOS rate: -0.006487 deg/s, cmd heading: 33.372349 deg, new cmd heading: 33.367653 deg. i=HeadingCmd: 0.582375 target range: 297.558167 and range: 297.50 m.h?hhhB)B)B-M IB-TBB)B)B)B-[;B- pEhgygyjgrgereZe:e*e ?DzDAAE EE2E"E;*E:VE4ZEBED#,uxKLA2>2|?22=ٱ2=2H?h}?0?Y?r`A\??i2>I2s`_;2CY:EBy:; IPieMb@Mb@Mb@aaaa a9ed;O?~jt?y&1|Yaye9Y=Ey^D4eE>Q 54nKU?Q 94C)BY?Q E:y=?Q I @XDI:i:4yɮA:iFNOT Ignoring new targets: 297.56 m."iǸ*iǸ ProNav: ac range: 297.558167 m, nav range: 310.193573 m, bearing: 32.605429 deg, approach rate: -0.602683 m/s, LOS rate: -0.005463 deg/s, cmd heading: 33.367653 deg, new cmd heading: 33.363164 deg. iHeadingCmd: 0.582297 target range: 297.558167 and range: 297.50 m.hl?h h h h g g jgrgBereZe:e*e+.?EBɢMrZ<)I MwiI)M=IQiUW7il?Ў=Il?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753909m9@i @i@m5@iE EEE"E;*E҆:VEZEa@a@a@a@^AMv=AU>AU>! A ؟AI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005809O >#,;TKLA2I`>2z?2/=ٱ2m=2H@}?`gǸ??ྜྷ?DZ@h᥿w??i2I`>I2_;2CY:%=)>a>bDFVDF8yb?%bX=ٔb"Q-b>9f"?Yf"?=fEyf(^DfrEj>hQ 5r4j~ZU?Q 9r4j)jBYpyr&?Q Ir @jXDIj;ij];jk4yvrBɮzAzE|:iFNOT Ignoring new targets: 297.56 m."i8*i8 ProNav: ac range: 297.558167 m, nav range: 309.974548 m, bearing: 32.603457 deg, approach rate: -0.579809 m/s, LOS rate: -0.005224 deg/s, cmd heading: 33.363165 deg, new cmd heading: 33.359219 deg. iHeadingCmd: 0.582228 target range: 297.558167 and range: 297.50 m.h ?hhhhggjgrgereZe:e *e `k?5Bɢ5O<)9 =i9)==99i=5iE ?EҎ=M^|=IM ?II9@ @@/@)%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257839Y^A=A1A1B=>B=3CB=. IB=;BB9B9B9B=z;B=CpEB2CB2CBB =B =C4D=DE EE3E"E;*E՚:VE4ZEBE@Y#,>KLAachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513613G-{AEAuٛ9u{AYuNAxݻ>,?&=ٱ=HϨ?@~o]^??`1?" ?!?ixݻ>I_;CY8By* I%only read 1 of 4 data items for bottom velocity. Device response is::BS, +0, +-6,A a%@a- a-@a- a-@a- a-@a- bD5VD58yE%E(=ٔkQ->9Y=Ey=^DD:E>Q 54nU?Q 94t)BQ A+:YQ E:yd?Q I @ YDI;i?4yɮAB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 297.56 m."i-|ø*i-|ø= ProNav: ac range: 297.558167 m, nav range: 309.682129 m, bearing: 32.600768 deg, approach rate: -0.580171 m/s, LOS rate: -0.005341 deg/s, cmd heading: 33.359218 deg, new cmd heading: 33.353834 deg. i=cEHeadingCmd: 0.582134 target range: 297.558167 and range: 297.50 m.hE?hAhAhAhAgIgIjgIrgIeIreQZeQ:eQ*eUϲ?ԁ颅BɢLg<) 䫾i) =顉i4i?Ԏ=o=I?IQ@Q @Q@]4@Yԩ- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761786^A} {= E  E E E "E :*E :VE ZE a @a @a @a @A .AI I O >#,xLLA.;ɰ.;N(>N?NX "=ٱNA'=NH?`[r%-?@E?B?LE0@㏼? g?iN(>IN_;NCYV/ByV IbD^VD^ð8yfL%jm=ٔj67Q-j?9n ?Yn ?=nEynJ^Dn"~:En?pQ 5v4r{U?Q 9z4r)rBQ Az :YxQ Ezo:yzy?Q Iz @rYDIr;irU?rQ4y~wBɮ?A :i)-FNOT Ignoring new targets: 297.56 m."i5ĸ*i5ĸE ProNav: ac range: 297.558167 m, nav range: 309.491882 m, bearing: 32.599004 deg, approach rate: -0.579164 m/s, LOS rate: -0.005372 deg/s, cmd heading: 33.353835 deg, new cmd heading: 33.350306 deg. iEPMHeadingCmd: 0.582073 target range: 297.558167 and range: 297.50 m.hM?hIhIhIhIgQgQjgQrgQeQreYZeY:eY*e]vy@颍Bɢ+ <) i)=顑i2i?֎=c =I?I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0152539i^A=AzAwAA- ؟AI9 II Oe >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2658021#,w-LLA28>2?2,=ٱ2=2H? 3u?? ?nW䣿 ?Q?i28>I2D_;2CY:%By: I @@bDFVDF8yN@%NO=ٔNQ-R>9R"?YR"?=REyRZ^DVcz:EV>XQ 5^4ZgU?Q 9^4Z )ZBQ A9YQ EB:y?Q I% @Z'YDIZfBE4CBE IBE!BBE =BABEDBEP;BEpE:iiuFNOT Ignoring new targets: 297.56 m."iu [ #,c8LLA2ia>2%?25=ٱ2_}=2H ?w@.?B? ?`eӺ?T?i2ia>I2._;2CY:-By: Ia~a~ aa aa aa iMb@Mb@Mb@ 9S?y&1|y&1|Y?y`廙AA A)& AYzAbDݿVD8y-=%-A=ٔ-IQ-->95 ?Y5 ?=5Ey5k^D=JA:E>Q 54U?Q 94)BQ AT:Y ?Q E:y&?Q I @6YDI:i:4y{BɮpAE:iFNOT Ignoring new targets: 297.56 m."i 8*i 8 ProNav: ac range: 297.558167 m, nav range: 309.017914 m, bearing: 32.596595 deg, approach rate: -0.578776 m/s, LOS rate: -0.000631 deg/s, cmd heading: 33.346015 deg, new cmd heading: 33.345481 deg. i%HeadingCmd: 0.581988 target range: 297.558167 and range: 297.50 m.h%2?h!h!h!h)g)g)jg)rg5Be1re9Ze9:e9*e=`0&@m܂Bɢm3<)i mmii)mN=q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773966qi}/i2?dݎ=J=I2?I 9@ @@@)bEם4jEş4rEAo/E EE5E"E;*Eą:VE4ZEa-@a-@a-@a-@^A5=Y- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025892A ؟AI I O >y G#, QLLA2i>2^?2=ٱ2=2Hݤ?jx ط? Ԯ??/ٲz޼??i2i>I2U _;2CY:By> IbDFVDF8yN%NT=ٔN=Q-R>9R"?YR"?=REyR{^DV.9EV>XQ 5^4ZVU?Q 9^4Z)ZBY\y^+?Q I^ @ZCYDIZi:iZ;Z4ydɮfAd:itzFNOT Ignoring new targets: 297.56 m."iz4*i~4 ProNav: ac range: 297.558167 m, nav range: 308.811279 m, bearing: 32.596367 deg, approach rate: -0.559624 m/s, LOS rate: -0.000618 deg/s, cmd heading: 33.345482 deg, new cmd heading: 33.345026 deg. iŐ HeadingCmd: 0.581980 target range: 297.558167 and range: 297.50 m.h ?h hhhggjgrgereZe!:e!*e%@0 @MقBɢM1;)Q UiQ)U 0 =YYi]M.i]?en=e]=Ie?IaQ@ @@/@@yA@zABDAT read: Rx Time:01:11:12.3146 TRx dataTimestamp_ set to:1764897073.460461checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278784ԉ^AA>A>BIAM<BU>BQBUIBU BBU =BQBQBUD;BUpEԩE EE2E"E:*E|:VE4ZEBE< 5r#,pkLLARPExceeded connect timeout, disconnecting.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540251j>?A=ٱG=H ?x@??s?n)??ij>I^;CYyIY>)=ԩiMb@Mb@Mb@ 9m?~jtMbY?yD=A+A A) AY(AbDVD8ٔ9Y=Ey^DH7E>Q 54BU?Q 94պ)BY?Q E:y?Q I @TYDI\:i:x4y Bɮ &A -B*** querying acoustic contact ***i)i):i1=FNOT Ignoring new targets: 297.56 m."i=6*i=6M ProNav: ac range: 297.558167 m, nav range: 308.545197 m, bearing: 32.596505 deg, approach rate: -0.555677 m/s, LOS rate: 0.000290 deg/s, cmd heading: 33.345025 deg, new cmd heading: 33.345302 deg. iM7UHeadingCmd: 0.581985 target range: 297.558167 and range: 297.50 m.hU?hQhQhYhYgYgYjgYrgeBeareaZei:ei*em @颕ՂBɢVx1<) di)i =顙i,i?e=I?I=9@9 @A@E/@A  DAT read: 01:11:12.3146 LVL= 28048, 32753, 28818, 30371, AGC= 70, IDX= 99, 0.36, 1.244,-0.282, 1.476, 0.816, PHS= 0.531,-1.052, 0.616, RAW= 152.6, -1.2, CAL= 151.6, -2.1, ROT= 358.4, 2.1  Ygot valid direction response: 01:11:12.3146 LVL= 28048, 32753, 28818, 30371, AGC= 70, IDX= 99, 0.36, 1.244,-0.282, 1.476, 0.816, PHS= 0.531,-1.052, 0.616, RAW= 152.6, -1.2, CAL= 151.6, -2.1, ROT= 358.4, 2.1 % PDAT read: Bearing 183.2, -3.8 (Local) - ~Local bearing/azimuth received: Bearing 183.2, -3.8 (Local) = DAT read: Range 11 to 50 : 309.9 m (Round-trip 413.2 ms) speed 0.4 m/s = R#Rx 1: Read range and direction messages.M `direction in FSK: [0.998939,-0.027903,-0.036644]M Fpublishing direction and range infoy#pN?gjA(א¢YCmp v)I?i𧆿-?^Ae ו=t*@V)@ Q )+@IQ =r? C8;?ȹ-! f?)E  E E E "E &:*E :VE ZE a @a @a @a @1 yV!#,oLLAB/>BZ?B#=ٱB=BH,?v@ y?@?@?ಿa??iB/>IB^;BCYJByJ IbDVDɰ8yeϩ%e<ٔmźQ-m>9iYi=uEyu^DuEu>Q 54U?Q 94)BYy?Q I @aYDIZ:iE:4yɮ8Ai i T~LLAj C"j C:j ?Rj :~?hhh)h)g1g1jg1rg1e9re9Ze9:e=`f^s@*e= ?颍҂Bɢv <) i) =顱iB+i>?^=P=I>?I5(DAT read: user:64> 5BDAT read: Tx time:01:11:13.5472 =$Ping request sent.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250715'#,uLLA &4<ɰ&4J?J=ٱJ=JH?v %?+?@?J??iJ >IJ^;JCYRByV IbD^VD^8yf4%fU=ٔf Q-f>9hYh=jEyj^Dji@En>Bv>BtBvIBvBBtBtBtBvK;BvpE|Q 54~U?Q 9 4~)~BY y ?Q I  @~oYDI~:i~:~t 4yBɮaAE:iQ]FNOT Ignoring new targets: 309.97 m."imJH*imJH ProNav: ac range: 309.968719 m, nav range: 307.904541 m, bearing: 32.301194 deg, approach rate: -0.582775 m/s, LOS rate: -0.000171 deg/s, cmd heading: 33.345523 deg, new cmd heading: 33.345399 deg. i;HeadingCmd: 0.581987 target range: 309.968719 and range: 309.90 m.h?hhhhggjgrgereZe:e*e5V?EU EUEU8EQ"EUD:*EU:VEUF4ZEQBEU2 (-#,UPLLA2ݻ>2\?2a:=ٱ2=2HI?uN?? 6? bơ@)&?[?i2ݻ>I2^;2CY: By:I < ףp=?Mb~jtxY?yĻM@ A)& AYAbD'VDа8y-+P%-D=ٔ5ֺQ-5>91Y1=5Ey5^D=&XE=>AQ 5M4EUU?Q 9M4E)EBYM?Q EU:yUr?Q IU @E~YDIE:iE(:E4yYɮ]AY:iFNOT Ignoring new targets: 309.97 m."i)y*i )y5 ProNav: ac range: 309.968719 m, nav range: 307.669464 m, bearing: 32.300832 deg, approach rate: -0.551848 m/s, LOS rate: -0.000851 deg/s, cmd heading: 33.345400 deg, new cmd heading: 33.344675 deg. i=TǷ=HeadingCmd: 0.581974 target range: 309.968719 and range: 309.90 m.h=F?hAhAhAhAgAgAjgIrgMBeIreIZeQ:eQ*eu?iߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755048颽̂Bɢ8x;) i)9=io(iF?T==IF?I 9@  @ @1@E= E=E=2E9"E=:*E=~:VE=4ZE9aM@aM@aM@aM@^A =Iq I O >! M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067314#,^+LLA2Q>2?2 =ٱ2 =2H@?8s`̶??@֗?5s??i2Q>I22}^;2CY:By:IbDFDVDF8yJWӼ%NT=ٔN?Q-j>9hYh=jEyj^DnhEn>pQ 5v4r#U?Q 9v4r|)rBYtyz[?Q Iz @rYDIr::ir:r4|ynBɮ/AE:i!-FNOT Ignoring new targets: 309.97 m."i-V*i-V= ProNav: ac range: 309.968719 m, nav range: 307.446442 m, bearing: 32.300503 deg, approach rate: -0.592785 m/s, LOS rate: -0.000877 deg/s, cmd heading: 33.344676 deg, new cmd heading: 33.344017 deg. iEWͷEHeadingCmd: 0.581963 target range: 309.968719 and range: 309.90 m.hE?hIhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]?颅ɂBɢh;) i)=顉i^ 'i?F=%=I?IQ@Q @Q@U4@Q)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258566AAB>BBIBBB =BBB6;B pEY^AIE EEE"E;*E:VEZEBEACԁ :#,LLADD checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512856Y>?e =ٱE=H`c?q@x? ?C?k?I?i>Iy2^;YBy IiMb@Mb@Mb@ 9@5^I ?Mbp?Mb`Yb?y;=A =A) AYbDBVD8y|=%,=ٔraQ->9!Y!=-Ey-^D-8%E->1Q 5=45V?Q 9=45)5BYEc?Q EE:yEv?Q IE @5YDI5(:i5+;5"4yIɮMAQmB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 309.97 m."i}V*i}V ProNav: ac range: 309.968719 m, nav range: 307.175507 m, bearing: 32.299093 deg, approach rate: -0.563569 m/s, LOS rate: -0.002934 deg/s, cmd heading: 33.344017 deg, new cmd heading: 33.341196 deg. iիHeadingCmd: 0.581914 target range: 309.968719 and range: 309.90 m.hK?hhhhggjgrgBereZe:e*e@+?łBɢf3<) ꭾi)=i%iK?==IK?Iԁ]9@a @a@e5@a@i@mxAԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762698^A =A >A > E-  E- E- 5E) "E- :*E- n:VE- 4ZE) a5 @a5 @a= @a= @A .AI I O >٣A#,MLA2 X>2vv?2 =ٱ2M/=2H"?o䀶?`??ـ>A`ӻ?`?i2 X>I2/^;2CY:By: II>)>)>p>bDnIVDn8yv<%vn=ٔzxQ-z?9z ?Yz ?=zEyz^D~E~?Q 5 4)V?Q 9 4Ƨ)BYy^?Q I @YDI:i:(4ysBɮAE:iAEFNOT Ignoring new targets: 309.97 m."iMvT*iMvT] ProNav: ac range: 309.968719 m, nav range: 306.988831 m, bearing: 32.298134 deg, approach rate: -0.564358 m/s, LOS rate: -0.002902 deg/s, cmd heading: 33.341196 deg, new cmd heading: 33.339276 deg. i]eHeadingCmd: 0.581880 target range: 309.968719 and range: 309.90 m.he?hahahahagigijgirgieireqZeq:eq*eu pr@颥ÂBɢ(D;) ͩi)?=顩io$i?= =I?ԹIi@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015098^A=A ؟AI I O >9 i߹ I߽ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266981G#, MLA.>.z?.=ٱ.>m=.H`?@|ru? ?*?@Wۻ? ?i.>I.(];.CBHBJ5CBJIBJBBHBHBHBJU;BJ*pEBM4CBM4CBIBM =BM =CMQ5YfByf IbDoVD8yBU<%==ٔ9"?Y"?=Ey^DE EE3E"E&:*E҆:VE4ZEBEk;Q 54U-V?Q 94+)BYy v?Q I  @YDI:i:Q04yɮA:i9EFNOT Ignoring new targets: 309.97 m."iEV*iEVU ProNav: ac range: 309.968719 m, nav range: 306.743378 m, bearing: 32.296854 deg, approach rate: -0.562515 m/s, LOS rate: -0.002936 deg/s, cmd heading: 33.339277 deg, new cmd heading: 33.336714 deg. i]]HeadingCmd: 0.581835 target range: 309.968719 and range: 309.90 m.h]+?hahahahagagajgirgieireiZei:eq*e@@BɢL3<) i)W=i #i+?(==I+?I9@ @@@ AGꖿ9YtA5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520768y^A5 ~4=A} .AI I ԙ O >N#,k:MLA;ɰ2~>2?2P=ٱ2h=2H?rrX?;?v?@@Q頿ʻ? ?i2~>I2];2CY:By> Ii~Mb@Mb@Mb@|||| |9~|?5^?{Gz?~jth?Y~?y~#<~D;~A~A ~A)~& A|Y~p AbDkVD8y%ض;%%T=ٔ-tQ-->95 ?Y5 ?=5Ey5_D5DE5>9Q 5E4= T#,rTMLA2 g>2}?2=ٱ2=2Hخ?@q4? ?e?``󾠿 ??i2 g>I2];0Y:#By: I <<bDFXVDF8yN<%NU=ٔR\Q-R>9PYP=REyR_DVEV>XQ 5^4ZKV?Q 9^4Z)ZBY`yb?Q Ib @ZYDIZT ;iZ` ;Z=4ydɮfAd:ixzFNOT Ignoring new targets: 309.97 m."i~*i~  ProNav: ac range: 309.968719 m, nav range: 306.304199 m, bearing: 32.293805 deg, approach rate: -0.573375 m/s, LOS rate: -0.003977 deg/s, cmd heading: 33.333669 deg, new cmd heading: 33.330615 deg. i 踝HeadingCmd: 0.581729 target range: 309.968719 and range: 309.90 m.h1?hhhhggjgrgereZe:e*e@ @mBɢmԒ2<)i u3i)L=顙i8 i1?= %=I1?I@ @@@BDAT read: Rx Time:01:11:16.3618 TRx dataTimestamp_ set to:1764897077.501363checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276546BB4CBIBBB =BBB{;BQpEE EE2E"EV:*E:VE4ZEBE9Q [#,%XnMLAzchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528826z>ʇ?=ٱ=HI$C];CY- By- IiMb@Mb@Mb@ 9^I +?/$?~jthYX?y<D=AAA =A) AY AbD9VD8y%)=ٔ)Q->9"?Y"?=Ey2_D ע9E >Q 54_V?Q 948)BYp?Q E%:y%?Q I% @YDI:i:"F4)y5}Bɮ5A5EMB*** querying acoustic contact ***iIiI:iY]FNOT Ignoring new targets: 309.97 m."ie*ie丝u ProNav: ac range: 309.968719 m, nav range: 306.015472 m, bearing: 32.290783 deg, approach rate: -0.597004 m/s, LOS rate: -0.006255 deg/s, cmd heading: 33.330616 deg, new cmd heading: 33.324566 deg. iu%7}HeadingCmd: 0.581623 target range: 309.968719 and range: 309.90 m.h}F?hyhyhyhygygjgrgBereZe:e*ej@颽Bɢ=D<) Ri)ԧ=iiF?I==IF?IA@A @A@A@AaDAT read: 01:11:16.3618 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.06, 2.541, 1.159, 2.664, 2.243, PHS= 0.400,-1.039, 0.377, RAW= 149.2, 3.7, CAL= 148.4, 3.8, ROT= 1.6, -3.8 Ygot valid direction response: 01:11:16.3618 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.06, 2.541, 1.159, 2.664, 2.243, PHS= 0.400,-1.039, 0.377, RAW= 149.2, 3.7, CAL= 148.4, 3.8, ROT= 1.6, -3.8 PDAT read: Bearing 188.7, 0.4 (Local) ~Local bearing/azimuth received: Bearing 188.7, 0.4 (Local)  DAT read: Range 11 to 50 : 307.8 m (Round-trip 410.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.997412,0.027860,0.066274] Fpublishing direction and range infoy‡~?8$e?{S?YC )EI>i%>r&@ A=%@ ԇ=)$a#,!:MLA,B л>Bv?B=ٱB=BHW?Hw.??@??y1ͻ?H?iB л>IB];BCY\y\bDf?VDf8y=]%=l=ٔ=$Q-=?9AYA=EEyE@_DMG:EM?IQ 5}4MmV?Q 9}4M )MBYyy}?Q I} @MYDIM:iMl:M0L4yɮAiikMLAjC"jC:j?Rj*1s@'!@)Zg4@Bj‡~?8$e?{S?*j<2jԇZj 0o@+qe@_^)Pw&@Jj=&L?#O1?aζԢ?j /C j}Ci BDAT read: Tx time:01:11:17.5972 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249630th#,GMLAB>BBIBBBBBB;BvpE`z>z?zQ=ٱz=zHۨ?`z`F? h?>?rײi??iz>Izl\;zCY5(By5 I ER=AbDEVDEŰ8yU!=%UI=ٔ]ZQ-]>9aYa=eEyeQ_De:Ee>iQ 5u4m~V?Q 9u4mQ)mBYyy}?Q I} @mZDIm;im;mLS4yBɮAE:iFNOT Ignoring new targets: 307.87 m."i*iE EE4E"E;*E n:VE4ZEBEACPFn#,L߻MLA2>2M?2=ٱ2=2H?j@j?@?@H?@q~[ C??i2>I2\\;2CY:By: Ii~Mb@Mb@Mb@|||| |9~A`"?~jt?MbPY~?y~=~~A~A ~XA)||Y~ AbD VDʰ8y- ?%-M=ٔ-Q-->95 ?Y5 ?=5Ey5`_D5;E=>AQ 5M4EV?Q 9M4E)EBYMe?Q EM:yMH&?Q IM @EZDIE:iE:EAZ4y]hBɮFAE:i%FNOT Ignoring new targets: 307.87 m."i%X&*i%X&]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753954u ProNav: ac range: 307.869598 m, nav range: 304.768768 m, bearing: 32.348486 deg, approach rate: -0.567887 m/s, LOS rate: -0.009089 deg/s, cmd heading: 33.314907 deg, new cmd heading: 33.307299 deg. iu}HeadingCmd: 0.581322 target range: 307.869598 and range: 307.80 m.h}?hyhyhyhggjgrgBereZe:e*e`-?颅Bɢ@<) i)<iWi?=rc=I?IIDzD@AE EE3E"E;*E:VE4ZEa@a@a@a@9@ @@60@q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006255^A- *_=ԡ I9 IQ O] >I2u#,MLAɰ;YBy IbD%&VD%ϰ8y5 %5I=ٔ=Q-=>99Y9=EEyEq_DEEE>IQ 5U4MV?Q 9U4M)MBYYyYQ I] @M$ZDIM;iM;M[a4yemBɮe|AeEq:iFNOT Ignoring new targets: 307.87 m."i 8*i 8 ProNav: ac range: 307.869598 m, nav range: 304.526184 m, bearing: 32.344600 deg, approach rate: -0.627285 m/s, LOS rate: -0.010056 deg/s, cmd heading: 33.307298 deg, new cmd heading: 33.299520 deg. i;HeadingCmd: 0.581186 target range: 307.869598 and range: 307.80 m.h?hhhhggjgrgereZe:e*e`?eBɢmr2<)i mgii)mB)B-IB-BB)B)B)B-;B-pEE EE6E"ED:*E:VEc4ZEBE2[{#,YMLAnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512048~rW>~*v?~=ٱ~n=~H@? z???`T``v? ?i~rW>I~X\;~CY=By= IbD VD8ym%B=ٔeQ->9Y=Ey_Db;E >Q 54%V?Q 94W)BYy&?Q I @5ZDI:i;@i4yrBɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 307.87 m."i 2*i 2 ProNav: ac range: 307.869598 m, nav range: 304.256653 m, bearing: 32.340200 deg, approach rate: -0.596983 m/s, LOS rate: -0.009754 deg/s, cmd heading: 33.299518 deg, new cmd heading: 33.290711 deg. i͎%HeadingCmd: 0.581033 target range: 307.869598 and range: 307.80 m.h%?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5u?eBɢe,<)a eia)mE  E E E "E :*E k:VE ZE a @a @a @a @Y -@#,p NLA2>2Ĝ?2[<ٱ2n=2HZ????9oWS??i2>I2\;2CYNByR IiUMb@Mb@Mb@QQQQ Q9U$C?{Gz?Mb`?YU?yU#=U;UAUXA UnA)UA AQYU= AbDmVDm8yu=%}O=ٔ}f Q-}>9Y=Ey_Ds:E>Q 54ԿV?Q 94ӂ)BYs?Q E:yf'?Q I @CZDI;i;o4yɮA:iFNOT Ignoring new targets: 307.87 m."i :*i : ProNav: ac range: 307.869598 m, nav range: 304.038025 m, bearing: 32.336506 deg, approach rate: -0.601092 m/s, LOS rate: -0.010165 deg/s, cmd heading: 33.290711 deg, new cmd heading: 33.283316 deg. iԔHeadingCmd: 0.580903 target range: 307.869598 and range: 307.80 m.h?hhhhggjgrg͂BereZe:e*e@-Bɢ-Ld,<)11 5i9)=|<99i=$iE?E=Ep=IE?IIr?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0141609@ @@/@a^AD=IqIԉO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793Թ B- >B- 5CB) B) B) B) B- DB- ;B- qpEj#,{M#NLAR1>R ?RE<ٱR}=RH ?GՒ?? ?Ɋ@֟ Ƽ??iR1>IR\;RCYz#Byz IbDVD8y}<%Q=ٔQ->9Y=Ey%_D% ;E%>)Q 554-V?Q 954- )-BY1y5'?Q I= @-RZDI-Q;i-M;-rv4yAɮExAA:iimFNOT Ignoring new targets: 307.87 m."iu <*iu < ProNav: ac range: 307.869598 m, nav range: 303.802979 m, bearing: 32.332491 deg, approach rate: -0.601062 m/s, LOS rate: -0.010275 deg/s, cmd heading: 33.283317 deg, new cmd heading: 33.275281 deg. ipHeadingCmd: 0.580763 target range: 307.869598 and range: 307.80 m.h?hhhhggjgrgE EEE"Es:*Ek:VEZEBEs0<i1%ԑi? ==I?Ii@i @i@m/@i@uyA@qԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518390^AAA>I9 IQ O] > x#,'=NLA2OQ>2?2<ٱ2&F=2Hg???8}?`[Eռ??i2OQ>I2\;2CY:By:Ii%Mb@Mb@Mb@!!!! !9%rh|?l?{GztY%?y%=%ף%A! %A)%& A!Y% AbD=VD=8yMD%MG=ٔUbQ-U>9QYQ=]Ey]_D]ۛ:E]>aQ 5m4elV?Q 9m4e {)eBYu2?Q Eu:yu&?Q Iu @ebZDIe:ie:e}4y}xBɮ'AE:iFNOT Ignoring new targets: 307.87 m."i06*i06 ProNav: ac range: 307.869598 m, nav range: 303.553040 m, bearing: 32.328397 deg, approach rate: -0.607270 m/s, LOS rate: -0.009955 deg/s, cmd heading: 33.275281 deg, new cmd heading: 33.267087 deg. iHeadingCmd: 0.580620 target range: 307.869598 and range: 307.80 m.h?hhhhggjgrgBereZe:e*e +@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770412MBɢMV(<)Q ]iY)]9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021711~#,N WNLA2>2 ?2Ѹ<ٱ2z\=2H;?H@f??@z? G͵x?8?i2>I2|\;2CY9dYh=jEyj_Dj9:Ej>lQ 5r4n>V?Q 9v4nHw)nBYtyv&?Q Iv @nqZDIn-:in:nf4yz}BɮzSA~E:i%FNOT Ignoring new targets: 307.87 m."i%8*i%85 ProNav: ac range: 307.869598 m, nav range: 303.317810 m, bearing: 32.324506 deg, approach rate: -0.607759 m/s, LOS rate: -0.010059 deg/s, cmd heading: 33.267085 deg, new cmd heading: 33.259299 deg. i5E=HeadingCmd: 0.580484 target range: 307.869598 and range: 307.80 m.h=?h9h9h9hAgAgAjgArgAeIreIZeQ:ea*ee- @BɢR<) i)*<!i%i%?-)+=-=I-?I)I@ @@/@MBDAT read: Rx Time:01:11:20.3893 UTRx dataTimestamp_ set to:1764897081.533436]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275920B<ABBBBBBBBn;BFpEBBBBBCp4ԙE EEE"EV:*Ez:VEZEBE9i#,pNLAɰ4JH9?Jz<ٱJ8b=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525810TJH`?6?q?`y? n :?*?iJݾ>IJF\;JCYf ByfIbD VD 8yE %EC=ٔU*Q-]>9e"?Ye"?=mEym_D}f:E>Q 54W?Q 94s)BYy&?Q I @ZDI;i;ߋ4yɮAB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 307.87 m."i**i*% ProNav: ac range: 307.869598 m, nav range: 303.057953 m, bearing: 32.320183 deg, approach rate: -0.560991 m/s, LOS rate: -0.009341 deg/s, cmd heading: 33.259299 deg, new cmd heading: 33.250645 deg. i%ÈMHeadingCmd: 0.580333 target range: 307.869598 and range: 307.80 m.hM?hIhIhIhIgQgQjgQrgQeYreYZeY:eY*e]J@Bɢ.<) i)j<ii?D5=uX=I?I@ @@@@=@DAT read: 01:11:20.3893 LVL= 30928, 32753, 32754, 32755, AGC= 71, IDX= 209,-0.05, 2.417, 0.876, 2.653, 1.942, PHS= 0.576,-1.021, 0.667, RAW= 152.7, -2.7, CAL= 152.1, -3.9, ROT= 357.9, 3.9 Ygot valid direction response: 01:11:20.3893 LVL= 30928, 32753, 32754, 32755, AGC= 71, IDX= 209,-0.05, 2.417, 0.876, 2.653, 1.942, PHS= 0.576,-1.021, 0.667, RAW= 152.7, -2.7, CAL= 152.1, -3.9, ROT= 357.9, 3.9 PDAT read: Bearing 181.6, -4.1 (Local) ~Local bearing/azimuth received: Bearing 181.6, -4.1 (Local) DAT read: Range 11 to 50 : 290.9 m (Round-trip 387.9 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.997014,-0.036559,-0.068015]Fpublishing direction and range infoyQUaa?; {׷,::siYUsCQUxQQ Q)UGIUt?iU!U*?UJ*@UAU)@ U'g)U@IU'g=QQUn0? >BJ?-}]i UP?)U[C=IUQ iU'g=QQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A L=A yAzA zAE  E E AE "E =;*E h:VE A4ZE a @a @a @a @ AQ IY Ii O} >W#,NLARK>Ro?R&<ٱRB=RH֌?@S.k?`(?@t?`#?@?iRK>IR1\;PYj ByjIԑiMb@Mb@Mb@ 9K?Q?y&1|Y^?y\=`nA ) AY AbDVD°8yM%M8=ٔU(Q-U>9QYQ=UEy]_D]:E]>aQ 54eRW?Q 94en)e~BY?Q E:y&?Q I @eZDIe;ie;ey4yiBɮAEiaieXNLAje{C"je{C:je ?RjepԒ!r@4U\F%^K3Bjeaa?; {׷,::si*jeQ 2je'g=Zjea \n@*Mc@:.f=JjeWO?%B\?"_ϞjeiC jetCie?ie@jeg Bje BDAT read: Tx time:01:11:21.5972 $Ping request sent.B B IB BB  =B B B x;B SpEA .AI I O >*#,\rNLA:ο>:Ʊ?:<ٱ:=:HV?+@0g?@ ?o?A`𱞿@Ƽ?`?i:ο>I:߹\;8YFByFIEN ENEN5EL"EN:*EN:VEN4ZELBEN>9j ?Yj ?=jEyj_Dn-;En>pQ 5v4r"W?Q 9v4rJk)rzBYtyv&?Q Iz @rZDIr:ir;r4y|ɮ~eA|:i!%FNOT Ignoring new targets: 290.97 m."i-;*i-;1= ProNav: ac range: 290.967102 m, nav range: 297.368256 m, bearing: 32.476540 deg, approach rate: -0.628050 m/s, LOS rate: -0.010269 deg/s, cmd heading: 33.242882 deg, new cmd heading: 33.235434 deg. i=YEHeadingCmd: 0.580068 target range: 290.967102 and range: 290.90 m.hER?hAhIhIhIgIgIjgQrgQeQreQZeY:eY*e]@t?颅Bɢ0;) di)W5<顉i?liR?H=$=IR?I)@) @)@-.0@)achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502844^A=ԙA= ؟AII IY Oe >Թ #,`9NLAYBy%IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755661ԙiMb@Mb@Mb@ 9^I +?y&1?I +YX?y`<94 nA) AYf AbDVDȰ8y%%%7=ٔ-Q-->9-"?Y-"?=-Ey5`D5E5>9Q 5E4=4W?Q 9E4=g)=tBYM?Q EM:yM$?Q IM @=ZDI=,:i=:=4yUnBɮU8AY:iy}FNOT Ignoring new targets: 290.97 m."i*i ProNav: ac range: 290.967102 m, nav range: 297.101105 m, bearing: 32.472709 deg, approach rate: -0.597473 m/s, LOS rate: -0.008576 deg/s, cmd heading: 33.235434 deg, new cmd heading: 33.227765 deg. i {HeadingCmd: 0.579934 target range: 290.967102 and range: 290.90 m.hv?hhhhggjgrgBereZe:e*e)?BɢL;) i)<i iv?S=Iv?IibE=ù4jE=4rE=ï&1E EE3E"E;*E:VE4ZEa@a@a@a@9@ @ @ 0@ @zA@xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007192^A- :=A5 >A5 > A] .AIa Iy O >7#,NLA2>2y?2+<ٱ2x=2H`o?q??l?&10'?`?i2>I2*\;2CY8y8bDbVDb8yf:%jc=ٔjԲQ-j>9n ?Yn ?=nEyn`Dn9:Er>pQ 5v4rNCW?Q 9z4rc)rpBYxyz;$?Q Iz @rZDIrC:ir:r24y|ɮ7A:i!-FNOT Ignoring new targets: 290.97 m."i-9*i-9= ProNav: ac range: 290.967102 m, nav range: 296.885834 m, bearing: 32.469597 deg, approach rate: -0.597751 m/s, LOS rate: -0.008646 deg/s, cmd heading: 33.227764 deg, new cmd heading: 33.221537 deg. i=(}EHeadingCmd: 0.579825 target range: 290.967102 and range: 290.90 m.hEmo?hAhAhIhIgIgIjgIrgQeQreQZeQ:eQ*e]L?颅Bɢ8,;) i)/<顉iimo?]==Imo?I]9@Y @a@e35@aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259079AAB>BBIBBBBBDB;BzpE!E EE2E"E:*Eą:VE4ZEBE6y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510833b#, NLAv>v?v<ٱv=vH`?h x??g?ٝ i)?+?iv>Iv\;tYByIQiMb@Mb@Mb@ 9rh|?9"?Y"?=Ey'`D| ;E> Q 54 WW?Q 94 :_) hBY?Q E:yY ?Q I @ ZDI :i : }4y%tBɮ!-EEB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 290.97 m."i]2*i]2e ProNav: ac range: 290.967102 m, nav range: 296.597565 m, bearing: 32.466272 deg, approach rate: -0.606632 m/s, LOS rate: -0.007005 deg/s, cmd heading: 33.221538 deg, new cmd heading: 33.214881 deg. imMuHeadingCmd: 0.579709 target range: 290.967102 and range: 290.90 m.hug?hqhqhqhqgqgyjgyrg}BeyreZe:e*e;?颵Bɢ;) /i)<项i2Lig?l=9=Ig?IE9@A @A@M2@Iԁ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762884Ա^A- T=E  E E 5E "E :*E :VE 4ZE a @a @a @a @A I I O > I#, OLA4<ɰBh[>B&?B<ٱB)Q=BH`?̲tH? }?i?@볿` "??iBh[>IB\;BCYJ߁ByJIbDR VDPyZ%Zx=ٔ^ Q-^?9`Y`=bEyb5`DbEb?dQ 5j4fdW?Q 9j4f!\)fcBYlynA ?Q In @fZDIf:if:fB4ypɮrAt:i  FNOT Ignoring new targets: 290.97 m."i *i % ProNav: ac range: 290.967102 m, nav range: 296.396912 m, bearing: 32.463968 deg, approach rate: -0.608898 m/s, LOS rate: -0.006997 deg/s, cmd heading: 33.214882 deg, new cmd heading: 33.210271 deg. i%L-HeadingCmd: 0.579629 target range: 290.967102 and range: 290.90 m.h-b?h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eEd@mBɢm8)i m|iq)ui>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0156761@1 @1@5/@1@9@==^Aܪ= A) I9 IQ Om >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266859B >B 4CB IB ځBB  =B B B ;B pE9 t#,'OLA2!:>2?2P0<ٱ2h=2H@݄?`*?`?k?YݳE@>ڼ?o?i2!:>I2\;0Y:؁By:IEF EFEF6ED"EF;*EF:VEFc4ZEDBEF@;aJ LLPPbDV VDTy^%^J=ٔ^iQ-b>9`Y`=bEybE`Df$Ef>hQ 5n4juW?Q 9n4jVX)j\BYlyn/ ?Q Ir @jZDIj;ij;jS4yvyBɮvAt:i FNOT Ignoring new targets: 290.97 m."i*im ProNav: ac range: 290.967102 m, nav range: 296.151123 m, bearing: 32.461154 deg, approach rate: -0.607526 m/s, LOS rate: -0.006961 deg/s, cmd heading: 33.210272 deg, new cmd heading: 33.204639 deg. imKuHeadingCmd: 0.579530 target range: 290.967102 and range: 290.90 m.h\?hhhhggjgrgereZe:e*e _@UBɢU#;)Y ]ỾiY)]V\#,AOLA %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854Y!y)iMb@Mb@Mb@ 9x?~jtx? rhYK?y;CAA A) AY= AbD(VDѰ8y ~% 7=ٔ Q- >9Y=EyW`DE>!Q 5-4%؇W?Q 9-4%`T)%UBY-]?Q E-:y-R?Q I- @%[DI%V:i%;%$4y9ɮ=A9:iaeFNOT Ignoring new targets: 290.97 m."ie*im} ProNav: ac range: 290.967102 m, nav range: 295.887329 m, bearing: 32.459102 deg, approach rate: -0.589811 m/s, LOS rate: -0.004592 deg/s, cmd heading: 33.204640 deg, new cmd heading: 33.200532 deg. i}x}HeadingCmd: 0.579459 target range: 290.967102 and range: 290.90 m.hfW?hhhhggjgrgBereZe:e*e@ۑ@颽Bɢp ;) i)[<i$ ifW?=`=IfW?IiE EE3E"E;*E:VE4ZEa@a@a@a@9@ @@@ԙ^Ah=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024013 A I I O >#,1\[OLA2V>2?2@8<ٱ2w=2H?յ???n?@ ]?@?i2V>I2`];2CY:ҁBy:IbDFVDF8yJ %Ne=ٔN0PQ-~>9Y=Eyf`D E >Q 54W?Q 94Q)OBYy0?Q I @[DI^;i8;4y-~Bɮ-_A-E:iIUFNOT Ignoring new targets: 290.97 m."iU>*iU>e ProNav: ac range: 290.967102 m, nav range: 295.669739 m, bearing: 32.457428 deg, approach rate: -0.590090 m/s, LOS rate: -0.004542 deg/s, cmd heading: 33.200532 deg, new cmd heading: 33.197182 deg. iemHeadingCmd: 0.579400 target range: 290.967102 and range: 290.90 m.hmS?hihqhqhqgqgqjgyrgyeyreyZe:e*eƄ @颭Bɢ`F) Ii)ν<顱iۺiS?=u=IS?I]9@Y @a@e/@a@uxA@uzA5BDAT read: Rx Time:01:11:24.4058 =TRx dataTimestamp_ set to:1764897085.565141=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276511BAAE<BM>BIBMIBMˁBBIBIBIBM²;BMpEE EE2E"E;*Ez:VE4ZEBEDA>A .AI I O >!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526903Դ#,ZKuOLAFԿ>Fڴ?Fj<ٱF=FH`k? IE?? 8p?@T N,y,??iFԿ>IF];FCYfȁByfIIv=)v<|bD-VD-8yb:%7=ٔ9Q- >9 ?Y ?=%Ey%x`D5l;E5>IQ 5e4M*W?Q 94M+M)MGBYy?Q I @M[DIMD;iMb;Ma4yeBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 290.97 m."i >*i > ProNav: ac range: 290.967102 m, nav range: 295.406616 m, bearing: 32.455418 deg, approach rate: -0.576083 m/s, LOS rate: -0.004405 deg/s, cmd heading: 33.197182 deg, new cmd heading: 33.193157 deg. iHeadingCmd: 0.579330 target range: 290.967102 and range: 290.90 m.hN?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=F5@颥Bɢ`:) 2Ⱦi)<顱i iN?=V=IN?I)9@ @@/@IDAT read: 01:11:24.4058 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 106,-0.50,-2.400, 2.311,-2.170,-2.842, PHS= 0.544,-1.085, 0.628, RAW= 152.5, -1.1, CAL= 151.5, -2.0, ROT= 358.5, 2.0 Ygot valid direction response: 01:11:24.4058 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 106,-0.50,-2.400, 2.311,-2.170,-2.842, PHS= 0.544,-1.085, 0.628, RAW= 152.5, -1.1, CAL= 151.5, -2.0, ROT= 358.5, 2.0 PDAT read: Bearing 183.3, -3.2 (Local) ~Local bearing/azimuth received: Bearing 183.3, -3.2 (Local) DAT read: Range 11 to 50 : 303.3 m (Round-trip 404.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.999048,-0.026161,-0.034899]Fpublishing direction and range infoy15@iB4?>nɚXޡY5C1511 1)5DI5C ?i5H኿5 ?5X*@5nF5%:)@ 55)5c9@I55=115|8s?"h?/?UYԒ 5-?)5#,2OLA(2j>2%?2<ٱ2-b=2H?`@õ?`?o?A= ] ??i2j>I29U];0Y>сBy>Ii5Mb@Mb@Mb@1111 195m?MbY5?y555nA1 5nA)5A A1Y5f AbDMٿVDM8y]4=%]B=ٔe9Q-e>9aYa=mEym`DmLO:Em>qQ 5}4uW?Q 9}4uI)uBBY?Q E:y1?Q I @u.[DIuw:iu:u4(DAT read: user:67> BDAT read: Tx time:01:11:25.6472 $Ping request sent.nɚXޡ*jewּ2je5=ZjeV%Ao@jn*pd@u4Jje; ?rZ??.,Lje#C je~Ciex3O?ie|jeO3BjajeKjeO3Brje%Czje? addTargetRange:: Added new target pos. range: 303.299988 m, deltaT: 4.031142 s, deltaX: 12.399994 m, approachRate: 3.076050 m/s, rangeRepo size: 4  Added new target pos. range: 303.364166 m, bearing: 32.699144 deg, lat: 36.779687 deg, lon: -121.859624 deg, deltaT: 4.031142 s, deltaX: 12.397064 m, approachRate: 3.075323 m/s, posRepo size: 4 :i FNOT Ignoring new targets: 303.36 m."i *i ProNav: ac range: 303.364166 m, nav range: 296.289764 m, bearing: 32.790211 deg, approach rate: 0.000000 m/s, LOS rate: -0.004405 deg/s, cmd heading: 33.193159 deg, new cmd heading: 33.189592 deg. i%HeadingCmd: 0.579268 target range: 303.364166 and range: 303.30 m.h%J?h!h)h)h)g1g1jg1rg5Be9re9Ze9:e=r@*e=? Bɢ (:) o Ei)=<iiJ?=[,=IJ?I!ԁ@ @@@Ա^AB- >B- 1CB- IB- BB-  =B) M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251049B- DB- ;B- pEBBBȔCBB =Cȥ 6 A I I O >E  E E E "E :*E VE ZE BE <*%CdfGzGyA 59=GyAY=DA}>}?}(<ٱ}=}H??`?yo?@ `7? ?i}>I}e0];}CYByIbDVD8y(˽%E=ٔ:Q->9Y=Ey`D18E>Q 54W?Q 94nF)=BYy2?Q I @<[DI;i\;4yɮsA:iAMFNOT Ignoring new targets: 303.36 m."iM.*iU.e ProNav: ac range: 303.364166 m, nav range: 296.059540 m, bearing: 32.789221 deg, approach rate: -0.555366 m/s, LOS rate: -0.002389 deg/s, cmd heading: 33.189590 deg, new cmd heading: 33.187609 deg. ie닸mHeadingCmd: 0.579233 target range: 303.364166 and range: 303.30 m.hmH?hihihihigigjgrgereZe:e*e y.?Bɢ +)  оi))5n<11i5Fi=H?=====I=H?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5033219@ @@/@@@=^A- ܪ=A) zA) Q AY Ia Iq O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754776,#,tOLAY^By^I ``iMMb@Mb@Mb@IIII I9M9yYy=}Ey}`DE>Q 54W?Q 94C)7BYz?Q E:y?Q I @K[DI& ;iP;4ypBɮAE:iFNOT Ignoring new targets: 303.36 m."i*i ProNav: ac range: 303.364166 m, nav range: 295.831238 m, bearing: 32.788453 deg, approach rate: -0.587319 m/s, LOS rate: -0.001978 deg/s, cmd heading: 33.187609 deg, new cmd heading: 33.186072 deg. igHeadingCmd: 0.579206 target range: 303.364166 and range: 303.30 m.hF?hhhhggjgrgzBereZe:e*eh-?Eu EuEqEq"Eu;*Eu:VEqZEqa}@a}@a}@a}@BɢE) ξi ) <  i .iF?Gɏ=;R=IF?IA9@ @@/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006878^A ԙ A5 ؟AI9 II O] >Q#,2OLA2>2|?2o<ٱ2(l=2Ha? @yҵ??3p?`qT?_?i2>I2\;2CY:By:IbDFVDF8yJT%%NZ=ٔN:Q-N>9R"?YR"?=REyR`DVEV>XQ 5b4Z8W?Q 9f4Z?)Z2BYdyj?Q Ij @ZY[DIZ;iZ;Z<4ytɮvAx:i15FNOT Ignoring new targets: 303.36 m.y"i *i  ProNav: ac range: 303.364166 m, nav range: 295.615234 m, bearing: 32.787732 deg, approach rate: -0.562906 m/s, LOS rate: -0.001881 deg/s, cmd heading: 33.186072 deg, new cmd heading: 33.184629 deg. iV\HeadingCmd: 0.579181 target range: 303.364166 and range: 303.30 m.h5E?hhhhggjgrgereZe:e*e@?MBɢUܬ)q uվiq)}@B0CByIBBB =BBB;B[pEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259045ԡE EE1E"E:*E:VE-4ZEBE>AM >1A.AIIO?%#,OLAF>F?F+<ٱFD:=FH?`wµ?? ]s? 첿 b$ֻ?`?iF>IF)\;FCYvByvII~>)~>iMb@Mb@Mb@ 9i|?5?{GzY?y̼A ) AԱY AbDVD8yF0=%=ٔk9Q->9 ?Y ?=Ey`DHE>Q 54W?Q 94;)*BY?Q E:y ?Q I @m[DI;i;4yuBɮAB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 303.36 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763047"ig38*ig38 ProNav: ac range: 303.364166 m, nav range: 295.301392 m, bearing: 32.789064 deg, approach rate: -0.577006 m/s, LOS rate: 0.002451 deg/s, cmd heading: 33.184628 deg, new cmd heading: 33.187294 deg. i8 HeadingCmd: 0.579228 target range: 303.364166 and range: 303.30 m.h BH?h h hhggjgrgBereZe:e*e%@7@颍BɢP`:) Ǿi)̸<顑iiBH?-= =IBH?IbE4jEܦ4rEĝ/EY EYE]5EY"EY*EYVE]4ZEYam@au@au@au@59@1 @1@1@9 ^A &= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0151739 A5 ؟AI9 IQ O] >#,qPLA2&[>2x?2S<ٱ2"g=2Hd?@2ǵ??&v?@ʲࠏ??i2&[>I2\;0Y:By:IbDFVDF8yN%N_=ٔN:Q-N>9R"?YR"?=REyR`DVgEV>XQ 5^4Z X?Q 9^4Z8)Z$BY\y^ ?Q I^ @Zz[DIZ:iZ::ZF4ydɮfAd:itzFNOT Ignoring new targets: 303.36 m."iz58*i~58 ProNav: ac range: 303.364166 m, nav range: 295.093262 m, bearing: 32.789970 deg, approach rate: -0.569515 m/s, LOS rate: 0.002481 deg/s, cmd heading: 33.187295 deg, new cmd heading: 33.189108 deg. iL8 HeadingCmd: 0.579259 target range: 303.364166 and range: 303.30 m.hUJ?hhhhggjgrgereZe!:e!*e%@MBɢU)Q U9ԾiQ)Ux #,eR6PLA|YBy IbD VD8y-D=%-.=ٔ-Q-->95 ?Y= ?==Ey=`D=E=>AQ 5U4E X?Q 9]4E5)EBYayaQ Im @E[DIED;iEP;E|4y}{Bɮ}A}E:iFNOT Ignoring new targets: 303.36 m."i&48*i&48 ProNav: ac range: 303.364166 m, nav range: 294.825958 m, bearing: 32.791135 deg, approach rate: -0.563972 m/s, LOS rate: 0.002461 deg/s, cmd heading: 33.189108 deg, new cmd heading: 33.191441 deg. i8HeadingCmd: 0.579300 target range: 303.364166 and range: 303.30 m.hM?hhhhggjgirgqeyreyZe:e*e@Bɢ9)  4Ǿi ) {<  i хiM?=S>=IM?!Ii9@ @@/@@@@@Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777E  E E E "E ;*E ą:VE ZE a @a @a @a @ԙ A I I O >y#,PPLA2>2nV?24<ٱ2=2H?@Ե??`x?者Y?@E?i2>I2S\;2CY:āBy:Ii%Mb@Mb@Mb@!!!! !9%M?~jtMb`Y%n?y%D%%nA%XA %XA)% A!Y%= AbD9VD9yM_<%MI=ٔMޟ:Q-M>9QYQ=UEyUaDԙVE>Q 542X?Q 941)BYw?Q E:y?Q I @[DI:io:4yBɮAE:iFNOT Ignoring new targets: 303.36 m."i%Z6*i%Z6- ProNav: ac range: 303.364166 m, nav range: 294.584808 m, bearing: 32.791213 deg, approach rate: -0.577009 m/s, LOS rate: 0.000186 deg/s, cmd heading: 33.191441 deg, new cmd heading: 33.191597 deg. i-|6=HeadingCmd: 0.579303 target range: 303.364166 and range: 303.30 m.h=.M?h9h9h9h9g9g9jgArgErBeAreAZeI:eI*eM @ @uBɢ}X)y }:iy)}<顁i>i.M?=O=I.M?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022898 @  @ @~0@AYIaIqOY>B <A <B >B 1CB fIB BB B B DB ;B oE BDAT read: Rx Time:01:11:28.4533  TRx dataTimestamp_ set to:1764897089.596586 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2759641 #,iPLAFѾ>FF3?F<ٱF=FH@?`A??y{?ޞʋ?@?iFѾ>IF\;DE^ E^E^2E\"E^:*E^~:VE^4ZE\BE\an2E\arJE^8;ar:E^8;arYzByzIbDVD8y%d]%-M=ٔ-Q-->91Y1=5Ey=aD=E=>AQ 5M4EAX?Q 9M4E.)EBYQyU?Q IU @E[DIEG:iES:E4y]hBɮ]{A]E:iFNOT Ignoring new targets: 303.36 m."i76*i76 ProNav: ac range: 303.364166 m, nav range: 294.364716 m, bearing: 32.791307 deg, approach rate: -0.571201 m/s, LOS rate: 0.000245 deg/s, cmd heading: 33.191598 deg, new cmd heading: 33.191786 deg. i&6HeadingCmd: 0.579306 target range: 303.364166 and range: 303.30 m.heM?hhhhggjgrgereZe:e*e@& @颅Bɢ1) ʾi)8<顉iieM?2 =t=IeM?Ii@i @i@mW2@i!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528046A؟AIIOj>Qԁ  #,"ރPLAf(?>f?f<ٱf=fH@\? @e?@d?ƀ?N?$H??if(?>If( ];dYrByrIeDAT read: 01:11:28.4533 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.18,-0.015,-1.519, 0.059,-0.642, PHS= 0.729,-0.831, 0.658, RAW= 147.7, -7.3, CAL= 147.8, -8.8, ROT= 2.2, 8.8 mYgot valid direction response: 01:11:28.4533 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.18,-0.015,-1.519, 0.059,-0.642, PHS= 0.729,-0.831, 0.658, RAW= 147.7, -7.3, CAL= 147.8, -8.8, ROT= 2.2, 8.8 PDAT read: Bearing 176.0, -0.4 (Local) ~Local bearing/azimuth received: Bearing 176.0, -0.4 (Local) DAT read: Range 11 to 50 : 301.4 m (Round-trip 401.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.987500,0.037936,-0.152986]Fpublishing direction and range infoy15`?xwlaVl?8C ÿY5C1111 1)5GI5:?i5jT5r(?5$@5w5%@ 5nF)5nF=I5nF>115~+*R?7?14[ 5wq>)5}5>I5nF=i5nF>11 T****** received valid address query ****** R****** received valid ping request ******IiMb@Mb@Mb@ Querying Benthos address 50 with one ping in standard two-way mode. 99v?{Gz{GztY?y#ףAAA  A) AY AE EEE"E;*E|:VEZEa@a@a@a@bD-VD-8yr<%=ٔQ->9"?Y"?=Ey%aDE>Q 546WX?Q 94.*)BY?Q E:y?Q I @[DI:i(:4y=mBɮ=oA=Eyi1i5cPLAj5C"j5C:j5$?Rj5>Zj5\^Hm@d~Gf@BhJJj5['/F-?9?yđƿj5;2C j5/mCi5Aj?i5+2Gj5 8Aj1j5|j5&Brj5ݓCzj5? addTargetRange:: Added new target pos. range: 301.399994 m, deltaT: 4.032029 s, deltaX: -1.899994 m, approachRate: -0.471225 m/s, rangeRepo size: 4 U Added new target pos. range: 301.450562 m, bearing: 36.923324 deg, lat: 36.779687 deg, lon: -121.859589 deg, deltaT: 4.032029 s, deltaX: -1.913605 m, approachRate: -0.474601 m/s, posRepo size: 4 :iQ]FNOT Ignoring new targets: 301.45 m."i]*iYm ProNav: ac range: 301.450562 m, nav range: 295.729340 m, bearing: 33.289866 deg, approach rate: 0.000000 m/s, LOS rate: 0.000245 deg/s, cmd heading: 33.191786 deg, new cmd heading: 33.192055 deg. iiHeadingCmd: 0.579311 target range: 301.450562 and range: 301.40 m.hM?hhhhggjgrgBereZe:e`fr@*e]?=Bɢ={9)9 =q¾i9)= BDAT read: Tx time:01:11:29.6972 $Ping request sent.AQ Ia Iq O} > ;'#,ڬPLAYrByrIIvR=)v= xz%=bD%VD%8y](U%e=ٔeQ-m?9qYq=uEyu2aD}E}?Q 54IcX?Q 94') BYyQ I @[DI8S;if;#4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 301.45 m."i Ј7*i Ј7 ProNav: ac range: 301.450562 m, nav range: 295.558807 m, bearing: 33.290120 deg, approach rate: -0.625075 m/s, LOS rate: 0.000934 deg/s, cmd heading: 33.192056 deg, new cmd heading: 33.192565 deg. i7%HeadingCmd: 0.579320 target range: 301.450562 and range: 301.40 m.h%IN?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=?eBɢe;)a eþia)mr5B3CBBB =BBDBֱ;BoE9@ @@M4@E EEE"E:*E:VEZEBEa2EaJER;a:ER;a^Am&= A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5026701 <-#,PLAJ>J2?JS]<ٱJ =JH6?@ۘ?@7? E?jՃ?`?iJ>IJ];JCYRByRIbD^VD^Ȱ8yf̀%fT=ٔfQ-f>9j ?Yj ?=jEyjAaDnEn>AQ 5E4EsX?Q 9M4Ez$)EBYIyM?Q IM @E[DIE:iE:E*4yUsBɮ}Ay:iFNOT Ignoring new targets: 301.45 m."i7*i7 ProNav: ac range: 301.450562 m, nav range: 295.329315 m, bearing: 33.290486 deg, approach rate: -0.578534 m/s, LOS rate: 0.000923 deg/s, cmd heading: 33.192564 deg, new cmd heading: 33.193297 deg. i/7 HeadingCmd: 0.579332 target range: 301.450562 and range: 301.40 m.h O?h h h hggqjgrgereZe:e*e`w?!Bɢ`g) ξi) <iiEO?Ms'=Mן=IMO?II9@ @@/5@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755464i D zD ?AE  E E 3E "E ;*E xv:VE 4ZE a @a @a @a @^A L=ԩ A ؟AI I O- >s4#,qPLA2)>2?2s<ٱ25=2H×?ٴ??,?Aතx??i2)>I2V];0Y:By:Ii~Mb@Mb@Mb@|||| |9~Zd;?MbY~?y~~~A~nA ~nA)~A A|Y~\ AbDSVD8y-/=%-8=ٔ-mպQ-->95"?Y5"?=5Ey5SaD5M:E=>9Q 5E4=X?Q 9M4= )=BYM?Q EM:yM=?Q IM @=[DI=;i=:=G24yQɮ]AY:iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006728FNOT Ignoring new targets: 301.45 m."i%*i%5 ProNav: ac range: 301.450562 m, nav range: 295.070557 m, bearing: 33.289997 deg, approach rate: -0.614525 m/s, LOS rate: -0.001162 deg/s, cmd heading: 33.193295 deg, new cmd heading: 33.192317 deg. i55HeadingCmd: 0.579315 target range: 301.450562 and range: 301.40 m.h=N?h9hAhAhAgAgIjgIrgMBeIreQZeQ:eQ*eU@Je?ԙBɢh) =ľi)<ioiN?U.=]k=I]N?IY@ @@/@AAB>B4CBlIBBB =BBDB;BqoEB1CB1CBȕCB =B =CMT6 ^A `=A xAzA tA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259172A! I1 II O] >E  E E 2E "E ;*E :VE 4ZE BE \Q-?-/<ٱ-L=-Hі??`v?}?:g0??i-ZI>I-];-CY=By=I AAbDU=VDU8ye<%eH=ٔm!Q-m>9iYi=uEyudaDu:Eu>yQ 54}֖X?Q 94})}BYyM?Q I @}[DI}:i}l:}m94yxBɮAE:iFNOT Ignoring new targets: 301.45 m."i*i ProNav: ac range: 301.450562 m, nav range: 294.824951 m, bearing: 33.289521 deg, approach rate: -0.600596 m/s, LOS rate: -0.001166 deg/s, cmd heading: 33.192315 deg, new cmd heading: 33.191361 deg. iHeadingCmd: 0.579299 target range: 301.450562 and range: 301.40 m.hL?hhhhggjgrgereZe:e*e ?e~Bɢm➻)i mii)mXΕA#,QLA 2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762739:>:?::<ٱ:{J=:H?@y \e?I:q^;8Y^By^IiEMb@Mb@Mb@AAAA A9E +?:v?~jth?YE?yET9qYy=}Ey}taD}:E>Q 54QX?Q 94z)BY?Q E:y5?Q I5 @\DIG#, !QLA,>^>>E?>\<ٱ><=>H6? .? ? $v?̳ ??i>^>I>^;>CYJByJIbDRVDR8yZ,=%ZR=ٔ^XQ-^>9^ ?Yb ?=bEybaDb:Eb>dQ 5j4fX?Q 9j4f)fBYlyn?Q In @f\DIfo;if;fMG4yr~BɮrArEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 301.45 m."i*i ProNav: ac range: 301.450562 m, nav range: 294.357330 m, bearing: 33.286704 deg, approach rate: -0.598581 m/s, LOS rate: -0.003649 deg/s, cmd heading: 33.188514 deg, new cmd heading: 33.185724 deg. iոHeadingCmd: 0.579200 target range: 301.450562 and range: 301.40 m.hvF?hhhhggjgrgereZe:e*e@ɢZʻ) Ui)n<i>׻ivF?@J= ڦ=I vF?IBU>BU3CBUrIBUBBQBQBQBU;BUIoE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267573ԉ@ @@/@E EE5E"E:*E:VE4ZEBE< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518693N#,`;QLA2q>2m?24%<ٱ25=2H?` ?D?p?< ̻??i2q>I2K_;2CYJByJI R4=RR=TbDVVDV8y^ %^I=ٔb\Q-b>9b"?Yf"?=fEyfaDf;Ef>hQ 5n4jX?Q 9n4jc)jBYpyr?Q Ir @j$\DIjx1;ijG;jjN4yɮ A :i15FNOT Ignoring new targets: 301.45 m."i=W*i=WM ProNav: ac range: 301.450562 m, nav range: 294.117676 m, bearing: 33.285198 deg, approach rate: -0.609512 m/s, LOS rate: -0.003834 deg/s, cmd heading: 33.185724 deg, new cmd heading: 33.182709 deg. iMฝUHeadingCmd: 0.579148 target range: 301.450562 and range: 301.40 m.hUC?hQhQhQhQgYgYjgqrgqeyre Ze:e*eE+@颭|Bɢkq) i)<icԻiC?V=e=IC?I@ @@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771023bE%ם4jE%j4rE%?/E EE2E"El;*E:VE4ZEa@a@a@a@^Aq ) Iq I O >T#,TQLA2 >2@?2ʡ<ٱ2=2Hއ?[ ȳ?`w?xj? ']@9G? v?i2 >I2X_;2CY:By:Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023059i=Mb@Mb@Mb@9999 99=\(\?S㥛?~jthY=?y=/<=D=A9 9)= A9Y9bDQVDQyE<%/=ٔ CQ->9Y=EyaD6';E>Q 5%4X?Q 9%4 )BY% ?Q E-:y-N#?Q I- @6\DIGBYB]yIB]BB] =BYB]DB];B]EoEU BDAT read: Rx Time:01:11:32.5001 U TRx dataTimestamp_ set to:1764897093.628515] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275721^A T=ԡ I I E  E E 5E "E :*E :VE 4ZE BE 3)[#,nQLABۤ>B?B<ٱB =BHȂ?`?o?d?@?@=?iBۤ>IB_;BCYJByJIbDRVDR8yZ<%Zo=ٔ^Q-^?9\Y`=bEybaDb\;Eb?dQ 5j4fX?Q 9j4f )fBYlyn#?Q In @fC\DIf\ ;if6;f\4ypɮvPAt:iFNOT Ignoring new targets: 301.45 m."i|*i|- ProNav: ac range: 301.450562 m, nav range: 293.629059 m, bearing: 33.279714 deg, approach rate: -0.622243 m/s, LOS rate: -0.007075 deg/s, cmd heading: 33.176445 deg, new cmd heading: 33.171731 deg. i--O5HeadingCmd: 0.578956 target range: 301.450562 and range: 301.40 m.h5u6?h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eE` b @Yqɢu)1 5฾i9)=+<99i=8лiEu6?Em=E=IEu6?III)-9@) @)@-L0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526659ԑԹ^Auا=AyAzAzAI) IA OU > Ab#,ګQLADAT read: 01:11:32.5001 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 423,-0.24, 2.428, 1.134, 2.645, 2.146, PHS= 0.384,-0.967, 0.455, RAW= 152.5, 1.9, CAL= 151.3, 1.3, ROT= 358.7, -1.3 "Ygot valid direction response: 01:11:32.5001 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 423,-0.24, 2.428, 1.134, 2.645, 2.146, PHS= 0.384,-0.967, 0.455, RAW= 152.5, 1.9, CAL= 151.3, 1.3, ROT= 358.7, -1.3 &PDAT read: Bearing 186.4, -2.2 (Local) &~Local bearing/azimuth received: Bearing 186.4, -2.2 (Local) .DAT read: Range 11 to 50 : 299.1 m (Round-trip 398.9 ms) speed 0.4 m/s N}\>.R#Rx 1: Read range and direction messages.R^direction in FSK: [0.999485,-0.022681,0.022687]RFpublishing direction and range infoyim6ё?9NGY;?YmCiiii i)mIIm>imPwm>mX*@m=m)@ m޹<)mU@Im޹iimc`?nd^t3?SW? mc?)mhIm޹im޹iibT****** received valid address query ******bR****** received valid ping request ******bQuerying Benthos address 50 with one ping in standard two-way mode.Nx?N*<ٱNr=NH|?,m??`/\?b^?f?iN}\>INb_;NCYrByrI ttE] E]E]2EY"E];*E]:VE]4ZEYae@ae@ae@ae@iMb@Mb@Mb@ 9Gz?Q?y&1|Yp?y\=`A ) AY AbDU VDU8yem%e&=ٔeLQ-m>9Y=EyaD49;E>Q 54.X?Q 94)BY?Q E:yB'?Q I @V\DI;i;4e4yrBɮAiiim3oQLAjmC"jmC:jmj?Rjm>Ir@2$r7&@Bjm6ё?9NGY;?*jm޹2jm޹ZjmEHxo@A62d@Xqì)?Jjm)#%nu?\OH?h58yk?jm!C jm{Cimzݫ?imt@ljmBjijmt@ljmO3BrjmՒCzjm0"?] addTargetRange:: Added new target pos. range: 299.100006 m, deltaT: 4.031951 s, deltaX: -2.299988 m, approachRate: -0.570440 m/s, rangeRepo size: 4  Added new target pos. range: 299.159424 m, bearing: 32.689102 deg, lat: 36.779687 deg, lon: -121.859582 deg, deltaT: 4.031951 s, deltaX: -2.291138 m, approachRate: -0.568245 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 299.16 m."i*i ProNav: ac range: 299.159424 m, nav range: 293.669525 m, bearing: 33.377824 deg, approach rate: 0.000000 m/s, LOS rate: -0.007075 deg/s, cmd heading: 33.171732 deg, new cmd heading: 33.164504 deg. iHeadingCmd: 0.578830 target range: 299.159424 and range: 299.10 m.h0.?hhhhggjgrgBereZe:er@*eC?mzBɢmbq)i mƾii)uŢ BDAT read: Tx time:01:11:33.6971 $Ping request sent.S;h#,†QLA2i>2?2%|<ٱ2=2H{w?]??U? ?c?i2i>I2_;2CYfByf~IbDnVDn8yvz?%v}=ٔz|Q-z ?9xYx=~Ey~aD~g;E ?Q 5 4U Y?Q 9 4)BYy'?Q I @c\DIe:i::j4yɮ%.A!=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 299.16 m."iM,&*iU,&e ProNav: ac range: 299.159424 m, nav range: 293.473328 m, bearing: 33.375064 deg, approach rate: -0.645070 m/s, LOS rate: -0.009080 deg/s, cmd heading: 33.164503 deg, new cmd heading: 33.158979 deg. ieeHeadingCmd: 0.578733 target range: 299.159424 and range: 299.10 m.hm'?hihihihigigijgqrgqeqreqZey:ey*e}-?颡ɢzcf) ξi)A<顩i˻i'?M=h=I'?IB>B2CBBB =BBB;BgoEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251122=9@9 @9@E4@AAEm EiEm4Ei"Em:*EiVEm4ZEiBEmI8q checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503650ԙ en#,bQLA2>2D?2(d<ٱ2,w=2H+r?K/?`?N?`dݵ@(k޼? ?i2>I2t_;2CYNByRIbDZVDZ°8yb;%bM=ٔb_kQ-b>9dYd=fEyfaDfC;Ej>hQ 5r4jY?Q 9r4j)jBYpyr'?Q Ir @js\DIj;ij;jq4yvwBɮzPAzީE:iQeFNOT Ignoring new targets: 299.16 m.y"i*i ProNav: ac range: 299.159424 m, nav range: 293.228821 m, bearing: 33.371563 deg, approach rate: -0.558649 m/s, LOS rate: -0.008006 deg/s, cmd heading: 33.158980 deg, new cmd heading: 33.151972 deg. injHeadingCmd: 0.578611 target range: 299.159424 and range: 299.10 m.h?hhhhggjgrgereZe:e*e#?iɢuŻ)q u̾iq)ui>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549059@! @!@%>5@!Eu EuEu1Eq"Eu ;*Eu:VEu-4ZEqa@a@a@a@^AE "= Aq Iy I O > ru#,bQLAYzByzII~=)~Y>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006867iMb@Mb@Mb@ 9Zd;?Q?~jtxY?y<ĻAnA  A)A AY AbDVD8yGK<%4=ٔQ->9Y=EyaDE >Q 54-Y?Q 94k)BY?Q E:y &?Q I @\DI:i:y4y!ɮ-9A):iIUFNOT Ignoring new targets: 299.16 m."iU=*iU=e ProNav: ac range: 299.159424 m, nav range: 292.956604 m, bearing: 33.368037 deg, approach rate: -0.658492 m/s, LOS rate: -0.008537 deg/s, cmd heading: 33.151973 deg, new cmd heading: 33.144914 deg. ԉieymHeadingCmd: 0.578488 target range: 299.159424 and range: 299.10 m.hm?hihihihigigqjgqrguBeqreyZey:ey*e} k? ɢI) ɾi)M#BBBBBBB;BoEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258815^A =E]  E] E] 5EY "E] =;*E] ~:VE] 4ZEY BE] I<{#,BΏ?B)A;<ٱBӶ=BH fi?`ɲ?=? :D?vQh@Z??iB>IB?`;BCYNByNwIbDVVDV8ybU%b[=ٔb޻Q-b>9dYd=fEyfbDj;Ej>lQ 5r4niߑ Iߕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762988) $#, RLA2Y>2?2@*<ٱ2j=2H`%h?L?:?`|B?TmW??i2Y>I2{Y`;2CYNByRlIiUMb@Mb@Mb@QQQQ Q9UCl?Q?MbYUd?yU\=UUnAUXA U A)QQYU3 AbDmܿVDm8yup&%}@=ٔQ->9Y=EybD0:E>Q 54QMY?Q 94)BY?Q E:y(?Q I @\DI;i;4yɮAE EE4E"E:*E:VE4ZEa@a@a@a@:iFNOT Ignoring new targets: 299.16 m."ii%*ii% ProNav: ac range: 299.159424 m, nav range: 292.474731 m, bearing: 33.361172 deg, approach rate: -0.601317 m/s, LOS rate: -0.009038 deg/s, cmd heading: 33.138930 deg, new cmd heading: 33.131172 deg. iT HeadingCmd: 0.578248 target range: 299.159424 and range: 299.10 m.h ?h h h h ggjgrgjBereZe:e*e%`;@AɢEnv+)A EܾiA)EȈ#,$RLA(>G>>?><ٱ>=>H bi?@?@?`_D?15d5G?`?i>G>I>(y`;>CYFByJoILLbDRVDR8yZC`<%ZX=ٔZ4Q-^>9\Y\=bEyb)bDb.Eb>dQ 5j4f\Y?Q 9j4f)fBYhyn(?Q In @f\DIf:if:f;4yrlBɮr_Ar֩EB>BBBB =BBB;BoEB2CB3CBCB =B =C5%B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 299.16 m."i=%*i=%M ProNav: ac range: 299.159424 m, nav range: 292.245270 m, bearing: 33.357732 deg, approach rate: -0.603456 m/s, LOS rate: -0.009053 deg/s, cmd heading: 33.131171 deg, new cmd heading: 33.124287 deg. iMUHeadingCmd: 0.578128 target range: 299.159424 and range: 299.10 m.hU0?hQhQhQhQgYgYjgYrgaeareaZea:ea*em@颕yBɢRc) پi),<顡iWi0?v==I0?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.27501459@1 @1@5/@1@A@A y Cԁ8G{A)U9U{AYU1AE EE3E"E:*E~:VE4ZEBE+M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526829Y#,ް>RLAPVo>V??V. <ٱVz=VHj? 賱??E?%N@??iVo>IV3`;VCYfByfiIbDz VDz8yMF%UA=ٔUQ-U>9YYY=]Ey]:bDeKEe>iQ 5u4mmY?Q 94m)mBYy(?Q I @m\DIm{;im!s#,V [RLA2B>2k?2;ٱ2=2H -l?;;?@ ?H?ھຬ??i2B>I2l_;0Y>By>hIiMb@Mb@Mb@ 9^I +?Zd;O?{GztYX?yj<ףAnA )& AY\ AbDVD8yy%5=ٔQ->9 ?Y ?=EyLbDFE>Q 540Y?Q 94)BYv?Q E:yk#?Q I @\DI;i%);4yqBɮA:i!-FNOT Ignoring new targets: 299.16 m."i-*i-M ProNav: ac range: 299.159424 m, nav range: 291.717468 m, bearing: 33.350893 deg, approach rate: -0.669527 m/s, LOS rate: -0.007406 deg/s, cmd heading: 33.116585 deg, new cmd heading: 33.110597 deg. iMX]HeadingCmd: 0.577889 target range: 299.159424 and range: 299.10 m.h]?hYhYhYhagagajgirgmlBeqreqZey:ey*e} @9ɢER)A Eb޾iA)E(ČBBlIBBB =BBDB&;BoE!BDAT read: Rx Time:01:11:36.4972 TRx dataTimestamp_ set to:1764897097.669259checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284720^Al=Q E  E E 4E "E V:*E &p:VE 4ZE BE 9:#,ձtRLA 6S>6\t?6);ٱ6/0=6Hk? ? ?G? ѵ{??i6S>I6`;4YVByV_IbD^VD^8yfW%%fZ=ٔj-Q-j>9hYh=nEyn[bDn9En>pQ 5v4rdY?Q 9v4r )rBYxyzs#?Q Iz @r\DIr.:ir:r4y|ɮ~A:i9EFNOT Ignoring new targets: 299.16 m."iE@*iM@U ProNav: ac range: 299.159424 m, nav range: 291.493164 m, bearing: 33.348405 deg, approach rate: -0.603476 m/s, LOS rate: -0.006700 deg/s, cmd heading: 33.110595 deg, new cmd heading: 33.105614 deg. iU3DeHeadingCmd: 0.577802 target range: 299.159424 and range: 299.10 m.he?hahahahagigijgirgieqreqZeq:eq*eu`o @颥xBɢߠ) i)K5<顩iqi?=Қ=I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536264qu9@q @q@}0@y@=@=ԡ^AG= A) I1 IA OU > DAT read: 01:11:36.4972 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.21, 2.736, 1.180, 3.062, 2.270, PHS= 0.568,-1.045, 0.747, RAW= 155.2, -3.2, CAL= 154.7, -4.6, ROT= 355.3, 4.6  Ygot valid direction response: 01:11:36.4972 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.21, 2.736, 1.180, 3.062, 2.270, PHS= 0.568,-1.045, 0.747, RAW= 155.2, -3.2, CAL= 154.7, -4.6, ROT= 355.3, 4.6  PDAT read: Bearing 180.8, -5.7 (Local)  ~Local bearing/azimuth received: Bearing 180.8, -5.7 (Local)  DAT read: Range 11 to 50 : 296.9 m (Round-trip 395.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.993427,-0.081675,-0.080199] Fpublishing direction and range infoy  '?D1 贿zꇴY sC ) GI sh?i … d;?? -\-@ d 3,@ l) o@I l= CDL,l?ӭjk?c qI?) zd=I i l=  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.x#,.RLADB%=D@bE 4jE 74rE 0EF EFEF8ED"EF:*EF~:VEFF4ZEDaN@aN@aN@aN@TYByUIiMb@Mb@Mb@ 9333333?9qYq=uEyuobDuE}>yQ 54}_Y?Q 94}~)}BY?Q E:y!?Q I @}\DI};i};}4ywBɮ_AשEiiRLAjzC"jzC:j?Rj-! pr@>Z"@8f޽7Bj'?D1 贿zꇴ*j2jl=Zj.`o@Hb@YhE<JjBaw?2?IƖɎ_jC jCiĭ?ijBjx3O?j|jBrj̓Czjq?E addTargetRange:: Added new target pos. range: 296.899994 m, deltaT: 4.039949 s, deltaX: -2.200012 m, approachRate: -0.544564 m/s, rangeRepo size: 4 u Added new target pos. range: 296.954071 m, bearing: 30.165195 deg, lat: 36.779737 deg, lon: -121.859589 deg, deltaT: 4.039949 s, deltaX: -2.205353 m, approachRate: -0.545886 m/s, posRepo size: 4 :iq}FNOT Ignoring new targets: 296.95 m."i}*iy ProNav: ac range: 296.954071 m, nav range: 295.596283 m, bearing: 32.641914 deg, approach rate: 0.000000 m/s, LOS rate: -0.006700 deg/s, cmd heading: 33.105613 deg, new cmd heading: 33.098887 deg. iHeadingCmd: 0.577685 target range: 296.954071 and range: 296.90 m.h#?hhhhggjgrgXBereZe:e`fr@*eб?颵wBɢ<) si)$<项ii#?{3=ڴ=I#?IY>i>(DAT read: user:70>  BDAT read: Tx time:01:11:37.7471  $Ping request sent. B B `IB BB B B B );B oEԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251515A I I O>+#,0RLA:>:y?:.;ٱ:=:H-g?{?F? A?JKs'Ի?`]?i:>I:"P`;:CY@y@bDJVDJ8ٔRmQ-V>9TYT=VEyV~bDZA,;EZ>\Q 5b4^Y?Q 9b4^)^BY!y%!?Q I% @^]DI^Be g#,RLAY{ByAI Ai=Mb@Mb@Mb@9999 99=S?9u"?Yu"?=uEyubD}E}>yQ 54}Y?Q 94})}BY?Q E:y ?Q I @}]DI};i};}.4yɮ Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754877:iFNOT Ignoring new targets: 296.95 m."i2ո*i2ո ProNav: ac range: 296.954071 m, nav range: 295.095978 m, bearing: 32.636637 deg, approach rate: -0.627813 m/s, LOS rate: -0.005825 deg/s, cmd heading: 33.093472 deg, new cmd heading: 33.088325 deg. i*mHeadingCmd: 0.577500 target range: 296.954071 and range: 296.90 m.hm?hihqhqhqgqgqjgyrg}MBeyreyZey:e*e??vBɢ̌) gi)w<iOli?)Z==I?I!DzD@AE EEE"E&:*E:VEZEa@a@a@a@9@ @@0@) ^A 2=m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007166I I) O= >U#,4RLAN >Nx?NB.;ٱNLM=NH d?@@?9?IN֕_;LYTyVBIbDbVDb8yj5;%jj=ٔjaQ-j>9lYl=nEynbDr`:Er>pQ 5z4r$Y?Q 9z4r)rBYxyz4?Q Iz @r"]DIr\:ir:rJ4y~Bɮ4 A:i!-FNOT Ignoring new targets: 296.95 m."i-и*i-и= ProNav: ac range: 296.954071 m, nav range: 294.885040 m, bearing: 32.634654 deg, approach rate: -0.606233 m/s, LOS rate: -0.005703 deg/s, cmd heading: 33.088326 deg, new cmd heading: 33.084357 deg. i='EHeadingCmd: 0.577431 target range: 296.954071 and range: 296.90 m.hE?hAhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]`?uBɢ%h)! %i!)-iAz<))i-=i5?5k=5-5=I5?I99AAAAB>BBSIBBBBBB;BoE9@ @@2@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259486iE EE5E"EV:*E&p:VE4ZEBE9A>ԙ Iq I O >##,@PRLA6>6r?6` ;ٱ6=6H@f?@PL??>?ض 7a(? ?i6>I62_;6C9XYX=ZEyZbD^NrE^>`Q 5f4bY?Q 9f4b)bBYdyf?Q Ij @b2]DIbb:ib:b94ynlBɮnuAnϩE:iFNOT Ignoring new targets: 296.95 m."i fθ*i fθ ProNav: ac range: 296.954071 m, nav range: 294.645599 m, bearing: 32.632417 deg, approach rate: -0.603074 m/s, LOS rate: -0.005639 deg/s, cmd heading: 33.084357 deg, new cmd heading: 33.079879 deg. i%%HeadingCmd: 0.577353 target range: 296.954071 and range: 296.90 m.h%e?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@3?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510906mtBɢm)i miq)u5tchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762857 E-  E- E- 4E) "E- ;*E- :VE- 4ZE) a5 @a5 @a5 @a5 @#,+SLA2>24?2):ٱ2=2Hi?``?y?`B?د4EZû? ?i2>I2^;2CYNByRMIIV=)V>li5Mb@Mb@Mb@1111 195"~?y&1|MbY5?y5`廙511 5 A)5 A1Y5 A C==bDVD8yH<%<=ٔ5Q->9Y=EybDE>Q 544Y?Q 94@)BY?Q E:y?Q I @B]DI;i;4yrBɮkA:iFNOT Ignoring new targets: 296.95 m."i"*i" ProNav: ac range: 296.954071 m, nav range: 294.394470 m, bearing: 32.631452 deg, approach rate: -0.577971 m/s, LOS rate: -0.002223 deg/s, cmd heading: 33.079880 deg, new cmd heading: 33.077948 deg. i + HeadingCmd: 0.577319 target range: 296.954071 and range: 296.90 m.h /?hhhhggjgrgLBere!Ze!:e!*e%`d@MsBɢU~)Q U iQ)]mB B B MIB BB  =B B B ;B oEa  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267/#,-SLAF>FY?F:ٱF=FHm?D?@ ?G? `6U??iF>IFx^;FCYrByrFIbDzVDzɰ8y %T=ٔ QRQ- >9 Y = EybDN E>Q 5%4Z?Q 9%4)BY)y-?Q I- @P]DIu:i:4y1ɮ5A19UB*** querying acoustic contact ***iQiQ:iaeFNOT Ignoring new targets: 296.95 m."im*im} ProNav: ac range: 296.954071 m, nav range: 294.171936 m, bearing: 32.630632 deg, approach rate: -0.576501 m/s, LOS rate: -0.002128 deg/s, cmd heading: 33.077947 deg, new cmd heading: 33.076304 deg. i}5yHeadingCmd: 0.577290 target range: 296.954071 and range: 296.90 m.hN?hhhhggjgrgereZe:e*e@e@rBɢ,) i)Zg<iӨiN?=$ =IN?E EEE"EV:*Ez:VEZEBEa2EaJE;a:E;aII)-9@) @)@-/@)i]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518827ԙ^Au=A}xAzA}wAI I! O= > Ԧ#,xFSLA]e>]\?]݅:ٱ]݈=]H't?w`?j? $N?`dP@C?f?i]e>I]^;]CYu~ByuEIԑiMb@Mb@Mb@ 9gfffff?~jtMb`Y3?yDA  A)Y AbDVD8y-K@%-9=ٔ-"Q-5>91Y1=5Ey5bD=gQE=>AQ 5E4EZ?Q 9M4EZ)EBYM;?Q EU:yU?Q IU @E`]DIE;iE;EE4y]wBɮ]A]ЩE:iFNOT Ignoring new targets: 296.95 m."i}*i} ProNav: ac range: 296.954071 m, nav range: 293.917725 m, bearing: 32.630250 deg, approach rate: -0.576041 m/s, LOS rate: -0.000866 deg/s, cmd heading: 33.076304 deg, new cmd heading: 33.075540 deg. iʷHeadingCmd: 0.577277 target range: 296.954071 and range: 296.90 m.hn?hhhhgg5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786793jgrg;BereZe:e*e@}@]qBɢ]3논)Y i)`_<顁iin?=f=In?IE EE<E"E*E]t:VE 4ZEa@a@a@a@Q@Q @Y@Y@Y^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039134! AQ Ia Iq O} >O#,-"aSLA2i>2<?2LȖ:ٱ2P=2H}?60?_?V?+|@ R\?@?i2i>I2^;2CY:By:FI <<bDFVDF8yN%m;%Nd=ٔNļ9Q-N>9PYP=REyRbDVEV>XQ 5^4ZU&Z?Q 9^4Zg)ZBY\y^G?Q I^ @Zn]DIZ:iZ:Z4ydɮfAd:ixzFNOT Ignoring new targets: 296.95 m."i~K>*i~K>  ProNav: ac range: 296.954071 m, nav range: 293.711578 m, bearing: 32.630017 deg, approach rate: -0.574848 m/s, LOS rate: -0.000650 deg/s, cmd heading: 33.075539 deg, new cmd heading: 33.075073 deg. i <HeadingCmd: 0.577269 target range: 296.954071 and range: 296.90 m.h?hhhhggjgrge!re!Ze!:e!*e% @pBɢ) Ui)Z<i郤i?%&ő=%g=I%?I)Be<Ae<Bm>Bm1CBmGIBmBBm =BiBiBm;BmoEB1B52CB1B5 =B5 =C5TU5@ @@/@@@yAGGBDAT read: Rx Time:01:11:40.5445 TRx dataTimestamp_ set to:1764897101.716664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291974E9IYMAE EE4E"E;*Eą:VE4ZEBEACI "#,zSLA2>2+?2:ٱ2K=2Hڂ?`_??[?@VY` ??i2>I2P^;2CY:{By:AIbDF'VDFа8yN%NK=ٔN[:Q-R>9PYP=REyRcDVOEV>XQ 5Z4Z6Z?Q 9^4Z)ZBY\y^?Q Ib @Z|]DIZM;iZ8;Z4yf}Bɮf Ad:itzFNOT Ignoring new targets: 296.95 m."iz4*iz4 ProNav: ac range: 296.954071 m, nav range: 293.480560 m, bearing: 32.629813 deg, approach rate: -0.575704 m/s, LOS rate: -0.000510 deg/s, cmd heading: 33.075075 deg, new cmd heading: 33.074666 deg. i n HeadingCmd: 0.577262 target range: 296.954071 and range: 296.90 m.h n?hhhhggjgrgYeYreaZea:ea*eeHX@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542880oBɢ) i)ET<i4i%n?-ӑ=-<=I-n?I19R>i>9@ @@/@i^A2_=A>A>ԑ DAT read: 01:11:40.5445 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.08, 1.932, 0.410, 2.204, 1.454, PHS= 0.579,-0.999, 0.706, RAW= 153.8, -3.5, CAL= 153.3, -4.8, ROT= 356.7, 4.8  Ygot valid direction response: 01:11:40.5445 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.08, 1.932, 0.410, 2.204, 1.454, PHS= 0.579,-0.999, 0.706, RAW= 153.8, -3.5, CAL= 153.3, -4.8, ROT= 356.7, 4.8  PDAT read: Bearing 179.9, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 179.9, -3.9 (Local)  DAT read: Range 11 to 50 : 294.9 m (Round-trip 393.2 ms) speed 0.4 m/s A I I! O- >5 R#Rx 1: Read range and direction messages.= `direction in FSK: [0.994841,-0.057362,-0.083678]= Fpublishing direction and range infoyQ U "û?^U]kYU sCQ Q Q Q Q )U EIU X9?iU wU j4?U +@U 5zU <+@ U )U 8@IU =Q Q U HbU?0u?h U +?)U n{=IU QkiU =Q Q } 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 3E "E :*E ~:VE 4ZE a @a @a @a @Թ #,SLA2v>2?2";ٱ2 =2H1?6y??d?EHZdc E?[?i2v>I2^;2CY^By^JIiMb@Mb@Mb@ 9ʡE?y&1MbP?Y-?y`e:  A)Y AbDVD8yv=%6=ٔr:Q->9Y=EycDjE>Q 5 4HZ?Q 9 4|)Y8?Q E:yuy?Q Iu @]DI`f BDAT read: Tx time:01:11:41.8471 $Ping request sent.Bq Bq Bq Bq Bq Bu DBu ;Bu oE^A= m= = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248175Ai Iy I O >#,d:SLAE. E.E.4E,"E.:*E.:VE.4ZE,BE.>NtC?Nd9;ٱN=NH???`p?@s,g P??iN>IN!^;NCYjByjIIInC=)n= pra=bDv3VDv۰8y~e%~E=ٔ~:Q-~>9Y=Ey$cDE >Q 54YZ?Q 94%)BYy?Q I @]DI:i:4y%Bɮ- A-ѩEEB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 294.95 m."i]X6*i]X6m ProNav: ac range: 294.950500 m, nav range: 293.742615 m, bearing: 32.535861 deg, approach rate: -0.605675 m/s, LOS rate: 0.000185 deg/s, cmd heading: 33.074184 deg, new cmd heading: 33.074328 deg. im}6uHeadingCmd: 0.577256 target range: 294.950500 and range: 294.90 m.hu ?hqhqhqhqgqgyjgyrgyeyreZe:e*e?ԩ颽lBɢ) i)G<i}iM ?M=M/§=IM ?II9@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501421^Ap=A1 IQ Ia Om >9 #,>SLAR>>R?RV;ٱR3)=RH@G?Ұ ? S?x?`oYjٹ??iR>>IRɈ^;RCY^By^HIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752368iMb@Mb@Mb@ 9㥛 ?9Y=Ey6cD+NE>Q 5 4kZ?Q 9 4)Y?Q E:y?Q I @]DIk8;iM7;34y!ɮ% A!:iIMFNOT Ignoring new targets: 294.95 m."iUF*iUFe ProNav: ac range: 294.950500 m, nav range: 293.489044 m, bearing: 32.535566 deg, approach rate: -0.583516 m/s, LOS rate: -0.000679 deg/s, cmd heading: 33.074327 deg, new cmd heading: 33.073737 deg. ieeHeadingCmd: 0.577246 target range: 294.950500 and range: 294.90 m.hm^?hihihihigigqjgqrguBBeqreyZey:ey*e}Cv?颥jBɢ <) %i)~iA<顱ii^?==I^?IbEjE4rEϚ0Eu EuEu2Eq"Eul;*Eu|:VEu4ZEqa@a@a@a@A@A @A@A@IA^Am=iAuyAzAuxAm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004449A I I O >ԑ #, SLAYBy[IbD]VD8y%ͪ=%-X=ٔ-Q-->91Y1=5Ey5EcD5E5>AQ 5E4E?{Z?Q 9M4E_)AYIyIQ IM @E]DIE :iE:E4yUBɮUA]ҩE:iyFNOT Ignoring new targets: 294.95 m."iG*iG ProNav: ac range: 294.950500 m, nav range: 293.268158 m, bearing: 32.535309 deg, approach rate: -0.585441 m/s, LOS rate: -0.000682 deg/s, cmd heading: 33.073736 deg, new cmd heading: 33.073222 deg. iHeadingCmd: 0.577237 target range: 294.950500 and range: 294.90 m.h?hhhhggjgrgereZe:e*e~?AA@AB>B0CBBB =BBB;BoEhBɢ) pؾi)=0<<iØi ? = =I ?Iq9@ @@0@@zA@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256388ԡE EE4E"E:*E:VE4ZEBE6 {#,SLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509378f7e>f }?fo;ٱf=fHӠ?W7?? ? < m??if7e>If&^;fCYnByn]I ppbDzWVDz8y%P;%%K=ٔ%:Q-%>9)Y)=-Ey-VcD-ㆻE5>9Q 5E4=Z?Q 9E4=)9YAyEz?Q IE @=]DI=:i=u:=4yMsBɮUAUȩE:iFNOT Ignoring new targets: 294.95 m."iC*iC ProNav: ac range: 294.950500 m, nav range: 293.032501 m, bearing: 32.535110 deg, approach rate: -0.584337 m/s, LOS rate: -0.000493 deg/s, cmd heading: 33.073221 deg, new cmd heading: 33.072823 deg. ifHeadingCmd: 0.577230 target range: 294.950500 and range: 294.90 m.hS?hhhhggjgrgereZe:e*e ?UfBɢU-)Q UMվiY)]6Q #,TLA2&>2]?2҉M;ٱ2v=2H?? ? ?e7i ??i2&>I2^;2CY>By>jIi5Mb@Mb@Mb@1111 195"~?Mb`?~jth?Y5?y5;5D;5A5A 5& A)5 A1Y5 AbDMHVDM8y];N=%]F=ٔ]Q-e>9aYa=eEyefcDm/Em>qQ 5}4uZ?Q 9}4u)qY}?Q E:y?Q I @u]DIu:iu=:u 4yyBɮAɩE:iFNOT Ignoring new targets: 294.95 m."i9*i9 ProNav: ac range: 294.950500 m, nav range: 292.794678 m, bearing: 32.534066 deg, approach rate: -0.577445 m/s, LOS rate: -0.002538 deg/s, cmd heading: 33.072824 deg, new cmd heading: 33.070734 deg. iHeadingCmd: 0.577193 target range: 294.950500 and range: 294.90 m.h?hhhhggjgrgcBereZe:e*e%@ eBɢ*}) ɾi)y_1<ici?%=%ڣ=I%?I!=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013070A@ @@%5@Q^A=A>AB>B1CBMIBBB =BBDB;BoEԁ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264290b #,Ig2TLAE& E&E&2E$"E&;*E&]t:VE&4ZE$BE&@^;e?^cs:;ٱ^=^H~?6??`?1`jNg? ?i^5>I^>^;\YByfIbDNVD8y%$%%N=ٔ%@Q-%>9)Y)=-Ey-wcD59E5>=PExceeded connect timeout, disconnecting.9Q 5M4=Z?Q 9M4=.)=BYIyM$?Q IM @=]DI=u:i=:=4yYɮ]AYuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 294.95 m."iJ:*iJ: ProNav: ac range: 294.950500 m, nav range: 292.565826 m, bearing: 32.533055 deg, approach rate: -0.575615 m/s, LOS rate: -0.002545 deg/s, cmd heading: 33.070734 deg, new cmd heading: 33.068711 deg. iHeadingCmd: 0.577158 target range: 294.950500 and range: 294.90 m.h?hhhhggjgrgereZe:e*e`@cBɢX) ʾi)6,<iIi?=`=I?Iu9@q @q@u{3@q@}=@}=ԑMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517319Թ^A͢= A I I! O5 >Y#,aOLTLA\r 3>rc?rY;ٱr=rH?2?i??  6``s?@!?ir 3>Ir^;rCY~By~aII4>)iMb@Mb@Mb@ iߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7685709(\?y&1?{Gzt?Yz?y`e<ף;nAXA ) AY AbDFVD8y%@=ٔQ->9Y=EycD?E>Q 54Z?Q 94v)BY?Q E:yN?Q I @]DI:i:e%4y~BɮRA:iFNOT Ignoring new targets: 294.95 m."i*i- ProNav: ac range: 294.950500 m, nav range: 292.319458 m, bearing: 32.530989 deg, approach rate: -0.581621 m/s, LOS rate: -0.004880 deg/s, cmd heading: 33.068709 deg, new cmd heading: 33.064575 deg. i-5HeadingCmd: 0.577086 target range: 294.950500 and range: 294.90 m.h5?h1h1h9h9g9g9jg9rgEWBeAreAZeA:eA*eMV@bBɢ) ;i)&<i'i?&=?*=I?I EU EUEU/EQ"EU:*EU:VEUJ4ZEQa]@a]@a]@a]@9@ @@0@^AT=M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020583A I I O >5#,fTLA2 >2Z?2ݬ:ٱ2t=2H@I2^;2CYNByRmIbDZ"VDZ̰8ybk[=%b\=ٔbQ-f>9dYd=fEyfcDjŹEj>lQ 5r4nZ?Q 9r4n8)nBYpyrE?Q Iv @n^DIn;in;n+4yxɮzAx:i%FNOT Ignoring new targets: 294.95 m."i%ʱ*i%ʱ5 ProNav: ac range: 294.950500 m, nav range: 292.104553 m, bearing: 32.529191 deg, approach rate: -0.579916 m/s, LOS rate: -0.004857 deg/s, cmd heading: 33.064574 deg, new cmd heading: 33.060973 deg. i5;B}<A}<B>B2CBYIBBB =BBB;BoEHeadingCmd: 0.577023 target range: 294.950500 and range: 294.90 m.hŷ?hhhhggjgrgereZe:e*ez @}`BɢHЈ)  ¾i)!<顉iEEiŷ?/= =Iŷ?IIM9@Q @Q@U/@QBDAT read: Rx Time:01:11:44.6414 TRx dataTimestamp_ set to:1764897105.748752checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273497Ee EeEe3Ea"Ee;*Eez:VEe4ZEaBEea] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524092 #,TLAFּ>F5?Fq :ٱFei=FH ӥ?@(??p?ਯ n9A!?6?iFּ>IFN^;FCYRByRvIbDZVDZ8yb=%bJ=ٔbBQ-b>9dYd=fEyfcDjEj>lQ 5r4nZ?Q 9r4n)nBYpyr!?Q Ir @n^DIn:in:n24yzBɮzAzʩE:iFNOT Ignoring new targets: 294.95 m."i*i- ProNav: ac range: 294.950500 m, nav range: 291.869476 m, bearing: 32.527246 deg, approach rate: -0.579602 m/s, LOS rate: -0.004799 deg/s, cmd heading: 33.060974 deg, new cmd heading: 33.057081 deg. i5 5HeadingCmd: 0.576955 target range: 294.950500 and range: 294.90 m.h5Q?h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM@i}_Bɢ}S)y }i)5<顁i•iQ?6=$=IQ?I @  @ @ /@ @yA@ԡ^A ͢= DAT read: 01:11:44.6414 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.15,-0.472,-1.838,-0.233,-0.900, PHS= 0.530,-0.893, 0.623, RAW= 153.1, -3.6, CAL= 152.6, -4.8, ROT= 357.4, 4.8 Ygot valid direction response: 01:11:44.6414 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.15,-0.472,-1.838,-0.233,-0.900, PHS= 0.530,-0.893, 0.623, RAW= 153.1, -3.6, CAL= 152.6, -4.8, ROT= 357.4, 4.8 PDAT read: Bearing 179.3, -3.2 (Local) ~Local bearing/azimuth received: Bearing 179.3, -3.2 (Local) -DAT read: Range 11 to 50 : 292.5 m (Round-trip 390.1 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5`direction in FSK: [0.995467,-0.045204,-0.083678]5Fpublishing direction and range infoy9?aK$U]kY@C )DI?idIAIQOe>|?+@t*@ )@IOTiY?Mgu?藥꯿ ?)=I9iuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.Ee  Ee Ea Ea "Ee V:*Ee :VEa ZEa am @am @am @au @1 )&#,֙TLA2׼>2j6?2%ٱ2=2H¥??ஷ??)HĀC?t?e?i2׼>I2_;2CY>ByBuI DDiMb@Mb@Mb@ 9㥛 ?Mb?~jtx?Y?y=;AAA  A)AY= AbDuVDu8y!%?=ٔ+Q->9Y=EycDr 8E>Q 54Z?Q 94)BY?Q E:y#?Q I @$^DI:i:o:4yɮAii36TLAjGC"jGC:j2 ?Rj e%13r@i^r*z8Bj9?aK$U]k*j92jZjҰp&o@>S c@=Am-9Jj97w-?oG?\{PjRC jwxCipn?i:\jIBjpn?j:\jrjCzj0 ?U addTargetRange:: Added new target pos. range: 292.500000 m, deltaT: 4.028926 s, deltaX: -2.399994 m, approachRate: -0.595691 m/s, rangeRepo size: 4 u Added new target pos. range: 292.554688 m, bearing: 31.510402 deg, lat: 36.779769 deg, lon: -121.859639 deg, deltaT: 4.028926 s, deltaX: -2.395813 m, approachRate: -0.594653 m/s, posRepo size: 4 :iq}FNOT Ignoring new targets: 292.55 m."i}*i ProNav: ac range: 292.554688 m, nav range: 291.440033 m, bearing: 31.509520 deg, approach rate: 0.000000 m/s, LOS rate: -0.004799 deg/s, cmd heading: 33.057081 deg, new cmd heading: 33.052847 deg. iHeadingCmd: 0.576881 target range: 292.554688 and range: 292.50 m.hy?h(DAT read: user:72> BDAT read: Tx time:01:11:45.8471 $Ping request sent.ByB}`IB}BByByB}DB};B}oEBE1CBE1CBEǔCBABE =CE5q u G ^A = ɦ9 Y AII IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698 RR,#,.TLAE EE5E"E:*E:VE4ZEBEP-BS!?BٱB;=BH6?@@ު?{? p?ി `W?@Ӹ?b?iBǭ>IB^;BCYJByJsIbDVVDV8yZ2%ZY=ٔ^fQ-^>9`Y`=bEybcDbT_Ef>dQ 5j4fZ?Q 9j4fG)fBYlyn#?Q I] @f2^DIfA5 >I I O >! =3#,TLA8ļ>,?-_ٱ4=Hl?͢炪??@%? `c?ܸ? A?i8ļ>I_;CY-By-vI}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754726iMb@Mb@Mb@ 95^I ?{Gz?{Gzt?Y?y#=ף;AA & A) AY AbDVD8yL/<%8=ٔ Q->9Y=EycD9E>Q 54K[?Q 94 )BYi?Q E:y'?Q I @C^DI! - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006876A ^A= =AM .AIY Ii q O} >{9#,TLA2>2cC?2٘Uٱ2d=2HӤ?D???@>j? x??i2>I2^;2CY:By>hIIBC=)B<bDFVDF8yNw%N_=ٔRAQ-R>9R ?YR ?=REyRcDVy:EV>Bz>BxBzlIBzBBxBxBxBz;BzoE1Q 5=45[?Q 9E45j)5BYAyE/'?Q IE @5Q^DI5x1;i5&D;5yO4yU{Bɮ]A]©E:iFNOT Ignoring new targets: 292.55 m."if*if ProNav: ac range: 292.554688 m, nav range: 290.730652 m, bearing: 31.495646 deg, approach rate: -0.616888 m/s, LOS rate: -0.012609 deg/s, cmd heading: 33.034326 deg, new cmd heading: 33.025079 deg. iHeadingCmd: 0.576396 target range: 292.554688 and range: 292.50 m.h?h!h!h!hAgIgIjgYrgYereZe:e*eG7?ZBɢH) ÿi)St <!i%1ki-?-Y=-9ϣ=I-?I1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260311@ @@0@E EE5E"E;*Exv:VE4ZEBED checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510668[@#,܁ULA02ټ>2o7?2ٱ2D=2Hࡥ?%i?@? ?Ƶvq?q?^?i2ټ>I2 ^;2CY@y@bDJVDJ8yV* ;%VJ=ٔVQ-V>9Z"?YZ"?=ZEyZcDZE^>`Q 5b4b,[?Q 9f4b)bBYdyf!'?Q If @b`^DIb:ib:b?V4yhɮnAl:iFNOT Ignoring new targets: 292.55 m."iyY*iyY ProNav: ac range: 292.554688 m, nav range: 290.501221 m, bearing: 31.490962 deg, approach rate: -0.581604 m/s, LOS rate: -0.011883 deg/s, cmd heading: 33.025078 deg, new cmd heading: 33.015703 deg. iHeadingCmd: 0.576233 target range: 292.554688 and range: 292.50 m.h?hhhhggjgrgereZe:e*e @?YBɢ3:) Ii)J<ii? b=8=I?I ԉ9@ @@(2@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762817^A&=AzAwAbEjEH4rEȻ0E5  E5 E5 4E1 "E5 ;*E5 z:VE5 4ZE1 aM @aM @aM @aM @ A! I) I9 OM >F#,)\ULA2>2U?2ٱ2]=2H~? @5??b~?<5t?U??i2>I2^;2CY:By:oI\i%Mb@Mb@Mb@!!!! !9%(\?Mb?Mb`?Y%z?y%=%;%A%XA % A)% A!Y% AbDMҿVDM8y<%8=ٔ8Q->9Y=Ey dD-n:E5>QQ 5]4U>[?Q 9]4U)UBY]?Q Ee:yeI$?Q Ie @Uq^DIU:iUM:U4^4ymBɮmAi:iFNOT Ignoring new targets: 292.55 m."iI*iI ProNav: ac range: 292.554688 m, nav range: 290.237854 m, bearing: 31.486161 deg, approach rate: -0.603586 m/s, LOS rate: -0.011015 deg/s, cmd heading: 33.015704 deg, new cmd heading: 33.006091 deg. iCHeadingCmd: 0.576065 target range: 292.554688 and range: 292.50 m.hx?hhhhggjgrgXBereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848=WBɢ=ۂ)A EiA)ET;AAiE'imx?ul=u=Iux?Iq@ @@ @ @xA@xABm>BiBmyIBmBBm =BiBiBmDZ;BmoE^AT=I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267322A9 IA IY Oe >E=  E= E9 E9 "E= :*E= :VE9 ZE9 BE= <Vd?V6ٱV=VH~?Fj?]? |?Jc v? U??iVE3>IV^;VCYnBynwI ppbDzVDz]8y=%Z=ٔٺQ->9 Y = Ey dD  :E>Q 5%4M[?Q 9%4<)BY)y-W$?Q I- @^DI\:ih:d4y1ɮ5A1UB*** querying acoustic contact ***iQiQ:iYeFNOT Ignoring new targets: 292.55 m."ieIA*ieIAu ProNav: ac range: 292.554688 m, nav range: 290.027344 m, bearing: 31.482307 deg, approach rate: -0.576524 m/s, LOS rate: -0.010561 deg/s, cmd heading: 33.006090 deg, new cmd heading: 32.998377 deg. iu}HeadingCmd: 0.575930 target range: 292.554688 and range: 292.50 m.h},p?hyhhhggjgrgereZe:e*e@颹ɢ㓼) `i)Q;ii,p?u=t=I,p?IQ9@ @@4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518599y^A =A9 II IY O > jS#,bhOULAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770842s>D?d2ʻٱ,=H@?$J??@~?oBFy?`??is>I^;CY5By5tIԑi-Mb@Mb@Mb@)))) )9-A`"?L7A`?{GztY-?y-+=-ף)-A - A)- A)Y-f AbDEܿVDE8yU;%]4=ٔ]Q-]>9aYa=eEye-dDeEe>iQ 5u4m`_[?Q 9}4m})mBY}S?Q E}:y}$?Q I} @m^DImw:im_:mzl4yBɮAéE:iFNOT Ignoring new targets: 292.55 m."i]J*i]J ProNav: ac range: 292.554688 m, nav range: 289.757202 m, bearing: 31.477315 deg, approach rate: -0.597842 m/s, LOS rate: -0.011058 deg/s, cmd heading: 32.998379 deg, new cmd heading: 32.988386 deg. E EE3E"EV:*Ez:VE4ZEa@a@a@a@i䡹HeadingCmd: 0.575756 target range: 292.554688 and range: 292.50 m.hd?hhhhggjgrgWBereZe:e*e@VBɢ/y)  i)|;iiid?I=Ԥ=Id?I1@1 @1@=15@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022650^A= h=A >A > A .AI I O >;J!(?J:޻ٱJ-=JH?`㽩??À?@|@J{?`=ڹ??iJa>IJ@A^;HYVByVlIBb>B`B`B`Bb =B`BbDBbб;BboEbDrſVDrv8!ye%mM=ٔmȺQ-m>9u ?Yu ?=uEyu=dDu㎺E}>Q 54o[?Q 940z)Yyi$?Q I @^DI:i:us4yɮFA:iFNOT Ignoring new targets: 292.55 m."iI*iI ProNav: ac range: 292.554688 m, nav range: 289.519012 m, bearing: 31.472927 deg, approach rate: -0.595899 m/s, LOS rate: -0.010988 deg/s, cmd heading: 32.988386 deg, new cmd heading: 32.979602 deg. i࠹HeadingCmd: 0.575603 target range: 292.554688 and range: 292.50 m.hZ?hhhhggjgrgereZe:e*e @%UBɢ%S)! %i!)-$;))i-5i5Z?5=5f=I5Z?I1eBDAT read: Rx Time:01:11:48.6390 eTRx dataTimestamp_ set to:1764897109.781373mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2768899@ @@/@@@=QE EE5E"E:*E҆:VE4ZEBE6ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526719Sa#,ULA>>>o(?>2~ٱ>=>H?` a??`9? O~?? ?i>>I>"^;>CYfByfiIIj4>)j<bDǿVDx8y#%R=ٔϺQ->9"?Y%"?=%Ey%MdD%G7E%>)Q 554-I[?Q 954-v)-BY9y=j$?Q I= @-^DI-;i-;-Fz4yEBɮEAMĩE:iimFNOT Ignoring new targets: 292.55 m."iuI*iuI ProNav: ac range: 292.554688 m, nav range: 289.286377 m, bearing: 31.468633 deg, approach rate: -0.596936 m/s, LOS rate: -0.011026 deg/s, cmd heading: 32.979603 deg, new cmd heading: 32.971008 deg. inHeadingCmd: 0.575453 target range: 292.554688 and range: 292.50 m.hP?hhhhggjgԙrgereZe:e*e@@TBɢc) 6i))5ʚ;11i5~i=P?= ==̤=I=P?IA9@ @@@DAT read: 01:11:48.6390 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.41,-0.550,-1.900,-0.274,-0.914, PHS= 0.466,-0.941, 0.595, RAW= 154.4, -1.6, CAL= 153.5, -2.8, ROT= 356.5, 2.8 Ygot valid direction response: 01:11:48.6390 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.41,-0.550,-1.900,-0.274,-0.914, PHS= 0.466,-0.941, 0.595, RAW= 154.4, -1.6, CAL= 153.5, -2.8, ROT= 356.5, 2.8 PDAT read: Bearing 181.1, -3.5 (Local) ~Local bearing/azimuth received: Bearing 181.1, -3.5 (Local) DAT read: Range 11 to 50 : 290.7 m (Round-trip 387.7 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.996943,-0.060976,-0.048850]Fpublishing direction and range infoyNXZ?ż28s!DYYC )EI>i`pQ?iw,@v+@ +H)o@I+H=?i?eI;h ?>\ [m p?)%s?g#,fULA^@ʼ>^/?^ٱ^^=^H@ ?@X ?ֶ?`&~?RiU?@r?@?i^@ʼ>I^^;\Y~By~_I(DAT read: user:73> BDAT read: Tx time:01:11:49.8471 $Ping request sent.9QYQ=UEyU_dD]9E]>aQ 5e4e[?Q 9m4er)eBYm?Q Em:ymB?Q Im @e^DIe:ie:e4y}Bɮ}Ayii/ULAj`C"j`C:j?Rj/Dr@ #^ٔ1(- h,BjNXZ?ż28s!D*j5z2j+H=ZjZnjNo@o bb@(2Q{+Jj^~B4?}ݏf/?g2jC jpzCi(?i0yVj/LBj7?j$jIBrjxCzj2 ?e addTargetRange:: Added new target pos. range: 290.700012 m, deltaT: 4.030855 s, deltaX: -1.799988 m, approachRate: -0.446552 m/s, rangeRepo size: 4  Added new target pos. range: 290.752869 m, bearing: 30.422310 deg, lat: 36.779776 deg, lon: -121.859656 deg, deltaT: 4.030855 s, deltaX: -1.801819 m, approachRate: -0.447007 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 290.75 m."i*i ProNav: ac range: 290.752869 m, nav range: 288.944489 m, bearing: 31.124851 deg, approach rate: 0.000000 m/s, LOS rate: -0.011026 deg/s, cmd heading: 32.971010 deg, new cmd heading: 32.960713 deg. iHeadingCmd: 0.575273 target range: 290.752869 and range: 290.70 m.hE?hhhhgg jgrgFBereZe:e@3+r@*e ?eSBɢe)a mi)Z;顩i*{iE?ٝ=*X=IE?I)a@a @a@i@iB>BBrIBBB =BBDB;BoEQ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250858^A h=A zA Em  Em Em 2Ei "Em &:*Em ~:VEm 4ZEi BEm k;m#,ZdULAF>F?F, ٱF<=FHާ?`ͩ??n?G`%?`s??iF>IF];FCYRByR`IbDZ VDZ8ybd;%b\=ٔbQ-f>9f ?Yf ?=fEyfndDjE%>!Q 5-4%Ο[?Q 954%Ko)%BY1y5'?Q I5 @%^DI% ;i%;%4y=}BɮEMAEE]B*** querying acoustic contact ***iYiY:iimFNOT Ignoring new targets: 290.75 m."iu%*iu% ProNav: ac range: 290.752869 m, nav range: 288.725922 m, bearing: 31.121612 deg, approach rate: -0.610474 m/s, LOS rate: -0.009055 deg/s, cmd heading: 32.960714 deg, new cmd heading: 32.954230 deg. iHeadingCmd: 0.575160 target range: 290.752869 and range: 290.70 m.h=?hhhhggjgrgereZe:e*eK?ɢ)  Xi ) ;i)yi=?%=% =I%=?I)@ @@@@zA@yAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503466)^AET=Ay I I O >Y i I A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757704:t#,ULABN>B?B<ٱBn=BHA?R©?[?c?iǁ?8?`??iBN>IB];BCYJByJgI PPi%Mb@Mb@Mb@!!!! !9%`"?Q?y&1|Y%?y%u<%`%nA! % A)%A!Y% AbD=VD=8yEj<%M?=ٔM/=Q-M>9QYQ=UEyUdDE EE3E"E;*E&p:VE4ZEa@a@a@a@E>Q 54[?Q 94fk)Y?Q E:y?Q I @^DI2:i\:E4yBɮHA:iY]FNOT Ignoring new targets: 290.75 m."ie*ie ProNav: ac range: 290.752869 m, nav range: 288.468903 m, bearing: 31.118089 deg, approach rate: -0.581319 m/s, LOS rate: -0.007975 deg/s, cmd heading: 32.954228 deg, new cmd heading: 32.947176 deg. iiHeadingCmd: 0.575037 target range: 290.752869 and range: 290.70 m.h5?hhhhggjgrg8BereZe:e*e?=QBɢ=4)9 =i9)EO;AAiEviM5?==I5?I!a@a @a@a@a=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006907Q^A =A A AAԁ A ؟AI I B >B 3CB lIB BB B B B ;B {oEB2CB2CB˓CO] > G {#,OULAzA"MAB =B =CN5496zAY6>AYEByE`IbDUݿVDU8yMݼ%==ٔQ->9"?Y"?=EydDE>Q 54[?Q 94g)BYyQ I @^DIw:io:4yɮxA:i%FNOT Ignoring new targets: 290.75 m."i%*i-=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986E ProNav: ac range: 290.752869 m, nav range: 288.222839 m, bearing: 31.114710 deg, approach rate: -0.602895 m/s, LOS rate: -0.008286 deg/s, cmd heading: 32.947176 deg, new cmd heading: 32.940413 deg. iErMHeadingCmd: 0.574919 target range: 290.752869 and range: 290.70 m.hM-?hIhIhIhIgQgQjgQrgYeYreYZeY:eY*eeD?颍PBɢ,) i)ʱ;顑iZti-?=r=I-?IE5 E5E55E1"E5~ ;*E5~:VE54ZE1BE5VA?Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863Aa Ii Iy O >y >Á#,dVLA25I>2 o?2nٱ2}^=2HC? Q? ?`،? ;`>?`b? ?i25I>I2H];2CYNByR^IbDZۿVDZ8yvs%z`=ٔzuҹQ-z>9|Y|=~Ey~dDE>Q 5 4[?Q 94id)Yy-?Q I @^DIM:i:4y%Bɮ%A%E:iAMFNOT Ignoring new targets: 290.75 m."iM*iM] ProNav: ac range: 290.752869 m, nav range: 288.006989 m, bearing: 31.111829 deg, approach rate: -0.592818 m/s, LOS rate: -0.007919 deg/s, cmd heading: 32.940414 deg, new cmd heading: 32.934648 deg. iegeHeadingCmd: 0.574818 target range: 290.752869 and range: 290.70 m.heF'?hahihihigigijgqrgqeqreqZeq:ey*e}"?颥OBɢ) fi);顩iqiF'?o=Ϡ=IF'?IԱq@q @q@u/0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765465AIIOF>E EE3E"EV:*EVE4ZEa@a@a@a@ 9 #,A!VLA2w >2,O?2uٱ2s=2H`r?y? g?@?n?궹?I21];2CYBByBaIIF%>)F>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014928ieMb@Mb@Mb@aaaa a9e(\?{Gzt?Mb`Yez?yeף;eeAa e A)e AaYe= AbD}VD}r8y&<%A=ٔԹQ->9Y=EydD<E>Q 54[?Q 94`)BY|?Q E:y?Q I @ _DIb:i;R4yɮA:iFNOT Ignoring new targets: 290.75 m."iϸ*iϸ ProNav: ac range: 290.752869 m, nav range: 287.761200 m, bearing: 31.109422 deg, approach rate: -0.578647 m/s, LOS rate: -0.005671 deg/s, cmd heading: 32.934646 deg, new cmd heading: 32.929828 deg. i&HeadingCmd: 0.574734 target range: 290.752869 and range: 290.70 m.h !?h h h h g g jgrgBBereZe:e*eo@ENBɢM6U)I MﹾiI)M;QQiUnoi]!?]ǒ=]=I]!?Ia 9@  @ @ 0@Bm>BiBmfIBmBBm =BiBmDBm;BmqoE9IaIqOY>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266876i E  E E E "E :*E :VE ZE BE .2=?2ٱ2=2H`?*???@%?k?ER?>?i2>I2`\;0YBByBZIbDJVDJ8yR%RZ=ٔVVJQ-V>9TYT=VEyZdD^'BE^>dQ 5n4f[?Q 9r4f])fBYtyv?Q Iv @f_DIf#;ifތ;f4yBɮAE5B*** querying acoustic contact ***i1i1:iAMFNOT Ignoring new targets: 290.75 m."iUʸ*iUʸ ProNav: ac range: 290.752869 m, nav range: 287.543396 m, bearing: 31.107298 deg, approach rate: -0.568002 m/s, LOS rate: -0.005544 deg/s, cmd heading: 32.929828 deg, new cmd heading: 32.925576 deg. iY"HeadingCmd: 0.574660 target range: 290.752869 and range: 290.70 m.h?hhhhggjgrgereZe:e*e`@颍MBɢȒ) )i)۔;顱iIli?DΒ=Y=I?IJ>i>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5196409@ @@0@AzAxAԙIIOn>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773405S#,uUVLA>e>>#?>yٱ>=>H l?e?ؚ?@X? ˷ ? J?0?i>e>I>6\;>CYJByJeILDQzDQbE4jE4rEA/E] E]E]2EY"E]D:*E]:VE]4ZEYam@am@am@am@iMb@Mb@Mb@ 9K?MbP?y&1|Y^?y:`+A  A)AY AbD.VDװ8yi=%:=ٔ Q->9Y=EydDugE>Q 54{\?Q 94Y)Y`?Q E:y?Q I @)_DI3;i;4yɮA:iFNOT Ignoring new targets: 290.75 m."i *i  ProNav: ac range: 290.752869 m, nav range: 287.280273 m, bearing: 31.105066 deg, approach rate: -0.613708 m/s, LOS rate: -0.005210 deg/s, cmd heading: 32.925576 deg, new cmd heading: 32.921108 deg. i%%HeadingCmd: 0.574582 target range: 290.752869 and range: 290.70 m.h%?h)h)h)h)g)g1jg1rg5"Be9re9Ze9:e9*e=@KBɢޢ)   i ) N@; iji??Ւ=۟=I?I@ @@?5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022889^A=II IY Om > B A <BU >BU 4CBQ BQ BU  =BQ BQ BU ;BU QoE7#, oVLA2S>2?2:ٱ2]=2H? U?ە?@?@緿Iǃ?? ?i2S>I2+];2CY:By:hIbDF VDFʰ8yNxd<%N\=ٔNwQ-N>9PYP=REyRdDV.EV>XQ 5^4Z;\?Q 9^4ZV)ZBY\y^?Q Ib @Z8_DIZ<;iZ8;Z4yfBɮfAdp:i|~FNOT Ignoring new targets: 290.75 m."i˷*i˷ ProNav: ac range: 290.752869 m, nav range: 287.056305 m, bearing: 31.103196 deg, approach rate: -0.600819 m/s, LOS rate: -0.005021 deg/s, cmd heading: 32.921109 deg, new cmd heading: 32.917365 deg. i HeadingCmd: 0.574516 target range: 290.752869 and range: 290.70 m.h?hhhhg!g!jg!rg!e)re)Ze):e)*e- @]JBɢ]a)Y ]5iY)e8;aaiePhim?mڒ=mZ=Im?Iqechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2751789@ @@1@EU EUEU4EQ"EU:*EU1:VEU4ZEQBEUP-9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526824a V#,2VLA2>2?2nc)ٱ2S=2H߾?? ??޷U,? Ժ?`s?i2>I2I];2CY^By^cIbDjVDj8yr%rG=ٔrٺQ-v>9tYt=vEyvdDzEz>|Q 54~%\?Q 94~R)|Yy?Q I  @~G_DI~;i~%:~,4yɮA:i1=FNOT Ignoring new targets: 290.75 m."i=*iEM ProNav: ac range: 290.752869 m, nav range: 286.809631 m, bearing: 31.101168 deg, approach rate: -0.604309 m/s, LOS rate: -0.004971 deg/s, cmd heading: 32.917366 deg, new cmd heading: 32.913308 deg. iMUHeadingCmd: 0.574446 target range: 290.752869 and range: 290.70 m.hU?YhQhYhYhagagajgargaeireiZei:ei*eu.@额IBɢ5) mi)s;顡i(fi?b=ب=I?I9@ @@/@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781336^A5L=A=>A=>E} E}E}0Ey"E}:*E}:VE}4ZEya@a@a@a@IIԱO> ;#,VLA2x>2?2)9ٱ2}=2H?|@֧?"?Q?q:?@#??i2x>I2u];2CY:By:^Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030972i Mb@Mb@Mb@     9 Q?MbP?Mb`Y ?y    AA  A)  A Y  AbD%VD%8y5%5E=ٔ5Q-5>99Y9==Ey=eDEjٺEE>IQ 5U4M6\?Q 9U4MnO)MBYU?Q EU:yU?Q IU @MW_DԹIM:iMxBBBBBBB;BvoE@ @@/@@zA@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282785^A ȝ=E  E E 3E "E :*E |:VE 4ZE BE >g#,QlVLA$$n,A>nk?nCٱn=nH@?y6? o? ?@FIu?qԹ??in,A>Inw];nCY~By~gI p=bD ͿVD ~8y=%K=ٔ%kúQ-%>9!Y!=-Ey-eD-$޺E->1Q 5=451G\?Q 9=45L)5BYAyE?Q IE @5f_DI5G:i5u:5o4yIɮM_AImB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 290.75 m."i}*i} ProNav: ac range: 290.752869 m, nav range: 286.332550 m, bearing: 31.097413 deg, approach rate: -0.621155 m/s, LOS rate: -0.004854 deg/s, cmd heading: 32.909463 deg, new cmd heading: 32.905791 deg. i"HeadingCmd: 0.574314 target range: 290.752869 and range: 290.70 m.hE?hhhhggjgrgereZe:e*e@FBɢ빼) i)N;i MbiE?S=,=IE?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5350049^A=iA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788884 ,R#,]QVLAn>nS?nQzRٱn=nHi?awæ?`?L?_O?@}ɹ?`?in>In];nCYvByvlIE= E=E9E9"E=V:*E=Ar:VE9ZE9aE@aE@aE@aE@iMb@Mb@Mb@ 9A`"?{GztMb`Y?yף+A  A)XAYAbDVD8y<%?=ٔ; Q->9Y=Ey$eDXE>Q 54_Y\?Q 94bH)BY?Q E:yH?Q I @v_DI:i:4y Bɮ iA E:i15FNOT Ignoring new targets: 290.75 m."i={*i={E ProNav: ac range: 290.752869 m, nav range: 286.076202 m, bearing: 31.095941 deg, approach rate: -0.598405 m/s, LOS rate: -0.003438 deg/s, cmd heading: 32.905792 deg, new cmd heading: 32.902846 deg. iMXɸUHeadingCmd: 0.574263 target range: 290.752869 and range: 290.70 m.hU?hQhQhQhQgQgQjgYrg]"BeYreYZea:ea*ee@ԉ颕DBɢm) :i)W<;顙i`i?=%H=I-?I19@ @@/@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038780^AE {0=AI zAI AE AAAE @AB >B B rIB BB  =B B B Ա;B oEA I I O > w#,VLAYvByv_IbD~VD~8yES%MU=ٔMQ-M>9IYQ=UEyU4eDUEU>YQ 5e4]i\?Q 9m4]E)]BYiyiQ Im @]_DI]~:i]:]4yqɮuAy:iFNOT Ignoring new targets: 290.75 m."i{*i{ ProNav: ac range: 290.752869 m, nav range: 285.846588 m, bearing: 31.094621 deg, approach rate: -0.598100 m/s, LOS rate: -0.003441 deg/s, cmd heading: 32.902845 deg, new cmd heading: 32.900203 deg. iɸHeadingCmd: 0.574217 target range: 290.752869 and range: 290.70 m.h?hhhhggjgrgereZe:e*e@CBɢQ̳) i)e +;i _i ? = v=I?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2909459@ @@/@@=@=EU EUEU5EQ"EU:*EU:VEU4ZEQBEUI8;am!^AD=Q A  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543352I I) O5 >~_#, WLA 2[>2'?2oٱ2[=2HM?Ztͨ?+?d?)c-? ?`?i2[>I2r^;2CY>By>eI @@bDFVDF8yN<%RV=ٔRlQ-R>9TYT=VEyVDeDVEV>XQ 5^4Zy\?Q 9b4ZA)ZBY`yb?Q Ib @Z_DIZ&:iZ:ZQ4yfBɮfAjE:ixzFNOT Ignoring new targets: 290.75 m."i~&v*i~&v  ProNav: ac range: 290.752869 m, nav range: 285.618103 m, bearing: 31.093337 deg, approach rate: -0.597653 m/s, LOS rate: -0.003363 deg/s, cmd heading: 32.900202 deg, new cmd heading: 32.897631 deg. i ĸHeadingCmd: 0.574172 target range: 290.752869 and range: 290.70 m.h?hhhhggjgrg!e!re!Ze!:e!*e-@UABɢUR讼)Q UiQ)]Ur;YYi]]ie?e=e{?=Ie?Iiiq@q @q@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.797607ԙDQDU<Ee EeEe3Ea"EeV:*Ee҆:VEe4ZEaam@au@au@au@^AI I O > #,#WLA6q>6?6iٱ6=6H?s^?`}??ݶ@?`P??i6q>I6*[^;4YBByBtIPbchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046951iMb@Mb@Mb@ 9`"?MbMb`Y?ynAA  A)AYG AbD5VD58yEa=%E@=ٔEQ-E>9IYI=MEyMUeDMJEU>QQ 5e4Uȋ\?Q 9e4UR>)UBYe?Q Ee:ye?Q Ie @U_DIU:iU:U4yqɮu_Aq:iFNOT Ignoring new targets: 290.75 m."i E*i E ProNav: ac range: 290.752869 m, nav range: 285.366333 m, bearing: 31.092195 deg, approach rate: -0.592763 m/s, LOS rate: -0.002692 deg/s, cmd heading: 32.897630 deg, new cmd heading: 32.895344 deg. iHeadingCmd: 0.574132 target range: 290.752869 and range: 290.70 m.hQ?hhhhggjgrg3BereZe:e*eU@颕@Bɢ@X)  i)w ;顙i]iQ?==IQ?IBm>Bm3CBmyIBmBBm =BiBmDBm;BmoEB-4CB-3CB)B- =B- =C-aW5 @ @@/0@8G {A%AUWn9U{AYUtjAyO?PAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298867^AM y=AU >AU >) Em  Em Em 2Ei "Em l;*Em ~:VEm 4ZEi BEm dF[#,a=WLA60>6t?6ٱ6=6H`? o;ף?@x?`#? Ӷ`?䈸?2?i60>I6>C^;6CY>ByByIbDJVDJ8yR^<%RS=ٔRQQ-V>9TYT=VEyVeeDZEZ>\Q 5^4^!\?Q 9b4^;)^BY`yb?Q Ib @^_DI^G:i^u:^4yjBɮjlAhpzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 290.75 m."i>*i > ProNav: ac range: 290.752869 m, nav range: 285.136749 m, bearing: 31.091185 deg, approach rate: -0.591494 m/s, LOS rate: -0.002604 deg/s, cmd heading: 32.895342 deg, new cmd heading: 32.893320 deg. iHeadingCmd: 0.574097 target range: 290.752869 and range: 290.70 m.h%?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`@]>Bɢ]X)a e疾ia)e:aaims\im?m=u=Iu?Iq9@ @@3@@@yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.553099A^A=II)OM>i i߉ Iߍ A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810471ɞ#,WWLAE EEE"E:*E]t:VEZEa%@a%@a%@a%@-c߷>-$?-ٱ-=-H?k'?`t?@"?W@=??@?i-c߷>I-at^;-CYEByE{IIM=)M=QiMb@Mb@Mb@ 9Zd;?Mb?Y?y<AA A)XAYzAbDVD8yN;%7=ٔQ->9Y=EyweD%E >Q 54ޮ\?Q 9%4+7)BY%?Q E%:y-?Q I- @_DI4;iU;I4yAɮE^AA:i1=FNOT Ignoring new targets: 290.75 m."i=Ƹ*iEƸu ProNav: ac range: 290.752869 m, nav range: 284.869385 m, bearing: 31.088621 deg, approach rate: -0.563854 m/s, LOS rate: -0.005413 deg/s, cmd heading: 32.893320 deg, new cmd heading: 32.888187 deg. iu~uHeadingCmd: 0.574007 target range: 290.752869 and range: 290.70 m.h}"?hyhyhyhygygyjgrgBereZe:e*e@=Bɢ3) Ji)I:i~\i"? = D=I "?I ԁ9@ @@!1@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059010ԩ^A t=B <A <B >B B IB BB  =B B B ñ;B oEI I O > o#,scqWLA2>2?2ӱٱ2=2H? 'k ?u?/?=?`ѹ?@?i2>I2Z^;0YNByNIbDZVDZ8ybk=%ba=ٔbQ-b>9dYd=fEyfeDjI9Ej>lQ 5r4n&\?Q 9r4n3)nBYpyr"?Q Ir @n_DIn;in :n4yzBɮz)AzE:iFNOT Ignoring new targets: 290.75 m."i^*i^渝 ProNav: ac range: 290.752869 m, nav range: 284.651337 m, bearing: 31.086523 deg, approach rate: -0.653727 m/s, LOS rate: -0.006294 deg/s, cmd heading: 32.888187 deg, new cmd heading: 32.883989 deg. iK8HeadingCmd: 0.573934 target range: 290.752869 and range: 290.70 m.hU?hhhhggԹjgrgereZe:e*ej.@;Bɢᗼ) i)%:i7W\iU?=I=IU?I ]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310887q@q @q@u,4@qE= E=E=6E9"E=&:*E=~:VE=c4ZE9BE=k; checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5628679 #,;WLA6+з>6?6̕ٱ6=6H?j`F? s??`YP?? 4?i6+з>I6/|^;6CYBByBIbDJ&VDJϰ8yR %RL=ٔRL̺Q-R>9TYT=VEyVeDZEZ>\Q 5b4^\?Q 9b4^u0)^BY`yb?Q Ib @^_DI^';i^#;^4yhɮj8Ah:ix~FNOT Ignoring new targets: 290.75 m."i~ Ӹ*i Ӹ  ProNav: ac range: 290.752869 m, nav range: 284.411346 m, bearing: 31.084220 deg, approach rate: -0.600297 m/s, LOS rate: -0.005766 deg/s, cmd heading: 32.883990 deg, new cmd heading: 32.879380 deg. i (HeadingCmd: 0.573853 target range: 290.752869 and range: 290.70 m.h?hhhhggjg!rg!e!re!Ze):e)*e- n@U:BɢU)Y ].iY)]Ȟ:Yaie~\ie?m^=my=Im?Ii@ @@/@@=@=Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817144^A=II1bEjEƴ4rE/E= E=E=3E9"E=:*E=|:VE=4ZE9aM@aM@aM@aM@O]u>ԑԹ #,WLA2c>2#?2Gٱ2=2H?? i@f?r? Х?`̕`?@`*??i2c>I2w^;2CYBByBI DDbchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.066830ieMb@Mb@Mb@aaaa a9e ףp= ?y&1|?~jtxYeQ?ye`;eĻeSAe+A e A)eAaYeAbD}VD}8yd%<=ٔQ->9Y=EyeD<E>Q 54\?Q 94,)BYV?Q E:y?Q I @_DI:iI:44yBɮAE:iFNOT Ignoring new targets: 290.75 m."iθ*iθ ProNav: ac range: 290.752869 m, nav range: 284.153381 m, bearing: 31.081772 deg, approach rate: -0.594031 m/s, LOS rate: -0.005642 deg/s, cmd heading: 32.879380 deg, new cmd heading: 32.874480 deg. i3%HeadingCmd: 0.573768 target range: 290.752869 and range: 290.70 m.ht?hhhhg g jg rg 5BereZe:e*e) @E8BɢE)A EiI)M;:IIiM]iUt?U(=QIUt?IYԱB>B4CBIBBB =BBDB;BoE9@ @@@^A~=}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3195161 AA EM  EM EM 5EI "EM :*EM xv:VEM 4ZEI BEM 6Q (#,WLAYByIbD-&VD-ϰ8y=R{<%=O=ٔ=Q-E>9AYA=EEyEeDMEM>QQ 5]4U|\?Q 9]4U@))UBYYyYQ Ie @U`DIUA;iU<;U4ymBɮmAmEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 290.75 m."iθ*iθ ProNav: ac range: 290.752869 m, nav range: 283.919128 m, bearing: 31.079545 deg, approach rate: -0.594287 m/s, LOS rate: -0.005654 deg/s, cmd heading: 32.874479 deg, new cmd heading: 32.870022 deg. i%HeadingCmd: 0.573690 target range: 290.752869 and range: 290.70 m.h[?hhhhggjgrgereZe:e*e҃!@颭6BɢKq) i)dL:顱iIc]i[? =4=I[?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571912I@I @I@I@IY^Am=Au>Au>ԉ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824918#,WLA,E EE3E"E:*E:VE4ZEa%@a%@a%@a%@uܬ>uߠ?uٱu=uH?h@CQ?q?(?@%~? u?x?iuܬ>Iu^;uCYByIiMb@Mb@Mb@ 9rh|?Q?{GztY?yu<ףAA  A)YAbDVDð8y<%3=ٔQ->9Y=EyeD2E>Q 54]?Q 94%)BY?Q E:y?Q I @`DI;i;4yɮA:i!%FNOT Ignoring new targets: 290.75 m."i-;*i-;= ProNav: ac range: 290.752869 m, nav range: 283.641998 m, bearing: 31.076207 deg, approach rate: -0.608343 m/s, LOS rate: -0.007335 deg/s, cmd heading: 32.870022 deg, new cmd heading: 32.863340 deg. i=VEHeadingCmd: 0.573573 target range: 290.752869 and range: 290.70 m.hE?hAhAhAhAgIgIjgIrgM3BeQreQZeQ:eQ*eU2m"@颅5Bԁɢ$}) dzi):顑ix^i? = =I?I!@! @!@%/@!@)@)Ա4=4=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075177^AE ~=B B B IB ˁBB  =B B B ;B oE I9 IE IQ Oe >#,WLA2">2[?2x覼ٱ2=2Hw? Tbrƣ?pj?࣪?@ĸ`ܔ?@I'?m?i2">I2 ^;0Y:By:II><)>p;bDFVDF8yNy=%Nu=ٔNQ-R?9PYP=REyReDVOEV?XXQ 5^4Z]?Q 9b4Z")ZBY`yb?Q Ib @Z`DIZ:iZ:Z#4yfBɮjAh:ix~FNOT Ignoring new targets: 290.75 m."i~*i~  ProNav: ac range: 290.752869 m, nav range: 283.438934 m, bearing: 31.073801 deg, approach rate: -0.608286 m/s, LOS rate: -0.007214 deg/s, cmd heading: 32.863339 deg, new cmd heading: 32.858523 deg. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5787961 #, XLA2jŶ>2&-?2Hٱ2=2H?] {? e? ????i2jŶ>I2];2CYNByRIbDZ!VDZ˰8yvͼ%zF=ٔz"Q-z>9xY|=~Ey~eD~qE>Q 5 4^$]?Q 94\)BYy?Q I @/`DIq:i:+4y!ɮ%A!:iIMFNOT Ignoring new targets: 290.75 m."iUi*iUie ProNav: ac range: 290.752869 m, nav range: 283.188232 m, bearing: 31.070861 deg, approach rate: -0.607241 m/s, LOS rate: -0.007126 deg/s, cmd heading: 32.858524 deg, new cmd heading: 32.852640 deg. iePmHeadingCmd: 0.573387 target range: 290.752869 and range: 290.70 m.hmy?hihihihigigqjgqrgqeqreyZey:ey*e}@q#@颭2Bɢ ) jki)(ze9顱i6`iy?=g=Iy?Iq@q @q@u 0@qIechecking for new query: numPingsReceived=0, elapsed TxPingTime=9.833223E% E%E!E!"E%T;*E%:VE!ZE!a-@a5@a5@a5@q^Ad=AzAyAI!I1OE>ԡ % #,h^&XLA2sI>2*?2ٱ2Y=2H? W+?^?u?బH?n?@?i2sI>I2z];2CY:ǁBy:IR9AYA=MEyMeDMEM>QyQ 54Um5]?Q 94U)UBY#?Q E:y?Q I @U?`DIU|B9B=IB=ՁBB= =B9B9B=U;B=$pEIiԩ@ @ @ /@ @=@=U2Acoustic response timeout^AM =I I O > E]  E] E] 2EY "E] :*E] |:VE] 4ZEY BE] &52?2 "ٱ2KK=2Hn?Sݢ?Z?%?@?`ܹ?@0?i2>I2];2CY:ρBy:I @@bDFVDF8yN=%NU=ٔRQ-R>9PYP=REyV fDVҺEV>XQ 5^4Zm 2Acoustic response timeouti :#,!ZXLAt>?۳ٱK=H@?M {?S?`ȹ?S {???it>I];ÝByIE EE3E"E;*E:VE4ZEa@a@a@a@1iMMb@Mb@Mb@IIII I9MtV?9yYy=}Ey}fD E>Q 54W]?Q 94P)BY?Q E:yy?Q I @_`DIL ;i:&A4yBɮAE:iFNOT Ignoring new targets: 290.75 m."i *i  ProNav: ac range: 290.752869 m, nav range: 282.449432 m, bearing: 31.061684 deg, approach rate: -0.592889 m/s, LOS rate: -0.007379 deg/s, cmd heading: 32.840888 deg, new cmd heading: 32.834268 deg. iXHeadingCmd: 0.573066 target range: 290.752869 and range: 290.70 m.hu?hhhhggjgrg(BereZe:e*e bq&@颥.Bɢ(R) Ei)ijeiu?=G=Iu?IYa@a @a@e0@a2Acoustic response timeoutԉBm <Am <Bu >Bq Bu IBu ߁BBu  =Bq Bq Bu ;Bu ipEBB4CBBBCȘ5 G ^A9 AE >AE > f9 Y cAԹ Ai Iy I O >#,tXLAYzӁByzIbDVD8y#=%^=ٔQ->9Y=%Ey%+fD%E%>)Q 554-Yf]?Q 954-*)-BY9y9Q I= @-l`DI-M;i-8;-G4yAɮEvAA:iimFNOT Ignoring new targets: 290.75 m."iuu*iuu ProNav: ac range: 290.752869 m, nav range: 282.239105 m, bearing: 31.059065 deg, approach rate: -0.571959 m/s, LOS rate: -0.007128 deg/s, cmd heading: 32.834266 deg, new cmd heading: 32.829024 deg. iPHeadingCmd: 0.572975 target range: 290.752869 and range: 290.70 m.hv?hhhhggjgrgereZe:e*e-'@-B2Acoustic response timeoutɢ^) 4i)jչi(giv?=< =Iv?IIm9@i @i@u4@q@@zAEe EeEaEa"Ee;*Ee:VEaZEaBEe@1 Ci##,NXLAY~сBy~II=)p=bDVD8y%V%%J=ٔ!Q-%>9)Y)=-Ey-;fD1E5>1Q 5E45mv]?Q 9E45 )5BYAyAQ IE @5{`DI5 ;i5:5N4yUBɮUAUE:iqFNOT Ignoring new targets: 290.75 m."i*i ProNav: ac range: 290.752869 m, nav range: 282.007782 m, bearing: 31.056179 deg, approach rate: -0.572186 m/s, LOS rate: -0.007143 deg/s, cmd heading: 32.829024 deg, new cmd heading: 32.823249 deg. i%QHeadingCmd: 0.572874 target range: 290.752869 and range: 290.70 m.hۧ?hhhhggjgrg e re Ze :e *eQ(@=,Bɢ=b`Q)9 E6iA)EAAiE*iiMۧ?M=M6=IMۧ?IQԑ9@ @@40@2Acoustic response timeoutEU EUEU1EQ"EU;*EU]t:VEU-4ZEQa]@ae@ae@ae@^AMv= A .AI I O >/)#,)XLA"2Acoustic response timeoutB_/>B ?BٱB!=BH`?@)=ҡ?B?@?u&?e?@?iB_/>IB\;BCYJځByJI\i=Mb@Mb@Mb@9999 99=A`"?{Gz?MbY=?y=ף<=9=nA =A)=A9Y= AbDe޿VDe8yu*=%}E=ٔ}zQ->9 ?Y ?=EyLfDûE>Q 54]?Q 94)BY/?Q E:y?Q I @`DII8;io7;U4yɮA:iiuFNOT Ignoring new targets: 290.75 m.B>B5CBIBBB =BBDB;BpE"i*i ProNav: ac range: 290.752869 m, nav range: 281.758759 m, bearing: 31.053015 deg, approach rate: -0.571791 m/s, LOS rate: -0.007272 deg/s, cmd heading: 32.823249 deg, new cmd heading: 32.816915 deg. iTHeadingCmd: 0.572763 target range: 290.752869 and range: 290.70 m.h?hhhhg gjgrg"BereZe:e*e (@e+Bɢml8) z"i)|6顱iki? ==I?I9@ @@3@BDAT read: Response Not Received *response not received(DAT read: user:74> BDAT read: Tx time:01:12:02.2970 $Ping request sent.  {0#,XLA29>2?2$ٱ2@=2H ?6@?I2\;2CYLyRIbDZVDZ8yb%bW=ٔb9Q-b>9dYd=fEyf[fDf#Ej>hQ 5r4jr]?Q 9r4j)jBYpyr~?Q Ir @j`DIj;ij{;j\4yvpBɮzAx B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 290.75 m."i%*i%5 ProNav: ac range: 290.752869 m, nav range: 281.532654 m, bearing: 31.050182 deg, approach rate: -0.627255 m/s, LOS rate: -0.007867 deg/s, cmd heading: 32.816914 deg, new cmd heading: 32.811243 deg. i5\fy=HeadingCmd: 0.572664 target range: 290.752869 and range: 290.70 m.h?hhhhggjgrgere!Ze!:e!*e%U)@颍*BɢF)  i)˫Ui̷mi? ==I?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250171ԩ9@ @@/@@=@=^A =i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5022021 IA Ia O} >6#,XLAbEjErE?/E~ E~E|E|"E~:*E~z:VE|ZE|a-@a-@a-@a-@>h?ٱj=H?84 ֯?9?`? |S ? A??i>I\;CYՁByI iMb@Mb@Mb@ 9bX9?Mb?{GztYE?y<ףd@X A A)AYAbD)VDҰ8y%.=ٔ7Q->9Y=EynfDHE>Q 54]?Q 94)BYU?Q E:y?Q I @`DI ;i; ;d4yɮA:iFNOT Ignoring new targets: 290.75 m."i% *i% ︝5 ProNav: ac range: 290.752869 m, nav range: 281.256622 m, bearing: 31.047110 deg, approach rate: -0.586571 m/s, LOS rate: -0.006533 deg/s, cmd heading: 32.811242 deg, new cmd heading: 32.805093 deg. i5M?=HeadingCmd: 0.572557 target range: 290.752869 and range: 290.70 m.h=?h9h9h9h9g9gAjgArgEBeIreIZeI:eI*eM@8*@)Bɢ?) &i)r*|i1pi-?-0=-Dg=I-?I1!@ @@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754542IA@AAB>BBIBBBBBB;BfpE^A= @=I I O >q ]<#,XLA22>>2i?2W ٱ2zz=2H?@E0yڡ?5?n?`eG@?@;C? ?i22>>I2\;2CY:ہBy:IbDF0VDFٰ8yN =%Nv=ٔNۨ:Q-N?9PYP=REyR{fDVѺEV?XQ 5Z4ZR]?Q 9^4ZQ =^tI)Z BY\y^?Q Ib@Z`DIZ ;iZL ;Zj4yfuBɮfAfE:itzFNOT Ignoring new targets: 290.75 m."iz*iz ProNav: ac range: 290.752869 m, nav range: 281.061829 m, bearing: 31.044961 deg, approach rate: -0.586424 m/s, LOS rate: -0.006476 deg/s, cmd heading: 32.805095 deg, new cmd heading: 32.800793 deg. i = HeadingCmd: 0.572482 target range: 290.752869 and range: 290.70 m.h +?hhhhggjgrgere!Ze!:e!*e%M/+@M(BɢUR)Q U iQ)UKxchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006111Qiʫqi+?=P=I+?IQE EE6E"E:*Ek:VEc4ZEBE&5A>I9IIOU>u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258036 9C#,YLA2(>2S?24;ٱ2=2H?-@͡?@3??h ƕ?# ?`?i2(>I2x\;2CYNفByRIbDbKVDb8yfp=%jG=ٔjB:Q-j>9lYl=nEynfDrNVEr>tQ 5v4v)]?Q 9z4v)v BYxyz{?Q Iz@v`DIvC:iv:vq4yiɮmAq:iFNOT Ignoring new targets: 290.75 m."i2*i2丝 ProNav: ac range: 290.752869 m, nav range: 280.820801 m, bearing: 31.042313 deg, approach rate: -0.567136 m/s, LOS rate: -0.006235 deg/s, cmd heading: 32.800792 deg, new cmd heading: 32.795492 deg. i6HeadingCmd: 0.572389 target range: 290.752869 and range: 290.70 m.h?hhhhggjgrgereZe:e*e,@&Bɢ;) i) Pisi?=8=I?I 9@ @@/@@yA@uAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511966!E EE2E"EV:*E:VE4ZEa@a@a@a@^A=I9IYOu>I SI#,p)YLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762029B>B ?BٱB=BH? i(ҡ?X.?@?㷿kW?`6? F?iB>IB\;BCYRByRIIV>)V>ieMb@Mb@Mb@aaaa a9e ףp= ?Mbp?MbpYeQ?ye;eaenA eXA)aaYeAIbDoVD8ykb=%7=ٔHz:Q->9Y!=%Ey%fD%E%>)B=>B=4CB=IB=BB9B9B=DB=r;B=HpEQ 5U4-]?Q 9U4-H)- BYUS?Q E]:y]?Q I]@-`DI-;i-7;-y4yeyBɮeAeE:iFNOT Ignoring new targets: 290.75 m."i*i ProNav: ac range: 290.752869 m, nav range: 280.555847 m, bearing: 31.040557 deg, approach rate: -0.608457 m/s, LOS rate: -0.004037 deg/s, cmd heading: 32.795491 deg, new cmd heading: 32.791976 deg. if츝HeadingCmd: 0.572328 target range: 290.752869 and range: 290.70 m.h?hhhhggjgrgBereZe:e*e ,@%Bɢ6) i)rilvi?!==I?II9@ @@@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014048^AM =ԩ E  E E 4E "E D:*E g:VE 4ZE BE 2 P#,KCYLA2>2;$?2kٱ2G=2H?@[(@?.?@?@+ݷ͔?@t?@-?i2>I2+\;2CY:By:I@bD^bVD^8yf<%fb=ٔf:Q-f>9hYh=jEyjfDj9En>pQ 5v4r#]?Q 9v4r5)rBYtyv?Q Iv@r`DIr:irP:r4yzzBɮ~A|B*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 290.75 m."i-L*i-L= ProNav: ac range: 290.752869 m, nav range: 280.340820 m, bearing: 31.039127 deg, approach rate: -0.600541 m/s, LOS rate: -0.003997 deg/s, cmd heading: 32.791977 deg, new cmd heading: 32.789115 deg. i=긝EHeadingCmd: 0.572278 target range: 290.752869 and range: 290.70 m.hEЀ?hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU-@颅#Bɢy) Li) 顉ihxiЀ?$=F=IЀ?I@ @@1@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266280Ա^Ai=A%xAzA%xAAe ؟AIq I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517971V#,4]YLAE: E:E:5E8"E::*E:z:VE:4ZE8aJ@aN@aN@aN@p9> ??I/ٱI=H@ ?X*mŢ?1?? %?S?9?i9>Iʈ\;CYByIiMb@Mb@Mb@ 9$C?{Gz?y&1|Y?y#<` A A)AYAbDQVD8y<%,=ٔY:Q->9"?Y"?=EyfDa:E>Q 5-45]?Q 9-4)BY-$?Q E-:y-?Q I5@`DI;im;'4y=Bɮ=A9:iyFNOT Ignoring new targets: 290.75 m."i0*i0 ProNav: ac range: 290.752869 m, nav range: 280.055420 m, bearing: 31.036598 deg, approach rate: -0.591816 m/s, LOS rate: -0.005251 deg/s, cmd heading: 32.789115 deg, new cmd heading: 32.784051 deg. iHeadingCmd: 0.572190 target range: 290.752869 and range: 290.70 m.h{?hhhhg!g)jg)rg- Be)re1Ze1:e1*e5.@"Bɢ) ͽi)Kik{i{?=%=I{?I=>=R=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771059u9@q @q@}0@y@@=1B5>B55CB5IB5BB5 =B1B5DB5g;B5ApEY ^A A I I! O= >]#,xYLA$2>2E?2yٱ27=2H?*/? b2?? ԓ?[?,?i2>I2E\;0Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022673Y^By^I ``bDf5VDfݰ8yr<@<%v^=ٔz[:Q-z>9|Y|=~EyfD l9E >Q 5-4^?Q 9-4)BY)y5?Q I5@aDIP;icQ;4yEnBɮEAME:i!%FNOT Ignoring new targets: 290.75 m."i-C*i-C= ProNav: ac range: 290.752869 m, nav range: 279.831787 m, bearing: 31.034607 deg, approach rate: -0.574384 m/s, LOS rate: -0.005116 deg/s, cmd heading: 32.784051 deg, new cmd heading: 32.780067 deg. i=eHeadingCmd: 0.572120 target range: 290.752869 and range: 290.70 m.hevv?hahahahagagijgirgieireiZeq:eq*eu@G_/@E EE2E"E:*E~:VE4ZEBEP-rd#,YLA\YByIbD5VD58yEV;%EF=ٔEQ-E>9IYI=MEyMfDMEU>QQ 5]4U7 ^?Q 9e4U;)UBYayaQ Ie@UaDIU;iU;Uʕ4ymsBɮm Aq:iFNOT Ignoring new targets: 290.75 m."iѸ*iѸ ProNav: ac range: 290.752869 m, nav range: 279.585968 m, bearing: 31.032416 deg, approach rate: -0.641592 m/s, LOS rate: -0.005725 deg/s, cmd heading: 32.780065 deg, new cmd heading: 32.775678 deg. i'HeadingCmd: 0.572043 target range: 290.752869 and range: 290.70 m.hqq?hhhhggjgrgereZe:e*e0@Bɢ5)9 =i9)=~Ӻ99i=iEqq?Ed=Eqp=IEqq?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526933 9@  @@15@E EE3E"E*E:VE4ZEa@a@a@a@^A =A >A >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785344A= .AIa Iq O} >$j#,ܬYLA 00BlBlBnIBnBBn =BlBlBnt;BnPpEB5CB5CBB =B =C5|%WG9QYB/9YAyIiuMb@Mb@Mb@qqqq q9uzG?~jtx?MbpYu ?yu;uuM@q q)uAqYqbDVD8y<%4=ٔQ->9 ?Y ?=EyfDE>Q 543^?Q 94b)BY ?Q E:y ?Q I@'aDIA:iR:4yxBɮAE:iFNOT Ignoring new targets: 290.75 m."ih*ih  ProNav: ac range: 290.752869 m, nav range: 279.318298 m, bearing: 31.030404 deg, approach rate: -0.589763 m/s, LOS rate: -0.004437 deg/s, cmd heading: 32.775677 deg, new cmd heading: 32.771649 deg. i HeadingCmd: 0.571973 target range: 290.752869 and range: 290.70 m.hl?hhhhggjgrgBereZe!:e!*e%0@UBɢU*\)Q U螽iQ)]ܺYYi]|iel?e}=e=Iel?Ii9@ @@4@@@zADAT read: 01:12:05.0773 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 295, 0.13, 1.115,-0.356, 1.353, 0.568, PHS= 0.649,-0.879, 0.742, RAW= 152.9, -6.6, CAL= 153.0, -8.1, ROT= 357.0, 8.1 Ygot valid direction response: 01:12:05.0773 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 295, 0.13, 1.115,-0.356, 1.353, 0.568, PHS= 0.649,-0.879, 0.742, RAW= 152.9, -6.6, CAL= 153.0, -8.1, ROT= 357.0, 8.1 5PDAT read: Bearing 174.5, -2.7 (Local) =~Local bearing/azimuth received: Bearing 174.5, -2.7 (Local) IUDAT read: Range 11 to 50 : 282.0 m (Round-trip 376.1 ms) speed 0.6 m/s eR#Rx 1: Read range and direction messages.`direction in FSK: [0.988667,-0.051814,-0.140901]Fpublishing direction and range infoyf1(?hW:N ¿YC )FI$&?i%a=?{*@*@ )b@I>E EE5E"E2:*E:VE4ZEBE.*T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A O=y A5 ؟AI9 II O] >q#,4YLA6->6_a?6Aٱ6w=6H?z-?S5??^g?-L?m?i6->I6\;6CYBByBIIF=)F=bDNVDN8yfʚ<%fn=ٔfĞ:Q-f?9j"?Yj"?=jEyjfDn:En?pQ 5v4rgA^?Q 9v4rx)rBYtyv$?Q Iv@r4aDIr:ir:r4y|ɮ~A|iiYLAjC"jC:jf?Rj,{mq@ueN:-뽨1CBjf1(?hW:N ¿*jQwV2j>ZjL v-n@CIa@ו-xAJjc? ?r3jo C jkqCi/m?iwZjIAj/m?j0yVjBrjCzjm?E addTargetRange:: Added new target pos. range: 282.000000 m, deltaT: 16.637888 s, deltaX: -8.700012 m, approachRate: -0.522904 m/s, rangeRepo size: 4 U Added new target pos. range: 282.067780 m, bearing: 30.363543 deg, lat: 36.779796 deg, lon: -121.859682 deg, deltaT: 16.637888 s, deltaX: -8.685089 m, approachRate: -0.522007 m/s, posRepo size: 4 Y:iQeFNOT Ignoring new targets: 282.07 m."ie*iau ProNav: ac range: 282.067780 m, nav range: 279.873322 m, bearing: 30.388921 deg, approach rate: 0.000000 m/s, LOS rate: -0.004437 deg/s, cmd heading: 32.771651 deg, new cmd heading: 32.768571 deg. iq}HeadingCmd: 0.571919 target range: 282.067780 and range: 282.00 m.h}Pi?hyhhhggjgrgereZe:eq@*e?颽Bɢv+) Ԍi)iiPi?=m=IPi?I(DAT read: user:75> %BDAT read: Tx time:01:12:06.5470 %$Ping request sent.% D zD E  E E 9E "E :*E z:VE 4ZE a @a @a @a @w#,YLAԱYByIiEMb@Mb@Mb@AAAA A9E333333?MbpYE?yEAE@E A ESA)EAAYEAbD]ܿVD]8yeQ%m3=ٔmQ-m>9u ?Yu ?=uEyugD}E}>yQ 54}T^?Q 94})}BY?Q E:y?Q I@}FaDI}X ;i};}4y}BɮXAE5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 282.07 m."iE+*iE+ ProNav: ac range: 282.067780 m, nav range: 279.599030 m, bearing: 30.386775 deg, approach rate: -0.583393 m/s, LOS rate: -0.004567 deg/s, cmd heading: 32.768570 deg, new cmd heading: 32.764275 deg. iHeadingCmd: 0.571844 target range: 282.067780 and range: 282.00 m.hfd?hhhhggjgrgBereZe:e*e?Bɢg߻) i)Hi/-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503829i=fd?e>ޒ=aIefd?IiAAB>B4CBIBBB =BBDB;BpE9@ @@4@)^A A yAzA zAQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755646Am ؟AIq I O >܉~#,YLA2>2.?2ǟٱ2=2H@?2?:??'? ?``?i2>I2\;2CY:By:IbDBVDB8yJ\%NT=ٔNܖ:Q-N>9N"?YR"?=REyR!gDR;ER>TQ 5Z4VIe^?Q 9Z4VO)VBY\y^?Q I^@VUaDIVT:iV;Vq4y`ɮbmA`h:itE EE6E"E&:*E:VEc4ZEBEk;l#,ZLA2;>2?2ٱ2=2H?0Y?$:?@?`㐸ڵ?,??i2;>I2\;2CY:By:I <<bDFVDF8yN%=%NK=ٔN:Q-R>9R ?YR ?=REyR1gDV|_EV>XQ 5^4Zvv^?Q 9^4Z)ZBY\y^?Q Ib@ZdaDIZ;iZ;Z}4yfBɮf%Ad:itzFNOT Ignoring new targets: 282.07 m."izگ*izگ ProNav: ac range: 282.067780 m, nav range: 279.126465 m, bearing: 30.382997 deg, approach rate: -0.600476 m/s, LOS rate: -0.004804 deg/s, cmd heading: 32.760579 deg, new cmd heading: 32.756710 deg. i  HeadingCmd: 0.571712 target range: 282.067780 and range: 282.00 m.h [?hhhhggjgrgereZe!:e!*e%`?9UBɢUx4)Q U]i)fiji[?fْ==I[?I!echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259727@ @@@bEù4jE4rEL0EM EMEM2EI"EM:q*EM:VEM4ZEIa@a@a@a@ԑ^A7=A ؟AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511349I O- > B >B B IB BB B B B β;B pE㖋#,0ZLAY~By~IiMb@Mb@Mb@ 9^I +?MbpMb`YX?yE@jA A)"AYfAԙbDVD8y%:=ٔQ->9"?Y"?=EyCgDE>Q 54=^?Q 94/)BYY?Q E:y?Q I@uaDI* ;i;,4yɮ5A:i FNOT Ignoring new targets: 282.07 m."i $*i $% ProNav: ac range: 282.067780 m, nav range: 278.863190 m, bearing: 30.381267 deg, approach rate: -0.598599 m/s, LOS rate: -0.003938 deg/s, cmd heading: 32.756710 deg, new cmd heading: 32.753245 deg. i%渝%HeadingCmd: 0.571652 target range: 282.067780 and range: 282.00 m.h-W?h)h)h)h)g)g)jg1rg.BereZe:e*e@?%Bɢ%)) -Pdi))-3)iiW?l֒=э=IW?IA@A @A@E/@A}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764962EE EEEE3EA"EE&:*EEg:VEE4ZEABEAaM2EAaMJEE3;aM:EE4;aU^A ժ=A A >! A I I O >~#,vJZLAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014815Y~By~IbD ޿VD 8y =%%T=ٔ!Q-%>9!Y)=-Ey-SgD)E->1Q 545^?Q 945)5BYyQ I@5aDI5/[)1 5i1)=699i=ZiEOT?E*Ԓ=Ec=IEOT?II9@ @@/@!^Av=Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267500I I O >EM  EM EM 6EI "EM :*EM ~:VEM c4ZEI aU @aU @aU @aU @ԁ #,)^dZLABX>B?B7ٱBS=BH.?^"? +*??9E~?&ۻ??iBX>IB1\;BCYN ByNIIRi>)Ri%Mb@Mb@Mb@!!!! !9%5^I ?Mb`Y%?y%%% @% A %=A)%A!Y%AbD=VD=8yM`<%MG=ٔM:Q-M>9QYQ=UEyUdgD]͸E]>aQ 5m4e^?Q 9m4e)e BYm?Q Em:ym?Q Iu@eaDIew:ie;e4y}uBɮ}@A}EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 282.07 m."iA*iA ProNav: ac range: 282.067780 m, nav range: 278.389008 m, bearing: 30.378110 deg, approach rate: -0.609658 m/s, LOS rate: -0.004105 deg/s, cmd heading: 32.750207 deg, new cmd heading: 32.746926 deg. ii𸝏HeadingCmd: 0.571542 target range: 282.067780 and range: 282.00 m.hP?hhhhggjgIrgUBeQreQZeY:eY*e]q@颥BɢBfJ) i)P顱iiP?|ϒ==IP?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519531@ @@@BM>BM5CBM IBMBBM =BIBMDBMײ;BMpEyԩ^A 5=I I O- >} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770947 Ҟ#,8-~ZLA2`>2?2Sٱ2=2H?@c?@*? 9?`'D@汒?*?@?i2`>I2F\;2CY: By:IbDFVDF8yN_%NW=ٔnQ-n>E EE3E"E:*E:VE4ZEBE3!Q 5-4%λ^?Q 954%:)%"BY1y5?Q I5@%aDI%z:i%.:%4y=zBɮEzAEE:iamFNOT Ignoring new targets: 282.07 m."im *im } ProNav: ac range: 282.067780 m, nav range: 278.154083 m, bearing: 30.376523 deg, approach rate: -0.594522 m/s, LOS rate: -0.004017 deg/s, cmd heading: 32.746925 deg, new cmd heading: 32.743751 deg. i}A븝HeadingCmd: 0.571486 target range: 282.067780 and range: 282.00 m.hL?hhhhggjgrgereZe:e*e @ɢDga) i)itiL?y˒=_=IL?IԱ@ @@1@^Amff=AmxAzAmxAIIO$>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022799 9 #,ZLA2y>2?2ٱ2(=2HB??&??@ ??` ?i2y>I2\;2CYN ByRIbDZ˿VDZ|8ybP><%bH=ٔb9Q-b>9dYd=fEyfgDfEj>hQ 5r4jz^?Q 9r4j)j$BYpyr?Q Ir@jaDIj8;ij;j4ytɮzgAx:i)5FNOT Ignoring new targets: 282.07 m."i*i ProNav: ac range: 282.067780 m, nav range: 277.920349 m, bearing: 30.374969 deg, approach rate: -0.588865 m/s, LOS rate: -0.003921 deg/s, cmd heading: 32.743749 deg, new cmd heading: 32.740637 deg. i帝HeadingCmd: 0.571432 target range: 282.067780 and range: 282.00 m.h ]I?h h h h g g jgrg=BDAT read: Rx Time:01:12:09.3237 ETRx dataTimestamp_ set to:1764897130.448627Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275983eIreIZeI:eI*eU: @额BɢL@) ]i)顡i-i]I?]ƒ=g=I]I?IE- E-E)E)"E-:*E-M:VE)ZE)aM@aU@aU@aU@m9@i @q@}#3@y9^Ai=I1 II O] >i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526871BE >BE 4CBE  IBE BBA BA BE DBE ;BE pE#,ZLA Y~ By~I iMb@Mb@Mb@ 9^I +?Mb`?MbPYX?y;@nA A)AYGA@AbDVD8y6B%;=ٔQ->9Y=EygDE>Q 54^?Q 94;)&BYX?Q E:y?Q I@aDI:i1:4yBɮAE:i%FNOT Ignoring new targets: 282.07 m."i%`*i%`5 ProNav: ac range: 282.067780 m, nav range: 277.658264 m, bearing: 30.372851 deg, approach rate: -0.602652 m/s, LOS rate: -0.004873 deg/s, cmd heading: 32.740638 deg, new cmd heading: 32.736399 deg. i==HeadingCmd: 0.571358 target range: 282.067780 and range: 282.00 m.h=D?hAhAhAhAgAgAjgIrgMBeIreIZeI:eQ*eUXw@}BɢU) i)@顉i{iD?==ID?IqQ@Q @Y@e 5@auDAT read: 01:12:09.3237 LVL= 32752, 32753, 32242, 32755, AGC= 71, IDX= 403, 0.16,-0.323,-1.725,-0.085,-0.869, PHS= 0.648,-0.811, 0.740, RAW= 153.0, -7.7, CAL= 153.3, -9.3, ROT= 356.7, 9.3 }Ygot valid direction response: 01:12:09.3237 LVL= 32752, 32753, 32242, 32755, AGC= 71, IDX= 403, 0.16,-0.323,-1.725,-0.085,-0.869, PHS= 0.648,-0.811, 0.740, RAW= 153.0, -7.7, CAL= 153.3, -9.3, ROT= 356.7, 9.3 PDAT read: Bearing 173.0, -3.2 (Local) ~Local bearing/azimuth received: Bearing 173.0, -3.2 (Local) DAT read: Range 11 to 50 : 279.3 m (Round-trip 372.5 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.985219,-0.056807,-0.161604]Fpublishing direction and range infoyAEcӸ?&ioĿYECAAAE} A)EGIET%?iEOEp=?E*@E E<+@ E6&)E8@IE6&>AAE&\y?7SH?AcZ+ E˔?)E& >IEQkiE6&>AAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙE% E%E%6E!"E%D:*E%x:VE%c4ZE!BE%2 Ͳ#,׿ZLAR(DAT read: user:76> VBDAT read: Tx time:01:12:10.5470 V$Ping request sent.V9!Y!=%Ey%gD)E->1Q 5=45^?Q 9=45)5(BY9y9Q I=@5aDI5{;i5;54yMBɮMAIiqiuZLAjuC"juC:ju?RjuZAG 3q@=qbX/ FBjucӸ?&ioĿ*juQk2ju6&>Zju.^sm@LC4_Xa@! DJju^\?^ ?5t[ÿju C junCiu{Kݑ?iu+~juyAju{Kݑ?jqjqrjuCzju? addTargetRange:: Added new target pos. range: 279.299988 m, deltaT: 4.029896 s, deltaX: -2.700012 m, approachRate: -0.669995 m/s, rangeRepo size: 4  Added new target pos. range: 279.363312 m, bearing: 30.152575 deg, lat: 36.779792 deg, lon: -121.859682 deg, deltaT: 4.029896 s, deltaX: -2.704468 m, approachRate: -0.671101 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 279.36 m."i*i ProNav: ac range: 279.363312 m, nav range: 277.005310 m, bearing: 30.419946 deg, approach rate: 0.000000 m/s, LOS rate: -0.004873 deg/s, cmd heading: 32.736400 deg, new cmd heading: 32.732219 deg. iHeadingCmd: 0.571285 target range: 279.363312 and range: 279.30 m.h??hhhhg!g!jg!rg!e)re)Ze):e-tq@*e5@{?Yɢ] o?)Y ]@Tia)eAaaievim??m=m=Im??Iq@ @@4@@@@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251040A>A>I I! O5 >E-  E- E- 4E) "E- :*E- n:VE- 4ZE) a5 @a5 @a5 @a5 @9 3#,YZLAZ˞>Zՙ?Z}pٱZ}+=ZH`W? #?O ??ꆹ ?@7?&?iZ˞>IZx\;ZCYbBybIxi}Mb@Mb@Mb@yyyy y9}x?~jt?~jtxY}K?y}D<}Ļ} @} A }=A)yyY}AbDٿVD8y"l<%R=ٔ]Q->9Y=EygDE>Q 54_?Q 94\)*BYU?Q E:y ?Q I@aDI:i=:4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 279.36 m."iD*iD ProNav: ac range: 279.363312 m, nav range: 276.775208 m, bearing: 30.417315 deg, approach rate: -0.612573 m/s, LOS rate: -0.007009 deg/s, cmd heading: 32.732220 deg, new cmd heading: 32.726955 deg. i:MHeadingCmd: 0.571193 target range: 279.363312 and range: 279.30 m.h%9?h!h!h!h!g!g)jg1rg5Be1re9Ze9:e9*e=?}Bɢp%) ջi)a顉i i9?==I9?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5036379E9@Q @Y@]/@YG/{AMAB >B 5CB  I 9%/{AY%AB !BB B B DB ;B pEB4CB4CBB =B =Cs4A.AII Om>Qy ] =] @@e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7551979!#,yuZLA2>2?2ٱ2p=2H`?@E?@2!??@?@I2\;0YN ByRIIVp<)Vp;bDZVDZ8ybՍ%bZ=ٔfQ-f>9f ?Yf ?=fEyfgDj9Ej>Er ErEr6Ep"Er:*Er:VErc4ZEpBEr6Ա #,W[LAJ>Jz?J^ťٱJ=JH?`.{?@N%?`?@P O?`o?@?iJ>IJ\;JCYZBy^IbDnVDn8y~%~G=ٔ~IQ-~>9"?Y "?= Ey gDտ:E>!Q 5-4%!_?Q 954%)%-BY1y=:?Q I=@%aDI%T;i%f;%X4yIɮMAI:iquFNOT Ignoring new targets: 279.36 m."i}*i} ProNav: ac range: 279.363312 m, nav range: 276.310211 m, bearing: 30.411944 deg, approach rate: -0.624380 m/s, LOS rate: -0.007262 deg/s, cmd heading: 32.721879 deg, new cmd heading: 32.716201 deg. iTHeadingCmd: 0.571005 target range: 279.363312 and range: 279.30 m.hi-?hhhhggjgrgereZe:e*e?Աɢ8d) i)4i{ii-?)==Ii-?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259004E  E E 1E "E a:*E &p:VE -4ZE a@a@a@a@9@ @@/@AyAzAzAA.AII)O=q> i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511201B >B 4CB B B  =B B DB ;B pE9 r3#,,3[LAYByIiMb@Mb@Mb@ 9Zd;?Mb?~jtY?y<D @A A A)nAYAbDVD8y<%?=ٔQ->9 ?Y ?=EygDE>Q 54n3_?Q 94б)Y?Q E:y?Q I@bDI ;i ;4yBɮA:i  FNOT Ignoring new targets: 279.36 m."iZ*iZ% ProNav: ac range: 279.363312 m, nav range: 276.055023 m, bearing: 30.408586 deg, approach rate: -0.603042 m/s, LOS rate: -0.007942 deg/s, cmd heading: 32.716200 deg, new cmd heading: 32.709478 deg. i-h-HeadingCmd: 0.570888 target range: 279.363312 and range: 279.30 m.h-%?h1h1h1h1g1g1jg9rg= Be9re9ZeA:eA*eE?mBɢm=X$)q u@̻iq)}yyi}si%?t=I%?I9@ @@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763250AE EE2E"E&:*Exv:VE4ZEBEk;ԙ #,%M[LA4<ɰBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884YByI bD-VD-8y=6H<%=R=ٔ9Q-E>9E"?YE"?=EEyEgDIEM>QQ 5]4UC_?Q 9]4U`)QYYyYQ Ie@UbDIU:iU;U4ym{BɮmVAmE:iFNOT Ignoring new targets: 279.36 m."i*i ProNav: ac range: 279.363312 m, nav range: 275.821960 m, bearing: 30.405514 deg, approach rate: -0.600445 m/s, LOS rate: -0.007921 deg/s, cmd heading: 32.709479 deg, new cmd heading: 32.703330 deg. igHeadingCmd: 0.570781 target range: 279.363312 and range: 279.30 m.h?hhhhggjgrgereZe:e*e@x@ɢs ) &i)ʔiEJi?=='+=I?Iyԩq5.?54==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267263U9@Q @Q@Q@QbEH4jEܦ4rE5/E  E E 5E "E ;*E M:VE 4ZE a @a @a @a @ ^A} =AIIO>;#,Oxl[LA_>??ٱ=HM?d#?*?Q?͹.=?`o?@?i_>B<AB>BB IB'BBBBB;BpEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.563659I"\;CYByIQiMMb@Mb@Mb@IIII I9M^I +?y&1|?y&1YMX?yM`;M`eM@M A I)MAIYMAbDuVDu8y"%=ٔQ->9Y=EyhD:E>Q 54H\_?Q 94Z)Ye?Q E:y?Q I@4bDI{:i:4y%Bɮ-A-EEB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 279.36 m."i]*i]⸝m ProNav: ac range: 279.363312 m, nav range: 275.474060 m, bearing: 30.401915 deg, approach rate: -0.597848 m/s, LOS rate: -0.006193 deg/s, cmd heading: 32.703328 deg, new cmd heading: 32.696121 deg. imS5uHeadingCmd: 0.570655 target range: 279.363312 and range: 279.30 m.hur?hqhqhqhqgqgyjgyrg}BeyreZe:e*e@颵Bɢ[) i)Y项iXdir?==Ir?Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771416Ա 5 9@9  @9 @= 4@9 @e p=@e =Eu  Eu Eu 4Eq "Eu :*Eu xv:VEu 4ZEq BEu 62?2FNٱ2S=2H`d?@)"?(?A?广5)?ۺ?~?i2:>I2 ];0Y:By:IbDBVDB8yJ<%N2=ٔNQ-N>9LYP=REyR!hDR ER>TQ 5Z4Vn_?Q 9^4V)V.BY\y^?Q I^@VEbDIVj;iV";Vu 4y`ɮbUAd:itvFNOT Ignoring new targets: 279.36 m."izD*izD⸝ ProNav: ac range: 279.363312 m, nav range: 275.209015 m, bearing: 30.399182 deg, approach rate: -0.599070 m/s, LOS rate: -0.006182 deg/s, cmd heading: 32.696122 deg, new cmd heading: 32.690652 deg. i5 HeadingCmd: 0.570560 target range: 279.363312 and range: 279.30 m.h 0?h h h h ggjgrgereZe:e*e` @Bɢ֌) -`6"#,[LA^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531216hYnBynIIrG>)rB}>ByByByB} =ByByB};B}pEiMb@Mb@Mb@ 9㥛 ?~jtx?~jtY?y;D@& A &A)YAbDVDŰ8y +&%  =ٔQ->9Y=Ey5hDE>!Q 5-4%_?Q 9-4%:)!Y-?Q E5:y5?Q I5@%XbDI%;i%;%f)4y=Bɮ=A9:iaeFNOT Ignoring new targets: 279.36 m."imFո*imFո} ProNav: ac range: 279.363312 m, nav range: 274.910370 m, bearing: 30.396203 deg, approach rate: -0.583486 m/s, LOS rate: -0.005827 deg/s, cmd heading: 32.690651 deg, new cmd heading: 32.684687 deg. i}*HeadingCmd: 0.570455 target range: 279.363312 and range: 279.30 m.h] ?hhhhggjgrgereZe:e*e@Bɢ %Ϻ) ;i)ii] ?=_=I] ?IeN>ie> @ @@/@)DAT read: 01:12:13.3216 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.36, 1.784, 0.269, 1.881, 1.221, PHS= 0.665,-0.907, 0.616, RAW= 148.4, -4.9, CAL= 148.2, -6.0, ROT= 1.8, 6.0 Ygot valid direction response: 01:12:13.3216 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.36, 1.784, 0.269, 1.881, 1.221, PHS= 0.665,-0.907, 0.616, RAW= 148.4, -4.9, CAL= 148.2, -6.0, ROT= 1.8, 6.0 PDAT read: Bearing 175.7, 2.5 (Local) ~Local bearing/azimuth received: Bearing 175.7, 2.5 (Local) DAT read: Range 11 to 50 : 277.9 m (Round-trip 370.6 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.994031,0.031239,-0.104528]Fpublishing direction and range infoyy}ѭn?<?4ޮ`ºY}Cyyy} y)yI}q=*?i}'1h}-?}%@}%}~%@ }Pwֽ)}=I}Pw=yy}kQ ?Ů[?Ck:nɵ } >)}|=I}=i}Pw=yy T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A% m=E-  E- E- 7E) "E- s:*E- x:VE- Ժ4ZE) BE- s0#,'g[LA2tD>2?2ļٱ2=2H? "O?`(?C? X@f??@?i2tD>I2\;2CYNByNIbDZCVDZ8yr%r`=ٔrQ-v>9tYt=vEyvDhDzT9Ez>Q 5%4_?Q 9%4))/BY!y%?Q I%@fbDI:iu:/4y5Bɮ5A5E9ii[[LAjC"jC:jd?RjtaDq@L(]!@Hr=Bjѭn?<?4ޮ`º*j=2jPw=ZjW@nml@jic@~jYW5Jjˬz.?3v!;?gUʷjcC jkcCi}Oo?iN>Xj.BjjjIBrjYCzjQ? addTargetRange:: Added new target pos. range: 277.899994 m, deltaT: 4.037987 s, deltaX: -1.399994 m, approachRate: -0.346706 m/s, rangeRepo size: 4  Added new target pos. range: 277.960205 m, bearing: 34.855509 deg, lat: 36.779792 deg, lon: -121.859682 deg, deltaT: 4.037987 s, deltaX: -1.403107 m, approachRate: -0.347477 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 277.96 m."i*i% ProNav: ac range: 277.960205 m, nav range: 274.697510 m, bearing: 30.394072 deg, approach rate: 0.000000 m/s, LOS rate: -0.005827 deg/s, cmd heading: 32.684685 deg, new cmd heading: 32.680250 deg. i!-HeadingCmd: 0.570378 target range: 277.960205 and range: 277.90 m.h-J?h)h)h)h)g1gQjgQrgQeYreYZeY:e]`f^q@*ee?颩ɢ˺) ;i)u`iGiJ?b= =IJ?I(DAT read: user:77> BDAT read: Tx time:01:12:14.5469 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250712r#,@[LAɰ4<:ܱ>:θ?:>ٱ:S=:H?@K?@#?t?%@/'?ʈ??i:ܱ>I:&\;8YBByF IbDNvVDN8yV<%VN=ٔV|:Q-V>9XYX=ZEyZThDZE^>`Q 5b4bz_?Q 9f4b՚)`Ydyf?Q If@bubDIbS:ib:b64yhɮnAlEr ErEr2Ep"Erl;*Erą:VEr4ZEpav@av@av@av@:iFNOT Ignoring new targets: 277.96 m."iٸ*iٸ- ProNav: ac range: 277.960205 m, nav range: 274.466064 m, bearing: 30.391792 deg, approach rate: -0.603547 m/s, LOS rate: -0.005952 deg/s, cmd heading: 32.680249 deg, new cmd heading: 32.675684 deg. i-K.5HeadingCmd: 0.570298 target range: 277.960205 and range: 277.90 m.h5?h1h1h1h1g9g9jg9rgAeAreAZeA:eA*eMRF?u BɢuP)q uP<ԙi)Aicti%?%k=%8=I%?I!9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502641AAB>B3CB IB,BB =BBB;BpE^AIIIO> #, [LA:2>:c?:[Dٱ:=:H@B ?a?.?@a?N?H-??i:2>I:M\;:CYF#ByF I HHnPExceeded connect timeout, disconnecting.ieMb@Mb@Mb@aaaa a9eʡE?Mb`{GztYe?yeeףe@e A e"A)eAaYe3AbD}VVD}8yt=%<=ٔ:Q->9Y=EyfhDCE>Q 54մ_?Q 94m)1BY?Q E:y?Q I@bDI;i3;I>4yBɮOAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 277.96 m."i|*i| ProNav: ac range: 277.960205 m, nav range: 274.222839 m, bearing: 30.390219 deg, approach rate: -0.563564 m/s, LOS rate: -0.003647 deg/s, cmd heading: 32.675683 deg, new cmd heading: 32.672535 deg. iո HeadingCmd: 0.570243 target range: 277.960205 and range: 277.90 m.h w?h h hhggjgrgBereZe:e!*e%` ?i1I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755051] Bɢ]:)Y e 9=ia)eaaie:imw?m=m=Iuw?IqE EE7E"EV:*E:VEԺ4ZEBE9.!?.Bٱ.W=.H ? i?2??@^I`?b,?`?i.`>I.\;,YBByB IbDJqVDJ8yjü%jW=ٔjc:Q-j>9lYl=nEynuhDr.Er>tQ 5z4v_?Q 9z4vs)v3BYxyzt?Q Iz@vbDIv7:iv:vD4yɮtA:i!-FNOT Ignoring new targets: 277.96 m."i-ڀ*i5ڀE ProNav: ac range: 277.960205 m, nav range: 274.010010 m, bearing: 30.388886 deg, approach rate: -0.561504 m/s, LOS rate: -0.003520 deg/s, cmd heading: 32.672534 deg, new cmd heading: 32.669866 deg. iE*θEHeadingCmd: 0.570197 target range: 277.960205 and range: 277.90 m.hMj?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]?颅 BɢH:) (=i)/顉iږij?Z=|=Ij?IY9@ @@0@!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258628ԙE EE5E"E;*E:VE4ZEa@a@a@a@^AEz=IIO>Ա %Cm* #,.\LA2A>2?2Pٱ2m,=2H?`?# ? ?o.T?0?1?i2A>I2\;2CJ8GYF*BRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510783yV IXfA 9 Y AB!B!B%( IB%6BB!B!B!B%;B%pEBBBB =B =C-5i%Mb@Mb@Mb@!!!! !9%ʡE?~jt{GztY%-?y%D!%@% A %A)%A!Y%AbD=cVD=8yM[=%M5=ٔM:V:Q-M>9QYQ=UEyUhD]R>E]>aQ 5m4e_?Q 9m4e)e4BYm6?Q Em:ym ?Q Im@ebDIe;ie;eL4y}Bɮ}3A}E:iFNOT Ignoring new targets: 277.96 m."iŷ*iŷԱ ProNav: ac range: 277.960205 m, nav range: 273.751801 m, bearing: 30.388276 deg, approach rate: -0.570689 m/s, LOS rate: -0.001349 deg/s, cmd heading: 32.669867 deg, new cmd heading: 32.668646 deg. iHeadingCmd: 0.570175 target range: 277.960205 and range: 277.90 m.h?hhhhggjgQrge BeireyZey:ey*e?颍 Bɢ ;) |=i)顑ieүi?i{=M=I?II)xA]9@Y @Y@]/@YnManaging dock network, ignoring radio surface power offUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762668 E  E E E "E &:*E ą:VE ZE BE k;T#,2I\LA2x>2?2ٱ2=2H`'?@!?@?? ?ϖ??d?i2x>I2];2CY8y: II>>)>>bDFVDFǰ8yNg%N_=ٔN:Q-R>9PYP=REyRhDV;EV>XQ 5^4Z_?Q 9^4Z)Z5BY\y^g ?Q Ib@ZbDIZo;iZ`:Z5S4yfBɮfAfE:itzFNOT Ignoring new targets: 277.96 m."i~*i~ ProNav: ac range: 277.960205 m, nav range: 273.542969 m, bearing: 30.387827 deg, approach rate: -0.571530 m/s, LOS rate: -0.001228 deg/s, cmd heading: 32.668645 deg, new cmd heading: 32.667747 deg. i  HeadingCmd: 0.570160 target range: 277.960205 and range: 277.90 m.h ?h hhhggjgrgereZe!:e!*e% @ɢ nJ;)  ԅ=i)]i5i?t=̖=I?I!ԉ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015458!@! @!@%0@!Ա^AeO=A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266661O > z#,΍c\LAD zD E& E&E&2E$"E&l;*E&i:VE&4ZE$a*@a*@a*@a*@>>>4D?>īٱ>=>H@?ע??L?``0x?C??i>>I>(];9)Y)=-Ey-hD-E5>1Q 5E45_?Q 9E45)57BYAyE% ?Q IE@5bDI5;i5;5Z4yMBɮUfAQ:iq}FNOT Ignoring new targets: 277.96 m."i};*i}; ProNav: ac range: 277.960205 m, nav range: 273.303162 m, bearing: 30.387363 deg, approach rate: -0.571039 m/s, LOS rate: -0.001108 deg/s, cmd heading: 32.667746 deg, new cmd heading: 32.666816 deg. iHeadingCmd: 0.570143 target range: 277.960205 and range: 277.90 m.h?hhhhggjgrgereZe:e*e@Bɢ;) 8=i)iҴi? k= =I ?I m9@i @i@m2@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752BA<BBB4 IB@BBBBB;BpE^AMPڀ=ԁ A I I O >'#,yu}\LA;ɰ6&>6 ?6lٱ69=6H` ?@,????`%͔? Y?`?i6&>I6tZ];6CY>EBy>: IiMb@Mb@Mb@ 9`"?{GzMb`Y?y#@ A A)AY AbDuVDu8yJ=%D=ٔ:Q->9Y=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770753yhDuE>Q 54 `?Q 94)9BY?Q E:y ?Q I@bDI;i ;a4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 277.96 m."i`ڷ*i`ڷ ProNav: ac range: 277.960205 m, nav range: 273.054535 m, bearing: 30.386737 deg, approach rate: -0.591977 m/s, LOS rate: -0.001492 deg/s, cmd heading: 32.666814 deg, new cmd heading: 32.665561 deg. i. HeadingCmd: 0.570122 target range: 277.960205 and range: 277.90 m.h }?h hhhggjgrg BereZe:e!*e%@8Q@MBɢM;)Q UP=iQ)Uv޺QQiUp·i]}?]a=] E=Ie}?IaIE] E]E]6EY"E]:*E]:VE]c4ZEYBE]<A>M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023095ԡ A I I O% >%#,C\LA2>2i?2ơٱ2z=2H$?J>P?J?`?|8?`wL? ?i2>I2];2CY:LBy:C I@ @@bDFVDF8yj1=%jW=ٔje:Q-n>9pYp=rEyrhDv-Ez>Q 54j`?Q 94o):BYy% ?Q I%@bDI;ia;h4y-Bɮ5A5E:iq}FNOT Ignoring new targets: 277.96 m."iŷ*iŷ ProNav: ac range: 277.960205 m, nav range: 272.827911 m, bearing: 30.386213 deg, approach rate: -0.584042 m/s, LOS rate: -0.001350 deg/s, cmd heading: 32.665561 deg, new cmd heading: 32.664513 deg. i$HeadingCmd: 0.570103 target range: 277.960205 and range: 277.90 m.hJ?hhhhggjgrgereZe:e*env @Bɢ<)  . >i ) к  i fiJ?W={=IJ?I@ @@/@ԹBDAT read: Rx Time:01:12:17.3189 TRx dataTimestamp_ set to:1764897138.516645checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275849bEŹ4jE4rEJ0Ee EeEe2Ea"Ee:*Ee:VEe4ZEaau@au@au@au@^AX=A I I) O1 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526636ֻ+#,7\LABBBG IBOBB =BBBٲ;BpE>ʭ>>?>ٱ>=>H&??`a?@? 븿 ?Q??i>ʭ>I>];>CYJNByJE Ihi%Mb@Mb@Mb@!!!! !9% +?{Gzt?Mb`?Y%?y%ף;%;%@% A %A)!!Y%AbD=ݿVD=8yES<%MB=ٔM:Q-M>9QYQ=UEyUhDU?E]>YQ 5e4]*`?Q 9m4])]=BYm?Q Em:y-?Q I-@]bDI]i)ii$?EL=z=I$?I@ @@/@)DAT read: 01:12:17.3189 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419, 0.04, 0.868,-0.741, 0.988, 0.093, PHS= 0.877,-0.789, 0.851, RAW= 149.2, -11.4, CAL= 150.1, -13.3, ROT= 359.9, 13.3 Ygot valid direction response: 01:12:17.3189 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419, 0.04, 0.868,-0.741, 0.988, 0.093, PHS= 0.877,-0.789, 0.851, RAW= 149.2, -11.4, CAL= 150.1, -13.3, ROT= 359.9, 13.3 PDAT read: Bearing 168.1, -0.4 (Local) ~Local bearing/azimuth received: Bearing 168.1, -0.4 (Local) DAT read: Range 11 to 50 : 275.8 m (Round-trip 367.8 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.973177,-0.001699,-0.230050]Fpublishing direction and range infoyD$?[gz}"ErͿYC )EI`?iI#Y?r&@%Kϩ'@ ,m)@I,m>5Ha?l?!N3ɿ ?)J>I"i,m>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ee  Ee Ee 3Ea "Ee :*Ee &p:VEe 4ZEa BEe &5`2#,\LA26>2e?20ٱ2J=2H +?`"???'`ڥ?&??i26>I2u];2CY^VBy^O IbDjؿVDj8yz"=%zP=ٔ~;Q-~>9|Y=EyhD-<E> Q 54 W;`?Q 94 }) @BYyx?Q I@ bDI ;i ; v4y%Bɮ%A)9iiB\LAjC"jC:jo?RjD7)JYp@vݿ޿}7OBjD$?[gz}"ErͿ*j"2j,m>ZjZ3t8l@46;nb@ B#MJj^/?Fm?TU ˿jpC jaCi֊?iCWj@jjjIArj-Czj]? addTargetRange:: Added new target pos. range: 275.799988 m, deltaT: 4.029770 s, deltaX: -2.100006 m, approachRate: -0.521123 m/s, rangeRepo size: 4  Added new target pos. range: 275.858551 m, bearing: 33.148981 deg, lat: 36.779792 deg, lon: -121.859682 deg, deltaT: 4.029770 s, deltaX: -2.101654 m, approachRate: -0.521532 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 275.86 m."i*i ProNav: ac range: 275.858551 m, nav range: 272.351593 m, bearing: 30.382749 deg, approach rate: 0.000000 m/s, LOS rate: -0.004132 deg/s, cmd heading: 32.660885 deg, new cmd heading: 32.657776 deg. iHeadingCmd: 0.569986 target range: 275.858551 and range: 275.80 m.h?h h h h g g jgrgereZe:e BDAT read: Tx time:01:12:18.5969 $Ping request sent.%iA)M IIiMeiU?UH@=Uv=IU?IYai9@ @@/@ԙ^A yz=A xAzA wA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251219 A] .AIa Iq O >8#,\LAE EE5E"Es:*E:VE4ZEa@a@a@a@V*>V_?V掼ٱVe=VH`],?n?` ?1?` ܑ?&0?@?iV*>IV7];VCYbYBybS IIfa=)fa=bDj߿VDj8yr<%vK=ٔvE:Q-v>9v ?Yz ?=zEyzhDzmEz>|Q 54~2L`?Q 9 4~dz)~BBY y r?Q I @~ cDI~:i~:~}4yɮA:i9=FNOT Ignoring new targets: 275.86 m."iE1*iE1U ProNav: ac range: 275.858551 m, nav range: 272.114960 m, bearing: 30.381056 deg, approach rate: -0.607659 m/s, LOS rate: -0.004349 deg/s, cmd heading: 32.657774 deg, new cmd heading: 32.654387 deg. iU]HeadingCmd: 0.569927 target range: 275.858551 and range: 275.80 m.h]?hYhYhYhagagajgargaeireiZei:ei*emMF?ԙ颡ɢ6<) (>i) {顩igXûi?*6=$Cw=I?IY@Y @Y@a@a%=%%=%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119AAAEAABE>BABEZ IBE^BBE =BABEDBE;BEgpE^AHu=I I O > :>#,[\LA2Y>2=?2ٱ2MC=2H .?@㊤? ??SP?`;?`?i2Y>I2f^;2CY:^By:Y Ii~Mb@Mb@Mb@|||| |9~~jt?y&1?Y~?y~`e<~~@~& A ~A)~SA|Y~AbDVD8y%<%%F=ٔ-L;Q-->9)Y)=5Ey5 iD5E5>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754689Q 54^`?Q 94v)EBY?Q E:y?Q I@cDI:i4:24yBɮAEB*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 275.86 m."iMݸ*iMݸ} ProNav: ac range: 275.858551 m, nav range: 271.855011 m, bearing: 30.378410 deg, approach rate: -0.594239 m/s, LOS rate: -0.006056 deg/s, cmd heading: 32.654387 deg, new cmd heading: 32.649089 deg. i}P1HeadingCmd: 0.569834 target range: 275.858551 and range: 275.80 m.h?hhhhggjgrg!BereZe:e*e?E= E=E=3E9"E=:*E=e:VE=4ZE9BE=>iY)]Eaaieƻie?ms(=mu=I?I!A@A @A@A@AQ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007060^Am C|w=IA IQ Oe >y E#,]LA$ɰ&;f6I>f o?fP0ٱf=fH+?9S???`7?`??if6I>IfxQ^;fCYveByvb IbD VD 8y%o=%-J=ٔ-;Q-->9)Y1=5Ey5iD5:E5>9Q 5E4=4o`?Q 9M4=@s)=GBYIyMK?Q IM@=+cDI=:i=~:=4yQɮUNAY:iyFNOT Ignoring new targets: 275.86 m."i(*i(츝 ProNav: ac range: 275.858551 m, nav range: 271.619263 m, bearing: 30.375968 deg, approach rate: -0.622369 m/s, LOS rate: -0.006452 deg/s, cmd heading: 32.649090 deg, new cmd heading: 32.644202 deg. i<HeadingCmd: 0.569749 target range: 275.858551 and range: 275.80 m.h?hhhhggjgrgereZe:e*eR?QYɢ]V<)a efA>ia)easaaieMCɻim?m=ux=Iu?I)@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262590ԁEE EAEAEA"EE&:*EAVEAZEAaM@aM@aM@aM@^Apu=A>A?IԹIO > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510729bL#,Ig2]LAB}>ByB}l IB}nBByByB}DB}];B}*pE6Nm>6?6qٱ6 =6Hv*?@Wץ???̨7?#?i?i6Nm>I6^;4Y>iByBg I DDiuMb@Mb@Mb@qqqq q9ux?:v?{Gz?YuK?yu9Y=Ey+iDR,:E>Q 54p`?Q 94o)LBYv?Q E:y@?Q I@;cDI3;ij;K4yBɮAE:iFNOT Ignoring new targets: 275.86 m."ic*ic  ProNav: ac range: 275.858551 m, nav range: 271.372314 m, bearing: 30.372393 deg, approach rate: -0.589716 m/s, LOS rate: -0.008545 deg/s, cmd heading: 32.644203 deg, new cmd heading: 32.637046 deg. i 8z HeadingCmd: 0.569624 target range: 275.858551 and range: 275.80 m.h ?hhhhggjgrgBe!re!Ze!:e!*e%Wg?QԱɢP<) &J>i)xGiH̻i?=>y=I?I}9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762640^Aw= I1 E]  E] E] 2EY "E] ;*E] |:VE] 4ZEY BE] A9 'R#,AL]LA6Cխ>6?6ˀbٱ6zR=6H '?2?`Z?`V?޸@O?@?$?i6Cխ>I6_;6CYBtByBu IbDJؿVDJ8yR*r=%R[=ٔV#;Q-V>9TYX=ZEyZ:iDZz ;EZ>\Q 5b4^Ə`?Q 9b4^Ol)^PBYdyfr?Q If@^IcDI^.:i^:^ϙ4yhɮjlAh:i|~FNOT Ignoring new targets: 275.86 m."i*i ProNav: ac range: 275.858551 m, nav range: 271.152374 m, bearing: 30.369168 deg, approach rate: -0.590518 m/s, LOS rate: -0.008665 deg/s, cmd heading: 32.637045 deg, new cmd heading: 32.630590 deg. i}HeadingCmd: 0.569511 target range: 275.858551 and range: 275.80 m.h}?hhhhg!g!jg!rg!e!re)Ze):e)*e-@@Qɢ]1R{<)Y ]`>iY)e%aaie ϻim}?m =m}=Im}?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014934@ @@3@A^AQIIO>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266764EY  E] E] 3EY "EY *E] :VE] 4ZEY ae @ae @ae @am @ Y#,sIf]LA@6eO>6"?6uZٱ6>=6H #? KR:?`?`? 2N?Y?a?i6eO>I6m&_;4Y>yBy>z IbDJԿVDJ8yNR<%NI=ٔR:Q-R>9TYT=VEyVJiDVh;EZ>XQ 5^4Zv`?Q 9^4Zh)ZTBY`yb?Q Ib@ZXcDIZ:iZ:Z4yfBɮjfAjE:ix~FNOT Ignoring new targets: 275.86 m."i~ *i~  ProNav: ac range: 275.858551 m, nav range: 270.913025 m, bearing: 30.365606 deg, approach rate: -0.589391 m/s, LOS rate: -0.008779 deg/s, cmd heading: 32.630590 deg, new cmd heading: 32.623460 deg. iHeadingCmd: 0.569387 target range: 275.858551 and range: 275.80 m.hU?hhhhggjgrgereZe:e*e@iɢmXt<)q u0j>iq)uӶѹyyi}6\һiU?R=;=IU?IamR>im>GG{A9@! @!@%0@!5ɢ95{AY5!AB<A<B>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519421B4CBy IBxBB =BBB6;BpEB3CB3CBB =B =C[5ԁԹ ^A |=A zA xAAy I I O >1`#,Ѐ]LA6>69?6Pٱ6=6H ? `̶?`f?V?D-?=??i6>I6_;6CYb{Byb| IIfC>)fp=bDnVDn8yrM<%vA=ٔvr:Q-v>i|I~A~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7711749xY=Ey[iD|:E> Q 54 `?Q 94 e) XBYy?Q I@ icDI :i ; W4y%Bɮ%vA)EB*** querying acoustic contact ***iAiA:iIUFNOT Ignoring new targets: 275.86 m."iU"*i]"e ProNav: ac range: 275.858551 m, nav range: 270.661957 m, bearing: 30.361837 deg, approach rate: -0.589355 m/s, LOS rate: -0.008856 deg/s, cmd heading: 32.623459 deg, new cmd heading: 32.615914 deg. iemHeadingCmd: 0.569255 target range: 275.858551 and range: 275.80 m.hu?hqhqhqhqgqgqjgyrgyeyreyZe:e*e` V@颩ɢ|<) m>i)b项iYջi?=Q"=I?IE EE7E"Es:*E:VEԺ4ZEBEs0VXf#,]LA6ή>61?6YHٱ6=6H`? !??@?p# ?C?@B?i6ή>I6l^;6CY>rByBr IbDJ̿VDJ}8LyV%*%VO=ٔV :Q-V>9XYX=ZEyZkiDZ:E^>`Q 5b4b`?Q 9f4ba)b\BYdyf?Q If@bwcDIb :ib\:b64yhɮnAl:i|FNOT Ignoring new targets: 275.86 m."i#*i# ProNav: ac range: 275.858551 m, nav range: 270.430023 m, bearing: 30.358327 deg, approach rate: -0.590315 m/s, LOS rate: -0.008942 deg/s, cmd heading: 32.615915 deg, new cmd heading: 32.608889 deg. i낹HeadingCmd: 0.569132 target range: 275.858551 and range: 275.80 m.h?h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5Yz @Yɢ]fx<)a er\>ia)eEaaie+ػim?m=m=Iu?Iq 9@ @@/@@yA@yA BDAT read: Rx Time:01:12:21.3657 TRx dataTimestamp_ set to:1764897142.548608checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275868E EE4E"E;*E:VE4ZEa@a@a@a@^A5Pڀ=I I O >) B >B 3CB IB BB  =B B DB 9;B pE߹ ߽ R= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5270186l#,r]LAɰ4<2n>2z?2Bٱ2_=2H`? ???m帿 _?@}? ?i2n>I2^;0Y:uBy>v I|a@a a@a a@a a@a bDVD8y[<%5=ٔ%a>:Q-->9)Y1=5Ey}iD$,;E>Q 541`?Q 94r])aBQ A+:YQ E:y<?Q I@cDIY;i>ɵ4yBɮAE:iFNOT Ignoring new targets: 275.86 m."i %*i % ProNav: ac range: 275.858551 m, nav range: 270.155975 m, bearing: 30.354100 deg, approach rate: -0.583998 m/s, LOS rate: -0.009018 deg/s, cmd heading: 32.608887 deg, new cmd heading: 32.600424 deg. iHeadingCmd: 0.568985 target range: 275.858551 and range: 275.80 m.h?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e=@=@1颩ɢh<) b>i).9!!i%|ۻi-?-=-+h=I-?I19@ @@05@Q]DAT read: 01:12:21.3657 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.09, 2.402, 1.055, 2.561, 1.890, PHS= 0.614,-0.790, 0.627, RAW= 150.5, -6.4, CAL= 150.4, -7.9, ROT= 359.6, 7.9 uYgot valid direction response: 01:12:21.3657 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.09, 2.402, 1.055, 2.561, 1.890, PHS= 0.614,-0.790, 0.627, RAW= 150.5, -6.4, CAL= 150.4, -7.9, ROT= 359.6, 7.9 }PDAT read: Bearing 173.5, -0.7 (Local) }~Local bearing/azimuth received: Bearing 173.5, -0.7 (Local) DAT read: Range 11 to 50 : 273.4 m (Round-trip 364.6 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.990485,-0.006915,-0.137445]Fpublishing direction and range infoySH?S(R|yjȗYC )I/?iq=J ?0(@'@ 0 )@I0 >wh?\|[6? ?)=Ii0 >uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.E EEE"E:*E:VEZEBE&5Ws#,]LA2Uʯ>2?2=ٱ2$=2H?9i??%?@'[?b??i2Uʯ>I2m^;2CY:{ByN} IVAAVAAXbDZVDZ8yb<%fV=ٔf`:Q-f>9dYh=jEyjiDj:En>lQ 5r4nJ`?Q 9r4n3Z)neBQ Av :YtQ Evk:yvn?Q Iv@ncDInb:inU?n4y|ɮ~A|iiQ]LAjC"jC:j?Rj{Rp@8A*VBBjSH?S(R|yjȗ*j2j0 >Zj]94l@&>=Cb@S8AJj kH?ګ=?4 5jC jdCiNQ!?iλ'WjiAjNQ!?jCWjrjCzj?E addTargetRange:: Added new target pos. range: 273.399994 m, deltaT: 4.032165 s, deltaX: -2.399994 m, approachRate: -0.595212 m/s, rangeRepo size: 4 U Added new target pos. range: 273.456848 m, bearing: 32.588674 deg, lat: 36.779753 deg, lon: -121.859573 deg, deltaT: 4.032165 s, deltaX: -2.401703 m, approachRate: -0.595636 m/s, posRepo size: 4 :iY]FNOT Ignoring new targets: 273.46 m."i]*iYm ProNav: ac range: 273.456848 m, nav range: 271.266022 m, bearing: 32.583750 deg, approach rate: 0.000000 m/s, LOS rate: -0.009018 deg/s, cmd heading: 32.600425 deg, new cmd heading: 32.593801 deg. iquHeadingCmd: 0.568869 target range: 273.456848 and range: 273.40 m.h}h?hyhyhyhygygyjgrgereZe:e`fq@*e]?颵BɢD^<) l>i)99项i{2޻ih?=C=Ih?I(DAT read: user:79> BDAT read: Tx time:01:12:22.6469 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508229 bEH4jE%4rEʝ/E=  E= E= 7E9 "E= s:*E= :VE= Ժ4ZE9 aM @aM @aM @aM @Vy#,p]LAY%sBy%s IbDEVDEİ8yUd%]B=ٔeQ-e>9iYi=mEymiDuEu>yQ 54}`?Q 94}xV)}iBQ A9YQ E>:yQ I@}cDI},:i}?}4yBɮAE:iFNOT Ignoring new targets: 273.46 m."i*i ProNav: ac range: 273.456848 m, nav range: 271.015991 m, bearing: 32.581923 deg, approach rate: -0.590426 m/s, LOS rate: -0.004317 deg/s, cmd heading: 32.593799 deg, new cmd heading: 32.590143 deg. iHeadingCmd: 0.568805 target range: 273.456848 and range: 273.40 m.h9?hhhhggjgrgere Ze1:e9*eE`Ms?9ɢ=g<)A E[>iAI)E8y :iiimyiu9?uؑ=u=Iu9?IqAA@ABBB IB}BB =BBB;;BpEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976y@y @@/@@=@y^A _=ԡ A yAzA wAI I O% >-ɀ#,K^LA@&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917YE\ByEW Iyaa aa aa aa iMb@Mb@Mb@ 9zG?l?y&1|Y ?y=`nA )YAbDVD8E EEE"E:*E&p:VEZEBEI89!Y!=%Ey%iD!E->)Q 554-a?Q 9=4-R)-jBQ A=T:Y=X?Q E=:y=?Q I=@-cDI-: ;i- ;-d4yIɮMAIeB*** querying acoustic contact ***iaia:iquFNOT Ignoring new targets: 273.46 m."i}*i} ProNav: ac range: 273.456848 m, nav range: 270.764099 m, bearing: 32.578929 deg, approach rate: -0.595509 m/s, LOS rate: -0.007086 deg/s, cmd heading: 32.590142 deg, new cmd heading: 32.584147 deg. i{OHeadingCmd: 0.568701 target range: 273.456848 and range: 273.40 m.h^?h)h1h1h1g1g1jg9rg=Be9re9Ze9:eA*eEi)^]/:顱ii^?ґ=Ү=I^?II)yAԩa@a @a@a@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006872^A [=I I1 OM > k#,4^LA2ue>2,?2*ٱ2=2H? b ާ?H? ?@㷿A?k?N?i2ue>I2];2CY:kBy:i II>=)>Y>bDFVDF8yN=%Nf=ٔNM\;Q-R>9PYP=REyRiDVY;EV>XQ 5^4ZEa?Q 9^4ZXO)XY\y^? ?Q Ib@ZcDIZ+;iZ;Z4yfBɮfAfE:itzFNOT Ignoring new targets: 273.46 m."i~*i~ ProNav: ac range: 273.456848 m, nav range: 270.553986 m, bearing: 32.576374 deg, approach rate: -0.591148 m/s, LOS rate: -0.007192 deg/s, cmd heading: 32.584148 deg, new cmd heading: 32.579035 deg. i R HeadingCmd: 0.568611 target range: 273.456848 and range: 273.40 m.h ?h hhhggjgrgereZe!:e!*e%@H?IɢMb<)Q UJ>iQ)UQ:QYi]n5i]?eΑ=e=Ie?Ia@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260052E EE2E"Es:*E|:VE4ZEa @a @a @a @^A=IyIO>1B >B B y IB xBB  =B B DB C;B pE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510820Q }#,T7^LA.>.J?.j(ٱ.=.Hs ?_`? ??`G, 5???i.>I.];.CYBcByB_ IiMb@Mb@Mb@ 9-??~jtxY??y<Ļ A nA)AYbDVD°8yk%9=ٔ9Q->9Y=EyiD 0;E>Q 54'a?Q 94yK)kBYd?Q E:yz?Q I@cDI4:i:T4yɮA:iFNOT Ignoring new targets: 273.46 m."i%*i%15 ProNav: ac range: 273.456848 m, nav range: 270.296417 m, bearing: 32.574257 deg, approach rate: -0.583010 m/s, LOS rate: -0.004797 deg/s, cmd heading: 32.579036 deg, new cmd heading: 32.574798 deg. i=t EHeadingCmd: 0.568537 target range: 273.456848 and range: 273.40 m.hE?hAhAhAhAgAgIjgIrgMBeIreQZe:e*eee?ɢP<)! %29>i!)%}:!!i%viU?Uɑ=U=IU?IY9@ @@/@aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762868E EE4E"E*E:VE4ZEBEs0Թ N#,7P^LA4<ɰ;>@N>>q?>͑ٱ>̯=>H` ?> ۨ???@F%?(?@a?i>@N>I>];>CYJXByJR IbDRVDRŰ8yZEf%Z^=ٔZ&:Q-Z>9\Y\=^Ey^iDb:Eb>dQ 5j4f5a?Q 9j4f>H)dYhyj?Q Ij@fcDIf:if~:f4yrBɮryAp:i FNOT Ignoring new targets: 273.46 m."i *i% ProNav: ac range: 273.456848 m, nav range: 270.081421 m, bearing: 32.572460 deg, approach rate: -0.583242 m/s, LOS rate: -0.004880 deg/s, cmd heading: 32.574798 deg, new cmd heading: 32.571200 deg. i%%HeadingCmd: 0.568475 target range: 273.456848 and range: 273.40 m.h-?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=r@eBɢmRU<)i mp#>ii)ma:iiiuiu?}Ƒ=}f=I}?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014948ԑ59@1 @1@50@1^AU=I1 IA OM >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847E%  E% E% 5E! "E% :*E% ]t:VE% 4ZE! a- @a- @a- @a5 @ j/#,Jj^LAF>FE?F5ٱFj=FH?eR]?@!??`$c U݂?b??iF>IF0];FCYV^ByVY I XXbD~ VD~8y L<% E=ٔ :Q->9Y=EyiD:E>!Q 5-4%Fa?Q 9-4%D)%lBY)y-?Q I5@%cDI%:i%:%4y9ɮ=OA9:iaeFNOT Ignoring new targets: 273.46 m."im*im} ProNav: ac range: 273.456848 m, nav range: 269.839172 m, bearing: 32.570394 deg, approach rate: -0.582884 m/s, LOS rate: -0.004975 deg/s, cmd heading: 32.571198 deg, new cmd heading: 32.567063 deg. i}HeadingCmd: 0.568402 target range: 273.456848 and range: 273.40 m.hӂ?hhhhggjgrgereZe:e*e@V@ɢ|R<) ->i)*؟:i*{iӂ?Ñ=rK=Iӂ?I 9@ @@\3@B=<A=<BU>BU4CBUl IBUnBBQBQBQBUc;BU1pE><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519256^A=II O>I I#,h^LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770889:ݱ>:m?:Rٱ:=:H@'?yĻ?;$?@?R}Z#? ?`?i:ݱ>I:^;:CYDyDiMb@Mb@Mb@ 9|?5^?{Gzt?9Y=EyiD#o:E>Q 547Wa?Q 94BA)kBY ?Q E:yx?Q I@dDI:i:a4yBɮkAEE EE3E"E:*Ez:VE4ZEBE6i)B:顑iQi?=Z֌=I?IQM9@I @I@M@5@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025746^Amp,=IIO>ԩ A#,"p^LA2&>2|?2Mm ٱ2yY=2H ?`9h?`(? ?ĸ`-?? ?i2&>I2 ^;2C9Y=EyjD M:E > Q 54 Ifa?Q 94 3>) jBYy?Q I@ dDI ;i ; 4y!ɮ-A):iIUFNOT Ignoring new targets: 273.46 m."iU*iUe ProNav: ac range: 273.456848 m, nav range: 269.392853 m, bearing: 32.569649 deg, approach rate: -0.562908 m/s, LOS rate: -0.000977 deg/s, cmd heading: 32.566311 deg, new cmd heading: 32.565571 deg. im䷝mHeadingCmd: 0.568376 target range: 273.456848 and range: 273.40 m.hm?hihqhqhqgqgqjgyrgyeyreyZe:e*eR @颩ɢW<) %>i):顱iW i?=;΍=I?I=BDAT read: Rx Time:01:12:25.4135 =TRx dataTimestamp_ set to:1764897146.580910Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276282m9@q @q@u4@qԩE EE2E"E:*E n:VE4ZEa@a@a@a@^A C5GaI9 Ia i 9 Y lA O >BM >BM 3CBM ` IBM dBBM  =BI BI BM f;BM 3pEBBBBBC+ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526938Ar#,e^LA^=W>^?^Kٱ^%=^H`%?  I?*?o?⸿@s)?5?`?i^=W>I^?^;\hYjSBynK IIr>)r<bDv VDv8y~%~I=ٔ,:Q->9Y=Ey jD  r:E >Q 54/va?Q 94:)Y!y%?Q I%@dDI~:iS:54y-Bɮ-A5E:iFNOT Ignoring new targets: 273.46 m."it*it ProNav: ac range: 273.456848 m, nav range: 269.167755 m, bearing: 32.569239 deg, approach rate: -0.537911 m/s, LOS rate: -0.000980 deg/s, cmd heading: 32.565570 deg, new cmd heading: 32.564750 deg. i川HeadingCmd: 0.568362 target range: 273.456848 and range: 273.40 m.h.?hhhhggjg)rg)e)re)Ze1:e1*e5@%5@yɢ}w@><) >i)e;:iiiuAi .?=E%b=IE.?IQ]DAT read: 01:12:25.4135 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.32, 0.769,-0.602, 1.020, 0.260, PHS= 0.611,-0.816, 0.716, RAW= 153.5, -6.9, CAL= 153.7, -8.5, ROT= 356.3, 8.5 mYgot valid direction response: 01:12:25.4135 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.32, 0.769,-0.602, 1.020, 0.260, PHS= 0.611,-0.816, 0.716, RAW= 153.5, -6.9, CAL= 153.7, -8.5, ROT= 356.3, 8.5 uPDAT read: Bearing 173.5, -4.2 (Local) u~Local bearing/azimuth received: Bearing 173.5, -4.2 (Local) }DAT read: Range 11 to 50 : 271.8 m (Round-trip 362.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.986954,-0.063824,-0.147809]Fpublishing direction and range infoy15 3Q!?И9V%)k¿Y5C1111 1)5BI5j?i5`P5K7?5v+@5Ϣ5>+@ 5)5@I5>11589S{?!F?` 5w?)5d=I5)Ai5>11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@05@)E EE3E"Ea:*E:VE4ZEBE(Eմ#,|E^LA> K>>?>ٱ>Y=>H? ,?*? ?@`~?[?W?i> K>I>F^;>CN(DAT read: user:80> RBDAT read: Tx time:01:12:26.6469 R$Ping request sent.R9"?Y"?=Ey0jDu`E > Q 54 2a?Q 94 7) iBYy?Q I@ -dDI ;i : 4y!ɮ-A)iiim\^LAjmC"jmC:jmE?RjmTVp@JSY1pDBjm 3Q!?И9V%)k¿*jm)A2jm>ZjmU.2m@dYJ`@d4CJjmFX4~?=`?aܥ|¿jmJC jmiCim"-i?imrbjmAjijijmArjmvCzjmф?u addTargetRange:: Added new target pos. range: 271.799988 m, deltaT: 4.031931 s, deltaX: -1.600006 m, approachRate: -0.396834 m/s, rangeRepo size: 4  Added new target pos. range: 271.857666 m, bearing: 29.712106 deg, lat: 36.779753 deg, lon: -121.859573 deg, deltaT: 4.031931 s, deltaX: -1.599182 m, approachRate: -0.396629 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 271.86 m."i*i ProNav: ac range: 271.857666 m, nav range: 268.926910 m, bearing: 32.568805 deg, approach rate: 0.000000 m/s, LOS rate: -0.000980 deg/s, cmd heading: 32.564751 deg, new cmd heading: 32.563914 deg. iHeadingCmd: 0.568348 target range: 271.857666 and range: 271.80 m.h9?hhhhggjgrgereZe:ep@*e?aiɢmC<)i m>ii)u :qqiuÑi}9?}=}y!=I}9?Iy9@ @@4@ԑMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251073^A} t= E  E E 2E "E :*E ~:VE 4ZE a @a @a @a @A .AI I O >#, ^LA;ɰ4<2Z>2x?2ٱ2j=2H`?@4 y?*??L}?L? ?i2Z>I23e^;2CY:UBy:N IbDFVDF8TyZW%bO=ٔf<:Q-f>9f ?Yf ?=fEyj@jDj9Ej>lQ 5r4na?Q 9r4n]4)nhBYtyv?Q Iv@n;dDIn :in:n4yzBɮzAx:iFNOT Ignoring new targets: 271.86 m."i3*i3E ProNav: ac range: 271.857666 m, nav range: 268.707397 m, bearing: 32.568402 deg, approach rate: -0.532734 m/s, LOS rate: -0.000978 deg/s, cmd heading: 32.563914 deg, new cmd heading: 32.563108 deg. iM川HeadingCmd: 0.568333 target range: 271.857666 and range: 271.80 m.hM~?hhhhggAAAAAAB>B4CBS IBYBB =BBB4;BpEjgargachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505504ereZe:e*e@^?ɢH<)i m>ii)u:qqiui}M~?}3=}b=I}M~?II)9@! @!@%/@!! ^AA ia Ie Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755241Au ؟AIy I O >u#,~_LAE> E>E>3E<"E>:*E>:VE>4ZE<BE>>>V ?XVmλٱV=VH ?`gq?@9-??Vy?@??iVʆ>IV^;VCYbXBybR I dda@a a@a a@a a@a bDVD8yX<%3=ٔ ;Q->9"?Y"?=EyRjD[D:E%>!Q 5-4%a?Q 954%0)%gBQ A5+:Y1Q E5:y5?Q I5@%KdDI%D;i%;>%- 4y9ɮEAA]B*** querying acoustic contact ***iYiY:iamFNOT Ignoring new targets: 271.86 m."iu*iu} ProNav: ac range: 271.857666 m, nav range: 268.454956 m, bearing: 32.567918 deg, approach rate: -0.578949 m/s, LOS rate: -0.001111 deg/s, cmd heading: 32.563108 deg, new cmd heading: 32.562139 deg. iHeadingCmd: 0.568317 target range: 271.857666 and range: 271.80 m.h%1}?h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=v?Bɢ`Z<) j$>i) v(;  i ji1}?Ʒ==I1}?I@ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007392 ^A =A AM .AIY Iq O T#,"_LA2u>2_?2[ٱ2=2H@8? cD̬?`X,??`o^"w? "??i2u>I2^;2CY:QBy:H IbDFVDF8yNx.%N`=ٔN:Q-N>9R ?YR ?=REyRajDVoEV>XQ 5^4ZҶa?Q 9^4Z-)ZfBQ A^ :Y\Q E^{:y^?Q Ib@ZXdDIZX:iZR?Z]4dyjBɮjAj{E:ix~FNOT Ignoring new targets: 271.86 m."i~*i~  ProNav: ac range: 271.857666 m, nav range: 268.252472 m, bearing: 32.567535 deg, approach rate: -0.553580 m/s, LOS rate: -0.001049 deg/s, cmd heading: 32.562138 deg, new cmd heading: 32.561370 deg. i HeadingCmd: 0.568303 target range: 271.857666 and range: 271.80 m.hP|?hhhhggjg!rg!e!re!Ze!:e)*e- ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258998ɢ\mS<) $>i) ;i>iP|?y==IP|?I DADE<bE4jEH4rE/EM EMEM4EI"EM:*EMxv:VEM4ZEIae@ae@ae@ae@i@q @q@u/@q)^AĎ=Bm>BiBiBiBm =BiBiBm';BmoE= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510988Q A] ؟AIi I O >tu#,<_LA23>2l?2M6ٱ2N(=2H`s?[? (??*\`Fu?4?`g?i23>I2];2CY:ZBy>T Ia-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-9e"?Ye"?=eEyerjDmyEm>qQ 5}4ua?Q 9}4u*)udBQ A}T:Y?Q E:yb?Q I@uhdDIu ;iu ;u4yɮTA:iFNOT Ignoring new targets: 271.86 m."i@8*i@8 ProNav: ac range: 271.857666 m, nav range: 268.006927 m, bearing: 32.570024 deg, approach rate: -0.576761 m/s, LOS rate: 0.005854 deg/s, cmd heading: 32.561370 deg, new cmd heading: 32.566354 deg. if+9HeadingCmd: 0.568390 target range: 271.857666 and range: 271.80 m.h?hhhhggjgrgԁBereZe:e*e?Bɢ^<) 6(>i)];!!i%Vi%?-g=-b=I-?I)9i=>9@ @@/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763429Ee EeEaEa"Ee;*EeAr:VEaZEaBEeD ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958b#,V_LA~l>>~?~ޛٱ~c=~H?1?q)? ?@rw{s?og??i~l>>I~{^;~CY5eBy5b IIE=)E>bD]VD]8yu\=%}H=ٔ}K:Q-}>9 ?Y ?=EyjDL9E>ԉQ 54a?Q 94')bBYyh?Q I@wdDI::i:4yBɮA:iFNOT Ignoring new targets: 271.86 m."i8*i8 ProNav: ac range: 271.857666 m, nav range: 267.770935 m, bearing: 32.572417 deg, approach rate: -0.576176 m/s, LOS rate: 0.005846 deg/s, cmd heading: 32.566352 deg, new cmd heading: 32.571141 deg. im.+9mHeadingCmd: 0.568474 target range: 271.857666 and range: 271.80 m.hm}?hqhqhqhqgqgqjgyrgyeyreyZey:e*eu@)ɢ-Cw<)) 5?>i1)5Z;11i5ki=}?=-==3=I=}?I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028^Ap,=Da zDa Em  Ei Ei Ei "Em V:*Ei VEi ZEi a} @a} @a} @a} @ AQ IY Ii O} >G#,Zp_LA2\>2 ?2>ٱ2r=2H$?`?$.? V? Dq??@?i2\>I2^;2CYNdByR` IbDZѿVDZ8yb%bW=ٔbS:Q-f>9dYd=fEyfjDj]:Ej>lQ 5r4na?Q 9r4n$)n`BYpyr?Q Iv@ndDIno;in;n$4yxɮzAx:iB>BBZ IB^BB =BBB,;BoEYmFNOT Ignoring new targets: 271.86 m."i8*i85checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521697] ProNav: ac range: 271.857666 m, nav range: 267.552826 m, bearing: 32.574599 deg, approach rate: -0.542368 m/s, LOS rate: 0.005430 deg/s, cmd heading: 32.571140 deg, new cmd heading: 32.575508 deg. i]9HeadingCmd: 0.568550 target range: 271.857666 and range: 271.80 m.h|?hhhhggjgrgereZe:e*e d@mBɢ-s<)) -$?>i))5d);11i5i=|?=g===I=|?Iaԉ9@ @@@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774401^A] = E  E E E "E :*E :VE ZE BE &5#,_LAɰp;RZ²>R+?Rj~ٱRu*=RH ?``? k0?@?`ho?ӽ?`$?iRZ²>IRl^;RCYjmByjl IQieMb@Mb@Mb@aaaa a9e?~jt~jtx?Ye ?yee;e/@e A eA)eAaYeAbD}VD}8yr =%,=ٔ:Q->9"?Y"?=EyjD45:E>Q 54a?Q 94-!)bBY ?Q E:y?Q I@dDID;i;,4yBɮA|EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 271.86 m."i*8*i*8u ProNav: ac range: 271.857666 m, nav range: 267.291840 m, bearing: 32.576672 deg, approach rate: -0.577786 m/s, LOS rate: 0.004594 deg/s, cmd heading: 32.575508 deg, new cmd heading: 32.579659 deg. i}9}HeadingCmd: 0.568622 target range: 271.857666 and range: 271.80 m.h};?hhhhggjgrgBereZe:e*e @Bɢu<) S>i)j4;iii-;?-)=-2=I-;?I19ԁ?>C=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0234519@ @@ 0@Ա^A% x= AQ IY Ii O} >D#,_LABDAT read: Rx Time:01:12:29.4101 TRx dataTimestamp_ set to:1764897150.612579checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276136r>r]>?r)_ٱrz=rHw? [ீ?f2? ?k? ?y?ir>Ir^;rCYzsByzs I ||bD  VD 8y<%R=ٔ:Q-%>9!Y!=%Ey%jD-@:E->1Q 5545 b?Q 9=45R)5cBY9y=#?Q I=@5dDI5 ;i5;534yIɮMAI:iiuFNOT Ignoring new targets: 271.86 m."iu]8*iu]8 ProNav: ac range: 271.857666 m, nav range: 267.078125 m, bearing: 32.578360 deg, approach rate: -0.550885 m/s, LOS rate: 0.004354 deg/s, cmd heading: 32.579657 deg, new cmd heading: 32.583036 deg. i8HeadingCmd: 0.568681 target range: 271.857666 and range: 271.80 m.h?hhhhggjgrgereZe:eԹ*e @E EE7E"El;*E n:VEԺ4ZEa@a@a@a@颙ɢt<) `>i)?;顩ii?=P=I?Ii@i @i@m0@iB>BBl IBnBB =BBB@;BpEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530172!^A{=A! Q Ii I O >"7#,>_LA^DG>^n?^<ٱ^=^HF?`׮?@p7? ?C@g?Ͻ?=?i^DG>I^]];^CYfByf IiUMb@Mb@Mb@QQQQ Q9U|?5^?~jtx~jtx?YU?yUĻQUE@UA Q)QQYUAbDVD8y=%>=ٔ:Q->9Y=EyjDZ:E>Q 54%b?Q 94)eBY?Q E:yu?Q I@dDI:i:-;4yBɮRA:i!-FNOT Ignoring new targets: 271.86 m."i-7*i-7= ProNav: ac range: 271.857666 m, nav range: 266.831665 m, bearing: 32.579001 deg, approach rate: -0.573064 m/s, LOS rate: 0.001494 deg/s, cmd heading: 32.583035 deg, new cmd heading: 32.584320 deg. i=.8EHeadingCmd: 0.568704 target range: 271.857666 and range: 271.80 m.hE?hAhAhIhIgIgIjgIrgU BeQreQZeQ:eQ*e]@颅BɢP<) ݁>i)wM;顉i i?=yՐ=I?IeDAT read: 01:12:29.4101 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.14, 0.318,-0.988, 0.559,-0.112, PHS= 0.532,-0.830, 0.628, RAW= 153.3, -4.7, CAL= 153.1, -6.1, ROT= 356.9, 6.1 uYgot valid direction response: 01:12:29.4101 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.14, 0.318,-0.988, 0.559,-0.112, PHS= 0.532,-0.830, 0.628, RAW= 153.3, -4.7, CAL= 153.1, -6.1, ROT= 356.9, 6.1 }PDAT read: Bearing 176.4, -3.7 (Local) ~Local bearing/azimuth received: Bearing 176.4, -3.7 (Local) DAT read: Range 11 to 50 : 269.2 m (Round-trip 359.0 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.992883,-0.053773,-0.106264]Fpublishing direction and range infoy!%6r^?WKh@O4Y%C!!!! !)%FI%'1?i%zT% ?%<+@%%+@ %^ ڽ)%T@I%^ =!!%ݡ? 1?M/֙ %T?)%ɨ=I%Q]i%^ =!! T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.%9@! @!@%?5@!E EE6E"E:*E:VEc4ZEBEP- =aAi Iq I O > (DAT read: user:81>  BDAT read: Tx time:01:12:30.6969  $Ping request sent. 9AYA=MEyMjDMEM>QQ 5]4U-b?Q 9]4U)UfBYayaQ Ie@UdDIU;iU;UA4yiɮm>Aiiaie?o_LAjeC"jeC:je?Rje@7p@S#,k֜<Bje6r^?WKh@O4*jeQ]2je^ =Zje´Wl@+4`@U=Jjei)}[;iu%Yi}?}=}5=I}?II)E9@I @I@M05@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248199yE EE5E"ED:*Ek:VE4ZEa @a @a @a @^A ~4=Ա M Ge /{Aq a9 /{AY AA .AI I O >#,F~_LAB">B"5CB" IB"}BB" =B B"DB"Z;B"1pEB4CB4CBB =B =Cs5@߭=߭4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505669YBy II<)ieMb@Mb@Mb@aaaa a9ezG?{Gz?y&1|?Ye ?yeף9 ?Y ?=EyjDE>ԩQ 54Ab?Q 94)iBY#?Q E:y?Q I@dDI4;i:CJ4yBɮJA}E:iamFNOT Ignoring new targets: 269.26 m."im*im} ProNav: ac range: 269.259918 m, nav range: 266.328369 m, bearing: 32.577641 deg, approach rate: -0.574264 m/s, LOS rate: -0.003925 deg/s, cmd heading: 32.585473 deg, new cmd heading: 32.581600 deg. i}帝HeadingCmd: 0.568656 target range: 269.259918 and range: 269.20 m.ht?hhhhggjgrgBereZe:e*e@}v?颁ɢ<) X>i)Ak;顉i|it?k=5=I=t?I99@ @@2@M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752299 E%  E% E% 3E! "E% :*E% Ar:VE% 4ZE! BE% +p[#,|F`LA2x>2/F?2Oٱ2=2H?p3`Xh?0N??`ørc? ?@ ?i2x>I2];2CY:By: IbDF VDF8yN<%N^=ٔN:Q-N>9PYP=REyRjDR<EV>XQ 5^4ZPb?Q 9^4Za)ZkBY\y^?Q I^@ZdDIZ:iZ%:ZP4ybBɮf?Af~ErB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 269.26 m."i~*i~  ProNav: ac range: 269.259918 m, nav range: 266.110748 m, bearing: 32.575996 deg, approach rate: -0.617781 m/s, LOS rate: -0.004674 deg/s, cmd heading: 32.581601 deg, new cmd heading: 32.578307 deg. i HeadingCmd: 0.568599 target range: 269.259918 and range: 269.20 m.h?hhhhggjgrgere!Ze!:e!*e% M?UBɢU<)Q Ub>iQ)]w;YYi] ie?eU=ej-=Ie?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005661@ @@/@Q^A} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256463ԩ E5  E5 E5 4E1 "E5 :*E5 |:VE5 4ZE1 a= @a= @aE @aE @l} #,z+`LA(ɰ*4V?V\>#ٱV=VH ?<`&?V?? gd?@μ??iV\>IV9r"?Yr"?=vEyv kDv)K;Ev>xQ 5~4zab?Q 9~4z )zmBYy?Q I@zdDIz:izb;zW4y Bɮ A tE:i15FNOT Ignoring new targets: 269.26 m."i=ة*i=ةM ProNav: ac range: 269.259918 m, nav range: 265.868622 m, bearing: 32.574095 deg, approach rate: -0.590414 m/s, LOS rate: -0.004640 deg/s, cmd heading: 32.578308 deg, new cmd heading: 32.574503 deg. iMUHeadingCmd: 0.568532 target range: 269.259918 and range: 269.20 m.hUV?hQhQhQhQgYgYjgYrgYeareaZea:ea*em?频ɢz<) m>i)q;顙ij iV?ⱑ=>ɘ=IV?IN>i>ԑ9@9 @9@9@9Bu>BqBu IBuBBqBqBqBu;BuhpEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511709^AU=II IY Om > xe#,UE`LA2MG>2?2=ٱ2,=2HV?tE@@?_?? } 'c?`Ǽ? ?i2MG>I2];2CY:By: I <9iYq=uEyukDuVH;Eu>yQ 54}5rb?Q 94})}pBY?Q E:y#?Q I@}eDI}:i}:}A_4yBɮkAuE:iFNOT Ignoring new targets: 269.26 m."i%*i% ProNav: ac range: 269.259918 m, nav range: 265.621948 m, bearing: 32.570272 deg, approach rate: -0.584557 m/s, LOS rate: -0.009066 deg/s, cmd heading: 32.574504 deg, new cmd heading: 32.566852 deg. iHeadingCmd: 0.568399 target range: 269.259918 and range: 269.20 m.h?hhhhggjgrg#BereZe:e*e@N@ɢΜ<)! %͘>i!)%忋;!!i% i-?-ʶ=-%=I5?I1E EE3E"E:*Exv:VE4ZEBE&5#,5_`LA :ڶ>:|7?:#ٱ: =:HY?`OL®?g?@ ?[渿|d?B?I?i:ڶ>I:3];8Y^By`bDjVDj8yr;%rS=ٔroܹQ-v>9tYt=vEyv*kDz=;Ez>|Q 54~b?Q 94~M)~sBYy .$?Q I @~eDI~ ;i~ ;~f4yɮgA:i1=FNOT Ignoring new targets: 269.26 m."iE(*iE(M ProNav: ac range: 269.259918 m, nav range: 265.395782 m, bearing: 32.566709 deg, approach rate: -0.584736 m/s, LOS rate: -0.009221 deg/s, cmd heading: 32.566851 deg, new cmd heading: 32.559718 deg. iUUHeadingCmd: 0.568274 target range: 269.259918 and range: 269.20 m.hUlz?hYhYhYhYgYgYjgargaeareaZei:ei*em(g@颕Bɢ<) r>i)Y;顡iW ilz?M=0=Ilz?I9@ @@/@iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264499DzDbEŀ4jE^4rEA/E  E E 6E "E D:*E x:VE c4ZE a@a@a@a@ԡ^AU=IIO> Bi Am <Bu >Bq Bu IBu BBq Bq Bq Bu ;Bu upE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518841`#,y`LAP\\YBy IiMb@Mb@Mb@ 95^I ?J +?Mb?Y?yH= A =A)YAbDVD8yA=%/=ٔQ->9Y=EyQ 54b?Q 94)vBY?Q E:y'?Q I@!eDI:i:'n4ymBɮu%Aq:iFNOT Ignoring new targets: 269.26 m."iE*iE ProNav: ac range: 269.259918 m, nav range: 265.119171 m, bearing: 32.561501 deg, approach rate: -0.573512 m/s, LOS rate: -0.010809 deg/s, cmd heading: 32.559717 deg, new cmd heading: 32.549290 deg. iAHeadingCmd: 0.568092 target range: 269.259918 and range: 269.20 m.hn?hhhhggjgrg)BereZe:e*e N@!ɢ%ϐ<)) -ܤ>i))-ť;))i-i5n?5pÑ=1I=n?I9A9@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768361E-  E- E- 4E) "E- :*E- xv:VE- 4ZE) BE- 3$#,l`LA64>6s?6/ٱ6=6H?\?y?`?%we??`?i64>I6n9];6CY>ByB IbDJVDJ8yR~)<%Ru=ٔRQ-V?9TYT=VEyVJkDZ<EZ?\Q 5b4^Vb?Q 9b4^)^yBY`yfj(?Q If@^-eDI^ ;i^` ;^s4yhɮjAhvB*** querying acoustic contact ***itit|:iFNOT Ignoring new targets: 269.26 m."i ]*i ] ProNav: ac range: 269.259918 m, nav range: 264.921051 m, bearing: 32.557653 deg, approach rate: -0.623162 m/s, LOS rate: -0.012112 deg/s, cmd heading: 32.549290 deg, new cmd heading: 32.541589 deg. iS%HeadingCmd: 0.567958 target range: 269.259918 and range: 269.20 m.h%e?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5 @aɢe;<)a e>ia)mDS;iiim|iue?uɑ=ug=Iue?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0210499@ @@0@@@zA)^AD=YIaIO>m BDAT read: Rx Time:01:12:33.4583 m TRx dataTimestamp_ set to:1764897154.644460u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273267ԉ D <D E!  E% E! E! "E! *E% :VE! ZE! a- @a- @a- @a- @*#,kH`LA2ɸ>2k/?2j Cٱ2*=2Ho?=d??_?۹jah?Ve??i2ɸ>I2e];2CYNByR IbDZVDZ8ybFG%bH=ٔfCQ-f>9dYd=fEyf[kDj7;Ej>lQ 5r4nb?Q 9r4n)n|BYpyv(?Q Iv@n=eDIn:in:n{4yzBɮzAzvE:iFNOT Ignoring new targets: 269.26 m."i%cV*i%cV- ProNav: ac range: 269.259918 m, nav range: 264.678741 m, bearing: 32.552880 deg, approach rate: -0.594224 m/s, LOS rate: -0.011715 deg/s, cmd heading: 32.541589 deg, new cmd heading: 32.532036 deg. i55HeadingCmd: 0.567791 target range: 269.259918 and range: 269.20 m.h5Z?h9h9h9h9g9gAjgArgAeAreAZeI:eI*eM) @ԙɢ58<)A Es>iI)M ;IIiMimZ?ӑ==E=IZ?IB>BB IBBBBBB;BtpE@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527769^A=A ! IA IY Oe >1#, `LA4<ɰBz>B?BϱYٱB=BH?n.?? ?866k?̾?`s?iBz>IBZ];BCYJByJ IMDAT read: 01:12:33.4583 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 425,-0.12, 1.769, 0.583, 1.982, 1.407, PHS= 0.464,-0.780, 0.531, RAW= 152.6, -3.4, CAL= 152.1, -4.6, ROT= 357.9, 4.6 UYgot valid direction response: 01:12:33.4583 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 425,-0.12, 1.769, 0.583, 1.982, 1.407, PHS= 0.464,-0.780, 0.531, RAW= 152.6, -3.4, CAL= 152.1, -4.6, ROT= 357.9, 4.6 ePDAT read: Bearing 178.1, -2.5 (Local) e~Local bearing/azimuth received: Bearing 178.1, -2.5 (Local) mDAT read: Range 11 to 50 : 267.9 m (Round-trip 357.2 ms) speed 0.5 m/s uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.996109,-0.036526,-0.080199]}Fpublishing direction and range infoy!%10 ?Bï=~zꇴY%C!!!! !)%EI%h>i%G%?%t*@%s%)@ %l)%@I%l=!!%mr*?#h5?zMa %'?)%/s=I%Q i%l=!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9&1??Mbp?Y?yL=;\@ A)YGAbDVD8y=C%;=ٔNQ->E EEE"E&:*E&p:VEZEBEk;Q 5%4b?Q 9%4P)BY-v?Q E-:y-*?Q I-@NeDI:iI:y4yɮA!i!i%yv`LAj%C"j%C:j% ?Rj%oѽp@6r3;#_ы}5Bj%10 ?Bï=~zꇴ*j%Q 2j%l=Zj%8}el@gpa@jL5Jj%Dt ]!?is?Z ڨj%p C j%/cCi%?i%pj%.Bj%?j%pj!rj%Czj%Ѽ ? addTargetRange:: Added new target pos. range: 267.899994 m, deltaT: 4.031691 s, deltaX: -1.300018 m, approachRate: -0.322450 m/s, rangeRepo size: 4 % Added new target pos. range: 267.963867 m, bearing: 31.723328 deg, lat: 36.779791 deg, lon: -121.859594 deg, deltaT: 4.031691 s, deltaX: -1.296051 m, approachRate: -0.321466 m/s, posRepo size: 4 :i!%FNOT Ignoring new targets: 267.96 m."i-*i)= ProNav: ac range: 267.963867 m, nav range: 267.088867 m, bearing: 31.722515 deg, approach rate: 0.000000 m/s, LOS rate: -0.011715 deg/s, cmd heading: 32.532034 deg, new cmd heading: 32.518877 deg. i9eHeadingCmd: 0.567561 target range: 267.963867 and range: 267.90 m.heK?hahahahagagijgirgm*BeireqZeq:eu`fp@*eu@Y?ɢ@<) >i)K;iiK?=eA=IK?II)xAQ@ @@/@(DAT read: user:82> BDAT read: Tx time:01:12:34.7469 $Ping request sent.':9#,`LA2 >2<?2Uiٱ2=2Hy?trH? 3??n&2m?>??i2 >I2];2CYRByR IbD^VD^8yblv<%b2=ٔf' Q-f>9f ?Yj ?=jEyjkDj ;En>lQ 5r4nMb?Q 9r4nn)nBYtyv*?Q Iv@n^eDIn:in:nϊ4y~Bɮ~A~wE:i)5FNOT Ignoring new targets: 267.96 m."i=*i=񝹝E ProNav: ac range: 267.963867 m, nav range: 266.851959 m, bearing: 31.716679 deg, approach rate: -0.700043 m/s, LOS rate: -0.017260 deg/s, cmd heading: 32.518876 deg, new cmd heading: 32.507193 deg. iMMHeadingCmd: 0.567358 target range: 267.963867 and range: 267.90 m.hUX>?hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee?iqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251194额Bɢ<) >i);顩iƀiX>?3= =IX>?IE5 E5E1E1"E5D:*E5Ar:VE1ZE1a=@a=@a=@a=@I@I @I@MG0@IBe>BaBaBaBaBaBaBe;BepE^A}=E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505604Q A ؟AI I) OU >Q@#,zaLA: >:?:7kmٱ:=:H ν?Nv$? 7?f?@bm?Ul?`?i: >I:];:CYBByF Ii-Mb@Mb@Mb@)))) )9-rh|? ףp= ?~jtxY-?y-Q8=-Ļ-/@- A -A)-=A)Y-AbDEVDE8yM%UB=ٔUQ-U>9]"?Y]"?=]Ey]kDe9Ee>iQ 5u4mtb?Q 9u4mO)iYuV?Q Eu:yu'?Q Iu@mneDIm;im7;m(4y}Bɮ`AmE:iFNOT Ignoring new targets: 267.96 m."iv*iv= ProNav: ac range: 267.963867 m, nav range: 266.596466 m, bearing: 31.711045 deg, approach rate: -0.610588 m/s, LOS rate: -0.013477 deg/s, cmd heading: 32.507193 deg, new cmd heading: 32.495914 deg. i=QŹ]HeadingCmd: 0.567161 target range: 267.963867 and range: 267.90 m.h]q1?hYhYhYhYgYgajgargeBeareiZei:ei*em` ?ɢ2<) >i);i"iq1?l=q=Iq1?IQ9@ @@a0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759765EE EEEE2EA"EEs:*EEg:VEE4ZEABEEs0] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010670LF#,laLA2>2L?2`r]ٱ2=2H ? t??n?p?0\Hk?Aƽ?`[?i2>I2:X];2C8Y>By> IbDFԿVDF8yN%NV=ٔR&:Q-R>9PYT=VEyVkDVEV>XQ 5^4Zb?Q 9^4Z)XY`yb'?Q Ib@Z}eDIZ:iZq:Zט4yfBɮfAfnEvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 267.96 m."iTt*iTt ProNav: ac range: 267.963867 m, nav range: 266.364105 m, bearing: 31.705931 deg, approach rate: -0.606142 m/s, LOS rate: -0.013351 deg/s, cmd heading: 32.495912 deg, new cmd heading: 32.485677 deg. ivùHeadingCmd: 0.566982 target range: 267.963867 and range: 267.90 m.h%?hhhhggjgrgereZe:e*eq?ɢ<)  ->i))-v;))i5i5%?5===I=%?I9R>i>ԡ@ @@?5@@ zA@ xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.264009^A%p=A->A->EQ  EU EQ EQ "EQ *EU :VEQ ZEQ ae @ae @ae @ae @ C! IY ] 8GIq MAO > t9 Y MAqL#, 14aLA25>2 ?2Xٱ2\=2HQ? v)w? ?@~?uk?`??i25>I29];2CYRByR IIV%=)VC=bDZȿVDZy8ybF<%bI=ٔf/9Q-f>9dYd=fEyjkDj|:9Ej>B>B6CB IBBB =BBB;BpEB5CB5CBB =B =C,5alQ 54nc?Q 94n)lYy'?Q I@neDInmC;inMV;n4y)ɮ-A):iiuFNOT Ignoring new targets: 267.96 m."i1^*i1^=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517234u ProNav: ac range: 267.963867 m, nav range: 266.116699 m, bearing: 31.700473 deg, approach rate: -0.549809 m/s, LOS rate: -0.012141 deg/s, cmd heading: 32.485677 deg, new cmd heading: 32.474751 deg. iuHeadingCmd: 0.566791 target range: 267.963867 and range: 267.90 m.h=?hhhhggjgrgereZe1:e9*eE2?ԉBɢ<) s>i)l;i]i=?l=>=I=?I]9@Y @a@eS1@aԱ^A i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767745 Ee  Ee Ee 6Ea "Ee V:*Ee xv:VEe c4ZEa BEe 9{S#,NaLA:>:?:|<ٱ:2=:H@X?@;w?`?x?1`g?w?*?i:>I:S];:CYbByb Ii]Mb@Mb@Mb@YYYY Y9]Zd;?/$?9Y=EykDE>Q 54c?Q 94)BY?Q E:y?Q I@eDIqei!)_;顉ii?=̩=I?Iԡ9@ @@05@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020249^A I I O% > آY#,jhaLA;ɰ;2>2?2EA-ٱ2Q=2Ho?v3?@ǐ?y?7'e?.??i2>I2[H];0Y:By: IbDFVDF8yJr%N[=ٔN$:Q-R>9PYP=REyRkDVtYEV>XQ 5^4Z+&c?Q 9^4Z')ZBY\y^?Q Ib@ZeDIZ;iZj;Z 4ydɮfAd:i  FNOT Ignoring new targets: 267.96 m."i*i5 ProNav: ac range: 267.963867 m, nav range: 265.630157 m, bearing: 31.693730 deg, approach rate: -0.620734 m/s, LOS rate: -0.008619 deg/s, cmd heading: 32.467461 deg, new cmd heading: 32.461254 deg. i5]|Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271692HeadingCmd: 0.566556 target range: 267.963867 and range: 267.90 m.h ?hhhhggjgrgereZe:e*e`j@eBɢez<)i m>ii)m[;iiim$i ?)="=I ?IE EE2E"E2:*E|:VE4ZEa@a@a@a@-9@) @)@-/@)@5=@1 B<AB>B4CB IBBB =BBB;BpE^AAxAzAxA1IqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522828Y `#,EaLA2 %>2?2G ٱ2Y=2H@?xѮ?? ΐ? m`ha?`?`?i2 %>I2'];2CY@y@ DDiMb@Mb@Mb@ 9ʡE? rh?~jtxY?yC<Ļd@nA d@)=AYzAbD}ۿVD}8yo:%<=ٔS:Q->9Y=EykD|:E>Q 546c?Q 94v)Y?Q E:y?Q I@eDI_:i:4yBɮAoE:iFNOT Ignoring new targets: 267.96 m."if*if ProNav: ac range: 267.963867 m, nav range: 265.386688 m, bearing: 31.690592 deg, approach rate: -0.565084 m/s, LOS rate: -0.007289 deg/s, cmd heading: 32.461253 deg, new cmd heading: 32.454972 deg. ipUHeadingCmd: 0.566446 target range: 267.963867 and range: 267.90 m.h?hhhhggjg rg Be re Ze :e*e@1AɢE`<)A E>iA)M;IIiMiU?U]6=U=IU?IY@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775097aE EEE"E:*Ec:VEZEBE<ԉԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026804f#,2!aLAF?H>F?Fi_ٱF2=FHZ?y@&?@~??^???iF?H>IF];FCYRxByRy IbDZؿVDZ8yb%bW=ٔft$:Q-f>9dYh=jEyjkDj9:Ej>pQ 5v4rEc?Q 9v4r=)rBYtyv?Q Iv@reDIrP:ir:rZ4y|ɮ~jA|B*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 267.96 m."i-*i-M ProNav: ac range: 267.963867 m, nav range: 265.173920 m, bearing: 31.687833 deg, approach rate: -0.559495 m/s, LOS rate: -0.007263 deg/s, cmd heading: 32.454972 deg, new cmd heading: 32.449448 deg. iMTUHeadingCmd: 0.566350 target range: 267.963867 and range: 267.90 m.hUK?hQhQhQhQgQgYjgYrgYeareaZea:ea*eex @频ɢ/<) k>i);顙iiK?B==IK?Iԑ1@1 @1@1@1^A]p=mBDAT read: Rx Time:01:12:37.5056 mTRx dataTimestamp_ set to:1764897158.682246uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282010IIO>bEjEȣ4rEE EE4E"E:*E:VE4ZEa @a @a @a @  l#,aLAB6>B4B6 IB6BB6 =B4B6DB6߲;B6pEf`>f"?fٱfpp=fH?@v~? ?`? "S?=?a?if`>If];fCYzyBy~z IbDmVDm8y;%>=ٔi:Q->9Y=EylDeZE>Q 54AVc?Q 94)~BYy?Q I@eDI:i:4yBɮwApE:iFNOT Ignoring new targets: 267.96 m."i*i ProNav: ac range: 267.963867 m, nav range: 264.933838 m, bearing: 31.684732 deg, approach rate: -0.561062 m/s, LOS rate: -0.007252 deg/s, cmd heading: 32.449447 deg, new cmd heading: 32.443240 deg. i\THeadingCmd: 0.566241 target range: 267.963867 and range: 267.90 m.h2?hhhhggjg rg e reZe:e!*e-@f @Yɢeƽ<)a em>ia)e;aaim8!im2?maP=uW=Iu2?IqI)yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533358@ @@@@=yA@=yA!^Auʞ=I  DAT read: 01:12:37.5056 LVL= 32624, 32753, 29442, 29251, AGC= 66, IDX= 411, 0.13,-1.006,-2.589,-0.756,-1.682, PHS= 0.778,-0.862, 0.882, RAW= 153.0, -9.4, CAL= 153.7, -11.2, ROT= 356.3, 11.2  Ygot valid direction response: 01:12:37.5056 LVL= 32624, 32753, 29442, 29251, AGC= 66, IDX= 411, 0.13,-1.006,-2.589,-0.756,-1.682, PHS= 0.778,-0.862, 0.882, RAW= 153.0, -9.4, CAL= 153.7, -11.2, ROT= 356.3, 11.2  PDAT read: Bearing 171.7, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 171.7, -5.0 (Local)  DAT read: Range 11 to 50 : 265.9 m (Round-trip 354.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.978910,-0.063304,-0.194234] Fpublishing direction and range infoya e Y+@ e +H)e @Ie +H>a a e ' iwu?6N}/6? !ſ e ҧ?)e (>Ie )Aie +H>a a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A9 II IY Oe >E  E E 5E "E s:*E n:VE 4ZE BE s09Y=EylDE>Q 54hc?Q 94)}BY?Q E :y ?Q I @eDIew;iy;4y%uBɮ-A5fEQiiaLAjC"jC:j^4 ?Rj/.Ep@"?07V $NIBjYZjd:Lk@&`@S?wJJjZyf]??0~ydyɿjC j_Ci~?i jDAjj jrjCzj^ ?% addTargetRange:: Added new target pos. range: 265.899994 m, deltaT: 4.035845 s, deltaX: -2.000000 m, approachRate: -0.495559 m/s, rangeRepo size: 4 U Added new target pos. range: 265.960358 m, bearing: 30.931788 deg, lat: 36.779791 deg, lon: -121.859650 deg, deltaT: 4.035845 s, deltaX: -2.003510 m, approachRate: -0.496429 m/s, posRepo size: 4 :iQUFNOT Ignoring new targets: 265.96 m."i]*iY ProNav: ac range: 265.960358 m, nav range: 262.060638 m, bearing: 30.744954 deg, approach rate: 0.000000 m/s, LOS rate: -0.007252 deg/s, cmd heading: 32.443241 deg, new cmd heading: 32.436324 deg. iHeadingCmd: 0.566121 target range: 265.960358 and range: 265.90 m.hH?hhhhggjgrgՁBereZe:e`fp@*eb)?ɢa<)  b>i)5;i"iEH?E+`=Err=IEH?II(DAT read: user:83> BDAT read: Tx time:01:12:38.7468 $Ping request sent.Hz#,LaLAY=uBy=u IbDM VDM8DYzDYEe EeEe2Ea"Ee2:*Eexv:VEe4ZEaam@am@am@am@yu;%}K=ٔyQ-}>9} ?Y ?=Ey&lDE>Q 54yc?Q 94W){BYyQ I@eDIT:i;4yxBɮAgE:iQFNOT Ignoring new targets: 265.96 m."i*i ProNav: ac range: 265.960358 m, nav range: 261.826111 m, bearing: 30.742224 deg, approach rate: -0.621346 m/s, LOS rate: -0.007241 deg/s, cmd heading: 32.436322 deg, new cmd heading: 32.430856 deg. iTHeadingCmd: 0.566025 target range: 265.960358 and range: 265.90 m.h?hhhhggjgrgereZe:e*e`[??ɢR<) d>i)%^<i#i?Zl=ڦ=I?I9@ @@@A @AA @AB>B5CBy IBxBBBBDB;BpEԁ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501880ԩ^Aʞ=A ؟AI! I1 OE > ˄#,^bLAɰ4<:Ƹ>:-?:ٱ:z=:H?d?[??/@6?߼??i:Ƹ>I:k];:CYFgByFd Ii=Mb@Mb@Mb@9999 99=n? rh9m"?Ym"?=uEyu6lDuһEu>yQ 54}c?Q 94})}yBY?Q E:y> ?Q I@}fDI}:i}:}4yɮA:iFNOT Ignoring new targets: 265.96 m."i*i ProNav: ac range: 265.960358 m, nav range: 261.590698 m, bearing: 30.741442 deg, approach rate: -0.585969 m/s, LOS rate: -0.001949 deg/s, cmd heading: 32.430855 deg, new cmd heading: 32.429289 deg. i?dHeadingCmd: 0.565998 target range: 265.960358 and range: 265.90 m.h=?hhhhggjg rg ́Be re Ze:e*e`y?AɢE><)A ENI>iA)Eh checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059969 #,9 bLAr<>r?r9ٱr\=rH K?F]@l?`z?Ģ?zS;ۼ??ir<>IrQ];pYzlByzj I bD-VD-8y5<%]M=ٔ]۱:Q-]>9e ?Ye ?=eEyeGlDe+Em>iQ 5u4m֚c?Q 94m)mwBYy ?Q I@mfDImi!)-<))i-7J&i5?5W=5=I5?I99@ @@30@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258123AA1I9IQO]v>E} E}E}4Ey"E}:*E}:VE}4ZEya@a@a@a@i B >B B l IB nBB  =B B B ;B pE؍#,+:bLA0f>f9?f.:ٱf8=fH?WV?@ s??@4E@?K?if>IfA];fCY~iBy~f I=#?=?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510292bDMVDM8y]7a%]H=ٔ]:Q-e>9qYy=EyWlD$E>Q 545c?Q 94)uBYy ?Q I@&fDIz;i;4y ɮA:iiԑFNOT Ignoring new targets: 265.96 m."i*i뷝 ProNav: ac range: 265.960358 m, nav range: 261.113220 m, bearing: 30.740017 deg, approach rate: -0.559200 m/s, LOS rate: -0.001609 deg/s, cmd heading: 32.427829 deg, new cmd heading: 32.426438 deg. in<HeadingCmd: 0.565948 target range: 265.960358 and range: 265.90 m.h?hhhhggjgrgereZe:e*e@©?EBɢm<)i mN>ii)m˭ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762059 E  E E 5E "E ;*E :VE 4ZE BE @2t?2&i:ٱ2t=2H/?@LP?@m?@?@P:M:#??i2 U>I2\;2CYNuByRu I\iMb@Mb@Mb@ 9oʡ?~jtMb`Y ?yļ @A M@)Y\@bDVD8y 2d=% @=ٔ @ :Q- >9"?Y"?=EyhlD&E>!Q 5-4%c?Q 9-4%q)%sBY-0 ?Q E-:y-}?Q I5@%5fDI%_:i%;%A4y=}Bɮ=CA9:iaeFNOT Ignoring new targets: 265.96 m."im7*im7} ProNav: ac range: 265.960358 m, nav range: 260.882385 m, bearing: 30.740187 deg, approach rate: -0.622727 m/s, LOS rate: 0.000460 deg/s, cmd heading: 32.426439 deg, new cmd heading: 32.426780 deg. i}W7HeadingCmd: 0.565954 target range: 265.960358 and range: 265.90 m.h^?hhhhggjgrgсBereZe:e*e @ɢ&<) g>i) N <i0(i^?̒=ۢ=I^?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0141139@ @@?5@A>AAIIO>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266004?#,jnbLA68>6f?6:ٱ6S=6H$?@Nt?l??N>5R ,)??i68>I63\;6CYBtBy@IF=)F<bDJVDJ8yv|%z]=E5 E5E1E1"E5:*E5z:VE1ZE1a=@a=@a=@aE@GGٔM:]{AQ-e>A9{AYqA9Y=EyxlD" E>Q 5 4$c?Q 9 4v)rBY y o?Q I @CfDIXD;i?F;Q4y1ɮ5FA9:iy}FNOT Ignoring new targets: 265.96 m."i6*i6 ProNav: ac range: 265.960358 m, nav range: 260.659454 m, bearing: 30.740362 deg, approach rate: -0.541498 m/s, LOS rate: 0.000426 deg/s, cmd heading: 32.426781 deg, new cmd heading: 32.427132 deg. iG7HeadingCmd: 0.565960 target range: 265.960358 and range: 265.90 m.h?hhhhggjgrgereZe:e*e7@)-Bɢ5(<)1 5g>i1)=̚<9AiE)im?mJ=u=Iu?IyBAB>BBf IBiBBBBBв;BpEBYBYBYBYBYC]Ĉs5Y@Y @Y@]@5@Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518452Q^Ae p=ԉ IY Ii O} >#,W=bLAY^uBy^v I1imMb@Mb@Mb@iiii i9mV-?X9v~jtxYmh?ymmĻm@mA m=A)m\@iYm@bDVD8y;%==ٔQ->9Y=EylDE>Q 54c?Q 94~)pBY?Q E:y?Q I@RfDI7 ;ir;C4yBɮTAiE:iFNOT Ignoring new targets: 265.96 m."i.8*i.8 ProNav: ac range: 265.960358 m, nav range: 260.433411 m, bearing: 30.741045 deg, approach rate: -0.579636 m/s, LOS rate: 0.001751 deg/s, cmd heading: 32.427132 deg, new cmd heading: 32.428498 deg. iM8HeadingCmd: 0.565984 target range: 265.960358 and range: 265.90 m.h U?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770012h hhhggjgrgׁBereZe:e*e-=@ɢ<)  j>i ) p<  i-+iU?Σ==IU?IE  E E E "E V:*E :VE ZE BE 9% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021954Թ =#,`bLAɰ;2Ce>2?2f:ٱ2=2HV? Ddh?ia? ѳ?@Vݷ@L/??i2Ce>I2x\;2CYNrByRq IbDbVDb8yv%vW=ٔvkQ-v>9xYx=zEyzlD~䊻E~>Q 5 4c?Q 9 4)nBY y k?Q I @`fDI:iP:4yɮpA:i9EFNOT Ignoring new targets: 265.96 m."iE, 8*iE, 8U ProNav: ac range: 265.960358 m, nav range: 260.216583 m, bearing: 30.741779 deg, approach rate: -0.568854 m/s, LOS rate: 0.001928 deg/s, cmd heading: 32.428498 deg, new cmd heading: 32.429969 deg. iUa8ԙHeadingCmd: 0.566010 target range: 265.960358 and range: 265.90 m.h?hhhhggjgrgereZe:e*e#I @额Bɢ<) d>i)I<顡ih,i?w==I?II)M9@I @I@M/@IBDAT read: Rx Time:01:12:41.5020 TRx dataTimestamp_ set to:1764897162.712676checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275177E% E%E%7E!"E%:*E%:VE%Ժ4ZE!a-@a-@a-@a-@^Aq=II O >Bm >Bm 4CBm l IBm nBBm  =Bi Bm DBm ֲ;Bm pE ^F#,߻bLA21>2?2JW:ٱ2==2H?`cB L?^??VԷ\J? ?i21>I2n\;2CY:yBy:z Ihhrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526077bDjԿVDj8yzM=%zJ=ٔ~Q-~>9|Y|=EylDE> Q 5%4 Yc?Q 9-4 ) lBY1y=P?Q I=@ nfDI ;i ;  4yEBɮENAAeB*** querying acoustic contact ***iaia:iiuFNOT Ignoring new targets: 265.96 m."iuq8*iuq8 ProNav: ac range: 265.960358 m, nav range: 259.986053 m, bearing: 30.742582 deg, approach rate: -0.562306 m/s, LOS rate: 0.001959 deg/s, cmd heading: 32.429967 deg, new cmd heading: 32.431574 deg. ie8HeadingCmd: 0.566038 target range: 265.960358 and range: 265.90 m.h?hhhhggjgrgereZe:e*e `|@颥Bɢ<) \t>i)Ͼ<i`-i?=C=I?I)9@ @@/@@zA@zAQiߑIߑDAT read: 01:12:41.5020 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 406, 0.49, 2.157, 0.680, 2.422, 1.586, PHS= 0.673,-0.861, 0.792, RAW= 153.7, -7.6, CAL= 154.0, -9.2, ROT= 356.0, 9.2 Ygot valid direction response: 01:12:41.5020 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 406, 0.49, 2.157, 0.680, 2.422, 1.586, PHS= 0.673,-0.861, 0.792, RAW= 153.7, -7.6, CAL= 154.0, -9.2, ROT= 356.0, 9.2 PDAT read: Bearing 173.5, -5.3 (Local) ~Local bearing/azimuth received: Bearing 173.5, -5.3 (Local) DAT read: Range 11 to 50 : 263.2 m (Round-trip 351.0 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.984732,-0.068859,-0.159881]Fpublishing direction and range infoy^? Y4ČsvĿYC )CII,?ij\J?>+@,@ l$)@Il$>W3c?E 8?Iq ?)">I)il$> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E-  E- E- 3E) "E- :*E- n:VE- 4ZE) BE- P-y 1#,bLAYBy IiEMb@Mb@Mb@AAAIA A9EtV?{Gz~jth?YE?yE#ED;E/@EjA EE@)AAYEAbDeϿVDe8yuv=%u4=ٔuQ-}>9yYy=}Ey}lDE>Q 54d?Q 94)mBY?Q E:yL?Q I@fDIQ:ib:4yBɮAjEiibLAjC"jC:j.?Rj3p@w 2ވ EBj^? Y4ČsvĿ*j)2jl$>Zjl@T(0`@xuFJj?=W?*m?{?DD+lſjC j`CiH.?i{AajAjH.?jhDjArj Czjh? addTargetRange:: Added new target pos. range: 263.200012 m, deltaT: 4.032288 s, deltaX: -2.699982 m, approachRate: -0.669590 m/s, rangeRepo size: 4  Added new target pos. range: 263.258698 m, bearing: 29.931468 deg, lat: 36.779807 deg, lon: -121.859674 deg, deltaT: 4.032288 s, deltaX: -2.701660 m, approachRate: -0.670007 m/s, posRepo size: 4 :i FNOT Ignoring new targets: 263.26 m."i *i  ProNav: ac range: 263.258698 m, nav range: 260.104248 m, bearing: 30.144111 deg, approach rate: 0.000000 m/s, LOS rate: 0.001959 deg/s, cmd heading: 32.431572 deg, new cmd heading: 32.433349 deg. i%HeadingCmd: 0.566069 target range: 263.258698 and range: 263.20 m.h%?h!h!h!h!g)g)jg)rg-Be1re1Ze1:e5@3sp@*e5`1\?aɢe<)e\ mE>ii)m;A BDAT read: Tx time:01:12:42.7968 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728 &h#,bLAbE]4jE]ʨ4rE]/Eb EbEb4E`"Eb:*Ebc:VEb4ZE`aj@aj@aj@aj@Y=By= IbDMտVDM8y]Mw%]\=ٔaQ-e>9aYa=mEymlDiEm>qQ 54u4 d?Q 94u)qYyQ I@ufDIu kiq)} BBy IBxBB =BBBDz;BpE@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502787^A1II IY Om >?#,n cLAj Ķ>ju,?jpٱj`j=jH?H ?cf?4? ʸN4?`|?@z?ij Ķ>Ijh\;hYrByr IiMb@Mb@Mb@ 9ʡE?~jtx?Y?y;7@nA M@)=AY(AbD%VD%8y-n=%5?=]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910ٔ5-Q->9Y=EylD4%;E>Q 541d?Q 94|)nBY?Q E:y?Q I@fDI;i";A!4ytBɮ5A:i)-FNOT Ignoring new targets: 263.26 m."i5ݸ*i5ݸE ProNav: ac range: 263.258698 m, nav range: 259.640442 m, bearing: 30.140081 deg, approach rate: -0.576069 m/s, LOS rate: -0.006056 deg/s, cmd heading: 32.430554 deg, new cmd heading: 32.425277 deg. iEW1MHeadingCmd: 0.565928 target range: 263.258698 and range: 263.20 m.hM?hIhIhIQhIgQgQjgYrg]BeYreYZea:ea*ee?颕Bɢ6<) W>i)|#<顙iiS2i?Pƒ=翡=I?IE EEE"E:*Exv:VEZEBE6Jj#,K#cLA@F >FO?F<ٱF,=FH?9L+?j? #? ?g3?`j? ?iF >IFq\;FCYRByR IbDXVDXyb<%be=ٔf+!8Q-f>9dYd=fEyflDj:Ej?lQ 5r4nX?d?Q 9r4nʦ)noBYpyv?Q Iv@nfDIn:in:n"'4yxɮzAx:iFNOT Ignoring new targets: 263.26 m."i%qڸ*i%qڸ5 ProNav: ac range: 263.258698 m, nav range: 259.451904 m, bearing: 30.138075 deg, approach rate: -0.560568 m/s, LOS rate: -0.005968 deg/s, cmd heading: 32.425278 deg, new cmd heading: 32.421264 deg. i5.5HeadingCmd: 0.565858 target range: 263.258698 and range: 263.20 m.h5?h9hhhggjgrgereZe:e*e@L?Bɢ5=)9 =n>i9)='<99i=3iE?E͒=E\=IM?IIԱiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259058ujZػE EE7E"E:*EAr:VEԺ4ZEa@a@a@a@@ @@/@B >B 3CB IB BB  =B B B ;B pE! ^A =I I O >j#,Y>cLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108834<ɰ4<$Ytyz IbD VD 8ymV;%u8=ٔ}Q-}>9IYQ=UEyUlDE>Q 5%4Rd?Q 9-4ޢ)qBY1yYQ I]@fDIziI)UZ+#,WXcLA68>6 ?6Jٱ6!=6H ?Vc?r? ?K@7? ? ?i68>I6\;4Y>By> I@@Li Mb@Mb@Mb@     9 zG?Zd;O?Mbp?Y  ?y j< ;  @  d@) d@ Y AbDmVDm8y}j=%}H=ٔ}CQ->9Y=Ey mD`;E>Q 54ad?Q 94)rBY(?Q E:yZ?Q I@fDIZ:i:64yɮA:iFNOT Ignoring new targets: 263.26 m."i_*i_ ProNav: ac range: 263.258698 m, nav range: 258.964111 m, bearing: 30.130951 deg, approach rate: -0.618957 m/s, LOS rate: -0.012186 deg/s, cmd heading: 32.415412 deg, new cmd heading: 32.407004 deg. ijHeadingCmd: 0.565609 target range: 263.258698 and range: 263.20 m.h?hhhhggjgrgBereZe:e*e@1ɢ53=)1 5>i1)=g\/<99i=pN7iE?ECߒ=Eyt=IE?IAQQQQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014904q@q @q@u0@y@yA@xA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267842^A I I) O] >z#,=rcLADzDE EE1E "E:*E&p:VE-4ZE a@a@a@a@n>n޽?n] 9ٱn=nH8?Y,?`u??࿷ ;[h?h?in>In\;nCxY5By5 IbDE˿VDE|8yU4;%UL=ٔ]:Q-]>9YYY=eEyemDe(:Ee>Q 54#rd?Q 94)sBYyv?Q I@fDI;i;,=4y yBɮAcE:iFNOT Ignoring new targets: 263.26 m."iK*iK ProNav: ac range: 263.258698 m, nav range: 258.723755 m, bearing: 30.126191 deg, approach rate: -0.562149 m/s, LOS rate: -0.011144 deg/s, cmd heading: 32.407004 deg, new cmd heading: 32.397475 deg. i&HeadingCmd: 0.565443 target range: 263.258698 and range: 263.20 m.h?hhhhggjgrgereZe:e*eXK@BA<B >B B  IB BB  =B B DB ;B epE颥Bɢ=) 4>i)4<顩i,09i?V=.=I?I19@ @@45@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519450I^A T=y A I I! O5 >z#,;cLA>^J>>?>\:ٱ>jr=>H?`^@M?@z??`^K>V?`h?i>^J>I>\;>CYJByJ IiMb@Mb@Mb@ 9 ףp= ?ˡE?9IYI=MEyM-mDM:EM>YQQ 5e4UӁd?Q 9e4UE)UvBYe?Q Em:ym%?Q Im@UfDIU/;iUd.;UC4yqɮuAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770906:iFNOT Ignoring new targets: 263.26 m."iɕ*iɕ ProNav: ac range: 263.258698 m, nav range: 258.492493 m, bearing: 30.120074 deg, approach rate: -0.618285 m/s, LOS rate: -0.016369 deg/s, cmd heading: 32.397476 deg, new cmd heading: 32.385230 deg. i﹝HeadingCmd: 0.565229 target range: 263.258698 and range: 263.20 m.hײ?hhhhggjgrgBereZe:e*e@(A@颁ɢ=) >i)P8<顉i:iײ?=V=Iײ?IE= E9E=3E9"E=;*E9VE=4ZE9BE=AA?U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022900 A I) I9 OE >#,ۥcLA2mո>2&5?2T;ٱ2=2H?e`膯?@?@Y? c? )?i2mո>I2=\;2CY:By: II>>)><bDFVDF8yN]4=%NV=ٔNx%;Q-R>9PYP=REyR=mDV5;EV>XQ 5^4Z2d?Q 9^4Z)ZxBY\y^K%?Q Ib@ZfDIZ;iZ;ZJ4yf{BɮfAd:itzFNOT Ignoring new targets: 263.26 m."iz䑹*iz䑹 ProNav: ac range: 263.258698 m, nav range: 258.265747 m, bearing: 30.114010 deg, approach rate: -0.595639 m/s, LOS rate: -0.015944 deg/s, cmd heading: 32.385229 deg, new cmd heading: 32.373091 deg. i m鹝 HeadingCmd: 0.565017 target range: 263.258698 and range: 263.20 m.h ?hhhhggjgrgereZe!:e!*e%L @IɢMx=)Q U>iQ)UT7<B B IB BB B B B z;B CpEB3CB3CBB =B =C5A I I O >A ] 4=] %=] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527027t7#,ҿcLAY-By5 IbDEVDE°8yUż%U>=ٔUQ-]>9YYY=]Ey]OmDeEe>iQ 5u4mmd?Q 9u4m)m{BYqyyQ I}@mgDIm;im{8;m1R4yɮA:iQeFNOT Ignoring new targets: 263.26 m.PExceeded connect timeout, disconnecting."i5*i5 ProNav: ac range: 263.258698 m, nav range: 258.011566 m, bearing: 30.107199 deg, approach rate: -0.564330 m/s, LOS rate: -0.015136 deg/s, cmd heading: 32.373092 deg, new cmd heading: 32.359458 deg. iݹHeadingCmd: 0.564779 target range: 263.258698 and range: 263.20 m.h]?hhhhggjgrgereZe:e*e@,I@eBɢeW/=)a e>ii)mAiu]?u =uK=Iu]?Iy99@ @@/@DAT read: 01:12:45.5025 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 444, 0.10, 2.369, 0.653, 2.576, 2.017, PHS= 0.455,-1.319, 0.516, RAW= 151.7, 3.9, CAL= 150.7, 3.8, ROT= 359.3, -3.8 Ygot valid direction response: 01:12:45.5025 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 444, 0.10, 2.369, 0.653, 2.576, 2.017, PHS= 0.455,-1.319, 0.516, RAW= 151.7, 3.9, CAL= 150.7, 3.8, ROT= 359.3, -3.8 PDAT read: Bearing 186.5, -0.6 (Local) ~Local bearing/azimuth received: Bearing 186.5, -0.6 (Local) DAT read: Range 11 to 50 : 226.1 m (Round-trip 301.5 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.997727,-0.012190,0.066274]Fpublishing direction and range infoy.-a?*{S?YbC )AI>iԨ?Us)@'g=aU(@ ԇ=)ū@IԇO_X r+?s  ?3>3h?  ?)']ID+HiԇT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aEE  EE EE 6EA "EE ;*EE k:VEE c4ZEA BEE LK#,AgcLAɰ;2>2¾?2;ٱ2\=2H?@qp?s?@ؘ?[¶`ltC ??i2>I2-\;2CY:ByJ IiMb@Mb@Mb@ 9-?J +?:v?Y??yH=T<A d@)YQA)bD5VD58yE=%E7=ٔE,;Q-M>9IYQ=UEyUamDU;EU>YQ 5e4]ʳd?Q 9e4]a)]BYm?Q Em:ymu)?Q Iu@]gDI]]$;i]#;]Y4yiBɮAZE(DAT read: user:85> BDAT read: Tx time:01:12:46.8468 $Ping request sent.i!)%lFԱ E  E E 2E "E l;*E VE 4ZE a @a @a @a @q#,j1cLAbo>bM?bI;ٱb=bH ?@v=?`z??@V@, y?`?ibo>Ib \;bCYrByr IbD VD8yF%`=ٔ%V;Q-->9- ?Y- ?=5Ey5omD5p8;E=>AQ 5U4Ed?Q 9U4E)EBYYy])?Q Ie@E$gDIE[;iE\;Ei`4yiɮmAiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 263.26 m."i*i ProNav: ac range: 263.258698 m, nav range: 257.539948 m, bearing: 30.092746 deg, approach rate: -0.601871 m/s, LOS rate: -0.018551 deg/s, cmd heading: 32.343647 deg, new cmd heading: 32.330526 deg. iHeadingCmd: 0.564274 target range: 263.258698 and range: 263.20 m.hEt?hhhAYA]AABe>BaBe IBeBBe =BaBaBet;Bei!)%)J=nManaging dock network, ignoring radio surface power off }Y#, dLA2<>2N?2;ٱ2=2H`?`|? f?h? b4 N4~| ??i2<>I2N\;0Y8y8%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886i5Mb@Mb@Mb@1111 1955^I ?&1?9e"?Ye"?=eEyemDm9;Em>qQ 5}4u:d?Q 9}4u)uBY}?Q E}:y}*?Q I@u3gDIu;iu;ug4ylBɮ2A[E:iFNOT Ignoring new targets: 263.26 m."i*i ProNav: ac range: 263.258698 m, nav range: 257.298309 m, bearing: 30.085086 deg, approach rate: -0.592750 m/s, LOS rate: -0.018806 deg/s, cmd heading: 32.330526 deg, new cmd heading: 32.315194 deg. i HeadingCmd: 0.564007 target range: 263.258698 and range: 263.20 m.hb?hhhhggjgrgBereZe:e*eM? ɢ=) )>i)N<iCi%b?%8=%=I%b?I!1E EE4E"E:*E:VE4ZEBE&5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006773I ރ #,'dLA2>2H?2a <ٱ2Y=2H?۱?`?`T?~^??i2>I2\;2C@YBByB IbDJٿVDJ8yfn%fT=ٔf5<;Q-f>9hYh=jEyjmDnN;En>pQ 5v4rqd?Q 9v4r0)rBYtyv*?Q Iv@rBgDIrh:irS:rNn4y|ɮ~iA|:i)5FNOT Ignoring new targets: 263.26 m."i5q*i5q ProNav: ac range: 263.258698 m, nav range: 257.070709 m, bearing: 30.077798 deg, approach rate: -0.587930 m/s, LOS rate: -0.018845 deg/s, cmd heading: 32.315192 deg, new cmd heading: 32.300602 deg. i HeadingCmd: 0.563752 target range: 263.258698 and range: 263.20 m.h R?hhhhggjg rg e re Ze:e*e?颉ɢj=)i m4>iq)uB%SAm>bEMŀ4jEMŀ4rEMż 0E EE6E"E2:*E~:VEc4ZEa@a@a@a@I I!O5q>B]>B]4CBYBYB] =BYB]DB]_;B]-pE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805k#,AdLAF@>F?Fp-<ٱF&=FH@?݊%???%m???iF@>IFp<];DYNByN I V=V=bDZܿVDZ8yb, %bK=ٔb$ ;Q-f>9dYd=fEyfmDj=;Ej>llQ 5r4nQd?Q 9v4nE})nBYtyvA+?Q Iv@nRgDIn(;in(;nXu4yznBɮzA~\E:i9EFNOT Ignoring new targets: 263.26 m."iE=*iE=U ProNav: ac range: 263.258698 m, nav range: 256.833008 m, bearing: 30.070109 deg, approach rate: -0.584777 m/s, LOS rate: -0.018932 deg/s, cmd heading: 32.300603 deg, new cmd heading: 32.285212 deg. iU ]HeadingCmd: 0.563483 target range: 263.258698 and range: 263.20 m.h]p@?hahahahagagajgirgieireiZei:eq*eu 9?颩ɢv=) G>i)0W<i Ei-p@?=5^==[=IEp@?IQ %9@! @!@%m0@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762759AE EE2E"E:*Ee:VE4ZEBE6a #,[dLA2M>2 ?2e'<ٱ2/=2HL?y-e??`?`7@U??i2M>I2];0YNByR I9iUMb@Mb@Mb@QQQQ Q9Uv?+?YU?yU=UUE@UA U/@)U=AQYQbDmVDmZ8y}6%}?=ٔ;Q->9Y=EymD:E>Q 54ye?Q 941y)Y(?Q E:y&?Q I@bgDI ;i ;|4yɮA:iFNOT Ignoring new targets: 263.26 m."i*i ProNav: ac range: 263.258698 m, nav range: 256.579163 m, bearing: 30.062923 deg, approach rate: -0.600538 m/s, LOS rate: -0.017018 deg/s, cmd heading: 32.285211 deg, new cmd heading: 32.270825 deg. i&HeadingCmd: 0.563232 target range: 263.258698 and range: 263.20 m.h/?hhhhggjgrgBereZe:e*eL@5Bɢ5=)9 =>i9)=Er[<99i=^EGiE/?E9p=EM%=IE/?IIIY)]wAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014990@ @@/5@i^A箵=I)I9OM1>ԑM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907 E  E E E "E :*E i:VE ZE a @a @a @a @#,|udLA;ɰfo>f(?f6<ٱfB=fHK?`"y?`v??`†A!?H?ifo>If];fCYrByr IbDzzVDz18yR%R=ٔ;Q- >9 Y = Ey mD :E>Q 5%4e?Q 9%4{u)BY!y%&?Q I-@qgDI:iS:4y5pBɮ5A1MB*** querying acoustic contact ***iIiI:iY]FNOT Ignoring new targets: 263.26 m."ieO*ieOu ProNav: ac range: 263.258698 m, nav range: 256.348297 m, bearing: 30.056364 deg, approach rate: -0.593073 m/s, LOS rate: -0.016864 deg/s, cmd heading: 32.270824 deg, new cmd heading: 32.257695 deg. iu}HeadingCmd: 0.563003 target range: 263.258698 and range: 263.20 m.h} ?hyhyhyhggjgrgereZe:e*e@ԙɢ4=) >i).F_<iD|Hi ?F={۹=I ?IB A <B>B3CB IBBB =BBB.;BoEI@Q @Q@U2@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752^AuG=AyzA}zAII O> ##,TdLA2ᐼ>2?2dH<ٱ2B=2H ? }]?? ? #m?@f?i2ᐼ>I2N'^;0YNByR Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770936i5Mb@Mb@Mb@1111 195ʡE?Q?Y5-?y5<157@5A 5d@)5SA1Y5QAbDMVDM@8y]%]E=ٔ]-;Q-e>9aYa=eEyemDmAEm>qQ 54u"e?Q 94uq)qY`?Q E:ym#?Q I%@ugDIui)3bc<i IiU+?]=]=I]+?IaE EEE"E:*Ez:VEZEBEP-y )#,.dLAR|>R?RT<ٱRx!=RHY?@l&??چ?] _ wջ??iR|>IR ^;PY^~Byb IbDnuVDn-8yz}%zQ=ٔ~P;Q-~>9Y=EymD йE >Q 5%4K1e?Q 9%4@n)BY)y-d#?Q I-@gDI-;i"A;4y=]Bɮ=AESE:iquFNOT Ignoring new targets: 263.26 m."iҊ*iҊ ProNav: ac range: 263.258698 m, nav range: 255.889908 m, bearing: 30.044641 deg, approach rate: -0.592557 m/s, LOS rate: -0.015171 deg/s, cmd heading: 32.245634 deg, new cmd heading: 32.234229 deg. i޹HeadingCmd: 0.562593 target range: 263.258698 and range: 263.20 m.h?hhhhggjgrgereZe:e*e@Û @Bɢ=) ?>i)ׁf<iJi?5=%=QI?IN>i >i I BDAT read: Rx Time:01:12:49.5972 TRx dataTimestamp_ set to:1764897170.776957checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276308)@) @)@-/@)ԁE EE6E"E*Exv:VEc4ZEa@a@a@a@B>BB IBBB =BBB;BoE^A=ԩI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526895 0#,[ dLA2">2?2e<ٱ2S^=2H]?@u?̭?P?U`@??i2">I2^;0Y:zBy>| IbDFVDFT8yN<%NP=ٔN&;Q-R>9PYP=REyRmDVEV>XQ 5Z4Zq@e?Q 9^4Zj)ZBY\y^8#?Q I^@ZgDIZT:iZ;Z4ydɮfAd:iFNOT Ignoring new targets: 263.26 m."i~*i~ ProNav: ac range: 263.258698 m, nav range: 255.667664 m, bearing: 30.038980 deg, approach rate: -0.545915 m/s, LOS rate: -0.013919 deg/s, cmd heading: 32.234227 deg, new cmd heading: 32.222894 deg. i˹HeadingCmd: 0.562396 target range: 263.258698 and range: 263.20 m.h(?hhh h gg9jgIrgIeqreyZe:e*e@颉ɢ'}<) >i)*ej<顁i`Ki(?`ē=J=I(?IMDAT read: 01:12:49.5972 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 389, 0.31,-0.985,-2.423,-0.679,-1.530, PHS= 0.647,-0.848, 0.807, RAW= 155.0, -7.7, CAL= 155.4, -9.3, ROT= 354.6, 9.3 UYgot valid direction response: 01:12:49.5972 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 389, 0.31,-0.985,-2.423,-0.679,-1.530, PHS= 0.647,-0.848, 0.807, RAW= 155.0, -7.7, CAL= 155.4, -9.3, ROT= 354.6, 9.3 uPDAT read: Bearing 174.0, -7.3 (Local) u~Local bearing/azimuth received: Bearing 174.0, -7.3 (Local) DAT read: Range 11 to 50 : 259.6 m (Round-trip 346.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.982476,-0.092871,-0.161604]Fpublishing direction and range infoyfKqp?fhƷoĿ9@ @@/@@yA@zAÝC )Iˡ%?iYN?"-@ ^-@ 6&) @I6&>Αeu?QDg3? ]00 o? ). >Ii6&>] 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 5E "E D:*E |:VE 4ZE BE 2A >9 IA IQ Oe >=6#,dLABӻ>Ba?Bs<ٱB=BH?`?`?`G? 볿O}d? n?iBӻ>IB];BCYJnByJm IiMb@Mb@Mb@ 9X9v?y&1?{GzY?y`e<#M@ M@)AYbD5ۿVD58yEx[%E?=ٔE ;Q-E>9IYI=MEyMnDU<EU>YQ 5e4]vQe?Q 9e4]g)]BYe?Q Ee:yeW?Q Im@]gDI]=:i]:]4yu_BɮuAuTEiAiEdLAjEӁC"jEӁC:jEd?RjE_:Yo@/k\L8tDBjEfKqp?fhƷoĿ*jE2jE6&>ZjEDgk@goE_@y3.HJjE hU]{?Grjօ?ȄǿjEB jE^CiE?iE_[;jEAjAjE{AajEArjEd}CzjEY? addTargetRange:: Added new target pos. range: 259.600006 m, deltaT: 8.064087 s, deltaX: -3.600006 m, approachRate: -0.446425 m/s, rangeRepo size: 4  Added new target pos. range: 259.654816 m, bearing: 29.087111 deg, lat: 36.779791 deg, lon: -121.859687 deg, deltaT: 8.064087 s, deltaX: -3.603882 m, approachRate: -0.446905 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 259.65 m."i*im(DAT read: user:86> uBDAT read: Tx time:01:12:50.8968 u$Ping request sent.ui))m<i}pLiE ?Eӓ=E'=IE ?II9@ @@/@1^A =a GI I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251405% 9! Y- ֧A =#,dLA E* E*E*6E("E*:*E*k:VE*c4ZE(a.@a.@a.@a.@BH>Bvn?Bv<ٱB~=BH?@?L?՗?JYYϹ? A?iBH>IB];@YJpByJo IbDVڿVDTyZ:<%^T=ٔ^:Q-b>9`Y`=bEyfnDf5Ef>hQ 5n4j`e?Q 9n4jc)j}BYpyr?Q Ir@jgDIj;ijI;j4ytɮvzAt B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 259.65 m."i4O*i4O- ProNav: ac range: 259.654816 m, nav range: 253.170197 m, bearing: 30.003363 deg, approach rate: -0.580735 m/s, LOS rate: -0.011322 deg/s, cmd heading: 32.211435 deg, new cmd heading: 32.202804 deg. i-å5HeadingCmd: 0.562045 target range: 259.654816 and range: 259.60 m.h5.?h1h1h1h1g9g9jg9rgAeAreAZeA:eA*eM?qɢu$?=)q uj>iy)})oB4CBl IBnBB =BBB9;BpEBqBqBqBqBqCu59@ @@0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502950ԡ^A5=IIO> C#,eLA4<ɰ2#>2H\?2wL<ٱ23f=2H`?~ҥ?[??`6^ ?Z?i2#>I2];2CYB_ByBZ I\rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755105imMb@Mb@Mb@iiii i9mzG?9Y=Ey%nD~(E>Q 54 se?Q 94(`)xBY"?Q E:y?Q I@gDI/;iv;J4yaBɮAUE:iFNOT Ignoring new targets: 259.65 m."i%_*i%_E ProNav: ac range: 259.654816 m, nav range: 252.915726 m, bearing: 30.001559 deg, approach rate: -0.582797 m/s, LOS rate: -0.004136 deg/s, cmd heading: 32.202805 deg, new cmd heading: 32.199194 deg. iE2򸝏MHeadingCmd: 0.561982 target range: 259.654816 and range: 259.60 m.hM ?hIhIhQhQgYgYjgargeρBeareaZei:ei*e`?E EE/E"E2:*E|:VEJ4ZEBE.*iy)}`r J#,w*eLAR>R'?R<ٱR=RH o? x`Qű? Қ?@?@%}@?p?iR>IR];PY`y`bDrVDr8ٔz ;Q-~>9|Y=Ey4nDE> Q 54 Fe?Q 94 ]) sBYy ?Q I%@ gDI (;i ); 4y)ɮ)):iIUFNOT Ignoring new targets: 259.65 m."iUh*i]he ProNav: ac range: 259.654816 m, nav range: 252.689362 m, bearing: 29.999992 deg, approach rate: -0.597286 m/s, LOS rate: -0.004137 deg/s, cmd heading: 32.199192 deg, new cmd heading: 32.196057 deg. im@򸝏mHeadingCmd: 0.561927 target range: 259.654816 and range: 259.60 m.hmv?hqhqhqhqgqgqjgyrgyeyreZe:e*e H?颩ɢ<) 0G>i)t<项inNiv?=jĵ=Iv?IQ@Q @Q@U 1@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259822IE EE3E"E:*Ex:VE4ZEa@a@a@a@^A!yB>BBS IBYBB =BBDBl;BApEAa Iq I O >ԡ ߝ 6?ߝ i? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511243Q#,iRDeLA2B*>2?2?#<ٱ2L=2H`R?q±?:? ^?@Ͳ)$v??i2B*>I2 ^;2CY:YBy:S IbDFVDF8yJHm%N<ٔN:Q-N>9PYP=REyRDnDV<8EV>XQ 5Z4Zܓe?Q 9^4ZY)ZoBY\y^ ?Q I^@ZgDIZ;iZ;Zٻ4yfcBɮfTAd:itzFNOT Ignoring new targets: 259.65 m."izu*izuy ProNav: ac range: 259.654816 m, nav range: 252.458160 m, bearing: 29.998449 deg, approach rate: -0.590543 m/s, LOS rate: -0.003947 deg/s, cmd heading: 32.196057 deg, new cmd heading: 32.192967 deg. i"縝HeadingCmd: 0.561873 target range: 259.654816 and range: 259.60 m.h?hhhhggjgrgereZe:e*eߪ?颉ɢJ<) ;>i)-w<顑inOi?m= =I?ԡIIyA)xAY@Y @Y@]0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763709E EE1E"E:*Ei:VE-4ZEBE&5UW#,T^eLA2>2?2Η<ٱ2x=2H@?ij߱?`c?@S? @c?4?i2>I2];2CYPyTi-Mb@Mb@Mb@)))) )9-m?X9vy&1|Y-?y--`-7@-A -7@)-A)Y-\@bDEVDE8yUN:%U;=ٔ]:Q-]>9YYY=eEyeVnDeTEe>iQ 5u4me?Q 9u4mV)mjBY}?Q E}:y}?Q I}@mgDIm/;im3;m|4yɮRAԑ:iFNOT Ignoring new targets: 259.65 m."i6Ӷ*i6Ӷ ProNav: ac range: 259.654816 m, nav range: 252.214432 m, bearing: 29.998291 deg, approach rate: -0.556176 m/s, LOS rate: -0.000361 deg/s, cmd heading: 32.192966 deg, new cmd heading: 32.192650 deg. i(HeadingCmd: 0.561868 target range: 259.654816 and range: 259.60 m.h?hhhhggjgrgBereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015099颉ɢ2<) N<>i)y<顑i|Oi? *=ɉ=I?Ie9@a @a@e?5@aԹ^A*= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270693A I  I! O= >bEם4jE˴4rEW0E]  E] E] 5EY "E] :*E] Ar:VE] 4ZEY am @am @am @am @\{]#, xeLA2:>2g?2Ϟ<ٱ2_=2HS?c??/? ٓ?`?i2:>I2 ];0Y:XBy:R IbDF/VDFذ8yJ%NX=ٔN;Q-N>9PYP=REyRfnDV5EV>TQ 5Z4Ve?Q 9^4VS)VfBY\y^?Q I^@VhDIVI;iVU;V4yffBɮflAfVErB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 259.65 m."i~l*i~lB<A<B>BBA IBJBBBBDB;BdpE- ProNav: ac range: 259.654816 m, nav range: 252.003235 m, bearing: 29.998194 deg, approach rate: -0.558475 m/s, LOS rate: -0.000257 deg/s, cmd heading: 32.192649 deg, new cmd heading: 32.192454 deg. i-𶝏5HeadingCmd: 0.561864 target range: 259.654816 and range: 259.60 m.h5W?h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eE7(@ɢ0<) n:>i)Z|<iJOiW?%8=%:=I%W?I!@ @@3@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519014)^A=QA I IQ O >y bd#,deLA2Ꞹ>2?2G<ٱ2=2H?`TZ`7v? W~?!?ʲՔ`ҹ?`?i2Ꞹ>I2];2CY:WBy:P IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771042iMb@Mb@Mb@ 9Q?ˡEMbPY\?y'E@A /@)SAYAbD*VDӰ8y%6=ٔ ;Q->9Y=EyxnD-E>Q 5 4e?Q 94P)bBY?Q E:E EE3E"E:*E:VE4ZEBEa-2Ea-JER;a-:ER;a-y5?Q I5@hDIش;i;4y9ɮ=tAAQ:iimFNOT Ignoring new targets: 259.65 m."im|#8*iu|#8 ProNav: ac range: 259.654816 m, nav range: 251.751923 m, bearing: 29.999202 deg, approach rate: -0.556197 m/s, LOS rate: 0.002233 deg/s, cmd heading: 32.192454 deg, new cmd heading: 32.194472 deg. iʂ8HeadingCmd: 0.561900 target range: 259.654816 and range: 259.60 m.h?hhhhggjgrgBereZe:e*e @aɢe<)a m8>ii)mz j#,KeLA;ɰn~.>n?nF<ٱn;=nH9?R@G?^x?@#?Xjȕ`KV? ?in~.>In/^;nCYv[ByzU IbD VD 8yw<%Y=ٔ ;Q->9!Y!=%Ey%nD-E->1Q 5=45'e?Q 9=45M)5_BY9y=O?Q I=@5#hDI5o;i5j;54yMRBɮMAMME:iiuFNOT Ignoring new targets: 259.65 m."i}/8*i}/8 ProNav: ac range: 259.654816 m, nav range: 251.540268 m, bearing: 30.000093 deg, approach rate: -0.567586 m/s, LOS rate: 0.002392 deg/s, cmd heading: 32.194472 deg, new cmd heading: 32.196256 deg. i8HeadingCmd: 0.561931 target range: 259.654816 and range: 259.60 m.h?hhhhggjgrgereZe:e*e @Bɢ'<) @>i)<i6Pi?S=?ܭ=I?IԩBDAT read: Rx Time:01:12:53.6443 TRx dataTimestamp_ set to:1764897174.809557checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277410 @  @ @ /@E% E%E%2E!"E%:*E%:VE%4ZE!a-@a5@a5@a5@B>B3CB4 IB@BB =BBDB;BapE^AM6= I! I9 OU >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5270161 ;uq#,qeLA2η>2?2 <ٱ2=2H\?`qL@8?Is? '?7`* ??i2η>I2,^;2CYBWByBQ I DDbDNVDN8yV%VR=ٔVL ;Q-V>9XYX=ZEyZnD^E^>`Q 5f4bEe?Q 9f4b$K)b[BYdyf ?Q If@b1hDIb:ib:bS4ylɮnAl:iFNOT Ignoring new targets: 259.65 m."i;48*i ;48 ProNav: ac range: 259.654816 m, nav range: 251.321808 m, bearing: 30.001050 deg, approach rate: -0.561327 m/s, LOS rate: 0.002462 deg/s, cmd heading: 32.196255 deg, new cmd heading: 32.198171 deg. i/8HeadingCmd: 0.561964 target range: 259.654816 and range: 259.60 m.h?hhhhggjgrgereZe:e*e`@ɢ.<) R;>i)%<ĿYCr{ )EI ?iEVL7I??-@  ")I">;`AP?UR >?< ?)>Ii">T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E= E=E9E9"E=:*E=y:VE9ZE9BE=+w#,eLA >"J>>o?>ӻ<ٱ>̄=>H?1D(?@?l?K? _`y`?`?i>"J>I>t^;=ٔu:Q-u>9qYy=}Ey}nD}E>Q 54e?Q 94G)YBY)?Q E:y?Q I@AhDI:i;4yTBɮANEii2eLAjC"jC:jN>Rj$bo@SDj7L[DBjlt?wb7ɷ@\~>Ŀ*j2j">Zj&&k@;9^@ fHJj|XB ?}tl ?CBȿjB j^Ci[ ?iFjAjH.?j_[;jArj;{Czj? addTargetRange:: Added new target pos. range: 257.399994 m, deltaT: 4.032558 s, deltaX: -2.200012 m, approachRate: -0.545562 m/s, rangeRepo size: 4  (DAT read: user:87> BDAT read: Tx time:01:12:54.8968 $Ping request sent.ia)e9+AM >I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254147I O >EE  EE EA EA "EE ;*EE x:VEA ZEA aM @aU @aU @aU @2}#,eLA@:>:w@?:<ٱ:r=:H?%>г?I:vX^;@A@AB@ABF>BDBDBDBDBDBFDBF;BFUpE:CYVbByV^ IbD^VD^8yf9hYh=jEyjnDn%En>pQ 5v4r6 f?Q 9v4r%E)rVBYtyz?Q Iz@rOhDIr:ir:r4y|ɮ~AB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 257.45 m."i-*i-= ProNav: ac range: 257.453186 m, nav range: 251.011703 m, bearing: 29.278778 deg, approach rate: -0.572204 m/s, LOS rate: -0.000490 deg/s, cmd heading: 32.200305 deg, new cmd heading: 32.199929 deg. iEeEHeadingCmd: 0.561995 target range: 257.453186 and range: 257.40 m.hE?hIhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]@r?ɢ!=) S>i ) e<  i Qi?5x=5=I5?I9ԩ9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504546^AI9IIOe> „#,fLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757706Zm>Z?Z<ٱZH=ZH?$7`?? b?~?`ݳs̫??iZm>IZ:^;ZCpYvNByvF IIz<)ziMb@Mb@Mb@ E EE3E"E:*E:VE4ZEBE.9Y=EynD%ںE%>!Q 554%f?Q 954%A)%TBY5?Q E5:y5 ?Q I5@%_hDI%;i%@;%a4yEVBɮE=AA:iamFNOT Ignoring new targets: 257.45 m."imx*imx} ProNav: ac range: 257.453186 m, nav range: 250.755875 m, bearing: 29.276755 deg, approach rate: -0.574545 m/s, LOS rate: -0.004548 deg/s, cmd heading: 32.199930 deg, new cmd heading: 32.195879 deg. i}-HeadingCmd: 0.561924 target range: 257.453186 and range: 257.40 m.hB?hhhhgg jg rg فBereZe:e*e`?eBɢe<)a e,>ia)<顑iQiB?=H=IB?I %9@! @!@%/@!@-=@-=1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008535^AE =i Aq I I O >X#,T-fLA2>2?2_w<ٱ2=2H?&.? Z?a?`0> ? ?i2>I2DJ^;2CY>bBy>] IbDbVDb8yfw=%jb=ٔj:Q-j>9hYl=nEynnDr#CEr>tQ 5v4v*f?Q 9z4v>)vRBYxyzf ?Q Iz@vlhDIv:iv\:v4yɮA )-CI҂G:izAFNOT Ignoring new targets: 257.45 m.MA"iR9zAYPA*iRyݜ?A ProNav: ac range: 257.453186 m, nav range: 250.547867 m, bearing: 29.275159 deg, approach rate: -0.552645 m/s, LOS rate: -0.004244 deg/s, cmd heading: 32.195879 deg, new cmd heading: 32.192685 deg. iHeadingCmd: 0.561868 target range: 257.453186 and range: 257.40 m.h?hhhh!g!g!jg)rg)e1re1Ze9:e9*e=!!?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261843iuBɢu}-<)q uT>iq)uB4CB: IBEBB =BBBg;B8pEBE4CBE4CBABE =BE =CE5ԑ^Ae ħ=Am xAzAm sA % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512656Aq I I O >#,VDHfLAɰ2>25?2 <ٱ2=2H?*`?KW?y?`2K㙿 -??i2>I2b?^;2CY>hBy>f IbDFVDF8yNa=%NI=ٔNP:Q-R>9PYP=REyRnDV EV>XQ 5^4Z;f?Q 9^4Z;)ZPBY\y^G ?Q Ib@Z{hDIZ.:iZ:Z4yfXBɮf}AfOE:i)5FNOT Ignoring new targets: 257.45 m."i5*i5E ProNav: ac range: 257.453186 m, nav range: 250.314301 m, bearing: 29.273390 deg, approach rate: -0.582452 m/s, LOS rate: -0.004418 deg/s, cmd heading: 32.192686 deg, new cmd heading: 32.189143 deg. iE]ImHeadingCmd: 0.561806 target range: 257.453186 and range: 257.40 m.hm?hqhqhqhqgqgqjgyrgyeyreyZey:e*e@?Bɢ =) c>i)X<iFRi-?5(==έ=I=?Iiy@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765629ԡE EE5E"ED:*E:VE4ZEBE2 #,bfLA>|>>?>Dw<ٱ>VC=>H?t&@մ?S??'`%`D7?@Q?i>|>I> ^;>CYFjByFh IiMb@Mb@Mb@ 9I +?I +?:v?Y9?y94<T<E@ A /@)YbD-VD-ư8y=&<%EA=ٔE:Q-E>9AYI=MEyMnDM&EM>QQ 5]4ULf?Q 9e4U8)QYeI?Q Ee:ye?Q Ie@UhDIUv;iU;U8 4yiɮmkAq:ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016724FNOT Ignoring new targets: 257.45 m."i@*i@Թ ProNav: ac range: 257.453186 m, nav range: 250.070023 m, bearing: 29.269023 deg, approach rate: -0.588441 m/s, LOS rate: -0.010529 deg/s, cmd heading: 32.189141 deg, new cmd heading: 32.180399 deg. i)HeadingCmd: 0.561654 target range: 257.453186 and range: 257.40 m.h?hhhhggjgrgBereZeQ:eQ*e]@Y\@颡ɢu=) i>i)<顩igRi?=Q$=I?Im9@i @i@m?5@q@y@}xA^A=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269232D zD E  E E 0E "E :*E ]t:VE 4ZE a @a @a @a @A I I) Q Oa BE >BE 3CBE A IBE JBBE  =BA BA BE |;BE KpEF#,{fLA24>2d?2B<ٱ2@M=2HI?#`I´?@O?`?@p곿~ߚ@??i24>I2];2CYBpByBo IbDJVDJ8yR}<%RU=ٔVS:Q-V>9TYT=VEyZ oDZﺺEZ>\Q 5b4^H\f?Q 9b4^4)^OBYdyf?Q If@^hDI^:i^:^4yjZBɮjMAjPEvB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 257.45 m."i;*i; ProNav: ac range: 257.453186 m, nav range: 249.848022 m, bearing: 29.265073 deg, approach rate: -0.576669 m/s, LOS rate: -0.010268 deg/s, cmd heading: 32.180399 deg, new cmd heading: 32.172493 deg. iTHeadingCmd: 0.561516 target range: 257.453186 and range: 257.40 m.h?hhh!h!g!g!jg!rg)e)re)Ze):e)*e5 J@Bɢ$=) >v>i)@[<i'dSi?맔=z=I?IV>i>9@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520664A^AT=A>A?qA! IA Ia O% >ԡ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7728804#,0֕fLA@6*>6_?6^<ٱ6=6H}?*"?`MO??`}˳`Q?`?i6*>I6[];6CYnnBynm IEq EuEu4Eq"Eq*Eug:VEu4ZEqBEu69Y=EyoD/E>Q 54`nf?Q 940)NBY?Q E:yr?Q I@hDI;ir;4yɮ[Aa:iFNOT Ignoring new targets: 257.45 m."id*id ProNav: ac range: 257.453186 m, nav range: 249.587738 m, bearing: 29.259294 deg, approach rate: -0.562080 m/s, LOS rate: -0.012494 deg/s, cmd heading: 32.172493 deg, new cmd heading: 32.160921 deg. i춹HeadingCmd: 0.561314 target range: 257.453186 and range: 257.40 m.hF?hhh!h!g!g!jg)rg- Be)re)Ze1:e1*e5 T @颥Bɢ D=) t>i)6<顩iSiF?=Wݥ=IF?Iԑ@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024603^A= h= I9 II OU >_#,WfLA2u>2L?2<ٱ2&=2H`?@ ?3M??9?&?i2u>I2];2CYJhByJe IbDRVDRİ8y^%^^=ٔ^ :Q-^>9`Y`=bEyb,oDbPEf>hQ 5j4jn}f?Q 9n4j-)jMBYlyn_?Q In@jhDIj:ij:j"4yrFBɮvAvGE:i FNOT Ignoring new targets: 257.45 m."i|*i|% ProNav: ac range: 257.453186 m, nav range: 249.371262 m, bearing: 29.254492 deg, approach rate: -0.620536 m/s, LOS rate: -0.013776 deg/s, cmd heading: 32.160922 deg, new cmd heading: 32.151311 deg. i%ɹ-HeadingCmd: 0.561146 target range: 257.453186 and range: 257.40 m.h-H?h)h1h1h1g1g1jg9rg9e9re9Ze9:eA*eEk @ɢD =) 4g>i)0u<iY Ti-H?5ɹ=5=I5H?I9 BDAT read: Rx Time:01:12:57.6411 TRx dataTimestamp_ set to:1764897178.845353checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278787@ @@/@@=@=bEjEj4rEĝ/E EE2E"E&:*E n:VE4ZEa@a@a@a@B>BBG IBOBBBBB;BcpE^A%T= I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528481?#,7ofLA2M>2Z?2<ٱ2=2H? `! h?N??jY@@۟??i2M>I2и];2CY>kBy>i IbDFVDF8yRx<%RM=ٔR:Q-V>9TYT=VEyV\Q 5b4^f?Q 9b4^*)^LBY`ybn?Q If@^hDI^:i^:^&4yj?BɮjAh:ix~FNOT Ignoring new targets: 257.45 m."ido*ido  ProNav: ac range: 257.453186 m, nav range: 249.137177 m, bearing: 29.249278 deg, approach rate: -0.586716 m/s, LOS rate: -0.013081 deg/s, cmd heading: 32.151312 deg, new cmd heading: 32.140875 deg. iHeadingCmd: 0.560964 target range: 257.453186 and range: 257.40 m.hX?hhhhggjg!rg!e!re!Ze):e)*e-`@UBɢU =) >n>i)<iXTi-X?]”=]m=IeX?IqY9@ @@@MDAT read: 01:12:57.6411 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.09, 2.852, 1.410, 3.106, 2.288, PHS= 0.665,-0.833, 0.773, RAW= 153.4, -7.8, CAL= 153.8, -9.5, ROT= 356.2, 9.5 ]Ygot valid direction response: 01:12:57.6411 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.09, 2.852, 1.410, 3.106, 2.288, PHS= 0.665,-0.833, 0.773, RAW= 153.4, -7.8, CAL= 153.8, -9.5, ROT= 356.2, 9.5 ePDAT read: Bearing 173.2, -6.5 (Local) e~Local bearing/azimuth received: Bearing 173.2, -6.5 (Local) uDAT read: Range 11 to 50 : 255.1 m (Round-trip 340.2 ms) speed 0.5 m/s uR#Rx 1: Read range and direction messages.y`direction in FSK: [0.984117,-0.065365,-0.165048]Fpublishing direction and range infoy!%r}?zYG ſY%C!!!% !)%CI%q=*?i%}?U%TE?%uY+@%'g %+@ %))%@I%)>!!%)]ts?8y?Eq %Ns?)% >I%Ӈi%)>!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE3E"E;*EVE4ZEBE@ԩ j#,IMfLAɰp;:>:?:fq<ٱ:=:H?B(`ִ?KT??`"Ų??i:>I:H];:C@Y`y`iMMb@Mb@Mb@IIII I9Ml?I +?=ٔuu:Q-u>(DAT read: user:88> BDAT read: Tx time:01:12:58.9467 $Ping request sent.Q 54f?Q 94&)Y?Q E:y %?Q I@hDI(:i:-4yɮiQiUpCfLAjU'C"jU'C:jU$?RjU> o;co@z,0ZjU$Z}k@pmF_@'0oIJjU:-x&?^ a?ڑɿjU4B jU{XCiUeᭊ?iU@aKjUxeAjQjQjQrjUxCzjUΦ?% addTargetRange:: Added new target pos. range: 255.100006 m, deltaT: 4.035232 s, deltaX: -2.299988 m, approachRate: -0.569977 m/s, rangeRepo size: 4 U Added new target pos. range: 255.153549 m, bearing: 30.022711 deg, lat: 36.779807 deg, lon: -121.859717 deg, deltaT: 4.035232 s, deltaX: -2.299637 m, approachRate: -0.569890 m/s, posRepo size: 4 :iQ]FNOT Ignoring new targets: 255.15 m."i]*iY ProNav: ac range: 255.153549 m, nav range: 248.881866 m, bearing: 29.241344 deg, approach rate: 0.000000 m/s, LOS rate: -0.013081 deg/s, cmd heading: 32.140876 deg, new cmd heading: 32.128477 deg. iHeadingCmd: 0.560748 target range: 255.153549 and range: 255.10 m.h)?hԩhhhggjgrgBe re Ze:e@3o@*e ?颉ɢ$=) o>i)<顑iTi)?Δ=P^=I)?I9@9 @9@E/@A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250787 ^A ا=E  E E 5E "E :*E Ar:VE 4ZE a @a @a @a @I I O >A A B >B 2CB B B B B DB ;B rpEy#, 'fLABb͵>B$?B<ٱB=BH~?,ʣ?W?@>?! 5=j?@?iBb͵>IB];BCYbiBybf IbDhVDhpyvI6%vS=ٔz:Q-z>9xYx=zEy~]oD~:E~>Q 5 4hf?Q 9 4i")KBYy-%?Q I@hDIP:i:f44yɮA!=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 255.15 m."iMͻ*iMͻ] ProNav: ac range: 255.153549 m, nav range: 248.656006 m, bearing: 29.234283 deg, approach rate: -0.655874 m/s, LOS rate: -0.020523 deg/s, cmd heading: 32.128476 deg, new cmd heading: 32.114340 deg. ie=eHeadingCmd: 0.560501 target range: 255.153549 and range: 255.10 m.he|?hihihihigigijgqrgqeqreqZeq:ey*e}@?颡ɢ;=) k>i)<顩iTi|?֔==I|?Iq@q @q@u/@q@}zA@}zA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029109^A=II O>i = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759|#,gLA2>2V?2<ٱ2>=2H ? 0*?0Z?`? ??i2>I2];2CYRQByRI I9Ee EeEe3Ea"Ee&:*Eexv:VEe4ZEaBEek;9Y=EyooDo:E>Q 5 4̿f?Q 9 49)HBY ?Q E:y&(?Q I@hDI:i;<4y@BɮyAHE:iAEFNOT Ignoring new targets: 255.15 m."iM[*iM[] ProNav: ac range: 255.153549 m, nav range: 248.398163 m, bearing: 29.225502 deg, approach rate: -0.590975 m/s, LOS rate: -0.020147 deg/s, cmd heading: 32.114341 deg, new cmd heading: 32.096760 deg. i]|eHeadingCmd: 0.560194 target range: 255.153549 and range: 255.10 m.heh?hahahahagagijgirgmBeireqZeq:eq*e})y?颡ɢ-;<)  <>i)j<顩iTi-h?5=5=I5h?I1IExA)Ai@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006742ԡ^A.= A9 IA IY Oe >_#,\0gLA>#>>L?>>b<ٱ>/=>HY?\1@?[??N`K7?`?i>#>I>Z];>CYJ]ByJX IbDR*VDRӰ8yZU=%Z`=ٔ^:Q-^>9\Y`=bEyb~oDb::Eb>dQ 5j4fRf?Q 9j4f)fFBYlyn7(?Q In@fiDIf^;if;ffB4ypɮrAp:i  FNOT Ignoring new targets: 255.15 m."i渹*i渹E ProNav: ac range: 255.153549 m, nav range: 248.182892 m, bearing: 29.218143 deg, approach rate: -0.590602 m/s, LOS rate: -0.020206 deg/s, cmd heading: 32.096760 deg, new cmd heading: 32.082029 deg. iEUHeadingCmd: 0.559937 target range: 255.153549 and range: 255.10 m.hU X?hYhYhYhYgagajgargaeireiZeq:ey*e}Sl?ԑɢz=) lU>iQ)U0@)Em EmEm2Ei"Em:*Emz:VEm4ZEiau@au@au@au@B>BBA IBJBB =BBB;BpE^AM\=Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860I I O > ^#,JgLA2s>2$?2[<ٱ2=2H\?7?qc? 7?ޱ.`?`u?i2s>I2)];0Y:NBy:E I B4=Bp=bDFVDF°8yN%NL=ٔRm:Q-R>9PYP=REyRoDV4;EV>XQ 5^4Z?f?Q 9^4Z)ZCBY\yb(?Q Ib@ZiDIZ0;iZ ;ZdI4yfABɮfAfIE:ixzFNOT Ignoring new targets: 255.15 m."iz*i~ ProNav: ac range: 255.153549 m, nav range: 247.946594 m, bearing: 29.209990 deg, approach rate: -0.590486 m/s, LOS rate: -0.020393 deg/s, cmd heading: 32.082030 deg, new cmd heading: 32.065709 deg. iHHeadingCmd: 0.559652 target range: 255.153549 and range: 255.10 m.h^E?hhhhggjgrgereZe:e*e@R? ɢ1<) 6>i)<iTie^E?m)==I^E?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762873=9@9 @9@=0@AEy E}E}4Ey"Ey*E}~:VE}4ZEyBE}&5N#,negLA2>2<?2=ٱ2@=2H@?9C?e??C߱@`x??i2>I2{];0Y:KBy:B Izchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015305i Mb@Mb@Mb@     9 > ףp=?&1?~jth?Y ?y P= D;   A ) A Y AbD-0VD-ٰ8y5TA%5:=ٔ=:Q-=>9= ?YE ?=EEyEoDE[:EM>IQ 5U4Mf?Q 9U4M)MABY]?Q E]:y])?Q I]@M$iDIM:iM:MQ4yaɮmAi:i)5FNOT Ignoring new targets: 255.15 m."i=%*i=%U ProNav: ac range: 255.153549 m, nav range: 247.698334 m, bearing: 29.201103 deg, approach rate: -0.540243 m/s, LOS rate: -0.019359 deg/s, cmd heading: 32.065710 deg, new cmd heading: 32.047917 deg. iU }HeadingCmd: 0.559342 target range: 255.153549 and range: 255.10 m.h}1?hhhhggjgrgBereZe:e*e@9ɢE<)A E0>iA)M.i> Q@Q @Q@U1@Q8G{AAE/9E{AYEA9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270226^A5 "=A9 zA= wAD! zD! E-  E- E- /E) "E- :*E- &p:VE- J4ZE) a5 @a5 @a5 @a5 @B <A <B >B 3CB . IB ;BB B B B ;B qpEB3CB3CBB =B =Cʊ)5ԁ A ؟AI I O >d#,3gLAɰ;2>2Y?2=ٱ2g[=2H?@3<>L?h??<걿 BQ?r?i2>I2D}];0YbJBybA IbDj!VDj˰8yr%rQ=ٔv:Q-v>9v"?Yz"?=zEyzoDz:Ez>|Q 54~f?Q 94~1)~?BY y )?Q I @~2iDI~:i~%:~W4y'BɮA@E5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 255.15 m."iM&Ĺ*iM&Ĺ] ProNav: ac range: 255.153549 m, nav range: 247.477448 m, bearing: 29.193158 deg, approach rate: -0.595406 m/s, LOS rate: -0.021436 deg/s, cmd heading: 32.047917 deg, new cmd heading: 32.032012 deg. i]eHeadingCmd: 0.559064 target range: 255.153549 and range: 255.10 m.he?hahahahagigijgirgieireqZeq:eq*eu~@颡ɢ=) v.>i)<*<顩i+Ti?=T\=I?IqQ@Q @Q@U2@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519467ԡ^Au=A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770803 ?#,gLA:m>:4?:?=ٱ:=:H??:u?l?া? tƺ??i:m>I:[];8YB;ByB. IEp ErEr3Ep"Ep*Er$:VEr4ZEpBEr69YYY=]EyeoDe!:Ee>iQ 5u4m g?Q 9u4m )m;BYu ?Q Eu:y?Q I@mAiDIm"i )UQ2Y *#,gLAf]>f"?f=ٱfyi=fH ?rBd?o??uܺ??if]>If2];fCYz3Byz$ IbDVD8y%M=ٔ<5Q->9 ?Y ?=%Ey%oD%o:E%>)Q 554-g?Q 954-R)-8BY9y=?Q I=@-OiDI-:i-:-%f4yAɮEAA:iiuFNOT Ignoring new targets: 255.15 m."iu&*iu& ProNav: ac range: 255.153549 m, nav range: 247.027847 m, bearing: 29.182004 deg, approach rate: -0.579858 m/s, LOS rate: -0.014442 deg/s, cmd heading: 32.020610 deg, new cmd heading: 32.009684 deg. ipӹHeadingCmd: 0.558674 target range: 255.153549 and range: 255.10 m.hI?hhhhggjgrgereZe:e*e @IɢM<)I M=iQ)UBB IB'BB =BBDBv;BDpEI^A%=y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526821A] ؟AIa Iq O >I #,gLA06g=>6'i?6=ٱ6tG=6HW?`<4?aj?S?`غ?t?i6g=>I6z\;6CY>*ByB IbDJܿVDJ8yRQ2%RS=ٔR:Q-R>9V"?YV"?=VEyVoDVEZ>XQ 5^4Z+g?Q 9b4Z)Z4BY`yb?Q Ib@Z]iDIZ:iZ;Zl4ydɮjAh:ixzFNOT Ignoring new targets: 255.15 m."i~y*i~y  ProNav: ac range: 255.153549 m, nav range: 246.814636 m, bearing: 29.176730 deg, approach rate: -0.551718 m/s, LOS rate: -0.013660 deg/s, cmd heading: 32.009685 deg, new cmd heading: 31.999127 deg. i ǹHeadingCmd: 0.558490 target range: 255.153549 and range: 255.10 m.h6?hhhhggjgrgereZe:e*e F@iɢu <) =i)б<顙iTi6?C=~=I6?IQԑa@i @q@q@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780794ԹE EE3E"E;*E:VE4ZEBEAC]5#,gLA2 ?>2i?2'=ٱ2[=2H@?;ǵ?@rj??X=.Ġ $?f?i2 ?>I2\;2CY:!By: I\rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030882iEMb@Mb@Mb@AAAA A9E> ףp=?:v?MbYE?yET=ٔm9Q-m>9qYq=uEyuoD}d7E}>Q 54U#,{hLA6>6[>?6"=ٱ6=6H ?@6ڵ?e?? 1`@#?N?i6>I6\;6CYBByB IbDJVDJg8yRTͼ%RX=ٔV`:Q-V>9TYT=ZEyZpDZ1EZ>\Q 5b4^Kg?Q 9b4^:)^*BYdyfo?Q If@^ziDI^:i^:^ {4yhɮjaAhvB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 255.15 m."i[*i[ ProNav: ac range: 255.153549 m, nav range: 246.355927 m, bearing: 29.167053 deg, approach rate: -0.570262 m/s, LOS rate: -0.012006 deg/s, cmd heading: 31.988802 deg, new cmd heading: 31.979756 deg. iȯ%HeadingCmd: 0.558152 target range: 255.153549 and range: 255.10 m.h% ?h!h!h!h!g)g)jg)rg)e)re1Ze1:e1*e5@eBɢe9<)a eܤ=ia)mƜԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787619G#,WhLA4<ɰ4<Eb EbEb2E`"EbV:*Eb:VEb4ZE`BEb99 ?Y ?=EypDE>!Q 5-4%]g?Q 9-4%)%#BY-r?Q E-:y-0?Q I-@%iDI%:i%t:%4y=)Bɮ=A=BE:iaeFNOT Ignoring new targets: 255.15 m."im+*im+󸝏 ProNav: ac range: 255.153549 m, nav range: 246.100952 m, bearing: 29.164067 deg, approach rate: -0.566814 m/s, LOS rate: -0.006644 deg/s, cmd heading: 31.979755 deg, new cmd heading: 31.973778 deg. iBHeadingCmd: 0.558048 target range: 255.153549 and range: 255.10 m.h7?hhhhggjg rg ցBeIreQZeQ:eQ*eU@颹ɢ<) =i)K<)i-wRi-7?5Yq=5=I57?I1ԡ@ @@/@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038863^A ٦= A ؟AI) IA Oe >| #,_4hLAB>Bx?B =ٱB=BH?) ?NY?? v*? ?iB>IBI\;@YN ByNIbDVVDV\8y^Z%^`=ٔb,;Q-b>9b"?Yf"?=fEyf"pDf͡Ef>hQ 5n4jlg?Q 9n4j)jBYpyr?Q Ir@jiDIj:ij;jC4ytɮvAx:iFNOT Ignoring new targets: 255.15 m."i"*i"븝- ProNav: ac range: 255.153549 m, nav range: 245.894501 m, bearing: 29.161732 deg, approach rate: -0.567460 m/s, LOS rate: -0.006424 deg/s, cmd heading: 31.973779 deg, new cmd heading: 31.969104 deg. i-<5HeadingCmd: 0.557966 target range: 255.153549 and range: 255.10 m.h5?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eMI @qɢuH)<)q u@=iq)} =I?I Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.2910639@ @@@E EE1E"E:*E:VE-4ZEa@a@a@a@Be>BaBeIBeBBaBaBeDBeJ;BepE^A*=!A = %= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543499I I! O5 >A Y#, NhLA2(>2?2 =ٱ2"=2H@?$`(?T??`2??i2(>I2'];0YNByRIbDZVDZj8yv`%vI=ٔzܦ:Q-z>9xY|=~Ey~3pD~IкE>Q 5 46}g?Q 9 4)BYy?Q I@iDI:i%:b4yɮ%!A!:iAEFNOT Ignoring new targets: 255.15 m."iM+*iM+踝] ProNav: ac range: 255.153549 m, nav range: 245.663559 m, bearing: 29.159150 deg, approach rate: -0.566785 m/s, LOS rate: -0.006343 deg/s, cmd heading: 31.969103 deg, new cmd heading: 31.963934 deg. i]9eHeadingCmd: 0.557876 target range: 255.153549 and range: 255.10 m.he?hahahahigigijgirgieqreqZeq:eq*e}@颥BɢL<) p=i)ϝ<顩iQi?X=1=I?Ia>i>9u9@q @y@y@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795022iE EE2E"E:*EAr:VE4ZEBE3Թ #,ghLA2o>2L?2=ٱ2=2H?@? /L??,ߡ`?@?i2o>I2\;2CYNByRIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046846iEMb@Mb@Mb@AAAA A9E(\?~jtMb`YE?yEļEE@E& A ESA)E"AAYE3AbDVD8y %9=ٔ%5':Q-%>9% ?Y- ?=-Ey-DpD57E5>9Q 5E4=g?Q 9E4=O)=BYE6?Q EE:yEb?Q IM@=iDI=M:i=w:=!4yQɮuUAqԑ:iFNOT Ignoring new targets: 255.15 m."ij9*ij9 ProNav: ac range: 255.153549 m, nav range: 245.417557 m, bearing: 29.158006 deg, approach rate: -0.544259 m/s, LOS rate: -0.002533 deg/s, cmd heading: 31.963933 deg, new cmd heading: 31.961643 deg. iTHeadingCmd: 0.557836 target range: 255.153549 and range: 255.10 m.hV?hhhhggjgrgˁBe re Ze :e)*e5 @}Bɢ} ʬ<)y PBi Bm IBm BBi Bi Bi Bm &;Bm oEAy I I O > ok #,hLA>ev>>?>=ٱ>=>H?.?@D??\@3ͺ??i>ev>I>y\;>CYJByJIbDRVDR8yZq=%Zd=ٔZͭ:Q-^>9\Y\=^EybSpDbFEb>dQ 5j4fg?Q 9j4f)fBYhyj?Q In@fiDIf:if:f^4yrBɮrPAr:EB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 255.15 m."i57*i57% ProNav: ac range: 255.153549 m, nav range: 245.219421 m, bearing: 29.157134 deg, approach rate: -0.568019 m/s, LOS rate: -0.002503 deg/s, cmd heading: 31.961645 deg, new cmd heading: 31.959899 deg. i%-HeadingCmd: 0.557805 target range: 255.153549 and range: 255.10 m.h-W?h)h)h)h1g1g1jg1rg1e9re9Ze9:eA*eE@iɢm <)i m%=iq)u> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805128&#,IhLA 6nس>6?6H=ٱ6"=6H?)??`5I6\;6CY>By>IER ERER2EP"ERV:*ER:VER4ZEPBER99"?Y"?=EyepD3E>Q 54g?Q 94u) BY?Q E:y]?Q I@iDI:iF: 4yɮsA:i%FNOT Ignoring new targets: 255.15 m."i%*i%距5 ProNav: ac range: 255.153549 m, nav range: 244.972931 m, bearing: 29.156439 deg, approach rate: -0.561621 m/s, LOS rate: -0.001585 deg/s, cmd heading: 31.959900 deg, new cmd heading: 31.958508 deg. i59=HeadingCmd: 0.557781 target range: 255.153549 and range: 255.10 m.h=?h9h9hAhAgAgAjgArgḾBeIreIZeI:eI*eUŢ@}Bɢ}а<)y  =i)z|<顁iGOi?==I?IqI@I @I@M0@Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054878^A=  7w> C G A .AI) I9 E Vd9A YM `AO] >,#,xhLA;ɰp;LYByIbD-VD-8y=!I%=S=ٔEQ-E>9E ?YM ?=MEyMtpDMEM>QQ 5e4Ugg?Q 9e4U)UBYayaQ Ie@UiDIU;iU;Uˬ4yiɮuAq:iFNOT Ignoring new targets: 255.15 m."i&*i&距 ProNav: ac range: 255.153549 m, nav range: 244.756119 m, bearing: 29.155826 deg, approach rate: -0.560835 m/s, LOS rate: -0.001586 deg/s, cmd heading: 31.958510 deg, new cmd heading: 31.957284 deg. i9HeadingCmd: 0.557760 target range: 255.153549 and range: 255.10 m.hY?hhhhggjgrgereZe:e*e.@=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306951颵Bɢ<) BBIBځBBBBB;BoEBBBBBC4@ @@1@ @ @ ^A- = checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5587461 A ؟AI I O >l3#,rShLAYnByrI tt|bDzVDz8y ޼% M=ٔQ->9"?Y"?=EypDE>!Q 5-4%g?Q 9-4%)%BY1y1Q I5@%iDI%:i%:%4y9ɮ=AA:iamFNOT Ignoring new targets: 255.15 m."iu*iu距 ProNav: ac range: 255.153549 m, nav range: 244.532761 m, bearing: 29.155194 deg, approach rate: -0.561776 m/s, LOS rate: -0.001591 deg/s, cmd heading: 31.957284 deg, new cmd heading: 31.956018 deg. ic:HeadingCmd: 0.557738 target range: 255.153549 and range: 255.10 m.h?hhhhggjgrgereZe:e*e@BɢA<) %C9#,1hLA2>2?2=ٱ2=2H;?@ ?+?? ݱSb ? ?i2>I2(];2CY>By>IVchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.063324YiMb@Mb@Mb@ 9ʡE?y&1|Mbp?Y-?y`廙;@ A A)=AYAbD2VDڰ8y=$%==ٔ };Q->9 ?Y ?=EypDE>Q 54bg?Q 94I)BY0?Q E :y  ?Q I @iDI:i:J4yBɮA;E:i9=FNOT Ignoring new targets: 255.15 m."iEhܸ*iEhܸU ProNav: ac range: 255.153549 m, nav range: 244.286697 m, bearing: 29.152597 deg, approach rate: -0.569980 m/s, LOS rate: -0.006022 deg/s, cmd heading: 31.956017 deg, new cmd heading: 31.950818 deg. iUS0]HeadingCmd: 0.557647 target range: 255.153549 and range: 255.10 m.h]?hYhYhYhYgYgajgargeׁBeareiZei:ei*em` @额BɢT<) @A >E  E E 3E "E V:*E ҆:VE 4ZE a @a @a @a @A AAA AAB >B 2CB IB ՁBB  =B B B ;B oE A ؟AI I O >@#, iLA2o>2N?2=ٱ2=2Hf?`2?(?*?9*??i2o>I2i];2CY:By>IbDF>VDF8yNC%Nb=ٔNk:Q-R>9R"?YR"?=REyRpDVP_EV>XQ 5^4Z.g?Q 9^4Zo)ZBY\y^ ?Q Ib@Z jDIZI;iZD;Z4yfBɮfAfF#,uiLAEB EBEB2E@"EB:*EBk:VEB4ZE@BEB>b?b=ٱbY =bH@?KP?`'?`? \??ib`>Ibw];`Y By II4<)p;iMb@Mb@Mb@ 9(\?y&1|{Gzt?Y?yף;@ )AYAbD#VDͰ8y;%9=ٔD:Q->9Y=EypD醹E>Q 54h?Q 94 )BY?Q E:y ?Q I@jDI:i:R4yɮA:iqFNOT Ignoring new targets: 255.15 m."i͸*i͸ ProNav: ac range: 255.153549 m, nav range: 243.835938 m, bearing: 29.147897 deg, approach rate: -0.540107 m/s, LOS rate: -0.005603 deg/s, cmd heading: 31.946485 deg, new cmd heading: 31.941411 deg. i$HeadingCmd: 0.557483 target range: 255.153549 and range: 255.10 m.h1?hhhhggjgrgсBereZe:e*e@ae"@MBɢ&٪<) B B IB ЁBB  =B B DB ;B oEA%.AI)IIOm ?O#,QM?iLAɰ4<6>6:?6%=ٱ6t=6H $?@?{.?`*? r)Sܺ?@?i6>I6];6CYBByBIbDVD8y]޼%]=ٔ]i;Q-e>9e ?Ye ?=eEyepDm:Em>ԉQ 54h?Q 94)BYy ?Q I@/jDI:i>:4yBɮ"A:iFNOT Ignoring new targets: 255.15 m."iڸ*iڸ- ProNav: ac range: 255.153549 m, nav range: 243.542419 m, bearing: 29.144783 deg, approach rate: -0.562448 m/s, LOS rate: -0.005974 deg/s, cmd heading: 31.941410 deg, new cmd heading: 31.935175 deg. i-.5HeadingCmd: 0.557374 target range: 255.153549 and range: 255.10 m.h5?h1h1h9h9g9g9jg9rgAeAreAZea:ei*em`p#@颵BɢѤ<) 3 ףp=?~jth?Mb?Y?yD;<@ A SA)XAYAbDVD8y$;%=ٔQ->9Y=EypDE>Q 54s+h?Q 94)BY?Q E:y1?Q I@AjDIo:i:4yɮA:i  FNOT Ignoring new targets: 255.15 m."ic*ic% ProNav: ac range: 255.153549 m, nav range: 243.251617 m, bearing: 29.140505 deg, approach rate: -0.572721 m/s, LOS rate: -0.008436 deg/s, cmd heading: 31.935174 deg, new cmd heading: 31.926608 deg. i%w-HeadingCmd: 0.557224 target range: 255.153549 and range: 255.10 m.h-B?h)h)h)h)g)g1jg1rg5Be1re9Ze9:e9*e=bp$@mBɢmv4<)i mwp]^#,}iLA,2>2RV?2)=ٱ2=2H ?Eb?`31??! ?N?i2>I2];2CB<B<B>IB>ˁBB> =B<B<B>;B>oEDLzDN@AER ERER3EP"ER;*ER]t:VER4ZEPBER@<2ER@<JER;:ER;YZBy^IbDfVDf8yn<%n8=ٔn;Q-r>9pYp=rEyrpDvw:Ev>QQ 5U4U=h?Q 9]4U')UBYYy]L?Q I]@URjDIU`:iU):Uv4yeBɮmAm=E:iFNOT Ignoring new targets: 255.15 m."i*i ProNav: ac range: 255.153549 m, nav range: 242.992676 m, bearing: 29.136662 deg, approach rate: -0.569846 m/s, LOS rate: -0.008467 deg/s, cmd heading: 31.926606 deg, new cmd heading: 31.918911 deg. iwHeadingCmd: 0.557090 target range: 255.153549 and range: 255.10 m.hu?hhhhggjgrgereZe:e*e ]%@MBɢmh<)i m-e#,iLA2s >2Z?2*=ٱ2ڠ=2H?q? 1?`P?@3A8?@1?i2s >I2];2CY:By>IbDFVDF8yN%NO=ٔR>%:Q-R>9R"?YV"?=VEyVqDZ/9E^>lhQ 5r4j}Mh?Q 9r4j)jBYpyrP?Q Iv@j`jDIj';ij(;j<4yzBɮz>Az3E-2Acoustic response timeout=B*** querying acoustic contact ***iAiA:iFNOT Ignoring new targets: 255.15 m."i *i = ProNav: ac range: 255.153549 m, nav range: 242.772324 m, bearing: 29.133381 deg, approach rate: -0.505145 m/s, LOS rate: -0.007527 deg/s, cmd heading: 31.918912 deg, new cmd heading: 31.912345 deg. i=f\EHeadingCmd: 0.556975 target range: 255.153549 and range: 255.10 m.hE?hAhAhAhIgigijgirgqeqreqZeq:eq*e}`>D&@E EE5E"E:*Ex:VE4ZEa@a@a@a@ Bɢ\<)! %k#,.iLAlr@>rvj?r#o+=ٱr=rH@?` ?@73?R?L`Jl` ??ir@>Ir^];rCY~By~IiMb@Mb@Mb@ 9㥛 ?:v?{Gzt?Y?yT<ף;@ A A)jAYAbDVD8y{%5=ٔ?:Q->9Y=EyqD| :E>Q 54_h?Q 944)BY?Q E:y?Q I@qjDI;i; 4yBɮLA4E:iFNOT Ignoring new targets: 255.15 m."i d*i d ProNav: ac range: 255.153549 m, nav range: 242.512497 m, bearing: 29.128412 deg, approach rate: -0.652605 m/s, LOS rate: -0.012495 deg/s, cmd heading: 31.912345 deg, new cmd heading: 31.902395 deg. i𶹝HeadingCmd: 0.556802 target range: 255.153549 and range: 255.10 m.h?hhhhggjgrgBereZe:e*e'@ɢvQ<)! %r#,iLA2Acoustic response timeout6>6?6?*=ٱ6a=6H? @ޖ?9??yAmF8?o?i6>I6];4YBByBIbDRVDR8yZz%ZZ=ٔ^~JQ-^>9\Y\=bEyb#qDb;Eb>dQ 5j4f oh?Q 9j4f)fBYlyn?Q In@fjDIf:if%:f4ypɮrAp:i FNOT Ignoring new targets: 255.15 m."iaN*iaN% ProNav: ac range: 255.153549 m, nav range: 242.294922 m, bearing: 29.124196 deg, approach rate: -0.581428 m/s, LOS rate: -0.011277 deg/s, cmd heading: 31.902396 deg, new cmd heading: 31.893956 deg. i%)5HeadingCmd: 0.556655 target range: 255.153549 and range: 255.10 m.h5?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE'@uBɢu20<)q uiq)}>Ա y#,4iLAɰ;6>6?6??`p@}b? ?i6>I6\;4Y>߁By>IiuMb@Mb@Mb@qqqq q9u7A`?Zd;O?Yu?yuj9 ?Y ?=Ey5qD:E>Q 54h?Q 94/)BY?Q E:y?Q I@jDI:it: 4yBɮA5E:iFNOT Ignoring new targets: 255.15 m."i*i ProNav: ac range: 255.153549 m, nav range: 242.041870 m, bearing: 29.118169 deg, approach rate: -0.585542 m/s, LOS rate: -0.013961 deg/s, cmd heading: 31.893958 deg, new cmd heading: 31.881891 deg. ig̹%HeadingCmd: 0.556444 target range: 255.153549 and range: 255.10 m.h%s?h)h)h)h)g)g1jg9rg=Be9re9ZeA:eA*eE੢(@Bɢ࡜<)  Ȼ52Acoustic response timeouti )=<99i=QBiEs?E=EV=IEs?II!@! @!@!@)@1@18G)iq9YxmA^AM \= BDAT read: Response Not Received  *response not received (DAT read: user:89>  BDAT read: Tx time:01:13:11.3967  $Ping request sent. A @AA @AB! B! B% IB% BB%  =B! B! B% ;B% moEB2CB2CBB =B =C.4[1#,$iLAE EE4E"E:*E:VE4ZEBE<9Y=EyEqDE>Q 54Xh?Q 94)BYyQ I@jDI;i;P4y-Bɮ-%A):iiFNOT Ignoring new targets: 255.15 m."i{*i{ ProNav: ac range: 255.153549 m, nav range: 241.801193 m, bearing: 29.112424 deg, approach rate: -0.574350 m/s, LOS rate: -0.013722 deg/s, cmd heading: 31.881892 deg, new cmd heading: 31.870392 deg. iȹHeadingCmd: 0.556243 target range: 255.153549 and range: 255.10 m.he?hhhhggjgrgereZe:e*e {)@-Bɢ5$ē<)1 5i9)=-ɟ<99i=AiUe?U(=UF=IUe?IY@ @@/@!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249549Q^A- ǫ=Ay y I I O >!#, jLA2C>2R?2#=ٱ2a=2HT? @V?>A??G aG??i2C>I2\;2CY>ʁBy>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503434bD IVD8yl%<=ٔ?Q->9YE% E%E%2E!"E%&:*E%x:VE%4ZE!a5@a5@a5@a5@=5Ey5VqD=.:E=>Q 54>h?Q 94n)BYy?Q I@jDI:i2:p4yɮA5B*** querying acoustic contact ***i1i1:iyFNOT Ignoring new targets: 255.15 m."i|*i| ProNav: ac range: 255.153549 m, nav range: 241.529144 m, bearing: 29.105897 deg, approach rate: -0.574486 m/s, LOS rate: -0.013798 deg/s, cmd heading: 31.870393 deg, new cmd heading: 31.857325 deg. iʹHeadingCmd: 0.556015 target range: 255.153549 and range: 255.10 m.hW?hhhhggjgrgereZe:e*eRo*@q颙ɢ <)  8i)m<iH?i-W?m6=mB=IuW?Iq}C>iy9@ @@/@@=@=ԙE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753530 ^A =A=؟AIAIQOe>Q#,7jLA>w>>J?> !=ٱ>=>H??`D?`? q ??i>w>I>\;>CYJɁBHyHiMb@Mb@Mb@ 9gfffff?Q?Mb`?Y3?y\=;/@ A A)AYAbD5VD58yE%EA=ٔM~Q-M>9M"?YM"?=UEyUhqDU}:EU>YQ 5e4]h?Q 9e4])]BYmy?Q Em:ymi!?Q Im@]jDI]:i]I:]N4yuBɮuA}6E:iFNOT Ignoring new targets: 255.15 m."i*i ProNav: ac range: 255.153549 m, nav range: 241.304550 m, bearing: 29.099331 deg, approach rate: -0.596417 m/s, LOS rate: -0.017452 deg/s, cmd heading: 31.857324 deg, new cmd heading: 31.844180 deg. iHeadingCmd: 0.555786 target range: 255.153549 and range: 255.10 m.hG?hhhhggjgrgBereZe:e*e`*+@uBɢ}&<)y }86iy)}(<顁i|>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005644iG?zA=$a=IG?IB>BBIBBBBBBϱ;BoEE- E-E-4E)"E-s:*E-:VE-4ZE)BE-s0+6#,*QjLAZ>Z"?ZN=ٱZ=ZH?` ? #G?6?"ߣ+??B?iZ>IZ*\;ZCYjBynI tva=|bDzVDz8y ah% N=ٔ Q->9 ?Y ?=EywqD:E>!Q 5-4%)h?Q 9-4%b)%BY)y-!?Q I5@%jDI%:i%:%94y9ɮ=A9:iaeFNOT Ignoring new targets: 255.15 m."im㙹*im㙹} ProNav: ac range: 255.153549 m, nav range: 241.078293 m, bearing: 29.092681 deg, approach rate: -0.571624 m/s, LOS rate: -0.016817 deg/s, cmd heading: 31.844179 deg, new cmd heading: 31.830866 deg. i}8HeadingCmd: 0.555553 target range: 255.153549 and range: 255.10 m.h8?hhhhggjgrgereZe:e*e+@颹ɢo<) i)z<ieH=i8?M==I8?I@ @@/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515328QEe EeEe3Ea"Ee:*EeAr:VEe4ZEaam@am@am@am@^A"=A ؟AI I O >y _#,kjLABݴ>B@9?B<=ٱB=BH ?@m U?`I?_?` I?I?iBݴ>IBN\;BCYJByJIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761611i-Mb@Mb@Mb@)))) )9-tV? rh?MbpY-?y-C9"?Y"?=EyqDS:E>Q 54h?Q 94)BY?Q E:y?Q I@jDI ;i;$4yBɮ2A-E:i FNOT Ignoring new targets: 255.15 m."ili*ili% ProNav: ac range: 255.153549 m, nav range: 240.835358 m, bearing: 29.087252 deg, approach rate: -0.570108 m/s, LOS rate: -0.012755 deg/s, cmd heading: 31.830867 deg, new cmd heading: 31.819997 deg. i--HeadingCmd: 0.555364 target range: 255.153549 and range: 255.10 m.h-Q,?h)h1h1h1g1g1jg9rg=Be9re9ZeA:eA*eE@,@m߁Bɢuho<)q u(iq)ubCB B rIB BB B B DB ۱;B oEbE4jEj4rEb/Ea  Ee Ea Ea "Ea *Ee ]t:VEa ZEa BEe &5 fF#,YjLAY~By~IbD AVD 8y*%%U=ٔ%Q-%>9!Y)=-Ey-qD-E->1Q 5=45ch?Q 9=45{)5BYAyAQ IE@5jDI5;i5w;5`+4yIɮMsAI:iquFNOT Ignoring new targets: 255.15 m."i}i*i}i ProNav: ac range: 255.153549 m, nav range: 240.616470 m, bearing: 29.082350 deg, approach rate: -0.570448 m/s, LOS rate: -0.012785 deg/s, cmd heading: 31.819997 deg, new cmd heading: 31.810185 deg. i/HeadingCmd: 0.555192 target range: 255.153549 and range: 255.10 m.h!?hhhhggjgrgereZe:e*e'-@Թɢ X<) i)<i:i!?h==I!?Ie9@a @a@e.1@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266267^Au=A I I O >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520089t#,CjLAE- E-E-5E)"E-;*E-z:VE-4ZE)aU@a]@a]@a]@U>T?p=ٱ1=H`A?@b˶?B?@?`= ]1??iU>Is\;YBy~I iMb@Mb@Mb@ 9M?Mb?MbpYn?y<@A A) AYAbDVD8y'%3=ٔOQ->9Y=EyqDE>Q 54h?Q 94)BY~?Q E:yE?Q I@jDI;i<;V34yBɮA.EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 255.15 m."ib*ib= ProNav: ac range: 255.153549 m, nav range: 240.357117 m, bearing: 29.076701 deg, approach rate: -0.568708 m/s, LOS rate: -0.012401 deg/s, cmd heading: 31.810185 deg, new cmd heading: 31.798874 deg. iEMHeadingCmd: 0.554995 target range: 255.153549 and range: 255.10 m.hM(?hIhIhIhIgIgQjgQrgUBeQreYZeY:eY*e] .@AɢE[Q<)I M\˽iI)M#,jkjLA25P>2?2=ٱ2==2H?@u5ζ?HB??,ٱ=P?`j?i25P>I2\;2CY:By:uIbDFVDF8yN60%No=ٔN=Q-N?9PYP=REyRqDVEV?XQ 5^4Zi?Q 9^4Z)ZBY\y^C?Q Ib@ZkDIZ0;iZ;ZL94ydɮfAd:ixzFNOT Ignoring new targets: 255.15 m."i~c*i~c ProNav: ac range: 255.153549 m, nav range: 240.162811 m, bearing: 29.072462 deg, approach rate: -0.569792 m/s, LOS rate: -0.012440 deg/s, cmd heading: 31.798875 deg, new cmd heading: 31.790391 deg. i  mHeadingCmd: 0.554847 target range: 255.153549 and range: 255.10 m.hmt ?hhhhggjgrgereZe:e*e4/@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022152aɢe%+<) ,i) O<  i U7it ?؃=ϋ=It ?IB->B-3CB-YIB-BB)B)B)B-Ա;B-oED%=DE EE2E"ED:*E:VE4ZEBE2A> BDAT read: Rx Time:01:13:14.0806  TRx dataTimestamp_ set to:1764897195.224550 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274599Aq I I O > ȓ#,2jLA@6O<>6?6+=ٱ6=6H4?FѶ?AA?`"?v?/`0d?/?i6O<>I6\;6CY>ByBjIbDJ VDJ8yR/8%RJ=ٔRPQ-R>9TYT=VEyVqDVGŹEZ>XQ 5^4Z(i?Q 9b4ZO)ZBY`yb9?Q Ib@ZkDIZo;iZ;ZY@4yfBɮfKAh:ix~FNOT Ignoring new targets: 255.15 m."i~c*i~c  ProNav: ac range: 255.153549 m, nav range: 239.933121 m, bearing: 29.067451 deg, approach rate: -0.569775 m/s, LOS rate: -0.012442 deg/s, cmd heading: 31.790391 deg, new cmd heading: 31.780360 deg. i )HeadingCmd: 0.554672 target range: 255.153549 and range: 255.10 m.h ?hhhhggjgrg!e!re!Ze!:e!*e-/@QɢU`<)Q ].iY)]}1 #,ljLA2>2?2=ٱ2<-=2H`M? ?I2C\;2CY>By>aIIV=)Tb4=ba=zDAT read: 01:13:14.0806 LVL= 30960, 32753, 29842, 32755, AGC= 67, IDX= 301, 0.27, 2.107, 0.447, 2.231, 1.721, PHS= 0.488,-1.229, 0.466, RAW= 149.4, 3.3, CAL= 148.5, 3.2, ROT= 1.5, -3.2 ~Ygot valid direction response: 01:13:14.0806 LVL= 30960, 32753, 29842, 32755, AGC= 67, IDX= 301, 0.27, 2.107, 0.447, 2.231, 1.721, PHS= 0.488,-1.229, 0.466, RAW= 149.4, 3.3, CAL= 148.5, 3.2, ROT= 1.5, -3.2 PDAT read: Bearing 185.2, -0.5 (Local) ~Local bearing/azimuth received: Bearing 185.2, -0.5 (Local) DAT read: Range 11 to 50 : 209.7 m (Round-trip 279.7 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998099,0.026136,0.055822]%Fpublishing direction and range infoy`b@l?Ko1nÚ?ᢔ?YbQC`bx`bt `)`Ib#>ibOb>b&@bk=bH%@ bd=)bPw9Y=EyqD 4ǺE>Q 54%i?Q 94)BY?Q E:y?Q I@'kDI$o;i9n;H4yɮAi`ibjLAjbQC"jbQC:jb?RjbdY*j@Nb@Ńj'@Bjb@l?Ko1nÚ?ᢔ?*jbPw<2jbdZjb"ae@à"]@7(b@JjbO봘?`]n? ]fl?jbB jbS.CibX҇?ibO6jbyBjbeᭊ?j`j`rjboCzjb36? addTargetRange:: Added new target pos. range: 209.699997 m, deltaT: 16.380255 s, deltaX: -45.400009 m, approachRate: -2.771630 m/s, rangeRepo size: 4  Added new target pos. range: 209.741119 m, bearing: 33.764627 deg, lat: 36.779800 deg, lon: -121.859717 deg, deltaT: 16.380255 s, deltaX: -45.412430 m, approachRate: -2.772388 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 209.74 m."i*i ProNav: ac range: 209.741119 m, nav range: 239.074234 m, bearing: 29.142898 deg, approach rate: 0.000000 m/s, LOS rate: -0.012442 deg/s, cmd heading: 31.780361 deg, new cmd heading: 31.768192 deg. iHeadingCmd: 0.554460 target range: 209.741119 and range: 209.70 m.hm ?hihihihigigijgqrguȁBeqreqZey:e}`f6j@*e}c(?ɢ "<)  i ) A< iB4i ?J=Ǯ=I ?IA9@ @@5@}(DAT read: user:90> }BDAT read: Tx time:01:13:15.2966 $Ping request sent.B1 B5 GIB5 BB5  =B1 B1 B5 ر;B5 oEi D) zD) E5  E5 E5 1E1 "E5 ;*E5 e:VE5 -4ZE1 BE5 A%#, kLA2{>2:?2+=ٱ2)=2H?`ƨ?@-7?@?J??i2{>I25\;2CYRByRXIbDZVDZ8yb%bM=ٔfŸQ-f>9dYd=jEyjqDj!Ej>lQ 5r4n4i?Q 9r4n)nBYtyv?Q Iv@n5kDIn:in:n O4yzBɮzA~/E:iFNOT Ignoring new targets: 209.74 m."i%*i%5 ProNav: ac range: 209.741119 m, nav range: 238.867554 m, bearing: 29.139899 deg, approach rate: -0.579302 m/s, LOS rate: -0.008411 deg/s, cmd heading: 31.768193 deg, new cmd heading: 31.762192 deg. i5Iv=HeadingCmd: 0.554355 target range: 209.741119 and range: 209.70 m.h=3 ?h9h9h9hAgAgAjgArgAeIreIZeI:eI*eU@#?yɢ};) b#i)Ag<顙iwY3i3 ?=壭=I3 ?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251282I@I @I@M/@Iԙ^AiA .AI I O >i߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504027 M#,"kLAE EEE"E:*E:VEZEa.@a.@a.@a.@LɰLj>jPX?j=ٱj=jH@?Ij\;jCYr~ByrEIiMb@Mb@Mb@ 9Q?:vMbPY\?yT\@A  A) AY3AbDVD8y % 7=ٔ9Q->9 ?Y ?=EyqD+׺E>!Q 5-4%Fi?Q 9-4%=)%BY5f?Q E5:y5{ ?Q I5@%EkDI% ;i%T;%V4y9ɮ=AAA]B*** querying acoustic contact ***iYiY:iamFNOT Ignoring new targets: 209.74 m."im8*iu8} ProNav: ac range: 209.741119 m, nav range: 238.618500 m, bearing: 29.137731 deg, approach rate: -0.558614 m/s, LOS rate: -0.004869 deg/s, cmd heading: 31.762193 deg, new cmd heading: 31.757851 deg. i}HeadingCmd: 0.554279 target range: 209.741119 and range: 209.70 m.h< ?hhhhggjgrgˁBereZe:e*e ?ށBɢ; ) M@iI)MeGG/{As9/{AY}A^AK=a A ؟AI! I1 O= >.u#,ߣ9-"?Y-"?=-Ey- rD-E5>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067131Q 5M45Ui?Q 9M45d)5BYIyIQ IU@5RkDI5!;i5 ;5l]4yBɮ:A0E:iFNOT Ignoring new targets: 209.74 m."i*i𯸝 ProNav: ac range: 209.741119 m, nav range: 238.409943 m, bearing: 29.135911 deg, approach rate: -0.550531 m/s, LOS rate: -0.004807 deg/s, cmd heading: 31.757852 deg, new cmd heading: 31.754211 deg. i HeadingCmd: 0.554216 target range: 209.741119 and range: 209.70 m.h ?hhhhggjgrgeB>BB.IBkBBBBBBoEB3CB3CBBB =C-5reZe:e*e=?)ɢ-D;)1 5;i1)5ߖ<11i=`/i= ?=N=E0=IE ?IAD=DE EE3E"E:*E|:VE4ZEBEP-A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258895 I I O >a#,GVkLA:J>:?:K=ٱ: =:H@?Oö?'??`T(n??i:J>I:_];:CYN~ByRFIXbD^(VD^Ѱ8yfD%fO=ٔj9Q-j>9hYl=nEynrDncEn>pQ 5v4r~ei?Q 9v4rd)rBYxyz ?Q Iz@r`kDIr ;ir ;rQd4y|ɮ~HA:i!%FNOT Ignoring new targets: 209.74 m."i-*i5e ProNav: ac range: 209.741119 m, nav range: 238.189209 m, bearing: 29.134067 deg, approach rate: -0.568419 m/s, LOS rate: -0.004754 deg/s, cmd heading: 31.754212 deg, new cmd heading: 31.750520 deg. ie3 mHeadingCmd: 0.554151 target range: 209.741119 and range: 209.70 m.hm ?hihihihigigqjgqrgqeyreyZey:ey*e}V?!ɢ-TG;)I Mz>iI)UVA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762580H#,ZpkLA@Ni̱>N?N*o=ٱN=NH(?_?f ?? @,p??iNi̱>IN!c];LYbvByb<I!iMb@Mb@Mb@ 9Gz?{GztMbP?Y?yף:=AA "A)YAbD #VD Ͱ8y %7=ٔ8Q->9!Y!=%Ey%/rD% E->)Q 5=4-|wi?Q 9=4-)-BY=?Q E=:y=c?Q I=@-pkDI-;i-/;-l4yMΔBɮMAM'E:iiFNOT Ignoring new targets: 209.74 m."i*i ProNav: ac range: 209.741119 m, nav range: 237.938126 m, bearing: 29.131181 deg, approach rate: -0.564057 m/s, LOS rate: -0.006491 deg/s, cmd heading: 31.750520 deg, new cmd heading: 31.744742 deg. i>HeadingCmd: 0.554050 target range: 209.741119 and range: 209.70 m.h= ?hhh h)g)g)jgQrgUҁBeQreQZeQ:eY*e] @颥݁Bɢp;) MIia)m' o#,D5kLA2s>2,T?27=ٱ2;=2HM? @??`??w}>$I??i2s>I2!];2CYNmByR1IbDZ VDZ8ybD%bc=ٔbF9Q-b>9dYd=fEyf>rDjoEj>lQ 5r4n i?Q 9r4n)nBYpyr?Q Ir@n}kDIn;in;ndr4yxɮzAx:i9EFNOT Ignoring new targets: 209.74 m."iE*iE㸝U ProNav: ac range: 209.741119 m, nav range: 237.735046 m, bearing: 29.128911 deg, approach rate: -0.556109 m/s, LOS rate: -0.006221 deg/s, cmd heading: 31.744742 deg, new cmd heading: 31.740199 deg. iU&6uPExceeded connect timeout, disconnecting.yHeadingCmd: 0.553971 target range: 209.741119 and range: 209.70 m.h ?hhhhggjgrgereZe:e*e'@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266724܁BɢP ;) J^i)gג<i*i ?ܖ= =I ?II)m9@i @i@m0@i@uxA@qԩ^Aا=AwAzAzAI I! O5 >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518584 E5  E5 E1 E1 "E5 :*E5 |:VE1 ZE1 aU @aU @a] @a] @#,3kLAMz>M/?Mhk=ٱM=MH ?? ?Z?  G, d?/?iMz>IM5];MCYefBye(IiMb@Mb@Mb@ 9S?9Y!=%Ey%PrD%E->)Q 554-,i?Q 9=4-)-BY=$?Q E=:y= ?Q I=@-kDI-k:i-:-Az4yEϔBɮMJAIB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 209.74 m."i%:*i%:= ProNav: ac range: 209.741119 m, nav range: 237.483658 m, bearing: 29.126689 deg, approach rate: -0.544146 m/s, LOS rate: -0.004815 deg/s, cmd heading: 31.740200 deg, new cmd heading: 31.735751 deg. i] eHeadingCmd: 0.553893 target range: 209.741119 and range: 209.70 m.hm ?hihihihigqgqjgqrg}܁BereZe:e*e@qɢ}dL-;)y }2liy)}ߵ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771481@ @@/@!^A ܪ=I I! O5 >I S#,kLAɰ4BBIBLBB =BBB;BoEy@%T=ٔQ->9Y=Ey`rDE>Q 54i?Q 94)BYyQ I@kDI;i;4yɮxA:iFNOT Ignoring new targets: 209.74 m."i*i ProNav: ac range: 209.741119 m, nav range: 237.268097 m, bearing: 29.124780 deg, approach rate: -0.584756 m/s, LOS rate: -0.005183 deg/s, cmd heading: 31.735750 deg, new cmd heading: 31.731928 deg. i  HeadingCmd: 0.553827 target range: 209.741119 and range: 209.70 m.h  ?hhhhggjgrgereZe!:e!*e%x @1QɢU@G)Y ]viY)]+ÏBDAT read: Rx Time:01:13:17.9777 TRx dataTimestamp_ set to:1764897199.256574checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275707Թ #,kLAJ>J?J1.=ٱJs=JH`?@?` ??<$ \?R?iJ>IJ ];JCYnfByn(IprAttbDzVDz8yh<%U=ٔLQ- >9 Y = Ey orDUE>Q 5%44i?Q 9%4ɂ)BY!y%N ?Q I-@kDI';i;4y5єBɮ5VA5(E:iQ]FNOT Ignoring new targets: 209.74 m."i]U*ieUm ProNav: ac range: 209.741119 m, nav range: 237.053452 m, bearing: 29.122920 deg, approach rate: -0.558581 m/s, LOS rate: -0.004845 deg/s, cmd heading: 31.731928 deg, new cmd heading: 31.728205 deg. im uHeadingCmd: 0.553762 target range: 209.741119 and range: 209.70 m.huS ?hqhyhyhygygyjgrgereZe:e*e @颵ہBɢ%:) ji)&R<项iL$iS ?3=U=IS ?IԑU9@Q @Q@U3@Q5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526905E EEE"E:*Exv:VEZEa@a@a@a@!^AT=AA?AA I IQ Ia Ou >= DAT read: 01:13:17.9777 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.19, 0.071,-1.631, 0.204,-0.248, PHS= 0.422,-1.338, 0.408, RAW= 149.6, 5.9, CAL= 148.9, 6.2, ROT= 1.1, -6.2 U Ygot valid direction response: 01:13:17.9777 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.19, 0.071,-1.631, 0.204,-0.248, PHS= 0.422,-1.338, 0.408, RAW= 149.6, 5.9, CAL= 148.9, 6.2, ROT= 1.1, -6.2 #,kLA"PDAT read: Bearing 188.0, -0.6 (Local) "~Local bearing/azimuth received: Bearing 188.0, -0.6 (Local) *DAT read: Range 11 to 50 : 207.6 m (Round-trip 276.9 ms) speed 0.6 m/s .R#Rx 1: Read range and direction messages.6\direction in FSK: [0.993968,0.019085,0.107999]:Fpublishing direction and range infoyk v?I~.?Niإ?YOC )Ib>iC`>'@B=R&@ k=)nFSd?=ٱ=H f?b q?@Y?` ?`;_,? ?i3>I\;CYaBy!Ii-Mb@Mb@Mb@)))) )9-Gz?9yYy=}Ey}rDpE>Q 54$i?Q 94)BY?Q E:y ?Q I@kDI :i:B4yɮAAiikLAjOC"jOC:jQ?Rj5i@@Sl6@Bjk v?I~.?Niإ?*jnF<2jkݽZj(e@'l'[@'.@JjdĴ ?qa(?JUGE?jB j.Ci1E?ikdjzBjjjrjlCzj? addTargetRange:: Added new target pos. range: 207.600006 m, deltaT: 4.032655 s, deltaX: -2.099991 m, approachRate: -0.520746 m/s, rangeRepo size: 4  Added new target pos. range: 207.643204 m, bearing: 32.523951 deg, lat: 36.779800 deg, lon: -121.859717 deg, deltaT: 4.032655 s, deltaX: -2.097916 m, approachRate: -0.520232 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 207.64 m."i*i% ProNav: ac range: 207.643204 m, nav range: 236.777206 m, bearing: 29.120590 deg, approach rate: 0.000000 m/s, LOS rate: -0.004845 deg/s, cmd heading: 31.728206 deg, new cmd heading: 31.723224 deg. i!%HeadingCmd: 0.553675 target range: 207.643204 and range: 207.60 m.h- ?h)h)h)h)g)g)jg1rg5́Be1re1Ze9:e=@3i@*e]`c?颡ɢ8 /;) .ti) <<顩i"i ?k=.=I ?IE(DAT read: user:91> MBDAT read: Tx time:01:13:19.3966 M$Ping request sent.MB4CBIBBBB =BBDB;BoE@ @@@5@E  E E 2E "E :*E g:VE 4ZE BE 3#,&lLA2>2lM?2w=ٱ2eu=2H ?``J??`r? ?k?i2>I2\;2CY^ZBy^Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250688bDzVDzɰ8y % V=ٔ Q->9% ?Y% ?=%Ey%rD-nE->9Q 5E4=i?Q 9M4=|)=BYQyU ?Q IU@=kDI=ud;i=`e;=4yeҔBɮeAm)E:iFNOT Ignoring new targets: 207.64 m."i*i ProNav: ac range: 207.643204 m, nav range: 236.562485 m, bearing: 29.118793 deg, approach rate: -0.593968 m/s, LOS rate: -0.004976 deg/s, cmd heading: 31.723223 deg, new cmd heading: 31.719626 deg. iHeadingCmd: 0.553612 target range: 207.643204 and range: 207.60 m.h ?hhhhggjgrgereZe:e*eh+?ځBɢ ) i)*Ԋ<顉i i ? ==I ?I%9@! @!@%2@!^AEt=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502109A A} ؟AI I O >E5  E5 E1 E1 "E5 :*E5 xv:VE1 ZE1 aU @aU @aU @a] @ #,(lLAY~KByII <) ;iMb@Mb@Mb@ 9Cl?y&1|9 "?Y "?= Ey rDE>Q 5%4i?Q 9%4x)}BY%?Q E%:y% ?Q I%@kDI:i=:q4y1ɮ5:A1MB*** querying acoustic contact ***iIiI:iY]FNOT Ignoring new targets: 207.64 m."ie_*ie_u ProNav: ac range: 207.643204 m, nav range: 236.320236 m, bearing: 29.116592 deg, approach rate: -0.568859 m/s, LOS rate: -0.005174 deg/s, cmd heading: 31.719627 deg, new cmd heading: 31.715221 deg. iu}HeadingCmd: 0.553535 target range: 207.643204 and range: 207.60 m.h}y ?hyhyhyhyggjgrgځBereZe:e*e`?颹ɢ)Da7 َi)5<iߢiy ?h=A=Iy ?IIQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754380@ @@ /@ y^A- =ԩ AY Ia Iq O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005470B B B IB 8BB B B B &;B oE#,BlLA2 >2#?2=ٱ2Q=2H? ?@? ?`.%0 ??i2 >I2'8];2C@YBPByB IbDNKVDN8yV,<%Vc=ٔV_:Q-V>9XYX=ZEyZrD^HE^>`Q 5f4bi?Q 9f4b v)b{BYdyf ?Q If@bkDIb:ibG:b4yjԔBɮnAl:i|FNOT Ignoring new targets: 207.64 m."ih*ih ProNav: ac range: 207.643204 m, nav range: 236.118088 m, bearing: 29.114782 deg, approach rate: -0.562419 m/s, LOS rate: -0.005038 deg/s, cmd heading: 31.715222 deg, new cmd heading: 31.711600 deg. iHeadingCmd: 0.553472 target range: 207.643204 and range: 207.60 m.hT ?hhhhggjgrgereZe:e*ef?D=DE EE6E"E2:*Ez:VEc4ZEBE.*) i):<i_i T ? = (=I T ?IԱm9@i @q@q@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257898^Ammf= A I I O >l#,\lLAɰ2b>2v?2o=ٱ2_=2H ? ӵ??` ?`졿M??i2b>I2^g];2CY:GBy:IbDF4VDFܰ8yN/%NK=ٔNQ-N>9PYP=REyRrDV]ɺEV>XQ 5Z4Z j?Q 9^4ZrQ =^tI)ZyBY\y^a ?Q Ib@ZkDIZD;iZ/;Zë4ydɮffAdl:ixzFNOT Ignoring new targets: 207.64 m."i~*i~  ProNav: ac range: 207.643204 m, nav range: 235.892227 m, bearing: 29.112790 deg, approach rate: -0.560582 m/s, LOS rate: -0.004948 deg/s, cmd heading: 31.711598 deg, new cmd heading: 31.707611 deg. i HeadingCmd: 0.553402 target range: 207.643204 and range: 207.60 m.hī ?hhhhggjgrg!e!re!Ze!:e!*e-?QɢUQ)Y ]5iY)]Vk checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738a } G  Ǔ9 Y A0#, vlLA:\>:?: =ٱ:|=:H@1?` >?f? ?@|*^޺??i:\>I:k.];:CYFEByFIiMb@Mb@Mb@ 9ʡE?Mbp?Mbp?Y-?y;;SAA =A) AYp AbD-.VD-װ89yE|%E@=ٔEɺQ-E>9IYI=MEyMrDM EU>QQ 5]4U=j?Q 9e4Uo)UvBYe.?Q Ee:ye?Q Ie@UlDIU;iU:U/4ymBɮuAu!E:iFNOT Ignoring new targets: 207.64 m."i *i  ProNav: ac range: 207.643204 m, nav range: 235.650070 m, bearing: 29.109455 deg, approach rate: -0.570827 m/s, LOS rate: -0.007871 deg/s, cmd heading: 31.707610 deg, new cmd heading: 31.700932 deg. iwfHeadingCmd: 0.553286 target range: 207.643204 and range: 207.60 m.h! ?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE`}Q@频ɢ0M) ēi)yQ<顙i/i! ?==I! ?Iimchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013432B<A<B>B3CBIB.BB =BBDB$;BoEB1B54CB1B5 =B5 =C5 4I)wAԙE EE4E"ED:*E&p:VE4ZEBE2$#,ƔlLA2e*>2?2 =ٱ2T=2H ?q??`!?@0_xٺ??i2e*>I2];2CY:KByVIbD^VD^8yfi<%f2=ٔflQ-j>9hYh=jEynrDn\En>pQ 5v4r.j?Q 9v4rk)rrBYtyvx?Q Iz@rlDIre:iru:r14y|ɮ~xA|:i!%FNOT Ignoring new targets: 207.64 m."i-**i-*= ProNav: ac range: 207.643204 m, nav range: 235.388885 m, bearing: 29.105874 deg, approach rate: -0.569982 m/s, LOS rate: -0.007823 deg/s, cmd heading: 31.700933 deg, new cmd heading: 31.693764 deg. i=eEHeadingCmd: 0.553161 target range: 207.643204 and range: 207.60 m.hE ?hAhAhAhIgIgIjgIrgIeQreYZe:e*e`@ԩɢ`A) ti) <i[Ji ?=f=I ?I})@) @)@)@)iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517773E  E E 2E ) "E ;*E :VE 4ZE a= @aE @aE @aE @^A1 I I O >O+#,PlLA@Y 7By Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770481iMb@Mb@Mb@ 9i|?5?{Gzt?Mbp?Y?yף;A&A )YG AbD VD Ȱ8y%7=ٔQ->9!Y!=%Ey%rD%E->)Q 5=4-@j?Q 9=4-Kh)-oBY=?Q E=:y=?Q IE@-$lDI-d;i-~ ;-4yMBɮM*AIeB*** querying acoustic contact ***iaia:iqFNOT Ignoring new targets: 207.64 m."iA*iA% ProNav: ac range: 207.643204 m, nav range: 235.135971 m, bearing: 29.102290 deg, approach rate: -0.567169 m/s, LOS rate: -0.008046 deg/s, cmd heading: 31.693765 deg, new cmd heading: 31.686589 deg. i%k-HeadingCmd: 0.553035 target range: 207.643204 and range: 207.60 m.h- ?h1h1h1h1g1g9jg9rg=ƁBe9reAZeA:eA*eEӕ@Qɢ) ԡi)c}<iP i% ?%=%\n=I% ?Iyu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022011ԩ @  @ @ /@ B >B 4CB IB #BB  =B B DB ;B oEE  E E 5E "E :*E L_:VE 4ZE BE '.3#,)ZlLA2!:>2?2b=ٱ2&=2H ?y?@? ?bt @??i2!:>I2Z];0YZ3ByZI b4=b%=bDf VDf8yn*q%n9=ٔn^Q-r>9pYp=rEyr sDvێ9Ev>xQ 5~4zRj?Q 9~4zd)zkBY|y?Q I@z4lDIz :iz:z4y Bɮ RA "EY:i)FNOT Ignoring new targets: 207.64 m."i;*i; ProNav: ac range: 207.643204 m, nav range: 234.885788 m, bearing: 29.098730 deg, approach rate: -0.568537 m/s, LOS rate: -0.008100 deg/s, cmd heading: 31.686590 deg, new cmd heading: 31.679461 deg. i+m HeadingCmd: 0.552911 target range: 207.643204 and range: 207.60 m.h  ?h1h1h1h1g1g1jg9rg9eAreAuBDAT read: Rx Time:01:13:22.1000 uTRx dataTimestamp_ set to:1764897203.288670}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274616ZeI:ey*e`'< @ ؁Bɢ Ļ)  ֤i)%y<ii ?==I ?I!ԁ]9@Y @Y@]/@Yԩ^A} ͢=I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525497 V9#,+lLAE> E>E>6E<"E>a:*E>:VE>c4ZE9Y=EysDE>Q 5 4gj?Q 9 4`)eBYF?Q E:y8?Q I@GlDI:i:}4yɮA!:i%FNOT Ignoring new targets: 207.64 m."i-2*i-2︝e ProNav: ac range: 207.643204 m, nav range: 234.590256 m, bearing: 29.095287 deg, approach rate: -0.560217 m/s, LOS rate: -0.006535 deg/s, cmd heading: 31.679462 deg, new cmd heading: 31.672567 deg. ie[?mHeadingCmd: 0.552791 target range: 207.643204 and range: 207.60 m.hm ?hihihihigigqjgqrguBeqreyDAT read: 01:13:22.1000 LVL= 32752, 32305, 32754, 32755, AGC= 68, IDX= 165,-0.49,-2.323, 2.594,-2.091,-2.878, PHS= 0.657,-0.766, 0.742, RAW= 152.9, -8.7, CAL= 153.4, -10.4, ROT= 356.6, 10.4 Ygot valid direction response: 01:13:22.1000 LVL= 32752, 32305, 32754, 32755, AGC= 68, IDX= 165,-0.49,-2.323, 2.594,-2.091,-2.878, PHS= 0.657,-0.766, 0.742, RAW= 152.9, -8.7, CAL= 153.4, -10.4, ROT= 356.6, 10.4 PDAT read: Bearing 171.8, -6.3 (Local) ~Local bearing/azimuth received: Bearing 171.8, -6.3 (Local) DAT read: Range 11 to 50 : 224.4 m (Round-trip 299.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.981840,-0.058332,-0.180519]Fpublishing direction and range infoyZey:e!*e%d5@3+i? +?@ϠLÿ ?)V>Isi9>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.颩ɢ`u) 5i)s e BDAT read: Tx time:01:13:23.3966 e $Ping request sent.e Au >abEIjEMH4rEMρ/E EE3E"E:*E&p:VE4ZEBE62d?2Y=ٱ2=2H@"?@^8)? ? ?\?Z?i2>I2E];2CY>/By>IbDFVDF8yNpx%NB=ٔN-PQ-R>9PYP=REyR1sDVEV>XQ 5^4Zyj?Q 9^4Z=])Z`BY\y^?Q Ib@ZWlDIZ:iZ:Z4yfBɮfAf#Eii)lLAjr`C"jr`C:j?RjOk@6_/*/2BDBj3+ZjsǵHg@Wx h[@t$WqXHJjV˜$?mμ?AY3˿jB jb>Ci:$?iF8jk~Aj:$?jFjArj\Czj=? addTargetRange:: Added new target pos. range: 224.399994 m, deltaT: 4.031104 s, deltaX: 16.799988 m, approachRate: 4.167590 m/s, rangeRepo size: 4 % Added new target pos. range: 224.447983 m, bearing: 29.666111 deg, lat: 36.779671 deg, lon: -121.859739 deg, deltaT: 4.031104 s, deltaX: 16.804779 m, approachRate: 4.168778 m/s, posRepo size: 4 :i)iFNOT Ignoring new targets: 224.45 m."i*i ProNav: ac range: 224.447983 m, nav range: 220.867142 m, bearing: 30.459575 deg, approach rate: 0.000000 m/s, LOS rate: -0.006535 deg/s, cmd heading: 31.672567 deg, new cmd heading: 31.667324 deg. iHeadingCmd: 0.552699 target range: 224.447983 and range: 224.40 m.h} ?hhhhggjgrgereZe:e% l@*e-?qɢuh)q u,iq)}ăoKH#,"mLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501574Bgݭ>B'?B%<ٱB=BH$$?[ ? ?`?_`b㟿@??iBgݭ>IB];BCYNByNIbDV!VDV˰8y^н%^I=ٔbpQ-b>9`Yd=fEyfAsDfEf>hQ 5=4jj?Q 9=4jY)j\BY9yE ?Q IE@jflDIj%eCO#,G?mLAF1>Fc?Fϧ<ٱFg=FH`4*?`~?1?P? ̲`ƺ??iF1>IF^;FCY^#By^IxiMMb@Mb@Mb@IIII I9MʡE?Mbp~jth?YM?yMMD;MAM=A MA)IIYM AbDeVDe8yu=%u.=ٔuwQ-}>9yYy=}Ey}TsD7E>Q 54j?Q 94UV)XBY?Q E:ym ?Q I@wlDI;i;4yBɮAB*** querying acoustic contact ***ii:iB>BBIB BBBBB#;BoEFNOT Ignoring new targets: 224.45 m."i?;*i?; ProNav: ac range: 224.447983 m, nav range: 220.366165 m, bearing: 30.456982 deg, approach rate: -0.580073 m/s, LOS rate: -0.002558 deg/s, cmd heading: 31.664446 deg, new cmd heading: 31.662131 deg. i̕ HeadingCmd: 0.552608 target range: 224.447983 and range: 224.40 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005913h w ?hhhhggjg!rg%Be!re!Ze!:e)*e@?ɢd:) 8i)5e<iuiw ?ex1=ee̜=Iew ?Ii!E EE5E"E:*E~:VE4ZEBEP-3U#, YmLA@R:#>R\?R<ٱRa=RH*?ZW? ?`?`Bj?b?iR:#>IR^;RCYZByZIbDfVDf8yjF%nU=ٔnj"Q-n>9pYp=rEyrdsDvEv>tQ 5z4vj?Q 9~4vbS)vVBY|y~f ?Q I~@vlDIv;ivj;v4y ɮ ?A :i)5FNOT Ignoring new targets: 224.45 m."i5s4*i5s4E ProNav: ac range: 224.447983 m, nav range: 220.151306 m, bearing: 30.456039 deg, approach rate: -0.561542 m/s, LOS rate: -0.002465 deg/s, cmd heading: 31.662131 deg, new cmd heading: 31.660244 deg. iE\MHeadingCmd: 0.552576 target range: 224.447983 and range: 224.40 m.hMu ?hIhIhQhQgQgQjgQYrgYeareaZea:ea*ee[R?频ɢlc) ྾i)`<顙i?ziu ?4=I=Iu ?IQ@Q @Q@U+0@Qԉi!I%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509995^A}=E EE3E"Es:*Exv:VE4ZEa@a@a @a @IQ Ia Om > s#\#,rmLAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761848J+>J=`?Jg<ٱJȃ=JH*?]9??"? 0<??)?iJ+>IJ)_;JCYnBynIIr>)r>iMb@Mb@Mb@ 9> ףp=?Mb`?{Gzt?Y?y;ף; ASA jA)Y3 AbDVD8y'!%:=ٔQ->9Y=EyvsD29E>Q 5 4־j?Q 9 4O)SBY ?Q E :y ?Q I @lDI,:i:|4yBɮAE:iAEFNOT Ignoring new targets: 224.45 m."iE*iM] ProNav: ac range: 224.447983 m, nav range: 219.901199 m, bearing: 30.454270 deg, approach rate: -0.569443 m/s, LOS rate: -0.004034 deg/s, cmd heading: 31.660246 deg, new cmd heading: 31.656702 deg. i]:츝eHeadingCmd: 0.552514 target range: 224.447983 and range: 224.40 m.heq ?hahahahagagajgirgmBeireiZeq:eq*eu@颡ɢ/B) ]i)i[<顩i5iq ?5t7=56=I5q ?I1@ @@0@B>BBIBBB =BBB9;BpE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013670A^A D zD E  E E 4E "E :*E |:VE 4ZE BE +Y ? c#,eČmLAFD%>F]?F<ٱF=FH@(+?O???V` x? ?iFD%>IF@_;FCYRByRIbD^VD^8yf%f_=ٔfEQ-f>9hYh=jEyjsDj En>pQ 5r4rj?Q 9v4rL)rQBYtyv?Q Iv@rlDIr:ir:r4yxɮzA|:i!%FNOT Ignoring new targets: 224.45 m."i-*i-= ProNav: ac range: 224.447983 m, nav range: 219.692093 m, bearing: 30.452790 deg, approach rate: -0.569061 m/s, LOS rate: -0.004032 deg/s, cmd heading: 31.656701 deg, new cmd heading: 31.653738 deg. i=츝EHeadingCmd: 0.552462 target range: 224.447983 and range: 224.40 m.hE%n ?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eUh@颭فBɢ2]y)9 ǾiA)EVAU?ԉIIO>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517838Թ :i#,ᵦmLAɰ;YEByEIEe EeEe6Ea"Ee:*Ee&p:VEec4ZEaa@a@a@a@bDVDy-&%7=ٔ%Q-%>91Y9=EEyEsDUE]>yԑQ 54}lj?Q 94}XI)}OBYyQ I@}lDI}=5V=I5i ?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769857@ @@0@^A X= IQ Ia Ou >J1p#,mLA2>2r#?2<ٱ2i=2HY/? pZ? ?<? z`9ژ??i2>I2ؘ_;2CY: By>I @@i=Mb@Mb@Mb@9999 99=Gz?Mb?Mbp?Y=?y=<=;=A=A 9)99Y= ABYBYB]IB]BBYBYBYB]I;B]!pEB4CBBBBCk5bD}VD}8y;%Q=ٔQ->9Y=EysD"E>Q 54j?Q 94MF)MBY?Q E:y?Q I@lDIG ;i ; 4yɮ AiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022107B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 224.45 m."i׸*i׸  ProNav: ac range: 224.447983 m, nav range: 219.216827 m, bearing: 30.448860 deg, approach rate: -0.607653 m/s, LOS rate: -0.005899 deg/s, cmd heading: 31.650035 deg, new cmd heading: 31.645869 deg. i ,HeadingCmd: 0.552325 target range: 224.447983 and range: 224.40 m.h%e ?hhhhggjgrgсBere!Ze!:e!*e%R @ځBɢT) оi)GyK<igi%e ?d@=̛=I%e ?IEM EMEM2EI"EMs:*EM|:VEM4ZEIBEMs0Vv#,mLA>@%?׿<ٱ7=Hd/?@Q1?T?l?`mחjغ??i>I_;CYByIbDuVDu8y %;=ٔQQ->9Y=EysDX8E>Q 54,k?Q 94B)KBYy?Q I@lDI;iv;(4y\BɮAE:iFNOT Ignoring new targets: 224.45 m."iTʸ*iTʸ ProNav: ac range: 224.447983 m, nav range: 218.970459 m, bearing: 30.446464 deg, approach rate: -0.567769 m/s, LOS rate: -0.005528 deg/s, cmd heading: 31.645868 deg, new cmd heading: 31.641071 deg. i!HeadingCmd: 0.552241 target range: 224.447983 and range: 224.40 m.h_ ?hhhh g g jgrgereZe:e*e @AɢEr)A MiI)M8EYgot valid direction response: 01:13:26.0968 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.07, 1.293,-0.352, 1.433, 0.936, PHS= 0.458,-1.243, 0.453, RAW= 149.8, 3.9, CAL= 149.0, 4.0, ROT= 1.0, -4.0 @BPDAT read: Bearing 185.6, 0.1 (Local) F~Local bearing/azimuth received: Bearing 185.6, 0.1 (Local) JDAT read: Range 11 to 50 : 222.0 m (Round-trip 296.0 ms) speed 0.3 m/s NR#Rx 1: Read range and direction messages.R\direction in FSK: [0.997412,0.017410,0.069756]RFpublishing direction and range infoy "? G&ӑ?&k۱?Y"^C " ) I"~>i"">"T'@"'g="Bo&@ "5=)"5v8?v<ٱvE=vHL.?@ }'?}? ?)9??iv(ܬ>Iv_;vCY=By=Ii}Mb@Mb@Mb@yyyy y9}tV?Mb?~jth?Y}?yy}D;} Ay }A)}= AԩyY}\ AbD VD8yB<%8=ٔ$Q->9Y=EysD,:E>Q 54jk?Q 9M4,?)IBYM?Q EM:yM?Q IM@lDI&<i'iY ?yF==IY ?IAYAYBe>BaBeIBeBBe =BaBaBeb;Be:pE}9@y @y@}4@y(DAT read: user:93>  BDAT read: Tx time:01:13:27.3966  $Ping request sent. h#,J}nLA>WĬ>>,?><ٱ>xj=>H6/?`??M?`\?@D0 ӕ??i>WĬ>I>_;>CYFByFIIJ=)J=bDRVDR8yZLp%Z^=ٔ^Q-^>9^ ?Y^ ?=^Ey^sDbEb>dQ 5j4f;"k?Q 9j4f7<)fHBYhyn?Q In@flDIfu:if;f[#4ypɮrMAp:i FNOT Ignoring new targets: 222.05 m."i&*i&% ProNav: ac range: 222.049393 m, nav range: 218.461121 m, bearing: 31.087694 deg, approach rate: -0.607133 m/s, LOS rate: -0.004157 deg/s, cmd heading: 31.635886 deg, new cmd heading: 31.633029 deg. i%q󸝏%HeadingCmd: 0.552100 target range: 222.049393 and range: 222.00 m.h-uV ?h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=@ ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249761qɢu)y }iy)}9E  E E 3E "E :*E :VE 4ZE a @a @a @a @ԙ #,Z,nLA!ܬ>8?a<ٱ=H.?#@? ??`W֔`'??i!ܬ>I_;CY߀ByIiiMb@Mb@Mb@ 9> ףp=?Mb?Mbp?Y?y<;jA )YbD VDʰ8yn%*=ٔ {Q- >9 "?Y "?= EysDA9E>Q 5%4}5k?Q 9%4A8)FBY-?Q E-:y-,?Q I-@lDI ;i/;+4y5]Bɮ5A5E:iY]FNOT Ignoring new targets: 222.05 m."ieܸ*ieܸu ProNav: ac range: 222.049393 m, nav range: 218.187668 m, bearing: 31.084812 deg, approach rate: -0.569580 m/s, LOS rate: -0.006011 deg/s, cmd heading: 31.633027 deg, new cmd heading: 31.627256 deg. iu0}HeadingCmd: 0.552000 target range: 222.049393 and range: 222.00 m.h}O ?hyhyhyhygygjgrgBereZe:e*ef?颹ɢ.) i),1<i?iO ?HL=,=IO ?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753618ԙ9@ @@@^A ܝ=Be >Ba Be IBe ܀BBa Ba Ba Be ;Be dpE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005540 A I I O >#,EFnLAɰ49aYa=eEymsDmEm>qQ 5}4uDk?Q 9}4uE5)uEBYyyQ I@u mDIue:iu\:u24y[BɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 222.05 m."iYܸ*iYܸbEe4jEeʨ4rEe8/E EE6E"E:*E n:VEc4ZEBE6Η#,`nLA0Y~ڀBy~|I bD'VDа8yE#%EM=ٔAQ-E>9IYI=MEyM tDQEU>QQ 5e4UTk?Q 9e4U1)UDBYayaQ Ie@UmDIU;iU:U 94ym\BɮuAuE:iFNOT Ignoring new targets: 222.05 m."i.ݸ*i.ݸ ProNav: ac range: 222.049393 m, nav range: 217.754227 m, bearing: 31.080229 deg, approach rate: -0.570359 m/s, LOS rate: -0.006043 deg/s, cmd heading: 31.622898 deg, new cmd heading: 31.618081 deg. i0HeadingCmd: 0.551840 target range: 222.049393 and range: 222.00 m.h\E ?hhhhggjgrgereZe:e*e?ɢnͼ) i)%<i߻i\E ?"R=k=I \E ?I }checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509822u9@q @q@u/@qԑE EE2E"E;*Exv:VE4ZEa@a@a@a@^A==A) I9 II OU > - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761645@#,znLA2/>2 >?2᠏<ٱ2=2H`.?ཻ!?@x? V? .?l?i2/>I2D_;0Y:ـBy:{I\i-Mb@Mb@Mb@)))) )9-9YYY=]Ey]tDe{Y9Ee>iQ 5u4mdk?Q 9u4m.)mCBYuw?Q Eu:yu=?Q I}@m*mDIm ;imD;m#@4yCBɮRAE:iFNOT Ignoring new targets: 222.05 m."i?*i? ProNav: ac range: 222.049393 m, nav range: 217.520233 m, bearing: 31.078695 deg, approach rate: -0.575498 m/s, LOS rate: -0.003777 deg/s, cmd heading: 31.618079 deg, new cmd heading: 31.615008 deg. i2ݸHeadingCmd: 0.551786 target range: 222.049393 and range: 222.00 m.hA ?hhhhggjgrgBereZe:e*e /@ ɢ @ͼ)  Qi )u<iE\ۻiA ?U=U=IA ?Im9@i @i@m/@iBA<B>BBrIBҀBBBBB;BhpEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013692E EEE"EV:*EAr:VEZEBE9 #,rnLA2_>2D?2쌆<ٱ2!=2HE.?5?@@? W?@L贿lѐ%4?@?i2_>I2ǣ_;2CY:ӀBy>tIbDF@VDF8yN%NW=ٔV1>Q-V>9V ?YV ?=VEyZ,tD^9Eb>`vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266053Q 5}4bTtk?Q 9}4b+)bABYyy}D?Q I@b8mDIb; ?hihqhqhggjgrgereZe:e*e @UفBɢUIʼ)Q UiQ)Uh ?e%Y=e=Ie> ?IaI9@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518262^AI ԩ E  E E 6E "E :*E &p:VE c4ZE a @a @a @a @A} ؟AI I O >% #,KZnLAy>ZM?y<ٱ=H-??B?>? 0??i>Id_;CYπByoII,>)9"?Y"?=Ey?tD9E>Q 54.k?Q 94')@BYh?Q E:y(?Q I@ImDI:i:N4yɮA:iFNOT Ignoring new targets: 222.05 m."i*i ProNav: ac range: 222.049393 m, nav range: 217.036362 m, bearing: 31.076344 deg, approach rate: -0.607331 m/s, LOS rate: -0.002070 deg/s, cmd heading: 31.612096 deg, new cmd heading: 31.610302 deg. ijrHeadingCmd: 0.551704 target range: 222.049393 and range: 222.00 m.hw< ?hhhhggjgrgBereZe:e*e`@1ɢ5l)1 5i1)=<99i=һiEw< ?E\=E8=IEw< ?II><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770447ԡ9@ @@\0@^AL=B B B fIB ȀBB  =B B B z;B PpE A I! I1 O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021712V#,,*nLA2>2^U?2c<ٱ2#=2Ho-?@\[?1? ?I<`tp@1??i2>I2'`;2CY:ǀBy:dIbDFVDF8yND%No=ٔR;{Q-V?9XY\=bEybMtDf`9Ef?dQ 5j4f=k?Q 9n4f,%)f?BYlyn0?Q In@fVmDIf;if];fT4ytɮvAt:i FNOT Ignoring new targets: 222.05 m."iQ*iQ% ProNav: ac range: 222.049393 m, nav range: 216.840042 m, bearing: 31.075668 deg, approach rate: -0.568028 m/s, LOS rate: -0.001958 deg/s, cmd heading: 31.610303 deg, new cmd heading: 31.608950 deg. i%Oe-HeadingCmd: 0.551680 target range: 222.049393 and range: 222.00 m.h-: ?h)h1h1h1g1g1E EE2E"Ea:*E:VE4ZEBE(Y <#,\nLA;ɰ:4 >:Z?:JO<ٱ:=:H@5-?T??1 ?f1鉿@2??i:4 >I:B`;:CYFByFTIbDN!VDN˰8yV%VI=ٔVbGQ-Z>9Z ?YZ ?=ZEyZ]tD^"N9E^>`Q 5f4bk?Q 9f4b")b>BYdyf5?Q Ij@bdmDIb:ib:b\4ylɮnTAlzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 222.05 m."i W*i W ProNav: ac range: 222.049393 m, nav range: 216.611572 m, bearing: 31.074875 deg, approach rate: -0.567462 m/s, LOS rate: -0.001972 deg/s, cmd heading: 31.608951 deg, new cmd heading: 31.607363 deg. if%HeadingCmd: 0.551653 target range: 222.049393 and range: 222.00 m.h%9 ?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5y @e؁Bɢe)a e)ia)m25 DAT read: 01:13:30.0949 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.12, 0.901,-0.449, 1.105, 0.126, PHS= 0.877,-0.530, 0.935, RAW= 152.0, -17.5, CAL= 154.2, -19.7, ROT= 355.8, 19.7 = Ygot valid direction response: 01:13:30.0949 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.12, 0.901,-0.449, 1.105, 0.126, PHS= 0.877,-0.530, 0.935, RAW= 152.0, -17.5, CAL= 154.2, -19.7, ROT= 355.8, 19.7 E PDAT read: Bearing 162.5, -6.7 (Local) M ~Local bearing/azimuth received: Bearing 162.5, -6.7 (Local) U DAT read: Range 11 to 50 : 220.5 m (Round-trip 294.1 ms) speed 0.5 m/s ] R#Rx 1: Read range and direction messages.e `direction in FSK: [0.938942,-0.068952,-0.337095]e Fpublishing direction and range infoy  } ?ArҦMտY \C ) I `?i  )\o? )@ a 9>,@ x ) Y@I x > 1;'?Sc,?TW@ӿ ?) s>I i i x > } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.Թ G#,inLAY~By~UI iEMb@Mb@Mb@AAAA A9E9Y=EyptDE>Q 54(k?Q 94V)Zj5W[f@^fGY@֮zډSJj5M?}9y?[ֿj5RB j52Ci5홦?i5%j5\j5홦?j5kdj1rj5PCzj5Q ?u addTargetRange:: Added new target pos. range: 220.500000 m, deltaT: 4.031919 s, deltaX: -1.500000 m, approachRate: -0.372031 m/s, rangeRepo size: 4  Added new target pos. range: 220.546432 m, bearing: 29.853612 deg, lat: 36.779602 deg, lon: -121.859761 deg, deltaT: 4.031919 s, deltaX: -1.502960 m, approachRate: -0.372765 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 220.55 m."i*i ProNav: ac range: 220.546432 m, nav range: 208.772736 m, bearing: 31.045398 deg, approach rate: 0.000000 m/s, LOS rate: -0.001972 deg/s, cmd heading: 31.607363 deg, new cmd heading: 31.605460 deg. iHeadingCmd: 0.551619 target range: 220.546432 and range: 220.50 m.h6 ?hhhhggjgrgBereZe:ek@*e@?AIAMAABU>BQBUYIBUBBU =BQBQBUe;BU;pEBBBBBC\4颅ׁBɢ&) 3i)<;顉iĻi6 ?7h=N=I6 ?Im(DAT read: user:94> uBDAT read: Tx time:01:13:31.4466 }$Ping request sent.} /#,'oLA2>2tT?2)+<ٱ2#=2H-??F?S ?ǵ`z`qL?`?i2>I2`;2CY:By:SIbDFVDF8yN;%Np=ٔRһQ-R?9PYP=REyR}tDVEV?XQ 5^4bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249777Z$k?Q 9f4Z)Z;BYdyff ?Q If@ZmDIZd;iZe;Zj4yhɮj_Al:iFNOT Ignoring new targets: 220.55 m."i^6*i^6 ProNav: ac range: 220.546432 m, nav range: 208.579193 m, bearing: 31.045463 deg, approach rate: -0.560986 m/s, LOS rate: 0.000190 deg/s, cmd heading: 31.605461 deg, new cmd heading: 31.605592 deg. i6HeadingCmd: 0.551622 target range: 220.546432 and range: 220.50 m.h7 ?hhhhggjgrgereZe:e*e};?颱ɢx ) i)T;项i쿻i7 ?]k=]=I7 ?I9@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502555^A=II O >I E  E E 4E "E :*E :VE 4ZE a @a @a @a @^#,O/oLA>ZS?I<ٱ{=H@-?r?2? ?*@$a? ?i>In_;CYByIIiuMb@Mb@Mb@qqqq q9ui|?5?Mb{Gzt?Yu?yuuף;uAuA u A)u AqYqbDVD8yB%-=ٔ?Q->9Y=EytDE>Q 54k?Q 94):BY?Q E:y ?Q I@mDI;i;Rr4yɮAE:iFNOT Ignoring new targets: 220.55 m."i6*i6  ProNav: ac range: 220.546432 m, nav range: 208.311081 m, bearing: 31.045523 deg, approach rate: -0.596546 m/s, LOS rate: 0.000134 deg/s, cmd heading: 31.605590 deg, new cmd heading: 31.605711 deg. i W{6HeadingCmd: 0.551624 target range: 220.546432 and range: 220.50 m.h67 ?hhhhggjg!rg%Be!re!Ze):e)*e-U?UցBɢU)Y ]kiY)]\;Yaaie Aim67 ?m>o=iIm67 ?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753433Q@Y @Y@]/@Yԉ^A} =Թ I I O >BU >BQ BU FIBU BBQ BQ BQ BU ?;BU pEu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005572T@#,LqIoLA2>2f@?2<ٱ2=2H7/?1b? 7? ?@@Rn??i2>I2-1_;2CLYRByRHI Z=XbD^VD^8yfvλ%fo=ٔf)Q-f?9hYh=jEyjtDjh]En?pQ 5r4rk?Q 9v4rr)pYtyvn ?Q Iv@rmDIr :ir:rNx4yxɮ~A|E EE3E"Es:*Ega:VE4ZEBEs0A >IIO>! j#,#NcoLA|YByCIbDVD8y%%%%D=ٔ-Q-->9)Y)=-Ey5tD5E5>9Q 5E4=k?Q 9E4=>)9YAyIQ IM@=mDI=:i=::=4yUFBɮUAQmB*** querying acoustic contact ***iiii:iyFNOT Ignoring new targets: 220.55 m."iU6*iU6 ProNav: ac range: 220.546432 m, nav range: 207.879410 m, bearing: 31.045655 deg, approach rate: -0.596133 m/s, LOS rate: 0.000182 deg/s, cmd heading: 31.605830 deg, new cmd heading: 31.605974 deg. i6HeadingCmd: 0.551628 target range: 220.546432 and range: 220.50 m.h7 ?hhhhggjgrgereZe:e*e)?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509704额ԁBɢ ) i);顡iLUi7 ?u==I7 ?I)@ @@@DD<E EE6E"E:*Exv:VEc4ZEa@a@a@a@Y^AI1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761573ԁ #,g)}oLA2f%>2% ?2;ٱ2ݮ=2H5?`ø?`?@?&4 z~_H? ?i2f%>I2P^;2CY:By:EIi%Mb@Mb@Mb@!!!! !9%bX9?y&1Mbp?Y%E?y%`e%;%A%A %& A)%A A!Y% AbD=VD=°8yM ;%MH=ٔMLaQ-U>9QYQ=UEyUtDY]BrEe>aQ 5m4e- l?Q 9u4e )aYuQ?Q Eu:yu?Q Iu@emDIe3;ie;e4y.BɮAE:iFNOT Ignoring new targets: 220.55 m."i;8*i;8 ProNav: ac range: 220.546432 m, nav range: 207.638977 m, bearing: 31.046461 deg, approach rate: -0.587410 m/s, LOS rate: 0.001970 deg/s, cmd heading: 31.605973 deg, new cmd heading: 31.607586 deg. if8HeadingCmd: 0.551656 target range: 220.546432 and range: 220.50 m.h[9 ?hhhhggjgrgBereZe:e*e@@@ӁBɢ#)  i ) e;  i ni[9 ?w=S-=I[9 ?I9@ @@0@BAB>BB@IBBB =BBBI;B!pEԉMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013701^AqbE=H4jE=ܦ4rE=0E EE3E"E&:*Eg:VE4ZEBEk; |#,oLA2>2r ?2;ٱ2=2H`=7?E???`R`%z(F? 3?i2>I2/^;2CY:By:>IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265654 hhbDnVDn8yvؼ%vP=ٔzQ-z>9z"?Yz"?=~Ey~tD~SE~>Q 5 4l?Q 9 4 )9BYy?Q I@mDI :i\:4y/Bɮ6A%E:iAEFNOT Ignoring new targets: 220.55 m."iMN8*iMN8] ProNav: ac range: 220.546432 m, nav range: 207.409164 m, bearing: 31.047253 deg, approach rate: -0.587367 m/s, LOS rate: 0.002026 deg/s, cmd heading: 31.607585 deg, new cmd heading: 31.609170 deg. i]Jm8eHeadingCmd: 0.551684 target range: 220.546432 and range: 220.50 m.he+; ?hahahahagigijgirgieqreqZeq:eq*e}`@颥ҁBɢ ) i)~;顩ii+; ?y==I+; ?IQ@Q @Q@U0@Q@Y@Y!^AuD=iQIQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517812YA I I O >D zD E  E E 2E "E :*E &p:VE 4ZE a @a @a @a @y #,oLAE>E ?EJ;ٱE=EH`9?/C??@?`Eo7IxM?`#?iE>IE^;ECYBy<IIbD]VD]8y%/=ٔQ->9Y=EytDE>Q 54/l?Q 94\)Yyd?Q I@mDI:i:4yɮHA:i!-FNOT Ignoring new targets: 220.55 m."i58*i58= ProNav: ac range: 220.546432 m, nav range: 207.135376 m, bearing: 31.048238 deg, approach rate: -0.586899 m/s, LOS rate: 0.002115 deg/s, cmd heading: 31.609169 deg, new cmd heading: 31.611143 deg. iEw8EHeadingCmd: 0.551719 target range: 220.546432 and range: 220.50 m.hMm= ?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]z@颅ЁBɢ,v ) @i);顉i򹤻im= ?9{==Im= ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769690=9@A @A@EO0@Ay^A =B >B 2CB :IB BB  =B B DB ;B TpEe checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021908A .AI I O >#,oLA2.>2 ?2;ٱ2~=2H:?4?@??`qI2k\^;2CY:By>?IbDFVDF8yN<%Nw=ٔNDQ-R?9R ?YR ?=REyRtDVEV?XQ 5^4Z=l?Q 9^4Z)XY\y^O?Q Ib@ZmDIZ;iZ{;Z4yf0Bɮf5Ad:itzFNOT Ignoring new targets: 220.55 m."i%8*i %8% ProNav: ac range: 220.546432 m, nav range: 206.941101 m, bearing: 31.048956 deg, approach rate: -0.587332 m/s, LOS rate: 0.002174 deg/s, cmd heading: 31.611143 deg, new cmd heading: 31.612582 deg. i%~8-HeadingCmd: 0.551744 target range: 220.546432 and range: 220.50 m.h-? ?h)h)h1h1g1g1jg1rg9e9re9ZeA:eA*eE @E EE5E"ED:*EVE4ZEBE2= A ؟AI I O >9 ##,oLA2AO>2r ?2p;ٱ2=2HI2x^;2CY:By>;IIB=)BbDFVDF8yNz%NI=ٔN޺Q-R>9R"?YR"?=REyRtDVEV>XQ 5^4ZSOl?Q 9^4Z)XY\yb0?Q Ib@ZmDIZ:iZ:Z4ydɮfQAdrB*** querying acoustic contact ***ipip:ix~FNOT Ignoring new targets: 220.55 m."i~$8*i~$8  ProNav: ac range: 220.546432 m, nav range: 206.702484 m, bearing: 31.049871 deg, approach rate: -0.586605 m/s, LOS rate: 0.002252 deg/s, cmd heading: 31.612581 deg, new cmd heading: 31.614413 deg. i ߃8HeadingCmd: 0.551776 target range: 220.546432 and range: 220.50 m.h*A ?hhhhggjgrge!re!Ze!:e!*e-@U΁BɢU%)Q U<iY)]l];YYi]Vie*A ?e|=e=Im*A ?IiIq)uxAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5261889@ @@/@E} E}E}4Ey"E}s:*E}xv:VE}4ZEya@a@a@a@q^AM=A ԙ I  DAT read: 01:13:34.1676 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 170, 0.05, 2.443, 1.103, 2.727, 1.682, PHS= 0.863,-0.535, 1.001, RAW= 154.7, -17.7, CAL= 157.0, -19.6, ROT= 353.0, 19.6  Ygot valid direction response: 01:13:34.1676 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 170, 0.05, 2.443, 1.103, 2.727, 1.682, PHS= 0.863,-0.535, 1.001, RAW= 154.7, -17.7, CAL= 157.0, -19.6, ROT= 353.0, 19.6 I1 O= >E PDAT read: Bearing 162.7, -9.1 (Local) M ~Local bearing/azimuth received: Bearing 162.7, -9.1 (Local) U DAT read: Range 11 to 50 : 237.6 m (Round-trip 316.9 ms) speed 0.4 m/s ] R#Rx 1: Read range and direction messages.e `direction in FSK: [0.935035,-0.114808,-0.335452]e Fpublishing direction and range infoy  S?ldg* xտY mC ) EI \?i  ? 3,@ 2+ ^/@ %) '@I %> 7L?>6U?2.vӿ ?) 6>I 5i %>  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.#,soLA2Ū>2s- ?2?';ٱ2Q=2HA? "?`? ? Dp`"??i2Ū>I2@^;2C9YYY=]Ey]uDeEe>iQ 5u4mbl?Q 9u4m)iQ Au+:YqQ E}:y}?Q I}@m nDIm;im>m4yɮcAEii oLAjmC"jmC:jU>Rjk@CH;Lx8SBjS?ldg* xտ*j52j%>Zjlxh@Q&bY@TJj0#?`o?gl']ֿjB jFCi 0ѭ?ij•ju?jF8jk~Arj(SCzj ?U addTargetRange:: Added new target pos. range: 237.600006 m, deltaT: 4.032063 s, deltaX: 17.100006 m, approachRate: 4.241007 m/s, rangeRepo size: 4 e Added new target pos. range: 237.642120 m, bearing: 26.783038 deg, lat: 36.779659 deg, lon: -121.859779 deg, deltaT: 4.032063 s, deltaX: 17.095688 m, approachRate: 4.239936 m/s, posRepo size: 4 :iaeFNOT Ignoring new targets: 237.64 m.B>BBBB =BBBò;BpEԩ"i*i ProNav: ac range: 237.642120 m, nav range: 211.156921 m, bearing: 29.775437 deg, approach rate: 0.000000 m/s, LOS rate: 0.002252 deg/s, cmd heading: 31.614412 deg, new cmd heading: 31.616492 deg. iHeadingCmd: 0.551812 target range: 237.642120 and range: 237.60 m.hC ?hahahahigigijgirgieqreqZeq:eu@3m@*e}@l?-(DAT read: user:95> -BDAT read: Tx time:01:13:35.4965 5$Ping request sent.5#,opLA4<ɰpN= ?N H;ٱN=NHu@?`Pd֭??h?`i.2??iN>IN )_;NCYZByZFIbDbϿVDb8yjI=%jJ=ٔnQ-n>9n ?Yn ?=rEyr"uDr3!:Er>tQ 5z4v1tl?Q 9z4v)tQ A~ :Y|Q E~m:y~?Q I~@vnDIv+;iv<]?v4y1BɮA:i)-FNOT Ignoring new targets: 237.64 m."i5r*i5rE ProNav: ac range: 237.642120 m, nav range: 210.919708 m, bearing: 29.774948 deg, approach rate: -0.593206 m/s, LOS rate: -0.001226 deg/s, cmd heading: 31.616491 deg, new cmd heading: 31.615511 deg. iEMHeadingCmd: 0.551795 target range: 237.642120 and range: 237.60 m.hMlB ?hIhIhIhQgQgQjgQrgYeYreYZeY:eY*ee?颍ˁBɢj!) Ii)<;顑i#ilB ?T|=o=IlB ?Iԉ-9@) @)@-/@)Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506166^AmP=A ؟AI I O >E]  E] E] 3EY "E] :*E] :VE] 4ZEY ae @ae @ae @ae @ ] GG zA1 E MA #,C5pLA:s9:zAY>AEš>EU ?Es:ٱEb=EHB?;?@6?U?@ٶ /_`2??iEš>IEQ_;AY]By])I aaonly read 0 of 1 data item for BIT error. Device response is::TS,00061105023075,35.0, +13.2,501.0, 0 bDտVD8y+ֽ%>=ٔ0Q->9"?Y"?=Ey4uDE>Q 54l?Q 94)Q A9YQ E@:y?Q I@+nDI_:i?4yɮA:iFNOT Ignoring new targets: 237.64 m."iǥ*iǥ>;?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755147% ProNav: ac range: 237.642120 m, nav range: 210.667236 m, bearing: 29.774461 deg, approach rate: -0.587160 m/s, LOS rate: -0.001132 deg/s, cmd heading: 31.615511 deg, new cmd heading: 31.614538 deg. i%%HeadingCmd: 0.551778 target range: 237.642120 and range: 237.60 m.h-OA ?h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=[6?eɁBɢes%)i mii)u:qqiui}OA ?}{=}i=I}OA ?Iy R>i>@ @@/@9B5>B51CB54IB5BB5 =B1B1B5;B5pEB2CB3CBǔCB =B =C,6^Aqj=a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012093A I I O >z#,&OpLAEN ENEN4EL"EN2:*ENą:VEN4ZELBEN.*9iYq=uEyuDuDuE}>yQ 54}l?Q 94})}:BQ A9YQ E:yQ I@}9nDI}:i}W?}4y2BɮvAE:iFNOT Ignoring new targets: 237.64 m."i/*i/ ProNav: ac range: 237.642120 m, nav range: 210.434570 m, bearing: 29.774012 deg, approach rate: -0.587265 m/s, LOS rate: -0.001135 deg/s, cmd heading: 31.614538 deg, new cmd heading: 31.613639 deg. iHeadingCmd: 0.551762 target range: 237.642120 and range: 237.60 m.hH@ ?hhhhggjgrgereZe:e*e (?ǁBɢ) i!)%:!!i%i-H@ ?-W{=-菖=I-H@ ?I1i@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258790ԑ^AM<= A} .AI I O >#,5hpLA6y>6 ?6lٱ6=6HD? (I? ?@?`,0@m6?%)? ?i6y>I64D`;6CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798YFByF:IPbDZVDZ8yf;%fU=ٔfԿQ-j>9j ?Yj ?=nEynSuDrSEr>tQ 5z4vl?Q 9~4v)tQ A9YQ E9y?Q I@vHnDIvGH;iv@v 4yɮmAEB*** querying acoustic contact ***iAiA:iQ]FNOT Ignoring new targets: 237.64 m."ie<*ie<} ProNav: ac range: 237.642120 m, nav range: 210.208527 m, bearing: 29.773594 deg, approach rate: -0.579904 m/s, LOS rate: -0.001074 deg/s, cmd heading: 31.613640 deg, new cmd heading: 31.612803 deg. i}HeadingCmd: 0.551748 target range: 237.642120 and range: 237.60 m.hS? ?hhhhggjgrge1re1Ze9:e9*e= ?颭ŁBɢ) ui)5{:igiS? ?z==IS? ?IE EE5E"E:*E]t:VE4ZEa@a@a@a@9@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763614^A x=) A ؟AI! I1 O= >% #,pLAYzByz@II~>)~>aa aa aa aa iMb@Mb@Mb@ 9 rh?=ٔQ->9"?Y"?=EyeuDE>B>B2CB:IBBB =BBB;BpEQ 54l?Q 94)=BQ AT:Y ?Q E:y?Q I@WnDI;i;4yBɮAE:i!%FNOT Ignoring new targets: 237.64 m."i-**i-*= ProNav: ac range: 237.642120 m, nav range: 209.973404 m, bearing: 29.769606 deg, approach rate: -0.549346 m/s, LOS rate: -0.009328 deg/s, cmd heading: 31.612803 deg, new cmd heading: 31.604818 deg. i=EHeadingCmd: 0.551608 target range: 237.642120 and range: 237.60 m.hE16 ?hAhAhIhggjgrgBereZe:e*e|@%ÁBɢ%y)A E iA)M\:IIiMuiU16 ?Uy=UT=IU16 ?IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014873I9@9 @9@=/@9E EE3E"E:*E&p:VE4ZEBE6] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266772m&#,RbpLAJ5>J ?JyٱJ=JH H?@c??@ ?`- 4b?׺??iJ5>IJr`;JCYVByV3IbD^ VD^8yf^%f[=ٔfQ-j>9hYh=jEyjtuDn,#En>pQ 5v4r l?Q 9v4r')r?BYtyz?Q Iz@rdnDIr:ir:r4y|ɮ~A|:i!%FNOT Ignoring new targets: 237.64 m."i-)*i-)= ProNav: ac range: 237.642120 m, nav range: 209.768570 m, bearing: 29.766175 deg, approach rate: -0.554019 m/s, LOS rate: -0.009289 deg/s, cmd heading: 31.604819 deg, new cmd heading: 31.597950 deg. i=EHeadingCmd: 0.551488 target range: 237.642120 and range: 237.60 m.hEV. ?hAhAhAhIgIgIjgIrgIeQreQZeQ:eQ*eU@y颅Bɢ4-) i)H8顑i}iV. ?x=˾=IV. ?I59@1 @1@5/0@1@=@=@=@=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519023IIO >D) zD- ?AE  E E 1E "E s:*E ]t:VE -4ZE a @a @a @a @ ,#,KpLA:;ɰ:4e ?eMDٱe=eHG?N֪?ӹ?@?Y@h???ie>Ie`;eCY}By}-IiMb@Mb@Mb@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770803 9@5^I ?Zd;O?y&1|?Yb?yj<`;AA  A)X AYp AbD-VD-ư8y=%=5=ٔ=0Q-=>9AYA=EEyEuDMm8EM>QQ 5]4Ul?Q 9]4Um)UABY]?Q E]:y]?Q Ie@UtnDIUb:iU:U4yiɮmA E:i)5FNOT Ignoring new targets: 237.64 m."i5|<*i5|B>B3CB4IBBB =BBDB;BpE) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022734Y bEqjEu4rEud/E=  E= E= 5E9 "E= :*E= Ar:VE= 4ZE9 3#,.pLABEuP-6 ?6yٱ6ϗ=6HI?s?@ҷ? ?xq@7o?0??i6)ߩ>I6N_;4YjByj0IbDr3VDr۰8yzc0<%zb=ٔzQ-~>9|Y|=EyuDNE> Q 54 4l?Q 94 r) DBYy?Q I@ nDI 7;i I8; E4y)ɮ-A):iIUFNOT Ignoring new targets: 237.64 m."i]O*i]Om ProNav: ac range: 237.642120 m, nav range: 209.310730 m, bearing: 29.757442 deg, approach rate: -0.595070 m/s, LOS rate: -0.011351 deg/s, cmd heading: 31.588228 deg, new cmd heading: 31.580465 deg. im/uHeadingCmd: 0.551183 target range: 237.642120 and range: 237.60 m.huV ?hqhqhqhqgygyjgyrgyereZe:e*eF @颵BɢB6) i)X项i")niV ?{v=-=IV ?I11@1 @1@5:5@9AxAzAxAI1IAOM>-BDAT read: Rx Time:01:13:38.1623 5TRx dataTimestamp_ set to:1764897219.4209645checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276237yԉԹ :#,pLAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527399J>JD ?J*?ٱJQ=JHfJ?( 2??!? {q?`~ݺ??iJ>IJ_;JCYnByn+IbD]8VD]8ymi%mC=ٔuQ-u>9qYy=}Ey}uD}EE>Q 54l?Q 94)FBYy?Q I@nDI:i:4yBɮ+A EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 237.64 m."iHD*iHD ProNav: ac range: 237.642120 m, nav range: 209.074432 m, bearing: 29.752950 deg, approach rate: -0.563614 m/s, LOS rate: -0.010725 deg/s, cmd heading: 31.580466 deg, new cmd heading: 31.571472 deg. i HeadingCmd: 0.551026 target range: 237.642120 and range: 237.60 m.h   ?h h hhggjg!rg!e1re9ZeA:eI*eU`@D=DR=E EEE"E*Ei:VEZEa=@a=@a=@a=@BɢD) 5i),i*ei   ? t= 9=I  ?I@ @@2@IIOEs>eDAT read: 01:13:38.1623 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 387,-0.17, 0.079,-1.611, 0.217,-0.299, PHS= 0.480,-1.267, 0.472, RAW= 149.8, 3.7, CAL= 148.9, 3.6, ROT= 1.1, -3.6 mYgot valid direction response: 01:13:38.1623 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 387,-0.17, 0.079,-1.611, 0.217,-0.299, PHS= 0.480,-1.267, 0.472, RAW= 149.8, 3.7, CAL= 148.9, 3.6, ROT= 1.1, -3.6 uPDAT read: Bearing 184.9, 1.6 (Local) u~Local bearing/azimuth received: Bearing 184.9, 1.6 (Local) DAT read: Range 11 to 50 : 196.2 m (Round-trip 261.6 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.997843,0.019160,0.062791]Fpublishing direction and range infoy15uT?;f?֏ ?Y53DC1111 1)5CI5>i5-5>5T'@5 A=5R&@ 5=)5nF2?v ?2=bٱ2=2HtM?Ϝ@ĩ?`?v%?\C,s?I2^;2CYNByN/Ii5Mb@Mb@Mb@1111 195@5^I ? rh?Mbp?Y1y5C<5;15A 1)5A A1Y5 AbDMVDM8y]ʕ<%]K=ٔ]Q-e>9aYa=eEyeuDmEm>AyAyB}>ByByByB} =ByByB};B}pEqQ 54um?Q 94u)uHBYt?Q E:y?Q I@unDIu:iu:u4yɮ AiYi]: pLAj]=DC"j]=DC:j]?Rj]뿢 zh@g6@oݤ(@Bj]uT?;f?֏ ?*j]nF<2j]Zj]Ccd@Cm Z@V: +@Jj]UP?G?v?j]cB j]%Ci]U*\?i]93*j]BjYjYjYrj]PCzj]?addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 196.199997 m, deltaT: 4.031994 s, deltaX: -41.400009 m, approachRate: -10.267875 m/s, rangeRepo size: 4:iFNOT Ignoring new targets: 237.64 m."i"*i" ProNav: ac range: 237.642120 m, nav range: 208.848068 m, bearing: 29.749306 deg, approach rate: -0.552335 m/s, LOS rate: -0.008902 deg/s, cmd heading: 31.571474 deg, new cmd heading: 31.564177 deg. iTHeadingCmd: 0.550899 target range: 237.642120 and range: 237.60 m.h ?hhhhggjgrgBereZe:e`fh@*e*?Bɢ?-) i)c!!i%N^)iM ?Ms=MF=IM ?IQ(DAT read: user:96> BDAT read: Tx time:01:13:39.4965 $Ping request sent.A- ?ԉ E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250694AU .AIa Iq O} >sG#,qLA0B>BY ?B 㡻ٱB=BH KO?W@h?@?@'?7^IBi^;@YfByf'IbDnVDn8yv" %vR=ٔv.Q-z>9z ?Yz ?=zEyzuD~ۑE~>Q 5 4Qm?Q 9 4)JBY y?Q I@nDI:i:m4yBɮLA:iAEFNOT Ignoring new targets: 237.64 m."iM(*iM(] ProNav: ac range: 237.642120 m, nav range: 208.628784 m, bearing: 29.745794 deg, approach rate: -0.575586 m/s, LOS rate: -0.009228 deg/s, cmd heading: 31.564176 deg, new cmd heading: 31.557145 deg. i]eHeadingCmd: 0.550776 target range: 237.642120 and range: 237.60 m.he ?hahahahigigijgirgieqreqZeq:eq*e}1?颥BɢҴ6) 3i)mN顩iVi ?6q=8=I ?Iԉ@ @@/@iߡIߥAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503619Թ^AEH1=E  E E E "E D:*E &p:VE ZE a @a @a @a @ A I I O >@M#,7qLA\m>mE ?m=ٱm=mHP? Y(?j?A)?W.u?@V?h?im>Im];mCYByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754826iMb@Mb@Mb@ 9@5^I ?{Gz?~jth?Yyף<D;"AjA  A)S AY AbDVD°8yJ%0=ٔ2Q->9Y=EyuDD,E>Q 54)m?Q 94)KBYz?Q E:y(?Q I@nDI;i:4yɮA:i FNOT Ignoring new targets: 237.64 m."i Z4*iZ4 ProNav: ac range: 237.642120 m, nav range: 208.368225 m, bearing: 29.741240 deg, approach rate: -0.563087 m/s, LOS rate: -0.009855 deg/s, cmd heading: 31.557144 deg, new cmd heading: 31.548024 deg. iH%HeadingCmd: 0.550617 target range: 237.642120 and range: 237.60 m.h-: ?h)h)h)h)g)g)jg1rg5Be1re1Ze9:e9*e=?eBɢm%()i mii)m4iqiu5Niu: ?}n=}=I}: ?Iy@ @@@Bu>BqBu-IBuBBqBqBqBu;BuqpE^A v= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006739A AU ؟AIi I O >E%  E% E% 3E! "E% &:*E% :VE% 4ZE! BE% k;29; ?2Aٱ2™=2H@CQ?ܗ@;?B? )?`u/`7w?=G??i2>I2];0Y:By>IbDFVDFȰ8yN<%Nt=ٔN8Q-R?9R"?YR"?=REyRuDVEV?XQ 5^4Z6m?Q 9^4Z)ZMBY`yb?Q Ib@ZnDIZ1.;iZ.;Z]4yf BɮfAj E:ixzFNOT Ignoring new targets: 237.64 m."i~3*i~3  ProNav: ac range: 237.642120 m, nav range: 208.179672 m, bearing: 29.737945 deg, approach rate: -0.562153 m/s, LOS rate: -0.009830 deg/s, cmd heading: 31.548022 deg, new cmd heading: 31.541428 deg. i 폹HeadingCmd: 0.550502 target range: 237.642120 and range: 237.60 m.h ?hhhhgg!jg!rg!e!re)Ze):e)*e-X,?Bɢ2B) i)MipFi ?l=;=I ?I9@ @@@I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258695q^A=AyAzAA I I O- >ԡ PZ#,AkqLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511064N̨>N0 ?NQûٱN}=NHQ?@`˰?"?@*?* }x? 5?`?iN̨>INC];NCYVByVIXXbD %VD ϰ8y-B%-A=ٔ5g@Q-=>9AYA=MEyMuDUŹEU>YQ 5m4]Gm?Q 9m4])]OBYqyy}?Q I@]nDI]_;i]f;]4yBɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 237.64 m."i1*i1 ProNav: ac range: 237.642120 m, nav range: 207.939438 m, bearing: 29.733749 deg, approach rate: -0.553347 m/s, LOS rate: -0.009675 deg/s, cmd heading: 31.541428 deg, new cmd heading: 31.533027 deg. i HeadingCmd: 0.550355 target range: 237.642120 and range: 237.60 m.h ?hhhhggjg!rg!e!re!Ze!:e)*e-t(?E EE2E"Es:*E n:VE4ZEa@a@a@a@Bɢ/) i) oiQf>i ?j=I ?I 1/{A%A}b9}/{AYKAԡ 9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762972^Ae = A .AI I O >t6a#,#qLA2Ț>2 ?2,ϻٱ2O =2HS?`c?w?,?` zy?`?2?i2Ț>I2M];2CY:By:IB%>B%2CB%'IB%BB% =B!B%DB%n;B%5pEB3CB2CBCB =B =C5iUMb@Mb@Mb@QQQQ Q9Ui|?5?9 ?Y ?=EyvDqE>Q 54Xm?Q 94L)Y?Q E:yB?Q I@nDI:i:4yBɮAE:iFNOT Ignoring new targets: 237.64 m."i*i ProNav: ac range: 237.642120 m, nav range: 207.705994 m, bearing: 29.730879 deg, approach rate: -0.580043 m/s, LOS rate: -0.007140 deg/s, cmd heading: 31.533027 deg, new cmd heading: 31.527279 deg. iQHeadingCmd: 0.550255 target range: 237.642120 and range: 237.60 m.h ?hhhhggjgrgBe re Ze :e *e @Bɢy2) &i)=i/F6i ?g=d=I ?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015501]9@Y @a@e/@aE EE1E"ED:*Exv:VE-4ZEBE2Y `g#,gqLAN2>N ?NpܻٱN=NH V?@@?`?@F0?`]{? ??iN2>INA4];NCYZByZIbDbVDb8yj>%jV=ٔjQ-n>9n"?Yn"?=rEyrvDrYEr>tQ 5z4vhm?Q 9z4v>)tYxy~ ?Q I~@vnDIvP:iv;v 4yɮA:i)-FNOT Ignoring new targets: 237.64 m."i5#*i5#E ProNav: ac range: 237.642120 m, nav range: 207.488663 m, bearing: 29.728249 deg, approach rate: -0.568637 m/s, LOS rate: -0.006889 deg/s, cmd heading: 31.527279 deg, new cmd heading: 31.522013 deg. iEIMHeadingCmd: 0.550163 target range: 237.642120 and range: 237.60 m.hMz ?hIhIhIhIgIgQjgQrgQeQreYZeY:eY*ee~@颍Bɢ0?) i)4顑i.iz ?d==Iz ?I11@1 @1@5]0@1achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518717^AH=A>A>ԑE EE2E"EV:*E:VE4ZEa @a @a @a @A I I O= >Թ mm#,ܸqLA]m >] ?]bٱ]=]H|W? 8 )Χ??@1?`}Y|?@Ϲ??i]m >I]O];]CYByII>)%=>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774562ԉiMb@Mb@Mb@ 9Gz?~jth?Y?yD;AXA X A)A AYQ AbDVDy%,=ֹٔQ->9Y=Ey+vD E >Q 54j{m?Q 94)QBY?Q E:y ?Q I@oDI:i:4y-Bɮ-,A-E:iIUFNOT Ignoring new targets: 237.64 m."iU*i]m ProNav: ac range: 237.642120 m, nav range: 207.220261 m, bearing: 29.726252 deg, approach rate: -0.564666 m/s, LOS rate: -0.004206 deg/s, cmd heading: 31.522013 deg, new cmd heading: 31.518014 deg. imXmHeadingCmd: 0.550093 target range: 237.642120 and range: 237.60 m.hu ?hqhqhqhqgqgqjgyrg}sBeyreyZe:e*e@颭BɢG.) @i)>顱i%i ?`=_(=I ?II)yA}9@y @y@}0@yԹB>B1CBIBBB =BBDB_;BpE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024192^A ~4=A I I E  E E 3E "E ;*E xv:VE 4ZE BE nt#,pqLAF>F ?FٱFe=FH`X?@h?@4? 2?O>}?@\? 7?iF>IFR];DYN~ByR IbDZVDZ8ybӼ%bt=ٔboQ-f?9dYd=fEyf8vDj>Ej?lQ 5r4nm?Q 9r4n)nRBYpyr ?Q Iv@noDIn;inw;n4yxɮzOAx:iFNOT Ignoring new targets: 237.64 m."i*i%𘸝- ProNav: ac range: 237.642120 m, nav range: 207.031418 m, bearing: 29.724857 deg, approach rate: -0.564953 m/s, LOS rate: -0.004178 deg/s, cmd heading: 31.518014 deg, new cmd heading: 31.515220 deg. i-5HeadingCmd: 0.550044 target range: 237.642120 and range: 237.60 m.h5 ?h1h9h9h9g9g9jgArgAeAreAZeI:eI*eM@N @uBɢuxN) i)+i"i ?^=VȐ=I ?I@ @@?5@BDAT read: Rx Time:01:13:42.1858 TRx dataTimestamp_ set to:1764897223.452658checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275880^A) A I I O >Q Ѯz#,qLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526757";ɰ";> ?Nٱ=H{X?@`t?2? 1?` Y?ʹ? ?i>I%];CY%By-IbDEVDE8ye<%m@=ٔuQQ-}>9Y=EyJvD95E>Q 54m?Q 94)TBY y E EE4E"ED:*EL_:VE4ZEa@a@a@a@Q I@#oDI =i/ =l!4yBɮ<A)EB*** querying acoustic contact ***iAiA:iquFNOT Ignoring new targets: 237.64 m."i}j*i}j ProNav: ac range: 237.642120 m, nav range: 206.785629 m, bearing: 29.723037 deg, approach rate: -0.510074 m/s, LOS rate: -0.003782 deg/s, cmd heading: 31.515220 deg, new cmd heading: 31.511576 deg. ivݸHeadingCmd: 0.549981 target range: 237.642120 and range: 237.60 m.h ?hhhhggjgrge re Ze :e *e `CE@}Bɢ}+)y }iy)ǻ顡i"i ?Y==I ?Iaq@y @y@1@DAT read: 01:13:42.1858 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 164, 0.47, 0.780,-0.899, 0.872, 0.350, PHS= 0.532,-1.204, 0.478, RAW= 148.4, 2.3, CAL= 147.6, 2.2, ROT= 2.4, -2.2  Ygot valid direction response: 01:13:42.1858 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 164, 0.47, 0.780,-0.899, 0.872, 0.350, PHS= 0.532,-1.204, 0.478, RAW= 148.4, 2.3, CAL= 147.6, 2.2, ROT= 2.4, -2.2 PDAT read: Bearing 183.2, 2.8 (Local) ~Local bearing/azimuth received: Bearing 183.2, 2.8 (Local) %DAT read: Range 11 to 50 : 213.8 m (Round-trip 285.1 ms) speed 0.4 m/s %R#Rx 1: Read range and direction messages.-\direction in FSK: [0.998386,0.041845,0.038388]-Fpublishing direction and range infoyB?73l?.?YUC )DI'1?ij>%@l$=$@ nF=)+=InF?]Zr?NF? [>)x=$I+=inFET****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ԁ ^A {=A xAzA yAԱ B >B 0CB IB BB  =B B B v;B 1pEA) I1 IA OU >#,rLA2>2u ?2xٱ2e=2HZ?@}??3?.Q`??@I?i2>I2 ];2CY:By:I <9Y=Ey\vDݔE>Q 54m?Q 94[)UBY?Q E:ye?Q I@3oDI:i;:(4yɮ Aii0qLAjUC"jUC:jV?Rj1rj@'A!@uj @BjB?73l?.?*j+=2jnFZj϶Gf@eNh]@lZX^%@Jjץ|?P ?p3ܩ?jDB j=2CiNX?iVj"BjNX?j93*j"BrjMCzjK? addTargetRange:: Added new target pos. range: 213.800003 m, deltaT: 8.064210 s, deltaX: -23.800003 m, approachRate: -2.951312 m/s, rangeRepo size: 4  Added new target pos. range: 213.832275 m, bearing: 33.423612 deg, lat: 36.779649 deg, lon: -121.859773 deg, deltaT: 8.064210 s, deltaX: -23.809845 m, approachRate: -2.952533 m/s, posRepo size: 4 :i FNOT Ignoring new targets: 213.83 m."i*i=(DAT read: user:97> ԑBDAT read: Tx time:01:13:43.5465 $Ping request sent.i>bE%ם4jE% 4rE%T/E EE3E"E*EVE4ZEBE2 y;#,b"rLA2>2 ?2Zٱ2&=2H@Z?b??1?@˷N ?*? ?i2>I2];0Y:|By: IbDFVDFİ8yNg%N[=ٔR&Q-R>9R ?YR ?=VEyVkvDVtEV>XQ 5^4Zm?Q 9^4Z)XY`yb`?Q Ib@ZAoDIZs;iZo;Zy/4yfBɮfoAfE:ixzFNOT Ignoring new targets: 213.83 m."i~iM*i~iM  ProNav: ac range: 213.832275 m, nav range: 205.625412 m, bearing: 30.012807 deg, approach rate: -0.586930 m/s, LOS rate: -0.000175 deg/s, cmd heading: 31.508646 deg, new cmd heading: 31.508516 deg. i THeadingCmd: 0.549927 target range: 213.832275 and range: 213.80 m.h ?hhhhggjgrge!re!Ze!:e!*e-?UBɢUQ)Q UiQ)hii ?S==I ?Iu9@q @q@u/@qUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.489454^A;ʏ=DzDE EE5E"E*Ee:VE4ZEa@a@a@a@I I I O >h#,ouH ?uvjٱu=uHC\?E?@̗? 2?G巿>M?ɐ?q?iu>IuJ];qYwByIi5Mb@Mb@Mb@1111 1959Y=Ey}vD7E>Q 54m?Q 94)Y?Q E:y?Q I@RoDI;i;74yBɮAE:iFNOT Ignoring new targets: 213.83 m."i08*i08 ProNav: ac range: 213.832275 m, nav range: 205.356155 m, bearing: 30.013759 deg, approach rate: -0.576217 m/s, LOS rate: 0.002038 deg/s, cmd heading: 31.508516 deg, new cmd heading: 31.510421 deg. in8HeadingCmd: 0.549961 target range: 213.832275 and range: 213.80 m.h8 ?hhhhggjgrgrBe re Ze :e *e#i?=Bɢ=X8)9 =iA)E2AAiEiM8 ?MN=MZ=IM8 ?IQq@ @@/@B>B1CBBB =BBB;BdpEԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992371^AE {=AM >AM > E  E E 3E "E :*E :VE 4ZE BE '{M#,=VrLA2=s>2 ?2ѷٱ27=2H\?{@ߓ??3?1?w?@?i2=s>I2@];2CY:}By: II>C=)>e>bDFVDF8yN<%Np=PٔRQ-R?9TYT=VEyVvDZaEZ?\Q 5b4^m?Q 9b4^)\Y`yb?Q Ib@^_oDI^;:i^i:^=4yhɮjyAh:ix~FNOT Ignoring new targets: 213.83 m."i8*i8  ProNav: ac range: 213.832275 m, nav range: 205.159378 m, bearing: 30.014464 deg, approach rate: -0.576561 m/s, LOS rate: 0.002070 deg/s, cmd heading: 31.510422 deg, new cmd heading: 31.511835 deg. iwr8HeadingCmd: 0.549985 target range: 213.832275 and range: 213.80 m.h ?hhhhggjg!rg!e!re!Ze):e)*e-@u?Bɢ.K) i)ii ?J= =I  ?I 9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246235^Ax=IAIQO]>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501059w#,prLA2W>2u ?2"ٱ2r=2H]? e*T? ?3?5 R?L??i2W>I2U];2CY IbDFVDF8yvP;%vJ=ٔv$Q-v>9xYx=zEyzvDz>E~>|Q 5 4m?Q 9 4n)VBYy?Q I@noDIq:i:D4yBɮA!:iAEFNOT Ignoring new targets: 213.83 m."iMV8*iMV8] ProNav: ac range: 213.832275 m, nav range: 204.920837 m, bearing: 30.015336 deg, approach rate: -0.576238 m/s, LOS rate: 0.002108 deg/s, cmd heading: 31.511836 deg, new cmd heading: 31.513581 deg. i]v8eHeadingCmd: 0.550016 target range: 213.832275 and range: 213.80 m.he ?hahahahagigijgirgieqreqZeq:eqD}<D}<E EEE"ED:*Ei:VEZEa@a@a@a@*eu|?颽BɢdB) Ui)i>ںi ?cF=3=I ?I@ @@/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754744^AMĎ=QIIO>ԁ B <A <B B B B B  =B B B ;B {pEu_#,rLAɰ2u>2! ?2=(ٱ2"U=2HDc?@| ??|9?T@?@~??i2u>I2 ];2CY:By> IiMb@Mb@Mb@ 9n?{Gz~jtx?YV?y#;A X A)& AY AYbD!VD˰8y,<%:=ٔpRQ->9Y=EyvDwCE>Q 54n?Q 94D)XBY^?Q E:yD?Q I@~oDIX;iW;cL4yړBɮA%EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005269mB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 213.83 m."iԵ*iԵ ProNav: ac range: 213.832275 m, nav range: 204.680450 m, bearing: 30.015296 deg, approach rate: -0.541726 m/s, LOS rate: -0.000091 deg/s, cmd heading: 31.513581 deg, new cmd heading: 31.513500 deg. i*HeadingCmd: 0.550014 target range: 213.832275 and range: 213.80 m.h ?hhhhggjgrgBereZe:e*e@K@UBɢ]^7)Y ] iY)]Saaie4ʺie ?m!@=ml>=Im ?IE EE1E"E:*Ek:VE-4ZEBE< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256421 #,ΣrLA2<>2 ?2%*ٱ2$=2Hf?`9w)??`=?@`V?1W??i2<>I2\;2CY:By:IbDFIVDF8yJ8(=%N^=ٔNֹQ-j>9hYl=nEynvDneEr>pQ 5v4r'n?Q 9v4r)rZBYxyz ?Q Iz@roDIr":irq:rR4y~ۓBɮ~AE:i!%FNOT Ignoring new targets: 213.83 m."i-QG5*i-QG5= ProNav: ac range: 213.832275 m, nav range: 204.473816 m, bearing: 30.015311 deg, approach rate: -0.573656 m/s, LOS rate: 0.000043 deg/s, cmd heading: 31.513499 deg, new cmd heading: 31.513530 deg. i=t5EHeadingCmd: 0.550015 target range: 213.832275 and range: 213.80 m.hE ?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU`,@颅Bɢ{J) -i) R顉i,i ?:=݊=I ?II)xAQ@Q @Q@U)0@Q Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509207 %7w>%C^A}p,=E EE3E"E&:*Eg:VE4ZEa@a@a@a@G{A P9{AYؔAI1I1O=>a a#,rLAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762512 >D ?_0ٱ=Hh?`tbk?`.?`=?? .뷿 ?aE?F?i >I];CYByI)ieMb@Mb@Mb@aaaa a9eGz?Mb`9Y=EyvD]E>Q 54$n?Q 94 )]BY?Q E:y} ?Q I@oDIH;in;Z4yɮxA:iFNOT Ignoring new targets: 213.83 m."ie/*im/u ProNav: ac range: 213.832275 m, nav range: 204.213074 m, bearing: 30.014346 deg, approach rate: -0.564685 m/s, LOS rate: -0.002093 deg/s, cmd heading: 31.513530 deg, new cmd heading: 31.511597 deg. i}u}HeadingCmd: 0.549981 target range: 213.832275 and range: 213.80 m.h} ?hyhhhggjgrgBereZe:e*e[ @Bɢm))QYBE>BABABABABABABE;BEupEB 1CB 1CB B  =B  =C T5 UiY)]`YYi]5ie ?e1=eh=Ie ?Ii9@ @@/@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012205ԉE  E E 4E "E :*E x:VE 4ZE BE .AE ?A؟AIIO>"ɶ#,vrLA:kʥ>: ?:<ٱ:=:H@j?r?@?@?y@?&D?`9?i:kʥ>I:+\;:CYBByBIbDj_VDj8yr %r@=ٔvںQ-v>9v"?Yv"?=zEyzvDz2Ez>|Q 54~|5n?Q 94~̥)~aBY y ] ?Q I @~oDI~:i~:~gb4yݓBɮA:i9=FNOT Ignoring new targets: 213.83 m."iE*iE]BDAT read: Rx Time:01:13:46.2323 ]TRx dataTimestamp_ set to:1764897227.488676echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265433m ProNav: ac range: 213.832275 m, nav range: 203.972122 m, bearing: 30.013485 deg, approach rate: -0.564946 m/s, LOS rate: -0.002022 deg/s, cmd heading: 31.511597 deg, new cmd heading: 31.509872 deg. imluHeadingCmd: 0.549951 target range: 213.832275 and range: 213.80 m.hu ?hqhqhqhygygyjgyrgyereZe:e*e mN @颵BɢA) bi)9Y%项i܂i ?+==I ?IM9@I @I@M<0@Iqԑ^AmЉ= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517097 A I I O >Em  Em Em 2Ei "Em :*Em k:VEm 4ZEi a @a @a @a @#,+KrLALV>Vۼ ?V ?ٱVS=VHi?r?*?8>?4?Oݺ?5?iV>IV\;TY^BybIbDjVVDj8yr%rK=ٔrBQ-r>9tYt=vEyvvDz :Ez>|Q 54~En?Q 94~)~dBYyh ?Q I@~oDI~:i~:~ri4yɮA:i1=FNOT Ignoring new targets: 213.83 m."iE:*iE:M ProNav: ac range: 213.832275 m, nav range: 203.744431 m, bearing: 30.012659 deg, approach rate: -0.564861 m/s, LOS rate: -0.002052 deg/s, cmd heading: 31.509872 deg, new cmd heading: 31.508218 deg. iU]p]HeadingCmd: 0.549922 target range: 213.832275 and range: 213.80 m.h] ?hYhYhYhYgYgajgargaeareiZei:ei*em"@额Bɢ=) i),顡ii ?I%="=I ?Ia>i>9@ @!@-#2@)MDAT read: 01:13:46.2323 LVL= 32752, 32753, 28962, 32755, AGC= 66, IDX= 400, 0.43, 2.344, 0.651, 2.436, 1.866, PHS= 0.580,-1.170, 0.526, RAW= 148.4, 0.8, CAL= 147.5, 0.5, ROT= 2.5, -0.5 UYgot valid direction response: 01:13:46.2323 LVL= 32752, 32753, 28962, 32755, AGC= 66, IDX= 400, 0.43, 2.344, 0.651, 2.436, 1.866, PHS= 0.580,-1.170, 0.526, RAW= 148.4, 0.8, CAL= 147.5, 0.5, ROT= 2.5, -0.5 }PDAT read: Bearing 181.4, 2.9 (Local) }~Local bearing/azimuth received: Bearing 181.4, 2.9 (Local) DAT read: Range 11 to 50 : 211.2 m (Round-trip 281.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999010,0.043618,0.008727]Fpublishing direction and range infoyquz2?_U?B7߁?Yu3SCqqqu"q q)uBIuz?iu•u?qud)uWIu¸2=iu5qqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A5=B>BB!IBBBBBDB;BlpEAe .AIi Iy O >  (DAT read: user:98>  BDAT read: Tx time:01:13:47.5965 % $Ping request sent.% 2 ?2YDٱ2=2Hh?t@?m?I2\;2CY:By:%I!imMb@Mb@Mb@iiii i9mQ?Mbp?Mb?Ym\?ym;m=ٔYQ->9 ?Y ?=EywD9E>Q 54tWn?Q 94E EE7E"EV:*Exv:VEԺ4ZEBE9#,)sLA4<ɰ4V ?VKٱV=VHmh?t?? IV\;VCYfByf!IbDrVDr8y~_%~W=ٔQ->9 Y = Ey wD>9E>!Q 5-4%fn?Q 954%)%jBY1y== ?Q I=@%oDI%c;i%d;%w4yQɮUoAQyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 211.24 m."i뎸*i뎸u ProNav: ac range: 211.235886 m, nav range: 203.187637 m, bearing: 30.026194 deg, approach rate: -0.582991 m/s, LOS rate: -0.003905 deg/s, cmd heading: 31.506338 deg, new cmd heading: 31.503499 deg. iu丝}HeadingCmd: 0.549840 target range: 211.235886 and range: 211.20 m.h}M ?hyhyhyhyggjgrgereZe:e*er?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503065%Bɢ%6>)) -`i))-9QQiUSSdi]M ?]\=]{=I]M ?IaԩE- E-E-3E)"E-&:*E-x:VE-4ZE)a=@a=@a=@a=@A@A @A@E@5@I^Am @=ߍ =ߍ ?#,CsLA2#>2 ?2UPٱ2mW=2H h?un?`?p;?w渿`?@Q?@?i2#>I2\;2CYNByN I PPi%Mb@Mb@Mb@!!!! !9%Q?~jt?9QYQ=]Ey]!wD]-R9E]>aQ 5m4evn?Q 9m4e()enBYm?Q Eu:yuM?Q Iu@eoDIe:ie;e~4y}Bɮ}A}E:i9EFNOT Ignoring new targets: 211.24 m."iM&*iM&} ProNav: ac range: 211.235886 m, nav range: 202.956909 m, bearing: 30.022338 deg, approach rate: -0.544622 m/s, LOS rate: -0.009114 deg/s, cmd heading: 31.503500 deg, new cmd heading: 31.495777 deg. i}oHeadingCmd: 0.549705 target range: 211.235886 and range: 211.20 m.hx ?hhhhggjgB>BB'IBBBBBDB;BdpErgBereZe:e*e?=BɢE;)A EiA)Eb@Iiim^(Hiux ?u =uP=Iux ?Iy}9@y @y@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007061)bE4jE4rEǓ/E9 E=E=2E9"E9*E=:VE=4ZE9BE=k;t#,]sLA2 >2N ?2:1Vٱ2'=2H@Kh?gu`1V?-?i;?@Y@Ŋ?)?@ ?i2 >I2\;2CY:By:'IbDFVDF8yN<%NW=ٔN cQ-R>9R"?YR"?=REyR0wDV^1EV>XQ 5^4Zn?Q 9^4Z)ZrBY\y^H?Q Ib@ZoDIZ#;iZ@;Z4ydɮfWAd:itzFNOT Ignoring new targets: 211.24 m."i~5*i~5  ProNav: ac range: 211.235886 m, nav range: 202.744064 m, bearing: 30.018776 deg, approach rate: -0.590475 m/s, LOS rate: -0.009890 deg/s, cmd heading: 31.495778 deg, new cmd heading: 31.488648 deg. i ΐHeadingCmd: 0.549581 target range: 211.235886 and range: 211.20 m.hP ?hhhhggjgrgere!Ze!:e!*e% ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266961BɢA) Ki)Ei.iP ? = =IP ?I9u9@q @q@u/@qa^AA>A>ԉ= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519950A I I O >EU  EU EU 3EQ "EU D:*EU |:VEU 4ZEQ a] @a] @a] @a] @Թ <#,wsLA2@@>2 ?2eXٱ2=2Hf?$x@Gj??H9?`-x? H?@?i2@@>I2\;2CY8y>&IbDnVDn8yv/M%vE=ٔv Q-v>9xYx=zEyzAwDz}:E~>Q 54Hn?Q 9 4)vBY y b?Q I @pDIq:i:4yBɮiA:i9EFNOT Ignoring new targets: 211.24 m."iE-*iE-U ProNav: ac range: 211.235886 m, nav range: 202.512390 m, bearing: 30.014865 deg, approach rate: -0.559363 m/s, LOS rate: -0.009453 deg/s, cmd heading: 31.488647 deg, new cmd heading: 31.480817 deg. iUf]HeadingCmd: 0.549444 target range: 211.235886 and range: 211.20 m.h][ ?hahahahagagajgirgieireiZei:eq*eu@?额Bɢ;) Ii)L顡ii[ ?=c=I[ ?Iԑ]9@a @a@e/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.773683^Aۋ=B>BB-IBBBBBB;BRpEA I Iq O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022930$#,asLA2'>2h ?2Yٱ2=2H^g?vFa??:?}#?D??i2'>I2B\;2CY:By:+IIB=)B>iEMb@Mb@Mb@AAAA A9Eq= ףp??~jt?YE ?yE=ٔQ->9Y=EySwDE>Q 54Ʀn?Q 94J){BY ?Q E:y?Q I@pDIp;i;E4yϓBɮAEE EE5E"El;*Ek:VE4ZEBEcFߕ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275185^Ap,=I A .AI) I9 OM >O#,@sLAbi>bL ?bZQVٱb=bHBe?z?4?p9? Ɋ?:Ӻ?2?ibi>Ib\;`YvByv(IbD޿VD8y-I%-T=ٔ-9Q-5>95 ?Y= ?==EyEbwDEͩ:EE>QQ 5e4Un?Q 9e4U6)UBYiym?Q Im@UpDIUP;iUA;U4y}ГBɮ}AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 211.24 m."i2*i2 ProNav: ac range: 211.235886 m, nav range: 202.066742 m, bearing: 30.007008 deg, approach rate: -0.548183 m/s, LOS rate: -0.009732 deg/s, cmd heading: 31.472583 deg, new cmd heading: 31.465083 deg. i{HeadingCmd: 0.549169 target range: 211.235886 and range: 211.20 m.h\ ?hhhhggjgrgereZe:e*e`@颅Bɢ=) |i)gX顉iBi\ ?`==I\ ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527154I9@ @@/@E  E E 2E "E :*E xv:VE 4ZE a@a@a@a@y^AO=AxAzAxAԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781245Aa I I O >6#,sLAɰ@Y~By~ IiMb@Mb@Mb@ 9V-?Q?~jtx?Y ?y\=;"AA S A)& AYbDVDy%B=ٔQ->9Y=EyswDE>Q 5%4n?Q 9%4)BY% ?Q E%:y%?Q I-@.pDI:ib:4y1B=>B9B=4IB=BB= =B9B9B=;B=QpEɮ5 AQ:iq}FNOT Ignoring new targets: 211.24 m."i}}h*i}h ProNav: ac range: 211.235886 m, nav range: 201.829834 m, bearing: 30.001550 deg, approach rate: -0.550808 m/s, LOS rate: -0.012704 deg/s, cmd heading: 31.465083 deg, new cmd heading: 31.454155 deg. iHeadingCmd: 0.548979 target range: 211.235886 and range: 211.20 m.h܉ ?hhhhggjgrgBereZe:e*e6b @Bɢ=) i)>_ijJ}i܉ ?3=3$=I܉ ?Iԩ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031052E% E%E%4E!"E%D:*E%e:VE%4ZE!BE%2`#,9sLA:$>: ?:Vٱ:6=:H`5c?~w?@?@8?H Ԋ?QZ??i:$>I:\;:CYFByF-I HHbDRֿVDR8yV_=%Z\=ٔZfQ-Z>9^"?Y^"?=^Ey^wDbͯ:Eb>`Q 5f4bn?Q 9j4b)bBYhyj?Q Ij@b;pDIb:ib.:bۨ4lyrғBɮrArE:i  FNOT Ignoring new targets: 211.24 m."i%m*i%m% ProNav: ac range: 211.235886 m, nav range: 201.630722 m, bearing: 29.996924 deg, approach rate: -0.557187 m/s, LOS rate: -0.012958 deg/s, cmd heading: 31.454155 deg, new cmd heading: 31.444894 deg. i%-HeadingCmd: 0.548817 target range: 211.235886 and range: 211.20 m.h-D ?h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=&> @eBDAT read: Rx Time:01:13:50.2801 eTRx dataTimestamp_ set to:1764897231.528690mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284159}BɢRA) Bi)d顁iiD ?$=Q=ID ?IR>i>59@1 @1@50@1 9^Autn= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535285A .AI I G! I q 9 Y AO >D- =D- <EE  EE EA EA "EE :*EE z:VEA ZEA am @am @am @au @#,jsLAB>B> ?B\aZٱB=BH` a?@W? ? g6?cK?r?q?iB>IBؔ\;BCYZByZ"IbDj VDj8yrG#%rF=ٔvQ-v>9v ?Yv ?=vEyzwDR:E>Q 5%4n?Q 9%47)BY)y-?Q I-@IpDI2:i: 41yQɮUAQ:iFNOT Ignoring new targets: 211.24 m."ih*ih ProNav: ac range: 211.235886 m, nav range: 201.401093 m, bearing: 29.991546 deg, approach rate: -0.542222 m/s, LOS rate: -0.012714 deg/s, cmd heading: 31.444893 deg, new cmd heading: 31.434124 deg. i%HeadingCmd: 0.548629 target range: 211.235886 and range: 211.20 m.hr ?hhhhggjgrgereZe:e*eע@Bɢ<) Ui)yki   ir ?=c=Ir ?I@ @@o2@DAT read: 01:13:50.2801 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 426,-0.03, 1.410,-0.246, 1.530, 0.980, PHS= 0.532,-1.181, 0.505, RAW= 149.2, 1.7, CAL= 148.3, 1.5, ROT= 1.7, -1.5 !MYgot valid direction response: 01:13:50.2801 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 426,-0.03, 1.410,-0.246, 1.530, 0.980, PHS= 0.532,-1.181, 0.505, RAW= 149.2, 1.7, CAL= 148.3, 1.5, ROT= 1.7, -1.5 ePDAT read: Bearing 182.5, 2.5 (Local) m~Local bearing/azimuth received: Bearing 182.5, 2.5 (Local) DAT read: Range 11 to 50 : 209.5 m (Round-trip 279.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999217,0.029656,0.026177]Fpublishing direction and range infoyqunf?!<)^?P!Κ?YuQCqqqu q)qIu'1?iu+uG?ur&@u  BDAT read: Tx time:01:13:51.6465  $Ping request sent. #,-tLAB{Y>B1w ?B\[ٱB=BH z]?e??2?] Lk? k?`?iB{Y>IB\;BCYNByNIE% E%E%6E!"E%D:*E%ą:VE%c4ZE!BE!a52E!a5JE%$;a5:E%$;a5ԙiMb@Mb@Mb@ 9n?+?y&1|?YV?y=`;AA )Yz AbD VD 8y[%=ٔgQ->9"?Y"?=EywDa:E>Q 54n?Q 94})BY?Q E:y?Q I@\pDI;iv;4yԓBɮ1AEii*tLAjQC"jQC:jU?Rjg+j@f @MjŐ@Bjnf?!<)^?P!Κ?*j<2jPwּZjvf@m$P\@f3!@Jjf?J9K?Їbe?jB j0CiDZ2쨊?ip5jZBjNX?jp5jZBrjOCzjk~?% addTargetRange:: Added new target pos. range: 209.500000 m, deltaT: 4.040356 s, deltaX: -1.699997 m, approachRate: -0.420754 m/s, rangeRepo size: 4 5 Added new target pos. range: 209.532715 m, bearing: 32.750877 deg, lat: 36.779649 deg, lon: -121.859630 deg, deltaT: 4.040356 s, deltaX: -1.703171 m, approachRate: -0.421540 m/s, posRepo size: 4 :i9=FNOT Ignoring new targets: 209.53 m."iE*iAU ProNav: ac range: 209.532715 m, nav range: 207.875259 m, bearing: 33.010833 deg, approach rate: 0.000000 m/s, LOS rate: -0.012714 deg/s, cmd heading: 31.434125 deg, new cmd heading: 31.421178 deg. iQ]HeadingCmd: 0.548403 target range: 209.532715 and range: 209.50 m.h]$d ?hYhYhYhYgYgYjgargeBeareZe :e 0j@*e p?U~Bɢ]1)Y ]SiY)]@saaih8i$d ?=3=I$d ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2513839@9 @9@=/@9! ^A] =A .AI I O > #,:1tLA2 s>2 ?2'(]ٱ2=2H\?mb?_?@V2?Dͤ?J??i2 s>I2ʇ\;2C8Y>By>IIB=)B95 ?Y5 ?==Ey=wD=- :E=>AQ 5M4Eo?Q 9M4Ez)EBYQyU?Q IU@EipDIE:iE;E4yYɮ]AY}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 209.53 m."iӸ*iӸ ProNav: ac range: 209.532715 m, nav range: 207.667847 m, bearing: 33.008702 deg, approach rate: -0.562529 m/s, LOS rate: -0.005785 deg/s, cmd heading: 31.421179 deg, new cmd heading: 31.416913 deg. ib)HeadingCmd: 0.548329 target range: 209.532715 and range: 209.50 m.hC_ ?hhhhggjgrgereZe:e*e ^?}BɢU)%H!< %oi!E EE5E"E&:*Eg:VE4ZEa@a@a@a@)%x项ivT9iC_ ?V=~=IC_ ?Iԡy@y @y@}1@yechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757221^Am~4= Au ؟AIy I O >B >B B 4IB BB B B B ;B VpE#,nJtLA2٬>2ޠ ?2Y^ٱ2=2HZ?Y?@t?/?^kՋ?v?[?i2٬>I2\;2CYBByBIpiMb@Mb@Mb@ 9B`"?L7A`?MbP?Y?y+=:  A) AYbD5VDݰ8y0O=%?=ٔeQ->9"?Y"?=EywD,:E> Q 54 }o?Q 94 -w) BY?Q E:y?Q I@ xpDI ;i ; 4y%֓Bɮ%OA!:iAMFNOT Ignoring new targets: 209.53 m."iM͝*iU͝e ProNav: ac range: 209.532715 m, nav range: 207.428986 m, bearing: 33.006862 deg, approach rate: -0.558983 m/s, LOS rate: -0.004311 deg/s, cmd heading: 31.416913 deg, new cmd heading: 31.413229 deg. ie{eHeadingCmd: 0.548264 target range: 209.532715 and range: 209.50 m.hm [ ?hihihihigigijgqrguBeqreyZey:ey*e}?颥|Bɢ0C) Ti)`V顩i|z9i [ ?=[=I [ ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007099 9@ @@15@E EE3E"E*E n:VE4ZEBEk;e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258928#,dtLA;ɰ;BKا>B ?BS{bٱB=BH`SY?C?Û?.?`$@/O?{??iBKا>IB[\;BCYlynIbDzPVDz8y`c;%[=ٔT"Q->9  ?Y  ?= Ey wD h:E>9Q 5E4$o?Q 9E4t)BYIyM?Q IM@pDIb;i;4yQɮUIAQ:iFNOT Ignoring new targets: 209.53 m."iC*iC ProNav: ac range: 209.532715 m, nav range: 207.220627 m, bearing: 33.005234 deg, approach rate: -0.546024 m/s, LOS rate: -0.004269 deg/s, cmd heading: 31.413228 deg, new cmd heading: 31.409970 deg. iHeadingCmd: 0.548207 target range: 209.532715 and range: 209.50 m.hRW ?hhhhggjgrgereZe:e*e@?e{BɢeG)i mii)miiimv9iRW ?=V=IRW ?I I)yAi9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511044ԑE EE1E"E:*Ex:VE-4ZEa@a@a@a@^A= A ؟AI I O% >5#,G~tLA2(>2 ?27eٱ2L=2HV?q1??*?@@ ? T?d?i2(>I2\;2CY:By:I @@bDF0VDFٰ8yN%NQ=ٔRQ-R>9R"?YR"?=VEyVwDV%:EV>XQ 5^4Z4o?Q 9^4Zp)ZBY`yb?Q Ib@ZpDIZb;iZ<;Zm4yfדBɮfxAfE:ixzFNOT Ignoring new targets: 209.53 m."i~c*i~c  ProNav: ac range: 209.532715 m, nav range: 207.002075 m, bearing: 33.003487 deg, approach rate: -0.571338 m/s, LOS rate: -0.004573 deg/s, cmd heading: 31.409970 deg, new cmd heading: 31.406472 deg. i HeadingCmd: 0.548146 target range: 209.532715 and range: 209.50 m.hRS ?hhhhggjgrge!re!Ze!:e!*e%?ԙ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765275ezBɢmQF) i)顉i:iRS ?&=#=IRS ?IBBB-IBBBBBB~;B=pE0:ĺi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016055e 9@a  @a @e /0@a A bEeˀ4jEe74rEe/E  E E 5E "E V:*E $:VE 4ZE BE 9A]>A].AIaIyO ?('#,StLA2&Q>2 ?2jٱ2EB=2HZU? Բ?/?`)?xָP?@ں??i2&Q>I2\;2CY>By>I~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2670441iuMb@Mb@Mb@qqqq q9uoʡ?:v?Yu ?yuT9 ?Y ?=EywD? :E>Q 54Jo?Q 94Nl)BY ?Q E:y?Q I@pDI:i(:r4yœBɮAE:iFNOT Ignoring new targets: 209.53 m."i7*i7 ProNav: ac range: 209.532715 m, nav range: 206.685989 m, bearing: 33.004003 deg, approach rate: -0.550995 m/s, LOS rate: 0.000902 deg/s, cmd heading: 31.406473 deg, new cmd heading: 31.407508 deg. i07 HeadingCmd: 0.548164 target range: 209.532715 and range: 209.50 m.h T ?hhhhggjgrgbBereZe:e!*e%Is@MyBɢM5?)Q UiQ)U'QQi]2:i]T ?]ޖ=e{=IeT ?IamHg.#,tLA:b>: ?:7nٱ:}G=:H T?2??'?yƍ?`Y?@?i:b>I:\;:CYFByF IbDNbVDN8yV%V[=ٔZQ-Z>9Z"?YZ"?=ZEyZ xD^9E^>`Q 5f4bYo?Q 9f4bdi)bBYdyj?Q Ij@bpDIb~:ib:b4ynǓBɮn8AnEzB*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 209.53 m."i 67*i 67 ProNav: ac range: 209.532715 m, nav range: 206.480682 m, bearing: 33.004332 deg, approach rate: -0.550580 m/s, LOS rate: 0.000883 deg/s, cmd heading: 31.407508 deg, new cmd heading: 31.408166 deg. i7%HeadingCmd: 0.548176 target range: 209.532715 and range: 209.50 m.h%BU ?h!h!h)h)g)g)jg)rg)e1re1Ze1:e1*e=n@exBɢeV)a eii)mP iiimEO:iuBU ?uݖ=u(=IuBU ?Iyԡ > =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771281$<V>i>B}>ByB}'IB}BByByByB}y;B}7pE9@ @@ 2@! ^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027421E  E E 4E "E :*E i:VE 4ZE BE <5#,)tLAYByII i>) iMb@Mb@Mb@ 9n?~jth?~jthYV?yD;DAjA  A)YQ A %=bDsVD8yF<%$=ٔQ->9Y=Ey!xDE>Q 54lo?Q 94e)BYW?Q E:y ?Q I@pDIE:iI:4yɮ A :i)FNOT Ignoring new targets: 209.53 m."i8*i8 ProNav: ac range: 209.532715 m, nav range: 206.203384 m, bearing: 33.006128 deg, approach rate: -0.556262 m/s, LOS rate: 0.003607 deg/s, cmd heading: 31.408167 deg, new cmd heading: 31.411764 deg. i@8HeadingCmd: 0.548239 target range: 209.532715 and range: 209.50 m.h_Y ?hhhhggjgrgsBereZe:e*ev @i颭wBɢ@5@) Hi)"顱i#s:i_Y ?ܖ==I_Y ?I    eBDAT read: Rx Time:01:13:54.3273 eTRx dataTimestamp_ set to:1764897235.560501mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275925ԑ @  @ @ 0@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527558^A- =D%%=D%4=E- E-E-3E)"E-:*E-$:VE-4ZE)a5@a5@a5@a5@AYIIO?=#,8tLAr4<ɰp=)§>= ?=Յٱ=N+==H@Y?ݏ=~? k? -?%帿@?1??i=)§>I=4];=CYMzByMIbDeVDeK8yu3%u=ٔudQ-u>9yYy=}Ey}6xD}2E>Q 54o?Q 94a)BYy/ ?Q I@pDI:i:4yȓBɮqAE:iFNOT Ignoring new targets: 209.53 m."iF8*iF8 ProNav: ac range: 209.532715 m, nav range: 205.916016 m, bearing: 33.008092 deg, approach rate: -0.555801 m/s, LOS rate: 0.003805 deg/s, cmd heading: 31.411763 deg, new cmd heading: 31.415698 deg. i8HeadingCmd: 0.548307 target range: 209.532715 and range: 209.50 m.h] ?hhhhggjgrgereZe:e*e@%vBɢ%I)) -i))-Q))i-勊:i5] ?5Gٖ=5 "=I=] ?I9@ @@?5@5DAT read: 01:13:54.3273 LVL= 31408, 32753, 30802, 32755, AGC= 68, IDX= 414, 0.20, 2.595, 0.845, 2.687, 2.109, PHS= 0.588,-1.219, 0.533, RAW= 148.5, 1.1, CAL= 147.6, 0.9, ROT= 2.4, -0.9 uYgot valid direction response: 01:13:54.3273 LVL= 31408, 32753, 30802, 32755, AGC= 68, IDX= 414, 0.20, 2.595, 0.845, 2.687, 2.109, PHS= 0.588,-1.219, 0.533, RAW= 148.5, 1.1, CAL= 147.6, 0.9, ROT= 2.4, -0.9 PDAT read: Bearing 181.8, 3.4 (Local) ~Local bearing/azimuth received: Bearing 181.8, 3.4 (Local) 5DAT read: Range 11 to 50 : 207.5 m (Round-trip 276.7 ms) speed 0.6 m/s IuR#Rx 1: Read range and direction messages.\direction in FSK: [0.999000,0.041870,0.015707]Fpublishing direction and range infoyܶ?[L p?y&?YOCzRx )DI+?i1r?H%@nF<$@ <)+=IڸVo, ??`Y? a>)cmI+=iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AABB0CB!IBBBBBB_;BpE^A̓=q A I I O >E *DAT read: user:100> M BDAT read: Tx time:01:13:55.6964 M $Ping request sent.U #>> ?>mٱ>#N=>H<[? @? ˗?`/?긿?|? ?i>#>I>]];>CYEByMIE EE5E"E:*E|:VE4ZEBEz%9Y=EyIxDWE>Q 54*o?Q 94[^)BYE ?Q E:y?Q I@pDI:i>;|4yʓBɮ=Aii:<uLAjOC"jOC:j?Rj'ai@f a!@7 @Bjܶ?[L p?y&?*j+=2jZj'\ޛe@=ԏ;^\@ @JjΧ?H f?xO?j"B j,Ci_z?i0jBjjVjrjNCzj?- addTargetRange:: Added new target pos. range: 207.500000 m, deltaT: 4.032324 s, deltaX: -2.000000 m, approachRate: -0.495992 m/s, rangeRepo size: 4 = Added new target pos. range: 207.532028 m, bearing: 33.533978 deg, lat: 36.779649 deg, lon: -121.859608 deg, deltaT: 4.032324 s, deltaX: -2.000687 m, approachRate: -0.496162 m/s, posRepo size: 4 :i9EFNOT Ignoring new targets: 207.53 m."iE*iAU ProNav: ac range: 207.532028 m, nav range: 206.732208 m, bearing: 33.459554 deg, approach rate: 0.000000 m/s, LOS rate: 0.003805 deg/s, cmd heading: 31.415698 deg, new cmd heading: 31.419116 deg. iQ]HeadingCmd: 0.548367 target range: 207.532028 and range: 207.50 m.h]a ?hYhYhahagagajgargmnBeireiZei:emi@Ա*ec?=uBɢ=%I)9 =;i9)EĘAAiE[a:iMa ?M(֖=4=Ia ?IA@A @A@E1@Aߝ%=ߝ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251515 ^A ~4=A .AI I O >%]K#,֩/uLA6}>6p ?6׌ٱ6=6H[?`!d??x/?@Uђ?i??i6}>I6^;4Y>By> I @@bDJVDJ[8yR|%Vc=ٔVw[Q-V>9Z ?YZ ?=ZEyZWxD^0E^>`Q 5b4b\o?Q 9f4b[)bBYdyf?Q If@bpDIb%:ib:b4yn˓Bɮn^Al:i|FNOT Ignoring new targets: 207.53 m."i~ 9*i~ 9 ProNav: ac range: 207.532028 m, nav range: 206.536743 m, bearing: 33.462262 deg, approach rate: -0.549683 m/s, LOS rate: 0.007622 deg/s, cmd heading: 31.419116 deg, new cmd heading: 31.424537 deg. i0_9HeadingCmd: 0.548462 target range: 207.532028 and range: 207.50 m.hg ?hhhhggjgrgereZe:e*ez? v>G5zAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503516Yɫ9zAY#Ay?Aa%tBɢ%X)! % i!)-Sԛ))i-Ɇ:i5g ?5%Ӗ=51=I5g ?I9Eu EuEu0Eq"EuD:*Euxv:VEu4ZEqa@a@a@a@9@ @@?5@ԑԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886^A =AM ؟AIq I O >mR#,JuLA B0B0B0B0B0B0B0B2!;B2oEBBBB =B =Ch4b>bN ?b~Jٱb=bH`W_?j???3?@H?`bI? ?ib>Ibr_;bCYr|ByrIiMb@Mb@Mb@ 9S?QMb`Y?yuA  A) AY AbDVD8y%Hb%%.=ٔ-3HQ-->9-"?Y5"?=5Ey5jxD5E5>9Q 5E4=o?Q 9E4=RX)=BYM(?Q EM:yM?Q IM@=qDI=;i=;= 4yU͓BɮUA]EuB*** querying acoustic contact ***iqiq:iyFNOT Ignoring new targets: 207.53 m."i<9*i<9 ProNav: ac range: 207.532028 m, nav range: 206.275116 m, bearing: 33.467079 deg, approach rate: -0.557299 m/s, LOS rate: 0.010274 deg/s, cmd heading: 31.424536 deg, new cmd heading: 31.434182 deg. ij9HeadingCmd: 0.548630 target range: 207.532028 and range: 207.50 m.hs ?hhhhggjgrgbBereZe:e*e3?sBɢX) Ci)ci,:is ?ϖ=?D=Is ?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007934]9@Y @Y@]4@YԑE EE3E"E:*Eh:VE4ZEBE.LX#,OduLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259085:Ӧ>:3 ?:5ٱ:=:H `?`#1?=?3?Vޕ?P??i:Ӧ>I:Di`;:CYBByFIbDN PVDN8yV==%Vg=ٔZ-Q-Z>9Z ?YZ ?=^Ey^xxD^ȗE^>`Q 5f4bo?Q 9f4bU)bBYhyjw?Q Ij@bqDIb:ib:b)4ylɮnDAp:iFNOT Ignoring new targets: 207.53 m."i  >9*i  >9 ProNav: ac range: 207.532028 m, nav range: 206.077332 m, bearing: 33.470751 deg, approach rate: -0.558787 m/s, LOS rate: 0.010384 deg/s, cmd heading: 31.434183 deg, new cmd heading: 31.441535 deg. i9%HeadingCmd: 0.548758 target range: 207.532028 and range: 207.50 m.h%m{ ?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5`?rBɢ%^)! %i!)%kơ!!i-E:i-m{ ?-˖=5t=I5m{ ?I1IA)EtA@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511432^A=E  E E 5E "E *E :VE 4ZE a @a @a @a @! AE ؟AII IY Om >^#,I-~uLA2NԦ>24 ?2ٱ2=2H`?m?*?`2?r`?r??i2NԦ>I2va;0YNByRIIV=)V>bDZ'VDZ8ybs%bI=ٔflQ-f>9f"?Yf"?=fEyfxDj7Ej>lQ 5r4no?Q 9r4nR)nBYpytQ Iv@n!qDIn:in:nD4yzϓBɮzmAzE|:i%FNOT Ignoring new targets: 207.53 m."i%=9*i%=95 ProNav: ac range: 207.532028 m, nav range: 205.850433 m, bearing: 33.474972 deg, approach rate: -0.556760 m/s, LOS rate: 0.010368 deg/s, cmd heading: 31.441536 deg, new cmd heading: 31.449987 deg. i5͗9=HeadingCmd: 0.548906 target range: 207.532028 and range: 207.50 m.h= ?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU@+?qBɢiW) i)礼iJ:i  ? Wǖ= T=I  ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7683799@ @@/@9Bu>Bu1CBqBqBqBqBqBu ;BuoEY^A=A I I! O- >ԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018935e#,uLA;ɰ6g>6 ?6Zżٱ6 =6Hc?[@Դ?3? @6? %?PS?`.?i6g>I6%`;6CYNByRIEb EbEb2E`"EbD:*Ebx:VEb4ZE`BEb29Y=EyxDQE>Q 54o?Q 94O)BY?Q E:y&?Q I@1qDI_:i:!4yBɮAE:i!%FNOT Ignoring new targets: 207.53 m."i-D89*i-D89= ProNav: ac range: 207.532028 m, nav range: 205.604797 m, bearing: 33.479369 deg, approach rate: -0.561786 m/s, LOS rate: 0.010069 deg/s, cmd heading: 31.449989 deg, new cmd heading: 31.458793 deg. i=j9EHeadingCmd: 0.549060 target range: 207.532028 and range: 207.50 m.hE* ?hAhAhAhAgAgIjgIrgM`BeIreQZeQ:eQ*eU@颅oBɢfO) Pi)M 顉i:i* ?==I* ?I 9@  @ @ /@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270865Ա^A1A .AI I O > k#,uLA2>2= ?2Ѽٱ2D=2He?@?7?7?@广 1?M??i2>I2,a;0Y:By:IbDZFVDZر8yb=%b]=ٔbQ-f>9f ?Yf ?=fEyfxDjPEj>lQ 5r4no?Q 9r4nL)nBYpyr?Q Iv@n>qDIn::in:nc(4yzBɮzzAzE:iFNOT Ignoring new targets: 207.53 m."i%99*i%99- ProNav: ac range: 207.532028 m, nav range: 205.397247 m, bearing: 33.483124 deg, approach rate: -0.560835 m/s, LOS rate: 0.010157 deg/s, cmd heading: 31.458793 deg, new cmd heading: 31.466310 deg. i595HeadingCmd: 0.549191 target range: 207.532028 and range: 207.50 m.h5× ?h9h9h9h9g9gAjgArgAeAreAZeI:eI*eM3 @unBɢ}4HW)y }߾iy)}/Ī顁imR:i× ?=Yi=I× ?Ii>iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523279@ @@/@E EE3E"E;*E n:VE4ZEa@a@a@a@^A5tn=Ae ؟AIq I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775066O >A B >B 0CB -IB BB  =B B B ;B oEr#,uLAB>Bi ?B7ݼٱBI=BH`f?`?%?@78?) ?c?`[?iB>IB,b;BCYNByNI PPimMb@Mb@Mb@iiii i9mCl?~jtx{Gzt?YiymĻmף;m AmSA m= A)mjAiYm Ay}@AbDVD8y %9=ٔWQ->9"?Y"?=EyxD7!E>Q 54p?Q 94I)BY?Q E:Թy?Q I@NqDI}0;i/;04yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 207.53 m."iI9*iI9 ProNav: ac range: 207.532028 m, nav range: 205.149139 m, bearing: 33.486858 deg, approach rate: -0.559573 m/s, LOS rate: 0.008430 deg/s, cmd heading: 31.466309 deg, new cmd heading: 31.473785 deg. i v9 HeadingCmd: 0.549321 target range: 207.532028 and range: 207.50 m.h P ?hhhhggjgrgUBereZe!:e!*e%`x @MlBɢMrNM)Q U޾iQ)U쭼YYi]:i]P ?e=eъ=IeP ?Ia@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027893bE4jE4rE/E EE2E"E:*Exv:VE4ZEBE 'Y y#,uLABDAT read: Rx Time:01:13:58.3468 TRx dataTimestamp_ set to:1764897239.600588checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284066:>:ʨ ?:2gٱ:=:Hh?n}q?@}? :?> ?`E?m?i:>I:|b;:CYFByF"IbDVD8y<%U=ٔ=bQ-=>9AYA=EEyExDEɢEM>IQ 5U4Mp?Q 9]4MF)MBYYy]?Q I]@M\qDIM;iM;M64ymBɮm{AmE:iFNOT Ignoring new targets: 207.53 m."i9*i9 ProNav: ac range: 207.532028 m, nav range: 204.931244 m, bearing: 33.490173 deg, approach rate: -0.562445 m/s, LOS rate: 0.008567 deg/s, cmd heading: 31.473785 deg, new cmd heading: 31.480423 deg. iz9HeadingCmd: 0.549437 target range: 207.532028 and range: 207.50 m.h ?hhhhggjgrgereZe:e*e @kBɢxCT) پi)砰i:i  ? ==I ?IY9@ @@?0@ԁ^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536674ԩI I D =D =E  E E E "E ;*E :VE ZE aE @aE @aE @aE @Ou > ##,vLA2Yh>2~ ?2ٱ2=2H@ k?Fz te? x?Y=?@`|? ?`I?i2Yh>I2"b;2CYNByN1IbDVVDV8y^Nw=%^P=ٔbVjQ-b>9`Yd=fEyfxDfغEf>hQ 5n4j&p?Q 9n4jC)jBYpyr?Q Ir@jjqDIj:ij:j=4ytɮvAt:iFNOT Ignoring new targets: 207.53 m."i9*i9- ProNav: ac range: 207.532028 m, nav range: 204.712982 m, bearing: 33.493540 deg, approach rate: -0.560943 m/s, LOS rate: 0.008663 deg/s, cmd heading: 31.480424 deg, new cmd heading: 31.487165 deg. i-}95HeadingCmd: 0.549555 target range: 207.532028 and range: 207.50 m.h5 ?h1h1h1h9g9g9jg9rg9eAreAZeA:eA*eM @uiBɢuNM)q }*̾iy)}6+yyi}t;i ?=n=I ?IԱDAT read: 01:13:58.3468 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 134,-0.06, 1.281,-0.383, 1.367, 0.827, PHS= 0.555,-1.165, 0.496, RAW= 148.2, 1.4, CAL= 147.4, 1.2, ROT= 2.6, -1.2 Ygot valid direction response: 01:13:58.3468 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 134,-0.06, 1.281,-0.383, 1.367, 0.827, PHS= 0.555,-1.165, 0.496, RAW= 148.2, 1.4, CAL= 147.4, 1.2, ROT= 2.6, -1.2 PDAT read: Bearing 182.1, 4.4 (Local) ~Local bearing/azimuth received: Bearing 182.1, 4.4 (Local) DAT read: Range 11 to 50 : 184.6 m (Round-trip 246.2 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998751,0.045353,0.020942]Fpublishing direction and range infoy15&Qr?G"e8?_2q?Y58C1515 1)5EI5{?i55>5~%@5+<5$@ 5<)59=I5115Fp,?a4dM?GQpe? 5>)5?0üI59=i511T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@2@B>BB:IBBB =BBB;BoE^AЉ=II  O > *DAT read: user:101>  BDAT read: Tx time:01:13:59.6964  $Ping request sent. 2k[ ?2)ٱ2_=2H m?w?t?0??Ctٟ?`tݹ??i2!>I2N7b;0EB EBEB4E@"EBD:*EB&p:VEB4ZE@BEB29Y=EyxDKE>Q 54J8p?Q 94f@)BYyY ?Q I@zqDI:i:IE4y“Bɮ*AiiimѲvLAjm8C"jm8C:jmc?Rjmi g@- @@Bjm&Qr?G"e8?_2q?*jm9=2jmZjmP:c@ldY@d@1$@Jjm!Vq?u?.?jm B jmCimVۢ?im jmwBjijijirjmxLCzjmc?%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.600006 m, deltaT: 4.038488 s, deltaX: -22.899994 m, approachRate: -5.670437 m/s, rangeRepo size: 4:i)-FNOT Ignoring new targets: 207.53 m."i58*i58 ProNav: ac range: 207.532028 m, nav range: 204.469482 m, bearing: 33.496021 deg, approach rate: -0.556179 m/s, LOS rate: 0.005674 deg/s, cmd heading: 31.487165 deg, new cmd heading: 31.492134 deg. i&&9HeadingCmd: 0.549641 target range: 207.532028 and range: 207.50 m.hM ?hhhhggjgrgtBereZe:e@3g@*e?-gBɢ-D)I MeʾiQ)UR%QQiU;i]M ?]=]Kn=I]M ?Iae9@a @a@e~1@a@mzA@mzAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251317Ii ^A ff=I I O- >bR#,q3vLA 2'֤>25 ?2ٱ2ۖ=2H9o?Nt3?`p?A?@R`w?<Ĺ?#?i2'֤>I2)b;0YNByR,IbDZMVDZ߱8yb&%b<ٔb9Q-f>9dYd=fEyfxDjʺEj>lQ 5r4ndGp?Q 9r4n=)nBYpyr3 ?Q Iv@nqDIno;inI;nK4yxɮzKAx:iFNOT Ignoring new targets: 207.53 m."i%D8*i%D85 ProNav: ac range: 207.532028 m, nav range: 204.259689 m, bearing: 33.498198 deg, approach rate: -0.566326 m/s, LOS rate: 0.005881 deg/s, cmd heading: 31.492134 deg, new cmd heading: 31.496492 deg. i57,9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984HeadingCmd: 0.549717 target range: 207.532028 and range: 207.50 m.hI ?hhhhggjgrgereZe:e*e[?5fBɢ=]T)9 =@;i9)=9AiEGS ;iEI ?M=MK=IMI ?IIqDzD@AE EE3E"E:*Ec:VE4ZEa@a@a@a@@ @@4@ԙ^Az=IqIO>U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887 B >B B LIB BB  =B B DB ;B oE=#,=MvLAL^ͤ>^T1 ?^?ٱ^-=^HCo?t`K?@0p? 6A?`O}?ι? ?i^ͤ>I^a;^CYfByj:Ii]Mb@Mb@Mb@YYYY Y9]ʡE? rh?{Gzt?Y]-?y]C<]ף;] A]=A Y)]AYY]3 AbDu\VDu8y4V=%>=ٔfQ->9Y=Ey yDXE>Q 54Xp?Q 94 :)BY??Q E:y?Q I@qDI:i:TS4yēBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 207.53 m."i=8*i=8 ProNav: ac range: 207.532028 m, nav range: 204.014435 m, bearing: 33.499306 deg, approach rate: -0.570556 m/s, LOS rate: 0.002582 deg/s, cmd heading: 31.496492 deg, new cmd heading: 31.498712 deg. i98HeadingCmd: 0.549756 target range: 207.532028 and range: 207.50 m.hӼ ?hhhhggjgrg qBe re Ze:e*e?eBɢ8wE) Ei).6i ;i-Ӽ ?-;=-\?=I-Ӽ ?I1I9)=yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007104@ @@>2@E EE0E"ED:*E:VE4ZEBEa2EaJE;a:E;a^A=! A .AI! I1 O= >U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258832i#,{gvLA6>6> ?6 ٱ67=6H#n?@v`?q?Y??oú?? ?i6>I6a;6CYZByZBI \\bDfNVDf8yn>=%nU=ٔn3Q-n>9r ?Yr ?=rEyryDv:Ev>xxQ 5~4zXhp?Q 9~4z6)zBYy?Q I@zqDIz~:iz:zZ4y ɮ A:i9=FNOT Ignoring new targets: 207.53 m."iE:8*iE:8] ProNav: ac range: 207.532028 m, nav range: 203.795670 m, bearing: 33.500285 deg, approach rate: -0.570312 m/s, LOS rate: 0.002554 deg/s, cmd heading: 31.498712 deg, new cmd heading: 31.500671 deg. ie8mHeadingCmd: 0.549790 target range: 207.532028 and range: 207.50 m.hm ?hihihqhqgqgqjgyrgyeyreZe:e*e`?ecBɢWG) 'i)Ҁ顑iF;i ?'==I ?I!E9@A @A@E/@A%)G5/{AI}9}/{AY}AIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512070^A_=D %=D <E  E E 2E "E :*E xv:VE 4ZE a @a @a @a @y A ؟AI I O >K#,=vLA21>2= ?2ٱ2=2H n?w@?7q?@(??@ۺ? ?`?i21>I2{`;0Y:By:GIbDFhVDF8yN<%NO=ٔN+Q-R>9R"?YR"?=REyR-yDV3iEV>XQ 5^4ZKxp?Q 9^4Z3)ZBY\yb?Q Ib@ZqDIZ;iZ;Z`4yfƓBɮfAfE:itzFNOT Ignoring new targets: 207.53 m."iz<8*i~<8  ProNav: ac range: 207.532028 m, nav range: 203.571045 m, bearing: 33.501294 deg, approach rate: -0.571535 m/s, LOS rate: 0.002569 deg/s, cmd heading: 31.500672 deg, new cmd heading: 31.502691 deg. i m8 HeadingCmd: 0.549826 target range: 207.532028 and range: 207.50 m.h` ?hhhhggjgrgere!Ze!:e!*e%@:?UbBɢUBB_IBÀBBBBB;BoEBM0CBM0CBIBIBICMʼn_5^Aub$=ԱA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848 u#,vLAE6 E6E65E4"E6:*E6 n:VE64ZE4BE66F>FM ?F ٱF=FHl?y) ?r?J=?p@v? ?`?iF>IF_;DY-By5KIԹiMb@Mb@Mb@ 9ʡE?y&1?y&1|?Yy`<`;ASA )jAYbD^VD8y $A<%=ٔGQ->9Y=EyCyDd9E>!Q 5-4%Rp?Q 954%//)%BY5\?Q E5:y5z?Q I5@%qDI%:i%:%j4y=BɮE AEE:iamFNOT Ignoring new targets: 207.53 m."im*im} ProNav: ac range: 207.532028 m, nav range: 203.256973 m, bearing: 33.501020 deg, approach rate: -0.570794 m/s, LOS rate: -0.000498 deg/s, cmd heading: 31.502690 deg, new cmd heading: 31.502143 deg. i}(iHeadingCmd: 0.549816 target range: 207.532028 and range: 207.50 m.h ?hhhhg g jg rg BereZe:e*e@]$@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267021aBɢ2) ꭾi)¼iؒ;i  ? s= Ԇ=I  ?IEC>iE>@ @@/@@yA@A ^A {= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519295ԙAaIiIO?;#,yvLAE EE2E"ED:*E~:VE4ZEa&@a&@a&@a&@Z6>Ze ?ZٱZE=ZHj?`|?>u?:?Yu? J8?`D?iZ6>IZ`;ZCYbBybLIIf)>)fp<bDniVDn8yv=;%v[=ٔv^Q-z>9xYx=~Ey~RyD~:E~>Q 5 4Gp?Q 9 4,)BY y?Q I@qDI;i; q4yBɮAE:iAEFNOT Ignoring new targets: 207.53 m."iM"*iM"] ProNav: ac range: 207.532028 m, nav range: 203.043594 m, bearing: 33.500812 deg, approach rate: -0.571004 m/s, LOS rate: -0.000556 deg/s, cmd heading: 31.502144 deg, new cmd heading: 31.501728 deg. i]\eHeadingCmd: 0.549809 target range: 207.532028 and range: 207.50 m.heF ?hahahahagagijgirgieqreqZeq:eq*eu`@@颥`BɢvI) !i)ļ顩i9;iF ?km=px=IF ?Ii-9@) @)@-/@)ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770882^AU8=BE>BABErIBEҀBBABABABE;BEoEA .AI I O% > #,yvLA2I>2o ?2Pٱ2=2Hj? ~"?v?@p9? h? &R?`?i2I>I2_;0Y:By:OIiMb@Mb@Mb@ 9 rh?L7A`?y&1|?Y ?y+=jA=A  A)AYf AbDdVD8y-u <%-G=ٔ-! Q-5>95 ?Y5 ?=5Ey5cyD=9E=>AQ 5M4Ep?Q 9M4E()EBYM ?Q EM:yUh?Q IU@EqDIE:iE:E;x4iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023266yiɮm Ai%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 207.53 m."iU*i]e ProNav: ac range: 207.532028 m, nav range: 202.818008 m, bearing: 33.499886 deg, approach rate: -0.520944 m/s, LOS rate: -0.002142 deg/s, cmd heading: 31.501727 deg, new cmd heading: 31.499872 deg. imzmHeadingCmd: 0.549776 target range: 207.532028 and range: 207.50 m.hm' ?hihqhhggjgrghBereZe:e*eӈ @_BɢO^=) Pi)%Ǽi׽;i%' ?%d=%^=I%' ?I)Ee EeEe3Ea"Ee:*Ee n:VEe4ZEaBEeH8Q K#,]vLA2t>2 ?2ٱ2=2H@ph?mt?=x?G7?@û`X?h? ?i2t>I2*_;2CY:By:UIB@A@bDFmVDF8yN<%RS=ٔRB/Q-R>9R"?YV"?=VEyVsyDV`:EV>XQ 54Zp?Q 94Z%)ZBY!y%~?Q I%@ZqDIZOfA?ԁ A I) I9 OE >E DAT read: 01:14:02.4000 LVL= 30112, 32753, 26978, 32755, AGC= 68, IDX= 183, 0.35, 0.720,-0.955, 0.787, 0.238, PHS= 0.583,-1.148, 0.504, RAW= 147.7, 0.7, CAL= 146.8, 0.5, ROT= 3.2, -0.5 M Ygot valid direction response: 01:14:02.4000 LVL= 30112, 32753, 26978, 32755, AGC= 68, IDX= 183, 0.35, 0.720,-0.955, 0.787, 0.238, PHS= 0.583,-1.148, 0.504, RAW= 147.7, 0.7, CAL= 146.8, 0.5, ROT= 3.2, -0.5 U PDAT read: Bearing 181.3, 5.3 (Local) U ~Local bearing/azimuth received: Bearing 181.3, 5.3 (Local) e DAT read: Range 11 to 50 : 224.6 m (Round-trip 299.5 ms) speed 0.4 m/s e R#Rx 1: Read range and direction messages.m \direction in FSK: [0.998403,0.055819,0.008727]m Fpublishing direction and range info?#,o wLAy)-j"Q?&[?B7߁?Y-`C)-u)-bi ))-DI-}??i-񒿉-%?-$@-+H<-(#@ -5<)-d=I-5))-}U?*,B?E>m? -b>)-PI-d=i-5))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. v Y>vv ?v#ٱvc=vH@ i?^@b? v?@7?仿:p?3i??iv Y>Iv_;vCY By XIAAB>BBIB܀BBBBB;BoE qbDuVDu8y<%#=ٔQ->9Y=EyyDعE>Q 54p?Q 94r!)BYyp?Q I@rDI6;i;ׇ4yɮAi)i-lwLAj-`C"j-`C:j-y?Rj-se`l@M1)@Őo=]?Bj-j"Q?&[?B7߁?*j-d=2j-5Zj-5g@J:vu_@c(@Jj-Ghs?x?vw˫?j-B j-9Ci->?i-P3j-!Bj-_z?j-!8j)rj-JCzj-y? addTargetRange:: Added new target pos. range: 224.600006 m, deltaT: 8.069531 s, deltaX: 17.100006 m, approachRate: 2.119083 m/s, rangeRepo size: 4  Added new target pos. range: 224.632523 m, bearing: 34.125700 deg, lat: 36.779653 deg, lon: -121.859607 deg, deltaT: 8.069531 s, deltaX: 17.100494 m, approachRate: 2.119143 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 224.63 m."i*i ProNav: ac range: 224.632523 m, nav range: 202.705673 m, bearing: 33.454398 deg, approach rate: 0.000000 m/s, LOS rate: -0.002376 deg/s, cmd heading: 31.498087 deg, new cmd heading: 31.495657 deg. i%HeadingCmd: 0.549703 target range: 224.632523 and range: 224.60 m.h%T ?h!h!h!h)g)g)jg)rg)e1re1Ze1:e5@3l@*e=.S?颥]Bɢ"m3) Ɵi)˼顩i߉;iT ?sT=.և=IT ?IԙQ@Y @Y@]/@Y*DAT read: user:102> BDAT read: Tx time:01:14:03.6964 $Ping request sent.*#,*r&wLAYvByvTImchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251904iMb@Mb@Mb@ 9ʡE?:v?Y?y<AA S A)Y AbDVDK8yGy%N=ٔQ->9 ?Y ?=EyyDE> Q 54 p?Q 9%4 1) BY%?Q E%:y%D?Q I%@ rDI n;i d; ˎ4y=Bɮ=A=EQ:iFNOT Ignoring new targets: 224.63 m."iz *iz  ProNav: ac range: 224.632523 m, nav range: 202.482452 m, bearing: 33.454203 deg, approach rate: -0.552643 m/s, LOS rate: -0.000483 deg/s, cmd heading: 31.495655 deg, new cmd heading: 31.495265 deg. i\bHeadingCmd: 0.549696 target range: 224.632523 and range: 224.60 m.h ?hhh!h!g!gAjgIrgM^BeIreIZeI:eQ*eUW?额\BɢB) 5i)ͼi;i ?6M=I ?IY@Y @Y@Y@Yԁԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501754^A ff=E  E E 1E "E D:*E |:VE -4ZE a @a @a @a @ A I I) O5 >W#,@wLA>k>>>i ?>0,ٱ>=>H Mi?'?t?@8?@`?"?@?i>k>>I>O`;9\Y\=^Ey^yDbEb>dQ 5j4fp?Q 9j4fC)fBYhyn8?Q In@frDIfq:if:f4ypɮrAp:i FNOT Ignoring new targets: 224.63 m."i *i% ProNav: ac range: 224.632523 m, nav range: 202.281296 m, bearing: 33.454038 deg, approach rate: -0.598693 m/s, LOS rate: -0.000492 deg/s, cmd heading: 31.495266 deg, new cmd heading: 31.494936 deg. i%Lf%HeadingCmd: 0.549690 target range: 224.632523 and range: 224.60 m.h% ?h)h)h)h)g)g)jg1rg1e1re9Ze9:e9*eE@?ɢ9(F) i)^ϼi<;i ?F=r=I ?I)I1)5xA@ @@p0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753967B]>BYB]IB]BBYBYBYB]ձ;B]oE^A-b$=! Aq I I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005336'#,YwLAɰ6ؤ>66 ?60ٱ6 f=6H9l?`@|Do?(o?I6 `;6CY>ByBXIIB4=)B]>i}Mb@Mb@Mb@yyyy y9}sh|??/$?MbP?Y} ?y}<}:y}&A } A)}=AyY}p AbDVD&8y)T%<=ٔ/Q->9Y=EyyDE EE5E"EV:*E~:VE4ZEBE9Q 54p?Q 94) BY ?Q E:y?Q I@-rDI :i:4yBɮAE B*** querying acoustic contact ***i i :i%FNOT Ignoring new targets: 224.63 m."i%Sq7*i%Sq75 ProNav: ac range: 224.632523 m, nav range: 202.045578 m, bearing: 33.454398 deg, approach rate: -0.538069 m/s, LOS rate: 0.000824 deg/s, cmd heading: 31.494935 deg, new cmd heading: 31.495657 deg. i57=HeadingCmd: 0.549703 target range: 224.632523 and range: 224.60 m.h=T ?h9h9hAhAgAgAjgArgMRBeIreIZeI:eI*eU`|?Q][Bɢ] <)a eѝia)eaѼaaie;iT ?==d=IT ?I!@! @!@-0@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257329^A dŇ=ԩ A= ؟AIq I O >: ?:{5ٱ:h=@:H`Fo?w'g?Ii?`@?;`??&?i:n>I:g`;:CYJƀByJdIbDRVDR18yZHG=%Z[=ٔZ;BQ-^>9^"?Y^"?=^EybyDb Eb>dQ 5j4f q?Q 9j4f)fBYhyj?Q In@f:rDIf:ifP:f(4ypɮrAp:i  FNOT Ignoring new targets: 224.63 m."i+7*i%+7E ProNav: ac range: 224.632523 m, nav range: 201.846649 m, bearing: 33.454748 deg, approach rate: -0.539512 m/s, LOS rate: 0.000951 deg/s, cmd heading: 31.495655 deg, new cmd heading: 31.496356 deg. iM7MHeadingCmd: 0.549715 target range: 224.632523 and range: 224.60 m.hM! ?hIhQhQhQgQgQjgYrgYeYreYZea:ea*eew?颍ZBɢA) ؓi)iӼ顑iu;i! ?5=C=I! ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.51039159@1 @1@54@1ԩE EE3E"Ea:*EVE4ZEa@a@a@a@^AU=A I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761314B] <AY Be >Ba Be IBe BBa Ba Be DBe ;Be KoEEO#,wLA\YÀBy`Ii5Mb@Mb@Mb@1111 195&1?~jt?{GztY5?y5D<5ף5A1 1)5"A1Y1bDMVDM8y]JG%]$=ٔeQ-e>9iYi=mEymyDmEm>qQ 5}4uq?Q 9}4u)uBY?Q E:y?Q I@uLrDIu;iuT;u֫4yBɮA:iFNOT Ignoring new targets: 224.63 m."i8*i8 ProNav: ac range: 224.632523 m, nav range: 201.565704 m, bearing: 33.456572 deg, approach rate: -0.565475 m/s, LOS rate: 0.003675 deg/s, cmd heading: 31.496355 deg, new cmd heading: 31.500007 deg. i:8HeadingCmd: 0.549779 target range: 224.632523 and range: 224.60 m.hN ?hhhhggjgrgXBereZe:e*e@额YBɢPn5) i)ռ顡iu;iN ?`*=i=IN ?Ie>i>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014590q@q @q@u?5@q@}=@}= E EEE"E:*Ek:VEZEBE&5#,wLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266922Z%|>Z ?Z]jEٱZ&=ZHm?@zR?@>i?>?%٪?m??iZ%|>IZ8pa;ZCYnBynYI iibD}VD}8y%\=ٔ)Q->9Y=EyyDR9E>Q 54.q?Q 94)BYy?Q I@YrDI;in;h4yBɮAݨE:iFNOT Ignoring new targets: 224.63 m."i08*i08 ProNav: ac range: 224.632523 m, nav range: 201.353119 m, bearing: 33.457949 deg, approach rate: -0.565432 m/s, LOS rate: 0.003666 deg/s, cmd heading: 31.500006 deg, new cmd heading: 31.502763 deg. i8HeadingCmd: 0.549827 target range: 224.632523 and range: 224.60 m.hu ?hhhhg!g!jg!rg)e)re)Ze):e)*e5@@Yɢ]w{G)Y ]ia)e׼aaieT;imu ?mm"=m=Imu ?Iqa9@ @@/@@ @ @ @   CEG]{Aq/9{AYAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518119Թ A D zD AAE  E E 2E "E :*E :VE 4ZE a @a @a @a @I I O >p#,LwLA2q>2V ?2Jٱ2;=2H{m?G{e6?mh?s>?bV]P?@t?T?i2q>I2-a;2CY:ʀBy:hIbDFXVDF8yNV=%N\=PٔR aQ-R>9PYT=VEyVyDV'aEV>XQ 5^4Z=q?Q 9b4Z0 )ZBY`yb?Q Ib@ZgrDIZ8;iZ;Zٸ4yfBɮf0AjިE:ixzFNOT Ignoring new targets: 224.63 m."i~8*i~8  ProNav: ac range: 224.632523 m, nav range: 201.144669 m, bearing: 33.459306 deg, approach rate: -0.565666 m/s, LOS rate: 0.003688 deg/s, cmd heading: 31.502762 deg, new cmd heading: 31.505480 deg. i 8HeadingCmd: 0.549874 target range: 224.632523 and range: 224.60 m.h ?hhhhggjgrg!e!re!Ze!:e!*e- c@UXBɢUt?)Q U:iY)]QټYYi]e ;ie ?e=mo=Im ?Iiu>u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7704129@ @@@B>B1CBIBBB =BBBz;B,oEBBBB =BCms5AIIOA>! % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021421#,1(wLAFp>F, ?FыPٱF&!=FHk?~:7? j?@;?@2 ??@a?iFp>IFg$b;DER ERER4EP"ER:*ERxv:VER4ZEPBER '9yYy=}Ey} zDS:E>Q 54Oq?Q 94)!BY?Q E:y ?Q I@vrDI7 ;i] ;b4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 224.63 m."i~8*i~8 ProNav: ac range: 224.632523 m, nav range: 200.902664 m, bearing: 33.461928 deg, approach rate: -0.560483 m/s, LOS rate: 0.006079 deg/s, cmd heading: 31.505480 deg, new cmd heading: 31.510730 deg. i19HeadingCmd: 0.549966 target range: 224.632523 and range: 224.60 m.h ?hhhhggjgqrguDBeyreyZey:ey*e}5 @ɢ2 >)ӑ: `i)/ۼiY;i ?=>=I ?I)@ @@/@BDAT read: Rx Time:01:14:06.3976 TRx dataTimestamp_ set to:1764897247.670259checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276185QAYIiIyO|>ԁ {#,KwLAɰ4<2Y|>2 ?2S1Uٱ2M=2H8l?`}|?@qh?I2|b;2CYǸByRlIIVi>)V4<bDZdVDZ8y~=%~R=ٔ(?Q->9Y=Ey zD 4E >Q 54^q?Q 94)&BY!y% ?Q I%@rDI ;i ;,4y-Bɮ-(A):iQUFNOT Ignoring new targets: 224.63 m.Y"i]8*ie8m ProNav: ac range: 224.632523 m, nav range: 200.684540 m, bearing: 33.464313 deg, approach rate: -0.561835 m/s, LOS rate: 0.006149 deg/s, cmd heading: 31.510729 deg, new cmd heading: 31.515504 deg. iu49uHeadingCmd: 0.550049 target range: 224.632523 and range: 224.60 m.hu ?hyhyhyhygygyjgrgereZe:e*e0@颵WBɢU>) i)$ݼ项i0;i ?=&=I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5256629@ @@@E EE2E"E;*EAr:VE4ZEa@a@a@a@ԑI!I1OEQ>Ա DAT read: 01:14:06.3975 LVL= 26608, 32753, 26610, 32419, AGC= 68, IDX= 414,-0.16, 1.591, 0.400, 1.807, 0.749, PHS= 0.944,-0.304, 1.014, RAW= 152.7, -24.5, CAL= 154.5, -25.9, ROT= 355.5, 25.9  Ygot valid direction response: 01:14:06.3975 LVL= 26608, 32753, 26610, 32419, AGC= 68, IDX= 414,-0.16, 1.591, 0.400, 1.807, 0.749, PHS= 0.944,-0.304, 1.014, RAW= 152.7, -24.5, CAL= 154.5, -25.9, ROT= 355.5, 25.9  PDAT read: Bearing 155.5, -4.0 (Local)  ~Local bearing/azimuth received: Bearing 155.5, -4.0 (Local)  DAT read: Range 11 to 50 : 222.7 m (Round-trip 297.0 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.896785,-0.070578,-0.436802] Fpublishing direction and range infoy  Iu?lTnl~hۿY ^C g g ~) I q?i 㥛 ʁ? J*@ !ھ ,@ q) u@I q> .M?^&x?_Fքڿ ?) ξ>I i٠i q>  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. A A @AB >B B IB BB B B DB ;B GoES #,wxLAԩY-̀By-jIi%Mb@Mb@Mb@!!!! !9%&1?MbMb`Y%?y%%%A%A %= A)%A!Y%QAbD9VD9yMO%M*=ٔMQ-U>9QYQ=UEyU.zD]E]>aQ 5m4erq?Q 9m4eO)e,BYm?Q Em:ym?Q Iu@erDIe:ie=:e4y}Bɮ}JA}ߨEii xLAj^C"j^C:j?Rjh@Zp/RXBjIu?lTnl~hۿ*ji٠2jq>Zj&\-Sf@ZOX@ k?OUJj2O?9_? R&>ٿjB j2CiUM BDAT read: Tx time:01:14:07.7463 $Ping request sent.'4 #,)*xLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250518Z@>Z ?Z`ٱZ=ZH@ m?s|s?d?IZ b;ZCYjҀByjrIrAApbDvPVDv8y~"=%~z=ٔ~Q-~?9Y=Ey;zD+E ? Q 54 'q?Q 94 ) 1BYyg?Q I@ rDI ;i ; N4y!ɮ%A):iIUFNOT Ignoring new targets: 222.74 m."i] 9*i] 9e ProNav: ac range: 222.737183 m, nav range: 200.257751 m, bearing: 32.779406 deg, approach rate: -0.571182 m/s, LOS rate: 0.007703 deg/s, cmd heading: 31.521466 deg, new cmd heading: 31.526453 deg. ima9 HeadingCmd: 0.550240 target range: 222.737183 and range: 222.70 m.h  ?h h h hggjgrgereZe:e*ek?)UBɢ?) i)ip;i ?=@=I ?IY H#,~pFxLA2>2 ?2eٱ2=2Hm?A{n?Kb?X=?@wմ?`? }?i2>I2Ab;2CY8y>qI @@@@bDF`VDF8yN9J%NB=ٔR:9Q-R>9PYP=VEyVLzDV5EV>XQ 5^4Z}q?Q 9^4Z)Z7BY`ybT?Q Ib@ZrDIZ:iZ:Z4yfBɮf-AfE:ixzFNOT Ignoring new targets: 222.74 m."i~ 9*i~ 9  ProNav: ac range: 222.737183 m, nav range: 200.020294 m, bearing: 32.782632 deg, approach rate: -0.564967 m/s, LOS rate: 0.007685 deg/s, cmd heading: 31.526452 deg, new cmd heading: 31.532912 deg. i a9HeadingCmd: 0.550353 target range: 222.737183 and range: 222.70 m.h ?hhhhggjgrge!re!Ze!:e!*e%m?Ա颽TBɢ8-;) Ăi)giM;i ?=O=I ?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889q:B>BBIBBBBBDB;BioEe9@a @a@e/@a^AW^=I I O% >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059321 bE}4jE}ˣ4rE}L0E  E E 9E "E :*E ga:VE 4ZE BE #>>A ?>jٱ>Ed=>Hm?{rg?a? >I>a;>CYnڀByr{IieMb@Mb@Mb@aaaa a9e(\?Mb~jth?Ye?yaeD;e=AeA e A)eAaYeAbD}8VD}̱8y=%<=ٔ`=Q->9Y=Ey^zDCE>Q 54q?Q 94)?BY?Q E:y?Q I@rDI:i::4y!ɮ%A!]B*** querying acoustic contact ***iYiY:iimFNOT Ignoring new targets: 222.74 m."iu=9*i=9 ProNav: ac range: 222.737183 m, nav range: 199.780334 m, bearing: 32.785985 deg, approach rate: -0.531998 m/s, LOS rate: 0.007444 deg/s, cmd heading: 31.532914 deg, new cmd heading: 31.539629 deg. iY9HeadingCmd: 0.550470 target range: 222.737183 and range: 222.70 m.h ?hhhhggjgrg;BereZe:e*eg?SBɢv/)  si ) L  i;i ?ݕ=\ =I ?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586125q=V>i9q @  @ @ /@ ԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509878^A t0=AyAzAzAIqIO>#,~xLAE> E>E>3E<"E>D:*E>:VE>4ZEN ?N3oٱNF=NHOk?y.c?Jd?9?> '? ?V?iNJ>IN0a;NCYVByVIbDbBVDbձ8yjB<%j4=ٔj#Q-j>9lYl=nEynpzDrs:Er>tQ 5v4vUq?Q 9z4vG)vGBYxyz?Q Iz@vrDIv';iv;v%4yBɮA:i!-FNOT Ignoring new targets: 222.74 m."i-g9*i-g9= ProNav: ac range: 222.737183 m, nav range: 199.529694 m, bearing: 32.789467 deg, approach rate: -0.575145 m/s, LOS rate: 0.008000 deg/s, cmd heading: 31.539628 deg, new cmd heading: 31.546600 deg. iE?j9EHeadingCmd: 0.550592 target range: 222.737183 and range: 222.70 m.hE ?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]?颍RBɢDz2)  ci) 顑i};i ?*ԕ=(=I ?Ia]c?]b?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896ԑ9@ @@/@B>BBIBBBBBDBر;BoE ^A A% .AI1 IA OU >v^&#,xLA2X>2 ?2TNrٱ2g=2H`j?6 b?d?<8?@^GEE?@ ;?@z?i2X>I2`;2CYJByJIIN=)N>Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014078i-Mb@Mb@Mb@)))) )9-S?~jthMb`?Y-?y-D-;-A-jA -S A)))Y-AbDEVDE8yT=%,=ٔ"Q->9 ?Y ?=EyzDAj9E > Q 54 q?Q 94 ) OBY?Q E:y?Q I@ rDI k:i : o4y!ɮ-fA):iIUFNOT Ignoring new targets: 222.74 m."iU8*i]8m ProNav: ac range: 222.737183 m, nav range: 199.265167 m, bearing: 32.792442 deg, approach rate: -0.557419 m/s, LOS rate: 0.006277 deg/s, cmd heading: 31.546602 deg, new cmd heading: 31.552559 deg. im79mHeadingCmd: 0.550696 target range: 222.737183 and range: 222.70 m.huj ?hqhqhqhqgqgqjgyrg}SBeyreyZeE EE1E"E2:*E]t:VE-4ZEBE.*,#,7pxLA>I>> ?>”uٱ>9v=>Hj?ldR\?c?7?y 㭮?V??i>I>I>_;>CYJByJIbDR'VDR8yZ<%Zc=ٔZTQ-^>9^"?Yb"?=bEybzDf?Ef>dQ 5j4f*q?Q 9n4f )fVBYlynx?Q In@frDIfj;ifD;f4yvBɮvAvרE:i FNOT Ignoring new targets: 222.74 m."i8*i8% ProNav: ac range: 222.737183 m, nav range: 199.063904 m, bearing: 32.794718 deg, approach rate: -0.557569 m/s, LOS rate: 0.006311 deg/s, cmd heading: 31.552557 deg, new cmd heading: 31.557114 deg. i%89-HeadingCmd: 0.550776 target range: 222.737183 and range: 222.70 m.h- ?h)h1h1h1g1g1jg1rg9e9re9ZeA:eA*eE D@mPBɢmx,)q u~Aԩ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770041i3#,MxLAB$B$B&IB&BB$B$B$B& ;B&oE@BS>B ?B^xٱBr=BHj?ȷU?,d?6?୮`G?u? ?iBS>IBc`_;BCYNByNI @A bDaVD8y%~-=%%C=ٔ%Q-->9)Y)=-Ey-zD5?9E5>9Q 5E4=q?Q 9E4=)=^BYAyE}?Q IM@=rDI=%:i=:= 4yQɮUKAQ:iq}FNOT Ignoring new targets: 222.74 m."i}08*i08 ProNav: ac range: 222.737183 m, nav range: 198.830963 m, bearing: 32.797352 deg, approach rate: -0.557831 m/s, LOS rate: 0.006316 deg/s, cmd heading: 31.557113 deg, new cmd heading: 31.562388 deg. i89HeadingCmd: 0.550868 target range: 222.737183 and range: 222.70 m.h ?hhhhggjgrgereZe:e*e1@OBɢ ") (i)h{i;i ?紕=I ?I@ @@5@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023757 ^AE EE5E"E:*E:VE4ZEBE6 9#,(xLA2ˎ>2 ?2`{ٱ23B=2H`g?%(U?@5g?@3?M@ g?䮺?@?i2ˎ>I2y^;2CYRByRIiMb@Mb@Mb@ 9@5^I ?Yb?y/@A = A)jAY3AbD YVD 8y<%<=ٔQ-%>9!Y!=%Ey%zD-5:E->=BDAT read: Rx Time:01:14:10.4446 ETRx dataTimestamp_ set to:1764897251.700655Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2751461Q 5M45q?Q 9M45)5eBYUb?Q EU:yU ?Q IU@5 sDI5;i5;5 4y]Bɮe.AeبE}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 222.74 m."ia8*ia8 ProNav: ac range: 222.737183 m, nav range: 198.585938 m, bearing: 32.799693 deg, approach rate: -0.558057 m/s, LOS rate: 0.005338 deg/s, cmd heading: 31.562390 deg, new cmd heading: 31.567077 deg. iM9HeadingCmd: 0.550949 target range: 222.737183 and range: 222.70 m.h ?hhhhggjgrgNBereZe:e*ei @NBɢ)) iI)MIIiMUV:iU ?U =U=IU ?IY @%G @!@-15@)9 9YhAQ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526002ԉ ^A p=A% xAzA! E  E E 2E "E :*E i:VE 4ZE a% @a% @a% @a% @AM .AIY Ii Ou > A#,cyLAYByIbD%aVD%8y5r=%=F=ٔ=Q-=>9= ?YE ?=EEyEzDEEE>IQ 5U4M r?Q 9]4M|)MmBYYyYQ I]@MsDIM;iM ;M4yaɮeAi:iFNOT Ignoring new targets: 222.74 m."i8*i8 ProNav: ac range: 222.737183 m, nav range: 198.354156 m, bearing: 32.801913 deg, approach rate: -0.567130 m/s, LOS rate: 0.005437 deg/s, cmd heading: 31.567078 deg, new cmd heading: 31.571523 deg. i69HeadingCmd: 0.551027 target range: 222.737183 and range: 222.70 m.h ?hhhhggjgrgereZe:e*e @amMBɢmr)i upiq)urqqiu$5:i} ?}=}r=I} ?II)yA]DAT read: 01:14:10.4446 LVL= 32752, 32753, 31602, 32755, AGC= 68, IDX= 122,-0.14,-2.025, 2.639,-1.929,-2.509, PHS= 0.585,-1.091, 0.535, RAW= 148.5, -0.4, CAL= 147.6, -0.8, ROT= 2.4, 0.8 mYgot valid direction response: 01:14:10.4446 LVL= 32752, 32753, 31602, 32755, AGC= 68, IDX= 122,-0.14,-2.025, 2.639,-1.929,-2.509, PHS= 0.585,-1.091, 0.535, RAW= 148.5, -0.4, CAL= 147.6, -0.8, ROT= 2.4, 0.8 uPDAT read: Bearing 179.8, 5.6 (Local) u~Local bearing/azimuth received: Bearing 179.8, 5.6 (Local) DAT read: Range 11 to 50 : 220.5 m (Round-trip 294.1 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999025,0.041872,-0.013962]Fpublishing direction and range infoy!%72?`0p?4Y%\C!%!%r{ %)!I%?i%㥋%?%H%@%%$@ %d)%+=I%d)%fl;I%+=i%d  BDAT read: Tx time:01:14:11.8463  $Ping request sent. 'G#,uyLA2ޤ>29 ?2&}ٱ2W=2H e?ljPF?Yk?g1?W?`??i2ޤ>I2L>^;2CXYz ByzIEq EuEu4Eq"Eq*Eu1]:VEu4ZEqBEu+9Y=EyzD:E>Q 54Qr?Q 94)uBY_?Q E:yj ?Q I@+sDI;i\;4yBɮA٨Eiqiu yLAju\C"ju\C:juF?Rju/"XPk@ }w"@1 Wr)Bju72?`0p?4*ju+=2jud<Zjuif@Q^@$'@JjuV}?1B?1%V1aĪ?juB ju7Ciu'Q?iu$zljuBjuUMM#,I8yLA>%>>A ?>ٱ>=>H`ad? P:? l?I0? ?`J?`b?i>%>I>];>CYFByFIbDRVDR8yZ=%Zc=Xٔ^ѺQ-^>9^"?Yb"?=bEybzDb9Eb>dQ 5j4f*r?Q 9n4fQ)f{BYlynq ?Q In@f8sDIfs;if;f4ypɮrhAt:i  FNOT Ignoring new targets: 220.54 m."i;7*i;7% ProNav: ac range: 220.537231 m, nav range: 207.761398 m, bearing: 31.882703 deg, approach rate: -0.586014 m/s, LOS rate: 0.000639 deg/s, cmd heading: 31.576511 deg, new cmd heading: 31.576946 deg. i%7-HeadingCmd: 0.551122 target range: 220.537231 and range: 220.50 m.h-O ?h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*eE?mLBɢm)i u$iq)uqqqiu:i}O ?}{=}v=I}O ?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503046%9@) @)@-/@)D!zD!E- E-E)E)"E-&:*E-Ar:VE)ZE)a5@a5@a5@a5@^A A>A>AY Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7545399 B B B IB GBB B B B >;B oEcT#,iRyLA2$>2\ ?2Àٱ2=2Hsb?@5tC?n?i-?W? ?`?i2$>I2.];0YNByNIbDZVDZ8yb%bJ=ٔb3Q-b>9dYd=fEyfzDf:Ej>!hQ 5U4j:r?Q 9U4j2)jBYQyU ?Q I]@jFsDIjևIi>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007428]9@Y @Y@Y@Y@a@a@a@aE= E=E=5E9"E=a:*E=ga:VE=4ZE9BE=((Z#,0lyLA>/M>>q ?>y7ٱ>j=>H`a? 1L?`p?2+?91$?@??i>/M>I>Õ];>CYJ1ByJIfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258656i-Mb@Mb@Mb@)))) )9-K7?MbPMbP?Y-I ?y--:-@- A - A)-=A)Y-AbDEVDE8yM=%UB=ٔU" Q-U>9] ?Y] ?=]Ey]{D]@:E]>iQ 5m4mKr?Q 9u4m)mBYuI ?Q Eu:yu ?Q Iu@mUsDIm:im:mA-4ԁyyɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 220.54 m."iN8*iN8M ProNav: ac range: 220.537231 m, nav range: 207.305115 m, bearing: 31.884051 deg, approach rate: -0.576480 m/s, LOS rate: 0.002823 deg/s, cmd heading: 31.577385 deg, new cmd heading: 31.579642 deg. iMX8UHeadingCmd: 0.551169 target range: 220.537231 and range: 220.50 m.hUe ?hQhQhQhQgQgYjgYrg]6BeareaZea:ea*em ?颵JBɢa`) Fi)2i:ie ?z=툄=Ie ?I@ @@/@ԹAIIOd>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510607EU  EU EU 7EQ "EU :*EU xv:VEU Ժ4ZEQ a] @a] @a] @a] @ ea#,ۅyLA2Jm>2 ?2݁ٱ2=2H`_?sK?@r?`)?@I@8?@6??i2Jm>I2kU];0YN>ByRIbDZVDZ8yz=%zR=ٔzUQ-z>9|Y|=~Ey~{D$:E> Q 54 Zr?Q 94 6) BYy ?Q I@ csDI :i ;  44y%Bɮ%A%ڨE:iIMFNOT Ignoring new targets: 220.54 m."iUJB8*iUJB8e ProNav: ac range: 220.537231 m, nav range: 207.092392 m, bearing: 31.885079 deg, approach rate: -0.548358 m/s, LOS rate: 0.002654 deg/s, cmd heading: 31.579643 deg, new cmd heading: 31.581702 deg. ien8mHeadingCmd: 0.551205 target range: 220.537231 and range: 220.50 m.hm ?hihihihigigqjgqrgqeqreyZey:e*e?IBɢ ) i)}i:i ?r=3ք=I ?Iq@q @y@}/@yAwAzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766641B<A4=B>BBIB[BBBBB;BoEQA؟AI!I1OEQ>qԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018543ďg#,1yLA2b>2{ ?2X恽ٱ2X?=2H 5`?d^P? r?`)?:?qL? ?i2b>I2 ];2CY:@By:IiMb@Mb@Mb@ 9(\?Q?Mb`Y?yu<@S A  A)YpAbE4jE4rE0E% E%E%6E!"E%&:*E%g:VE%c4ZE!BE%k;9U"?YU"?=UEyU'{D@=E>Q 54lr?Q 94)BY !?Q E :y y?Q I @rsDIt:i:;4y1ɮ5zA9q:iFNOT Ignoring new targets: 220.54 m."il*il ProNav: ac range: 220.537231 m, nav range: 206.851227 m, bearing: 31.884294 deg, approach rate: -0.542732 m/s, LOS rate: -0.001768 deg/s, cmd heading: 31.581702 deg, new cmd heading: 31.580131 deg. iOHeadingCmd: 0.551177 target range: 220.537231 and range: 220.50 m.h ?hhhhggjg rgTBereZe:e*e $@HBɢ) i)} 11i5:i= ?=h==J=I= ?IAyԩ!@! @!@%/@!Y?a=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270969Au.AIyIO> m#,GyLA2Z>2w ?2.ٱ2=2H `?Z(S? q?)?eƿ@0?@W?`?i2Z>I2\;2CY:KBy:I @Bp=bDF VDF8yNz=%NV=ٔN)9Q-R>9R ?YR ?=REyR6{DVW;EV>XQ 5^4Z>zr?Q 9^4Z)ZBY\y^u?Q Ib@ZsDIZ+;iZ;ZA4yfBɮfAfѨE:iimFNOT Ignoring new targets: 220.54 m."iu)*iu) ProNav: ac range: 220.537231 m, nav range: 206.651047 m, bearing: 31.883645 deg, approach rate: -0.543637 m/s, LOS rate: -0.001764 deg/s, cmd heading: 31.580131 deg, new cmd heading: 31.578832 deg. iNHeadingCmd: 0.551155 target range: 220.537231 and range: 220.50 m.hx ?hhhhggjgrgereZe:e*eo@-GBɢ5K輝}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522887)1 @B B 4IB pBB  =B B B ;B oEI I O >Q t#,vyLAɰ:}1>:3c ?:^ٱ:=:Ha?,H?io?+?L/?K"?@^?i:}1>I:\;:CYF[ByFIbDN VDN8yVf=%VI=ٔV7Q-Z>9Z"?YZ"?=ZEyZG{D^IE^>`Q 5f4bBr?Q 9f4b)bBYdyf`?Q Ij@bsDIbe:ib:bI4ylɮn%Al:iFNOT Ignoring new targets: 220.54 m."i*i  ProNav: ac range: 220.537231 m, nav range: 206.425598 m, bearing: 31.882932 deg, approach rate: -0.576852 m/s, LOS rate: -0.001826 deg/s, cmd heading: 31.578833 deg, new cmd heading: 31.577406 deg. iU%HeadingCmd: 0.551130 target range: 220.537231 and range: 220.50 m.h% ?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5 @eFBɢm$qռ)q }`)=iy)_顉i:i ?X==I ?I1Q@Q @Q@]5@Y@i@i@q@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026656YA>A?EE EEEE8EA"EE:*EE|:VEEF4ZEABEE>ԁ z#,GyLA02Z>2X ?28ٱ2K=2Hb?"L?Tn?`,?MZ$??~?i2Z>I2\;0Y9Y=EyY{DE>Q 54vr?Q 94A)BY + ?Q E :y ?Q I @sDI:i:P4yBɮ:AҨE5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 220.54 m."iM†*iM†] ProNav: ac range: 220.537231 m, nav range: 206.181549 m, bearing: 31.881299 deg, approach rate: -0.549300 m/s, LOS rate: -0.003682 deg/s, cmd heading: 31.577406 deg, new cmd heading: 31.574134 deg. i]׸eHeadingCmd: 0.551073 target range: 220.537231 and range: 220.50 m.he ?hahahahagagijgirgmaBeireqZeq:eq*eu @EBɢ'ּ) 2=i)1~  i Fr:i5 ?5N=5D҃=I5 ?I1IA)ExAԉ9@ @@"5@ԹAIIOk>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530615 DE =DE <EM  EM EM 3EI "EM :*EM k:VEM 4ZEI aU @aU @aU @aU @V#,.zLA`U.>Ua ?U]ٱUH=UHb?@ЎQ?Uo?@+?ܘ? -?`[?iU.>IUC\;UCY`By IbDPVD8y˧<%L=ٔX9Q->9Y=Eyi{D\9E>Q 54r?Q 94)BYy?Q I@sDI:i::W4yɮA:iFNOT Ignoring new targets: 220.54 m."i%9*i%95 ProNav: ac range: 220.537231 m, nav range: 205.961243 m, bearing: 31.879812 deg, approach rate: -0.550926 m/s, LOS rate: -0.003722 deg/s, cmd heading: 31.574134 deg, new cmd heading: 31.571157 deg. i5ٸ=HeadingCmd: 0.551021 target range: 220.537231 and range: 220.50 m.h= ?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM+@DBɢμ) Y=i)$iMR:i ?E=-a,=I- ?I)-DAT read: 01:14:14.5426 LVL= 32752, 32753, 30370, 32755, AGC= 70, IDX= 131, 0.04, 0.856,-0.870, 0.943, 0.359, PHS= 0.599,-1.184, 0.540, RAW= 148.3, 0.5, CAL= 147.4, 0.2, ROT= 2.6, -0.2 =Ygot valid direction response: 01:14:14.5426 LVL= 32752, 32753, 30370, 32755, AGC= 70, IDX= 131, 0.04, 0.856,-0.870, 0.943, 0.359, PHS= 0.599,-1.184, 0.540, RAW= 148.3, 0.5, CAL= 147.4, 0.2, ROT= 2.6, -0.2 BQBQBUSIBUBBQBQBQBU@;BUoEPDAT read: Bearing 181.1, 5.9 (Local) ~Local bearing/azimuth received: Bearing 181.1, 5.9 (Local) DAT read: Range 11 to 50 : 219.0 m (Round-trip 292.1 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998964,0.045363,0.003491]Fpublishing direction and range infoy|]?|9?QC1ml?Y[Cv )FIX?iPq= ?%@5<$@ d;)9=Id@ @@w3@z*?u^?4}uŒ? *>)I9=idUT****** received valid address query ******]R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.AqIyIO~>  *DAT read: user:105>  BDAT read: Tx time:01:14:15.8463  $Ping request sent. 9Y=Eyy{DE>Q 54r?Q 94)BYT ?Q E:y?Q I@sDI:i:^4yBɮAӨEi!i%azLAj% [C"j% [C:j%?Rj%&,?Yk@Дy3R#@{>N~w?Bj%|]?|9?QC1ml?*j%9=2j%dZj%rr?f@P6.^@Ս!R-/@Jj%ѝ?~?+{8?j%qB j%6Ci%۫?i%2[j%Bj%>?j%$zlj%Brj%@XCzj%?% addTargetRange:: Added new target pos. range: 219.000000 m, deltaT: 4.036407 s, deltaX: -1.500000 m, approachRate: -0.371618 m/s, rangeRepo size: 4 5 Added new target pos. range: 219.038376 m, bearing: 33.541923 deg, lat: 36.779802 deg, lon: -121.859473 deg, deltaT: 4.036407 s, deltaX: -1.498856 m, approachRate: -0.371334 m/s, posRepo size: 4 :i9=FNOT Ignoring new targets: 219.04 m."i=*iAM ProNav: ac range: 219.038376 m, nav range: 216.252701 m, bearing: 33.730859 deg, approach rate: 0.000000 m/s, LOS rate: -0.003722 deg/s, cmd heading: 31.571156 deg, new cmd heading: 31.568148 deg. iIUHeadingCmd: 0.550968 target range: 219.038376 and range: 219.00 m.h]? ?hYhYhYhYgYgYjgarge]BeareaZei:em`k@*em ?ɢg): =i)i1:i%? ?%<=!I%? ?II9@ @@/@AyAzA!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251032A5.AI9IIO]v>I 1 5 C G zA a9 zAY :Ay /#,:zLA21>2b ?2%ٱ2`=2H 8b?X?o? ,? ? A1?@?i21>I2G\;2CYRwByR=IbDZ_VDZ8yvM=%vW=ٔvԩ:Q-v>9z ?Yz ?=zEyz{Dz,O8E~>Q 54Xr?Q 9 4)BY y ?Q I @sDI:i::re4yɮqA:i9EFNOT Ignoring new targets: 219.04 m."iE8*iE8U ProNav: ac range: 219.038376 m, nav range: 216.044785 m, bearing: 33.732190 deg, approach rate: -0.554146 m/s, LOS rate: 0.003551 deg/s, cmd heading: 31.568147 deg, new cmd heading: 31.570812 deg. iU8]HeadingCmd: 0.551015 target range: 219.038376 and range: 219.00 m.h]K ?hYhahahagagajgirgieireiZei:eq*euiiQIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503471a1@1 @1@1@1E EEE"E;*E&p:VEZEa%@a%@a%@a-@ԁ^A={=ԹA ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754970Bu >Bq Bu lIBu BBu  =Bq Bu DBu ;Bu IpEBBBBBCb4 #,pTzLA2&'>2^ ?2~ٱ2=2H@b?Eb?0o?+?@ý?Y?B?i2&'>I2{\;2CYN{ByRBI V=V<bDZ}VDZ 8yb<%bM=ٔb:Q-f>9f"?Yf"?=fEyf{Dj*GEj>lQ 5r4nr?Q 9r4n)nBYpyr?Q Iv@nsDIn;in:nkl4yzBɮzhAx:iFNOT Ignoring new targets: 219.04 m."i8*i8 ProNav: ac range: 219.038376 m, nav range: 215.826599 m, bearing: 33.733595 deg, approach rate: -0.547031 m/s, LOS rate: 0.003524 deg/s, cmd heading: 31.570811 deg, new cmd heading: 31.573622 deg. ia8HeadingCmd: 0.551064 target range: 219.038376 and range: 219.00 m.h ?hhhhggjgrgereZe:e *e d?Qɢ])a m,=ii)u02yyi}i9i ?+=Ӄ=I ? I9@ @ @ @ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006965E EE1E"ED:*E|:VE-4ZEBE2#,nzLAɰBmH>Bn ?Bi}ٱB=BHa?`_^e?p?t*?ܰ?u?`?iBmH>IB\;BCYNByNQIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993i5Mb@Mb@Mb@1111 195V-?{Gz?Mb`Y5 ?y5ף<15@5& A 5XA)57@1Y53AbDMlVDM8y]e=%]A=ٔ];t9Q-e>9e ?Ye ?=eEye{Dm0:Em>qQ 5}4uer?Q 9}4u)uBY} ?Q E}:y}?Q I@usDIu;iun;us4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 219.04 m."i7*i7 ProNav: ac range: 219.038376 m, nav range: 215.592789 m, bearing: 33.734317 deg, approach rate: -0.551582 m/s, LOS rate: 0.001706 deg/s, cmd heading: 31.573622 deg, new cmd heading: 31.575068 deg. iG8HeadingCmd: 0.551089 target range: 219.038376 and range: 219.00 m.h* ?hhhhggjgrgTBereZe:e*e.?颩ɢH)  >i)Fi:9i* ?"=@=I* ?IQy*:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109859@ @@@@p=@=ԩ E-  E- E- 3E) "E- :*E- :VE- 4ZE) a5 @a5 @a5 @a5 @^A p=A >A > A%؟AI)IAOM?k}#,DzLA>_>>`z ?>'\|ٱ>S=>H a?_v g?`Tr?@)?@i?o?/?i>_>I>\;>CYFByFWIbDR9VDRͱ8yV©<%Z*=Xٔ^.1:Q-^>9^"?Y^"?=bEyb{Db 9Eb>dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766887Q 54fr?Q 9 4f׵)fBY y ?Q I @fsDIf <B>BBIBBBBBB;B}pEif2 i)Z(iԀ8i ?m=mo=Im ?IiM@ @@@i߉IߍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015331^A =EM  EM EM 2EI "EM &:*EM :VEM 4ZEI BEM k;k#,}uzLAV>Vu ?V9zٱV=VH@^? '+g?@v?^(?m"V?@A?@?iV>IV\;TY%By%dI9iMb@Mb@Mb@ 9kt?S㥛?Y ?y/<@ A ) @YAAAbD,VD8y5=%6=ٔW:Q->9!Y!=%Ey%{D%:E%>9Q 5E4= s?Q 9E4=#)=BYEK?Q EM:yM?Q IM@=tDI=k:i==:=4yYɮ]AY:iFNOT Ignoring new targets: 219.04 m."ic*ic5 ProNav: ac range: 219.038376 m, nav range: 215.074219 m, bearing: 33.735094 deg, approach rate: -0.554830 m/s, LOS rate: -0.000068 deg/s, cmd heading: 31.576689 deg, new cmd heading: 31.576626 deg. i5=HeadingCmd: 0.551116 target range: 219.038376 and range: 219.00 m.h= ?h9h9h9h9gAgAjgArgEYBeireiZei:ei*eut@颹ɢs) )>i)缝checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267206!i%\WOi- ?-=-'t=I- ?I19999aԑa @a  @a @a @a Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518900EU  EU EQ EQ "EU :*EU xv:VEQ ZEQ a] @a] @a] @a] @^A [=A xAzA xA IIO?T#,zLA F0>F ?FԺvٱF0=FHZ? uJ.m? }?@$?@1`Ү?@"??iF0>IF\;FCYRByRlITVAbDZkVDZ8yb<%b+=ٔf ;Q-f>9dYd=jEyj{Dj ;Ej>lQ 5r4n s?Q 9r4n8)nBYtyv?Q Iv@ntDIn7:in":nd4yzݓBɮzA~˨E:iFNOT Ignoring new targets: 219.04 m."i%E*i%E1= ProNav: ac range: 219.038376 m, nav range: 214.806625 m, bearing: 33.734989 deg, approach rate: -0.582930 m/s, LOS rate: -0.000229 deg/s, cmd heading: 31.576627 deg, new cmd heading: 31.576417 deg. i=ֶ=HeadingCmd: 0.551112 target range: 219.038376 and range: 219.00 m.hE ?hAhAhAhAgAgAjgIrgIeIreZe:e*e@@9ɢ=و)9 =5>iA)EԄAAiE`i ?t=,=I ?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771707B>B-CBIBƁBB =BBDBԲ;B{pE!@! @!@!@!Yԑ^Am=Ii Iy O >Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022957Cz#,zLAbE 4jE j4rE 30EB EBEB1E@"EBV:*EB:VEB-4ZE@BEB99Y=Ey{DE>Q 54u1s?Q 94)BY ?Q E:y?Q I@%tDI ;i;4yBɮĄE:i!-FNOT Ignoring new targets: 219.04 m."i- 7*i- 7 ProNav: ac range: 219.038376 m, nav range: 214.566650 m, bearing: 33.735194 deg, approach rate: -0.549071 m/s, LOS rate: 0.000470 deg/s, cmd heading: 31.576415 deg, new cmd heading: 31.576826 deg. i\7HeadingCmd: 0.551120 target range: 219.038376 and range: 219.00 m.h, ?hhhhggjg rg DBe re1Ze1:e1*e=] @颹ɢnw) 4G>i)CiܟĹi, ?_==I, ?I9@ @@@BDAT read: Rx Time:01:14:18.5111 TRx dataTimestamp_ set to:1764897259.769132checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276583^A b$=I) I9 OU >1 #,hzLA2:>2# ?2^oٱ2X=2HW? `s?!?."?־@?"???i2:>I23];2CY:By:I B%=@bDFcVDF8yN=%Na=ٔN;Q-R>9PYP=REyR|DVb0;EV>XQ 5^4Z~?s?Q 9^4Zѧ)ZBY\yb*?Q Ib@Z2tDIZ;iZ;Zc4ydɮfAdrB*** querying acoustic contact ***ipip:ixzFNOT Ignoring new targets: 219.04 m."i~!6*i~!6  ProNav: ac range: 219.038376 m, nav range: 214.366669 m, bearing: 33.735313 deg, approach rate: -0.548585 m/s, LOS rate: 0.000326 deg/s, cmd heading: 31.576825 deg, new cmd heading: 31.577063 deg. i 7HeadingCmd: 0.551124 target range: 219.038376 and range: 219.00 m.hr ?hhhhggjgrgereZe:e*e6@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527043ɢ-J)) -T>i))5!11i5ir ?~=ˆ=Ir ?IE EE2E"E;*E:VE4ZEa@a@a@a@U9@Q @Y@]/@Y)Q^A8=A>A?II O > DAT read: 01:14:18.5111 LVL= 32752, 32753, 30802, 27059, AGC= 69, IDX= 122,-0.44,-1.073,-2.748,-0.992,-1.558, PHS= 0.587,-1.145, 0.521, RAW= 148.1, 0.4, CAL= 147.2, 0.2, ROT= 2.8, -0.2  Ygot valid direction response: 01:14:18.5111 LVL= 32752, 32753, 30802, 27059, AGC= 69, IDX= 122,-0.44,-1.073,-2.748,-0.992,-1.558, PHS= 0.587,-1.145, 0.521, RAW= 148.1, 0.4, CAL= 147.2, 0.2, ROT= 2.8, -0.2  PDAT read: Bearing 181.0, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 181.0, 5.9 (Local)  DAT read: Range 11 to 50 : 195.4 m (Round-trip 260.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.998800,0.048849,0.003491] Fpublishing direction and range infoy  +?8G?QC1ml?Y fCC Rx i) EI E?i \ B`? m%@ ; l$@ ) +H=I n;?<?? H>) k&I +H=i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A) A) B- >B- +CB- IB- ځBB- $ =B- /DB- DB- ϲ;B- `pEy #,F{LAFV>F = ?FWkٱF=FHKV?7v?0?@_!?`W@f???iFV>IF-^;DY=By=IbDMmVDM8y [<%5=Yٔm;Q-m>PExceeded connect timeout, disconnecting.91Y1==Ey=|DET:E>Q 54Rs?Q 94У)BYyD?Q I@CtDI,Q6[@\v)@Jjf BDAT read: Tx time:01:14:19.8463 $Ping request sent.i)6顉i2i ?=.=I ?IE EEE"E:*EVEZEBEH8#,!1{LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508566>6V ?6cPgٱ6=6HU?`}1z?`*?= ?st`? ۺ??i6>I6^;4YNByRIi%Mb@Mb@Mb@!!!! !9%@5^I ?/$?{GztY%b?y%<%ף!%jA %A)!!Y%AbD[VD8y+=%P=ٔ/);Q->9Y=Ey&|Dc:E>Q 54`s?Q 94) BY}?Q E:y?Q I@PtDI;i;24yɮA:iaeFNOT Ignoring new targets: 219.04 m."im7*im7Ա ProNav: ac range: 219.038376 m, nav range: 213.896149 m, bearing: 33.735790 deg, approach rate: -0.589211 m/s, LOS rate: 0.001031 deg/s, cmd heading: 31.577334 deg, new cmd heading: 31.578019 deg. io7HeadingCmd: 0.551140 target range: 219.038376 and range: 219.00 m.h ?hhhhggjgrg-KBe1re1Ze1:e1*e5`9?颡ɢ)  {>i)ZisUi ?=ω=I ?I9@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906 D zD ?AE  E E 6E "E ;*E x:VE c4ZE a @a @a @a @^A i=A .AI! I1 9 OE >S#,J{LA6_>6Lz ?6mbٱ6LJ=6H3S?\~?=?@?I J?@ٺ?;?i6_>I6`;6CY>ÁBy>IDDbDZ_VDZ8ybR<%b\=ٔb=R;Q-f>9f ?Yf ?=vEyv5|Dz:Ez>|Q 54~Kos?Q 94~)~BYy3?Q I @~]tDI~:i~%:~4y1ɮ5A1:iqFNOT Ignoring new targets: 219.04 m."i7*i7 ProNav: ac range: 219.038376 m, nav range: 213.686584 m, bearing: 33.736126 deg, approach rate: -0.563943 m/s, LOS rate: 0.000907 deg/s, cmd heading: 31.578017 deg, new cmd heading: 31.578691 deg. ii7HeadingCmd: 0.551152 target range: 219.038376 and range: 219.00 m.hN ?hhhhggjgrgereZe:e*e@?ɢ) G>i)\,߼iڗyiN ?=Ҳ=IN ?I)echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754822B>B)CBIBBB' =BBDBIJ;BMpE9@ @@:5@@zA@yAI^A= nManaging dock network, ignoring radio surface power offA yAzA wAԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761IA Iy O >]#,6d{LA0EB EBEB/E@"EB%;*EB:VEBJ4ZE@BEBK=ٔQ->9Y=EyF|DE>Q 54Ns?Q 94)BY?Q E:y?Q I@mtDI;iu;*4yBɮͨE:iFNOT Ignoring new targets: 219.04 m."i.8*i.8 ProNav: ac range: 219.038376 m, nav range: 213.446365 m, bearing: 33.737142 deg, approach rate: -0.563540 m/s, LOS rate: 0.002385 deg/s, cmd heading: 31.578690 deg, new cmd heading: 31.580723 deg. i8HeadingCmd: 0.551188 target range: 219.038376 and range: 219.00 m.h ?hhhh g g jg9rg=ABe9re9ZeA:eA*eE@?ԉɢ!) ڂ>i)Zݼii ?I=v=I ?I9@9 @9@=?5@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258880ԹG)U9YY]A ^A% 왊=I! I1 O= >$#,>~{LA2Ч>2Ҳ ?2Vٱ2=2H@P?Ъ ???gѽ|Ӫ?@v??i2Ч>I2a;2CY:ǁBy:IbDFVDF8yNe;%N^=ٔN_;Q-N>9PYP=REyRU|DV;EV>TQ 5^4Vێs?Q 9^4V)VBY\y^?Q I^@VztDIV;iVY;V4ydɮfAdhvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 219.04 m."i~^'8*i~^'8  ProNav: ac range: 219.038376 m, nav range: 213.240768 m, bearing: 33.737965 deg, approach rate: -0.570127 m/s, LOS rate: 0.002286 deg/s, cmd heading: 31.580722 deg, new cmd heading: 31.582371 deg. i 8HeadingCmd: 0.551216 target range: 219.038376 and range: 219.00 m.h ?hhhhggjg!rg!e!re!Ze!:e)*e-?DBɢ$߻) X>i)ܼi]⠺i ?oݔ= =I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510828DD<E EE3E"E:*E:VE4ZEa@a@a@a@@ @@/@1^A m=IiIyO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762748B <A <B >B B IB BB B B DB ;B 3pEB+CB,CBɖCB$ =B# =Cɒ6Y غ#,c{LA6"ѧ>6 ?6Qٱ6=6H Q?8?8?@?@c`g/?M? ?i6"ѧ>I6:b;6CYNӁByRIbDZsVDZ8ybGj=%bH=ٔbVI;Q-b>9dYd=fEyfe|Df6Ej>hQ 5r4js?Q 9r4jP)jBYpypQ Ir@jtDIj;ij;j4yvBɮzAzΨE:iFNOT Ignoring new targets: 219.04 m."i%8*i%8- ProNav: ac range: 219.038376 m, nav range: 213.011551 m, bearing: 33.738886 deg, approach rate: -0.563574 m/s, LOS rate: 0.002266 deg/s, cmd heading: 31.582371 deg, new cmd heading: 31.584214 deg. i-85HeadingCmd: 0.551249 target range: 219.038376 and range: 219.00 m.h5 ?h1h1h19h9gAgAjgArgAeIreIZeI:eI*eM`+@yɢ}C)y *>i)!ڼ顁iੳi ?ؔ=߿=I ?I=9@9 @9@A@A@]=@]=q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014989E EE2E"E:*Ex:VE4ZEBE>A>IAIQO> #,{LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2666506E>6 ?6Lٱ61j=6H {O? `‡?̙?$?b[?k?g?i6E>I6\b;6CYBׁByBIIFG>)F=ٔ:;Q->9Y=Eyv|DА:E>ԙQ 54s?Q 94ې)!BY6?Q E:y?Q I@tDI:i1:44yBɮA:iFNOT Ignoring new targets: 219.04 m."i8*i8 ProNav: ac range: 219.038376 m, nav range: 212.766205 m, bearing: 33.740459 deg, approach rate: -0.570335 m/s, LOS rate: 0.003661 deg/s, cmd heading: 31.584215 deg, new cmd heading: 31.587366 deg. im8HeadingCmd: 0.551304 target range: 219.038376 and range: 219.00 m.h:" ?hhhhggjg rg CBe re Ze:e*e"@AɢE)A ER>iA)EؼIIiMǺiM:" ?UBԔ=U=IU:" ?IY @  @ @ @ iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519629^A-=IIO>D zD E  E E 4E "E :*E ]t:VE 4ZE a @a @a @a @! #,{LA6>6c ?6UGٱ6V=6HO?l?4?@?7?`v?\?i6>I6Nb;6CYNByRIbDZdVDZ8yb(`=%bX=ٔb\;Q-f>9dYd=fEyf|DjOZ8Ej>lQ 5r4ns?Q 9r4nэ)n%BYpyr?Q Iv@ntDIn;inU;n4yzړBɮzAzŨE:iFNOT Ignoring new targets: 219.04 m."iX8*i%X8- ProNav: ac range: 219.038376 m, nav range: 212.550430 m, bearing: 33.741845 deg, approach rate: -0.570847 m/s, LOS rate: 0.003670 deg/s, cmd heading: 31.587364 deg, new cmd heading: 31.590139 deg. i-85HeadingCmd: 0.551352 target range: 219.038376 and range: 219.00 m.h5f% ?h1h9h9h9g9g9jgArgAeAreAZeI:eI*eM:@qɢ},)y }>iy)}Z2ּ顁iغif% ?+Д=Z=If% ?I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772222B>B(CBIBBB( =BBDBn;BoE!^A5p,=IIO>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025132ԩ #,N{LAEB E@EB1E@"EB:*E@VEB-4ZE@BEB<9Y=Ey|DE>Q 54s?Q 94D))BY5.?Q E5:y5 ?Q I5@tDIXi)Ӽ顉iFVi!- ?ʔ==I!- ?Ie>i>ԡ]9@Y @Y@]/@Y@myA@mzA߅=߅<BDAT read: Rx Time:01:14:22.5082 TRx dataTimestamp_ set to:1764897263.802011checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277315^A @= A ؟AI I) OE >aX#,r|LA2A>2 ?2p:ٱ20=2H`P?`AU ?`ǚ?;?Z]? ͺ?c?i2A>I2"b;2CY:By>I @@@BAbDJcVDJ8yN=%N[=ٔRS9V"?YV"?=VEyV|DVNEZ>XQ 5^4Zs?Q 9^4Zh)Z,BY`yb ?Q Ib@ZtDIZT:iZb;Zf4ydɮfAhvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526940zB*** querying acoustic contact ***ixix:i FNOT Ignoring new targets: 219.04 m."i  9*i  9 ProNav: ac range: 219.038376 m, nav range: 212.077744 m, bearing: 33.747944 deg, approach rate: -0.591250 m/s, LOS rate: 0.007644 deg/s, cmd heading: 31.596896 deg, new cmd heading: 31.602348 deg. i_9%HeadingCmd: 0.551565 target range: 219.038376 and range: 219.00 m.h%^3 ?h!h!h!h)g)g)jg)rg)e1re1Ze1:e1*e5_R@mCBɢu@)y } >i)% Ѽ))i-Zie^3 ?mƔ=u=Iu^3 ?E EE4E"E&:*EAr:VE4ZEa@a@a@a@I!9@ @@/@9AA@AB>B'CBIBBBBBB;BoE DAT read: 01:14:22.5082 LVL= 29168, 32753, 29090, 32755, AGC= 67, IDX= 413,-0.28, 0.640,-1.046, 0.743, 0.185, PHS= 0.557,-1.185, 0.514, RAW= 148.8, 1.4, CAL= 147.8, 1.1, ROT= 2.2, -1.1 % Ygot valid direction response: 01:14:22.5082 LVL= 29168, 32753, 29090, 32755, AGC= 67, IDX= 413,-0.28, 0.640,-1.046, 0.743, 0.185, PHS= 0.557,-1.185, 0.514, RAW= 148.8, 1.4, CAL= 147.8, 1.1, ROT= 2.2, -1.1 - PDAT read: Bearing 182.3, 4.5 (Local) - ~Local bearing/azimuth received: Bearing 182.3, 4.5 (Local) ^A5 p,=m DAT read: Range 11 to 50 : 193.3 m (Round-trip 257.8 ms) speed 0.4 m/s u R#Rx 1: Read range and direction messages.} \direction in FSK: [0.999079,0.038381,0.019197] Fpublishing direction and range infoy~Xt?(ͣ?]~?YLACqq )CI?i?6&@+<%@ nF<)nF=InFVa | ?.?O`? O?)3ԿInF=inF T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.a Ai Iq I O >v#,|LABQ>BG ?B5ٱBȭ=BH`7O?kő? }?@ ?l۠?@?;?iBQ>IBc;BCYNByNIbDV^VDV8y^=%^J=ٔbh;Q-b>9`Yd=fEyf|Df:Ef>hQ 5~4js?Q 9~4jK)j/BYy ?Q I@jtDIj6;ij;jy4y Bɮ aA iiq|LAjMAC"jMAC:j9?Rjgğ#h@=?j)@5Lr @Bj~Xt?(ͣ?]~?*jnF=2jnFZjaE0 d@`vZ@,R]*@JjQ$?!j?pj 8?jSB j!Ci~y$?ijBjUM BDAT read: Tx time:01:14:23.8962 $Ping request sent.i) ϼ顡i i: ?=ת=I: ?IԁbEQjEU24rEUJ0E EE1E"ED:*E:VE-4ZEBE2 #,GT6|LA23>2L ?2/ٱ22$=2HP? Ł?`#? P??Ѻ?Z?i23>I2 c;0Y:By:Ii-Mb@Mb@Mb@)))) )9-tV?9] ?Y] ?=eEye|DeEe>iQ 5u4mt?Q 9u4m̀)m2BY}?Q E}:y}P ?Q I}@mtDIm:im(:m>4yؓBɮA:iFNOT Ignoring new targets: 193.30 m."i,8*i,8 ProNav: ac range: 193.302780 m, nav range: 201.809967 m, bearing: 32.190660 deg, approach rate: -0.603949 m/s, LOS rate: 0.002357 deg/s, cmd heading: 31.608859 deg, new cmd heading: 31.610847 deg. i 8HeadingCmd: 0.551713 target range: 193.302780 and range: 193.30 m.h= ?hhhhggjgrgIBereZe:e*e@d? ɢP;) >i)̼i!/i= ?%=%=I%= ?I!9@A @A@E0@A@I@M=9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502748^AiqE]  E] E] 4EY "E] :*E] Ar:VE] 4ZEY ae @ae @am @am @A} ؟AI I O >ԑ #,P|LA2iN>2 ?2 o*ٱ2=2HP?}?ʞ?3?c QL?ú? ?i2iN>I2:4c;2CYNByRIIV<)V=bDZaVDZ8yb%%bU=ٔfW;Q-f>9f"?Yf"?=fEyj|Dj< :Ej>lQ 5r4nt?Q 9r4n})n5BYpyv] ?Q Iv@ntDIn:in:n4yzٓBɮz&AzǨE:iFNOT Ignoring new targets: 193.30 m."i%!8*i%!85 ProNav: ac range: 193.302780 m, nav range: 201.589996 m, bearing: 32.191507 deg, approach rate: -0.572985 m/s, LOS rate: 0.002208 deg/s, cmd heading: 31.610846 deg, new cmd heading: 31.612542 deg. i5U85HeadingCmd: 0.551743 target range: 193.302780 and range: 193.30 m.h=? ?hhhhggjgrgereZe:e*e?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754927B}>BB IBBB* =BBBɱ;B1oEq1ɢ5')1 =>i9)=Àʼ99i=`iE? ?E =Eo=IE? ?II@ @@94@ԡ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008578A] .AIq I O > EU  EU EU 2EQ "EU :*EU x:VEU 4ZEQ BEU .z ?zĦ$ٱzy=zH`lN?L͔?`u??@4@m?ź?o?iz>Iz[c;zCY%By%IiMb@Mb@Mb@ 9m?~jth?Y?yD;@SA A)@Yp@bDVD8y&=%7=ٔlO;Q->9 ?Y ?=Ey|D:E> Q 54 &t?Q 94 [z) :BY?Q E:yq ?Q I@ uDI * ;i ; 4y!ɮ-A):iIUFNOT Ignoring new targets: 193.30 m."iU7*iU7e ProNav: ac range: 193.302780 m, nav range: 201.341599 m, bearing: 32.192168 deg, approach rate: -0.556322 m/s, LOS rate: 0.001483 deg/s, cmd heading: 31.612544 deg, new cmd heading: 31.613868 deg. im-8mHeadingCmd: 0.551766 target range: 193.302780 and range: 193.30 m.hm@ ?hihqhqhqgqgqjgyrg};BeyreyZe:e*en?颭BBɢ[:) n>i)#ȼ顱Թi#i@ ?A=q>=I@ ?Iu9@q @q@u5@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258994^AP= A ؟AI I O > #,̓|LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510870:[>:$ ?:oٱ:)=:HN??k??g٣?? ?i:[>I:;c;:CYBByFIJ@AHbDNVDN8yV"=%Vd=ٔVʁ;Q-Z>9Z"?YZ"?=ZEyZ|D^GE^>`Q 5f4b4t?Q 9f4bw)b>BYdyfn ?Q Ij@buDIb:ibu:b4ynړBɮncAnȨEzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 193.30 m."i [7*i [7 ProNav: ac range: 193.302780 m, nav range: 201.142029 m, bearing: 32.192703 deg, approach rate: -0.556149 m/s, LOS rate: 0.001491 deg/s, cmd heading: 31.613869 deg, new cmd heading: 31.614939 deg. i.8HeadingCmd: 0.551785 target range: 193.302780 and range: 193.30 m.hA ?hhhhggjgrgereZe:e*eh?yɢ}8;) >i)ż顁iZ,E EE4E"E&:*Exv:VE4ZEa@a@a@a@iA ?c==IA ?IQ9@ @@/@@@xAyBA<B|>BB IB!BB) =BBBy;BnEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762845^A=AxAzAԱ I I O >'#,;Ý|LA2p>2 ?29ٱ2QO=2H`)P?c?@X?@?`? Ԙ??i2p>I2<"c;2C8Y>By> I @@bDJ6VDJʱ8yRD=%RJ=ٔVg;Q-V>9TYT=ZEyZ }DZE^>\Q 5b4^Et?Q 9b4^~t)^CBYdyfb ?Q If@^uDI^:i^:^ 4yhɮj$Al:i|~FNOT Ignoring new targets: 193.30 m."i7*i7- ProNav: ac range: 193.302780 m, nav range: 200.916626 m, bearing: 32.193320 deg, approach rate: -0.557178 m/s, LOS rate: 0.001527 deg/s, cmd heading: 31.614938 deg, new cmd heading: 31.616173 deg. i-28=HeadingCmd: 0.551806 target range: 193.302780 and range: 193.30 m.h=.C ?h9h9h9hAgAgAjgArgAeIreIZeI:eQ*eU @yɢ};) 7>i)ü顁i -T5i.C ?%d=M靌=IM.C ?IYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017223ԡE9@A @A@E/@AE EE2E"E:*E:VE4ZEBEa2EaJE ;a:E ;a^Aa Iy I O > D?  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266972 w> Cm G /{A 9 /{AY A<-#,|LA2;U>2 ?2ٱ2(u=2H@rQ??? ?7caW?~??i2;U>I2Nc;2CYN$ByR IliUMb@Mb@Mb@QQQQ Q9US?=ٔg;Q->9Y=Ey}DqE>Q 548Vt?Q 94q)GBY?Q E:y?Q I@,uDI;i:4yۓBɮ A:iFNOT Ignoring new targets: 193.30 m."i{?*i{? ProNav: ac range: 193.302780 m, nav range: 200.676422 m, bearing: 32.193250 deg, approach rate: -0.558468 m/s, LOS rate: -0.000163 deg/s, cmd heading: 31.616174 deg, new cmd heading: 31.616033 deg. i/HeadingCmd: 0.551804 target range: 193.302780 and range: 193.30 m.hC ?hhhhggjgrgWBereZe:e *e 9 @5ABɢ58`;)9 =y>i9)=99i=>iEC ?E=MC=IMC ?II9@ @@/@ echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189399^Am=DzDAAIIO>E EE0E"E;*E:VE4ZEa@a@a@a@a $4#,`|LA6Va>6 ?6 ٱ6=6HiQ? ??!?Dr?@f?t?i6Va>I6mc;4YB&ByB I J=Ja=bDJ#VDJ8yRa<%RY=ٔV6;Q-V>9TYT=ZEyZ+}DZ9EZ>\Q 5b4^4et?Q 9b4^+n)^KBYdyf!?Q If@^9uDI^:i^:^.4yjǓBɮj AjE:i|~FNOT Ignoring new targets: 193.30 m."iia)e@.aiimgGimB ?u=uz=IuB ?IqBBB! IB1BB* =BBB7;BnEBU'CBU'CBUCBU) =BU) =CUL5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772928M9@Q @Q@U/@Qi^AA>A>IyIԑO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025401 E}  E} E} 2Ey "E} &:*E} :VE} 4ZEy BE} j;B ?BٱB =BH R?H?`?g"?Ѻ?@O?5?iBzX>IB{c;BCYn)Byn IIr)>)r<ԑiMb@Mb@Mb@ 9ʡE?Q?Mbp?Y?yu<;@A \@)@Y@bDVD8yP<%9=ٔt;Q->9Y=Ey=}D E>Q 54vt?Q 94j)PBY?Q E:y?Q I@IuDI:i:!4yȓBɮ AE:iFNOT Ignoring new targets: 193.30 m."i%*i%5 ProNav: ac range: 193.302780 m, nav range: 200.218887 m, bearing: 32.192424 deg, approach rate: -0.560433 m/s, LOS rate: -0.001722 deg/s, cmd heading: 31.615901 deg, new cmd heading: 31.614381 deg. i5I=HeadingCmd: 0.551775 target range: 193.302780 and range: 193.30 m.h=!A ?h9h9h9h9gAgAjgArgE>BeIreIZeI:eI*eU @yɢ}8~;) >i)幼顁iNPi!A ?Mj=M@[=IM!A ?IQBDAT read: Rx Time:01:14:26.5559 TRx dataTimestamp_ set to:1764897267.832702checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2760139@ @@@^A tn=Ii Iy O > 9A#,#}LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5268226u>6Z ?6Gٱ6=6HrQ?k?}?;"?ݖM?9C?`?i6u>I6c;6CYB3ByB$ IbDJSVDJ8yRN=%R^=ٔVy;Q-V>9TYT=VEyZL}DZ@:EZ>\Q 5b4^St?Q 9b4^g)^UBYdyf?Q If@^VuDI^:i^q:^Q(4yhɮj AhB*** querying acoustic contact ***ii:i9EFNOT Ignoring new targets: 193.30 m."i]*ieDDE EE1E"E%;*Ez:VE-4ZEa@a@a@a@) ProNav: ac range: 193.302780 m, nav range: 200.012650 m, bearing: 32.191776 deg, approach rate: -0.549333 m/s, LOS rate: -0.001727 deg/s, cmd heading: 31.614381 deg, new cmd heading: 31.613085 deg. i:JHeadingCmd: 0.551752 target range: 193.302780 and range: 193.30 m.h? ?hhhhggjgrgereZe:e*eN@E@Bɢe@<)i m>ii)miiimYiu? ?u =}ь=I}? ?Iy9@ @@/@9AqAqB}>ByB}4 IB}@BB}) =ByByB};B}|nEDAT read: 01:14:26.5559 LVL= 29264, 32753, 28658, 32755, AGC= 67, IDX= 421,-0.06, 0.750,-0.375, 0.965,-0.073, PHS= 0.924,-0.258, 0.993, RAW= 152.8, -25.7, CAL= 154.5, -27.0, ROT= 355.5, 27.0 Ygot valid direction response: 01:14:26.5559 LVL= 29264, 32753, 28658, 32755, AGC= 67, IDX= 421,-0.06, 0.750,-0.375, 0.965,-0.073, PHS= 0.924,-0.258, 0.993, RAW= 152.8, -25.7, CAL= 154.5, -27.0, ROT= 355.5, 27.0  PDAT read: Bearing 155.0, -5.4 (Local) ~Local bearing/azimuth received: Bearing 155.0, -5.4 (Local) DAT read: Range 11 to 50 : 191.6 m (Round-trip 255.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.%`direction in FSK: [0.888260,-0.069907,-0.453991]-Fpublishing direction and range infoyl?s3t屿D7.ݿY?CPro )IDl?i?5~?*@L,@ :F)u@I:F>5c6%;?H ??$<^ۿ .?)A>Ii٠i:F>ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.i^AA Aq I I ԑ O >`G#,}LA2u>20J ?2tٱ2zr=2H CM?ପ2???șq??@N?i2u>I2:c;0YBEByB: IbDJVDJ8yR=%RK=ٔRx\;Q-R>9TYT=VEyV\}DZ*;EZ>\Q 5b4^Nt?Q 9b4^zd)^YBY`yb?Q Ib@^euDI^;i^;^Z/4yjʓBɮj$ Ahiit}}LAj?C"j?C:ju?Rjd9;$Fe@^*A]UBjl?s3t屿D7.ݿ*ji٠2j:F>Zj&Nlkb@&\DU@{C TJj4?|?CmۿjB jCiCܥ?iQU)j j~y$?jjrjh?Czj? addTargetRange:: Added new target pos. range: 191.600006 m, deltaT: 4.031969 s, deltaX: -1.699997 m, approachRate: -0.421629 m/s, rangeRepo size: 4 - Added new target pos. range: 191.601501 m, bearing: 29.967552 deg, lat: 36.779666 deg, lon: -121.859586 deg, deltaT: 4.031969 s, deltaX: -1.701279 m, approachRate: -0.421947 m/s, posRepo size: 4 :i)5FNOT Ignoring new targets: 191.60 m."i5*i1 ProNav: ac range: 191.601501 m, nav range: 191.407913 m, bearing: 33.784101 deg, approach rate: 0.000000 m/s, LOS rate: -0.001727 deg/s, cmd heading: 31.613083 deg, new cmd heading: 31.611706 deg. iHeadingCmd: 0.551728 target range: 191.601501 and range: 191.60 m.h> ?hhhhggjgrgereZe:e@3g@*e`}?yM*DAT read: user:108> eBDAT read: Tx time:01:14:27.8962 m$Ping request sent.mf<) ?i)Bici%> ?%=%Ŏ=IM> ?IQaE EE4E"E;*E|:VE4ZEBEAiM#,B#9}LA2V_>2"z ?2ٱ2v]=2H`nJ? N? M??`27?@?D?i2V_>I2c;2CY:?By>2 I <9e ?Ym ?=mEymn}DmP:Eu>qQ 5}4uYt?Q 9}4u`)u^BY?Q E:y?Q I@utuDIu:iu=:u64yɮW A:iFNOT Ignoring new targets: 191.60 m."i*i ProNav: ac range: 191.601501 m, nav range: 191.163284 m, bearing: 33.783535 deg, approach rate: -0.569280 m/s, LOS rate: -0.001319 deg/s, cmd heading: 31.611707 deg, new cmd heading: 31.610573 deg. ixHeadingCmd: 0.551709 target range: 191.601501 and range: 191.60 m.h< ?hhhhggjgrgSBereZe:e*e??BɢTk<) >i)T+iki%< ?%=%=I-< ?I)ԩ@ @@4@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.497873E EE2E"E:*E]t:VE4ZEa@a@a@a@^Ax= A I) I9 OM >) T#,R}LA2f©>2 ?2޼ٱ2=2HvG?Ʋ???Yeԛ?w?C?i2f©>I2\c;2CY:/ IbDFVDF8yNs%NX=ٔNHj;Q-R>9PYP=REyR}}DV;EV>XQ 5^4Z7t?Q 9^4Z])ZcBY\y^?Q Ib@ZuDIZ:iZ;Z=4yf˓Bɮfx AfE:itzFNOT Ignoring new targets: 191.60 m.BBBG IBOBB( =BBB;BTnE"iuҷ*iuҷ% ProNav: ac range: 191.601501 m, nav range: 190.949844 m, bearing: 33.782992 deg, approach rate: -0.564435 m/s, LOS rate: -0.001437 deg/s, cmd heading: 31.610573 deg, new cmd heading: 31.609486 deg. i%](-HeadingCmd: 0.551690 target range: 191.601501 and range: 191.60 m.h-; ?h)h)h)h1g1g1jg9rg9e9re9Ze9:eA*eE@?iɢmh<)i}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749751 u>iy)I顁isi; ?Ҕ=1=I; ?I  9@ @@5@1^AmH== checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003576i A I I O >bEjET4rE60E  E E -E "E *E xv:VE t4ZE BE 6: ?:eԼٱ:==:H`D?@+?෹?`F?L???v?i:N>I:c;:CY^EByb; IiEMb@Mb@Mb@AAAA A9E rh?~jt?{Gzt?YE ?yE=Eף;E@EA E/@)E@AYA U%=U<bD]VD]8ym0=%m>=ٔu3;Q-u>9qYy=}Ey}}D}&:E>Q 54yt?Q 94Z)hBY ?Q E:y6?Q I@uDI(:i:E4yɮ, A:iFNOT Ignoring new targets: 191.60 m."iī*iī ProNav: ac range: 191.601501 m, nav range: 190.713226 m, bearing: 33.780974 deg, approach rate: -0.549472 m/s, LOS rate: -0.004693 deg/s, cmd heading: 31.609487 deg, new cmd heading: 31.605445 deg. ij HeadingCmd: 0.551619 target range: 191.601501 and range: 191.60 m.h6 ?hhhhggjgrgZBereZe:e*e`+?ɢ(cT<) *?i) LC  i x.}i6 ?v=xi=I6 ?II!)%tAichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253703@ @@4@@=@ԙ^AA>A> AY Ia Iq O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505664a#,}LAPNΜ>N ?N˼ٱNk=NH@?@G??n?"q?:Ⱥ??iNΜ>INɚb;NCYfPByfH IIj>)j;bDvVDv8yCY=% Q=ٔ@;Q->9Y=%Ey%}D%q";E%>)Q 554-Ht?Q 954-V)-lBY1y=v?Q I=@-uDI-;i-;-K4yE̓BɮE AE¨EE EE6E"E&:*E:VEc4ZEa@a@a@a@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 191.60 m."i몸*i몸% ProNav: ac range: 191.601501 m, nav range: 190.497528 m, bearing: 33.779066 deg, approach rate: -0.527572 m/s, LOS rate: -0.004670 deg/s, cmd heading: 31.605447 deg, new cmd heading: 31.601629 deg. i%-HeadingCmd: 0.551552 target range: 191.601501 and range: 191.60 m.h-2 ?h)h)h)h)g)g1jgQrgqeqreqZey:ey*e}h?颡ɢ<) ?i)եiui2 ?#=+4=I2 ?Iu9@q @q@u/@qB}>BBZ IB^BB' =BBBŰ;B#nEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757532^A=) A ؟AI I O >ug#,{}LA6@>6j ?6Küٱ6Z=6H;?@ZX?`q? ?Py?+?@8?i6@>I6a;6CYBOByBF IbDJIVDJ۱8yRߴ%RQ=ٔR;Q-V>9V"?YV"?=VEyV}DZ;R;EZ>\Q 5b4^t?Q 9b4^S)^qBY`yf?Q If@^uDI^8;i^;^R4yhɮj Ah:ix|FNOT Ignoring new targets: 191.60 m."i8¸*i 8¸ ProNav: ac range: 191.601501 m, nav range: 190.283524 m, bearing: 33.777090 deg, approach rate: -0.573988 m/s, LOS rate: -0.005306 deg/s, cmd heading: 31.601629 deg, new cmd heading: 31.597672 deg. i`HeadingCmd: 0.551483 target range: 191.601501 and range: 191.60 m.h%. ?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@3@Yɢe<)a e ?ia)e鮢aiim% im. ?uՓ=uq=Iu. ?Iq9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012504)E EE3E"EV:*E:VE4ZEBE9ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261659m#,`V}LA21>2 ?2ٱ2=2H7?.F?@? ? pṿ{o?`Dк??i21>I2Aa;2CYNSByRL IiMMb@Mb@Mb@IIII I9ML7A`?I +?MbPYM+?yM94=YMM@MA M@)IIYM@bDmGVDmٱ8y}3<%}==ٔ} ;Q->9Y=Ey}DS;E>Q 54ut?Q 94O)tBY?Q E:y"?Q I@uDI;i;CZ4yBɮ1 AE:iFNOT Ignoring new targets: 191.60 m."i*i ProNav: ac range: 191.601501 m, nav range: 190.055222 m, bearing: 33.773874 deg, approach rate: -0.528886 m/s, LOS rate: -0.007459 deg/s, cmd heading: 31.597671 deg, new cmd heading: 31.591231 deg. ihZHeadingCmd: 0.551371 target range: 191.601501 and range: 191.60 m.h& ?hhhhggjgrgcBereZe:e*e`!@1ɢ5<)1 5Z ?i9)=ݞ99i=hiE& ?E=E-=IE& ?IIUN>iU>9@ @@@@xA@zAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514755E EEE"E:*E:VEZEa@a@a@a@^A5<=I I O- > st#,D1}LA6ҫ>6ų ?6ٱ6=6H7??g?@? r?I6ͬa;6CY@yBK I DDbDJ+VDJ8BV{>BV&CBV` IBVdBBV) =BTBTBV;BVnEybs%bW=ٔf%;Q-f>9dYd=fEyf}Dj[:Ej>lQ 5r4nu?Q 9r4nL)nwBYpyv"?Q Iv@nuDIn:in:n`4yxɮz8 Ax:iFNOT Ignoring new targets: 191.60 m."i% *i% 5 ProNav: ac range: 191.601501 m, nav range: 189.853882 m, bearing: 33.771019 deg, approach rate: -0.529162 m/s, LOS rate: -0.007513 deg/s, cmd heading: 31.591230 deg, new cmd heading: 31.585513 deg. i5\=HeadingCmd: 0.551271 target range: 191.601501 and range: 191.60 m.h= ?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM -@]>Yechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765971颁ɢh\<)  ?i)~顑iki ?c=1^=I ?I59@1 @1@1@1^AU=IIO>5 BDAT read: Rx Time:01:14:30.5533 = TRx dataTimestamp_ set to:1764897271.616779U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025122E  E E 0E "E ;*E z:VE 4ZE BE @2 ?2򯭼ٱ2=2Hj3?j??{?T?㯺??i2%E>I2a;2CYBRByBJ Ii Mb@Mb@Mb@     9 K7?~jt?MbpY  ?y =   A @) @ Y @bDu0VDuı8ya%?=ٔ:Q->9Y=Ey}D;E>Q 54u?Q 94=I)zBY ?Q E:y ?Q I@uDI=:iF:hh4yɮ? A:iFNOT Ignoring new targets: 191.60 m."i1ָ*i1ָ ProNav: ac range: 191.601501 m, nav range: 189.622726 m, bearing: 33.768511 deg, approach rate: -0.538785 m/s, LOS rate: -0.005852 deg/s, cmd heading: 31.585513 deg, new cmd heading: 31.580492 deg. i[+HeadingCmd: 0.551184 target range: 191.601501 and range: 191.60 m.h^ ?hhhhggjg rg GBe re Ze :e *ek @AɢE,<)A EV ?iI)MIIiMiU^ ?UF=UK=I]^ ?IYGG{A9@ @@/@5뤿95{AY5:Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269854A^AU=qIIO>ԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524796#,~LAE} E}E}2Ey"E}:*E}h:VE}4ZEya@a@a@a@A>A?DsٱE=H -?I??? ȹN? 1?V?iA>I`;CYWByQ I 4==bDIVD۱8y<%D=ٔHx:Q->9Y=Ey}DWI;E>Q 54Gu?Q 94E)|BYy h ?Q I @uDI :ii:o4yBɮ A5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 191.60 m."iE+޸*iE+޸i ProNav: ac range: 191.601501 m, nav range: 189.397888 m, bearing: 33.765979 deg, approach rate: -0.538260 m/s, LOS rate: -0.006070 deg/s, cmd heading: 31.580493 deg, new cmd heading: 31.575422 deg. i1HeadingCmd: 0.551095 target range: 191.601501 and range: 191.60 m.h ?hhhhggjgrgereZe:e*e@9ɢ=+<)9 E ?iA)E_ѓAaieim ?m=mw=Iu ?Iqy=9@9 @9@9@A@E=@E=ԙB|>B'CBf IBiBB( =BBB;BmEBaBaBaBe( =Be( =CeI:5DAT read: 01:14:30.5533 LVL= 27632, 28145, 24914, 25651, AGC= 67, IDX= 99, 0.03, 2.440, 0.794, 2.567, 1.982, PHS= 0.560,-1.142, 0.541, RAW= 149.5, 0.5, CAL= 148.4, 0.1, ROT= 1.6, -0.1 Ygot valid direction response: 01:14:30.5533 LVL= 27632, 28145, 24914, 25651, AGC= 67, IDX= 99, 0.03, 2.440, 0.794, 2.567, 1.982, PHS= 0.560,-1.142, 0.541, RAW= 149.5, 0.5, CAL= 148.4, 0.1, ROT= 1.6, -0.1 PDAT read: Bearing 181.6, 2.5 (Local) ~Local bearing/azimuth received: Bearing 181.6, 2.5 (Local) DAT read: Range 11 to 50 : 189.6 m (Round-trip 252.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999609,0.027922,0.001745]Fpublishing direction and range infoyqu6-(?mYz?n p\?Yu=CqukumuRa u3d)qIu)\?iu-u~ ?u<&@u5A- >I I O > #,!~LA2ߥ>2d?2Eٱ2T=2H'?`o7?_?,?\?[?i?i2ߥ>I2I?`;2CYBMByBD IIF=)Fa=bDJUVDJ8y~_%~[=ٔ~:Q-~>9Y=Ey~D w;E >Q 54,u?Q 94B)~BYy ?Q I@uDI;ij;6v4y)ɮ-p A)ii~LAj=C"j=C:jX?Rj@ٰg@@-@V-?Bj6-(?mYz?n p\?*j<2jZjMc@|5H'Z@sZ@JjTD?vT~?3R{?j:B jCiJ&4?iDjBjjDjrj  BDAT read: Tx time:01:14:31.9962 $Ping request sent.ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2438468#,Y;~LA,Y|y|iMb@Mb@Mb@ 9Q?y&1?~jthY?y`<D@ )r@Y@bDhVD8ٔQ->9Y=Ey~DE>Q 54=u?Q 94(?)BY& ?Q E :y ?Q I @vDI:i:}4yBɮ{ AE:i9=FNOT Ignoring new targets: 189.60 m."iE*iEU ProNav: ac range: 189.600739 m, nav range: 188.665970 m, bearing: 33.626424 deg, approach rate: -0.540642 m/s, LOS rate: -0.003741 deg/s, cmd heading: 31.570852 deg, new cmd heading: 31.567632 deg. iU۸]HeadingCmd: 0.550959 target range: 189.600739 and range: 189.60 m.h] ?hYhYhYhagagajgarge=BeireiZei:eq*eu?颙ɢu<) z?i) 顡i!Πi ?= =I ?Iԉi@i @q@u?5@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.496290ԹDzDE EE/E"EV:*E҆:VEJ4ZEa@a@a@a@^A = A I I O >#,xU~LAB&>B$B&` IB&dBB&) =B$B$B&C;B&mE>%>>?>Lٱ>=>H@b ?@???[Ϲ@7i?Sk? e?i>%>I>z@_;>CYZQByZJ I`bAA`bDf^VDf8yn8<%n<ٔrW;Q-r>9pYp=vEyv!~Dv;Ev>xQ 5~4zJu?Q 9~4z+<)zBYy?Q I@zvDIz:iz:zD4y ɮ V A :i15FNOT Ignoring new targets: 189.60 m.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747976"iE*iEU ProNav: ac range: 189.600739 m, nav range: 188.467987 m, bearing: 33.624945 deg, approach rate: -0.535598 m/s, LOS rate: -0.004004 deg/s, cmd heading: 31.567632 deg, new cmd heading: 31.564671 deg. iU긝]HeadingCmd: 0.550907 target range: 189.600739 and range: 189.60 m.h]E ?hahahahagagajgirgieireiZei:eq*eu;?颙ɢ@<) ?i)ˉ顡iɤiE ?=;=IE ?IQ@Q @Q@U3@Q@]zA@Y^AqA}xAzA}wAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000786A I I I E  E E 1E "E 2:*E :VE -4ZE BE -*H#,So~LA2>2:?2ٖٱ2r=2H@? s/?6?V? @ڒ?`o? k?i2>I2^;2CYNNByRE I TTAi]Mb@Mb@Mb@YYYY Y9]q= ףp?Q?MbY] ?y]u<]YY ]@)]@YYYbDu-VDu8yy%@=ٔ2:Q->9Y=Ey2~D:E>Q 54[u?Q 948)BY ?Q E:y?Q I@vDI(:i:4yBɮ| AE:iFNOT Ignoring new targets: 189.60 m."i*i ProNav: ac range: 189.600739 m, nav range: 188.235870 m, bearing: 33.624836 deg, approach rate: -0.544851 m/s, LOS rate: -0.000256 deg/s, cmd heading: 31.564671 deg, new cmd heading: 31.564453 deg. iﶝHeadingCmd: 0.550904 target range: 189.600739 and range: 189.60 m.h ?hhhhggjg rg ?Be re Ze :e *e?9ɢ=ڀ<)A E?iA)EL!AAiEkiM ?M`=M4=IU ?IQ@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252234iԙ^A=Ae .AIi Iy O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5039000#,Z/~LA2nw>2-?2gٱ2,=2H?@? 6??`͹ ?đ?@?i2nw>I2^^;2CY:HBy:> IbDj6VDjʱ8yrS%rU=ٔrbL:Q-r>9v ?Yv ?=vEyvB~DzD;Ez>xQ 54ziu?Q 94z5)zBYy?Q I@z*vDIz;iz;ze4yɮ A:i1=FNOT Ignoring new targets: 189.60 m."i=*i=M ProNav: ac range: 189.600739 m, nav range: 188.027161 m, bearing: 33.624665 deg, approach rate: -0.545653 m/s, LOS rate: -0.000449 deg/s, cmd heading: 31.564452 deg, new cmd heading: 31.564109 deg. iMRUHeadingCmd: 0.550898 target range: 189.600739 and range: 189.60 m.hU ?hQhQDYD]<Ee EeEe2Ea"Ee:*Ee:VEe4ZEaam@am@am@am@hYhqgqgqjgyrgyeyreyZe:e*e1?ԙ颱ɢ<) ?i)K݂项ii ?F==I ?I59@1 @1@5/@9BAAE<BEm>BE%CBABABE' =BABEDBE;BEdmE]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755991^AuТ=A ؟AI I! Om > Z#, ~LA.笯>.?. ٱ.=.H? h??q? S!? ?`?i.笯>I. ^;.CYBTByBM IbDJAVDJԱ8yfr=%fL=ٔf:Q-f>9j"?Yj"?=jEyjR~DnX:En>pQ 5v4rxu?Q 9v4r2)rBYtyv ?Q Iv@r8vDIr:ir:rh4y~Bɮ~W AiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 189.60 m."i7*i7 ProNav: ac range: 189.600739 m, nav range: 187.808380 m, bearing: 33.624457 deg, approach rate: -0.521984 m/s, LOS rate: -0.000496 deg/s, cmd heading: 31.564107 deg, new cmd heading: 31.563692 deg. iXhHeadingCmd: 0.550890 target range: 189.600739 and range: 189.60 m.h& ?hhhhggjg rg e re Ze:e*eV@颁ɢ<) ' ?i)^#~顉i7Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011514ie& ?eǔ==I& ?IbEjErEÒ0E EE0E"ED:*E:VE4ZEBE2m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259881y A I I O >#,.~LAYVByO II%l>)%=iMb@Mb@Mb@ 9sh|??Mb`9Y=Eyd~DE>Q 54lju?Q 94 BE b>BE #CBE Z IBE ^BBE - =BA BE }DBE ;BE 24?2Lٱ2=2H?'?@?g?~广M)???i2}O>I2];2CY:UBy:N IbDFVDF8yN»%N`=ٔN *;Q-N>9PYP=REyRr~DV_;EV>XQ 5Z4Z͗u?Q 9^4Z},)XY\y^w?Q Ib@ZTvDIZ{;iZ;Zj4yfBɮf AfE:itzFNOT Ignoring new targets: 189.60 m."iz8*iz8 ProNav: ac range: 189.600739 m, nav range: 187.376312 m, bearing: 33.628043 deg, approach rate: -0.564778 m/s, LOS rate: 0.004579 deg/s, cmd heading: 31.567686 deg, new cmd heading: 31.570872 deg. i 9 HeadingCmd: 0.551016 target range: 189.600739 and range: 189.60 m.h ] ?hhhhgg%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764029jg!rg!e)re)Ze):e)*e5@5@ɢy<) s ?i)\pii ] ? ٔ= =I] ?IԱ9@ @@/@@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018132 I I1 E  E E 3E "E :*E &p:VE 4ZE BE H81 #,A~LA6C>6D?6+7ٱ6q=6H`6?cs?&??@?~??i6C>I6];6CYNYByRS IiMMb@Mb@Mb@IIII I9MDl?MbYMO ?yMMIMA M@)Mr@IYM@aeAAbDmVDm8y}<%}==ٔ}:Q-}>9Y=Ey~D[E>Q 54Ϩu?Q 94"))YS ?Q E:yR?Q I@cvDI";i&;4yɮ A:iFNOT Ignoring new targets: 189.60 m."i}8*i}8 ProNav: ac range: 189.600739 m, nav range: 187.137604 m, bearing: 33.629736 deg, approach rate: -0.551843 m/s, LOS rate: 0.003920 deg/s, cmd heading: 31.570873 deg, new cmd heading: 31.574264 deg. i8HeadingCmd: 0.551075 target range: 189.600739 and range: 189.60 m.h> ?hhhhggjgrg:BereZe:e*e @1ɢ5<)1 5T ?i1)=h99i=iE> ?E=E*=IE> ?II9@ @@0@AzAzA5BDAT read: Rx Time:01:14:34.6505 5TRx dataTimestamp_ set to:1764897275.896803=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269198IQIaOm>9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519918k#,y LA@FT>F?FMٱF=FH@?r?8 ?`? s@ ??\?iFT>IFI];DYN^ByRY I TTTVAbDZVDZ8yb<%bV=ٔf6:Q-f>9dYd=jEyj~DjCEj>lQ 5r4nϷu?Q 9r4n-&)lYtyv??Q Iv@nqvDInK:in:n4yzBɮz Ax:iFNOT Ignoring new targets: 189.60 m."i%8*i%85 ProNav: ac range: 189.600739 m, nav range: 186.927124 m, bearing: 33.631252 deg, approach rate: -0.552036 m/s, LOS rate: 0.003979 deg/s, cmd heading: 31.574264 deg, new cmd heading: 31.577298 deg. i5 8EU EUEU2EQ"EU;*EU?:VEU4ZEQa]@a]@a]@a]@eHeadingCmd: 0.551128 target range: 189.600739 and range: 189.60 m.he ?hahahahigigijgirgieqreqZeq:ey*e}ۿ@yɢ{f<) ?i)nra项iF»i ?;==I ?I)ԑ9@ @@0@IqIO<>B_>BBBBBBB;B6mEԹmDAT read: 01:14:34.6505 LVL= 32752, 32753, 30578, 30579, AGC= 69, IDX= 99,-0.30,-1.440,-3.017,-1.261,-1.820, PHS= 0.482,-1.152, 0.515, RAW= 151.0, 1.9, CAL= 149.8, 1.5, ROT= 0.2, -1.5 uYgot valid direction response: 01:14:34.6505 LVL= 32752, 32753, 30578, 30579, AGC= 69, IDX= 99,-0.30,-1.440,-3.017,-1.261,-1.820, PHS= 0.482,-1.152, 0.515, RAW= 151.0, 1.9, CAL= 149.8, 1.5, ROT= 0.2, -1.5 u8DAT read: $Error in header }*Received a bad headerX#Rx 1: Read direction message, but no range.\direction in FSK: [0.999651,0.003489,0.026177]y9=q$?l?P!Κ?9===rw =sw)=EI=>i=t= ?=+(@===T'@ =Pw<)=d;I=Pwּ9=޼=j?ISw?? =;y ?)=aI=d;i=PwּT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse !#,PS$LA2>2?2vٱ2=2H?`@B? ?h?`SE@ю?@ q??i2>I2F];0YBbByB^ I\bDJVDJ8yj{<%jJ=ٔE:Q-M>9IYI=MEyU~DUE]>aQ 5u4ecu?Q 9}4e")aYyy ?Q I@evDIed;iee;e4yɮg AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 189.60 m."i8*i8 ProNav: ac range: 189.600739 m, nav range: 186.694565 m, bearing: 33.632964 deg, approach rate: -0.543083 m/s, LOS rate: 0.004004 deg/s, cmd heading: 31.577300 deg, new cmd heading: 31.580729 deg. iv8HeadingCmd: 0.551188 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgrgere Ze :e *e  @9ɢ=<)9 =?i9)EYAAiE-ƻiM ?M=M{=IM ?IIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@  @ @M3@Ee EeEe0Ea"Ee&:*Ee:VEe4ZEaBEej; v>}Gɦ9YAM T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseI O#,.>LAY~`By~\ IiMb@Mb@Mb@ 9!rh?{Gz?~jth?Yl?y#<D;@ )@Y@bDVD8yĻ%==ٔQ->9Y=Ey~DE>Q 54u?Q 94)BYs?Q E:yc?Q I@vDI ;i&;G4yBɮ AE:i FNOT Ignoring new targets: 189.60 m."i Ʋ7*i Ʋ7 ProNav: ac range: 189.600739 m, nav range: 186.474243 m, bearing: 33.633464 deg, approach rate: -0.537700 m/s, LOS rate: 0.001221 deg/s, cmd heading: 31.580729 deg, new cmd heading: 31.581729 deg. i8HeadingCmd: 0.551205 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgrgGBereZe:e*eh@!ɢ%x<)) U`?iQ)]̿QYYi]C˻ie ?e=eĥ=Ie ?IiIq)uyAI%9@! @!@%?5@!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE] E]E]4EY"E];*E]~:VE]4ZEYae@ae@ae@ae@q^AM @=AM >AM >ԡ A .AI I O >B B B f IB iBB B B B ;B .mEB#CB$CB˔CB- =B+ =C;6ۺ#,pXLA2>2?2ieٱ2=2H`?@ ?@/?s? ?S?a?i2>I28a];2CY>lBy>j IIn<)nR=bDvVDv84=%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey~m=% W=ٔ P3;Q- >9 ?Y ?=Ey~Df<E>!Q 5%4%/u?Q 9-4%)%BY)y-Q?Q I-@%vDI%:i%G:%4y1ɮ=% A9:iYeFNOT Ignoring new targets: 189.60 m."ie¶7*ie¶7u ProNav: ac range: 189.600739 m, nav range: 186.271942 m, bearing: 33.633941 deg, approach rate: -0.529059 m/s, LOS rate: 0.001248 deg/s, cmd heading: 31.581729 deg, new cmd heading: 31.582684 deg. iu58yHeadingCmd: 0.551222 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgrgereZe:e*e<@ɢ k<) ?i)FJi|ϻi ?^=>=I ?Ii@q @q@u/@qԩ^AT=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE}  E} E} 2Ey "E} V:*E} Ar:VE} 4ZEy BE} 9 #,qLA2y>2?2x]ٱ2a=2H? q? n?`?@ݸ残? =3? ?i2y>I2Y];2CYBnByBm Ii5Mb@Mb@Mb@1111 195"~j?Mb?Mb?Y5S?y5<5<5r@5 A 1)5r@1Y5\@bDMVDM8y]K<%]D=ٔ]6:Q-e>9e"?Ye"?=eEye~Dm}Em>qQ 5}4uu?Q 9}4u)uBY}h?Q E}:y?Q I@uvDIu;iu;u44yBɮ AE:iFNOT Ignoring new targets: 189.60 m."i+*i+ ProNav: ac range: 189.600739 m, nav range: 186.059372 m, bearing: 33.633738 deg, approach rate: -0.512713 m/s, LOS rate: -0.000489 deg/s, cmd heading: 31.582685 deg, new cmd heading: 31.582280 deg. ieHeadingCmd: 0.551215 target range: 189.600739 and range: 189.60 m.hi ?hhhhggjgrgKBereZe:e*e@ɢTt<) O?i)%$B!!i%Իi-i ?- =-=I-i ?I)9@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ah=1A I I9 OM >Y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse#, LARZo>R#?Rq-YٱR$=RH?  ??`C?Gz%? ?`p?iRZo>IR:f];RCY^xBy^y IbDfVDf8yna==%nP=ٔr /:Q-r>9pYp=vEyv~DvEv>E EE.E"E:*E:VEـ4ZEa @a @a @a @xQ 54z,v?Q 94z)zBYy?Q I@zvDIza;iz;z4y!ɮ% A!:iIMFNOT Ignoring new targets: 189.60 m."iUF*iUFe ProNav: ac range: 189.600739 m, nav range: 185.857971 m, bearing: 33.633557 deg, approach rate: -0.509513 m/s, LOS rate: -0.000459 deg/s, cmd heading: 31.582279 deg, new cmd heading: 31.581917 deg. ieVmHeadingCmd: 0.551208 target range: 189.600739 and range: 189.60 m.hm ?hihihihigigqjgrgereZe:e*eׅ@ɢ <)  ?i ) x: 1i5ػi5 ?===c=I= ?I9MR>iM >9@ @@@@p=@=9BmZ>BiBml IBmnBBm, =BiBm|DBm;BmmET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A-q=iAY Ii Iy O >ԑ J#,$LARl>R?RVٱRB[=RH@;?@?L?#? Њ???iRl>IRe];RCY~}By I bDMVDMz8y]o<%]E=ٔ]9Q-e>9aYa=eEye~DmE:Em>qQ 5}4uv?Q 9}4u)uBYyy}?Q I@uvDIu;iu;uR4yBɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 189.60 m."i*i ProNav: ac range: 189.600739 m, nav range: 185.644806 m, bearing: 33.633344 deg, approach rate: -0.516089 m/s, LOS rate: -0.000516 deg/s, cmd heading: 31.581917 deg, new cmd heading: 31.581491 deg. iqHeadingCmd: 0.551201 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgrgereZe:e*e @ɢ0B=) /?i)2iݻi% ?-=-#=I- ?I1}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԑ@ @@@EM EMEM2EI"EM;*EMą:VEM4ZEIBEMD !!#,uLA6/>6 ?6T"Nٱ6E=6H`?@Lf?c ??ĉ?C? q?i6/>I6"F];6CY^By^ IiMMb@Mb@Mb@IIII I9M%C?S㥛?y&1?YMZ?yM/9yYy=}Ey}D:E>Q 54 v?Q 94x)BY?Q E:yK?Q I@vDI;i?;o4yɮ A:iFNOT Ignoring new targets: 189.60 m."iӉ*iӉ ProNav: ac range: 189.600739 m, nav range: 185.434250 m, bearing: 33.631815 deg, approach rate: -0.517750 m/s, LOS rate: -0.003766 deg/s, cmd heading: 31.581490 deg, new cmd heading: 31.578427 deg. iܸHeadingCmd: 0.551148 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgqrguFBeqreyZey:ey*e}@]ABɢ]6O=)Y ]?iY)e*)aaimiu ?u'=}u==I} ?IyA@A @A@A@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!D9zD=@AEE EEEE3EA"EE:*EExv:VEE4ZEAaM@aM@aM@aM@I ^A B T>B "CB  IB }BB . =B B B ;B lEI I O >#,YOLA2 =>2?2vhFٱ2>=2H???`?Ÿ?@??i2 =>I2Ɛ];2CY>By> I DF<bDFVDFs8yN<%RY=ٔRۣ:Q-R>9TYT=VEyVDV/:EV>XT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ 5=4Z.v?Q 9=4Z )ZBY9yEx?Q IE@ZvDIZ;3#,+LA2>2R?2l?ٱ2e=2HQ?@`? #? ?@!Xi?U??i2>I2;];2CY:By: Ii~Mb@Mb@Mb@|||| |9~K7?kt?y&1|?Y~I ?y~ 0=~`;|~A ~@)||Y~\@bDVD8y-c<%-B=ٔ-:Q-->91Y1=5Ey5(D=͵:E=>AQ 5M4E=v?Q 9M4E Q =MtI)EBYM ?Q EM:yM#?Q IU@EvDIE.:iE:Ed4y]BBɮ] AY:iFNOT Ignoring new targets: 189.60 m."i+*i+5 ProNav: ac range: 189.600739 m, nav range: 185.007797 m, bearing: 33.626599 deg, approach rate: -0.575804 m/s, LOS rate: -0.009350 deg/s, cmd heading: 31.575503 deg, new cmd heading: 31.567982 deg. i5戹=HeadingCmd: 0.550965 target range: 189.600739 and range: 189.60 m.h= ?hAhAhAhAgAgAjgIrgMdBeIreIZeI:eQ*eu @ɢ =) L#?i)i\i  ? := r=I  ?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@ /@ !1^A- ا=I I O >Y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse #, LA2>2M?2l5ٱ2=2H 0 ?`? ?4?O=?X?.?i2>I2; ^;2CYNByR IbDZVDZ8ybK=%bQ=ٔb:Q-f>9dYd=fEyf8Dj, ;Ej>lQ 5r4nELv?Q 9r4n)nBYpyr#?Q Ir@nvDIn;in;n74yxɮz} AxD9D=<EE EEEE0EA"EE;*EE:VEE4ZEAaM@aU@aU@aU@:iFNOT Ignoring new targets: 189.60 m."i*i ProNav: ac range: 189.600739 m, nav range: 184.793549 m, bearing: 33.623052 deg, approach rate: -0.527368 m/s, LOS rate: -0.008741 deg/s, cmd heading: 31.567983 deg, new cmd heading: 31.560881 deg. iHeadingCmd: 0.550841 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgrgereZe:e*e `i@1颅BBɢ%=) '?i)m顉i_i ?E==I ?II@I @I@M0@IA)A-AAB5L>B5!CB5 IB5BB1B1B5{DB5;B5lEaT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A=ԉII O >Թ AG #,&LABs>Bi?Bc+ٱB =BH?>7?`??Z\l?@;ֺ?`i?iBs>IB^;@Y^By^ IbDfVDf8y z"=% F=ٔ :Q- >9Y=EyID;E>!Q 5-4%[v?Q 9-4%)%BY)y-$?Q I-@%wDI%.:i%:%s4y=EBɮ=R A=E]B*** querying acoustic contact ***iYiY:iamFNOT Ignoring new targets: 189.60 m."iu/*iu/ ProNav: ac range: 189.600739 m, nav range: 184.566391 m, bearing: 33.619224 deg, approach rate: -0.569484 m/s, LOS rate: -0.009610 deg/s, cmd heading: 31.560880 deg, new cmd heading: 31.553213 deg. iHeadingCmd: 0.550707 target range: 189.600739 and range: 189.60 m.h* ?hhhhggjgrgereZe:e*e@ @CBɢ"=) +?i)%ivmi * ? 5P=/=I* ?IԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEm EmEm.Ei"EmV:*Em1:VEmـ4ZEiBEm9: #,@LA2>29?2$ٱ2=2H I?`c?m%? ? #?ɺ??i2>I2^;0Y:By: Ii~Mb@Mb@Mb@|||| |9~m?S㥫?y&1|?Y~?y~/]=||~jA ~@)||Y~ @bDVD8yj%B=ٔX:Q->9Y=EyZD;E>Q 54Xkv?Q 94!)BYE?Q E:y )?Q I@wDI ;i* ; 4yɮ A:iFNOT Ignoring new targets: 189.60 m."ij*ij ProNav: ac range: 189.600739 m, nav range: 184.331009 m, bearing: 33.613831 deg, approach rate: -0.558789 m/s, LOS rate: -0.012818 deg/s, cmd heading: 31.553213 deg, new cmd heading: 31.542414 deg. iHeadingCmd: 0.550519 target range: 189.600739 and range: 189.60 m.h ?h h hhg!g!jg)rg5eBe1re9ZeA:eA*eMoq!@颙ɢF=) J%?i)s3顩iiu ?u]=u6=I} ?IyM9@ @@2@iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseD9zD9EE EEEE2EA"EED:*EE n:VEE4ZEAaM@aM@aM@aM@1 ^AM 벫=I I O >B J>B B IB BB / =B B B p;B lEV #,ZLAF">F?F{ٱF19=FH"?j?-? H?۷?W??iF">IFۅ_;DYRByR IbDZVDZ}8yb<%bY=ٔf:Q-f>9dYd=fEyfiDjM;Ej>lQ 5r4nUyv?Q 9r4n)nBYpyvZ)?Q Iv@n$wDInA;in;ne4yzHBɮz AzE:iFNOT Ignoring new targets: 189.60 m."i%n*i%n5 ProNav: ac range: 189.600739 m, nav range: 184.121231 m, bearing: 33.608936 deg, approach rate: -0.558001 m/s, LOS rate: -0.013036 deg/s, cmd heading: 31.542415 deg, new cmd heading: 31.532613 deg. i5ܾ5HeadingCmd: 0.550348 target range: 189.600739 and range: 189.60 m.h5 ?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM-"@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse颅DBɢu4$=) %?i)顉i6-i ?&j==I ?IQ;y9@ @@G2@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse1 E  E E E "E ;*E :VE ZE BE [Q #,xLAJH>J?JC:ٱJ'=JH`2?0H? B??`v;?@??iJH>IJ_;JCYRByR Ii-Mb@Mb@Mb@)))) )9-> ףp=?Q?~jthY-?y-u=-D-@-A -@)))Y)bDEVDEq8yUI<%U&=ٔ].;Q-]>9] ?Y] ?=]Eye}DeU;Ee>iQ 5u4mv?Q 9u4m)mBY}?Q E}:y},?Q I}@m6wDIm4:im:m4yɮ AMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse:iQUFNOT Ignoring new targets: 189.60 m."i]*i] ProNav: ac range: 189.600739 m, nav range: 183.839645 m, bearing: 33.601201 deg, approach rate: -0.546870 m/s, LOS rate: -0.015044 deg/s, cmd heading: 31.532613 deg, new cmd heading: 31.517121 deg. iAܹHeadingCmd: 0.550078 target range: 189.600739 and range: 189.60 m.h ?hhhhggjgrgjBere Ze :e *e `=>#@UEBɢ}=)y }&?iy)@׻顁i=i ??=8=I ?I1i>aU 9@Y  @Y @] 0@Y @e zA@e zA T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseEU  EU EU /EQ "EU T;*EU ~:VEU J4ZEQ a] @a] @a] @a] @ԉ ^A =ԱBE>B CB IBBB1 =B0DBzDB];BvlEB!CB!CBB. =B. =C_5A ؟AII!O-?7i& #,㚀LA}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԱu>u"?u7ٱu=uH@?7ʠ?\J?F?pF~? ?`H?iu>Iu`;uCYmBym II}<)}C=bDVDj8y<%=ٔͺ:Q->9"?Y"?=EyDO;E>Q 54ܢv?Q 94Z)BYy,?Q I@MwDI:i:$4yLBɮ AE:iFNOT Ignoring new targets: 189.60 m."ii*ii5 ProNav: ac range: 189.600739 m, nav range: 183.492401 m, bearing: 33.591500 deg, approach rate: -0.591142 m/s, LOS rate: -0.016547 deg/s, cmd heading: 31.517122 deg, new cmd heading: 31.497683 deg. i5C򹝏=HeadingCmd: 0.549738 target range: 189.600739 and range: 189.60 m.h= ?h9h9h9h9g9gAjgArgAeIreIZeI:eI*eMb$@}GBɢ}L=)y }*?iy)=O%AAiENiU ?UH=U3q=IU ?IU9@Q @Q@U/@Yi) I) - - #,ԶLA2S>2Vt?2A@λٱ2=2Hy??`?`R? ?y?`i?` ?i2S>I2ea;0Y:By> Ii~Mb@Mb@Mb@|||| |9~!rh?Zd;?Mb`?Y~l?y~y=~;~r@~jA |)||Y~@bDVDS8y-2%-e=ٔ-I;Q-->91Y9==Ey=D=f;E=>AQ 5M4E!v?Q 9M4E7)EBYR?Q E:y/?Q I@EYwDIEP'=)  %?i ) (خ  i |si@ ?{=9 =I@ ?IDAT read: 2Acoustic response timeoutA9@ @@%r1@!i^A= tf=ԙ = 2Acoustic response timeoutAq Iy I O >3 #,ЀLAEF EFEF3ED"EF:*EF|:VEF4ZEDaJ@aJ@aJ@aJ@N>N?NٱNÔ=NH`?`Hk?\?`d?`嶿/Xu?@wf?5?iN>INa;NCYVByV I\\bDVDO8y%^'%%K=ٔ%0;Q-->9)Y)=-Ey-D5a;E5>9Q 5E4= v?Q 9E4=)=BYAyE/?Q IE@=fwDI=:i=:=14yU7BɮUc AUEy:iyFNOT Ignoring new targets: 189.60 m."iߡ*iߡ ProNav: ac range: 189.600739 m, nav range: 183.092682 m, bearing: 33.578905 deg, approach rate: -0.556588 m/s, LOS rate: -0.017690 deg/s, cmd heading: 31.485970 deg, new cmd heading: 31.472465 deg. iHeadingCmd: 0.549298 target range: 189.600739 and range: 189.60 m.h͞ ?hhhhggjgrgereZe:e*e%@IBɢx^'=)  ?i)yi i͞ ?=ý=Iu͞ ?IqBI>BBBB0 =BB{DB5;BPlE @  @ @ 4@ ԩ2Acoustic response timeout^AM=AUyAzAQA I I O > : #,zꀌLAFo>F??F WٱFb`=FH?K? a?ж? d鶿j?}??iFo>IF b;FCYRByV IbDbVDbq8yn.%rO=ٔr;Q-r>9tYt=vEyvDzd;Ez>|Q 54~v?Q 94~)~BY y $0?Q I @~twDI~:i~2:~84yɮl A:i9=FNOT Ignoring new targets: 189.60 m."iE *iE U ProNav: ac range: 189.600739 m, nav range: 182.882477 m, bearing: 33.572166 deg, approach rate: -0.531337 m/s, LOS rate: -0.017054 deg/s, cmd heading: 31.472463 deg, new cmd heading: 31.458970 deg. iU]HeadingCmd: 0.549063 target range: 189.600739 and range: 189.60 m.h]^ ?hYhahahagagajgirgieireiZei:eq*eu w&@2Acoustic response timeout额JBɢ =) ?i)顩i i^ ?ԕ=o\=I^ ?IE EE4E"E;*E҆:VE4ZEBE9NA #,QLAR >RZ?RٱR=RH?$T`7X?IRЉb;RCYfByf IiMb@Mb@Mb@ 9Zd;O?J +?MbPY~ ?yH=@A r@)@Y@bDVDj8ysĻ%==ٔE;Q->9Y=EyDM;E>Q 54Dv?Q 94U)BY ?Q E:yf*?Q I@wDI%;i$;F@4y:Bɮ A1:iFNOT Ignoring new targets: 189.60 m."iDo*iDo ProNav: ac range: 189.600739 m, nav range: 182.649826 m, bearing: 33.566339 deg, approach rate: -0.521339 m/s, LOS rate: -0.013074 deg/s, cmd heading: 31.458970 deg, new cmd heading: 31.447302 deg. iiHeadingCmd: 0.548859 target range: 189.600739 and range: 189.60 m.h ?hhhhggjg!rg%ZBe!re!Ze!:e)*e- '@LBɢ=) #?i)]xiFi ?==I ?I)2Acoustic response timeouti9@ @@/@E EE0E"El;*E:VE4ZEa@a@a@a@ԉA A @AB E>B B IB BB / =B /DB zDB ;B lE^A =Թ A1 IA IQ O] >6G #,@LA.2Acoustic response timeout6f>6}?6;.ٱ6`=6H?`V@Xܬ?n??`΅zE??(?i6f>I6b;6CYBByB IbDJVDJp8yR0%R\=ٔV i;Q-V>9TYT=VEyVDZ):EZ>\Q 5b4^v?Q 9b4^)^BY`yf*?Q If@^wDI^u:i^:^F4yhɮj Ah:i|~FNOT Ignoring new targets: 189.60 m."i6*i6 ProNav: ac range: 189.600739 m, nav range: 182.449051 m, bearing: 33.561264 deg, approach rate: -0.566726 m/s, LOS rate: -0.014339 deg/s, cmd heading: 31.447301 deg, new cmd heading: 31.437141 deg. iѹHeadingCmd: 0.548682 target range: 189.600739 and range: 189.60 m.hfv ?hhhhggjgrgereZe:e*e`S(@MBɢ67*=) j?i)%#\!!i% 4i-fv ?ԑ=1=Ifv ?II)E9@A @A@E/@AԱ2Acoustic response timeout^A-+W=bEAjEEw4rEE 0E  E E 2E "E %;*E n:VE 4ZE BE K \M #, 8LA;ɰ;2HX>2v?2:ٱ2h=2H?V|?(n? ?µ0Q f!?`5?i2HX>I2<c;2CYBByB Ii]Mb@Mb@Mb@YYYY Y9]J +?l?MbpY]?y]=]Y]jA Y)]@YY]@bDuVDuy8y4<%==ٔ;Q->9Y=EyDE>Q 54'v?Q 94g)BY ?Q E:yF%?Q I@wDI:iM:JN4y>Bɮ AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 189.60 m."i;8*i;8 ProNav: ac range: 189.600739 m, nav range: 182.218567 m, bearing: 33.556922 deg, approach rate: -0.533676 m/s, LOS rate: -0.010067 deg/s, cmd heading: 31.437141 deg, new cmd heading: 31.428446 deg. ibHeadingCmd: 0.548530 target range: 189.600739 and range: 189.60 m.htl ?hhhhggjg rg JBe re Ze :e*e&)@]OBɢ]q=)a e?ia)eTx time:01:14:44.4461 % DAT read: % 2Acoustic response timeoutCT #,QLAE2 E2E0E0"E2:*E2:VE0ZE0a:@a:@a:@a:@>>>T?>M;;ٱ>/=>HV? /R+?j??`U%cg@??i>>I>$b;>CYJByJ IbDRVDRm8yZ%ZX=ٔ^j;Q-^>9Y=EyDE%>!Q 5-4%,w?Q 9-4%)!Y1y5$%?Q I5@%wDI%:i%%:%U4y9ɮ= AA:iaeFNOT Ignoring new targets: 189.60 m."im7*im7} ProNav: ac range: 189.600739 m, nav range: 182.010712 m, bearing: 33.553031 deg, approach rate: -0.535090 m/s, LOS rate: -0.010029 deg/s, cmd heading: 31.428446 deg, new cmd heading: 31.420655 deg. i}ՒHeadingCmd: 0.548394 target range: 189.600739 and range: 189.60 m.hc ?hhhhggjgrgereZe:e*e`^)@PBɢ"=) R?i)imic ?)/==Ic ?IQU9@Y @Y@]/@YBG>BB IBBB0 =B0DB{DB;B lE2Acoustic response timeoutԁ^Aԩ A .AI I O >(nZ #,rkLA@>c>>&L?>d;ٱ>_=>H?Py?i? ?@̴`pOx?H?i>c>I>?c;>CYJjByJg IbDVVDVe8yZϽ%^J=ٔ^hK;Q-^>9b ?Yb ?=bEyb Df޳Ef>dQ 5j4fVw?Q 9n4f)dYlyn%?Q In@fwDIf;if^;f[4yvABɮvAvE:i FNOT Ignoring new targets: 189.60 m."iJ7*iJ7 ProNav: ac range: 189.600739 m, nav range: 181.800720 m, bearing: 33.549100 deg, approach rate: -0.534359 m/s, LOS rate: -0.010015 deg/s, cmd heading: 31.420656 deg, new cmd heading: 31.412785 deg. iHeadingCmd: 0.548257 target range: 189.600739 and range: 189.60 m.hZ ?hhhhgg2Acoustic response timeoutjgrgereZe:e*e`*@uQBɢ}ss=)y }0 ?iy)}J顁igiZ ?vG==IZ ?IE} E}E}/Ey"E}l;*E}:VE}J4ZEyBE}cFWa #,LA,,VP>V)?V6;ٱV1=VH5? Lí?f?Z?`aɦvv2??iVP>IVc;TYb{Byb| IliMMb@Mb@Mb@IIII I9M"~j?=ٔ}Y;Q-}>9Y=EyDE>Q 54"w?Q 94)BYY?Q E:y?Q I@wDIz;i;rc4yɮ4A:iFNOT Ignoring new targets: 189.60 m."iUl*iUle ProNav: ac range: 189.600739 m, nav range: 181.580795 m, bearing: 33.548604 deg, approach rate: -0.512922 m/s, LOS rate: -0.001157 deg/s, cmd heading: 31.412784 deg, new cmd heading: 31.411792 deg. iemHeadingCmd: 0.548239 target range: 189.600739 and range: 189.60 m.hmgY ?hihihihiggjgrgGBereZe:e*e\+@RBɢt=)  ?i) iigY ?_==IgY ?I! @ @@0@2Acoustic response timeoutE} E}E}2Ey"E}&:*E}$:VE}4ZEya@a@a@a@1^ABi Am <Bu K>Bu !CBu  IBu }BBu . =Bu /DBq Bu ®;Bu kEa I I O >g #,pwLA"?">"2Acoustic response timeout63>6i?6z;ٱ6=6H?@5E ?@^??`P곿`IO| ٸ?`?i63>I6"ec;6CYBpByBo IbDJVDJL8yR9XYX=Z EyZDZ7EZ>\Q 5b4^@0w?Q 9f4^)^BYdyfu?Q If@^wDI^:i^q:^ j4yj.Bɮj AnE:i|FNOT Ignoring new targets: 189.60 m."i*i  ProNav: ac range: 189.600739 m, nav range: 181.387192 m, bearing: 33.548232 deg, approach rate: -0.513170 m/s, LOS rate: -0.000988 deg/s, cmd heading: 31.411791 deg, new cmd heading: 31.411045 deg. i緝HeadingCmd: 0.548226 target range: 189.600739 and range: 189.60 m.hX ?h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5@=S,@9eSBɢe%=)a eW?ii)m iiimj)iuX ?uq=u=IuX ?I@ @@@5@iԑ^A=2Acoustic response timeoutE  E E 1E "E T;*E :VE -4ZE BE G M G  `9 Y Aom #,~QLA2ܵ>2?2f2 <ٱ2[}=2H ?@0?mӮ?Z??ճ`>`0?y?i2ܵ>I2[Xc;0YBnByBm Ionly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.0 +0.00, 20.00,1522.39 a@a a@a a%@a% a%@a% !!bD-VD-88y=%=A=ٔ=:;Q-E>9AYA=E EyE#DMͺEM>QQ 5]4Ul?w?Q 9]4U)UBQ A]+:YYQ E]:yeJ?Q Ie@UwDIU;iUm>Up4yiɮm AiB*** querying acoustic contact ***ii:iԙFNOT Ignoring new targets: 189.60 m."i*i ProNav: ac range: 189.600739 m, nav range: 181.170380 m, bearing: 33.547859 deg, approach rate: -0.512270 m/s, LOS rate: -0.000882 deg/s, cmd heading: 31.411046 deg, new cmd heading: 31.410300 deg. iηHeadingCmd: 0.548213 target range: 189.600739 and range: 189.60 m.hW ?hhhhggjgrgereZe:e*e`?,-@TBɢF=)  ?i)i`i W ? = 3=I W ?I ]2Acoustic response timeout@ @@5@^A(=A>A?I1IIOU> 2Acoustic response timeout t #,I+ӁLA4<ɰ4<E& E&E$E$"E&;*E&:VE$ZE$a*@a*@a*@a*@>>>=?>C$<ٱ>9=>H?:`%K? V??Q?@?i>>I>m c;9\Y\=^ Ey^+DbEb>dQ 5j4fOMw?Q 9j4f)fBQ Aj :YhQ Ej:yj(?Q In@fwDIfI:ifO?ftt4ypɮr Ap:iFNOT Ignoring new targets: 189.60 m."i^_*i^_ ProNav: ac range: 189.600739 m, nav range: 180.972031 m, bearing: 33.547550 deg, approach rate: -0.488509 m/s, LOS rate: -0.000763 deg/s, cmd heading: 31.410302 deg, new cmd heading: 31.409682 deg. iHeadingCmd: 0.548202 target range: 189.600739 and range: 189.60 m.hV ?hhhhggjgrgereZe!:e!*e%.@颭UBɢs=) ` ?i)| iX@iV ?BBBl IBnBB- =BBB;BkEB CB CB“CB/ =B/ =C5靖=V}=IV ?I!@! @!@%5@))e2Acoustic response timeoutQ^AM =I I O >y z #,h큌LA2.>2a?2):<ٱ2-=2H l?4į?P? 3?`V`@ A۸?@?i2.>I2b;2CY:kBy:i IbDZVDZb8ybrȼ%bI=ٔbO;Q-f>9dYd=f Eyf3DjEj>lQ 5r4n[w?Q 9r4n)nBQ Ar9YpQ Ev[:yv?Q Iv@nwDIn;inϛ?n9x4yz1Bɮz2AzE:iFNOT Ignoring new targets: 189.60 m."i%gN*i%gN5 ProNav: ac range: 189.600739 m, nav range: 180.763748 m, bearing: 33.547278 deg, approach rate: -0.539631 m/s, LOS rate: -0.000705 deg/s, cmd heading: 31.409684 deg, new cmd heading: 31.409139 deg. i55HeadingCmd: 0.548193 target range: 189.600739 and range: 189.60 m.h=_V ?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eMr.@uVBɢ}#=)y }x ?iy)9顁ii_V ?ޯ=+=I_V ?I2Acoustic response timeoutQ9@ @@/@E] E]E]0EY"E]:*E]x:VE]4ZEYBE]>ԩm 2Acoustic response timeout #,"LAY~uBy~v Iaa aa aa aa iMb@Mb@Mb@ 9 r?Mb`Mb`?Y?y;A E@)Y@bDVDl8y ==%:=ٔQ->9Y= EyQ 54kw?Q 94c)BQ AT:Y?Q E:yK?Q I@ xDIz:i:4y ɮ  A :i15FNOT Ignoring new targets: 189.60 m."i=V8*i=V8M ProNav: ac range: 189.600739 m, nav range: 180.537537 m, bearing: 33.548568 deg, approach rate: -0.513881 m/s, LOS rate: 0.002934 deg/s, cmd heading: 31.409141 deg, new cmd heading: 31.411724 deg. iMګ8UHeadingCmd: 0.548238 target range: 189.600739 and range: 189.60 m.hUSY ?hQhQhQhQgYgYjgYrg].BeareaZea:ea*eeТ/@颕WBɢ =) I?i)/D:顙i( iSY ?Ŗ=H_=ISY ?IԹm9@i @i@i@iBDAT read: Rx Time:01:14:47.0924 TRx dataTimestamp_ set to:1764897288.2647392Acoustic response timeoutEe EeEe3Ea"Ee;*Ee~:VEe4ZEaam@am@am@am@^A=AwAzAyAA A B C>B CB ` IB dBB . =B B zDB ;B kE1 A ؟AI I O >Q SЇ #, LA2Acoustic response timeout6>6 ?6h<ٱ6'=6H@?;*^?G??ϲ௫? ?i6>I6V$b;4Y>vByBw I DDbDJVDJg8yR ;%R`=ٔV 9V"?YV"?=V EyZDDZfEZ>\Q 5b4^Myw?Q 9b4^)^BYdyf?Q If@^xDI^:i^S:^I4yj5Bɮj Ah:iFNOT Ignoring new targets: 189.60 m."i[8*i[8 ProNav: ac range: 189.600739 m, nav range: 180.350113 m, bearing: 33.549716 deg, approach rate: -0.490338 m/s, LOS rate: 0.003005 deg/s, cmd heading: 31.411722 deg, new cmd heading: 31.414020 deg. i8HeadingCmd: 0.548278 target range: 189.600739 and range: 189.60 m.h[ ?hhhhggjgrgereZe:e*e O30@ɢ%'=)! %m?i!)%*:))i-!i=[ ?=ז=E=IE[ ?IA1@ @@@YiIDAT read: 01:14:47.0924 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 364,-0.16, 1.115,-0.486, 1.301, 0.771, PHS= 0.446,-1.212, 0.486, RAW= 151.2, 3.4, CAL= 150.2, 3.2, ROT= 359.8, -3.2 Ygot valid direction response: 01:14:47.0924 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 364,-0.16, 1.115,-0.486, 1.301, 0.771, PHS= 0.446,-1.212, 0.486, RAW= 151.2, 3.4, CAL= 150.2, 3.2, ROT= 359.8, -3.2 %PDAT read: Bearing 185.7, -1.0 (Local) %~Local bearing/azimuth received: Bearing 185.7, -1.0 (Local) 5DAT read: Range 11 to 50 : 181.5 m (Round-trip 242.1 ms) speed 0.4 m/s =TDAT read: user:112>Tx time:01:14:48.1961 =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.998435,-0.003485,0.055822]EFpublishing direction and range infoy^AMW=I-?mv14lᢔ?Y5C )AIZ>i">[(@s=g'@ d=)B@IdI|DT? ć2?W%? QS ?)PqIdide2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.Em  Em Em 1Ei "Em ;*Em :VEm -4ZEi BEm D #,5:LA,BXu>B"?BF}<ٱB=BHL?@'Ű?F?`? ڲ`??iBXu>IB.b;@Y\y\iMb@Mb@Mb@ 9{Gz?y&1?y&1|?Y?y`e<`;r@A \@)@Y@bD=VD=Y8y5o:%.=ٔ/;Q->9Y= EyMDE>5DAT read: =2Acoustic response timeoutԉQ 54Fw?Q 94)Y?Q E:y?Q I@'xDI:i(:4yɮ  A i i .1LAj z5C"j z5C:j *?Rj drGf@:L|=N PB$@Bj I-?mv14lᢔ?*j d2j dZj b4c/c@MB@#X@,@Jj ?pe+K?i:]?j B j ~Ci :1 ?i s4oj Bj j j Brj 3Czj 9? addTargetRange:: Added new target pos. range: 181.500000 m, deltaT: 16.400636 s, deltaX: -8.100006 m, approachRate: -0.493884 m/s, rangeRepo size: 4  Added new target pos. range: 181.480301 m, bearing: 32.170442 deg, lat: 36.779666 deg, lon: -121.859603 deg, deltaT: 16.400636 s, deltaX: -8.120438 m, approachRate: -0.495129 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 181.48 m."i*i ProNav: ac range: 181.480301 m, nav range: 179.571594 m, bearing: 33.297422 deg, approach rate: 0.000000 m/s, LOS rate: 0.003005 deg/s, cmd heading: 31.414021 deg, new cmd heading: 31.417096 deg. iHeadingCmd: 0.548332 target range: 181.480301 and range: 181.50 m.hy_ ?hhhhggjgrg9Be!re!Ze!:e%f@*e%7L?uXBɢuҐ=)q u0?iq)"I:顙id"iy_ ?5= =Iy_ ?IԹ59@1 @1@1@1  2Acoustic response timeout^A =A >A >E  E E 0E "E *E :VE 4ZE a @a @a @a @ AIIYIiOu> #,XLA2F>2?2aR<ٱ2+=2H?@\$@!? DD??{ j@[? ?i2F>I2a;2CY:rBy:q I B%=@BN;>BNCBLBLBLBN0DBLBN;BNkEbDFVDFN8y%A=ٔo;Q-%>9!Y!=% Ey%VD-[E->1Q 5=45aw?Q 9=45)1Y9y=?Q IE@54xDI5 :i5~:54y8Bɮ5AEB*** querying acoustic contact ***ii:iIUFNOT Ignoring new targets: 181.48 m."iUt0*iUt0 ProNav: ac range: 181.480301 m, nav range: 179.369400 m, bearing: 33.296479 deg, approach rate: -0.516516 m/s, LOS rate: -0.002410 deg/s, cmd heading: 31.417098 deg, new cmd heading: 31.415211 deg. i)HeadingCmd: 0.548299 target range: 181.480301 and range: 181.50 m.hP] ?hhhhggjgrgereZe:e*e@é?AɢMǠ.=)I M ?iI)M;IQiU($ieP] ?e=e=IeP] ?Ii%2Acoustic response timeout@ @@@!^A AI Q IY Iq O} > 2Acoustic response timeout #,"rLAB>B?B%<ٱB=BH1?@W?@@?Y?@a??iB>IBɀa;BCYNByN IIb%=)b=bDfVDfk8yn=%rO=ٔrDB;Q-r>9pYt=v Eyv^DvƺEv>xQ 5~4zw?Q 9~4z)xYy\?Q I@zAxDIz;izo;zĜ4y ɮ  A bE-4jEҔ4rEb/E% E%E%2E!"E%;*E%:VE%4ZE!BE%@C?i)xW+;iw%i;[ ?{=w=I;[ ?I9U9@Y @Y@e/@aa=2Acoustic response timeout^A˺=ԹA .AI I O >Թ #,LA2J>2?2a<ٱ2=2H?~?9?@'?s;9&͸??i2J>I2a;0Y:By: IiEMb@Mb@Mb@AAAA A9E"~j?V-?y&1?YES?yE9u ?Yu ?=u EyufD}$ E}>Q 54gw?Q 94)BY?Q E:y@?Q I@NxDI:it:%4yBCBf IBiBB1 =BBxDBή;BkE^AG=AxAzAwAQ AA II IY Om > 2Acoustic response timeout& #,l_LA:d>:|?:v٪<ٱ:|=:H ? _rб? 8?? @Z Ÿ??i:d>I:`;:CYBByF IbDNVDN8yr=%rT=ٔri;Q-r>9tYt=v EyvnDv,Ez>xQ 54zw?Q 94z)zBYy2?Q I@z[xDIz+;iz;z4y ɮ[ A:i1=FNOT Ignoring new targets: 181.48 m."iE&*iE&U ProNav: ac range: 181.480301 m, nav range: 178.751328 m, bearing: 33.290132 deg, approach rate: -0.513656 m/s, LOS rate: -0.006725 deg/s, cmd heading: 31.407693 deg, new cmd heading: 31.402500 deg. iUD]HeadingCmd: 0.548077 target range: 181.480301 and range: 181.50 m.h]N ?hYhYhahagagajgargieireiZei:ei*eu@g ?颙ɢ@=) ?i)i;顡i(iN ?3=IN ?IQi@q @q@uo1@q2Acoustic response timeoutyEM EMEM/EI"EM:*EMB:VEMJ4ZEIBEM%5 #,9LA2~<>2h?23<ٱ2R:=2H?@?5? ?Z۱ f໸??i2~<>I2Y`;2CY:By: I@iMb@Mb@Mb@ 9NbX9?Mb?9"?Y"?= EywD;E>Q 54w?Q 94)BY@?Q E:ym'?Q I@jxDIk:i:i4y)Bɮ AE:i1=FNOT Ignoring new targets: 181.48 m."iE]*iE]e ProNav: ac range: 181.480301 m, nav range: 178.526352 m, bearing: 33.284853 deg, approach rate: -0.516001 m/s, LOS rate: -0.012123 deg/s, cmd heading: 31.402498 deg, new cmd heading: 31.391927 deg. ie}mHeadingCmd: 0.547893 target range: 181.480301 and range: 181.50 m.hmB ?hqhyhyhyggjgrgbBereZe:e*e <@颉ɢ:/=) ?i);顑iV)iB ?sG=c2=IB ?Iԩ9@ @@k0@2Acoustic response timeout^A = EM  EM EM 0EI "EM T;*EM &p:VEM 4ZEI a] @a] @a] @a] @A I I O >? #,4ڂLAB3>BBl IBnBB4 =BBB;BkEBw >BO?BԼ<ٱB=BH?@Q`IB_;BCYRByR IbDZ*VDZ8yb<%bQ=ٔfL;Q-f>h9hYh=j Eyj~DnEn>pQ 5v4rNw?Q 9v4rҩ)rBYxyzT'?Q Iz@rvxDIrv;ir/;r4y|ɮ~ A|:i!%FNOT Ignoring new targets: 181.48 m."i5c*i5c= ProNav: ac range: 181.480301 m, nav range: 178.329224 m, bearing: 33.280241 deg, approach rate: -0.530877 m/s, LOS rate: -0.012434 deg/s, cmd heading: 31.391929 deg, new cmd heading: 31.382694 deg. iE EHeadingCmd: 0.547731 target range: 181.480301 and range: 181.50 m.hE8 ?hIhIhIhIgIgQjgQrgQeQreQZeY:eY*e]{@颅ZBɢ%LM=)) -?i))-^;))i-*i58 ?5tV=5|޷=I=8 ?I9ImxA)mxA9@ @@5@@ xA@ =2Acoustic response timeout]PExceeded connect timeout, disconnecting.)^A!A->A->Q Aq Iy I O > 2Acoustic response timeout b #, LA2(>2<?2( <ٱ2aI=2H ? kf?0?? x`? ?i2(>I2M_;2CY:By: IbDFVDF8yJ<%JN=ٔN%;Q-N>E  E E 2E "E V:*E :VE 4ZE BE 9Q 5-4w?Q 9U4 )BYYy]B'?Q I]@xDIV #,RLAYBy II=)<52Acoustic response timeoutiMb@Mb@Mb@ 9?x&?y&1?Yf?y7=`e<@A r@)@Y\@bDVDw8y5%$=ٔQ->9 ?Y ?= EyD E >Q 54]w?Q 94)BY?Q E%:y%0?Q I%@xDI:i:4y--Bɮ- A):iQUFNOT Ignoring new targets: 181.48 m."i]<ù*i]<ùm ProNav: ac range: 181.480301 m, nav range: 177.860016 m, bearing: 33.266339 deg, approach rate: -0.597220 m/s, LOS rate: -0.021336 deg/s, cmd heading: 31.371909 deg, new cmd heading: 31.354855 deg. im0uHeadingCmd: 0.547245 target range: 181.480301 and range: 181.50 m.huG ?hqhqhqhygygyjgyrg}jBereZeDDR=E EE/E"El;*E:VEJ4ZEa@a@a@a@:e*e` @M[BɢMBBs IBsBB1 =BByDB;BkEBCBCBĔCB1 =B0 =C.6Y@Y @a@e4@iԑ% DAT read: 01:14:50.8408 LVL= 28992, 32753, 25266, 28339, AGC= 65, IDX= 94, 0.12, 1.027,-0.587, 1.194, 0.670, PHS= 0.460,-1.211, 0.480, RAW= 150.6, 3.3, CAL= 149.6, 3.1, ROT= 0.4, -3.1 5 Ygot valid direction response: 01:14:50.8408 LVL= 28992, 32753, 25266, 28339, AGC= 65, IDX= 94, 0.12, 1.027,-0.587, 1.194, 0.670, PHS= 0.460,-1.211, 0.480, RAW= 150.6, 3.3, CAL= 149.6, 3.1, ROT= 0.4, -3.1 E PDAT read: Bearing 185.4, -1.2 (Local) M ~Local bearing/azimuth received: Bearing 185.4, -1.2 (Local) ] DAT read: Range 11 to 50 : 180.4 m (Round-trip 240.6 ms) speed 0.3 m/s  nManaging dock network, ignoring radio surface power offE BDAT read: Tx time:01:14:51.9007 E $Ping request sent.E i >8(@k='@ k]=);Ik]UUy?NB?V J"? ϭ?)2iI;ik] :publishing transmit ping timeA 5 Fpublishing direction and range infoyN$?صx|?ʾ7?Y )Ii )IUUy?NB?V J"? )IiA ؟AI I O >ԕ #,e,LAn>n]C?n;<ٱn=nH?X ?U1?y?`Xƛį? ?in>In:_;nCYybDVDq8y=:%=;=ٔ=;Q-=>9e"?Ye"?=e EyeDmx9Em>qQ 5u4ux?Q 9}4u0)uBYyy}0?Q I}@uxDIu:iu:uT4yɮ AiQiU#LAjU`4C"jU`4C:jU=?RjU[wRpf@OgW?i N#@BjUN$?صx|?ʾ7?*jU;2jUk]ZjUOFb@A$KX@[@JjUoa9?} #,HLA2-_>2 z?27<ٱ2=2H?d?6?? o ` ָ??i2-_>I2&_;2CY:yBy:z Ii~Mb@Mb@Mb@|||| |9~ˡE?{Gz?I +?Y~?y~ף=~94<|~jA |)~@|Y~@bDVD8y%ֽ%%N=ٔ%V;Q-->9)Y)=- Ey5D5 ;E5>9Q 5E4=x?Q 9E4=)=BYE ?Q EE:yM 7?Q IM@=xDI=:i=J<=-4y1Bɮ AE:iFNOT Ignoring new targets: 180.38 m."i%ڹ*i%ڹU ProNav: ac range: 180.375793 m, nav range: 177.932587 m, bearing: 33.047307 deg, approach rate: -0.533104 m/s, LOS rate: -0.023885 deg/s, cmd heading: 31.335159 deg, new cmd heading: 31.316475 deg. iU.]HeadingCmd: 0.546576 target range: 180.375793 and range: 180.40 m.h]a ?hYhYhYhYgYgajgaԉrg_BereZe:e*e@?ɢ>=) M?i)T;i /ia ?=Qz=Ia ?I9@ @@/@i߱I߱ԹE EEE"E;*Eą:VEZEa@a@a@a@^At=B5 <>B5 CB5 y IB5 xBB5 0 =B1 B5 zDB5 ;B5 kEAm .AIy I O > #,aLA2>2?2p<ٱ2C=2H ?@7෨?:?? @??i2>I29`;2CY>By> I @@bDFVDFy8yN=%RT=ٔR5;Q-R>9R ?YV ?=V EyVDV:EV>XQ 5^4Z)x?Q 9^4Z)ZBY`yb27?Q Ib@ZxDIZ:iZ0;Z4ydɮf^ Ad:ix~FNOT Ignoring new targets: 180.38 m."i*i繝 ProNav: ac range: 180.375793 m, nav range: 177.727737 m, bearing: 33.038079 deg, approach rate: -0.561545 m/s, LOS rate: -0.025324 deg/s, cmd heading: 31.316475 deg, new cmd heading: 31.297999 deg. ib9HeadingCmd: 0.546253 target range: 180.375793 and range: 180.40 m.h? ?hhhhggjgrgere!Ze!:e!*e% ֩?m]Bɢu`xE=) /?i)h;顙ii 0i? ?=2=I? ?I)@) @1@1@1^AMX=I E-  E- E- 3E) "E- %;*E- :VE- 4ZE) BE- K6 #,{LA%>%?%<ٱ%=%H ? ?n???lڞ 9??i%>I%^`;%CY}By IiMb@Mb@Mb@ 9Dl?x&?~jthYO ?y7=D@A )Y@bDVDk8y %+=ٔ;Q->9"?Y"?= EyD:E>1Q 5=45:x?Q 9=45w)5BY=Y?Q E=:y=0?Q I=@5xDI5:i5:5d4yM5BɮM AQMEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 180.38 m."iL*iL ProNav: ac range: 180.375793 m, nav range: 177.459595 m, bearing: 33.028197 deg, approach rate: -0.542688 m/s, LOS rate: -0.020032 deg/s, cmd heading: 31.298000 deg, new cmd heading: 31.278205 deg. iHeadingCmd: 0.545908 target range: 180.375793 and range: 180.40 m.h ?h5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.hhIhIgQgQjgYrg]nBeareaZea:e*eb?^Bɢj0=) ?i);i;0i% ?E˗=E=IE ?IIԁ9@ @@@@yA@ԩ ^A} O=A >A > *DAT read: user:113>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721091 EE  EE EE /EA "EE :*EE :VEE J4ZEA aM @aM @aM @aM @A I IOE> #,LABv=>BtBvs IBvsBBv/ =BtBtBvZ;BvckEY~sBy~r IbDVDd8yMG%MD=ٔMQ-U>9QYQ=U EyUD]E]>Q 54Ix?Q 94)BYԹyQ I@xDI$1;i1;4yBɮf AE:iFNOT Ignoring new targets: 180.38 m."i*i  ProNav: ac range: 180.375793 m, nav range: 177.228821 m, bearing: 33.019667 deg, approach rate: -0.562911 m/s, LOS rate: -0.020833 deg/s, cmd heading: 31.278206 deg, new cmd heading: 31.261124 deg. i HeadingCmd: 0.545610 target range: 180.375793 and range: 180.40 m.h ?hhhhggjgrge!re!Ze!:e!*e%`ݜ?U_BɢU/?=)Q U ?iY)]A 13 #,+LA6P>6?6==ٱ6A=6H? |?+C?? !ٰ 0c@h:??i6P>I6?X`;6CYBiByBf IIF>)F>bDNVDNb8yVQ%VW=ٔV;Q-V>9XYX=Z EyZÀDZ:E^>i`IbAfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.223755dQ 5j4fWx?Q 9j4f)fBYlyn0?Q In@fxDIf;if;f04yr#Bɮr AvE:i  FNOT Ignoring new targets: 180.38 m."iü*iü% ProNav: ac range: 180.375793 m, nav range: 177.023468 m, bearing: 33.012019 deg, approach rate: -0.553240 m/s, LOS rate: -0.020629 deg/s, cmd heading: 31.261124 deg, new cmd heading: 31.245810 deg. i%-HeadingCmd: 0.545342 target range: 180.375793 and range: 180.40 m.h- ?h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*eE aF@m`Bɢm<=)i m?iq)uL Թ  #,̓LA6}>69 ?6+l=ٱ6=6H@?`x˴?`VE??@K F?`h?i6}>I6>`;4Y^dBy^` IiEMb@Mb@Mb@AAAA A9EQ?X9v?Mb`YE?yE}=EAA E\@)EE@AYE@bD]VD]l8ym%m>=ٔmE;Q-u>9qYq=u Ey}̀D}P:E}>Q 54 fx?Q 94G)BY ?Q E:y/?Q I@xDI:i=:4y"Bɮ A:iFNOT Ignoring new targets: 180.38 m."i*i] ProNav: ac range: 180.375793 m, nav range: 176.794708 m, bearing: 33.003870 deg, approach rate: -0.535107 m/s, LOS rate: -0.019087 deg/s, cmd heading: 31.245810 deg, new cmd heading: 31.229491 deg. i] eHeadingCmd: 0.545057 target range: 180.375793 and range: 180.40 m.he ?hahahahagagijgirgmZBeiԑreZe:e*e@ɢF,=)  ?i ) =u<顩i2i ?a ==I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.727523E5 E5E50E1"E5:*E5~:VE54ZE1a=@aE@aE@aE@9@ @@/@@=@=ԹB@>B CBZ IB^BBB/DBB;B$kE^Ae (=Ai zAm zA BDAT read: Rx Time:01:14:54.5103  TRx dataTimestamp_ set to:1764897295.581738 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982279A .AI I O > E #,惌LABh[>B+?B =ٱB=BH?\?`iC?m? 〡*??iBh[>IB_;BCYN[ByNV IbDVVDVv8y^<0%^V=ٔbI;Q-b>9b ?Yb ?=b EyfӀDf2Ef>hQ 54jsx?Q 94j܃)jBYyw/?Q I%@jyDIj"i))5<11i5f3i=:x ?= ===I=:x ?IA@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231542E5 E5E5/E1"E5;*E5:VE5J4ZE1BE1aE2E1aEJE5;aE:E5;aE^A- C=Q A ؟AI I O >Q0!#,LAvn>v?vF=ٱv=vH@/? F v?YD?@7?Uǡ@h?@?ivn>IvM_;vCY~PBy~H I iMb@Mb@Mb@ Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.4858939S㥛?~jt?MbpY?y=A @)Y@bDVD8y=f9Q%e(=ٔu(:Q-}>9"?Y"?= Ey݀D9E>Q 54x?Q 94)BY9?Q E:y$?Q I@yDI~'i)]1Tx time:01:14:55.5960 = R#Rx 1: Read range and direction messages.E ^direction in FSK: [0.996820,-0.013919,0.078459]E Fpublishing direction and range infoy  c?O֚5;?Y C  ~ ) CI >i ʡ ף> Us)@ l= q(@ |٠=) y@I |٠ nlZ ?=?-2R? e ?) I Ddi |٠ e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.E=  E= E= 1E9 "E= :*E= :VE= -4ZE9 aM @aM @aM @aM @^A +W= A A AAB ;>B CB A IB JBB B 0DB yDB ;B kEA .AI IO >5!#,\=LAB s>B?B+=ٱBj=BH? '?lD??@$|D??iB s>IB_;BCYjCByj8 IbDvVDv|8yX%R=ٔh";Q->9% ?Y% ?=% Ey%D- 8E->)Q 5]4-@x?Q 9]4-|)-BYYy]$?Q I]@-%yDI-;i-6:-4ye+Bɮm9AiiYi]c|LAj]C"j]C:j]x ?Rj]B/c@ Ki%A)(@Bj]c?O֚5;?*j]Dd2j]|٠Zj] p\'h`@#T@1(tR@Jj]z=F?kϝ?  S ?j]B j]ACi]Uƣ?i]*=j]BjYj]s4ojYrj]*/Czj]0?addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 154.000000 m, deltaT: 3.779961 s, deltaX: -26.399994 m, approachRate: -6.984198 m/s, rangeRepo size: 4:i%FNOT Ignoring new targets: 180.38 m."i%)N*i-)NU ProNav: ac range: 180.375793 m, nav range: 176.135696 m, bearing: 32.986523 deg, approach rate: -0.507186 m/s, LOS rate: -0.011265 deg/s, cmd heading: 31.203456 deg, new cmd heading: 31.194752 deg. i]]HeadingCmd: 0.544451 target range: 180.375793 and range: 180.40 m.h]&a ?hahahahagagajgirgereZe:e@c@*e{?DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.988025ɢ%=) >i)%<i3i&a ?P==I&a ?I!9@ @@0@@@I^A A >A >E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.240181 y 8G GyA% MAA% ؟AI1 IA m t9m GyAYm AE  E E E "E ;*E xv:VE ZE BE a 2E a JE ;a :E ;a O >= !#,8LAy?AnLd>n?n=ٱnD=nH!?Dei?C? ?5Ȣ/??inLd>Inf_;lYz;Byz. IbDVD8y!%E=ٔ:Q->9"?Y"?= EyD%E%>)Q 554-Ҡx?Q 954-?y)-BY1y5$?Q I5@-2yDI-;i-o;-4yAɮE|AA:iamFNOT Ignoring new targets: 180.38 m."iu|^*iu|^ ProNav: ac range: 180.375793 m, nav range: 175.920013 m, bearing: 32.981734 deg, approach rate: -0.546865 m/s, LOS rate: -0.012157 deg/s, cmd heading: 31.194751 deg, new cmd heading: 31.185162 deg. iHeadingCmd: 0.544284 target range: 180.375793 and range: 180.40 m.h.V ?hhhhggjgrgereZe:e*e*=) .>i)9)<i04i.V ?)c==I.V ?I @ @@?5@5>5;?=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.491792^A C=IA .AI! I1 O= >q r!#, RLA2 G>2?2j=ٱ2=2H? ?A?7?j,@k@ H?;?i2 G>I2l_;2CY:0By: IIB=)Ba>iMb@Mb@Mb@ 9'1Z?I +?95 ?Y5 ?=5 Ey5D5hE5>AQ 5M4EIx?Q 9M4E4v)EBYM?Q EM:yM?Q IM@E@yDIEI:iEt:E4checking for new query: numPingsReceived=0, elapsed TxPingTime=4.743351yɮA:i%FNOT Ignoring new targets: 180.38 m."i-L*i-LQe ProNav: ac range: 180.375793 m, nav range: 175.713028 m, bearing: 32.980548 deg, approach rate: -0.486956 m/s, LOS rate: -0.002794 deg/s, cmd heading: 31.185162 deg, new cmd heading: 31.182786 deg. ieeHeadingCmd: 0.544242 target range: 180.375793 and range: 180.40 m.hmwS ?hihihihigigijgrg%BereZe:e*e z?DzD?AE EE5E"E;*E:VE4ZEa@a@a@a@9ɢE6=)A EA>iA)EL/BB IB,BBBBB;BjEBUCBUCBUēCBU/ =BU/ =CUf5@ @@4@ԡԱU checking for new query: numPingsReceived=0, elapsed TxPingTime=4.996125^A =I I O >!#,lLA:29>:?:r=ٱ:=:H`-?0͵?A?`?[rI??i:29>I:7X_;:CYF$ByF IbDRVDRq8yVu%ZR=ٔZ:Q-Z>9\Y\=^ Ey^D^|Eb>`Q 5f4b$x?Q 9j4bJs)bBYhyj?Q Ij@bLyDIb:ib%:b&4yn/BɮrYArE:i FNOT Ignoring new targets: 180.38 m."i `*i ` ProNav: ac range: 180.375793 m, nav range: 175.514755 m, bearing: 32.979416 deg, approach rate: -0.537680 m/s, LOS rate: -0.003074 deg/s, cmd heading: 31.182788 deg, new cmd heading: 31.180521 deg. i%%HeadingCmd: 0.544203 target range: 180.375793 and range: 180.40 m.h%P ?h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=;e?edBɢe\!=)i m >ii)m49 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.499414!!#,>wLA2>2?2\=ٱ2\=2H^?` ?9? ?ھ *??i2>I2 _;0Y:By: IiMMb@Mb@Mb@IIII I9MV-?~jthYM|>yMDMM@MA M@)M\@IYM@bDeVDep8yu%u>=ٔ}*;Q-}>9yYy=} Ey}DE>Q 54ox?Q 94Gp)BY~>Q E:y?Q I@ZyDIE:i:M.4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 180.38 m."i8*i8 ProNav: ac range: 180.375793 m, nav range: 175.300186 m, bearing: 32.980305 deg, approach rate: -0.497689 m/s, LOS rate: 0.002064 deg/s, cmd heading: 31.180520 deg, new cmd heading: 31.182301 deg. iq8HeadingCmd: 0.544234 target range: 180.375793 and range: 180.40 m.hR ?hhhhggjgrg0BereZe:e*e[J?)ɢ5ly=)5$ 5ڷ>i1)5_)9<11i= 4i=R ?=V=E=IER ?IA@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.751899^AEKk=IIO>E  E E 2E "E :*E x:VE 4ZE a @a @a @a @y B} 8>By B} IB} BB} 0 =By By B} ;B} jEŮ'!#,;9LA0:'>:o^?: "=ٱ:=:H?@?T2?@Q? b^X ? 5?i:'>I:;^;:CY^Byb I ddbDjVDj8yr%rU=ٔv;Q-v>9tYt=v EyvDz7Ez>|Q 54~x?Q 94~m)~BY y ?Q I @~fyDI~:i~:~54yBɮAE:i9=FNOT Ignoring new targets: 180.38 m."iE$8*iE$8U ProNav: ac range: 180.375793 m, nav range: 175.108719 m, bearing: 32.981167 deg, approach rate: -0.499333 m/s, LOS rate: 0.002252 deg/s, cmd heading: 31.182300 deg, new cmd heading: 31.184027 deg. iU߃8UHeadingCmd: 0.544264 target range: 180.375793 and range: 180.40 m.h]T ?hYhYhYhYgYgajgargaeireiZeq:eq*e} ]@ɢ+=) ֶ>iQ)]=  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.255435E%  E% E% 3E! "E% ;*E% :VE% 4ZE! BE% D2_?2~u&=ٱ2a=2H m??)?`?ꮿ`8ͤn?i?i2{>I2$^;2CY:By:IbDFVDF8yN@%NO=ٔN;Q-R>9PYP=R EyRDVZEV>XQ 5^4Z#x?Q 9^4Zj\)ZBY`yb?Q Ib@ZsyDIZG);iZ);Z;4ydɮffAh:ix~FNOT Ignoring new targets: 180.38 m."i~a48*i~a48  ProNav: ac range: 180.375793 m, nav range: 174.911926 m, bearing: 32.982141 deg, approach rate: -0.497721 m/s, LOS rate: 0.002464 deg/s, cmd heading: 31.184028 deg, new cmd heading: 31.185976 deg. i N8HeadingCmd: 0.544298 target range: 180.375793 and range: 180.40 m.hW ?hhhhggjgrgereZe:e*e@ɢ=) F>i)AB<i3i%W ?%ʘ=%߼=I%W ?I)9@ @@/@@xA@%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.507428^A-=A5>A5>IIO>A 4!#,ӄLA2Xձ>2"?2)=ٱ2d=2H@?@0/?- ?? :"??i2Xձ>I2];2CY:By:Ii-Mb@Mb@Mb@)))) )9-}?5^I?{GztMb`?Y-M?y-ף-;)- A -\@)-SA)Y)bDEVDE8yUƻ%U?=ٔU};Q-U>9YYY=] Ey]DeBEe>iQ 5u4mx?Q 9u4mg)mBYuO?Q Eu:iyI}ABDAT read: Rx Time:01:14:58.2030 TRx dataTimestamp_ set to:1764897299.360890checking for new query: numPingsReceived=0, elapsed TxPingTime=6.760818y?Q I@myDImw;im ;mbC4y"BɮAE:iFNOT Ignoring new targets: 180.38 m."iy8*iy8 ProNav: ac range: 180.375793 m, nav range: 174.694443 m, bearing: 32.983607 deg, approach rate: -0.505770 m/s, LOS rate: 0.003415 deg/s, cmd heading: 31.185978 deg, new cmd heading: 31.188915 deg. i8HeadingCmd: 0.544349 target range: 180.375793 and range: 180.40 m.hyZ ?hhhhggjgrg$BereZe:e*e3Q@!ɢ%@=)! %>i!)-F<))i-G3i5yZ ?5ܘ=5Ϻ=I5yZ ?I9E EE0E"El;*E|:VE4ZEa@a@a@a@B57>B5CB5IB5BB51 =B1B1B5;B1I=(y9@ @@/@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.011551ԡ ^A = AM؟AIqIO>&a?,=ٱ=H ?@ F? D? ?`44``??i.>I];CY% By%II-%>)-=bD=VD=8yM%M)=ٔM:Q-M>9U"?YU"?=U EyU(D]+E]>aQ 5m4eZ y?Q 9m4eld)eBYiym ?Q Im@eyDIe :ies;eK4yyɮ}Ay:iFNOT Ignoring new targets: 180.38 m."i8*i8 ProNav: ac range: 180.375793 m, nav range: 174.448441 m, bearing: 32.985373 deg, approach rate: -0.511802 m/s, LOS rate: 0.003679 deg/s, cmd heading: 31.188915 deg, new cmd heading: 31.192452 deg. iw8HeadingCmd: 0.544411 target range: 180.375793 and range: 180.40 m.h^ ?hhhhggjgrgereZe:e*e`+ @ɢ^=)  '>i 1MDAT read: 01:14:58.2030 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.05, 0.083,-1.536, 0.257,-0.225, PHS= 0.411,-1.266, 0.439, RAW= 150.8, 5.0, CAL= 150.0, 5.1, ROT= 360.0, -5.1 UYgot valid direction response: 01:14:58.2030 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.05, 0.083,-1.536, 0.257,-0.225, PHS= 0.411,-1.266, 0.439, RAW= 150.8, 5.0, CAL= 150.0, 5.1, ROT= 360.0, -5.1 ]PDAT read: Bearing 187.3, -2.2 (Local) ]~Local bearing/azimuth received: Bearing 187.3, -2.2 (Local) mDAT read: Range 11 to 50 : 152.1 m (Round-trip 202.8 ms) speed 0.5 m/s uTDAT read: user:115>Tx time:01:14:59.2960 uR#Rx 1: Read range and direction messages.}\direction in FSK: [0.996041,0.000000,0.088894]}Fpublishing direction and range infoyW?{]"_>?YC )In>iJ >q(@¸=6'@ K=)@IK_`?v τU? &V/.? H ?)話I.;4iKT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)MKB?BI2=ٱB$=BH ?? ?_?5 W Ը?`?iB4>IB(^;BCYNByNIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.767643i5Mb@Mb@Mb@1111 195Gz?~jt?Y5p>y55D<5@1 5@)5A1Y5@bDMVDMk8y]<%]=ٔ].;Q-]>9e ?Ye ?=e Eye3DmqhEm>qQ 5}4ucy?Q 9}4u`)uBY}>Q E}:yJ?Q I@uyDIu:iu:u>U4y'BɮAEԱi9i=wILAj=C"j=C:j= ?Rj=;Bb@bFÇ>8 +@Bj=W?{]"_>?*j=.;42j=KZj=x*'`@<߾S@]T@Jj=K; 2?=? h]?j=B j=>Ci=|?i=PS,j=Bj9j9j=Brj=6-Czj=*? addTargetRange:: Added new target pos. range: 152.100006 m, deltaT: 7.308103 s, deltaX: -28.299988 m, approachRate: -3.872412 m/s, rangeRepo size: 4 Eu EuEu/Eq"EuV:*Eu~:VEuJ4ZEqa}@a}@a}@a}@} Added new target pos. range: 152.078979 m, bearing: 31.710155 deg, lat: 36.779673 deg, lon: -121.859625 deg, deltaT: 7.308103 s, deltaX: -28.296814 m, approachRate: -3.871978 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 152.08 m."i*i ProNav: ac range: 152.078979 m, nav range: 173.213776 m, bearing: 32.490088 deg, approach rate: 0.000000 m/s, LOS rate: 0.003679 deg/s, cmd heading: 31.192453 deg, new cmd heading: 31.196450 deg. iHeadingCmd: 0.544481 target range: 152.078979 and range: 152.10 m.hc ?hhhhggjgrg0BereZe:e@3c@*e?cBɢ%=)! E>iy)OR<顁i1ic ??=}=Ic ?IAAAAB8>BCBIBBB0 =BBBݭ;BjE checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0193449@ @@35@1 ^A /[=aAI!I1OE>L!#,K5LA:ů>:X?:s4=ٱ:-=:HQ? R?? ?@'ո?``?i:ů>I:];:CYNByNIbDVVDVe8y^%^*=ٔ^>_:Q-b>9`Y`=b EybhQ 5n4jZ-y?Q 9n4jc])jBYlyn?Q Ir@jyDIj\:ijG:j]4ytɮvAtB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 152.08 m."i7*i7- ProNav: ac range: 152.078979 m, nav range: 172.976349 m, bearing: 32.490745 deg, approach rate: -0.499567 m/s, LOS rate: 0.001384 deg/s, cmd heading: 31.196448 deg, new cmd heading: 31.197764 deg. i-"8=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.271525=HeadingCmd: 0.544504 target range: 152.078979 and range: 152.10 m.h=d ?hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUb1?颁ɢ:_=) ߬>i)BW<顉if1id ?`=X=Id ?IIE EE0E"E:*E:VE4ZEBE> S!#,{OLA2=>2^i?205=ٱ2%=2H ?`p ƶ?`?@ ? ~rԸ? H?i2=>I2Ь];0Y:By:I @@iMb@Mb@Mb@ 9jt?I +?y&1?Y?y94<`e</@A @)SAY@bDVDz8y%%-D=ٔ-::Q-->95"?Y5"?=5 Ey5ED5E5>Q 54i)\<ia0ib ?#==Ib ?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.776240@ @@@ E EE1E"ET;*E?:VE-4ZEa@a@a@a@B<>BBIBBB/ =B/DBB;BjE ^A- X=Ay I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.0274179 bY!#,2iLAF>F?Fd6=ٱF=FH??Ͷ??A?@dۦ˸?@I?iF>IFz];FCYV ByVIbDfVDfb8yn?%nM=ٔrF:Q-r>9tYt=v EyvMDz$IEz>Q 5 4ZJy?Q 9 4zW)~BYy?Q I@yDI1;i(;k4y!ɮ%A):iaeFNOT Ignoring new targets: 152.08 m."im*im- ProNav: ac range: 152.078979 m, nav range: 172.565292 m, bearing: 32.489163 deg, approach rate: -0.508225 m/s, LOS rate: -0.001853 deg/s, cmd heading: 31.196018 deg, new cmd heading: 31.194595 deg. i-Y5HeadingCmd: 0.544448 target range: 152.078979 and range: 152.10 m.h5` ?h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE T?ubBɢu=)q u>iq)}{`i`!#,$ӂLA*;ɰ(mX4>m?mil8=ٱm-=mH?@? j? ?` @Pϸ??imX4>Img];mCYByIbDmVDmd8y%<%2=ٔS:Q->9 ?Y ?= EyVD6E>Q 54Zy?Q 94.T)|BYy?Q I@yDI:i:s4y/BɮAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.539484:iFNOT Ignoring new targets: 152.08 m."iM*iM ProNav: ac range: 152.078979 m, nav range: 172.335693 m, bearing: 32.488386 deg, approach rate: -0.506471 m/s, LOS rate: -0.001716 deg/s, cmd heading: 31.194594 deg, new cmd heading: 31.193038 deg. i IHeadingCmd: 0.544421 target range: 152.078979 and range: 152.10 m.h0_ ?hh!h!h!g!g!jg!rg)e)re)Ze1:e1*e5F@]aBɢ]o=)a e >ia)eAde)f!#,QLAB2<A2<B69>B4B6IB6߁BB61 =B60DB4B6;B4B)B)B)B-0 =B-0 =C-A55Fխ>FZ?Fko8=ٱF=FH ?@)`׶?g?@?P뭿 @?E?iFխ>IF\;DPYPyPIVt>)Vp=iMb@Mb@Mb@ 9 r?~jt?9Y=!Ey^DtE>Q 54gy?Q 94)Q)Y?Q E:y ?Q I@yDI:i:z4y ɮ A:i1=FNOT Ignoring new targets: 152.08 m."i=>*i=>M ProNav: ac range: 152.078979 m, nav range: 172.140533 m, bearing: 32.484456 deg, approach rate: -0.517011 m/s, LOS rate: -0.010423 deg/s, cmd heading: 31.193037 deg, new cmd heading: 31.185168 deg. iM]HeadingCmd: 0.544284 target range: 152.078979 and range: 152.10 m.h]0V ?hYhYhYhYgYgajgargezBeareiZei:ei*emL@ɢ =)  S>i))ui0l!#, LA2l>2?2L9=ٱ2=2H $? t׶?@??@ʭ|'?d?i2l>I2\;0Y: By:IB@AB@AbDFVDFd8yN/%Nb=ٔR :Q-R>9R"?YR"?=R!EyVeDVEV>XQ 5^4Zty?Q 9^4ZGN)XY`ybn ?Q Ib@ZyDIZ;iZ;ZԀ4yf BɮfAfEvB*** querying acoustic contact ***itit:ixzFNOT Ignoring new targets: 152.08 m.|"i;*i; ProNav: ac range: 152.078979 m, nav range: 171.953964 m, bearing: 32.480739 deg, approach rate: -0.513884 m/s, LOS rate: -0.010247 deg/s, cmd heading: 31.185168 deg, new cmd heading: 31.177728 deg. ie2Acoustic response timeoutHeadingCmd: 0.544154 target range: 152.078979 and range: 152.10 m.hM ?hhhhggjgrgereZe:e*e^@5`Bɢ==)9 =ɪ>i9)=m<9AiEq/iEM ?MKQ=M=IMM ?IIE EE1E"E:*E:VE-4ZEBE>s!#,2ZЅLA@26>2e?2`8=ٱ2Z=2H %?`Ȳ Ѷ??B?@@?T?i26>I2Z\;0YN ByRIiUMb@Mb@Mb@QQYQQ Q9U(\?S㥫? rh?YU?yU/]=UC9Y=!EynD=xE>Q 54y?Q 94J){BYs?Q E:yv'?Q I@zDI:i:g4yɮA:iFNOT Ignoring new targets: 152.08 m."i/*i/ ProNav: ac range: 152.078979 m, nav range: 171.723770 m, bearing: 32.474022 deg, approach rate: -0.531748 m/s, LOS rate: -0.015538 deg/s, cmd heading: 31.177727 deg, new cmd heading: 31.164274 deg. i~㹝HeadingCmd: 0.543919 target range: 152.078979 and range: 152.10 m.hJ> ?hhhhggjgrg~Bere Ze :e *e  @9ɢ=^=)9 =>i9)EYr ?M[=M=IMJ> ?II@ @@0@u2Acoustic response timeoutԉDzDAAE EE2E"E;*E:VE4ZEa@a@a@a@B}@>ByB}IB}BB}0 =B}/DB}zDB};B}jEԹ^A5=A I I O >U DAT read: 01:15:01.9004 LVL= 28208, 32753, 27970, 32755, AGC= 67, IDX= 415, 0.43,-0.129,-1.725, 0.006,-0.418, PHS= 0.391,-1.262, 0.380, RAW= 149.7, 6.0, CAL= 149.0, 6.3, ROT= 1.0, -6.3 z!#,P4ꅌLAYgot valid direction response: 01:15:01.9004 LVL= 28208, 32753, 27970, 32755, AGC= 67, IDX= 415, 0.43,-0.129,-1.725, 0.006,-0.418, PHS= 0.391,-1.262, 0.380, RAW= 149.7, 6.0, CAL= 149.0, 6.3, ROT= 1.0, -6.3 PDAT read: Bearing 188.0, -1.3 (Local) ~Local bearing/azimuth received: Bearing 188.0, -1.3 (Local) VDAT read: Range 11 to 50 : 150.1 m (Round-trip 200.2 ms) speed 0.4 m/s Z*DAT read: user:116> ^BDAT read: Tx time:01:15:02.9960 ^$Ping request sent.^6]?>8=ٱ=H@&?@`߶???63߸??i%>I0];CԹM0nIMBm I)IIM'1>iM7M\>Mm7'@MPw=MBo&@ Mz0=)M59Y=!EywDܛE>Q 5m4y?Q 9u4F)Yqyul'?Q Iu@zDI_i)w<顩ize.ic- ?2i=ӭ=Ic- ?I=9@9 @9@=/@9@EyA@EyAE EEE"E;*Ex:VEZEBEAAa A .AI I O >Ё!#,LA45J>5yo?55=ٱ5=5H`%?@_ֶ??@?N?@?i5J>I5h];5CYIyIiMb@Mb@Mb@ 9y&1?sh|??~jt?Y`?y=D</@jA )YA <bDVDw8y:%7=ٔQ->9 ?Y  ?= !Ey D [':E >Q 54y?Q 9%4B)zBY%?Q E%:y%6?Q I%@zDI;ie;ŗ4y)ɮ-A1:iQ]FNOT Ignoring new targets: 150.08 m."i]/*i]/m ProNav: ac range: 150.081970 m, nav range: 150.825653 m, bearing: 31.916905 deg, approach rate: -0.563155 m/s, LOS rate: -0.033262 deg/s, cmd heading: 31.149498 deg, new cmd heading: 31.122614 deg. im~suHeadingCmd: 0.543192 target range: 150.081970 and range: 150.10 m.h} ?hyhyhyhygygyjgrgBereZe:e*e?QɢU=)Q ]>iY)]r{B !CB B B - =B B {DB ;B jEA ؟AI I O >7!#,%?!LAɰp;BA8>Bf?B.K4=ٱB=BH;&?@EԶ?@?@?@e/?I?iBA8>IBA];@YbBybIbDrVDr8y ;% ^=ٔ XQ->9"?Y"?=!EyD%ÿE%>)Q 5E4-y?Q 9E4-|?))YAyE6?Q IE@-+zDI-}K;i-1M;-@4yYɮ]+AY:iFNOT Ignoring new targets: 150.08 m."i *i  ProNav: ac range: 150.081970 m, nav range: 150.632202 m, bearing: 31.905477 deg, approach rate: -0.512557 m/s, LOS rate: -0.030318 deg/s, cmd heading: 31.122614 deg, new cmd heading: 31.099728 deg. i]HeadingCmd: 0.542793 target range: 150.081970 and range: 150.10 m.hv ?hhhhggjgrgereZe:e*e`Z?yɢ}d=) ">i)<顁i-iv ?[~=x=Iv ?I)m9@i @i@m 5@qQ^A=ԁ A I I O >r!#,;LA2Z>2$Y?21=ٱ2Pi=2H M'?r??k?<@8I25];2CY:By:IbDFVDF8yN%NR=ٔNʺQ-R>9PYP=R!EyRDV EV>XQ 5^4Z,y?Q 9^4Z;bEQjEU4rEUL/Eb EbEb/E`"Eb;*Eb$:VEbJ4ZE`BEb@Ciy)}ց ^!#,TLA2>2C?2L/=ٱ2hs=2H(? 2M?`??iq=?@?i2>I2vi];2CY:By:Ii~Mb@Mb@Mb@|||| |9~RQ?I +?y&1?Y~?y~9=~`e<~\@~A ~@)~"A|Y~AAAbDVD8y%;4%-A=ٔ-Q-->91Y1=5!Ey5D5ME5>AQ 5E4Ey?Q 9M4E+8)AYM?Q EM:yM9?Q IM@EGzDIEk:iE:Ei4yQԹɮA:i9=FNOT Ignoring new targets: 150.08 m."iE*iEU ProNav: ac range: 150.081970 m, nav range: 150.214310 m, bearing: 31.879706 deg, approach rate: -0.506639 m/s, LOS rate: -0.032486 deg/s, cmd heading: 31.075766 deg, new cmd heading: 31.048116 deg. iUm]HeadingCmd: 0.541892 target range: 150.081970 and range: 150.10 m.h]m ?hYhYhYhYgagajgargeyBeireiZei:ei*em?颙ɢ=) '>i) <顡i-im ?Õ=G=Im ?i߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733085IE EE1E"EV:*E]t:VE-4ZEa@a@a@a@I@I @I@M/@IB}H>ByB}IB}ځBByByByB}{;B}jE^Am checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985343I I O >9 ~)!#,1nLA>.>>L?>R-=ٱ>]=>Hu(?2?@??w:[?Y?i>.>I>];9\Y\=^!Ey^Db9Eb>dQ 5f4fy?Q 9j4f4)dYhyj9?Q Ij@fSzDIf:if:f34yr-BɮrAp:i  FNOT Ignoring new targets: 150.08 m."i *i % ProNav: ac range: 150.081970 m, nav range: 150.015869 m, bearing: 31.866955 deg, approach rate: -0.543635 m/s, LOS rate: -0.034978 deg/s, cmd heading: 31.048117 deg, new cmd heading: 31.022582 deg. i%-HeadingCmd: 0.541446 target range: 150.081970 and range: 150.10 m.h-8 ?h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=@iɢm>!=)i m]>ii)udԉ E!#,LA5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491278m>m=?m+=ٱmNk=mH )?@l?W?>?`]꯿k_ ]??im>Im>];mCYށByIiMb@Mb@Mb@ 9!rh?333333?Mbp?Yl?y=;@A /@)AYAbD%$VD%8y5 %=4=ٔ=BQ-=>99YA=E!EyEDEEE>IQ 5U4Mly?Q 9U4M0)MwBY]?Q E]:y]1?Q I]@MczDIM:iM:M%4yaɮeyAiԩ:i  FNOT Ignoring new targets: 150.08 m."i*i% ProNav: ac range: 150.081970 m, nav range: 149.775345 m, bearing: 31.854096 deg, approach rate: -0.511688 m/s, LOS rate: -0.027399 deg/s, cmd heading: 31.022583 deg, new cmd heading: 30.996824 deg. i%HMHeadingCmd: 0.540997 target range: 150.081970 and range: 150.10 m.hM~ ?hIhIhIhIgIgIjgQrgU}BeQreQZeY:eY*e] @ɢN+=) {>i)#R<i1,i~ ?==I~ ?I}9@y @y@}/@@@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.740736 ^A =A >A ?E  E E E "E :*E :VE ZE a @a @a @a @I I O% >Ba Ae <Be L>Ba Be IBe ЁBBe , =Ba Ba Be ~;Be jE1 "=!#,XLAJ>J??J(=ٱJ=JH,? `9??`B!?5 ]`&L? ?iJ>IJ];JCY^́BybI hhbDn&VDn8yv%vb=ٔz1Q-z>9xY|=~!Ey~D~E~>Q 5 4y?Q 9 4R-)uBYy1?Q I@ozDI:i:w4yBɮA%~E:iAEFNOT Ignoring new targets: 150.08 m."iMf*iMf ProNav: ac range: 150.081970 m, nav range: 149.584000 m, bearing: 31.843875 deg, approach rate: -0.553315 m/s, LOS rate: -0.029594 deg/s, cmd heading: 30.996826 deg, new cmd heading: 30.976358 deg. iXHeadingCmd: 0.540639 target range: 150.081970 and range: 150.10 m.hYg ?hhhhggjgrgereZe:e*en@AɢEg=)A EZ>iI)M-a v> C 8GE /{AQ 9 /{AY A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244817e!#,bLA4<ɰ; 6 T>6| ?6T$=ٱ6K =6H`.?ศ??#?`~ `P4??i6 T>I6H];6CER ERER3EP"ERV:*ER$:VER4ZEPBER99pYt=v!EyvDvƺEv>xQ 5}4zz?Q 9}4z))zsBYyy}1?Q I@z}zDIzi) Љ<顙i`8+igM ?ƙ==IgM ?IiM9@I @I@M/@Iԡmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.499658^At(=I I) O5 > M!#,=ֆLA2>2 ?2b#=ٱ2=2H`1?@?k?@%?` rq$??i2>I2];2CY:By:IIB=)B=PiMb@Mb@Mb@ 9E?Zd;?MbpY?yy=A @)YGAbDTVD8y-3%-E=ٔ5e9Q-5>91Y1=5!Ey5D=EE=>AQ 5M4EMz?Q 9M4E#&)EoBYM?Q EU:yUs+?Q IU@EzDIEI:iEt:E4yYɮ]AAY:iFNOT Ignoring new targets: 150.08 m."i CԹ*i CԹ= ProNav: ac range: 150.081970 m, nav range: 149.153870 m, bearing: 31.822960 deg, approach rate: -0.526015 m/s, LOS rate: -0.023197 deg/s, cmd heading: 30.953676 deg, new cmd heading: 30.934470 deg. i=)EHeadingCmd: 0.539908 target range: 150.081970 and range: 150.10 m.hEo7 ?hAhAhAhAgIgIjgIrgMEBeQreQZeY:ea*ee/@DAT read: 01:15:05.5978 LVL= 32752, 32753, 31378, 32755, AGC= 69, IDX= 421, 0.41,-2.635, 2.004,-2.546,-2.952, PHS= 0.418,-1.283, 0.362, RAW= 148.3, 6.1, CAL= 147.7, 6.5, ROT= 2.3, -6.5 Ygot valid direction response: 01:15:05.5978 LVL= 32752, 32753, 31378, 32755, AGC= 69, IDX= 421, 0.41,-2.635, 2.004,-2.546,-2.952, PHS= 0.418,-1.283, 0.362, RAW= 148.3, 6.1, CAL= 147.7, 6.5, ROT= 2.3, -6.5 PDAT read: Bearing 187.5, 0.2 (Local) ~Local bearing/azimuth received: Bearing 187.5, 0.2 (Local) DAT read: Range 11 to 50 : 148.2 m (Round-trip 197.7 ms) speed 0.2 m/s *DAT read: user:117> BDAT read: Tx time:01:15:06.6959 $Ping request sent.iX9X>%@^ =$@ V=)l$=IV轩y?-ƙc5?Qh3y ? >>)aؽIl$=iV轩:publishing transmit ping time%Fpublishing direction and range infoyŖ?ёxcWj?5?Y )Ii )Iy?-ƙc5?Qh3y ? )Ii颁ɢ<E EE0E"E;*E:VE4ZEa@a@a@a@BO>B"CBIBBBBBB;BjEB!CB!CBÔCB- =B- =C85) m,*>ii)m>!#,LA>#>> ?>!=ٱ>(=>H`2?V!ǵ??`7'?@1v%??i>#>I>];>CYJByJuIRAAPbDR5VDRɱ8Xy^%^M=ٔ^Q-b>9`Y`=b!EybɁDfyEf>hQ 5n4j=z?Q 9n4j")jkBYlynZ+?Q Ir@jzDIj:ijG:j4yvBɮvAvEiiۆLAj/C"j/C:j?Rjɟn;cb@0^@ w0@BjŖ?ёxcWj?5?*jl$=2jVZj=&j^@`OT@^9[&@Jjio?Jwm?;̳?jB jBi?ijBj|?jjrjCzj#{?= addTargetRange:: Added new target pos. range: 148.199997 m, deltaT: 3.780264 s, deltaX: -1.900009 m, approachRate: -0.502613 m/s, rangeRepo size: 4 M Added new target pos. range: 148.187180 m, bearing: 33.362023 deg, lat: 36.779521 deg, lon: -121.859762 deg, deltaT: 3.780264 s, deltaX: -1.894791 m, approachRate: -0.501232 m/s, posRepo size: 4 :iIMFNOT Ignoring new targets: 148.19 m."iU*iQe ProNav: ac range: 148.187180 m, nav range: 148.630142 m, bearing: 31.888908 deg, approach rate: 0.000000 m/s, LOS rate: -0.023197 deg/s, cmd heading: 30.934470 deg, new cmd heading: 30.916542 deg. iamHeadingCmd: 0.539595 target range: 148.187180 and range: 148.20 m.hm" ?hihihihigqgqjgqrgqeyreyZey:e}`fb@*e}%?颩ɢ<) >i)kË<顱i)i" ?ݙ=I" ?I-9@) @)@-4@1E} E}E}2Ey"E}:*E}:VE}4ZEyBE}<9 !#, LA<>@ͫ> ?:M=ٱ=H3???'?W8@^裿+??iͫ>I}];CYBykIi%Mb@Mb@Mb@!!!! !9%L7A`?~jt?9YYY=]!Ey]ҁD]Ee>aQ 5m4e-z?Q 9u4e)eeBYu?Q Eu:yuq ?Q Iu@ezDIe<;ier;e4yyɮA:iFNOT Ignoring new targets: 148.19 m."iZ*iZ ProNav: ac range: 148.187180 m, nav range: 148.389816 m, bearing: 31.882388 deg, approach rate: -0.532226 m/s, LOS rate: -0.014464 deg/s, cmd heading: 30.916541 deg, new cmd heading: 30.903478 deg. iӹHeadingCmd: 0.539367 target range: 148.187180 and range: 148.20 m.h ?hhhhggjgrg@BereZe:e*e k?颡ɢ<) 8=i)<顩i^)i ?==I ?IAY@Y @a@e1@ai^AE 6=E  E E E "E ;*E :VE ZE a @a @a @a @A @AA @AB B B lIB BB * =B B B ĭ;B jEԡ A I I O >Ũ!#,Q$LA2M>2Cq ?2]=ٱ2=2H7?w~?-?+?`,`쵣?`?i2M>I2Fs];2CY:By:ZIbDFiVDF8yN%Nk=ٔNxQ-R?9PYP=R!EyRفDV7EV?XQ 5^4Z8:z?Q 9^4Z&)ZaBY\y^1 ?Q Ib@ZzDIZ;iZ^;Z4yfBɮfAfE:iimFNOT Ignoring new targets: 148.19 m."iux*iuxy ProNav: ac range: 148.187180 m, nav range: 148.206696 m, bearing: 31.877474 deg, approach rate: -0.504459 m/s, LOS rate: -0.013552 deg/s, cmd heading: 30.903478 deg, new cmd heading: 30.893639 deg. iiƹHeadingCmd: 0.539196 target range: 148.187180 and range: 148.20 m.h ?hhhhggjgrgereZe:e*e`r#?ɢ <)  \=i ) F&<if(i ?=8=I ?I!)9@ @@$4@@@ԩ^A=A>A>I I O > !#,->LAE& E&E&0E$"E&s:*E&1:VE&4ZE$BE&r0>>YE ?>=ٱ>_=>H :?? [??.?@q7`Pw??i>>I>^];>CYJByJVI R=R<bDVRVDV8y^ZP%^H=ٔ^Q-^>9`Y`=b!EybDfI׺Ef>hQ 5j4jHz?Q 9n4j)j[BYlyn ?Q In@jzDIj;ij;j4ytɮvAtB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 148.19 m."i셹*i셹- ProNav: ac range: 148.187180 m, nav range: 147.991455 m, bearing: 31.871740 deg, approach rate: -0.548572 m/s, LOS rate: -0.014635 deg/s, cmd heading: 30.893639 deg, new cmd heading: 30.882154 deg. i-Fֹ5HeadingCmd: 0.538995 target range: 148.187180 and range: 148.20 m.h5 ?h1h1h1h1g1g9jgrgereZe:e*e`S?yɢ}<2<) Ш=i)=<顉iߕ'i ?==I ?I9@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9^Ax=I I O >Y !#,UXLA;ɰ2y>2 ?2j=ٱ2A=2Hb>?@,^? F?/1?`~:#9?T?i2y>I2#_];0Y>}By>DIi~Mb@Mb@Mb@|||| |9~S㥛?:v?MbPY~$?y~T<~|~A |)~"A|Y~AbDVVD8y%o%%C=ٔ-XQ-->9)Y1=5!Ey5D5E=>9Q 5E4=xXz?Q 9M4=)=WBYM/?Q EM:yMq?Q IM@=zDI=:i=:='4yU!Bɮ]AY:iyFNOT Ignoring new targets: 148.19 m."i*i ProNav: ac range: 148.187180 m, nav range: 147.772079 m, bearing: 31.870066 deg, approach rate: -0.523865 m/s, LOS rate: -0.004004 deg/s, cmd heading: 30.882154 deg, new cmd heading: 30.878801 deg. iw긝HeadingCmd: 0.538937 target range: 148.187180 and range: 148.20 m.h ?hh!h!h!g!g!jg)rg-Be)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0039229reIZeQ:eQ*eU`(@颙ɢ <) ]=i)M<顡id&i ?Q =U=I ?IEU EUEU1EQ"EU:*EUą:VEU-4ZEQae@ae@ae@ae@BuS>BqBuGIBuBBu, =BqBu|DBu;BukEa@a @a@a@aaԉ^AI I9 OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255712Ա !#,qLA2z>2 ?27=ٱ2=2H 5??@@e?,?@1?ᾰ@*s??i2z>I2];2CY>wBy>=IIB4>)@bDFIVDF۱8yN%NS=ٔRQ-R>9PYP=R!EyRDVEV>XQ 5^4Zfz?Q 9^4Z)ZSBY\ybf?Q Ib@ZzDIZY;iZ:Z4ydɮfLAd:itzFNOT Ignoring new targets: 148.19 m."i~*i~  ProNav: ac range: 148.187180 m, nav range: 147.569809 m, bearing: 31.868531 deg, approach rate: -0.524097 m/s, LOS rate: -0.003982 deg/s, cmd heading: 30.878800 deg, new cmd heading: 30.875727 deg. i 5鸝HeadingCmd: 0.538883 target range: 148.187180 and range: 148.20 m.h> ?hhhhggjgrge!re!Ze!:e!*e% @QɢUb<)Q U0=iY)]T ?eo=aIe> ?Iiԑ 9@  @ @ @ @=@=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507742ԹbE4jEř4rE١/E] E]E]/EY"E]V:*E]:VE]J4ZEYBE]9 >!#,̋LA^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762341> ?=ٱf=H@C?L??5?b˰:ܢ`n?@?i>Iƒ];CYtBy9IiMb@Mb@Mb@ 9Zd;?Mb`?Y>y;@A E@)AYfA@AbDHVDڱ8yQQ%,=ٔ/Q->9Y=!EyDFE>Q 54wz?Q 94)OBY>Q E:y ?Q I@zDI:i:/4y BɮAxE:iFNOT Ignoring new targets: 148.19 m."i7*i%75 ProNav: ac range: 148.187180 m, nav range: 147.334000 m, bearing: 31.868748 deg, approach rate: -0.496904 m/s, LOS rate: 0.000456 deg/s, cmd heading: 30.875727 deg, new cmd heading: 30.876160 deg. i5U7=HeadingCmd: 0.538891 target range: 148.187180 and range: 148.20 m.h= ?h9h9h9h9g9gAjgArgE'BeIreIZeI:eQ*eU@yɢ}耢<) =i)<顁i$i ?]==I ?I9@ @@@UBDAT read: Rx Time:01:15:09.3295 UTRx dataTimestamp_ set to:1764897310.456503]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012755^A= oE=A Bm U>Bi Bm 'IBm fBBm * =Bi Bi Bm ;Bm kEE  E E 2E "E ;*E ~:VE 4ZE BE @C<2E AC<JE 8;:E 8;I I O >f!#,˟LAY~fBy~(IbD CVD ֱ8y%i=ٔ%Q-%>9!Y)=-!Ey-D-E->1Q 5=45)z?Q 9=45 )5LBYAyAQ IE@5zDI5';i5:5M4yIɮM.AI:iquFNOT Ignoring new targets: 148.19 m."i}l7*i}l7 ProNav: ac range: 148.187180 m, nav range: 147.159698 m, bearing: 31.868908 deg, approach rate: -0.498787 m/s, LOS rate: 0.000459 deg/s, cmd heading: 30.876160 deg, new cmd heading: 30.876481 deg. iW7HeadingCmd: 0.538896 target range: 148.187180 and range: 148.20 m.h ?hh9h9h9gAgAjgArgIeIreIZe:e*e@ @IU`Bɢ]%<)Y ]1 A I I O > BDAT read: Tx time:01:15:10.4459  $Ping request sent. Y Y ] P|? z?ڿ ] 3 ?)] $>I] i] V>Y Y - :publishing transmit ping time - Fpublishing direction and range infoyY ] ~9Ӈ?1#RAԾ3EܿYY Y Y Y Y Y )Y G!!#,uLAE EEE"E:*E:VEZEa@a@a@a@@Ii )IP|? z?ڿ )Iijo>j ?ju=ٱjv=jH 9O?}x`??@?#ư?? ?ijo>Ij_];hYUgByU)IbD}@VD}ӱ8y;%C=ٔvQ->9Y=!Ey DϻE>Q 5%4z?Q 9%4% )HBY)y- ?Q I-@{DI:i:4yUBɮU:AYiinLAj+C"j+C:jyk>Rjw5%c@rH`4418RBj~9Ӈ?1#RAԾ3Eܿ*j 2jV>Zjf`@hP@LCaTJj,'?V?A|޿jB j3CiSĬ?i))jjjPS,jrjhCzj ?%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 172.000000 m, deltaT: 3.527888 s, deltaX: 23.800003 m, approachRate: 6.746247 m/s, rangeRepo size: 4:i!%FNOT Ignoring new targets: 148.19 m."i-E7*i-E7} ProNav: ac range: 148.187180 m, nav range: 146.943970 m, bearing: 31.869330 deg, approach rate: -0.471189 m/s, LOS rate: 0.000924 deg/s, cmd heading: 30.876481 deg, new cmd heading: 30.877327 deg. i}n7HeadingCmd: 0.538911 target range: 148.187180 and range: 148.20 m.h ?hhhhggjgrgereZe:ee@*eW?Aɢmz$<)i m ]A ?A .AI I O >[!#,ڇLA(2l>2 ?2V=ٱ2=2H P? u`?U?@A?(`Ep p??i2l>I2];2CYVaByV"Ii5Mb@Mb@Mb@1111 195\(\?{Gzt?Y5>y55ף;5@5 A 5/@)11Y5AbDE?VDEұ8y]1%]D=ٔ] Q-]>9e ?Ye ?=e!EyeDeHEm>iqIqyQ 54}z?Q 94}p)}EBY>Q E:y ?Q I@}{DI}(:i}:}4yɮkAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 148.19 m."i\8*i\8 ProNav: ac range: 148.187180 m, nav range: 146.745972 m, bearing: 31.870131 deg, approach rate: -0.520535 m/s, LOS rate: 0.002109 deg/s, cmd heading: 30.877328 deg, new cmd heading: 30.878933 deg. iv8HeadingCmd: 0.538939 target range: 148.187180 and range: 148.20 m.h ?hhhhggjgrgBereZe:e*e?BuV>Bu#CBuIBuLBBqBqBqBu;Bu=kEE EEE"E*E:VEZEBE6(!#,rLAɰ4<`YvLByzIbDNVD8y4ɽ%H=GGٔQ->GyAMA9"?Y"?=!EyD9GyAY :A E >Q 54հz?Q 94)BBY!y!Q I%@{DI::i:T4y-Bɮ-#A-yE:iQUFNOT Ignoring new targets: 148.19 m."i]8*i]8m ProNav: ac range: 148.187180 m, nav range: 146.538788 m, bearing: 31.870972 deg, approach rate: -0.490802 m/s, LOS rate: 0.001994 deg/s, cmd heading: 30.878933 deg, new cmd heading: 30.880617 deg. imi8HeadingCmd: 0.538968 target range: 148.187180 and range: 148.20 m.h ?hhhhggjg rg e re Ze1:e9*e=0?颥_Bɢt<) i)<i i ?==5=I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.987507E EEE"El;*E:VEZEa@a@a@a@@ @@0@^AA I U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241579I I OM >"#,bLAn>nܻ ?n&=ٱn;=nH ;U?n@?` ?IE?T1¹?8?in>In_];nCYvSByvIiuMb@Mb@Mb@qqqq q9ujt?MbPy&1|?Yu?yuu`;u@u A uE@)uAqYufAbDAVDԱ8y=%:=ٔXQ->9Y=!Ey%D"E>Q 547z?Q 94)@BY?Q E:y ?Q I@,{DIa;i;%4yɮA:iFNOT Ignoring new targets: 148.19 m."i%D8*i%D8 ProNav: ac range: 148.187180 m, nav range: 146.325623 m, bearing: 31.872124 deg, approach rate: -0.496480 m/s, LOS rate: 0.002688 deg/s, cmd heading: 30.880617 deg, new cmd heading: 30.882926 deg. io8HeadingCmd: 0.539009 target range: 148.187180 and range: 148.20 m.hz ?hhhhggjgrgBereZe:e*e-;d?I}^Bɢ}<)y } iy)e<顁i\iz ?C=\/=Iz ?IY@Y @a@e0@a@m=@iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491422AA?ABS>B"CBIB=BB+ =BBBJ;BlkEE EE5E"E&:*E:VE4ZEBEj; "#,6*LA@J>J ?J=ٱJ>=JH`W? i ??^G?z@??iJ>IJ^;JCYZQByZIbDj.VDj±8yvOL%vW=ٔv~Q-z>9xY|=~!Ey~-DǺE> Q 54 z?Q 94 ) >BYy ?Q I%@ 8{DI ;i ; k,4y)ɮ-A):iIUFNOT Ignoring new targets: 148.19 m."iUR8*i]R8e ProNav: ac range: 148.187180 m, nav range: 146.133392 m, bearing: 31.873211 deg, approach rate: -0.509162 m/s, LOS rate: 0.002882 deg/s, cmd heading: 30.882926 deg, new cmd heading: 30.885102 deg. imè8mHeadingCmd: 0.539047 target range: 148.187180 and range: 148.20 m.hm ?hqhqhqhqgqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743318gqjgrgere Ze :e *e @NC?额]Bɢ~<) ɼi)?<顡iHi ?H=%I=I ?IԱM9@I @I@M!5@I^AmT=II O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9953151 E  E E 3E "E *E :VE 4ZE a @a @a @a @"#,DLA2%>2n] ?2D =ٱ2 =2Hp[?c??@J?@u??i2%>I2];0Y:YBy>IbDF[VDF8yN*=%NP=ٔN8Q-R>9PYP=R!EyR5DVOEV>XQ 5^4ZWz?Q 9^4Zp)Zԁ G""#,]LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499403>>>? ?>=ٱ>e=>H a]?f`!?ی?gL?`eC ?@i?i>>I>];>CY^XBybI ``dfABER>BABEIBE3BBABABE{DBEc;BEkEYiMb@Mb@Mb@ 9RQ?y&1?{Gz?Y?y`e<#<@ =A)AY AE EE0E"El;*EVE4ZEBEcF9Y=!Ey%>D%stE%>)Q 5U4-z?Q 9U4-)-:BY]?Q E]:y]?Q I]@-U{DI-;i-:-;4yaɮeAaB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 148.19 m."i=*i= ProNav: ac range: 148.187180 m, nav range: 145.688705 m, bearing: 31.873137 deg, approach rate: -0.509473 m/s, LOS rate: -0.002593 deg/s, cmd heading: 30.887471 deg, new cmd heading: 30.884951 deg. i◸ HeadingCmd: 0.539044 target range: 148.187180 and range: 148.20 m.h  ?h h hhggjgrg BereZe:e*e%@#@ԉ颕[Bɢ<) ջi)(<顙ii ?Q=7B=I ?II)yAe9@a @i@m4@iԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751345^A Т= I I O >ML"#,wLA2G>2> ?2=ٱ2GC=2Hv]?_=? ?`+L?@бp8??i2G>I2k];2CY:PBy: I B%=B4=bDFtVDF8yN_P%N}=ٔR9Q-R ?9PYP=R!EyREDVoEV ?XQ 5^4Zz?Q 9^4Z)Z9BY\yb?Q Ib@Z_{DIZ;iZ;ZcA4yfBɮf0Ad:ixzFNOT Ignoring new targets: 148.19 m."izE*i~E  ProNav: ac range: 148.187180 m, nav range: 145.523941 m, bearing: 31.872300 deg, approach rate: -0.531181 m/s, LOS rate: -0.002702 deg/s, cmd heading: 30.884951 deg, new cmd heading: 30.883275 deg. i 9 HeadingCmd: 0.539015 target range: 148.187180 and range: 148.20 m.h ?hhhhggjgrgere!Ze!:e!*e%`–@Թɢ!o<) i), <ii ?)U=X]=I ?I }checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004073@ @@/@E EE2E"E:*E:VE4ZEa@a@a@a@^A͢=I9IIOU>= BDAT read: Rx Time:01:15:13.0761 E TRx dataTimestamp_ set to:1764897314.239751U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260904ԁ 7$"#,ıLALɰN;muV>m ?mV-=ٱmR=mH`Ab?`XI??@P?@̱ġ`?V?imuV>Im>];iY}TBy}Ii Mb@Mb@Mb@     9 RQ?Q?Q?Y y < u< @  A SA) =A Y (AbD%_VD%8y5<%=2=ٔ=.Q-=>99YA=E!EyENDE<EE>QQ 5U4U {?Q 9]4U )QY]?Q E]:y]%?Q I]@Un{DIU:iU:UdI4yaɮm A:iFNOT Ignoring new targets: 148.19 m."i*iM ProNav: ac range: 148.187180 m, nav range: 145.290070 m, bearing: 31.868428 deg, approach rate: -0.492786 m/s, LOS rate: -0.008170 deg/s, cmd heading: 30.883274 deg, new cmd heading: 30.875519 deg. iM>oMHeadingCmd: 0.538879 target range: 148.187180 and range: 148.20 m.hU ?hQhQhQhQgQgQjgYrg]@BeYreYZea:ea*eej @UYBɢU<)Q U $iQ)UB9B=IB=.BB9B9B9B=v;B=kEiE EE3E"ET;*E:VE4ZEBEGɯ*"#,ҬLAYbBy#II!>)4<bD-LVD-ޱ8DAT read: 01:15:13.0761 LVL= 32752, 32753, 32178, 32755, AGC= 66, IDX= 65,-0.18, 3.126, 1.474,-3.041, 2.737, PHS= 0.491,-1.218, 0.461, RAW= 149.1, 3.2, CAL= 148.3, 3.2, ROT= 1.7, -3.2 Ygot valid direction response: 01:15:13.0761 LVL= 32752, 32753, 32178, 32755, AGC= 66, IDX= 65,-0.18, 3.126, 1.474,-3.041, 2.737, PHS= 0.491,-1.218, 0.461, RAW= 149.1, 3.2, CAL= 148.3, 3.2, ROT= 1.7, -3.2 PDAT read: Bearing 184.2, -0.2 (Local) ~Local bearing/azimuth received: Bearing 184.2, -0.2 (Local) DAT read: Range 11 to 50 : 169.5 m (Round-trip 226.0 ms) speed 0.3 m/s *DAT read: user:119> BDAT read: Tx time:01:15:14.1959 $Ping request sent.i]m盿]1>]ۋ&@]d=]%@ ]d=)]9Y=!EyWDE>!Q 5-4%{?Q 9-4%)!Y1y1Q I5@%|{DI%m ;i% ;%P4y=Bɮ=A=rEiYi]LAj]|)C"j]|)C:j] ?Rj]ȳ$e@Q@$/"@Bj]q?T?ᢔ?*j]<2j]dZj]Ky'a@?bV@±%'0@Jj]? +?(Vnt?j]B j]Ci]m'?i]ݷٗj]zBjYj]zjYrj]Czj]_? addTargetRange:: Added new target pos. range: 169.500000 m, deltaT: 7.311964 s, deltaX: 21.300003 m, approachRate: 2.913034 m/s, rangeRepo size: 4  Added new target pos. range: 169.485703 m, bearing: 32.463238 deg, lat: 36.779521 deg, lon: -121.859762 deg, deltaT: 7.311964 s, deltaX: 21.298523 m, approachRate: 2.912832 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 169.49 m."i*i ProNav: ac range: 169.485703 m, nav range: 145.076553 m, bearing: 31.864883 deg, approach rate: 0.000000 m/s, LOS rate: -0.008170 deg/s, cmd heading: 30.875518 deg, new cmd heading: 30.868884 deg. iHeadingCmd: 0.538764 target range: 169.485703 and range: 169.50 m.hj ?hhhhggjg!rg!e!re)Ze):e-0e@*e-`·?uXBɢ}Ș<)y }1"#,=ȈLA6E>6 ?6ϔ =ٱ6=6H`}d?WU` ?@]?0S?=ಱ??i6E>I6\;6CY>WByBIDDbDJOVDJ8yRb%RV=ٔVǹQ-V>9V ?YV ?=V!EyV_DZ{EZ>\Q 5b4^g&{?Q 9b4^)\Y`yf?Q If@^{DI^e:i^:^aW4yhɮjTAh:i|~FNOT Ignoring new targets: 169.49 m."i*i ProNav: ac range: 169.485703 m, nav range: 144.881271 m, bearing: 31.861671 deg, approach rate: -0.516752 m/s, LOS rate: -0.008512 deg/s, cmd heading: 30.868883 deg, new cmd heading: 30.862449 deg. i?yHeadingCmd: 0.538651 target range: 169.485703 and range: 169.50 m.h ?hhhhgg!jg!rg!e!re)Ze):e)*e-f?ԑWBɢB<) 9i)<iRi ?-g_=-;=I- ?I1@ @@/@^A% =AQ Ia Iq O > B O>B B IB 3BB , =B B B ;B kE8"#,∌LA((EN ENEN1EL"EN ;*ENM:VEN-4ZELBENLZ ?Z =ٱZl=ZH 0c?@vW ?`?Q?dݱ q?@g?iZ_<>IZ\;ZCY%OBy- IiMb@Mb@Mb@ 9!rh?:v?~jt?Yl?yT=D<@& A )AYAbDVD8y+%9=ٔQ->9Y=!EygDv>:E>Q 54N6{?Q 94c)Y?Q E:yC#?Q I@{DIWL;iK;_4y Bɮ A-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 169.49 m."iE*iEM ProNav: ac range: 169.485703 m, nav range: 144.647141 m, bearing: 31.854082 deg, approach rate: -0.527694 m/s, LOS rate: -0.017131 deg/s, cmd heading: 30.862449 deg, new cmd heading: 30.847248 deg. iUHeadingCmd: 0.538386 target range: 169.485703 and range: 169.50 m.h ?hhhhggjgrg0BereZe:e*e =?UUBɢU<)Y ]PiY)]HF>"#,+LA2>2 ?2$e =ٱ2x=2H _?v]`??`M?] k`&1?>?i2>I2\;2CY:QBy:IbDFdVDF8yJi<%Na=ٔNZQ-n>9r"?Yr"?=r!EyroDr;Ev>tQ 5z4vC{?Q 9~4vJ)tY|y~z#?Q I~@v{DIv ;iv ;ve4y ɮ A :i)5FNOT Ignoring new targets: 169.49 m."i52*i52E ProNav: ac range: 169.485703 m, nav range: 144.450333 m, bearing: 31.847618 deg, approach rate: -0.532254 m/s, LOS rate: -0.017507 deg/s, cmd heading: 30.847248 deg, new cmd heading: 30.834302 deg. iE(MHeadingCmd: 0.538160 target range: 169.485703 and range: 169.50 m.hM ?hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee?颍TBɢ#ي<) @i)l<顑i "i ?@g=g=I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248030YU9@Q @Q@U0@QE EE3E"E;*E:VE4ZEa@a@a@a@ԁ^A5lŠ=A=>A=>ԱAa Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500178 7/E"#,LA2>2w( ?2 =ٱ2p=2H`F_?`_~??@vM?̱L!???i2>I2\;2CYNWByNIi%Mb@Mb@Mb@!!!! !9%w/?&1?:v?Y%?y%P=%T<%@%= A %A)!!Y%zA 9=%=bDEWVDE8yM<%U?=ٔU9YYY=]!Ey]wD]ѓ9Ee>aQ 5m4eR{?Q 9u4e)aYu?Q Eu:yu#?Q Iu@e{DIeB!CBBB- =BBBŮ;BkEEM EMEM1EI"EM;*EM:VEM-4ZEIBEM@1 fXK"#,/LAɰ2kݦ>2+9 ?2F=ٱ2݊=2H L^? Fa2?r? L?걿砿2? ?i2kݦ>I2\;2CY:[By>IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004171bDJ8VDJ̱8yV^<%VU=ٔVוQ-Z>9Z ?YZ ?=Z!EyZD^.:E^>`Q 5f4bu`{?Q 9f4b)`Ydyj$#?Q Ij@b{DIb:ibh:bs4ylɮ]bAY:iFNOT Ignoring new targets: 169.49 m."iD*iD ProNav: ac range: 169.485703 m, nav range: 144.026733 m, bearing: 31.833888 deg, approach rate: -0.527885 m/s, LOS rate: -0.017187 deg/s, cmd heading: 30.819962 deg, new cmd heading: 30.806803 deg. iHeadingCmd: 0.537680 target range: 169.485703 and range: 169.50 m.hh ?hhhhggjgrg e re Ze :e *e@QBɢ<) @R"#,ipILA >>>B ?>C=ٱ>=>H]?{b?`?`K?`? ?i>>I>\;9\Y\=^!Ey^Db9Eb>dQ 5j4fn{?Q 9j4fI)dYhyj-#?Q Ij@f{DIfP:if:fz4ypɮrTAp:i  FNOT Ignoring new targets: 169.49 m."i 4*i4% ProNav: ac range: 169.485703 m, nav range: 143.813126 m, bearing: 31.826911 deg, approach rate: -0.555274 m/s, LOS rate: -0.018163 deg/s, cmd heading: 30.806803 deg, new cmd heading: 30.792829 deg. i%%HeadingCmd: 0.537436 target range: 169.485703 and range: 169.50 m.h-l ?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e= @ePBɢm<)i m iA IE A] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762383B F>B CB IB 8BB B B zDB ;B kEBiBm!CBiBm, =Bm, =Cm˸J5E]  E] EY EY "E] ;*E] $:VEY ZEY BEY am 2EY am JE] ;am :E] ;am wX"#,cLA2+>2G` ?2 =ٱ2^=2H\?e@?Ő?H?d<``I21];2CY:XBy:I`i]Mb@Mb@Mb@YYYY Y9]x&?V-?y&1|?Y]7 ?y]m=]`;]@] A ]jA)]SAYY]AbDu4VDuȱ8y%<=ٔQ->9"?Y"?=!EyD:E>Q 54~{?Q 94)8BY ?Q E:yz&?Q I@{DI/;i:D4y BɮAtEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 169.49 m."iv*iv ProNav: ac range: 169.485703 m, nav range: 143.580170 m, bearing: 31.818070 deg, approach rate: -0.536035 m/s, LOS rate: -0.020377 deg/s, cmd heading: 30.792829 deg, new cmd heading: 30.775117 deg. i+HeadingCmd: 0.537127 target range: 169.485703 and range: 169.50 m.h* ?hhhhggjgrg XBe re Ze :e *eH@OBɢ6<) U^"#,&}LA2Q>2s ?2|=ٱ20=2HZ?g,?ؒ? F?`dcAV?s?i2Q>I2Z];0Y:MBy: IbDFfVDF8yNOx%N]=ٔNQ-N>9PYP=R!EyRDV5J:EV>XQ 5Z4Z{?Q 9^4Z`)XY\y^&?Q I^@Z{DIZ;iZ;Z4ydɮfAd:itzFNOT Ignoring new targets: 169.49 m."iz*iz9 ProNav: ac range: 169.485703 m, nav range: 143.381165 m, bearing: 31.810473 deg, approach rate: -0.537721 m/s, LOS rate: -0.020556 deg/s, cmd heading: 30.775118 deg, new cmd heading: 30.759903 deg. izHeadingCmd: 0.536862 target range: 169.485703 and range: 169.50 m.ho ?hhhhggjgrgereZe:e*e o @BDAT read: Rx Time:01:15:16.8243  TRx dataTimestamp_ set to:1764897318.021282checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2664495NBɢ5" <)Y ]iY)eml݀e"#,3LAB#F>Bm ?B@<ٱB<=BH b[?@g]c?T?`G?MwɦOX?@?iB#F>IBO];BCYJKByJIԱiMb@Mb@Mb@ 9(\?T㥛 ?{Gzt?Y?y=ף; A A)YAbDJVDܱ8y㱻%*=ٔQ->9Y="EyD<7E>Q 54{?Q 94>)6BY?Q E:yN)?Q I@{DI:i:4yM BɮM AI:iFNOT Ignoring new targets: 169.49 m."i\ʹ*i\ʹ ProNav: ac range: 169.485703 m, nav range: 143.126816 m, bearing: 31.799625 deg, approach rate: -0.517581 m/s, LOS rate: -0.022115 deg/s, cmd heading: 30.759904 deg, new cmd heading: 30.738169 deg. i!HeadingCmd: 0.536482 target range: 169.485703 and range: 169.50 m.hV ?hhhhggjgrgjBereZe:e*e @UMBɢU<)Q U7iQ)UfBIBIBIBM/ =BIBIBM;BMkEDAT read: 01:15:16.8243 LVL= 28400, 29777, 30306, 30067, AGC= 66, IDX= 71,-0.12,-1.843, 2.857,-1.753,-2.211, PHS= 0.470,-1.170, 0.415, RAW= 148.3, 3.6, CAL= 147.6, 3.7, ROT= 2.4, -3.7 Ygot valid direction response: 01:15:16.8243 LVL= 28400, 29777, 30306, 30067, AGC= 66, IDX= 71,-0.12,-1.843, 2.857,-1.753,-2.211, PHS= 0.470,-1.170, 0.415, RAW= 148.3, 3.6, CAL= 147.6, 3.7, ROT= 2.4, -3.7 PDAT read: Bearing 184.5, 0.7 (Local) ~Local bearing/azimuth received: Bearing 184.5, 0.7 (Local) DAT read: Range 11 to 50 : 168.1 m (Round-trip 224.2 ms) speed 0.4 m/s *DAT read: user:120> BDAT read: Tx time:01:15:17.9459 $Ping request sent.i•z>%@@ @@@E% E%E%3E!"E%;*E%:VE%4ZE!BE!a52E!a5JE%;a5:E%;a==$@  A=)+=I AL?H+_J? ? >)hI+=i AE:publishing transmit ping timeMFpublishing direction and range infoy?2yIe?P0?Y )Ii )IL?H+_J? ? )Ii ^A ܪ=A% >A% >1 Am .AIq I O >k"#,yLAYzFByzIbD ^VD 8y=}%=d=ٔ=Q-E>9E ?YE ?=E"EyEDMEM>QQ 5]4Uө{?Q 9]4U%)U5BYYyYQ I]@U|DIU):iU:Ue4ymBɮmAmkEii_LAj(C"j(C:jG`?RjRzd@YE_@v%@Bj?2yIe?P0?*j+=2j AZja@占jWV@H3N@Jj'PVXD?as?!E?jB j Ci_ 쩊?i'ZjBjSĬ?jjBrj@Czj? addTargetRange:: Added new target pos. range: 168.100006 m, deltaT: 3.780970 s, deltaX: -1.399994 m, approachRate: -0.370274 m/s, rangeRepo size: 4  Added new target pos. range: 168.080292 m, bearing: 33.208293 deg, lat: 36.779615 deg, lon: -121.859731 deg, deltaT: 3.780970 s, deltaX: -1.405411 m, approachRate: -0.371706 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 168.08 m."i*i ProNav: ac range: 168.080292 m, nav range: 153.252975 m, bearing: 30.608810 deg, approach rate: 0.000000 m/s, LOS rate: -0.022115 deg/s, cmd heading: 30.738170 deg, new cmd heading: 30.722653 deg. iHeadingCmd: 0.536211 target range: 168.080292 and range: 168.10 m.h'E ?hhhhggjgrgereZe:e@3e@*e ?-LBɢ-L<)1 5`@i1)5U<11i5i='E ?= ==v=IE'E ?IA9@ @@/@iI^Aħ=)DD<E EE1E"E:*E:VE-4ZEa@a@a@a@A5 ؟AIA IQ O] >Q r"#,;ˉLA6>6ZH ?6*<ٱ6 =6H ^?vdI??`H?ޠ+d (U? ?i6>I64];4Y^3BybIbDjTVDj8yr.ǽ%rQ=ٔrbNQ-r>9v"?Yv"?=v"EyvDv/Ez>xQ 54z{?Q 94z)xYy))?Q I@z|DIz;iz;z94y Bɮ6AlE:i1=FNOT Ignoring new targets: 168.08 m."i=k*i=k鹝M ProNav: ac range: 168.080292 m, nav range: 153.046097 m, bearing: 30.598956 deg, approach rate: -0.534831 m/s, LOS rate: -0.025509 deg/s, cmd heading: 30.722652 deg, new cmd heading: 30.702918 deg. iM:UHeadingCmd: 0.535867 target range: 168.080292 and range: 168.10 m.hU. ?hQhQhQhYgYgYjgargaeareaZea:ei*emB G>B !CB IB 3BB - =B B B ®;B kEԹ E  E E 0E "E :*E :VE 4ZE BE <J/ ?J=<ٱJ1 =JH_? b??yJ?ඛƝe5?`y?iJʦ>IJ];JCYV:ByVIIZ%=)Z]>i5Mb@Mb@Mb@1111 195uV?i|?5?{Gzt?Y5r?y5q=15@5 A 5jA)11Y5AbDMOVDM8y]=%]A=ٔ]Q-]>9aYa=e"EyeDm_gEm>qQ 54u{?Q 94u')u4BYI ?Q E:y'?Q I@u"|DIuX "#,LA2}>2 ?2<ٱ2=2Ha?@!aų??K?"p_"?`?i2}>I2!];0Y:7By:IbD^AVD^Ա8yno%rU=ٔv(Q-v>9xYx=z"Ey~D~;E~> Q 54 {?Q 94 ) 3BY!y%&?Q I%@ /|DI P;i 2d; c4y5Bɮ5.A1:iq}FNOT Ignoring new targets: 168.08 m."i\߹*i\߹checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484930 ProNav: ac range: 168.080292 m, nav range: 152.614441 m, bearing: 30.579710 deg, approach rate: -0.546555 m/s, LOS rate: -0.024410 deg/s, cmd heading: 30.682784 deg, new cmd heading: 30.664372 deg. i2HeadingCmd: 0.535194 target range: 168.080292 and range: 168.10 m.h~ ?hhhhggjgrgereZe:e*eI?ɢo<) 8i)]<  i ti ~ ?Ǧ=V%=I~ ?DzDAAbEAjEE¯4rEE/E EE2E"E:*E՚:VE4ZEa@a@a@a@I@ @@/0@^AA)=U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736582Y A IA Ia O >)"#,nLA >m>>T ?>A<ٱ> =>H b?^??M?x#?@?i>m>I>];>CYF,ByFIiEMb@Mb@Mb@AAAA A9Ep= ף?V-?~jth?YE?yEm=ED;E/@EjA EA)AAYEAbD]:VD]ͱ8ymL%mA=ٔuQQ-u>9qYy=}"Ey}ʂD}ņE}>Q 54{?Q 94S)2BY?Q E:y%'?Q I@=|DI;i;4yBɮA:iFNOT Ignoring new targets: 168.08 m."i5ٹ*i5ٹ ProNav: ac range: 168.080292 m, nav range: 152.396072 m, bearing: 30.569878 deg, approach rate: -0.526432 m/s, LOS rate: -0.023737 deg/s, cmd heading: 30.664373 deg, new cmd heading: 30.644680 deg. i-HeadingCmd: 0.534851 target range: 168.080292 and range: 168.10 m.h?hhhhggjgrgPBereZe:e*eQ?%IBɢ%@xZ<)! %fi))-/<))i- i5?5ŭ=5O=I5?I9I9@ @@?5@@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988605A@AA@ABJ>BBIB#BB. =BB{DBʮ;BkEE EE0E"E:*E:VE4ZEBE>U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240377"#,2LA2q>2 ?2<ٱ2=2He?=[i??pP?o` ͹??i2q>I2]];2C8Y9PYP=R"EyRтDVѺEV>XQ 5^4Z{?Q 9^4Z+)Z0BY`yb&?Q Ib@ZJ|DIZ:iZ:ZV4yfBɮfAfmE:iiuFNOT Ignoring new targets: 168.08 m."i}&͹*i}&͹ ProNav: ac range: 168.080292 m, nav range: 152.199692 m, bearing: 30.561057 deg, approach rate: -0.498448 m/s, LOS rate: -0.022419 deg/s, cmd heading: 30.644682 deg, new cmd heading: 30.627016 deg. i$HeadingCmd: 0.534542 target range: 168.080292 and range: 168.10 m.h?hhhhggjgrgereZe:e*e Q@颍HBɢ5[<) `i)6Ҍ<顑i i?=w=I?II)xAԡ}9@y @y@}05@AIIOl>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492398E EE2E"E:*E:VE4ZEa@a@a@a@ ."#,eLLA2̥>2z ?2\<ٱ2=2H@Ch?W@U?~? R?yO ɹ?.?i2̥>I2\;2CY: By:I @Ba=bDFYVDF8yN/%N<ٔR2Q-R>9PYP=R"EyVقDV̺EV>XQ 5^4Z{?Q 9^4Zι)Z/BY`yb&?Q Ib@ZW|DIZG:iZ:Z`4ydɮfAdl:ix~FNOT Ignoring new targets: 168.08 m."i~ݹ*i~ݹ  ProNav: ac range: 168.080292 m, nav range: 151.990479 m, bearing: 30.551684 deg, approach rate: -0.540351 m/s, LOS rate: -0.024240 deg/s, cmd heading: 30.627016 deg, new cmd heading: 30.608245 deg. i r1HeadingCmd: 0.534215 target range: 168.080292 and range: 168.10 m.hK?hhhhggjg!rg!e!re!Ze!:e)*e-/@UGBɢU+><)Y ]iY)]Y4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744882!II)OU1>1a B B B IB BB - =B B B ɮ;B  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996485E  E E 1E "E V:*E ą:VE -4ZE BE 96 ?6<ٱ68=6H@h?QV<]?~?@R?@O ??i6m¥>I6*];6CYNByNI1iUMb@Mb@Mb@QQQQ Q9U%C?ˡE?MbP?YUZ?yU'=U:QU A U A)UAQYUAbDmoVDm8y}-L%}<=ٔ4Q->9Y="EyD^1E>Q 54P|?Q 94^)-BY?Q E:y?Q I@e|DI:i(:4yɮSAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 168.08 m."iH*iH  ProNav: ac range: 168.080292 m, nav range: 151.766464 m, bearing: 30.544309 deg, approach rate: -0.514650 m/s, LOS rate: -0.016970 deg/s, cmd heading: 30.608246 deg, new cmd heading: 30.593473 deg. i sHeadingCmd: 0.533957 target range: 168.080292 and range: 168.10 m.he?hhhhgg!jg!rg%4Be)re)Ze1:e1*e5`. @uFBɢ} .<)y }TŽiy)<顁iS0 ie?=t=Ie?IY@ @@@-BDAT read: Rx Time:01:15:20.5721 5TRx dataTimestamp_ set to:1764897321.803240=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252355IIOe>ԉGꟿ9YOAԱ T"#,J@LARW>Rbv ?Rs<ٱR=RH@l?P@S? Vx?"V?`7훿)? ?iRW>IR];PYb BybIbDvqVDv8y~Y[%S=ٔLQ->9 Y = "Ey D  E >Q 5e4|?Q 9e4N),BYiym?Q Im@r|DI>:iS:4yuB}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500456ɮAnEԑ:iFNOT Ignoring new targets: 168.08 m."iE*iE ProNav: ac range: 168.080292 m, nav range: 151.566544 m, bearing: 30.537770 deg, approach rate: -0.504771 m/s, LOS rate: -0.016531 deg/s, cmd heading: 30.593473 deg, new cmd heading: 30.580378 deg. i 򹝏HeadingCmd: 0.533728 target range: 168.080292 and range: 168.10 m.hk?hhhhggjgrgereZe:e*e Q @ ɢ b<)  hi )<iG> ik?aǚ=R=Ik?I!E EEE"E ;*E:VEZEa@a@a@a@@ @@/@^Ad=AzAI1IAOU>] DAT read: 01:15:20.5721 LVL= 31216, 32753, 31954, 30387, AGC= 64, IDX= 61,-0.31, 2.650, 0.937, 2.686, 2.258, PHS= 0.495,-1.275, 0.385, RAW= 146.8, 4.7, CAL= 146.2, 5.0, ROT= 3.8, -5.0 e Ygot valid direction response: 01:15:20.5721 LVL= 31216, 32753, 31954, 30387, AGC= 64, IDX= 61,-0.31, 2.650, 0.937, 2.686, 2.258, PHS= 0.495,-1.275, 0.385, RAW= 146.8, 4.7, CAL= 146.2, 5.0, ROT= 3.8, -5.0 m PDAT read: Bearing 185.3, 2.4 (Local) m ~Local bearing/azimuth received: Bearing 185.3, 2.4 (Local) } DAT read: Range 11 to 50 : 166.5 m (Round-trip 222.0 ms) speed 0.3 m/s  *DAT read: user:121>  BDAT read: Tx time:01:15:21.6959  $Ping request sent. i- 33- >- (#@- =- N#@ - ¸=)- ԇ=I- ¸) ) - mv?wL#?}澴? - >)- %I- ԇ=i- ¸) )  :publishing transmit ping time  Fpublishing direction and range infoy) -  ?A^{?O?Y) ) ) ) ) ) )) I) i) ) ) ) ) ) )) I) ) ) - mv?wL#?}澴? ) )) I) i) ) ) ) @"#,:LA#>\ ?<ٱe=Hm? MX? u?W?@|ò@U⛿?y?i#>IN];CYuByuIiMb@Mb@Mb@ 9!rh?Q?~jthYl?y<DE@ A A)AY!%AAbD-cVD-8ye%e)=ٔm]Q-m>9qYy="EyDWE>Q 548.|?Q 94t)(BY%?Q E%:y%?Q I%@|DInB9B=IB=BB=. =B9B9B=;B=kEB !CB B B . =B . =C 95iIiMiqLAjM{&C"jM{&C:jM?RjMv8d@JK%@=-@BjM ?A^{?O?*jMԇ=2jM¸ZjMo*a@_ t\W@Fn &@JjMf? ?||;?jMB jMW CiM5c?iM>jMBjM5c?jMݷٗjIrjMb#CzjM?% addTargetRange:: Added new target pos. range: 166.500000 m, deltaT: 3.778872 s, deltaX: -1.600006 m, approachRate: -0.423408 m/s, rangeRepo size: 4 U Added new target pos. range: 166.483276 m, bearing: 34.230509 deg, lat: 36.779678 deg, lon: -121.859601 deg, deltaT: 3.778872 s, deltaX: -1.597015 m, approachRate: -0.422617 m/s, posRepo size: 4 :iY]FNOT Ignoring new targets: 166.48 m."ie*iaDzD?AE EE3E"E:*E n:VE4ZEBE>u"#, CLA2m>2-; ?2<ٱ2<=2Ho?J`j]? r?@Y?Hղ`ڛ@?@D?i2m>I2$6];2CY>By>IbDF@VDFӱ8yNɽ%N=ٔNEQ-R ?9PYP=R"EyRDVYԺEV?XQ 5^4Z9|?Q 9^4Z )Z&BY\y^?Q Ib@Z|DIZ ;iZ;Z4yfBɮfAfeE:itzFNOT Ignoring new targets: 166.48 m."i~Ǿ*i~Ǿ ProNav: ac range: 166.483276 m, nav range: 163.219803 m, bearing: 32.793189 deg, approach rate: -0.604448 m/s, LOS rate: -0.005212 deg/s, cmd heading: 30.563235 deg, new cmd heading: 30.560420 deg. i  HeadingCmd: 0.533380 target range: 166.483276 and range: 166.50 m.h ?h hhhggjgrgereZe!:e!*e%` ?ɢoK;)) 2 i)-<顑i# i?WӚ=w=I?Ie9@a @a@a@aYE EE2E"E&:*Ev:VE4ZEa@a@a@a@^A=ԡI I O% >Ա uY"#,o ΊLA6>6 ?6d<ٱ69t=6H@Nr?@!F`X?n?[?UᲿ@d ?3?i6>I6];6CYBByBI DDDFAbDJGVDJٱ8yR.<%VJ=ٔV쀹Q-V>9XYX=Z"EyZDZ&EZ>`Q 5b4bH|?Q 9f4bߩ)b#BYdyf?Q If@b|DIb%:ibS:b4yhɮjAl:i|FNOT Ignoring new targets: 166.48 m."i*i ProNav: ac range: 166.483276 m, nav range: 163.005447 m, bearing: 32.791381 deg, approach rate: -0.529609 m/s, LOS rate: -0.004472 deg/s, cmd heading: 30.560421 deg, new cmd heading: 30.556801 deg. iHeadingCmd: 0.533317 target range: 166.483276 and range: 166.50 m.hs?hhhh!g!g!jg!rg!e)re)Ze):e)*e5@?]BBɢ]0;)Y eia)e*B= N>B9 B= IB= BB= - =B9 B9 B= ;B= kED =D <E  E E E "E :*E :VE ZE BE 62h ?2y6<ٱ2=2H~u?|@rf?@h?_?Ჿ%?@?i21>I2"];2CYNByRIiuMb@Mb@Mb@qqqq q9uZd;?I +?{GztYu>yu99Y="Ey D E>Q 54W|?Q 94)BY<>Q E:yf?Q I@|DIE9;ik8;r4yBɮSAfE-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 166.48 m."iE9*iE9U ProNav: ac range: 166.483276 m, nav range: 162.786392 m, bearing: 32.790513 deg, approach rate: -0.492870 m/s, LOS rate: -0.001957 deg/s, cmd heading: 30.556801 deg, new cmd heading: 30.555062 deg. iU)e]HeadingCmd: 0.533286 target range: 166.483276 and range: 166.50 m.h]v?hYhYhYhYgagajgarge&BeireiZei:ei*ema?5nManaging dock network, ignoring radio surface power offUABɢuu;)q u(0iq)}k"#,LAɰ4<:£>:ë ?:_<ٱ:d=:H@y?:a?`b?b?Ჿ `y"?`?i:£>I:\;8YBByFIbDNVDN8yV᫼%V]=ٔV[8Q-V>9XYX=Z"EyZD^E^>`Q 5f4bd|?Q 9f4b )bBYdyf.?Q If@b|DIb:ib:b4ylɮnsAl:i|FNOT Ignoring new targets: 166.48 m."i*i  ProNav: ac range: 166.483276 m, nav range: 162.602722 m, bearing: 32.789838 deg, approach rate: -0.504619 m/s, LOS rate: -0.001856 deg/s, cmd heading: 30.555063 deg, new cmd heading: 30.553712 deg. ipYHeadingCmd: 0.533263 target range: 166.483276 and range: 166.50 m.h%?h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5m3?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752385@Bɢl;) 5i)ͅ<ii?= =I?IE] E]EYEY"E]:*E]:VEYZEYae@ae@ae@ae@Q@ @@2@y^A&=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005327ԩ A .AI I O >G"#,&LA@v)G>v n ?v}<ٱvF1=vH|?3nf?[?f?@Բ@cO`?/?iv)G>Iv\;vCY~݀By~IiMb@Mb@Mb@ 9?y&1?Mb`Y?y`e<@A A)SAYAbDVD8y%;=ٔo:Q->9 ?Y ?="EyD E>Q 54qt|?Q 94)BY ?Q E:y?Q I@|DI;iv;4yBɮA:i FNOT Ignoring new targets: 166.48 m."i%7*i%7 ProNav: ac range: 166.483276 m, nav range: 162.384018 m, bearing: 32.790394 deg, approach rate: -0.498300 m/s, LOS rate: 0.001268 deg/s, cmd heading: 30.553711 deg, new cmd heading: 30.554823 deg. iv8 HeadingCmd: 0.533282 target range: 166.483276 and range: 166.50 m.h 0?h hhhggjgrgBereZe:e!*e%`@颍>Bɢдo;) Bi)Oc<顑i$i0? =|=I0?IԩAAAABV>B"CBxIB׀BB+ =BB|DB;BkEI)))]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258112Em EiEm/Ei"Em&:*EiVEmJ4ZEiBEmj;"#, 5LA2>2$ ?2@<ٱ2w=2H?`,e? T? k?t?j?i2>I2\;2CY:ۀBy:}I@B@AbDFVDF8yN?%N\=ٔNO:Q-R>9PYP=R"EyR#DVEEV>XQ 5^4Z|?Q 9^4ZZ)ZBY\y^a?Q Ib@Z|DIZ :iZ:Z4dydɮjAh:ix~FNOT Ignoring new targets: 166.48 m."i~7*i7 ProNav: ac range: 166.483276 m, nav range: 162.198639 m, bearing: 32.790939 deg, approach rate: -0.501122 m/s, LOS rate: 0.001476 deg/s, cmd heading: 30.554824 deg, new cmd heading: 30.555916 deg. i,8HeadingCmd: 0.533301 target range: 166.483276 and range: 166.50 m.hp?hhhhggjg!rg!e!re!Ze):e)*e-.@=BɢS:) Di)F<iip?=p=Ip?Iy@y @@3@)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760461^A=bEe4jEw4rE@o/Ee EeEe0Ea"Ee;*Ee:VEe4ZEaau@au@au@au@I I O >Q "#,*TOLA2>2=?2!<ٱ2&=2H v?*"@\?I? .r?@Tչ??i2>I2ʂ\;2CYR؀ByRyIbDZVDZt8yb@s%fI=ٔfVb:Q-f>9hYh=j"Eyj+DjueEj>lQ 5r4n+|?Q 9v4n~)nBYtyv?Q Iv@n|DIn:in.:n"4yzBɮzA~gE:i%FNOT Ignoring new targets: 166.48 m."i%7*i%75 ProNav: ac range: 166.483276 m, nav range: 161.994904 m, bearing: 32.791642 deg, approach rate: -0.500795 m/s, LOS rate: 0.001732 deg/s, cmd heading: 30.555917 deg, new cmd heading: 30.557326 deg. i5J89EHeadingCmd: 0.533326 target range: 166.483276 and range: 166.50 m.hE ?hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU@颅B U>B B fIB ȀBB * =B B B ;B kEm BDAT read: Rx Time:01:15:24.3193 m TRx dataTimestamp_ set to:1764897325.580510u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265340 E  E E 2E "E :*E ~:VE 4ZE BE &5y:\@ A  A)AYAbDVDz8y%Ɲ%%6=ٔ%Q-%>9)Y)=-"Ey-4D5E5>9Q 5E4=O|?Q 9E4=)=BYEv>Q EE:yEJ ?Q IE@=|DI=Q:i=:=4yQɮU6AQmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 166.48 m."i8*i8 ProNav: ac range: 166.483276 m, nav range: 161.772263 m, bearing: 32.794486 deg, approach rate: -0.495855 m/s, LOS rate: 0.006341 deg/s, cmd heading: 30.557327 deg, new cmd heading: 30.563021 deg. i99HeadingCmd: 0.533425 target range: 166.483276 and range: 166.50 m.h?hhhhggjgrgBereZe:e*eEl @:Bɢ!;) .Mi)N<ii?l=\L=I?I@ @@@C=R=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516836^AX=I I1 O= >! "#, LA2>2_F?2B<ٱ2#=2H?@U [?@I2ę\;2CY:΀By:nI B4=Ba=bDFVDF|8yN5Ҽ%Ng=ٔR\:Q-R>9PYP=R"EyR;DVEV>XQ 5^4Z|?Q 9^4Z%)Z BY\yb?Q Ib@Z|DIZ;iZ;Z&4ydɮf[Ad:ixzFNOT Ignoring new targets: 166.48 m."iz8*i~8  ProNav: ac range: 166.483276 m, nav range: 161.596634 m, bearing: 32.796856 deg, approach rate: -0.497126 m/s, LOS rate: 0.006718 deg/s, cmd heading: 30.563020 deg, new cmd heading: 30.567767 deg. i D9 HeadingCmd: 0.533508 target range: 166.483276 and range: 166.50 m.h ?hhhhggUDAT read: 01:15:24.3193 LVL= 25376, 31473, 24786, 31667, AGC= 69, IDX= 65, 0.24, 1.788, 0.098, 1.840, 1.364, PHS= 0.526,-1.221, 0.432, RAW= 147.3, 3.1, CAL= 146.6, 3.3, ROT= 3.4, -3.3 Ygot valid direction response: 01:15:24.3193 LVL= 25376, 31473, 24786, 31667, AGC= 69, IDX= 65, 0.24, 1.788, 0.098, 1.840, 1.364, PHS= 0.526,-1.221, 0.432, RAW= 147.3, 3.1, CAL= 146.6, 3.3, ROT= 3.4, -3.3 PDAT read: Bearing 183.3, 1.9 (Local) ~Local bearing/azimuth received: Bearing 183.3, 1.9 (Local) DAT read: Range 11 to 50 : 164.4 m (Round-trip 219.3 ms) speed 0.4 m/s *DAT read: user:122> BDAT read: Tx time:01:15:25.4458 $Ping request sent.%"$@%k]=%#@ %k=)%s=I%k!!%[Bng?QD?*Y?"E=%;*E=:VE=4ZE9aU@aU@a]@a]@1qiuUi}?}u=}^=I}?I %g>)%2_I%s=i%k!!:publishing transmit ping timeFpublishing direction and range infoy!% WO?HwP?`8.y?Y!!!!! !)!I!i!!!!! !)!I!!!%[Bng?QD?*Y? !)!I!i!!!@ @@@!^A5ȝ=QIIO>ԁ "#,LA8ɰ:; `U> '? <ٱ {== H? Q?B3?+?[є??i `U>I E\; CYπByiMb@Mb@Mb@ 9Zd;?Mb`~jth?Y>yD;=AjA "A)Y3AbDVDa8Iy4;%.=ٔ9Q->9Y="EyED,E>Q 54|?Q 94 ) BY>Q E:y?Q I@}DI:i:^4yBɮpAhEiAiE^LAjEc$C"jEc$C:jE8?RjEVkzd@MJPw#@e"@BjE WO?HwP?`8.y?*jEs=2jEkZjEdZ. !a@V@B9Iɛ@JjEy$?e9`?3=?jE?B jE CiE4٩?iEoCjEBjE4٩?jE'ZjEBrjE#CzjEm? addTargetRange:: Added new target pos. range: 164.399994 m, deltaT: 3.780123 s, deltaX: -2.100006 m, approachRate: -0.555539 m/s, rangeRepo size: 4 % Added new target pos. range: 164.387054 m, bearing: 33.477516 deg, lat: 36.779690 deg, lon: -121.859575 deg, deltaT: 3.780123 s, deltaX: -2.096222 m, approachRate: -0.554538 m/s, posRepo size: 4 :i)-FNOT Ignoring new targets: 164.39 m."i5*i1= ProNav: ac range: 164.387054 m, nav range: 163.805099 m, bearing: 33.219954 deg, approach rate: 0.000000 m/s, LOS rate: 0.006718 deg/s, cmd heading: 30.567767 deg, new cmd heading: 30.574144 deg. iAMHeadingCmd: 0.533619 target range: 164.387054 and range: 164.40 m.hMI?hIhIhIhIgIgIjgQrgUBeQreQZeY:eY*e]@b?Be<Ae<BmP>BiBmSIBmBBm+ =BiBm{DBm;BmkE颥6Bɢ`y ;) Mi),{<顱i:&iI?=/q=II?IEQ EUEU.EQ"EQ*EU~:VEUـ4ZEQBEUK "#,LA2Oӟ>2?2<ٱ2\=2H?` F?@<,?`?`C츝~?`?i2Oӟ>I2\;2CY:ĀBy:`I DF C8GzA%MAU9UzAYUAbDVD`8yy%]=ٔ9Q->9Y="EyLD/E>Q 54|?Q 94)BYy?Q I@}DI;i;$4yɮA:iFNOT Ignoring new targets: 164.39 m."il/9*il/9 ProNav: ac range: 164.387054 m, nav range: 163.621521 m, bearing: 33.223449 deg, approach rate: -0.502930 m/s, LOS rate: 0.009585 deg/s, cmd heading: 30.574143 deg, new cmd heading: 30.581141 deg. iV9 HeadingCmd: 0.533742 target range: 164.387054 and range: 164.40 m.h J?h h h h g g jgrgereZe:e*e@4?颅4Bɢq) pai)xx<顉ԱiFiJ?@==IJ?Ii@q @q@q@q@zA@Eu EuEu1Eq"Eu:*Euz:VEu-4ZEqa@a@a@a@^A<=AyAzAzA I I O >9 "#,ЋLA2ȇ>2Z?2<ٱ21~=2H ?`Y?(?@?@b>?`?i2ȇ>I2\;2CY:ˀBy:jI@BBAbDFVDFp8yN}!=%N[=ٔR{:Q-R>9PYP=V"EyVTDVʺEV>XQ 5^4Z |?Q 9^4Z.)ZBY`yba?Q Ib@Z}DIZs;iZ;ZT+4yfBɮfAf_E:ixzFNOT Ignoring new targets: 164.39 m."i~/9*i~/9  ProNav: ac range: 164.387054 m, nav range: 163.436340 m, bearing: 33.227020 deg, approach rate: -0.497141 m/s, LOS rate: 0.009597 deg/s, cmd heading: 30.581141 deg, new cmd heading: 30.588290 deg. i 9HeadingCmd: 0.533866 target range: 164.387054 and range: 164.40 m.hx?hhhhggjgrge!re!Ze!:e!*e% cg?3Bɢ7:) Ni)av<ifix?ݚ=Ћ=Ix?Iߝ?ߝ^?I]09@ @@/@i B M>B !CB FIB BB - =B B B ;B kEB5"CB5"CB1B5+ =B5, =C5ɐ5De =De <Eu  Eu Eq Eq "Eu :*Eu ~:VEq ZEq BEu H8"#,@틌LA>>>@E?><ٱ>]=>H?@߿g? 0 ?ȋ?3 {}??i>>I>\;>CYJҀByJrIiMb@Mb@Mb@ 9V-? rh?y&1|?Y>yC<`;  A) AYbD=VD=Y8yE<%M+=ٔMQ:Q-M>9IYQ=U"EyU]DUE]>YQ 5e4]|?Q 9m4]݊)]BYm>Q Em:ym?Q Im@]+}DI]:i]"";]34yyɮ}AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 164.39 m."im8*im8 ProNav: ac range: 164.387054 m, nav range: 163.199570 m, bearing: 33.228576 deg, approach rate: -0.493124 m/s, LOS rate: 0.003245 deg/s, cmd heading: 30.588292 deg, new cmd heading: 30.591408 deg. i 8HeadingCmd: 0.533921 target range: 164.387054 and range: 164.40 m.h?hhhh ggjgrgBereZe:e*ey?0Bɢ S;) ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996046 ##,LAEB EBEB.E@"EBD:*EB:VEBـ4ZE@aJ@aJ@aJ@aJ@Y|y|bD VD j8y%2:%%M=ٔ%Q-%>9)Y)=-"Ey-eD-E5>1Q 545|?Q 945)5BYyQ I@58}DI5uFA > II IY O} >##,!LA2[\>2?2 <ٱ2݈=2HU?`<߿Պ??`b?)M j@??i2[\>I2];2CY:րBy:vIi~Mb@Mb@Mb@|||| |9~ r?Zd;O?91Y1=5"Ey5nD=:E=>AQ 5E4E}?Q 9M4E)EBYM?Q EM:yM?Q IM@EE}DAQAQB]R>B]"CBYBYB], =BYBYB]o;B]kEIE:iE$ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7520581 6##,k;LA4<ɰ2>2\?2<ٱ2t=2H?@߿^???U@؞ ħ??i2>I2s\;2CYN׀ByRyIbDZVDZv8y~<%~N=ٔ~oQ->9Y="EyuD ߺE >Q 54p}?Q 948)BYy?Q I%@R}DI8;i3;H4y-Bɮ-A-`E:iIUFNOT Ignoring new targets: 164.39 m."i],8*i],8m ProNav: ac range: 164.387054 m, nav range: 162.587677 m, bearing: 33.231386 deg, approach rate: -0.550204 m/s, LOS rate: 0.002079 deg/s, cmd heading: 30.595487 deg, new cmd heading: 30.597031 deg. imzs8uHeadingCmd: 0.534019 target range: 164.387054 and range: 164.40 m.huw?hqhqhqhqgqgyjgyrgyeyreZe:e*e,@颭+Bɢ!;) 'i)l<项iyiw?ǚ=^=Iw?I9@ @@4@mBDAT read: Rx Time:01:15:28.0324 mTRx dataTimestamp_ set to:1764897329.108564uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005124AE EE0E"EV:*E:VE4ZEa@a@a@a@^Au=IIO>i ##,xULA 2ŝ>2?2h<ٱ2k=2H@%? ߿P??? t`??i2ŝ>I25];2CYNրByRwIbDZVDZ8bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256111yf%fM=ٔjS*Q-j>9hYh=n"Eyn}DnsEr>pQ 5v4r$}?Q 9v4rP)pYxyz?Q Iz@r_}DIr:ir:rO4y|ɮA:i!%FNOT Ignoring new targets: 164.39 m."i-)8*i-)8= ProNav: ac range: 164.387054 m, nav range: 162.382584 m, bearing: 33.232197 deg, approach rate: -0.514654 m/s, LOS rate: 0.002038 deg/s, cmd heading: 30.597031 deg, new cmd heading: 30.598655 deg. i=n8EHeadingCmd: 0.534047 target range: 164.387054 and range: 164.40 m.hES?hAhIhIhIgIgIjgQrgQeQreQZeQ:eQ*e} @%*Bɢ%K;)! %'i!)- j<))i-i5S?5=uؐ=IuS?Iyq@ @@/@@ yA@ ԙB]S>BYB]LIB]BB]+ =BYBYB];B]kE^A5=AMxAzAMxAi߁I߅Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512208E  E E /E "E *E : VE J4ZE BE 9H##,SoLAPYyiMb@Mb@Mb@ 9RQ?l?~jt?Y?y=D<=AA A) AYAAAbDVD8yM>;%8=ٔ Q- >9 Y ="EyDE>Q 5%43}?Q 9%4{)Y-?Q E-:y-?Q I-@n}DI:i:zW4yEBɮEAEaEeB*** querying acoustic contact ***iaia:iimFNOT Ignoring new targets: 164.39 m."iuPO*iuPO ProNav: ac range: 164.387054 m, nav range: 162.155624 m, bearing: 33.230936 deg, approach rate: -0.508979 m/s, LOS rate: -0.002832 deg/s, cmd heading: 30.598657 deg, new cmd heading: 30.596131 deg. i٥HeadingCmd: 0.534003 target range: 164.387054 and range: 164.40 m.ho?hhhhggjgrg3BereZe:e*eO @(Bɢi[;) ~#i)Oh<iio?Ϲ=@=Io?IDAT read: 01:15:28.0324 LVL= 30896, 32753, 25074, 32755, AGC= 71, IDX= 56,-0.35, 1.217,-0.553, 1.290, 0.810, PHS= 0.509,-1.318, 0.436, RAW= 148.0, 4.2, CAL= 147.3, 4.4, ROT= 2.7, -4.4 %Ygot valid direction response: 01:15:28.0324 LVL= 30896, 32753, 25074, 32755, AGC= 71, IDX= 56,-0.35, 1.217,-0.553, 1.290, 0.810, PHS= 0.509,-1.318, 0.436, RAW= 148.0, 4.2, CAL= 147.3, 4.4, ROT= 2.7, -4.4 5PDAT read: Bearing 184.2, 1.3 (Local) 5~Local bearing/azimuth received: Bearing 184.2, 1.3 (Local) MDAT read: Range 11 to 50 : 136.8 m (Round-trip 182.4 ms) speed 0.4 m/s U*DAT read: user:123> UBDAT read: Tx time:01:15:29.1458 ]$Ping request sent.]MQ%@Q ="$@ nF=)A=InF/?0Z{?Es0@ʲ? >)yIA=inF:publishing transmit ping timeYFpublishing direction and range infoyԉ?# ?.0ۣ?Y )Ii )I/?0Z{?Es0@ʲ? )Ii9@ @@@@@@@ԹI) I9 OM > 0"##,{0LAbEM4jEM4rEM0E& E&E&2E$"E&:*E&:VE&4ZE$a*@a*@a*@a*@BO>B?Br<ٱB=BH^?d߿Lm?&?~?ಿve?`?iBO>IB^;BCYR܀ByR~IbDZ7VDZ˱8yv<%v^=ٔvECQ-v>9xYx=z"EyzDz-E~>qQ 5}4uzA}?Q 9}4uy)qYyp?Q I@uz}DIu:iuQ;u(^4yɮAiԹiPwLAjC"jC:j$?RjI8 }a@z-Ӳ@`j $@Bj?# ?.0ۣ?*jA=2jnFZjGC\@ hGR@I]#@Jj24??q1i֪?j;B jBiCQ Z(##, LA2x>22?2r<ٱ2i=2H?߿@S? ??`e͜/'??i2x>I2Q^;2CYB΀ByBmIBA<BP>BBSIBBBBBB;BkEi%Mb@Mb@Mb@!!!! !9%p= ף?A`"?Q?Y%?y%Y=%u9QYQ="EyD4E>Q 54nP}?Q 94u)BY?Q E:y?Q I@}DI=:i:we4yBɮ]AbE:iy}FNOT Ignoring new targets: 164.39 m."i*i ProNav: ac range: 164.387054 m, nav range: 161.741608 m, bearing: 33.226466 deg, approach rate: -0.514962 m/s, LOS rate: -0.008024 deg/s, cmd heading: 30.593988 deg, new cmd heading: 30.587180 deg. ijHeadingCmd: 0.533847 target range: 164.387054 and range: 164.40 m.h2?hhhhggjgrg/BereZe:e*e`0?EU EUEQEQ"EUl;*EUz:VEQZEQBEUcFA5>IIOb>iԙ ӄ.##,~弌LA6A>6rk?6y<ٱ6=6Hӭ?߿?`? .?T h? ?i6A>I6^;6CYBՀByBvI J=J%=bDN:VDNͱ8yV}=%VU=ٔV;Q-V>9XYX=Z"EyZDZE^>`Q 5f4b]}?Q 9f4br)bBYdyf?Q If@b}DIbl:ib:bk4yhɮn#Al:i FNOT Ignoring new targets: 164.39 m."ia*ia5 ProNav: ac range: 164.387054 m, nav range: 161.550034 m, bearing: 33.223526 deg, approach rate: -0.538309 m/s, LOS rate: -0.008272 deg/s, cmd heading: 30.587179 deg, new cmd heading: 30.581291 deg. i55rMHeadingCmd: 0.533744 target range: 164.387054 and range: 164.40 m.hMv?hIhIhIhIgIgIjgQrgYeareaZea:ea*em O ?颵$BɢEW:)A EBiA)M7bԩEe EeEe0Ea"EeV:*Ee:VEe4ZEaam@am@am@am@ l5##,r֌LAɰ49QYQ=U"EyUDUE]>aQ 5e4el}?Q 9m4e^o)eBYiyiQ Im@e}DIe:ie:eJs4yuBɮuA}XE:iFNOT Ignoring new targets: 164.39 m."if*if ProNav: ac range: 164.387054 m, nav range: 161.328323 m, bearing: 33.220115 deg, approach rate: -0.522728 m/s, LOS rate: -0.008054 deg/s, cmd heading: 30.581291 deg, new cmd heading: 30.574459 deg. ikHeadingCmd: 0.533625 target range: 164.387054 and range: 164.40 m.h?hhhhggjgrgereZe:e*eV?#Bɢ <;)  i)`<i.ػi ? ==I?I9@ @@0@BS>BBYIBBBBBB;BkE^Ax=I9IIO]>) Dm %=Dm <E}  E} E} 2Ey "E} D:*E} ]t:VE} 4ZEy BE} 26?6<ٱ6}6=6H ?b߿@? ?@?@'Phٹ??i6mt>I6^;6CY>ԀByBtIiMb@Mb@Mb@ 9E?)\(?y&1?Y?yGa=`e<A =A) AY(AbDGVDٱ8y-Ì;%-L=ٔ5Q-5>99Y9=="Ey=D=K{:E=>AQ 5M4E={}?Q 9M4El)EBYp?Q E:y[ ?Q I@E}DIEٔ+ C##,& LA2>2?2<ٱ2W=2HL?u߿ ? ?? \u?`?i2>I2^;2CY:րBy:vI@B@AbDF6VDFʱ8yN<%N@=ٔN4,Q-R>9R"?YR"?=R"EyRDV9EV>XQ 5^4Z}?Q 9^4Zh)ZBY\y^g ?Q Ib@Z}DIZ:iZG:Z4ydɮfAd:i  FNOT Ignoring new targets: 164.39 m."i*i% ProNav: ac range: 164.387054 m, nav range: 160.891342 m, bearing: 33.212846 deg, approach rate: -0.509506 m/s, LOS rate: -0.008514 deg/s, cmd heading: 30.567415 deg, new cmd heading: 30.559901 deg. i%KyIUHeadingCmd: 0.533371 target range: 164.387054 and range: 164.40 m.hU?hQhQhQhQgYgYjgYrgYeareaZea:ea*ee@rY@颵!Bɢp;;) Li)[<项izQӻi?=܍=I?I}9@y @@?0@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502562ԁ^A=ԹI I O5 >A A @AB W>B B B B B B |DB ;B kEByByByByB}+ =C}Ӱ4 DI##,&LA((FU>F?F<ٱF<=FH?߿?` ??沿ud;??iFU>IF];FCYNрByNqIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754695iUMb@Mb@Mb@QQQQ Q9UuV?Dl?y&1|?YUr?yUO=U`;UAQ UA)U AQYUQAbDm\VDm8E EE3E"El;*E:VE4ZEBEcF=ٔ] Q-]>9aYa=e"EyeDmA9Em>yQ 54}7}?Q 94}d)}BY ?ԱQ E:y '?Q I@}}DI};i};}Ή4yBɮA:i FNOT Ignoring new targets: 164.39 m."i5*i5= ProNav: ac range: 164.387054 m, nav range: 160.643860 m, bearing: 33.206407 deg, approach rate: -0.569264 m/s, LOS rate: -0.014835 deg/s, cmd heading: 30.559902 deg, new cmd heading: 30.547003 deg. iE2ٹEHeadingCmd: 0.533146 target range: 164.387054 and range: 164.40 m.hE>|?hIhIhIhIgIgijgqrguBBeqreqZey:ey*e} @ Bɢ|?-=5l=I5>|?I19@ @@P0@BDAT read: Rx Time:01:15:31.7298 TRx dataTimestamp_ set to:1764897332.888512checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007653 ^A x=I I O >9 0P##,@LAY ǀBydIbD=bVD=8yE L%MM=ٔMQ-M>9QYQ=U"EyUȃD]E]>aQ 5e4ey}?Q 9m4ea)aYiyiQ Im@e}DIe7:ie:e>4yqɮ}0Ay:iFNOT Ignoring new targets: 164.39 m."i*i ProNav: ac range: 164.387054 m, nav range: 160.446396 m, bearing: 33.201254 deg, approach rate: -0.550504 m/s, LOS rate: -0.014382 deg/s, cmd heading: 30.547003 deg, new cmd heading: 30.536686 deg. iҹHeadingCmd: 0.532966 target range: 164.387054 and range: 164.40 m.hqp?hhhhggjgrgereZe:e*eը @ɢ@ 9) V1i)uW<iλi qp? x=S=Iqp?I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2589579@ @@4@@yA@yAE EE2E"E&:*Exv:VE4ZEa @a @a @a @9^A W=IiIO>ԁ ߕ =ߕ < DAT read: 01:15:31.7298 LVL= 32368, 32753, 32162, 32755, AGC= 68, IDX= 414,-0.19, 1.297,-0.339, 1.350, 0.912, PHS= 0.486,-1.206, 0.393, RAW= 147.2, 4.0, CAL= 146.6, 4.2, ROT= 3.4, -4.2  Ygot valid direction response: 01:15:31.7298 LVL= 32368, 32753, 32162, 32755, AGC= 68, IDX= 414,-0.19, 1.297,-0.339, 1.350, 0.912, PHS= 0.486,-1.206, 0.393, RAW= 147.2, 4.0, CAL= 146.6, 4.2, ROT= 3.4, -4.2  PDAT read: Bearing 183.9, 2.4 (Local)  ~Local bearing/azimuth received: Bearing 183.9, 2.4 (Local)  DAT read: Range 11 to 50 : 134.8 m (Round-trip 179.8 ms) speed -0.1 m/s  *DAT read: user:124>  BDAT read: Tx time:01:15:32.8458  $Ping request sent. i 5^ L7> l$@ 5= #@ Q =) s=I Q _`]d?Wq,.?t? >) {I s=i Q  :publishing transmit ping time % Fpublishing direction and range infoy  ?vH??Y ) I i ) I _`]d?Wq,.?t? ) I i XWV##,̘ZLA0B֝>B?Bm<ٱB=BH.?@߿M{??`?jl9 ?`5?iB֝>IB>^;@YbBybVIbDnSVDn8yMl%MK=ٔMEQ-M>9QYQ=U"EyUЃD}:E}>Q 54!}?Q 94]) BYy)'?Q I@}DIK:i:\4yBɮAZEiiYLAjC"jC:jf?ԑRj;vD`@ @]ӘHV#@Bj?vH??*js=2jQ ZjpL-\@B0`R@N3ʹC+@Jj*o?- :s?&7T?jB jnBiuѢ?ijjQBj5c?jj3BrjCzjt? addTargetRange:: Added new target pos. range: 134.800003 m, deltaT: 7.308110 s, deltaX: -29.599991 m, approachRate: -4.050293 m/s, rangeRepo size: 4  Added new target pos. range: 134.789673 m, bearing: 33.108733 deg, lat: 36.779678 deg, lon: -121.859575 deg, deltaT: 7.308110 s, deltaX: -29.597382 m, approachRate: -4.049936 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 134.79 m."i*i- ProNav: ac range: 134.789673 m, nav range: 159.058395 m, bearing: 33.471601 deg, approach rate: 0.000000 m/s, LOS rate: -0.014382 deg/s, cmd heading: 30.536686 deg, new cmd heading: 30.522092 deg. i15HeadingCmd: 0.532711 target range: 134.789673 and range: 134.80 m.h5_?h9h9h9h9g9g9Bm[>Bm#CBmSIBmBBm) =BiBiBm;BmkEjgrgereZe:e`@*e t?Bɢ ͘:)  xGi ) _-T< iM*̻i%_?%(|=%$=I%_?I!Թ9@ @@q1@D<DR=E EE/E"Es:*E:VEJ4ZEBEr0 \##,tLA>ٝ>>N?>]<ٱ>=>H@@?߿OF??=?@ _k ? )?i>ٝ>I>^;>CYFByJTIHa5@a5 a5@a5 a5@a5 a5@a5 bD=]VD=8yMϻ%MH=ٔU0Q-U>9QYQ=U"EyU؃D]\8E]>aQ 5m4e}?Q 9m4eZ)aQ Am+:YiQ Eu:yu*'?Q Iu@e}DIe;ie>e4yyɮ}AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 134.79 m."iɡ*iɡ ProNav: ac range: 134.789673 m, nav range: 158.841080 m, bearing: 33.466200 deg, approach rate: -0.710368 m/s, LOS rate: -0.017681 deg/s, cmd heading: 30.522090 deg, new cmd heading: 30.511273 deg. imHeadingCmd: 0.532522 target range: 134.789673 and range: 134.80 m.h_S?hhhhggjgrgereZe:e*e?Bɢp) LIi ) cR<  i Drʻi_S?x=>=I_S?I5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@^A{=IIIYOm> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744088 E  E E 1E "E :*E Z:VE -4ZE a @a @a @a @Fc##,ЎLA6y>63?6K<ٱ6E=6H@? ߿A?`Q??m᳿`b [?`?i6y>I6{_;6CYBByB=IbDJQVDJ8yRhŽ%RT=ٔVrQ-V>9TYT=V"EyZDZg:EZ>\Q 5j4^}?Q 9j4^5W)^ BQ Aj :YhQ Ej:yjI'?Q Ij@^~DI^:i^OK?l^4yrBɮvmAv[E:i FNOT Ignoring new targets: 134.79 m."i=u*i=u% ProNav: ac range: 134.789673 m, nav range: 158.634537 m, bearing: 33.461018 deg, approach rate: -0.533405 m/s, LOS rate: -0.013400 deg/s, cmd heading: 30.511271 deg, new cmd heading: 30.500894 deg. i%0Ĺ-HeadingCmd: 0.532341 target range: 134.789673 and range: 134.80 m.h-G?h)h)h)h1g1g1jg1rg1e9re9Ze9:eA*eE`)?iɢmH)i mVniq)uoOi B- <A- <BA BA BE LIBE BBE + =BA BA BE ;BE kEi##,jLA2r>2x?2p<ٱ2{K=2Hɥ?߿@Kϰ?`H??? :푿`D?9?i2r>I2I_;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248017YVByV:IaDzDE EE0E"E:*E:VE4ZEBE%59Y=#EyDd:E>Q 54}?Q 94bS)BQ AT:Y?Q E:yd?Q I@~DI:i:ɩ4yɮ~A:iYeFNOT Ignoring new targets: 134.79 m."ieQ*ieQu ProNav: ac range: 134.789673 m, nav range: 158.385590 m, bearing: 33.457539 deg, approach rate: -0.524361 m/s, LOS rate: -0.007339 deg/s, cmd heading: 30.500893 deg, new cmd heading: 30.493924 deg. iuV}HeadingCmd: 0.532219 target range: 134.789673 and range: 134.80 m.h}??hyhhhggjgrgBereZe:e*e@Dz?颽Bɢ|3) 4ri)K<iŻi??o=Q=I??Iԉ@ @@@ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500098^A ~4= A I I O >݊p##,oFLA2>2o?2&<ٱ2_=2H@?߿`"??`o? , Ґ`ɹ?8?i2>I2T_;2CY>By>1IbDFVDF8yN!%Nx=ٔRVQ-R?9PYP=R#EyVDV r:EV?XQ 5^4Z~}?Q 9^4ZP)ZBY`ybx?Q Ib@Z ~DIZ;iZ;Z4yfBɮfAd:iAEFNOT Ignoring new targets: 134.79 m."iMt*iMt] ProNav: ac range: 134.789673 m, nav range: 158.212204 m, bearing: 33.455090 deg, approach rate: -0.515820 m/s, LOS rate: -0.007292 deg/s, cmd heading: 30.493923 deg, new cmd heading: 30.489020 deg. i]UeHeadingCmd: 0.532134 target range: 134.789673 and range: 134.80 m.he9?hahahahagagijgirgieireqZeq:eq*eui ?Թ颹ɢл) ~i)H<iûi 9?k=F=I9?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752262bEUe4jEU4rEUp/E EE4E"EV:*E:VE4ZEa@a@a@a@9@ @@/@^Abb=A I! I9 9 OM >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004058Ӵv##, ܍LAN>N'?N{<ٱN=NH`? ߿_?X??`O!q#ʹ?Z?iN>IN)_;NCYVByV-IbDb VDb8yf0%jG=ٔj+Q-j>9lYl=n#EynDe:Ee>iQ 54m}?Q 94mDM)mBYy?Q I@m.~DImwB$CB:IBBB( =BB}DB;BkE*e @Aqɢ}t)y }piy)YD<ioi2?Yg=Г=I2?II)wAiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257215E EE5E"E%;*Eą:VE4ZEBEK/~##,LAY%By%&IiMb@Mb@Mb@ 9MbX9?Mb?MbPY?y@=SAA SA) AYzA %=4=bD&VD8yZ%=ٔQ-%>9- ?Y- ?=-#Ey5D5E5>AQ 5M4E~?Q 9M4ESI)EBYUY?Q E]:y]?Q I]@E?~DIEm;iEk;E޿4ymBɮmAuSEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 134.79 m."iI*iI ProNav: ac range: 134.789673 m, nav range: 157.729568 m, bearing: 33.448489 deg, approach rate: -0.535195 m/s, LOS rate: -0.007064 deg/s, cmd heading: 30.482605 deg, new cmd heading: 30.475800 deg. iNHeadingCmd: 0.531903 target range: 134.789673 and range: 134.80 m.h*?hhhhggjgrg BereZe:e*e p@QBɢѻ) Ii)@<ii*?c==I*?I9@ @@/@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760013E EE4E"E:*E:VE4ZEa@a@a@a@^A Ա A I I O >߄##,TrLA;ɰ;2>2vV?2Y<ٱ2E=2H?ʯ?`#?L?`b `??i2>I2I_;2CY:By>ITbD^VD^8yfk%fd=ٔjhQ-j>9hYh=n#Eyn D5:E5>9Q 5E4=b~?Q 9E4=wF)=BYAyE?Q IE@=K~DI=:i=:=G4yQɮU AQ:iq}FNOT Ignoring new targets: 134.79 m."i}*i} ProNav: ac range: 134.789673 m, nav range: 157.542908 m, bearing: 33.445974 deg, approach rate: -0.518551 m/s, LOS rate: -0.006996 deg/s, cmd heading: 30.475799 deg, new cmd heading: 30.470762 deg. iLHeadingCmd: 0.531815 target range: 134.789673 and range: 134.80 m.h %?hhhhggjgrgereZe:e*e@@ɢ6,) i)(=<iKvi %?a=Kq=I %?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013088@ @@0@^A̓=AAAABW>B#CB!IBBB+ =BB|DB;BkE! Ae ؟AIq I O > BDAT read: Rx Time:01:15:35.4270  TRx dataTimestamp_ set to:1764897336.669502 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266255E  E E 5E "E D:*E Ar:VE 4ZE BE 225O?2K<ٱ2=2H`?ad?"?@s?@@b3?`?i2 >I2++_;2CYRzByRI|i-Mb@Mb@Mb@)))) )9-~jt?/$?{GzY-?y-<-#-A-&A ))- A)Y-AbDMVDM8y]w%]A=ٔ]Q-e>9e"?Ye"?=e#EyeDmߌEm>qQ 5}4u-~?Q 9}4uoC)uBY}?Q E:y ?Q I@uX~DIuv;iu;uy4yBɮtA:i)UFNOT Ignoring new targets: 134.79 m."iUK,8*iUK,8e ProNav: ac range: 134.789673 m, nav range: 157.329453 m, bearing: 33.446980 deg, approach rate: -0.498796 m/s, LOS rate: 0.002354 deg/s, cmd heading: 30.470761 deg, new cmd heading: 30.472776 deg. ieՉ8mHeadingCmd: 0.531850 target range: 134.789673 and range: 134.80 m.hmW'?hihhhggjgrgBereZe:e*e~X @ɢ3!) i)+9<i깻iW'?^=F=IW'?I ! C])Gu/{A}9@y @@0@@=@=s9/{AYnAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516467Q^A m(=y A I I O >+##,x)HLAN8>Nf?N/<ٱN=NH`3?`,߮?i%?@ƀ?`Q?t?iN8>IN _;LYfyByfIbD%(VD%8y5Zջ%5M=ٔ5Q-=>99Y9=E#EyEDEm:EE>IQ 5U4M,<~?Q 9U4M@)MBYQiYIYDAT read: 01:15:35.4270 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 403,-0.45,-1.803, 2.821,-1.721,-2.236, PHS= 0.535,-1.182, 0.471, RAW= 148.1, 2.1, CAL= 147.3, 2.0, ROT= 2.7, -2.0 Ygot valid direction response: 01:15:35.4270 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 403,-0.45,-1.803, 2.821,-1.721,-2.236, PHS= 0.535,-1.182, 0.471, RAW= 148.1, 2.1, CAL= 147.3, 2.0, ROT= 2.7, -2.0 PDAT read: Bearing 182.0, 1.9 (Local) ~Local bearing/azimuth received: Bearing 182.0, 1.9 (Local) DAT read: Range 11 to 50 : 132.8 m (Round-trip 177.1 ms) speed 0.7 m/s *DAT read: user:125> BDAT read: Tx time:01:15:36.5458 $Ping request sent.em%@eQ =e"$@ e5=)eA=Ie5aaeLc4?VV#?s? eE?>)edIeA=ie5aa:publishing transmit ping timeFpublishing direction and range infoyaeFk?]V?Xޡ?Yaaaaa a)aIaiaaaaa a)aIaaaeLc4?VV#?s? a)aIaiaaayU9?Q I @Me~DIM)##,nfLAB.X>B,B.IB.BB,B,B,B.Ȯ;B.kEB#CB#CBBB* =CO5||u*>u_?u6"<ٱu"=uH?~@؋?$?ཀ?#@F?`?iu*>Iuw_;uCYrByIi=Mb@Mb@Mb@9999 99=K7A?9 ?Y ?=#Ey%DyXE>Q 54O~?Q 94<)BY?Q E:ye ?Q I@v~DIG;iF;y4AyɮMAI:iFNOT Ignoring new targets: 132.79 m."i8*i8E EEE"E:*E:VEZEBE%5##,LA2>2lL?2UY<ٱ2=2H ?jy?`"?@ǀ?V/D?m?i2>I2H^;2CY>qBy>I@BAbDDVDDyN_%N]=ٔRQ-R>9PYP=R#EyR-DVQSEV>XQ 5^4Z\~?Q 9^4ZT:)ZBY\ybS ?Q Ib@Z~DIZP:iZ\:Z4yfBɮfAfTE-B*** querying acoustic contact ***i)i):i1=FNOT Ignoring new targets: 132.79 m."i=8*i=8M ProNav: ac range: 132.789719 m, nav range: 133.248016 m, bearing: 32.781738 deg, approach rate: -0.526995 m/s, LOS rate: 0.005440 deg/s, cmd heading: 30.480044 deg, new cmd heading: 30.483909 deg. iMK9uHeadingCmd: 0.532045 target range: 132.789719 and range: 132.80 m.hu4?hqhyhyhygygyjgyrgereZe:e*e }!?Bɢd?i) =i)+<iwֲi%4?%V=%`q=I%4?II@ @@45@@ @ @@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE5E"E;*E:VE4ZEa@a@a@a@! A ؟AI I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247915ޤ##,ݛLA6N>6)?6ֶ<ٱ6=6H9?vE??J?`+ Jf? ?i6N>I6^;6CY>fBy>I DF<bDJkVDJ8yRV%RK=ٔRQ-V>9V"?YV"?=V#EyV5DZEZ>\Q 5b4^Ek~?Q 9b4^7)^BY`yb1 ?Q If@^~DI^^;i^Y;^4yhɮjBAh:ix~FNOT Ignoring new targets: 132.79 m."i %8*i %8- ProNav: ac range: 132.789719 m, nav range: 133.043076 m, bearing: 32.783903 deg, approach rate: -0.519388 m/s, LOS rate: 0.005495 deg/s, cmd heading: 30.483909 deg, new cmd heading: 30.488246 deg. i- 9=HeadingCmd: 0.532120 target range: 132.789719 and range: 132.80 m.h 9?hhhhggjgrge re Ze :e *e H?Yɢ]Ö`)Y ]4ia)e&BBIBrBBBBB;BlEA9IaԁIOg>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501034DzDE EE2E"ET;*Ez:VE4ZEBEG2 ?2<ٱ2p=2H`1?q߿2-? ? ?쵿wཉ?@?i2>I2_;2C99Y9=E#EyE>DEEE>IQ 5U4Mz~?Q 9U4M4)MBY]?Q E]:y] ?Q I]@M~DIMv;iM;M]4yeBɮe[AeUE:iFNOT Ignoring new targets: 132.79 m."ix9*ix9= ProNav: ac range: 132.789719 m, nav range: 132.828613 m, bearing: 32.787055 deg, approach rate: -0.506567 m/s, LOS rate: 0.007457 deg/s, cmd heading: 30.488247 deg, new cmd heading: 30.494561 deg. i=ZZ9EHeadingCmd: 0.532230 target range: 132.789719 and range: 132.80 m.hEB@?hAhIhIhIgIgIjgqrguBeyreyZey:ey*e?Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752156ɢz^) i)"<iSi B@? HN= m=I B@?Iԩ@ @@4@IIOj>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003946E  E E E "E :*E VE ZE a @a @a @a @÷##,ώLA:q>:[?:*;ٱ:=:H? !߿h? ?? 0E~ ?H?i:q>I:^;8YBjByFIIJ>)J>bDNWVDN8yV<%VT=ٔV2Q-Z>9XYX=Z#EyZFD^0E^>`Q 5f4b~?Q 9f4b1)bBYdyf ?Q Ij@b~DIb:ib:b4lypɮrAAp:i FNOT Ignoring new targets: 132.79 m."i , 9*i , 9 ProNav: ac range: 132.789719 m, nav range: 132.632843 m, bearing: 32.789950 deg, approach rate: -0.506023 m/s, LOS rate: 0.007495 deg/s, cmd heading: 30.494561 deg, new cmd heading: 30.500361 deg. i%z[9%HeadingCmd: 0.532332 target range: 132.789719 and range: 132.80 m.h%F?h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=@Bɢp) Oi)d<i⫻iF?vJ=$=IF?II ) 9@ @@/@A>A> IIOE>?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2562349a B} Y>By B} IB} bBB} * =By By B} ;B} lE##,~鎌LAz>zE?zn;ٱzk=zH?3߿ yЭ??A?"`M| 젺?`]?iz>Iz^;xYiByI1echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508583iMb@Mb@Mb@ 9Gz?{GztMbP?Yp>yף:&A A)Y@AbD_VD8y6%7=ٔQ->9Y=#EyODɺE>Q 54ř~?Q 94/)Yt>Q E:y6?Q I@~DI]:iZ:44yBɮALEE EEE"E&:*EAr:VEZEBEj;Թ '##,KLA2>2@?2;ٱ2=2H X?@1߿@[? 2? ?P(n?y 9?@?i2>I2gx^;0YNmByRIbDZSVDZ8yb_<%ba=ٔb~Q-b>9dYd=f#EyfVDj(Ej>lQ 5r4n`~?Q 9r4n,)nBYpyr ?Q Ir@n~DIn^;in;nG4yxɮzAx B*** querying acoustic contact ***i i :iԙFNOT Ignoring new targets: 132.79 m."ic9*ic9 ProNav: ac range: 132.789719 m, nav range: 132.232285 m, bearing: 32.799704 deg, approach rate: -0.505553 m/s, LOS rate: 0.012432 deg/s, cmd heading: 30.511452 deg, new cmd heading: 30.519897 deg. i9HeadingCmd: 0.532673 target range: 132.789719 and range: 132.80 m.h=]?hhhhggjgrgereZe:e*eՍ@-Bɢ-|y)) -\i))5v<11i5i==]?=?==~$=I==]?IA9@ @@/@uBDAT read: Rx Time:01:15:39.1246 }TRx dataTimestamp_ set to:1764897340.197242}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014014bEMŞ4jEM{4rEMuf0E EE-E"Es:*E~:VEt4ZEa@a@a@a@^A=I9IIOU> % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263984##,)LAJC>J?JF;ٱJPz=JH9? ߿w?@??%5`Hw??iJC>IJz^;JCY^iBybIbDnRVDly~ԉ%~G=ٔ~ĘQ-~>9 Y = #Ey ^DE>!Q 5-4%e~?Q 954% *)!Y1y=?Q I=@%~DI%F;i%F;%4yMBɮMAMME:iquFNOT Ignoring new targets: 132.79 m."i`9*i`9% ProNav: ac range: 132.789719 m, nav range: 132.027771 m, bearing: 32.804781 deg, approach rate: -0.492302 m/s, LOS rate: 0.012240 deg/s, cmd heading: 30.519898 deg, new cmd heading: 30.530068 deg. i%59-HeadingCmd: 0.532850 target range: 132.789719 and range: 132.80 m.h-h?h)h1h1h1gQgQjgYrgYeYreYZea:ea*ee @颭Bɢa)) -i))m!BBIB]BBBBBܮ;B lEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518251YE EE1E"E&:*E҆:VE-4ZEBEa 2Ea JE;a :E;a ^Am =Aq zAq I I O >y ##,}7LA6f>6}?6;ٱ6=6H1? ߿"?b ?!?YZt??i6f>I6^;4YBmByBIi Mb@Mb@Mb@     9 +?y&1?~jtx?Y v>y `e< ;   )  Y bD%`VD%8y5<%5G=ٔ5κQ-5>99Y9==#Ey=gDEEE>IQ 5U4M~?Q 9U4MQ')MBYU>Q EU:y]V ?Q I]@M~DIM;iM;M4yaɮeAa:iFNOT Ignoring new targets: 132.79 m."i¢8*i¢8 ProNav: ac range: 132.789719 m, nav range: 131.824478 m, bearing: 32.806588 deg, approach rate: -0.499414 m/s, LOS rate: 0.004447 deg/s, cmd heading: 30.530068 deg, new cmd heading: 30.533688 deg. i59HeadingCmd: 0.532913 target range: 132.789719 and range: 132.80 m.hm?hhhhggjgrgBereZe:e*e @Bɢpm) UiQ)t <顑isim?*3=輍=Im?I4=4=DAT read: 01:15:39.1246 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.01, 1.521,-0.149, 1.593, 1.079, PHS= 0.544,-1.183, 0.470, RAW= 147.8, 2.0, CAL= 147.0, 2.0, ROT= 3.0, -2.0 Ygot valid direction response: 01:15:39.1246 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.01, 1.521,-0.149, 1.593, 1.079, PHS= 0.544,-1.183, 0.470, RAW= 147.8, 2.0, CAL= 147.0, 2.0, ROT= 3.0, -2.0 PDAT read: Bearing 182.0, 2.7 (Local) ~Local bearing/azimuth received: Bearing 182.0, 2.7 (Local) -DAT read: Range 11 to 50 : 131.0 m (Round-trip 174.7 ms) speed 0.3 m/s 5*DAT read: user:126> EBDAT read: Tx time:01:15:40.2458 E$Ping request sent.M%@5=Y3$@ )PwV=IMX9H???)T? />)IPwV=i:publishing transmit ping timeAFpublishing direction and range infoyǴ%?b#Ǫ?Xޡ?Y )Ii )IMX9H???)T? )Ii@ @@ /@ @a=@=ԁԱ^A- =AY Ia Iq O >E  E E 0E "E :*E Ar:VE 4ZE a @a @a @a @ R##,HPLAɰ2a>2F{?2;ٱ2=2H \?:߿?( ? ?勶@֢q ?B?i2a>I2C^;2CY>kBy>IbDFqVDF8yN%%NU=ٔRQ-R>9PYP=R#EyVoDVEV>XQ 5^4Z~?Q 9^4Z$)ZBY\ybT ?Q Ib@Z~DIZ:iZ;Z_4yfBɮfAdi i B! B! B! B! B! B! B! B! I I O% >A F5##,jLA*k> ?h;ٱ=H?߿m?@ ?Ɖ?@m <Ǻ??i*k>I ^;CY\ByII%<)%p;i1I1iMb@Mb@Mb@ 9 r?{Gz?y&1|?Y?yף<`;A SA)YAbDKVDݱ8y%7=ٔݺQ->9Y=#EyxDQ+9E>Q 54~?Q 94v!)BY?Q E:y ?Q I@~DI:i:*$4yɮ |A :i)5FNOT Ignoring new targets: 130.99 m."i50@8*i=0@8E EE2E"E*Ez:VE4ZEBE>F##,\LA 6:>6g?6/;ٱ6]=6H?`2߿D? ??Ѷ@eú??i6:>I6^;6CYN|ByR IbDZ`VDZ8yb/>%b^=ٔbQ-f>9dYd=f#EyfDj9Ej>lQ 5r4n~?Q 9r4n)nBYpyr?Q Iv@nDIn;inD;n*4yxɮzyAxB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 130.99 m."i68*i68 ProNav: ac range: 130.991043 m, nav range: 130.488403 m, bearing: 32.875008 deg, approach rate: -0.493797 m/s, LOS rate: 0.002496 deg/s, cmd heading: 30.539521 deg, new cmd heading: 30.541428 deg. i(8HeadingCmd: 0.533048 target range: 130.991043 and range: 131.00 m.hu?hhhhggjgrgereZe:e*eZ? BɢyW) i);iԝiu?=ی=Iu?Iq9@ @@5@UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.E EE0E"Es:*E:VE4ZEa@a@a@a@ԙ^A}=II O%>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498766TD##,zLA46@LZ>ZnK?Z[:ٱZ6=ZH i?@s߿ ? ?w?`嶿@S^X?6?iZ>IZϟ^;ZCYfxByfIbDn+VDn8yvH%vG=ٔz2Q-z>9xY|=~#Ey~D~E~>Q 5 4~?Q 9 4)BYy?Q I@DIG:io;14yBɮA%NE:iAEFNOT Ignoring new targets: 130.99 m."iMM8*iMM8] ProNav: ac range: 130.991043 m, nav range: 130.277313 m, bearing: 32.876116 deg, approach rate: -0.534361 m/s, LOS rate: 0.002811 deg/s, cmd heading: 30.541427 deg, new cmd heading: 30.543647 deg. i]8eHeadingCmd: 0.533087 target range: 130.991043 and range: 131.00 m.hegx?hahahahagigijgirgieqreZe:e*eUg?E BɢEG)A EiI)M;IIim'Niugx?uL=u =I}gx?Iy%9@! @!@%4@)BABX>BBIBgBBBBB;BlEBqBqBqBu* =BqCu<4uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752404^A@=E EE2E"E ;*E:VE4ZEBEL! k##,ILA2w͜>211?2:ٱ21 =2H@? ߿G?@-??0T ?J?i2w͜>I2%|^;2CY:By>I TT|i-Mb@Mb@Mb@)))) )9-~jt? rh?{Gz?Y-?y-C =-#<-A-A -jA)-A)Y-G AbDEVDE8yUe!=%UD=ٔ]ºQ-]>9YYa=e#EyeDe{Ee>iQ 5u4m ?Q 9u4m)mBY}?Q E}:y}]?Q I}@m DIm/;ime;m94yɮuA:iFNOT Ignoring new targets: 130.99 m."iQc*iQc ProNav: ac range: 130.991043 m, nav range: 130.061157 m, bearing: 32.874825 deg, approach rate: -0.518864 m/s, LOS rate: -0.003105 deg/s, cmd heading: 30.543646 deg, new cmd heading: 30.541059 deg. iڵHeadingCmd: 0.533042 target range: 130.991043 and range: 131.00 m.hqu?hhhhggjgrgBereZe:e*e` ?  Bɢ &<)  i);i\iqu?=x=Iqu?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002456II)xA)9@ @@/@Q^A p,=Iq I O >ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253913ԁ E  E E E "E ;*E :VE ZE a @a @a @a @yS##,%ҏLA>3ݜ>>9?>$9ٱ>=>H?`߿@-???4?7?@W?i>3ݜ>I>|^;>CYRByRI XZ4=bDrVDr8y1@=%N=ٔCQ-=>99YA=E#EyEDEW9EE>IQ 5U4MI?Q 9U4MY)MBYyy}e?Q I}@M-DIM;iM;M@4yBɮHAOE:iFNOT Ignoring new targets: 130.99 m."ia*ia ProNav: ac range: 130.991043 m, nav range: 129.853546 m, bearing: 32.873569 deg, approach rate: -0.508836 m/s, LOS rate: -0.003083 deg/s, cmd heading: 30.541058 deg, new cmd heading: 30.538542 deg. i HeadingCmd: 0.532998 target range: 130.991043 and range: 131.00 m.h r?h h h h g gjg1rg1e9re9Ze9:e9*e= <@颭Bɢ+) {i)R ;顱iᙻir?F =$׋=Ir?I@ @@@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506699Ա^Am=II O >B ]>B B IB mBB + =B B B Ů;B kE ́##,쏌LA@ɰB4<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7577615h>5&?5\ʹٱ5=5H ?W߿m?@ ?9? ]9?`q?`?i5h>I5'Q^;5CYMByMIԱiMb@Mb@Mb@ 9NbX9?+?~jt?Y?y=D<=A A) AY AbD VD8y.%<=ٔߺQ->9Y = #Ey D *E>Q 54,?Q 94Z)BY% ?Q E%:y%?Q I%@;DI4:i=:G4Eu EuEqEq"Eu:*Eu~:VEqZEqBEu>)j$#,LA2Ņ>2X ?2𦖺ٱ2'=2H@M?߿ ש? L?&?R? X?}?i2Ņ>I2e^;2CYJByJIING>)Np=bDVVDV8y^=%^a=ٔ^ Q-b>9`Y`=b#EybDfEf>hQ 5n4j?9?Q 9n4j)jBYlynp?Q Ir@jHDIj:ij:jM4yvBɮvAvFEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 130.99 m."iԾ*iԾ ProNav: ac range: 130.991043 m, nav range: 129.438492 m, bearing: 32.869544 deg, approach rate: -0.540698 m/s, LOS rate: -0.005214 deg/s, cmd heading: 30.534135 deg, new cmd heading: 30.530478 deg. i HeadingCmd: 0.532857 target range: 130.991043 and range: 131.00 m.hWi?hhhhggjgrge!re!Ze!:e!*e% @-Bɢ55)1 5{i1)5];11i=i=Wi?==EȊ=IEWi?Ia-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262247@ @@/@9E EE4E"ET;*E:VE4ZEa@a@a@a@a^Ap,=A5 .AII Ia O} >ԑ % DAT read: 01:15:42.8219 LVL= 24528, 27857, 25042, 31731, AGC= 68, IDX= 415,-0.44,-2.628, 1.969,-2.550,-3.053, PHS= 0.527,-1.216, 0.459, RAW= 148.0, 2.7, CAL= 147.2, 2.7, ROT= 2.8, -2.7 - Ygot valid direction response: 01:15:42.8219 LVL= 24528, 27857, 25042, 31731, AGC= 68, IDX= 415,-0.44,-2.628, 1.969,-2.550,-3.053, PHS= 0.527,-1.216, 0.459, RAW= 148.0, 2.7, CAL= 147.2, 2.7, ROT= 2.8, -2.7 5 PDAT read: Bearing 182.9, 2.9 (Local) 5 ~Local bearing/azimuth received: Bearing 182.9, 2.9 (Local) E DAT read: Range 11 to 50 : 129.0 m (Round-trip 172.0 ms) speed 0.0 m/s E *DAT read: user:127> P$#,JLA"BDAT read: Tx time:01:15:43.9458 "$Ping request sent."MQ%@A=l$@ A=)+H=IAPA +7?$b; ?nYQ? ^r>)BI+H=iA6:publishing transmit ping time 6Fpublishing direction and range infoy"?s?P7V?Y )Ii )I>?MٱX=H? ߿`q??ُ?`^? D??i>I j^;CYBy IPA +7?$b; ?nYQ? )IiqAAAAbDVD8y=<%=(=ٔEIźQ-E>9E ?YE ?=E#EyMDM8EM>qQ 5}4uK?Q 9}4u )uBYyt?Q I@uXDIqiu:umV4yɮAiiLAjC"jC:jF?Rjڭ9`@F-@\Z*N@Bj"?s?P7V?*j+H=2jAZjcq'[@NQ@&*uS@Jj 6? ,?y,ƒ?jwB j;Bil8 ?i:jlBjj jlBrjCzjv?BU\>BQBUIBU|BBU) =BQBQBU;BUkE addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.527883 s, deltaX: -2.000000 m, approachRate: -0.566912 m/s, rangeRepo size: 4  Added new target pos. range: 128.991562 m, bearing: 32.513962 deg, lat: 36.779503 deg, lon: -121.859740 deg, deltaT: 3.527883 s, deltaX: -1.999481 m, approachRate: -0.566765 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 128.99 m."i*i ProNav: ac range: 128.991562 m, nav range: 129.056427 m, bearing: 32.780386 deg, approach rate: 0.000000 m/s, LOS rate: -0.005214 deg/s, cmd heading: 30.530478 deg, new cmd heading: 30.525256 deg. i HeadingCmd: 0.532766 target range: 128.991562 and range: 129.00 m.h ^c?h h h h ggjgrgereZeA:eM `@*eM '?ԡMBɢe )i miiq)};顁iWi^c?=\=I^c?IDzD@AE EE2E"E;*E:VE4ZEBE@C2?2,ٱ2=2H??߿ ?@4?@p? e?`1?@?i2>I2B&^;2CYbByfIiMMb@Mb@Mb@IIII I9M(\?y&1?~jt?YM?yM`e=IMAM=A I)MAIYM AbDeVDer8yui%u3=ٔ}-ٺQ-}>9yY=#EyD/9E>Q 54[?Q 94) BYx?Q E:yO ?Q I@gDI:i:M^4yBɮ AGE:iFNOT Ignoring new targets: 128.99 m."iPz*iPz ProNav: ac range: 128.991562 m, nav range: 128.816727 m, bearing: 32.774615 deg, approach rate: -0.567053 m/s, LOS rate: -0.013678 deg/s, cmd heading: 30.525256 deg, new cmd heading: 30.513693 deg. i@ȹHeadingCmd: 0.532564 target range: 128.991562 and range: 129.00 m.h$V?hhhhggjgrg'BereZe:e*e ?ԩ颭Bɢ/) ti);顱i$i$V?=Z=I$V?Ie9@i @i@i@ibEjEǯ4rET/EU EUEQEQ"EU:*EU:VEQZEQae@ae@ae@ae@^A I I O >) G$#,VZLA2bќ>2'3?2 ]ٱ2=2H?߿@?^?Y?9k?-??i2bќ>I2^;0Y:By>I @@bDFVDF8yN<%NZ=ٔR1Q-R>9PYP=V#EyVÄDV_:EV>XQ 5^4Z%i?Q 9^4Z)ZBY`ybl ?Q Ib@ZtDIZ3;iZ;Zd4ydɮfAd:ixzFNOT Ignoring new targets: 128.99 m."i~m*i~m  ProNav: ac range: 128.991562 m, nav range: 128.617188 m, bearing: 32.769754 deg, approach rate: -0.531980 m/s, LOS rate: -0.012979 deg/s, cmd heading: 30.513693 deg, new cmd heading: 30.503956 deg. i HeadingCmd: 0.532394 target range: 128.991562 and range: 129.00 m.hK?hhhhggjgrge!re!Ze!:e!*e- ?BɢD!) Xgi )  ;1i5fzi=K?E=Ew=IEK?II]>]?@ 9@  @ @ /@ 9BV>BBIBBB* =BBBǮ;BkE^A-=q IA Ia Ou >Ee  Ee Ee 8Ea "Ee %;*Ee :VEe F4ZEa BEe KRC?RCٱRψ=RHٲ?8߿n?&?)?@#pHp? [%??iR>IR ^;RCY^By^IiEMb@Mb@Mb@AAAA A9EˡE?Q?Mb?YE?yEu=E=ٔuQ-u>9qYq=u#Ey}˄D}:E}>Q 54x?Q 94g)BY?Q E:y"?Q I@DI:i:al4yBɮA:iAEFNOT Ignoring new targets: 128.99 m."iM*iM} ProNav: ac range: 128.991562 m, nav range: 128.387619 m, bearing: 32.763297 deg, approach rate: -0.513923 m/s, LOS rate: -0.014482 deg/s, cmd heading: 30.503956 deg, new cmd heading: 30.491018 deg. i}ԹHeadingCmd: 0.532169 target range: 128.991562 and range: 129.00 m.h4<?hhhhggjgrgBereZe:e*e ?=BɢE7)A EZkiA)Eh;;IIiMS۔iU4<?Uۙ=U[=IU4<?IYyE9@A @I@M/@Iԙ^A = I I O >cY#$#,$ LAɰ61>6b?6 ٱ6o=6Hް?@ ߿N?@ ? ?7Cs?6"??i61>I6];6CPYPyPbDZ0VDZı8ٔjQ-j>9hYh=n#EynӄDn:En>pQ 5v4r?Q 9v4r4)rBYxyz"?Q Iz@rDIr:irS:rs4y|ɮ|B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 128.99 m."is*is ProNav: ac range: 128.991562 m, nav range: 128.183090 m, bearing: 32.757480 deg, approach rate: -0.527337 m/s, LOS rate: -0.015021 deg/s, cmd heading: 30.491016 deg, new cmd heading: 30.479364 deg. i۹HeadingCmd: 0.531965 target range: 128.991562 and range: 129.00 m.h.?hhhhggjgrgereZe:e*e ?E EE/E"E:*Ex:VEJ4ZEa%@a-@a-@a-@=Bɢ=v1)9 =ii9)Ex;AAiEBiM.?Mՙ=M+=IM.?II9@ @@0@^ATZ=uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.IIO>! )$#,cLA6Қ>6ߗ?62Mٱ6XG=6H?߿k? :? ?a@ v?=? ?i6Қ>I6R];6CBN<ALBRQ>BR"CBR!IBRBBR, =BPBR{DBR;BR lEY^By^IbDf%VDf8yn!׺%n<ٔrlںQ-r>9pYt=v#EyvۄDv;Ev>|xQ 54z]?Q 94z)zBY y "?Q I @zDIzBI;izNR;z/z4yBɮ8A%HE:iQ]FNOT Ignoring new targets: 128.99 m."ie *ie } ProNav: ac range: 128.991562 m, nav range: 127.966507 m, bearing: 32.751222 deg, approach rate: -0.555182 m/s, LOS rate: -0.016069 deg/s, cmd heading: 30.479364 deg, new cmd heading: 30.466827 deg. i}B빝HeadingCmd: 0.531746 target range: 128.991562 and range: 129.00 m.h ?hhhhggjgrgereZe:e*eɳ@颥BɢI$) Rii)r;i9i ?;Й=@=I ?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.24810119@ @@1@E5 E5E52E1"E5V:*E5:VE54ZE1BE59I I O >ԁ } B?} = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496613 y0$#,LA>_>>?>6ûٱ>=>Hѩ? ??`?砷@fx?!s? ?i>_>I>7];9IYI=U#EyUDU ;EU>YQ 5e4]?Q 9e4]D)]BYm ?Q Em:ym#?Q Im@]DI]:i]:]4yqɮu-Aq:i=FNOT Ignoring new targets: 128.99 m."i=*iEM ProNav: ac range: 128.991562 m, nav range: 127.740753 m, bearing: 32.744407 deg, approach rate: -0.522307 m/s, LOS rate: -0.015795 deg/s, cmd heading: 30.466827 deg, new cmd heading: 30.453173 deg. iMA繝UHeadingCmd: 0.531508 target range: 128.991562 and range: 129.00 m.hU?hhhhggjgrgBereZe:e*e @颽Bɢ) ei);i'Ti?˙==I?Iie9@a @i@m@5@i@uxA@uyAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748424ԙE EE1E"E;*Ev:VE-4ZEa%@a%@a%@a%@^Am H= A ؟AI I O >s6$#,IېLA2Ar>2?2ֻٱ2X=2H? ֧?? }?@&ȷz?g??i2Ar>I2];0Y>By>IbDF_VDF8yZ%ZV=ٔ^ͺQ-%>9E"?YE"?=E#EyEDM':EM>YQ 5e4]A?Q 9m4])] BYqyu#?Q Iu@]DI]n;i]Y;]4yBɮAIEԹ:iFNOT Ignoring new targets: 128.99 m."i/*i/ ProNav: ac range: 128.991562 m, nav range: 127.525543 m, bearing: 32.737815 deg, approach rate: -0.545645 m/s, LOS rate: -0.016741 deg/s, cmd heading: 30.453174 deg, new cmd heading: 30.439968 deg. =checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000557i%MHeadingCmd: 0.531278 target range: 128.991562 and range: 129.00 m.hM?hIhIhIhIgQgQjgYrgYeYreaZea:ea*ee ;@颹ɢyB) zri)<;i͒i?ș=?=I?I@ @@2@BO>BBBBBBBҮ;BkEBaBaBeƔCBe+ =Be+ =Ce+5^A= BDAT read: Rx Time:01:15:46.5193 = TRx dataTimestamp_ set to:1764897347.762542U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263259A I) I9 EE  EE EE 2EA "EE ;*EE :VEE 4ZEA BEE A<$#,xLABm>B!?BÍٱB=BHˤ?I ??@#|?@|?tn?`?iBm>IB\;BCYrByrI ttimMb@Mb@Mb@iiii i9muV?A`"?Mb`Ymr?ymY=mmAi i)mAiYibDAVDԱ8yT<%==ٔnQ->9Y=#EyD:E>Q 54`?Q 94v)"BY ?Q E:yx ?Q I@DI;i;4yɮpA:iamFNOT Ignoring new targets: 128.99 m."imq*imq ProNav: ac range: 128.991562 m, nav range: 127.304321 m, bearing: 32.732290 deg, approach rate: -0.526552 m/s, LOS rate: -0.013175 deg/s, cmd heading: 30.439967 deg, new cmd heading: 30.428897 deg. iHeadingCmd: 0.531084 target range: 128.991562 and range: 129.00 m.h&?hhhhggjgrgBereZe:e*eX @%Bɢ%2F0)) -ki))-;i'fi&?ř=ͤ=I&?I)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505007Y@ @@I0@q^A ̓=ԙ A I I O >C$#,iTLAjDAT read: 01:15:46.5193 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.22, 0.078,-1.604, 0.173,-0.334, PHS= 0.514,-1.225, 0.463, RAW= 148.5, 2.9, CAL= 147.7, 2.9, ROT= 2.3, -2.9 nYgot valid direction response: 01:15:46.5193 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.22, 0.078,-1.604, 0.173,-0.334, PHS= 0.514,-1.225, 0.463, RAW= 148.5, 2.9, CAL= 147.7, 2.9, ROT= 2.3, -2.9 rPDAT read: Bearing 183.3, 2.7 (Local) v~Local bearing/azimuth received: Bearing 183.3, 2.7 (Local) zDAT read: Range 11 to 50 : 127.0 m (Round-trip 169.4 ms) speed 0.4 m/s ~*DAT read: user:128> %BDAT read: Tx time:01:15:47.6458 %$Ping request sent.%RH%@R4QO=R$@ R4QO=)Rl$=IR4QOPPR1D?Ds? ?+(? R^>)RWQIRl$=iR4QOPPm:publishing transmit ping time!mFpublishing direction and range infoyPR? k?|rQ?YPPPPP P)PIPiPPE EE3E"El;*E:VE4ZEa@a @a @a @PPP P)PIPPPR1D?Ds? ?+(? P)PIPiPPPqbDUfVDU8yBK%<=ٔQ->9Y=#EyDE>Q 54p?Q 94)#BYyQ I@DI:iq:p4yBɮaA@EiPiRLAjRB"jRB:jR?RjR2PJ_@5[@_-@BjR? k?|rQ?*jRl$=2jR4QOZjR\$Z@m)P@Ga>@JjR_?B܌ ?L-Qd~?jR4B jRmBiRf#?iR1ƹjRBjPjPjPrjR#BzjR9? addTargetRange:: Added new target pos. range: 127.000000 m, deltaT: 3.779626 s, deltaX: -2.000000 m, approachRate: -0.529153 m/s, rangeRepo size: 4  Added new target pos. range: 126.988083 m, bearing: 32.233040 deg, lat: 36.779503 deg, lon: -121.859740 deg, deltaT: 3.779626 s, deltaX: -2.003479 m, approachRate: -0.530073 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 126.99 m."i*i ProNav: ac range: 126.988083 m, nav range: 127.069344 m, bearing: 32.726399 deg, approach rate: 0.000000 m/s, LOS rate: -0.013175 deg/s, cmd heading: 30.428896 deg, new cmd heading: 30.416459 deg. iHeadingCmd: 0.530867 target range: 126.988083 and range: 127.00 m.h?hhhhggjgrgereZe!:e%_@*e%w?ԡ颵Bɢ,?6) Fi);项i^ᑻi?™==I?I@ @@3@^A IҔ= A A B B B IB BB B B B ;B kEA .AI I O >)J$#,x,LA4<ɰ;2>2=;?2ٱ2B=2H$? ?@ ?z?ߛE?*?@?i2>I2@];0Y>vBy>IbDF}VDF 8yNT%NP=ٔNQ-R>9R ?YR ?=R#EyVDV:EV>XQ 5^4Z?Q 9^4Z)Z%BY\y^ ?Q Ib@ZDIZ-jQ$#,FLAYpByII=)9"?Y"?=#EyDE>!Q 5-4%?Q 9-4%)%'BY-s?Q E5:y5?Q I5@%DI%T;i%n;%54y=Bɮ=A=AE:iaeFNOT Ignoring new targets: 126.99 m."im2\*im2\} ProNav: ac range: 126.988083 m, nav range: 126.621956 m, bearing: 32.715863 deg, approach rate: -0.545806 m/s, LOS rate: -0.012032 deg/s, cmd heading: 30.405916 deg, new cmd heading: 30.395349 deg. i}(HeadingCmd: 0.530499 target range: 126.988083 and range: 127.00 m.h?hhhhggjgrgBereZe:e*e?ɢw) ݋i);i^i?===I?Ia@a @a@a@aԙ-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996382E] E]E]0EY"E]&:*E]:VE]4ZEYae@ae@ae@ae@^A<=A>A>A .A I I! O= >vW$#, {`LA2>2}X?2d ٱ23=2H E?G?#?|y? (`#? ? k?i2>I2$];0Y:fBy:IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247952J@AJ@AbDJfVDJ8yVY%Ve=ٔVQ-V>9Z ?YZ ?=Z#EyZDZɣ:E^>`Q 5b4b?Q 9f4b)b(BYdyf?Q If@bDIb:ib:bt4yhɮn1Al:iFNOT Ignoring new targets: 126.99 m."iL*iL ProNav: ac range: 126.988083 m, nav range: 126.434471 m, bearing: 32.711686 deg, approach rate: -0.501138 m/s, LOS rate: -0.011183 deg/s, cmd heading: 30.395349 deg, new cmd heading: 30.386982 deg. iHeadingCmd: 0.530353 target range: 126.988083 and range: 127.00 m.h5?hhhhggjgrgereZe:e*e?颅BɢHD) i);顉ii5?=0=I5?IBP>BBIBBBBBBl;BkE@ @@@ ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503804q^A M=Dm =Di Eu  Eu Eu -Eq "Eu s:*Eu :VEu t4ZEq BEu r0]$#,WzLA2$>2Q?2x ٱ2O=2H@?G$X?@2#?Nz?e O?ֹ??i2$>I2L*];2CY:oBy>IimMb@Mb@Mb@iiii i9mx&1?l?MbpYm?ym=mmAmA m A)mSAiYmQAbDVVD8y!=%;=ٔ5DQ->9"?Y"?=#EyD}E>Q 54 ?Q 94))BY?Q E:y?Q I@DIpi;ig;(4y ɮ A :i15FNOT Ignoring new targets: 126.99 m."i=*i=M ProNav: ac range: 126.988083 m, nav range: 126.210930 m, bearing: 32.708532 deg, approach rate: -0.523832 m/s, LOS rate: -0.007404 deg/s, cmd heading: 30.386982 deg, new cmd heading: 30.380663 deg. iMXUHeadingCmd: 0.530243 target range: 126.988083 and range: 127.00 m.Qh]?hYhYhYhYgYgYjgargeBeareaZei:ei*em?QɢUp)Q ]iY)]~~;YYi]2ie?e6=e=Ie?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751935Ie9@a @a@e/@aԉԩ^A ~=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004059A I I O >bEe4jE4rE0E}  E} E} 0Ey "E} ;*E} x:VE} 4ZEy a @a @a @a @d$#,ٵLAN>NG?NWG ٱNj=NHL? @?&"?`a{?ACܨ?c? u?iN>INmo];NCYVgByVIbDbeVDb8yj/%jU=ٔjQ-j>9lYl=n#Eyn&DrɹEv> Q 54 ?Q 94 ) *BYy?Q I@  DI ;i ; 4y-Bɮ-MA):iIUFNOT Ignoring new targets: 126.99 m."iU*iU ProNav: ac range: 126.988083 m, nav range: 126.015572 m, bearing: 32.705779 deg, approach rate: -0.510279 m/s, LOS rate: -0.007201 deg/s, cmd heading: 30.380664 deg, new cmd heading: 30.375151 deg. iRHeadingCmd: 0.530146 target range: 126.988083 and range: 127.00 m.h?hhhhggjgrgereZe:e*e%i@qEBɢEV])I M22?2 ٱ2_=2H ?`֥??O}?1?&r??i2HО>I2X];2CY:bBy:IbDFQVDF8yNy%NN=ٔNםQ-%>9% ?Y% ?=%$Ey%.D-MNE->1Q 5]45y)?Q 9]45)1YYye?Q Ie@5DI5;i5\;54yqɮsAiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511231eB*** querying acoustic contact ***iiiiE- E-E-2E)"E-:*E-:VE-4ZE)BE-3Ur$#,ɑLA$ɰ&4<(J>J?JKٱJ^=JH`? `p?Q?@8?ֶ@Z?`?!? ?iJ>IJҢ];JCYVjByVIimMb@Mb@Mb@iiii i9mRQ?Zd;O?MbYm?ymj9"?Y"?=$Ey7D1E>Q 54e9?Q 94)Y?Q E:y?Q I@DIi ;i:4yBɮUABE:iFNOT Ignoring new targets: 126.99 m."ir*ir ProNav: ac range: 126.988083 m, nav range: 125.583405 m, bearing: 32.702551 deg, approach rate: -0.562926 m/s, LOS rate: -0.000829 deg/s, cmd heading: 30.369350 deg, new cmd heading: 30.368688 deg. i·HeadingCmd: 0.530034 target range: 126.988083 and range: 127.00 m.hH?h h h h g gjgrgBereZe:e*e`@ԁ颅Bɢ`p) si)ZqP;顉iiH?==IH?I%BDAT read: Rx Time:01:15:50.2168 -TRx dataTimestamp_ set to:1764897351.288601-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012927E} E}E}4Ey"E}:*E}:VE}4ZEya@a@a@a@@ @@0@Ա ^A (= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264159A) I9 Ii Ou >x$#,㑌LA2>2?2ئٱ2=2Hҥ? yY?@?`??3 ? j?i2>I2%b];0Y:^By>II>i>)>bDFJVDFܱ8HyRs%RY=ٔR 8Q-R>9TYT=V$EyV?DZGEZ>\Q 5b4^ G?Q 9b4^)\Y`yb?Q Ib@^!DI^:i^:^S4yhɮjAh:ix~FNOT Ignoring new targets: 126.99 m."i~NZ*iNZ ProNav: ac range: 126.988083 m, nav range: 125.390671 m, bearing: 32.702270 deg, approach rate: -0.510690 m/s, LOS rate: -0.000746 deg/s, cmd heading: 30.368688 deg, new cmd heading: 30.368125 deg. iHeadingCmd: 0.530024 target range: 126.988083 and range: 127.00 m.h?hhhhggjg!rg!e!re!Ze):e)*e-`v @Bɢr) 2i)xA;ii?m#=mش=Im?Ii9@ @ @ 5@ B]T>B]"CB]IB]gBB]+ =BYB]|DB]R;B]wkE=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520215^AE=E EE/E"E:*EVEJ4ZEBE6 t9 /{AY MA~$#,dLABQ>B?BٱB|o=BH:?UP??V?;?"C??iBQ>IB[];BCYJ_ByJI|iMMb@Mb@Mb@IIII I9M?S㥛?YM?yM/=ٔ}Q-}>9yYy=$EyHDج9E>Q 54/V?Q 94),BY/?Q E:y?Q I@(DID;ij;4yBɮACE:iFNOT Ignoring new targets: 126.99 m."i2*i2 ProNav: ac range: 126.988083 m, nav range: 125.175560 m, bearing: 32.701222 deg, approach rate: -0.500552 m/s, LOS rate: -0.002443 deg/s, cmd heading: 30.368124 deg, new cmd heading: 30.366024 deg. iHeadingCmd: 0.529987 target range: 126.988083 and range: 127.00 m.h<?hhhhggjgrg߀BereZe:e*e''@DAT read: 01:15:50.2168 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.04, 0.651,-1.009, 0.759, 0.250, PHS= 0.503,-1.214, 0.465, RAW= 148.9, 2.9, CAL= 148.1, 2.9, ROT= 1.9, -2.9 Ygot valid direction response: 01:15:50.2168 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.04, 0.651,-1.009, 0.759, 0.250, PHS= 0.503,-1.214, 0.465, RAW= 148.9, 2.9, CAL= 148.1, 2.9, ROT= 1.9, -2.9 PDAT read: Bearing 183.4, 2.5 (Local) ~Local bearing/azimuth received: Bearing 183.4, 2.5 (Local) DAT read: Range 11 to 50 : 125.1 m (Round-trip 166.9 ms) speed 0.6 m/s *DAT read: user:129> BDAT read: Tx time:01:15:51.3458 $Ping request sent.uR&@qum%@ q)u=Iqqquv!?cV(? 59/? u?)uQIu=iqqq=:publishing transmit ping time=Fpublishing direction and range infoyqu!?+-`{&?|rQ?Yqqqqq q)qIqiqqqqq q)qIqqquv!?cV(? 59/? q)qIqiqqq额BɢЈ) i)/;顡i𘊻i<?= =I<?I)A@A @A@E5@IQ^Ae P=ԉ IA IQ Oe >E  E E 2E "E ;*E xv:VE 4ZE a @a @a @a @Y$#,ILA'T>Y?ٱN=H? ?$? ,?j@?@Ep? #?i'T>I#];Y]ByIbDVDy%)=ٔ9Q->9Y=$EyQD#E>ԉQ 54Dg?Q 94/)-BYy?Q I@0DIB B B B * =B B B M;B skEB%"CB%"CB%ʓCB%, =B%, =C%ʔ5 ^A= ̓=I I O >$#,52LA^`>^&?^?ٱ^=^H@?`R?@??`x?@LL??i^`>I^;];^CYaBy IYbDMPVDM8yc<%o=ٔ64Q-?E EEE"E:*E:VEZEBEH8Q 54t?Q 94u)/BYy?Q I@6DI%:i2:4yBɮ:EB*** querying acoustic contact ***ii:iIMFNOT Ignoring new targets: 125.09 m."iU*iUe ProNav: ac range: 125.089584 m, nav range: 124.493668 m, bearing: 32.423038 deg, approach rate: -0.527611 m/s, LOS rate: -0.003513 deg/s, cmd heading: 30.363521 deg, new cmd heading: 30.361006 deg. i͸HeadingCmd: 0.529900 target range: 125.089584 and range: 125.10 m.h?hhhhggjgrgereZe:e*e7? Bɢ ֙) i);ii?ʭ=EF=IE?IAԁ@ @@/@ԩ-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.^A I I O > sܒ$#,LLA2>2?2ݗٱ2=2H?~,;?? ?նR?'?`G?i2>I287];2CY:iBy:Ii~Mb@Mb@Mb@|||| |9~x&1?9)Y1=5$Ey5`D5E5>9Q 5E4=m?Q 9M4=)9YM?Q EM:yMf ?Q IM@=A u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505858&$#,eLA;ɰ2N>2q?2ٱ2>=2H?߿@m?@ ?@?ק`j?|ٸ??i2N>I2Ӑ];2CYNjByNIbDZBVDZձ8yb;%bQ=ٔbhQ-b>9dYd=f$EyfhDjyEj>lQ 5r4n?Q 9r4nV)lYpyr8 ?Q Ir@nBDIn;in;n4yxɮzAx:iFNOT Ignoring new targets: 125.09 m."i8*i8 ProNav: ac range: 125.089584 m, nav range: 124.117554 m, bearing: 32.426812 deg, approach rate: -0.517621 m/s, LOS rate: 0.005288 deg/s, cmd heading: 30.364525 deg, new cmd heading: 30.368567 deg. i9HeadingCmd: 0.530032 target range: 125.089584 and range: 125.10 m.h%?hhhhggjgrgereZe:e*e`*? Bɢ R) i)%/:!!i%ki-%?-Ҧ=5=I5%?I9B1B1B5IB5mBB5+ =B1B1B5!;B5EkE9@ @@/@AiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759692PExceeded connect timeout, disconnecting.E- E-E-2E)"E-;*E-:VE-4ZE)BE-@ԙ 1$#, LAY~sBy~IiMb@Mb@Mb@ 9jt?Mb?~jtx?Y?y<;  A)AYzAbDIVD۱8y$=%:=ٔQ->9Y=$EyqDE>Q 54?Q 94D)2BY?Q E:y@?Q I@IDI; ;i";4y Bɮ A ;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008398:i9=FNOT Ignoring new targets: 125.09 m."iE*58*iE*58U ProNav: ac range: 125.089584 m, nav range: 123.896233 m, bearing: 32.427865 deg, approach rate: -0.519146 m/s, LOS rate: 0.002475 deg/s, cmd heading: 30.368568 deg, new cmd heading: 30.370678 deg. iU8]HeadingCmd: 0.530068 target range: 125.089584 and range: 125.10 m.h]?hYhYhYhYgagajgargeBeireiZei:eiq*em?@颥Bɢf=w) zi)R:顩ifRi?=/=I?II)-9@) @)@-/@)ԙ^AMH= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260610A I I O >E  E E E "E &:*E :VE ZE a5 @a5 @a5 @a5 @ ,$#,LA2.>2a?2|0ٱ2d=2H?;߿?@C ?? }@%?!?@?i2.>I2(];2CY:~By: IBAABAAbDFPVDF8yNx=%Na=ٔNcQ-R>9PYP=R$EyRyDVd1EV>XQ 5^4Z?Q 9^4Z)Z4BY|y~/?Q I~@ZODIZ#BI BM IBM wBBI BI BM {DBM ;BM 0kE^A] ~4=A I I O >B$#,mLANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766916Y}wByInManaging dock network, ignoring radio surface power offEM EMEIEI"EM%;*EM:VEIZEIBEMK91Y1==$Ey=D=E=>AQ 5M4E5?QQ 9U4ES)E7BYQyQQ IU@EWDIE';iE(;Eo 4yeBɮeAa}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 125.09 m."iE<8*iE<8 ProNav: ac range: 125.089584 m, nav range: 123.467941 m, bearing: 32.429966 deg, approach rate: -0.522499 m/s, LOS rate: 0.002572 deg/s, cmd heading: 30.372472 deg, new cmd heading: 30.374889 deg. i8UHeadingCmd: 0.530142 target range: 125.089584 and range: 125.10 m.hU`?hQhYhYhYggjgrgereZe:e*e_Z@MBɢUwob)Q UFniQ)U:YYi]ELi]`?=I`?Iԁu9@y @y@}/@y=BDAT read: Rx Time:01:15:53.9141 ETRx dataTimestamp_ set to:1764897355.073175Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017966ԩ ^A] = A I I O >A۳$#,,ВLA>>>>N?>0ٱ>=>H@?m߿:??`?` @q?`-??i>>>I>\;>CYZByZIi=Mb@Mb@Mb@9999 99=E?~jt?{Gzt?Y=?y=<=ף;=OA9 =fA)=OA9Y=(AbDU<VDUϱ8ye=%eQ=ٔmQ-m>9iYi=u$EyuDuIEu>yQ 54}̀?Q 94}t)}9BY?Q E:yD?Q I@}]DI}:i}:}D4yɮ_A:iFNOT Ignoring new targets: 125.09 m."io7*io7i)I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268582Iu ProNav: ac range: 125.089584 m, nav range: 123.262215 m, bearing: 32.430577 deg, approach rate: -0.527115 m/s, LOS rate: 0.001567 deg/s, cmd heading: 30.374889 deg, new cmd heading: 30.376113 deg. iu78}HeadingCmd: 0.530163 target range: 125.089584 and range: 125.10 m.h}Ƹ?hyhyhyhygygjgrgBereZe:e*e W @BɢZX) Ji)%Dy:!!ieimƸ?mH=mom=ImƸ?IqbEž4jE4rEA0E EEE"E;*EAr:VEZEa@a@a@a@@ @@b0@yԡ^A_ == DAT read: 01:15:53.9141 LVL= 25936, 29857, 27362, 32755, AGC= 67, IDX= 415, 0.31,-1.633, 3.012,-1.518,-2.040, PHS= 0.509,-1.187, 0.478, RAW= 149.1, 2.4, CAL= 148.2, 2.3, ROT= 1.8, -2.3 M Ygot valid direction response: 01:15:53.9141 LVL= 25936, 29857, 27362, 32755, AGC= 67, IDX= 415, 0.31,-1.633, 3.012,-1.518,-2.040, PHS= 0.509,-1.187, 0.478, RAW= 149.1, 2.4, CAL= 148.2, 2.3, ROT= 1.8, -2.3 U PDAT read: Bearing 183.0, 2.6 (Local) U ~Local bearing/azimuth received: Bearing 183.0, 2.6 (Local) m DAT read: Range 11 to 50 : 123.2 m (Round-trip 164.3 ms) speed 0.4 m/s u *DAT read: user:130> } BDAT read: Tx time:01:15:55.0457 } $Ping request sent.} I u?@D?? ) I i 4$#,w钌LA%^>%y?%o$ٱ%"=%H@)?߿`? ?@m?@̍?e?`:?i%^>I%\;%CY]ByeI m4=mp=B}J>B}!CB}IB}BB}, =ByByB}4;B}NkEbDu7VDu˱8y<%G=ٔ@3Q->9Y=$EyD:E>Q 54W܀?Q 94n)1 $#,LAB1}>B?B.,ٱB=BH+? Eq|?`u ?^?``?@?H?iB1}>IB\;BCR=R9e ?Ye ?=e$EyeDe:Em>iQ 5u4mꀊ?Q 9}4mF)m@BY}?Q E}:y}?Q I}@mkDIm;im;mV4yɮ!A:iFNOT Ignoring new targets: 123.19 m."i6[*i6[ ProNav: ac range: 123.187286 m, nav range: 122.765076 m, bearing: 32.197205 deg, approach rate: -0.562709 m/s, LOS rate: -0.011978 deg/s, cmd heading: 30.377464 deg, new cmd heading: 30.368523 deg. i^HeadingCmd: 0.530031 target range: 123.187286 and range: 123.20 m.h?hhhhggjgYrg]BeYreYZea:ea*ee?颭Bɢ??) /i)D:ii?v=oF=I?IE9@A @A@M+5@I9^A- H=i E  E E 0E "E ;*E z:VE 4ZE a% @a% @a% @a% @Ay I I O >$#,LA:>:?:o3ٱ:,X=:H?Fh?? ˄?`!@P|?B ??i:>I:4\;:CY^By^!IbDfSVDf8ynh%nR=ٔrQ-r>9pYp=v$EyvDv>;Ev>xQ 5E4z;?Q 9M4z')zDBYIyM?Q IM@zrDIz;B9B=-IB=BB=. =B9B=zDB=z;B=kE^Av=A>A> A9 II IY Oe >oH$#,t7LAH rv>tzAMA @9 zAYAyܤ?áAEb EbEb2E`"Eb:*Eb&p:VEb4ZE`BEb65>?5m;ٱ54=5H ? j?n?Q?{P@c?HH?`j?i5[>I5E\;5CY]By])IԱiMb@Mb@Mb@ 9Q?X9v?Mb?Y?y}=<9A A)AY(AbD%|VD% 8y5<%==ٔ=_Q-=>9AYA=E$EyEDE:EE>IQ 5U4M ?Q 9]4M̫)MLBY] ?Q E]:y]#?Q I]@MzDIMo:iM:M&/4yeBɮmAm3EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 123.19 m."i*i ProNav: ac range: 123.187286 m, nav range: 122.280899 m, bearing: 32.182661 deg, approach rate: -0.545868 m/s, LOS rate: -0.019857 deg/s, cmd heading: 30.359525 deg, new cmd heading: 30.339374 deg. i]HeadingCmd: 0.529522 target range: 123.187286 and range: 123.20 m.h?hhhhggjgrgBereZe:e*eT,?ɢS) &i)9i&Ƅi?>==I?I T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@i4@@@vA ^A% =9 AU ؟AIa Iq O >$#,>"TLA2r>2/#?2k?ٱ2{=2Hd?+t??@%}?@#s`Z?`ch??i2r>I2\;2CY:By>.I @@bDFVDF8yN<%N{=ٔRoSQ-R ?9R"?YR"?=V$EyVDV;EV?XQ 5^4Z?Q 9^4Z Q =^tI)ZPBY`yb#?Q Ib@fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744337ZDIZ6c;iZ2d;Z44ynBɮnAn4E:i|FNOT Ignoring new targets: 123.19 m."i 7*i 7 ProNav: ac range: 123.187286 m, nav range: 122.105934 m, bearing: 32.176234 deg, approach rate: -0.535439 m/s, LOS rate: -0.019695 deg/s, cmd heading: 30.339372 deg, new cmd heading: 30.326501 deg. i,%HeadingCmd: 0.529297 target range: 123.187286 and range: 123.20 m.h%?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5i?eBɢe);)a eii)m9iiim˄iu?uE=uz=Iu?IyE EE/E"E*E:VEJ4ZEa@a@a@a@m9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996876^A<=1 A I I O >B F>B CB :IB BB - =B B B ;B kEB!CB!CB˔CBBC5$#,mLANGi>N?NݐEٱNq8=NH?`@X?'?`@v? w÷`? n??iNGi>IN\;NCYZByZ0IbDbVDb%8yj ;%jH=ٔnpQ-n>9pYp=r$EyrDr&a;Er>tQ 5z4v&?Q 9z4v)vVBY|y~#$?Q I~@vDIv8;iv#;v;4yɮA :i)5FNOT Ignoring new targets: 123.19 m."i5*i=M ProNav: ac range: 123.187286 m, nav range: 121.886978 m, bearing: 32.168026 deg, approach rate: -0.537540 m/s, LOS rate: -0.020188 deg/s, cmd heading: 30.326501 deg, new cmd heading: 30.310055 deg. iMMHeadingCmd: 0.529010 target range: 123.187286 and range: 123.20 m.hU7m?hQhQhQhQgQgQjgYrgYeYreaZea:ea*ee v@频ɢm$) i)s9顙ii7m?=|e=I7m?I59@1 @1@1@1Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248821E EE2E"E:*E҆:VE4ZEBE< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500276$#,&LA@Y~By~6IiMb@Mb@Mb@ 9S?V-?~jtx?Y?yh=;OA | A)OAYzAbDVD8y#<%<=ٔQ->9Y=$EyŅDE>Q 547?Q 94)[BYC?Q E:yj'?Q I@DI:i:C4yBɮA5E:iFNOT Ignoring new targets: 123.19 m."i%*i%๝5 ProNav: ac range: 123.187286 m, nav range: 121.643410 m, bearing: 32.157381 deg, approach rate: -0.561480 m/s, LOS rate: -0.024588 deg/s, cmd heading: 30.310054 deg, new cmd heading: 30.288721 deg. i53=HeadingCmd: 0.528638 target range: 123.187286 and range: 123.20 m.h=T?h9h9h9h9g9gAjgArgEBeAreIZeI:eI*eM9@}Bɢ})y } iy)08顁iWiT?=9=IT?Iԩ@ @@@@=@=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752456^AD=E EE1E"E*E~:VE-4ZEa@a@a@a@ A% .AI9 IQ Oe >$#,4LA6,>6C?6mVٱ6)-=6H ? M2@*ݣ? =?@j?n͊?:?j?i6,>I6z\;4Y@y@IF>)F=bDJLVDJޱ8ٔV7Q-V>9V ?YV ?=Z$EyZ̅DZ<EZ>\Q 5b4^D?Q 9b4^Y)^_BYdyf2(?Q If@^DI^G:i^h:^I4yhɮhhl:i|FNOT Ignoring new targets: 123.19 m."i_*i_蹝 ProNav: ac range: 123.187286 m, nav range: 121.437569 m, bearing: 32.148053 deg, approach rate: -0.559412 m/s, LOS rate: -0.025394 deg/s, cmd heading: 30.288723 deg, new cmd heading: 30.270035 deg. i9%HeadingCmd: 0.528312 target range: 123.187286 and range: 123.20 m.h%q??h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5 @aɢeq~#)a e> ii)mwB7iiimiuq??u(=u=Iuq??Iy]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.00455559@1 @1@50@1 BB>BBFIBBB, =BBB;BkE^A=yAM ؟AIQ Ia Ou > BDAT read: Rx Time:01:15:57.6114  TRx dataTimestamp_ set to:1764897358.852486 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257259ԩ E  E E .E "E &:*E :VE ـ4ZE BE j;M?Mb_ٱM\=MH?=3?@G?`d?`g S? ??iM]>IM\;MCYeBye3IiiMb@Mb@Mb@ 9n?ʡE?{GztYV?y=ף9A A)YAbD lVD 8y0%<ٔQ->9"?Y%"?=%$Ey%ՅD%\;E->)Q 554-U?Q 954-.)-aBY=?Q E=:y=+?Q I=@-DI-:i-:-Q4yEBɮMAI:iiuFNOT Ignoring new targets: 123.19 m."iun*iun ProNav: ac range: 123.187286 m, nav range: 121.184586 m, bearing: 32.134775 deg, approach rate: -0.558655 m/s, LOS rate: -0.029382 deg/s, cmd heading: 30.270036 deg, new cmd heading: 30.243425 deg. iWHeadingCmd: 0.527847 target range: 123.187286 and range: 123.20 m.h!?hhhhggjgrgBereZe:e*e @MBɢM^)I MTiI)UQQiU-i]!?]=]]ƣ=Ie!?Iyԙ9@ @@0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508434^A͢=A A ? AQ IY Iy O >z$#,9ՓLA2=>2_?24dٱ2=2H m?@@E@?N?@a?@,_?:??i2=>I2\;2CY:By:2IbDFVDF8yJp%Nh=zDAT read: 01:15:57.6114 LVL= 26768, 28337, 26098, 32755, AGC= 67, IDX= 419,-0.14, 2.130, 0.495, 2.266, 1.744, PHS= 0.488,-1.204, 0.478, RAW= 149.7, 2.8, CAL= 148.8, 2.7, ROT= 1.2, -2.7 ~Ygot valid direction response: 01:15:57.6114 LVL= 26768, 28337, 26098, 32755, AGC= 67, IDX= 419,-0.14, 2.130, 0.495, 2.266, 1.744, PHS= 0.488,-1.204, 0.478, RAW= 149.7, 2.8, CAL= 148.8, 2.7, ROT= 1.2, -2.7 PDAT read: Bearing 183.8, 2.2 (Local) ~Local bearing/azimuth received: Bearing 183.8, 2.2 (Local) DAT read: Range 11 to 50 : 121.2 m (Round-trip 161.6 ms) speed 0.4 m/s *DAT read: user:131> %BDAT read: Tx time:01:15:58.6957 %$Ping request sent.%ib`bm7'@b+H=b6&@ bA=)b9Y=$Ey݅D&;E>Q 54;d?Q 94)cBYy3,?Q I@DI;iX;X4y!ɮ%A!i`ibm֓LAjb_B"jb_B:jb ?E} E}E}/Ey"E}:*E} n:VE}J4ZEya@a@a@a@Rjb&A^@7G@_;Σ@BjbMd,x?sk?P7V?*jb<2jbAZjb֣ĂY@;O@@r@JjbP5? /-?h?jbT}B jbBib0"O?ib4jb׏Bjb0"O?jbm jb׏BrjbNBzjb ? addTargetRange:: Added new target pos. range: 121.199997 m, deltaT: 3.777787 s, deltaX: -2.000000 m, approachRate: -0.529410 m/s, rangeRepo size: 4 } Added new target pos. range: 121.185791 m, bearing: 31.576634 deg, lat: 36.779512 deg, lon: -121.859759 deg, deltaT: 3.777787 s, deltaX: -2.001495 m, approachRate: -0.529806 m/s, posRepo size: 4 :iyFNOT Ignoring new targets: 121.19 m."i*i ProNav: ac range: 121.185791 m, nav range: 121.152779 m, bearing: 31.734781 deg, approach rate: 0.000000 m/s, LOS rate: -0.029382 deg/s, cmd heading: 30.243425 deg, new cmd heading: 30.219097 deg. iHeadingCmd: 0.527423 target range: 121.185791 and range: 121.20 m.h-?hhhhggIjgIrgIeIreQZeQ:eUL^@*eU?颹ɢ) :i)8i:i-?=* =I-?I9@ @@/@@@yA1^A O=B- >>B- CB- @IB- BB- . =B) B- yDB- ;B- kEY I I O >R$#,kLA2>2M ?233mٱ2,b=2H`? O*X?Y?Y?|"?7!??i2>I2\;0YZByZ*I \\bDfpVDf8yn%n<=ٔn㥺Q-r>9pYp=r$EyrDv;Ev>xQ 5~4zr?Q 9~4z)zeBY|y~,?Q I@zDIzS:izu:z_4y Bɮ A 6E%B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 121.19 m."i=*i=M ProNav: ac range: 121.185791 m, nav range: 120.933968 m, bearing: 31.722248 deg, approach rate: -0.586618 m/s, LOS rate: -0.033660 deg/s, cmd heading: 30.219096 deg, new cmd heading: 30.193986 deg. iMgvԑHeadingCmd: 0.526984 target range: 121.185791 and range: 121.20 m.ht?hhhhggjgrgereZe:e*e ?qɢuE)q uLiq)uXGyyi}冻i}t?ѝ=Pz=It?Ii9I9ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.@ @@2@E EE2E"E;*E:VE4ZEBE@Cl%#, LA>$ߣ>> ?>{Fnٱ>U=>H z?$ߣ>I>#\;9IYI=M$EyMDUU;EU>YQ 5e4]?Q 9e4]9)]hBYeU ?Q Ee:ye)?Q Ie@]DI]:i]F:]g4yBɮA-E:i9=FNOT Ignoring new targets: 121.19 m."iEh*iEh ProNav: ac range: 121.185791 m, nav range: 120.705727 m, bearing: 31.710313 deg, approach rate: -0.516094 m/s, LOS rate: -0.027038 deg/s, cmd heading: 30.193985 deg, new cmd heading: 30.170070 deg. iEHeadingCmd: 0.526567 target range: 121.185791 and range: 121.20 m.h?hhhhggjgrgBereZe:e*e$?ɢ9) #i)Ei@i?秙==I?IY@Y @Y@]-5@a=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000479bEU-4jEU4rEUǺ/E EE1E"El;*E]t:VE-4ZEa@a@a@a@Q^AH=A yAzA zAIa Iq O >i ը%#,R$LA:*>:  ?:Ruٱ:zL=:H@t?@ d`툤?o?@I? ?\??i:*>I:\;8Y^BybIbDjVDj8yr֞%rR=ٔr]Q-r>9tYt=v$EyvDv!l;Ez>xQ 54z ?Q 94zȋ)zjBYy/*?Q I@zDIz8;iz;zm4y BɮMA:i1=FNOT Ignoring new targets: 121.19 m."i=4 *i=4 M ProNav: ac range: 121.185791 m, nav range: 120.495010 m, bearing: 31.699113 deg, approach rate: -0.571394 m/s, LOS rate: -0.030425 deg/s, cmd heading: 30.170069 deg, new cmd heading: 30.147629 deg. iM^UHeadingCmd: 0.526175 target range: 121.185791 and range: 121.20 m.hUn?hQhQhQhYgYgYjgargaeareaZea:ei*emf?频ɢochecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251695) Bi)X%顩iIin?=ׯ=In?IQm9@q @q@u/@q@}=@};>B6>BB:IBBB/ =BBB;BkEԁ^A5 ǫ=IIO>ԩU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503643 E  E E 0E "E ;*E :VE 4ZE BE @LAa^ !> P[ ? nvٱ = Ho?k Y?v?$E?@i@َ?W*?*?i !>I \; YBy#II%;>)%>iMb@Mb@Mb@ 9sh|??J +?I +Y ?yH=94\@A SA)AYAbDVD8yY=%:=ٔ`6Q->9Y=$EyD];E> Q 54 >?Q 94 ) Y ?Q E:y!?Q I@ €DI ;i ; u4y!ɮ%A):iIUFNOT Ignoring new targets: 121.19 m."iU*iUe ProNav: ac range: 121.185791 m, nav range: 120.257477 m, bearing: 31.690103 deg, approach rate: -0.539578 m/s, LOS rate: -0.020507 deg/s, cmd heading: 30.147629 deg, new cmd heading: 30.129574 deg. iemHeadingCmd: 0.525860 target range: 121.185791 and range: 121.20 m.hmǞ?hihihqhqgqgqjgqrg}ԀBeyreyZey:ey*e)?ԩ颩ɢB) *i)iK项iTiǞ?p==IǞ?I)@) @)@-/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756370^Am=IIO> 1 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007546%#,X XLA26>2e ?2.wٱ2J=2Hn?@lBK?@w?`D?@x^ ?`?@U?i26>I2\;0Y>By>IbDFVDF8yN'%Nc=ٔRQ-R>9PYT=V$EyVDVm9EV>Q 5%4?Q 9%4)kBY)y-"?Q I-@ȀDI%:i<;|4y1ɮ=#A9:iYeFNOT Ignoring new targets: 121.19 m."im*im ProNav: ac range: 121.185791 m, nav range: 120.055473 m, bearing: 31.682397 deg, approach rate: -0.539627 m/s, LOS rate: -0.020620 deg/s, cmd heading: 30.129573 deg, new cmd heading: 30.114135 deg. iHeadingCmd: 0.525591 target range: 121.185791 and range: 121.20 m.h?hhhhggjgrgereZe:e*e@ɢ%V`)! -7i))5.p11i5ˇi=?E˙=E=E EE2E"E:*E]t:VE4ZEa@a@a@a@IE?Ia9@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259622^A= =AE >AE >Y I I O >B ;>B B -IB BB B B B ;B kE%#,qLA 6!>6 ?6}ٱ6t=6Hk?xsY? ~? ??`s໏?@:K??i6!>I6\;6CYNByR IbDZVDZ8ybU%bI=ٔbQ-b>9dYd=f$EyfDj;Ej>hQ 5r4jz?Q 9r4j)hYpyr@"?Q Ir@jπDIj;ij;j4yzBɮzAz.E B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 121.19 m."i`*i` ProNav: ac range: 121.185791 m, nav range: 119.843170 m, bearing: 31.674175 deg, approach rate: -0.539085 m/s, LOS rate: -0.020914 deg/s, cmd heading: 30.114137 deg, new cmd heading: 30.097664 deg. iHeadingCmd: 0.525303 target range: 121.185791 and range: 121.20 m.hGz?hhhhggjgrgereZe:e*e@1ɢ5v)9 =Li9)=+99iEEׇiEGz?Ejٙ=M´=IMGz?II%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512510q=GM9@I @Q@Q@Y]{AuA9{AYA@I@MzAE EE1E"E;*E:VE-4ZEBEa2EaJE;a:E;aԙ^A *= > %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764852A I I O >"%#,LA2ʥ>2~ ?20}ٱ2O=2H+j?tQ??@W??@ ̥?^=??i2ʥ>I2Z\;0LYRByRI TTan@an an@ar ar@ar ar@ar bDvVDv8yz,;%~G=ٔ~8Q-~>9Y=$EyD A9E > Q 54 ˁ?Q 94 #~) lBQ A+:YQ E:yM"?Q I@ րDI ֊ Ĉ4yɮA:iFNOT Ignoring new targets: 121.19 m."i*i ProNav: ac range: 121.185791 m, nav range: 119.621338 m, bearing: 31.665532 deg, approach rate: -0.520617 m/s, LOS rate: -0.020323 deg/s, cmd heading: 30.097662 deg, new cmd heading: 30.080343 deg. iHeadingCmd: 0.525001 target range: 121.185791 and range: 121.20 m.hxf?hhhhggjgrgereZe:e*e"@%Bɢ%Au)! -,Ji))-a-))i-䇻i5xf?5=5t=I=xf?I9@ @@/@%BDAT read: Rx Time:01:16:01.2589 -TRx dataTimestamp_ set to:1764897362.384592-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016708^A=Eu EuEu2Eq"EuT;*Eu1:VEu4ZEqa}@a@a@a@! Aa Ii Iy O > (%#, LA24ӥ>2 ?2|ٱ2h=2H i?xu{I2 ];2CYIbDFVDF8yNA%NP=ٔR39Q-R>9PYT=V$EyVDV:9EV>XQ 5^4Zځ?Q 9^4Zz)XQ Ab :Y`Q Eb:ybQ"?Q Ib@Z݀DIZ;iZBB!IBBBBBBL;BZkEB}CB}CB}ÓCB}/ =B}/ =C}ʠ5)Y^Aõ=AxAzAxAu DAT read: 01:16:01.2589 LVL= 24512, 28609, 24562, 32755, AGC= 67, IDX= 410,-0.17,-2.953, 1.647,-2.784, 2.962, PHS= 0.470,-1.271, 0.493, RAW= 150.7, 3.6, CAL= 149.7, 3.5, ROT= 0.3, -3.5 } Ygot valid direction response: 01:16:01.2589 LVL= 24512, 28609, 24562, 32755, AGC= 67, IDX= 410,-0.17,-2.953, 1.647,-2.784, 2.962, PHS= 0.470,-1.271, 0.493, RAW= 150.7, 3.6, CAL= 149.7, 3.5, ROT= 0.3, -3.5  PDAT read: Bearing 185.0, 1.3 (Local)  ~Local bearing/azimuth received: Bearing 185.0, 1.3 (Local)  DAT read: Range 11 to 50 : 119.3 m (Round-trip 159.1 ms) speed 0.4 m/s  *DAT read: user:132>  BDAT read: Tx time:01:16:02.3457  $Ping request sent. i5 !5 j>5 aU(@5 =5 m7'@ 5 5z=)5 ;I5 5z1 1 5 y?5SH?IN,? 5 h?)5 !+~I5 ;i5 5z1 1  :publishing transmit ping time  Fpublishing direction and range infoy1 5 N?Dhu?.xA?Y1 1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 1 1 5 y?5SH?IN,? 1 )1 I1 i1 1 1 A I ԁ EE  EE EE 0EA "EE :*EE :VEE 4ZEA BEE H8$/%#,MLAQϜ> ?nxٱ<=Hk? r`$?}?A? >> ?@??iϜ>I];CY~By Ia%aE aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9M%C?{Gz?MbYMZ?yM#9Y=$Ey)DXE>Q 54쁊?Q 94.w)jBQ AT:Yp?Q E:yR?Q I@DI:i:4yɮAiYi]HḔLAj]B"j]B:j]W ?Rj]]@?o @Bj]N?Dhu?.xA?*j];2j]5zZj]<2 7Y@P qLN@Pls9"@Jj]ښ$\? nJj?uLfX?j]tB j]Bi]LC~?i]վ-j]Bj]Q^S?j]nj]Brj]Bzj] ?ԉ addTargetRange:: Added new target pos. range: 119.300003 m, deltaT: 3.532889 s, deltaX: -1.899994 m, approachRate: -0.537802 m/s, rangeRepo size: 4  Added new target pos. range: 119.284225 m, bearing: 30.962597 deg, lat: 36.779512 deg, lon: -121.859763 deg, deltaT: 3.532889 s, deltaX: -1.901566 m, approachRate: -0.538247 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 119.28 m."i*i ProNav: ac range: 119.284225 m, nav range: 119.003014 m, bearing: 31.494568 deg, approach rate: 0.000000 m/s, LOS rate: -0.022011 deg/s, cmd heading: 30.063744 deg, new cmd heading: 30.040685 deg. i HeadingCmd: 0.524309 target range: 119.284225 and range: 119.30 m.h 9?h hhhggjgrgBe9re9ZeA:eE@3]@*eE ?BɢR_) Mi)Һii9?==I9?I9@ @@/@@=@=Ա ^A A!I)I9EE EEEE/EA"EE;*EE:VEEJ4ZEAaM@aM@aM@aM@O>&7%#,rݔLA2r>2| ?2vٱ2=2H` m?rp`l?z?C?@ ?͹?\?i2r>I2 %];2CY>iBy>IIB=)B=bDFVDFw8yNk%RW=ٔR9Q-R>9PYT=V$EyV1DVlaEV>XQ 5^4Z|?Q 9^4Zlt)ZiBY`yb<?Q Ib@ZDIZG:iZ:Z4yfBɮfAd:ixzFNOT Ignoring new targets: 119.28 m."i~h*i~h  ProNav: ac range: 119.284225 m, nav range: 118.806709 m, bearing: 31.493268 deg, approach rate: -0.549526 m/s, LOS rate: -0.003645 deg/s, cmd heading: 30.040685 deg, new cmd heading: 30.038081 deg. i tոHeadingCmd: 0.524263 target range: 119.284225 and range: 119.30 m.h 6?hhhhggjgrge!re!Ze!:e!*e%?ɢq) Txi)ii 6?==I 6?Iԩ@ @@ 0@]%=]>?BqBqBuIBuBBu. =BqBqBu;BukE^A= I I O >) M=%#,LAY~By~ IbD VD 8yF=%%C=ٔ%Q-%>9!Y)=-$Ey-9D-E->1Q 5=45 ?Q 9=45`q)5gBYAyAQ IE@5DI5<;i5';54yIɮMAIuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 119.28 m."iy*iy ProNav: ac range: 119.284225 m, nav range: 118.589867 m, bearing: 31.491827 deg, approach rate: -0.512256 m/s, LOS rate: -0.003410 deg/s, cmd heading: 30.038079 deg, new cmd heading: 30.035192 deg. iǸHeadingCmd: 0.524213 target range: 119.284225 and range: 119.30 m.h2?hhhhggjgrgereZe:e*e`ѻ?E EE2E"E&:*Ek:VE4ZEBEj;Y)D%#,dtLA,YByIiMb@Mb@Mb@ 9Zd;?I +?Y>y94<E@S A A)"AYAbDVD8y<%B=ٔQ->9Y=%$Ey%BD!E%>)Q 554-M?Q 954-Yn)-iBY= >Q E=:y=#?Q I=@-DI-f:i-:-4yEBɮEIAE'E:iiuFNOT Ignoring new targets: 119.28 m."iun*iun ProNav: ac range: 119.284225 m, nav range: 118.374275 m, bearing: 31.490429 deg, approach rate: -0.502358 m/s, LOS rate: -0.003265 deg/s, cmd heading: 30.035193 deg, new cmd heading: 30.032391 deg. i/HeadingCmd: 0.524164 target range: 119.284225 and range: 119.30 m.h/?hhhhggjgrgBereZe:e*e@?BɢOz) :i)$ iOi/?2==I/?Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4984569@ @@4@@@@@E EE3E"EV:*E|:VE4ZEa@a@a@a@ԱIa Iy O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749485PJ%#,hA+LABg>BD ?BeٱB=BHu?b?l? M?ר`ؽ?m??iBg>IB\;BCYRByRIbDZVDZx8\yf=%f\=ٔf4-;Q-f>9hYh=j$EyjIDjиEn>pQ 5v4r&?Q 9v4rk)rkBYtyv?Q Iv@rDIrV:ir:rڱ4y~Bɮ~PA|A9A9BE5>BECBABABE/ =BABABE­;BEjE:iFNOT Ignoring new targets: 119.28 m."i?*i? ProNav: ac range: 119.284225 m, nav range: 118.194778 m, bearing: 31.489437 deg, approach rate: -0.471780 m/s, LOS rate: -0.002610 deg/s, cmd heading: 30.032393 deg, new cmd heading: 30.030407 deg. iܘHeadingCmd: 0.524129 target range: 119.284225 and range: 119.30 m.hY-?hhhhggjgrgere Ze :e *e  ?yɢ}h)y },iy)顁i iY-?>==IY-?I)@) @)@-4@)IIO >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001463E EE/E"E:*E:VEJ4ZEBE<2= ?2]ٱ2=2Hv?`(?`k?N?` ?j??i2I>I2]\;2CYNByRIiUMb@Mb@Mb@QQQQ Q9UV-?yUt9Y=$EyRD E>Q 54V5?Q 94h)mBY>Q E:yS?Q I@DI3;iz;M4yBɮZA:iFNOT Ignoring new targets: 119.28 m."i*i ProNav: ac range: 119.284225 m, nav range: 117.982048 m, bearing: 31.488781 deg, approach rate: -0.523529 m/s, LOS rate: -0.001619 deg/s, cmd heading: 30.030405 deg, new cmd heading: 30.029089 deg. i=HeadingCmd: 0.524107 target range: 119.284225 and range: 119.30 m.h+?hhhhggjgrgBereZe:e*eI @-Bɢ5La)1 5r&i1)=P.99i=iE+?EK=E-T=IE+?II]C?]=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253805Ia)a 9@  @ @ /@ IIIO>q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505536ԩ bEjEˈ4rE˧/E  E E 1E "E s:*E :VE -4ZE a @a @a @a @pW%#,a4_LA2](>2 ?2Vٱ2=2Hw?]^?Fi?4P?`d? m??i2](>I2\;0YBByBI F=F<bDJVDJ8yr#%rR=ٔr:Q-r>9tYt=v$EyvZDz*Ez>xQ 54z4C?Q 94z2f)zpBYyB?Q I@z DIz;iz;z4yɮjA:i1=FNOT Ignoring new targets: 119.28 m."i=ٷ*i=ٷM ProNav: ac range: 119.284225 m, nav range: 117.788292 m, bearing: 31.488204 deg, approach rate: -0.499100 m/s, LOS rate: -0.001487 deg/s, cmd heading: 30.029091 deg, new cmd heading: 30.027936 deg. iM2.UHeadingCmd: 0.524086 target range: 119.284225 and range: 119.30 m.hU*?hQYhQhYhYgagajgargaeireiZei:ei*em)@Bɢ*f) (i)$"iWi *? -W= Y=I *?I @ @@@IIIaOm>ԁMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757854B1>BB!IBBB1 =BBxDB;BjEԱ ]%#,lxLAɰ;2k>2 ?2Nٱ2r=2Hzy?@Z@&?@f?R?`w$É?j?@?i2k>I2\;0YBByB-IIF8>)F<bDNVDN8yVل=%VP=ٔV#:Q-Z>9XYX=Z$EyZbD^+~E^>i`I`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010143)Q 554-Q?Q 954-bc)-rBYyy})?Q I}@-DI-0d%#,LA2ɣ>2j ?2Cٱ2=2H@z? Xݤ?Cd?S?`n y?w?`?i2ɣ>I20\;2CY:By:.IiMb@Mb@Mb@ 9Mb?Mb?{Gz?Y?y<#<E@ OA)"AYfAbDVD8y%{;%-6=ٔ-I:Q-->Q9)Y=$EykDU?E>Q 54-b?Q 94`)vBY)?Q E:y&?Q I@DI2;i;4yɮA:i9=FNOT Ignoring new targets: 119.28 m."iEL*iELu ProNav: ac range: 119.284225 m, nav range: 117.354134 m, bearing: 31.485668 deg, approach rate: -0.530021 m/s, LOS rate: -0.004516 deg/s, cmd heading: 30.026799 deg, new cmd heading: 30.022854 deg. iu=}HeadingCmd: 0.523998 target range: 119.284225 and range: 119.30 m.h}$?hyhyhyhygygjgrg΀BereZe:e*e2 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514728eހBɢmU@)i miq)ugS2qqi}i$?q=F =I$?IE EE1E"E:*E:VE-4ZEa@a@a@a@9@ @@@^A = DAT read: 01:16:04.9065 LVL= 28608, 32225, 27554, 30003, AGC= 68, IDX= 417,-0.19, 1.885, 0.233, 2.074, 1.536, PHS= 0.451,-1.258, 0.494, RAW= 151.2, 3.7, CAL= 150.2, 3.5, ROT= 359.8, -3.5  Ygot valid direction response: 01:16:04.9065 LVL= 28608, 32225, 27554, 30003, AGC= 68, IDX= 417,-0.19, 1.885, 0.233, 2.074, 1.536, PHS= 0.451,-1.258, 0.494, RAW= 151.2, 3.7, CAL= 150.2, 3.5, ROT= 359.8, -3.5  PDAT read: Bearing 185.3, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 185.3, 0.8 (Local)  DAT read: Range 11 to 50 : 117.5 m (Round-trip 156.7 ms) speed 0.4 m/s   *DAT read: user:133>  BDAT read: Tx time:01:16:05.9957  $Ping request sent. BY B] :IB] BB] 0 =BY BY B] {;B] yjEu ^direction in FSK: [0.998129,-0.003484,0.061049]u :publishing transmit ping time u Fpublishing direction and range infoy  ?įal.xA?Y B o } k 3u) DI y>i % > [(@ A= g'@ ) B@I nw*qN??qYeU?A I I O >m]k%#,LA 5 ?)5I5di111.:publishing transmit ping time.Fpublishing direction and range infoy15?įal.xA?Y11111 1)1I1i11111 1)1I1115nw*qN??qYeU? 1)1I1i111>@ ?7ٱp=HV}?SP9?k`?V?_`? Ђ?`?i>IS ];CY5By5?IAAbDMVDM8Qy}O=%}<=ٔ}(:Q-}>9Y=%EytDڬE>Q 54q?Q 94])zBYy?Q I@!DI:i:z4yBɮA)Ei1i57êLAj5B"j5B:j5?Rj5&5P]@U2ڿac%F@Bj5?įal.xA?*j5d2j1Zj5WWhOY@mSY.M@{N @Jj5Rv?6D??P?j5lB j5{Bi5Kģ?i5 Mj5yBj5RS?j54j1rj5@Bzj5 ?u addTargetRange:: Added new target pos. range: 117.500000 m, deltaT: 3.779415 s, deltaX: -1.800003 m, approachRate: -0.476265 m/s, rangeRepo size: 4  Added new target pos. range: 117.482674 m, bearing: 30.235296 deg, lat: 36.779512 deg, lon: -121.859763 deg, deltaT: 3.779415 s, deltaX: -1.801552 m, approachRate: -0.476675 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 117.48 m."i*i ProNav: ac range: 117.482674 m, nav range: 117.126106 m, bearing: 31.469615 deg, approach rate: 0.000000 m/s, LOS rate: -0.004516 deg/s, cmd heading: 30.022855 deg, new cmd heading: 30.018963 deg. i%HeadingCmd: 0.523930 target range: 117.482674 and range: 117.50 m.h%C ?h)h)h)h)g)g)jg1rg1e1re1Ze1:e=`]@*e=J?颥݀Bɢ') нi)[8iGևiC ?-}=>=IC ?Iԁ  C9@ @@@8G/{A9/{AYcAE EE/E"E:*Ex:VEJ4ZEBE6Er%#,ɕLAYBy6I ԱiMb@Mb@Mb@ 9%C?ˡE?9 ?Y ?=%Ey|DE>Q 54c?Q 94Y)BY?Q E:y?Q I@(DI ;i;4y!ɮ%A!:iAMFNOT Ignoring new targets: 117.48 m."iM^*iU^] ProNav: ac range: 117.482674 m, nav range: 116.911613 m, bearing: 31.462946 deg, approach rate: -0.538028 m/s, LOS rate: -0.016761 deg/s, cmd heading: 30.018965 deg, new cmd heading: 30.005601 deg. i]ceHeadingCmd: 0.523697 target range: 117.482674 and range: 117.50 m.he?hahahihigigijgqrguˀBeqreqZeq:ey*e} ?颥܀Bɢi6) i)=顩iׇi?=ڰ=I?I9@ @@@ ^A ٦=A zA yAE  E E ,E "E V:*E VE g4ZE a @a @a @a @A5 ؟AI9 II OU >Y ix%#,I㕌LA:>: ?:>/ٱ:=:H x{? EVm?c? S? q?ϫ?I:];8YFByFQIbDbVDb8yj=%j_=ٔj:Q-j>9n"?Yn"?=n%EynDrr:Er>tQ 5z4vw?Q 9z4vV)vBYxyz?Q Iz@v.DIv:ivq:v4yɮJA:i)-FNOT Ignoring new targets: 117.48 m."i-锹*i5锹E ProNav: ac range: 117.482674 m, nav range: 116.722252 m, bearing: 31.456998 deg, approach rate: -0.517253 m/s, LOS rate: -0.016273 deg/s, cmd heading: 30.005602 deg, new cmd heading: 29.993686 deg. iEBEHeadingCmd: 0.523489 target range: 117.482674 and range: 117.50 m.hMY?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]@?颅ۀBɢ) ,i)@顉iOiY?=H=IY?I9]9@Y @Y@]/0@YBiBmCBmSIBmBBm. =BiBmyDBmr;BmqjEB-CB-CB)B)B)C-5ԉ^Au=ԱA .AI I O > z~%#,$'LA2>2T ?2a,ٱ2@=2Hy?@4Y Sڥ?@f?@Q?`χ`?`͹??i2>I2M\;2CY:By:XI TV%=bDV0VDVı8Eb EbEb2E`"Ebs:*Eb:VEb4ZE`BEbr09% ?Y% ?=%%Ey%D-:E->1Q 55457?Q 9]45S)5BYaym ?Q Im@55DI5 %#,"LA4<ɰRŤ>R, ?R+ٱRM=RH`s?c2?@q?~J?׳c?! ? ?iRŤ>IR\;RCYbÀByf_IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.719075iMb@Mb@Mb@ 9uV?p= ף?~jt?Yr?y=<\@fA OA)9AYAbDVD8 y<%M.=ٔU)9Q-U>9U"?Y]"?=]%Ey]D];U;E]>aQ 5m4eG?Q 9m4eO)eBYu ?Q Eu:yu/(?Q Iu@e=DIev;ie;e4y}Bɮ}A E:iFNOT Ignoring new targets: 117.48 m."i *i  ProNav: ac range: 117.482674 m, nav range: 116.254463 m, bearing: 31.436630 deg, approach rate: -0.562187 m/s, LOS rate: -0.030120 deg/s, cmd heading: 29.980101 deg, new cmd heading: 29.952867 deg. i~\E EE,E"El;*E:VEg4ZEa@a@a@a@HeadingCmd: 0.522776 target range: 117.482674 and range: 117.50 m.h?hhhhggjgrgBereZe:e*e`!?׀Bɢû)! % $i!)%>F))i-Ti-?5*=5 =I5?I19@ @@^0@9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.970531^A S=A] AAAY Bm >Bm CBm fIBm ȀBBm 0 =Bm 0DBm wDBm t;Bm `jEI I O >ԙ s#%#,2LAY~ĀBy~aIbDVD8y%ù;%%W=ٔ%Q-%>9)Y)=-%Ey-D-E5>1Q 5=45O?Q 9E45sL)5BYAyAQ IE@5CDI5;i5;54yMBɮMAU!E:iquFNOT Ignoring new targets: 117.48 m."i}[*i}[ ProNav: ac range: 117.482674 m, nav range: 116.060295 m, bearing: 31.426210 deg, approach rate: -0.534082 m/s, LOS rate: -0.028711 deg/s, cmd heading: 29.952866 deg, new cmd heading: 29.931990 deg. i,RHeadingCmd: 0.522412 target range: 117.482674 and range: 117.50 m.hǼ?hhhhggjgrgereZe:e*e@ s@րBɢH) i)@HiiǼ?D=X?=IǼ?II)qQ@Y @Y@],5@YiQIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.224033ԡE EE/E"E;*E:VEJ4ZEBE@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474280 P %#,LLAF>F ?F2ٱFo=FH4i?s U??`??nY?A?N?iF>IF\;FCYRʀByRhIi%Mb@Mb@Mb@!!!! !9%S?ʡE?9YYY=]%Ey]De:;Ee>iQ 5m4mɂ?Q 9u4mH)mBYuy?Q Eu:yu:-?Q Iu@mJDIm:im<;m34yɮA:iFNOT Ignoring new targets: 117.48 m."ic#*ic#= ProNav: ac range: 117.482674 m, nav range: 115.830818 m, bearing: 31.411580 deg, approach rate: -0.559056 m/s, LOS rate: -0.035711 deg/s, cmd heading: 29.931989 deg, new cmd heading: 29.902672 deg. i=EHeadingCmd: 0.521900 target range: 117.482674 and range: 117.50 m.hE>?hAhAhAhAgIgIjgIrgMBeQreqZeq:eq*e}@ՀBɢ#) `i)lIiRi>? К==I>?I!%9@! @!@%05@!]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726308E EEE"E*E:VEZEa@a@a@a@) ^AM 2=I I O >8%#,fLA2>2 ?2܆9ٱ2=2Hhd?@{D??:? 0?@P??i2>I2\;2CY>рBy>qIbDFVDFn8yR =%RV=ٔRQ-R>9TYT=V%EyVDV@A;EZ>\Q 5^4^ׂ?Q 9b4^E)^BY`yb-?Q Ib@^QDI^::i^:^4yfBɮfoAh:iQUFNOT Ignoring new targets: 117.48 m."i]7"*i]7"m ProNav: ac range: 117.482674 m, nav range: 115.617035 m, bearing: 31.397778 deg, approach rate: -0.548141 m/s, LOS rate: -0.035455 deg/s, cmd heading: 29.902671 deg, new cmd heading: 29.875015 deg. imŁHeadingCmd: 0.521417 target range: 117.482674 and range: 117.50 m.h{?hhhhggjgrgereZe:e*e%@ @BDAT read: Rx Time:01:16:08.5537 TRx dataTimestamp_ set to:1764897369.693717checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980841ӀBɢN`) i!)%I!!i%+)iM{?M=M=IM{?IQB>BCBxIB׀BB5 =BBuDB{;BXjE@ @@3@Q^A%  =ԁ I I O e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230336E  E E -E "E :*E :VE t4ZE BE 62Wy ?2@ٱ2=2H@{]?`|X=?T? y3? Y?0e??i2]>I2\;2CYBȀByBeIbDJVDJu8yZ 3%ZJ=ٔbcQ-f>9dYd=f%EyjDj;Ej>lQ 5r4n悊?Q 9r4nHA)nBYtyv-?Q Iv@nYDInP:in:n4yxɮzAxB*** querying acoustic contact ***ii:iQeFNOT Ignoring new targets: 117.48 m."imh*iuh ProNav: ac range: 117.482674 m, nav range: 115.389046 m, bearing: 31.382815 deg, approach rate: -0.523188 m/s, LOS rate: -0.034404 deg/s, cmd heading: 29.875015 deg, new cmd heading: 29.845031 deg. i{EHeadingCmd: 0.520894 target range: 117.482674 and range: 117.50 m.hEPY?hIhIhQhQgYgaԙjgrgereZe:e*e @ҀBɢJp) i)uJi%iEPY?MM=Mo=IMPY?IIDAT read: 01:16:08.5537 LVL= 31296, 32433, 31970, 32755, AGC= 68, IDX= 421, 0.28,-1.739, 2.894,-1.578,-2.121, PHS= 0.484,-1.223, 0.499, RAW= 150.4, 2.8, CAL= 149.4, 2.7, ROT= 0.6, -2.7 Ygot valid direction response: 01:16:08.5537 LVL= 31296, 32433, 31970, 32755, AGC= 68, IDX= 421, 0.28,-1.739, 2.894,-1.578,-2.121, PHS= 0.484,-1.223, 0.499, RAW= 150.4, 2.8, CAL= 149.4, 2.7, ROT= 0.6, -2.7 PDAT read: Bearing 184.6, 1.6 (Local) %~Local bearing/azimuth received: Bearing 184.6, 1.6 (Local) 5DAT read: Range 11 to 50 : 115.5 m (Round-trip 154.0 ms) speed 0.6 m/s =*DAT read: user:134> Թ@ @@4@}BDAT read: Tx time:01:16:09.6456 $Ping request sent.iD|>'@+H=&@ A=)+7I%#,]LAV>V8 ?V5EٱVP=VH X?ຏ0?k?U.?.@_?@8m??iV>IV\;VC`Yj؀ByjzIieMb@Mb@Mb@aaaa a9eq= ףp?Mb?9Y=%EyDv0;E>Q 54?Q 940=)BY ?Q E:y6?Q I@`DI:i;4y“BɮOA"EiiYLAjB"jB:j1 ?Rjտ\@&zS?Tnk #@BjXd u?z" "l?P7V?*j+<2jAZj5X@\ 3N@ ņ@JjHh4?̼?s"m?jqB jYBiLF?ijBjQ^S?jj׏BrjLBzjr# ? addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.527718 s, deltaX: -2.000000 m, approachRate: -0.566939 m/s, rangeRepo size: 4 bE=J4jE=”4rE=XQ0E EE1E"EV:*Eą:VE-4ZEa@a@a@a@ Added new target pos. range: 115.474350 m, bearing: 31.600297 deg, lat: 36.779512 deg, lon: -121.859763 deg, deltaT: 3.527718 s, deltaX: -2.008324 m, approachRate: -0.569298 m/s, posRepo size: 4 :i)5FNOT Ignoring new targets: 115.47 m."i5*i1E ProNav: ac range: 115.474350 m, nav range: 115.150246 m, bearing: 31.364619 deg, approach rate: 0.000000 m/s, LOS rate: -0.034404 deg/s, cmd heading: 29.845031 deg, new cmd heading: 29.816535 deg. iAHeadingCmd: 0.520397 target range: 115.474350 and range: 115.50 m.h8?hhhhggjgrgBereZe:e\@*e i?5рBɢ5 )1 5^B CB IB ܀BB 7 =B B sDB ;B ZjEI ^A +W=A >A ?A- .AI1 II OU >_%#,QLA 2A>2 ?2Lٱ2=2H@yS?1@7?ਥ?@ )?@? u? {?i2A>I27];0Y>̀By>jIIB=)@bDFVDFc8ynws%nE=ٔn&Q-r>9r ?Yr ?=r%EyrdžDv:;Ev>xQ 5~4zk?Q 9~4z=9)zBY|y~)7?Q I@zhDIz:iz2:z4y ɮ A :i)5FNOT Ignoring new targets: 115.47 m."i=^*i=^E ProNav: ac range: 115.474350 m, nav range: 114.924576 m, bearing: 31.345530 deg, approach rate: -0.572699 m/s, LOS rate: -0.048539 deg/s, cmd heading: 29.816535 deg, new cmd heading: 29.778282 deg. iMMHeadingCmd: 0.519729 target range: 115.474350 and range: 115.50 m.hU ?hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee T?颍ЀBɢh9y) i)TJ顑i3ڍi ?["=Ï=I ?IAM9@I @I@I@IE EEE"E*E:VEZEBE9 > ?@uֳ%#,ЖLA2?>27j ?2rVٱ2=2HM?ѡ ? ? "?@cb<Ҋ?`M?)?i2?>I2\;2CY:By:VIPiMb@Mb@Mb@ 9MbX?+η?MbPY ?yv=\@O A A)AYfAbDVDp8y-O%-F=ٔ-AQ-5>95"?Y5"?=5%Ey5φD:T;E>Q 54R?Q 94.5)BY ?Q E:y7?Q I@oDIP;i;8%4yœBɮMA#E:iFNOT Ignoring new targets: 115.47 m."iU*iU  ProNav: ac range: 115.474350 m, nav range: 114.693237 m, bearing: 31.325612 deg, approach rate: -0.541211 m/s, LOS rate: -0.046691 deg/s, cmd heading: 29.778283 deg, new cmd heading: 29.738366 deg. i 檺 HeadingCmd: 0.519032 target range: 115.474350 and range: 115.50 m.h O?hhhhggjgrgBere!Ze!:e!*e%p?IɢUա)Q U iQ)]LYYi]άieO?e<=e.=IeO?Ia @  @ @ @ E EE.E"E;*Eą:VEـ4ZEa@a@a@a@^A5=A! ) I1 IA OU > %#,閌LABՖ>B ?Bp(dٱB%=BHJ? _g??a ?eHф?K?`?iBՖ>IBB\;BCYR€ByR^IXXbDbVDb8yj <%jP=ٔn Q-r>9pYp=v%Eyv׆DvQ:Ez>|Q 5 4 ?Q 9 41)BYy7?Q I@vDID=;iA;+4y!ɮ%A):iQUFNOT Ignoring new targets: 115.47 m."i]^V*i]^Vm ProNav: ac range: 115.474350 m, nav range: 114.486359 m, bearing: 31.307657 deg, approach rate: -0.538873 m/s, LOS rate: -0.046854 deg/s, cmd heading: 29.738367 deg, new cmd heading: 29.702392 deg. im~mHeadingCmd: 0.518405 target range: 115.474350 and range: 115.50 m.hm)?hqhqhqhqgqgyjgyrgyeyreZe:e*e@%?-πBɢ-)) uϼiq)u4Nqqiui})?}W=}F=I)?IB>BCBxIB׀BB9 =BBrDB;BljE)A@I @I@M/@I@U=@U=Y^A=D%=EGezAAizAmwA9zAYAIi Iy ԁ O >E  E E 2E "E ;*E :VE 4ZE BE AFۡ ?FimٱF=FHI??Ӵ? ?`?e? ?iFʮ>IF/\;DYjBynQIY xxbDVD8y=<%E5=ٔMQ-U>9aYa=m%EyuD}9E}>Q 54r0?Q 94:-)BYy7?Q I@~DI%#,PLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219168R>RŨ ?RVsٱRdG=RHuI?`H(? ?*!?} }?]}?`?iR>IR+\;RCYnBynUIieMb@Mb@Mb@aaaa a9eZd;O?9YE EE0E"El;*E҆:VE4ZEa@a@a@a@=%EyDO9E>ԹQ 54=?Q 94))BY ?Q E:y.?Q I@DIk:iR:o:4yQɮUAY:iFNOT Ignoring new targets: 115.47 m."i%*i% ProNav: ac range: 115.474350 m, nav range: 114.036072 m, bearing: 31.272105 deg, approach rate: -0.524148 m/s, LOS rate: -0.036242 deg/s, cmd heading: 29.659472 deg, new cmd heading: 29.631147 deg. iHeadingCmd: 0.517161 target range: 115.474350 and range: 115.50 m.hd?hhhhggjgrgԀBereZe:e*e@颅̀Bɢ=) i)R顉iid?s==Id?Ie9@a @a@e-0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.471250A@AA@AB>BCBlIB̀BB; =BBqDB;BhjEB}CB}CB}ȖCB}7 =B}6 =C}P6^A I) I9 OM >9 <%#,ׅ7LA2O>2pr ?2|wٱ2=2HL?`(w?? ,&?`N`"? ? ?i2O>I2\;0Y:By:GIbDFVDF8yJ6r%N[=ٔNQ-N>9PYP=R%EyRDREV>TQ 5Z4V#K?Q 9Z4Vv&)VBY\y^.?Q I^@VDIV;iVw;V@4y`ɮfpAd:itzFNOT Ignoring new targets: 115.47 m."izj4*izj4 ProNav: ac range: 115.474350 m, nav range: 113.836594 m, bearing: 31.258373 deg, approach rate: -0.571841 m/s, LOS rate: -0.039433 deg/s, cmd heading: 29.631147 deg, new cmd heading: 29.603635 deg. iU-HeadingCmd: 0.516681 target range: 115.474350 and range: 115.50 m.h-3E?h)h)h1h1g1g9jgArgAeAreIZeI:eI*eU@1ɢ5)9 =`qi9)=pU99i= BiE3E?Eڧ=E=IM3E?IIechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7245499@ @@05@@xA@zAE EE-E"EV:*Eą:VEt4ZEBE9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975239ԙ `(%#,PpQLA>;ɰmu# ?m{ٱm1=mHR?X?K?=,? `?@? ?im>Im\;mCYByDII;>)=ieMb@Mb@Mb@aaaa a9e(\?X9v?~jtYe?iye}=eDae9 A eOA)eAaYabD}VD}u8y%*=ٔQ->9Y=%EyDE$E>Q 5 4&\?Q 9 4K")BY?Q E:y\*?Q I@DI";i!;HI4yBɮAE:iAEFNOT Ignoring new targets: 115.47 m."iM*iM] ProNav: ac range: 115.474350 m, nav range: 113.581825 m, bearing: 31.242889 deg, approach rate: -0.529320 m/s, LOS rate: -0.032243 deg/s, cmd heading: 29.603635 deg, new cmd heading: 29.572597 deg. i]leHeadingCmd: 0.516139 target range: 115.474350 and range: 115.50 m.he!?hahahahagigijgirgmƀBeqreqZeq:eq*eu= @颥̀Bɢ) }i)2FY顩i 5i!?|ś==I!?I@ @@@ԙDAT read: 01:16:12.2011 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.02,-1.363,-2.970,-1.194,-1.701, PHS= 0.440,-1.224, 0.463, RAW= 150.7, 3.9, CAL= 149.8, 3.8, ROT= 0.2, -3.8 Ygot valid direction response: 01:16:12.2011 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.02,-1.363,-2.970,-1.194,-1.701, PHS= 0.440,-1.224, 0.463, RAW= 150.7, 3.9, CAL= 149.8, 3.8, ROT= 0.2, -3.8 BDAT read: Rx Time:01:16:12.2011 TRx dataTimestamp_ set to:1764897373.488917@DAT read: $Low SNR acquisition 2Received low SNR in chirpX#Rx 1: Read direction message, but no range.\direction in FSK: [0.997795,0.003483,0.066274]y[?5Ul?{S? )IG>iV>aU(@'g=T'@ ԇ=)d;Iԇj/u? f}J?-iL?  ?)0Id;iԇ5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseE EE.E"El;*E:VEـ4ZEa@a@a@a@^A L=I I O% > P%#,cAkLAJ>JZ ?J~ٱJ=JH`W?`@?1?w2?ڶ?`OV??iJ>IJҺ\;HYTyVEIbDbVDb'8yf~;%jt=ٔjQ-j?9hYl=n%EynDn?~Er?pQ 5v4rh?Q 9z4rf)pYxyz*?Q Iz@rDIrz:ir.:r"O4y|ɮA:i!-FNOT Ignoring new targets: 115.47 m."i-*i-= ProNav: ac range: 115.474350 m, nav range: 113.404411 m, bearing: 31.232184 deg, approach rate: -0.530919 m/s, LOS rate: -0.032085 deg/s, cmd heading: 29.572595 deg, new cmd heading: 29.551151 deg. i=jEHeadingCmd: 0.515765 target range: 115.474350 and range: 115.50 m.hE+ ?hAhAhIhIgIgIjgIrgIeQreQZeQ:eY*e]0 @颁ɢݥ) si)V[顉iYߓi+ ?ڛ=2M=I+ ?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB]>BYB]YIB]BBYBYBYB]y;B]6jEM9@I @Q@U/@Q^AQIIO>9 m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseE  E E 1E "E s:*E x:VE -4ZE BE q0B? ?B>}ٱBѾ=BH`? ??;=?-lT?з?}?iB >IBf\;@YJByJ?IPR@AbDVgVDV 8yb2%fK=ٔngu8Q-r>9tYt=z%EyzDCE >Q 5=4v?Q 9E4)BYIyMu)?Q IU@DI;i;TV4yuÓBɮ}AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 115.47 m."i]*i]  ProNav: ac range: 115.474350 m, nav range: 113.186142 m, bearing: 31.219215 deg, approach rate: -0.474949 m/s, LOS rate: -0.028274 deg/s, cmd heading: 29.551152 deg, new cmd heading: 29.525164 deg. i NHeadingCmd: 0.515311 target range: 115.474350 and range: 115.50 m.hq?hhhhggjgrgere!Ze!:e!)*e%`@颕ˀBɢ) i) `顙i7Ԕiq?=g=Iq?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@/@Yԁ ^A AI IY Ii u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseO >z%#,^LA@2s">2 ?2zٱ2=2HWg?`|q?@C?E?yA?Y??i2s">I2x\;0Y>By>KIE EE2E"E:*E1:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9Gz?ˡE?{GzYp>y'=#E@ A 9A)AYbDKVD8yl7=%8=ٔt:Q->9Y=%EyDbE>Q 54b?Q 94)Y\>Q E:yd ?Q I@DI:i:]4yɮA:i)-FNOT Ignoring new targets: 115.47 m."i-ӹ*i5ӹ ProNav: ac range: 115.474350 m, nav range: 112.970459 m, bearing: 31.210264 deg, approach rate: -0.555961 m/s, LOS rate: -0.023118 deg/s, cmd heading: 29.525163 deg, new cmd heading: 29.507226 deg. i<)HeadingCmd: 0.514998 target range: 115.474350 and range: 115.50 m.h?hhhhggjgrg̀BereZe:e*eZ@YmʀBɢm;ڻ)i mxB!B%SIB%BB%9 =B!B!B%0;B%iEԱ ^A A=AA II IY Ou >z%#,eLA0V>V?L ?V{ٱVkf=VHp? )n@Ԡ?@t?uO?.'x?E? 6?iV>IV޹\;TYfByj2IbDv;VDv8y~ս%V=ٔQ->9 Y = %Ey D E >Q 5}4[?Q 9}4)Yyy}?Q I@DI;` T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseg%#,-ӗLAlYrByr8Ii}Mb@Mb@Mb@yyyy y9}+?/$?Mb`Y}v>y}<}y}" A }"A)}AyY}A R=bDtVD8y<%B=ٔQ->9Y=%Ey"DE>Q 54 ?Q 94)BY>Q E:y(?Q I@DI8:i:k4yɮA:iFNOT Ignoring new targets: 115.47 m."i5*i5 ProNav: ac range: 115.474350 m, nav range: 112.571602 m, bearing: 31.198535 deg, approach rate: -0.511184 m/s, LOS rate: -0.009924 deg/s, cmd heading: 29.491872 deg, new cmd heading: 29.483730 deg. iLHeadingCmd: 0.514588 target range: 115.474350 and range: 115.50 m.h ?hhhh!g!g!jg!rg%Be)re)Ze):e)*e- @]ɀBɢ]-)Y eia)e7~jaaieim ?m7=m5B=Im ?Iq@ @@@ T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1bEjEƃ4rE0E EEE"E:*E:VEZEa@a@a@a@^A=AA II IY a Om >%#,W헌LAɰ4<2>2E ?2!wٱ24=2H g? R ?`X?x`? I?ֶ?d?i2>I2*\;2CY:By>=IbDFVDFD8yN+<%N]=ٔj":Q-n>9lYl=n%Eyn)Dr-Er>tQ 5z4vY?Q 9z4v)vBYxyz"?Q I~@vDIvh:iv:vr4yBɮAE:i)-FNOT Ignoring new targets: 115.47 m."i5*i59E ProNav: ac range: 115.474350 m, nav range: 112.384270 m, bearing: 31.195275 deg, approach rate: -0.497129 m/s, LOS rate: -0.008666 deg/s, cmd heading: 29.483731 deg, new cmd heading: 29.477200 deg. iE}MHeadingCmd: 0.514474 target range: 115.474350 and range: 115.50 m.hM?hIhQhQhQgQgQeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsejgargaeireiZei:ei*em`X7@额ȀBɢR) i)m顡i۬i?+I=ܾ=I?IB>BCBLIBBB; =BBpDB;BiEQ@Q @Q@U0@Qi^Au==ԙ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >E  E E 0E "E :*E x:VE 4ZE BE O-B?BhqٱB˸=BH_?@?`H?@i?@Jĵ ???iBO>IB\;BCYJByJ/IbDVVDVK8y^T%^H=ٔ^:Q-^>9`Y`=b%Eyb1Dfi»Ef>lQ 5~4n~?Q 94n )nBY y ?Q I@nDIn#;inY;ny4y5Bɮ5Aԡ}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 115.47 m."i7*i7 ProNav: ac range: 115.474350 m, nav range: 112.184204 m, bearing: 31.192025 deg, approach rate: -0.437163 m/s, LOS rate: -0.007115 deg/s, cmd heading: 29.477201 deg, new cmd heading: 29.470688 deg. iYP HeadingCmd: 0.514361 target range: 115.474350 and range: 115.50 m.h-"?hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee@ǀBɢ ) &#,S!LA6L٠>67?6gnٱ6׺=6H? ,4 E?;? p?@̍? Q??i6L٠>I6\;4YBByB>IE EE/E"E;*E҆:VEJ4ZEa%@a%@a%@a%@iMb@Mb@Mb@ 9T㥛 ?~jt?Y?y<@ A )YQAԱbDVDS8yY=%6=ٔ=9Q->9Y=%Ey;D@~E>Q 5 4̃?Q 9M4 )BYM?Q EM:yU?Q IU@ǁDI&'ByByByB}> =ByByB}{;B}$iEa^A} ˺=A yAzA zAԑ A I I   COe >} )G3&#{A,`;LA*9*{AY*zAj>jP?j mٱjr=jH ?' ?R.?x?ֵޠ?%??ij>Ijc\;hYByDIbDVDl8y-<%-R=ٔ-c9Q-->91Y1=5%Ey5CD=E=>AQ 5M4Ekڃ?Q 9M4E)EBYIyMW?Q IM@ÉDIE:iEG:E54yUBɮ]A]E:iyFNOT Ignoring new targets: 115.47 m."i*i⸝ ProNav: ac range: 115.474350 m, nav range: 111.762817 m, bearing: 31.186766 deg, approach rate: -0.515514 m/s, LOS rate: -0.006189 deg/s, cmd heading: 29.464815 deg, new cmd heading: 29.460150 deg. i:5HeadingCmd: 0.514177 target range: 115.474350 and range: 115.50 m.h?hhhhggjgrgereZe:e*e(@ŀBɢ) Ci)Wxii?w=>=I?I9eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse@ @@5@E EEE"E*E:VEZEBE@ &#,L7ULAYByKIam@am am@am am@am am@am bDuVDuu8y<%F=ٔQ->9Y=%EyKDE>Q 542郊?Q 94)BQ A+:YQ E:yQ I@ԁDII:i> 4yɮsA:iFNOT Ignoring new targets: 115.47 m."iӸԹ*iӸ ProNav: ac range: 115.474350 m, nav range: 111.554924 m, bearing: 31.184265 deg, approach rate: -0.478508 m/s, LOS rate: -0.005767 deg/s, cmd heading: 29.460150 deg, new cmd heading: 29.455139 deg. i(HeadingCmd: 0.514089 target range: 115.474350 and range: 115.50 m.hY?hhhhggjgrge re Ze :e)*e5@z@额ĀBɢǻ) hi)mz顡iGiY? "= Q=I Y?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@/5@E EE.E"E;*E:VEـ4ZEa-@a-@a-@a-@ ^A% =9 AQ Ia Iq O} >{M&#,#hoLA^T****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseBn>BlBnSIBnBBn8 =BlBlBn2;BnhEBCBCBCB; =B; =C6Y~By~LI 4=%=bD  VD 8y=U;%=L=ٔAQ-E>9AYA=M%EyMSDIEM>Q 54@?Q 94)BQ A :YQ E:yQ I@ہDI:iU?ݒ4y ēBɮ A E:iQUFNOT Ignoring new targets: 115.47 m."iU*i]鸝e ProNav: ac range: 115.474350 m, nav range: 111.343063 m, bearing: 31.181707 deg, approach rate: -0.526361 m/s, LOS rate: -0.006367 deg/s, cmd heading: 29.455140 deg, new cmd heading: 29.450014 deg. ir:HeadingCmd: 0.514000 target range: 115.474350 and range: 115.50 m.h|?hhhhggjgrgereZe:e*e݅@ ÀBɢ ƻ) i),|ixi|?m=&=I%|?IA@! @!@%1@!!mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^AU =y A >A >E  E E /E "E ;*E ~:VE J4ZE BE a 2E a JE 8;a% :E 8;a% A I I O >q0"&#,.LA64<ɰ4Vߝ>Vt?VfٱV=VHª?i @Yՠ? ?ʉ?ӌ?\? A?iVߝ>IV\;VCYvByvVIbD5AVD5Ա8ye)=%eI=ٔu{:Q-u>9Y=%Ey[DE>1Q 5M45?Q 9u45))5BQ A9YQ E_:yV?Q I@5DI5}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei)U|ii?=D=I?I@ @@/@yԩ ^A = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I) O= >L(&#,pϢLALN՝>N?NrhٱN=NH? @à? ??@ n? ?`E?iN՝>INM\;NCYZ€ByZ_IEp ErEr1Ep"Ep*Er:VEr-4ZEpav@av@av@av@aa aa aa aa iMb@Mb@Mb@ 9K7A?Q?Mb?Y ?y\=<@ A A) AYAbDSVD8y=%F=ٔVQ->9Y=%EydDVE>Q 54?Q 94@)BQ AT:Y_?Q E:y?Q I@DI:i:{4yǓBɮ"A:iFNOT Ignoring new targets: 115.47 m."i%x*i%x5 ProNav: ac range: 115.474350 m, nav range: 110.937912 m, bearing: 31.174590 deg, approach rate: -0.533807 m/s, LOS rate: -0.013583 deg/s, cmd heading: 29.445816 deg, new cmd heading: 29.435755 deg. i5ƹ=HeadingCmd: 0.513751 target range: 115.474350 and range: 115.50 m.h=-?h9h9h9hAgAgAjgArgM€BeIreIZeI:eI*eU @}Bɢ}i) ~;i){|顁ii-?Ԩ==I-?II@I @I@I@I^A]٦=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB A B>BCBfIBȀBB; =BBqDB;BhEAIIO>! v.&#,LA2S>2?2hٱ2>]=2H?w??? @? :?]?i2S>I2\;2CYNƀByNcIbDVVDV8y^<%^]=ٔbAQ-b>9`Yd=f%EyfkDf֛Ef>hQ 5n4j"?Q 9n4j{)jBYpyr?Q Ir@jDIj;ijD;j4ytɮvAt|:iFNOT Ignoring new targets: 115.47 m."i%k*i%k- ProNav: ac range: 115.474350 m, nav range: 110.749702 m, bearing: 31.169836 deg, approach rate: -0.507696 m/s, LOS rate: -0.012848 deg/s, cmd heading: 29.435755 deg, new cmd heading: 29.426230 deg. i5=HeadingCmd: 0.513585 target range: 115.474350 and range: 115.50 m.h=Hz?h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM!@uBɢ}_z<)y }Yԁ ]5&#,9֘LA@2>2ҕ?2Piٱ2}=2H ?  ?`?`? Я;?m?&?i2>I2"\;2CYNʀByRhI TTaiMb@Mb@Mb@ 9%C?Zd;O?y&1|?YZ?yj<=`;&@" A "A)AYzAbDVDy8y<%:=ٔLQ->9 ?Y ?=%EytDE>Q 541?Q 94)BY?Q E:y?Q I%@DIZ;i/Y;4y-ʓBɮ-A-E:iIUFNOT Ignoring new targets: 115.47 m."i]e*i]ee ProNav: ac range: 115.474350 m, nav range: 110.520737 m, bearing: 31.161642 deg, approach rate: -0.516256 m/s, LOS rate: -0.018512 deg/s, cmd heading: 29.426231 deg, new cmd heading: 29.409810 deg. immHeadingCmd: 0.513298 target range: 115.474350 and range: 115.50 m.hmg?hihqhhggjgrgBereZe:e*e ȁ"@颍Bɢ 8>)  @;&#,DnLA2X>2v?2&mٱ2'#=2H?T@?@H ?།?򼵿??`?i2X>I2\;2CBN>BNCBNrIBNҀBBN: =BLBNpDBNɫ;BNehE^T****** received valid address query ******^R****** received valid ping request ******^received new query, but waiting for acoustic response period to elapseYZрBybqIbDjVDjs8yr=%r[=ٔr Q-r>9v"?Yv"?=v%Eyv|Dz馺Ez>|Q 54~??Q 94~)~BYy?Q I@~DI~ :i~~:~*4yɮA:i1=FNOT Ignoring new targets: 115.47 m."i=*i=M ProNav: ac range: 115.474350 m, nav range: 110.328651 m, bearing: 31.154790 deg, approach rate: -0.519921 m/s, LOS rate: -0.018580 deg/s, cmd heading: 29.409811 deg, new cmd heading: 29.396082 deg. ԱiHeadingCmd: 0.513058 target range: 115.474350 and range: 115.50 m.hW?hhhhggjgrgereZe:e)*e- zC#@uBɢ}$Jy)y }=iy)}6~x顁iiW? Ȝ=%=IW?IIyA)yAA@A @A@E0@A)uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse^AD D <E  E E /E "E ;*E ҆:VE J4ZE BE @Q oB&#,i5 LA6">6[?6nٱ6и=6H?`h?]?'?`ӵ`y׍? t??i6">I6;];6CYRԀByVuI b%=b<bDfVDfo8yn<%nK=ٔnO}Q-r>9pYp=r%EyrDvEv>xQ 5~4z~M?Q 9~4z)zBY|y~?Q I@zDIzo;iz';z/4y BɮIA E:iFNOT Ignoring new targets: 115.47 m."i*i9 ProNav: ac range: 115.474350 m, nav range: 110.120766 m, bearing: 31.147392 deg, approach rate: -0.501323 m/s, LOS rate: -0.017873 deg/s, cmd heading: 29.396082 deg, new cmd heading: 29.381260 deg. iHeadingCmd: 0.512800 target range: 115.474350 and range: 115.50 m.hF?hhhhggjg1rg1e1re1Ze1:e9*e=@7#$@颅Bɢ0,) B=i)lu顑i*iF?-Ӝ==IF?IH&#,$LA";ɰ";bEIjEM͋4rEMͰ/Eb EbEb2E`"Eb&:*Eb:VEb4ZE`aj@aj@aj@aj@YـBy{IiMb@Mb@Mb@ 9v/?X9v?Mbp?Yx ?y}=;@ A A)YAbDVDy--<%-7=ٔ-Q-->95 ?Y5 ?==%Ey=D=E=>AQ 5M4E]?Q 9M4E()EBYMc ?Q EU:yU#?Q IU@E DIE;iE;E4y]Bɮ]8AY}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 115.47 m."iR*iRԑ ProNav: ac range: 115.474350 m, nav range: 109.880165 m, bearing: 31.135429 deg, approach rate: -0.553347 m/s, LOS rate: -0.027575 deg/s, cmd heading: 29.381261 deg, new cmd heading: 29.357281 deg. iIHeadingCmd: 0.512381 target range: 115.474350 and range: 115.50 m.hj+?hhhhggjgrgԀBereZe:e*e$@Bɢ9) 0o=i)riui j+?.ݜ=Wc=Ij+?I@ @@@5@AA@AB>BBIBBB; =BBB|;BhE2Acoustic response timeout^Am٦=A ؟AI I O > ~N&#,W=LA2>2 ?2[zٱ2*=2H`?]߿ oK?@"??鵿@V?s ?`?i2>I2e/];2CY:By:IbDFVDF8yN/=%Nh=ٔNQ-R>9R"?YR"?=R%EyRDVweEV>XQ 5^4Zj?Q 9^4Z-)ZBY\y^1#?Q Ib@ZDIZ;iZ{;Z)4ydɮfAd:itzFNOT Ignoring new targets: 115.47 m."izA*izA󹝏 ProNav: ac range: 115.474350 m, nav range: 109.690544 m, bearing: 31.126086 deg, approach rate: -0.538607 m/s, LOS rate: -0.026584 deg/s, cmd heading: 29.357280 deg, new cmd heading: 29.338562 deg. i B HeadingCmd: 0.512055 target range: 115.474350 and range: 115.50 m.h ?hhhhggjgrgereZe!:e!*e%`%@ɢg:) 8=i)I:U&#,WLA6)>6u?6Nٱ6׸=6HP?@G߿`+?? ?@5?A??i6)>I6AL];4YfByfIiMb@Mb@Mb@ 9NbX9?V-?{Gzt?Y?yh=ף; A A)YAAbDVDp8y%9=ٔQ->9 ?Y ?=%EyD}źE>Q 54=z?Q 94s)BY?Q E:y#(?Q I@DI;i;4yÓBɮAE:iFNOT Ignoring new targets: 115.47 m."i*i ProNav: ac range: 115.474350 m, nav range: 109.459892 m, bearing: 31.112319 deg, approach rate: -0.522819 m/s, LOS rate: -0.031271 deg/s, cmd heading: 29.338562 deg, new cmd heading: 29.310970 deg. idHeadingCmd: 0.511573 target range: 115.474350 and range: 115.50 m.hr?hhhhggjgrgۀBereZe:e*e&@Q颭Bɢ&i:) =i)j顱iOir? ==Ir?IM2Acoustic response timeouta@a @i@m4@iyE EE2E"E:*E:VE4ZEa@a@a@a@^AM =ԩ Ia Iq O >e[&#,4qLAB&>B$B&IB&BB&< =B$B$B&D;B&gE@B>Bד?B@ٱBx=BH?߿6{?`D?? @"?ƶ?@~?iB>IB ];@YLR2Acoustic response timeoutyLbD^VD^r8yf֘%f[=ٔfQ-f>9hYh=j%EyjDjJEn>pQ 5v4r\?Q 9v4rL)rBYtyv'?Q Iv@rDIr:ir:rc4yxɮ~A|:i%FNOT Ignoring new targets: 115.47 m."i%R*i%R5 ProNav: ac range: 115.474350 m, nav range: 109.264671 m, bearing: 31.100738 deg, approach rate: -0.523442 m/s, LOS rate: -0.031106 deg/s, cmd heading: 29.310971 deg, new cmd heading: 29.287769 deg. i5c=HeadingCmd: 0.511168 target range: 115.474350 and range: 115.50 m.h=?hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU >'@ɢ:) %=i!)%Zg!!i%9i-?-=-+=I-?I1ԱG/{A-e9-/{AY-{aA] 9@ @@5@@@@@U2Acoustic response timeoutE  E E .E "E ;*E $:VE ـ4ZE BE @C]c&#,LA \0> b? Ǥٱ 48= H ?}߿ /?@?? kT?@??i \0>I ]; CYހByIbDVD8y#%'=ٔ%/˹Q-->9)Y)=5%Ey5D5ȺE5>9Q 5E4=?Q 9E4=+)=BYAyM'?Q IM@=&DI=s;i=;=4yUƓBɮUBAUEu2Acoustic response timeout:iFNOT Ignoring new targets: 115.47 m."i *i  ProNav: ac range: 115.474350 m, nav range: 109.008568 m, bearing: 31.085585 deg, approach rate: -0.521861 m/s, LOS rate: -0.030951 deg/s, cmd heading: 29.287769 deg, new cmd heading: 29.257390 deg. ibHeadingCmd: 0.510638 target range: 115.474350 and range: 115.50 m.h)?hhhhggjgrgereZe:e*eO(@UBɢUx:)Q U(=iQ)]/qbYYi]Oie)?eE=ep=Ie)?Ii! - 2Acoustic response timeout] 9@Y  @Y @] 0@a I I O >E  E E 0E "E &:*E :VE 4ZE a @a @a @a @ i&#,T姙LAJƚ>Jy-?JXٱJ" =JHQ? y߿@Ǟ?`?O?8ȵѪ???iJƚ>IJn ];JCYVByVIiEMb@Mb@Mb@AAAA A9E?S㥫?Mb`YEf?yE/]=EE@E" A EA)AAYEQA e4=e=bDmVDm8y<%U=ٔaQ->9Y=&EyD E>Q 54q?Q 94)BY?Q E:yg?Q I@,DIK;iK;4yɮ$AmB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 115.47 m."i}¹*i¹ ProNav: ac range: 115.474350 m, nav range: 108.806778 m, bearing: 31.077052 deg, approach rate: -0.502937 m/s, LOS rate: -0.021305 deg/s, cmd heading: 29.257392 deg, new cmd heading: 29.240296 deg. iHeadingCmd: 0.510339 target range: 115.474350 and range: 115.50 m.h?hhhhggjgrgҀBereZe:e*er )@1ɢ5M";)9 ==i9)=x^99i=iE?E =M=IM?QIIqqyyB!A!B1B1B5IB5BB1B1B1B5;B5gEBCBCBBBC#75BDAT read: Response Not Received *response not received*DAT read: user:136> BDAT read: Tx time:01:16:22.0956 $Ping request sent.A>IQ Ia Ou >ԩ bkp&#,eLA2->2b?2ㄼٱ2p=2H ?`߿@&??@? `B?@¥?`?i2->I2+];2CY:By:I@bDF VDF8yNF3=%RZ=ٔRc9Q-R>9TYT=V&EyVDVwKEV>Xrchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250019Q 554Zﳄ?Q 954Z )ZBY9y=?Q I=@Z3DIZߙߝ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504822 ڕv&#,ۙLA2>2D?2$ٱ2ݬ=2H8?`Z߿x? ?a?[ Vr?I2];2CYBByBIli Mb@Mb@Mb@     9  r?S㥫?Mb`Y ?y   @ | A |A) A Y 3AbDe VDe8yue%u==ٔ}P9Q-}>9yY=&EyƇDE>Q 543Ä?Q 94)BYO?Q E:yg?Q I@:DIv;i;4yɮA:iFNOT Ignoring new targets: 115.47 m."iй*iй ProNav: ac range: 115.474350 m, nav range: 108.388184 m, bearing: 31.059373 deg, approach rate: -0.534093 m/s, LOS rate: -0.022797 deg/s, cmd heading: 29.223845 deg, new cmd heading: 29.204869 deg. i&HeadingCmd: 0.509721 target range: 115.474350 and range: 115.50 m.h}?hhhhggjgrgBereZe:e*e *@)ɢ-F;)) 5=i1)5]U11i5ui=}?==E=IE}?IA@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754308 E EE-E"E:*E$:VEt4ZEa@a@a@a@A^A٦=AxAzArAIQIiOu>a B >B CB IB BB : =B B qDB ;B |gE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005950|&#,%yLAR>RW?RځٱR*ȵ=RH?Е߿Ϟ?੠?Ư?3;???iR>IR#];RCYnBynItv@AbDz#VDz8yK;%R=ٔ :Q->9 Y = &Ey ·D<5E>Q 5%4Є?Q 9%4)BY!y% ?Q I%@@DI;i:4y5̓Bɮ5A5E9:ii}FNOT Ignoring new targets: 115.47 m."iŹ*iŹ ProNav: ac range: 115.474350 m, nav range: 108.187805 m, bearing: 31.050919 deg, approach rate: -0.510983 m/s, LOS rate: -0.021599 deg/s, cmd heading: 29.204868 deg, new cmd heading: 29.187928 deg. iHeadingCmd: 0.509425 target range: 115.474350 and range: 115.50 m.hi?hhhhggjgrgereZe:e*ee+@额Bɢ*\;) =i)O顡i.ii? =xD=Ii?Iiu9@q @q@u0@qiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258215ԑ^Ap=E EE.E"El;*E:VEـ4ZEBEbF«&#,eLAFV>F?FU*zٱF̴=FH?`$߿8?`v?@X?D?e?%?iFV>IF];DYjBynI ||AbD- VD-8ԑy<%==ٔ :Q->9!Y!echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512171=-&EyuևD}XE}>Q 54?Q 94)BYy?Q I@HDI;ii;f4yBɮAE:iFNOT Ignoring new targets: 115.47 m."i-=¹*i-=¹= ProNav: ac range: 115.474350 m, nav range: 107.955132 m, bearing: 31.041249 deg, approach rate: -0.509620 m/s, LOS rate: -0.021227 deg/s, cmd heading: 29.187929 deg, new cmd heading: 29.168546 deg. i=dEHeadingCmd: 0.509087 target range: 115.474350 and range: 115.50 m.hES?hAhAhAhIgIgIjgQrgQeQreQZeQ:eY*e]N,@ɢ;) =i) IiliS?&=%Y=IS?I!@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761913^A \= E  E E /E "E :*E h:VE J4ZE a @a @a @a @I I) O5 >Ɖ&#,.)LA:k>:?:fGoٱ:=:H?s߿n???຃ ?`??i:k>I:];:CYJByJIiMb@Mb@Mb@ 9"~j?V-?~jth?YS?ym=D;@ A)AY\AbDVDh8yl%=%N=ٔ:Q->9Y=&EyއD- E>Q 54D?Q 94)BY*?Q E:yW ?Q I@NDI:i:4yɮNAB*** querying acoustic contact ***ii :iFNOT Ignoring new targets: 115.47 m."ipع*i%pع5 ProNav: ac range: 115.474350 m, nav range: 107.761185 m, bearing: 31.032509 deg, approach rate: -0.523933 m/s, LOS rate: -0.023653 deg/s, cmd heading: 29.168545 deg, new cmd heading: 29.151033 deg. i5&-5HeadingCmd: 0.508781 target range: 115.474350 and range: 115.50 m.h=??h9h9h9h9g9g9jgArgEȀBeAreAZeI:eI*eM -@uBɢ};)y }=iy)}Cyi^i??*=)=I??I!@! @!@%15@!A@AAAAB>BCBBB9 =BBB˪;BkgE9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014105^AE=AM>AM>aIIO>] PExceeded connect timeout, disconnecting.ԑ &#,BLA2b>2{?2aٱ2=2H ]? c߿2?q??,E>?@? ?i2b>I2 s];2CYRByRIbDZVDZ8yb<%b\=ٔb;Q-f>9dYd=f&EyfDj89Ej>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266148lQ 5v4nX?Q 9v4n)nBYxyz ?Q Iz@nTDInhc;inSd;ny4y“BɮIA:iFNOT Ignoring new targets: 115.47 m."ivȹ*ivȹ ProNav: ac range: 115.474350 m, nav range: 107.570389 m, bearing: 31.023988 deg, approach rate: -0.489695 m/s, LOS rate: -0.021907 deg/s, cmd heading: 29.151032 deg, new cmd heading: 29.133961 deg. i_ HeadingCmd: 0.508484 target range: 115.474350 and range: 115.50 m.h+?hhhhggjgrgereZe:e*e-@ ɢv;) >i))=ini%+?%/=%^=I%+?I!E} E}E}7Ey"E};*E}:VE}Ժ4ZEyBE}@ Zז&#,\LA2Ж>22?2Uٱ2D=2H?R߿v?;a??@v@?h??i2Ж>I2q];2CYLyNIIR%>)R=i%Mb@Mb@Mb@!!!! !9%!rh?Mb?Y%l?y%@=%%@% A %A)%fA!Y%AbD=VD=8yM%MB=ٔM:Q-M>9QYQ=U&EyUD]0-E]>aQ 5m4e ?Q 9m4e)e BYm?Q Em:ym?Q Iu@e[DIeH;ie;e4yyɮ}LAy:i%FNOT Ignoring new targets: 115.47 m."i%T*i%TU ProNav: ac range: 115.474350 m, nav range: 107.346474 m, bearing: 31.016893 deg, approach rate: -0.534600 m/s, LOS rate: -0.016975 deg/s, cmd heading: 29.133960 deg, new cmd heading: 29.119740 deg. iU]HeadingCmd: 0.508235 target range: 115.474350 and range: 115.50 m.h]?hYhYhahagagajgirgmՀBereZe:e*e =.@ɢ#;) %>i!)%5!!i%iM?M2=M1=IU?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770776@ @@R2@bEŃ4jErEU0E EE0E"EV:*E:VE4ZEa@a@a@a@^Ax,=I I ! O- >B >B CB IB BB 8 =B B rDB ;B FgE BDAT read: Rx Time:01:16:24.6425  TRx dataTimestamp_ set to:1764897385.828574 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023069&#,vLARj>R{?RIٱR2=RH !?@bF߿@?#V??`z`'7?޶??iRj>IRa/^;RCYbBybIbDvVDvz8yu% O=ٔ2:Q->9Y=&EyD%cE%>1Q 545?Q 945)5 BYy?Q I@5bDI53ԡ &#,iLA@Vm>V?V'=ٱV=VH ?68߿R?,I?\? yפ?B?k?iVm>IV^;VCYbBybIhhbDrVDre8yZ%I=ٔ-:Q-->99Y9=E&EyEDUE]>iQ 54m(?Q 94mQ)m BYy\?Q I@miDIm;imD;m$4yɮADAT read: 01:16:24.6425 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 356,-0.19,-2.650, 1.947,-2.557,-3.058, PHS= 0.509,-1.234, 0.456, RAW= 148.5, 3.2, CAL= 147.7, 3.2, ROT= 2.3, -3.2 Ygot valid direction response: 01:16:24.6425 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 356,-0.19,-2.650, 1.947,-2.557,-3.058, PHS= 0.509,-1.234, 0.456, RAW= 148.5, 3.2, CAL= 147.7, 3.2, ROT= 2.3, -3.2 :iAPDAT read: Bearing 182.9, 3.1 (Local) M~Local bearing/azimuth received: Bearing 182.9, 3.1 (Local) UDAT read: Range 11 to 50 : 107.1 m (Round-trip 142.9 ms) speed 0.4 m/s ]R#Rx 1: Read range and direction messages.e\direction in FSK: [0.997636,0.040069,0.055822]eFpublishing direction and range infoyYFNOT Ignoring new targets: 115.47 m."i*iԩ]c14??ᢔ?Y]3BYYYY Y)]CI]M?i]󝿉]x>]H%@ ProNav: ac range: 115.474350 m, nav range: 106.917305 m, bearing: 31.003500 deg, approach rate: -0.487517 m/s, LOS rate: -0.015157 deg/s, cmd heading: 29.106489 deg, new cmd heading: 29.092902 deg. iݹHeadingCmd: 0.507767 target range: 115.474350 and range: 115.50 m.h?hh]d=]$@ ]d=)]l$=I]dYhhagagajgirgieqreqZeyY]@i?u? VP?:e}`fZ@*e? ]e>)]BbI]l$=i]dYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.颡ɢn;) @=i)'顩i}i?(9=r=I?Im9@q @q@q@q *DAT read: user:137>  BDAT read: Tx time:01:16:25.9955  $Ping request sent. &#, LA2i>2?2^ 0ٱ2=2H?`,߿ ¡?>?C?d{?? )?i2i>I2^;2CY>By>Ii~Mb@Mb@Mb@|||| |9~Mb? ףp= ?{Gz?Y~?y~Q8=~#<~@~ A ~fA)~A|Y~AbDVDQ8y%8=%%5=ٔ-:Q-->9-"?Y5"?=5&Ey5D5׺E5>9Q 5E4=]8?Q 9E4=)=BYM ?Q EM:yM?Q IM@=pDI=:i=:=+4yȓBɮdA Ei1i5WLAj5#B"j5#B:j5+ ?Rj5=Z@a)>&)@ b6@Bj5c14??ᢔ?*j5l$=2j5dZj5 AV@J=ԯK@0F:@Jj5_K?^s?qo?j5~]B j5Bi5BCBBB7 =BBsDBg;BgE% ProNav: ac range: 107.069344 m, nav range: 106.651878 m, bearing: 31.010681 deg, approach rate: 0.000000 m/s, LOS rate: -0.015157 deg/s, cmd heading: 29.092900 deg, new cmd heading: 29.080156 deg. i)-HeadingCmd: 0.507544 target range: 107.069344 and range: 107.10 m.h5o?h1h1h1h1g1g1jg9rg=Be9re9ZeA:eA*e@? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250976qɢu;)q u >iq)}{ yi»io?b;=?=Io?IQ@Y @Y@Y@Y C%G=yAUMAb9yAYoA ^A= ͢=i߱ I߱  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5032271 I9 II OU >&#,ƚLA6#>6:\?6$ٱ6@z=6HG?@e߿}?2?? v?@&??i6#>I6g_;6CYZBy^IbDfyVDf8yn%nO=ٔnH:Q-r>9pYp=r&EyrDv Ev>Ez EzEz.Ex"Ez;*Ez:VEzـ4ZExBEz@η&#,LA Y~By~IiMb@Mb@Mb@ 9}?5^I?~jt?~jth?YM?yD=D;@ A |A)Y\A %=bD^VD8y/%==ٔQ->9Y=&EyDE>Q 54U?Q 94˳)BY?Q E:y3?Q I@~DI:i:-:4yʓBɮA:iFNOT Ignoring new targets: 107.07 m."i%*i%5 ProNav: ac range: 107.069344 m, nav range: 106.232903 m, bearing: 30.997490 deg, approach rate: -0.510564 m/s, LOS rate: -0.016911 deg/s, cmd heading: 29.068203 deg, new cmd heading: 29.053723 deg. i5=HeadingCmd: 0.507083 target range: 107.069344 and range: 107.10 m.h=3?h9h9h9h9gAgAjgArgEŀBeIreIZeI:eI*eM ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010100ɢS;) =i)ciŻi3?>=͠=I3?IiE EE1E"ET;*E|:VE-4ZEa%@a%@a%@a%@U9@Q @Q@U/@Yԙ^A =II B >B B B B 5 =B B B -;B fEBCBCBȔCB8 =B8 =Cȫ6O5 > - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258790<&#,ЗLAɰ2hL>2?2 ٱ2੹=2H?+߿?Z?@?S"?,? ?i2hL>I2^;0LYRByRIIV%=)Vp<bD^wVD^8yf=<%f\=ٔfs;Q-f>9hYh=j&Eyj DnEn>1Q 5=45(c?Q 9=45)5BYAyE?Q IE@5DI5;i5<;5@4yIɮMAI:iquFNOT Ignoring new targets: 107.07 m."i}*i} ProNav: ac range: 107.069344 m, nav range: 106.037720 m, bearing: 30.991187 deg, approach rate: -0.510323 m/s, LOS rate: -0.016509 deg/s, cmd heading: 29.053723 deg, new cmd heading: 29.041094 deg. i񹝏HeadingCmd: 0.506863 target range: 107.069344 and range: 107.10 m.h?hhhhggjgrgereZe:e*e+?ɢ;) V>i)gNiXMǻi??=f=I?I@ @@>0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511056E9 E=E=2E9"E9*E=:VE=4ZE9BE=G! &#,^LAzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765509D#>?mٱq=H`8?=߿,???`Oر?`H? ?iD#>Iy^;CY-By5IiMb@Mb@Mb@ 9+?&1?Mbp?Yv>yP=;" A )|AYAbDOVD8yH<%"=ٔ:Q->9Y=&Ey*D"E>Q 54Q E:y?Q I@DI:i(:I4y Bɮ *A E!:i1=FNOT Ignoring new targets: 107.07 m."iE榹*iE榹M ProNav: ac range: 107.069344 m, nav range: 105.791260 m, bearing: 30.982165 deg, approach rate: -0.497096 m/s, LOS rate: -0.018239 deg/s, cmd heading: 29.041094 deg, new cmd heading: 29.023007 deg. iUUHeadingCmd: 0.506547 target range: 107.069344 and range: 107.10 m.hU?hYhYhYhYgYgYjgarge܀BeareaZei:ei*emG @Bɢ$,;) = >iA)EQFAAiEu/ɻiM?M?=Ml=IM?IQ9@ @@/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905E%  E% E% 0E! "E% 7;*E% :VE% 4ZE! a- @a- @a- @a- @ԁ ^A= ȝ=AA zAE wAI I O > &#,M.LA>2>>?>ٱ>=>H@?y߿`??@F? `Ѣ|?w?N?i>2>I>ؖ^;>CYJByJIbDRVDRİ8yZ6%Z=ٔ^#;Q-^?9\Y\=b&Eyb0Db9Eb?dQ 5j4f~?Q 9j4f)f BYhyn?Q In@fDIf:if;fN4ypɮraAp:i  FNOT Ignoring new targets: 107.07 m."i*i% ProNav: ac range: 107.069344 m, nav range: 105.641663 m, bearing: 30.976660 deg, approach rate: -0.500352 m/s, LOS rate: -0.018439 deg/s, cmd heading: 29.023007 deg, new cmd heading: 29.011981 deg. i%-HeadingCmd: 0.506355 target range: 107.069344 and range: 107.10 m.h-t?h)h)h)h)g1g1jg1rg1e1re9ZeA:eA*eE r@YqɢuL!<)q u4=iy)}yyi}HNʻit?{@=# =It?IAA@AB>BBBB6 =BBB;BfE9@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267255ԉ^A=IIO>Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518875&#,(HLAEr ErEr/Ep"Er:*Er҆:VErJ4ZEpBEr<9IYQ=U&EyU9DUEU>YQ 5e4]4?Q 9e4])]"BYiyiQ Im@]DI]:i]:]"V4yqɮukAԹqMB*** querying acoustic contact ***iIiI:iquFNOT Ignoring new targets: 107.07 m."i}*i} ProNav: ac range: 107.069344 m, nav range: 105.430984 m, bearing: 30.968881 deg, approach rate: -0.468383 m/s, LOS rate: -0.017330 deg/s, cmd heading: 29.011980 deg, new cmd heading: 28.996390 deg. iHeadingCmd: 0.506082 target range: 107.069344 and range: 107.10 m.h?hhhhggjgrgereZe:e*e{ @Bɢ;) =i)si˻i?A=.r=I?I9@ @@5@><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774236^A=A I) A II OU >&#,bLAJ>J?J'ٱJ뙽=JH k?޿zu??`?@c0w?z??iJ>IJd^;JCYVByVIi5Mb@Mb@Mb@1111 195}?5^I?&1?Mb`Y5M?y155@5 A 5A)5A1Y5\A E=E<bDMVDMð8y]<%]I=ٔe4V;Q-e>9aYa=e&EymADm|Em>qQ 5}4u?Q 9}4u)u$BY?Q E:yV?Q I@uDIuY;iu;u=]4yÓBɮYA:iFNOT Ignoring new targets: 107.07 m."i$*i$ ProNav: ac range: 107.069344 m, nav range: 105.223495 m, bearing: 30.961382 deg, approach rate: -0.546645 m/s, LOS rate: -0.019796 deg/s, cmd heading: 28.996390 deg, new cmd heading: 28.981362 deg. iHeadingCmd: 0.505820 target range: 107.069344 and range: 107.10 m.ho}?hhhhggjgrgɀBereZe:e*e @1]BDAT read: Rx Time:01:16:28.5398 eTRx dataTimestamp_ set to:1764897389.608721echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024150ɢ@;) >i)Mi ,ͻi o}? B= U$=I o}?IQE EEE"E;*Ev:VEZEa@a@a@a@@ @ @ 3@ aԑB>BCBIBBB7 =BBrDBK;BfE^AM Т=AM >AM >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279153A I Թ I O >4F&#,{LA2>2ν?2l(ٱ2*=2H0?޿@m?o?`x?`g %t?@ɷ?u?i2>I2^;2CY:By:IbDFVDF8yJV%NX=ٔN;Q-N>9PYP=R&EyRIDVEV>TQ 5Z4V?Q 9^4V)V%BY\y^J?Q I^@VDIV+;iVY;Vc4ydɮfAd:iimFNOT Ignoring new targets: 107.07 m."iuq*iuq ProNav: ac range: 107.069344 m, nav range: 105.030045 m, bearing: 30.954384 deg, approach rate: -0.489840 m/s, LOS rate: -0.017752 deg/s, cmd heading: 28.981363 deg, new cmd heading: 28.967342 deg. iHeadingCmd: 0.505575 target range: 107.069344 and range: 107.10 m.hem?hhhhggjgrgereZe:e*eVE @mBɢmN;)i m`=iiԑ)uۺia<λiem?C=rI=Iem?I@ @@/@iqIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530625E EEE"E:*Exv:VEZEBE3! /&#,QLAuDAT read: 01:16:28.5398 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.47, 0.127,-1.567, 0.195,-0.288, PHS= 0.517,-1.234, 0.440, RAW= 147.7, 3.3, CAL= 147.0, 3.4, ROT= 3.0, -3.4 Ygot valid direction response: 01:16:28.5398 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.47, 0.127,-1.567, 0.195,-0.288, PHS= 0.517,-1.234, 0.440, RAW= 147.7, 3.3, CAL= 147.0, 3.4, ROT= 3.0, -3.4 uPDAT read: Bearing 182.6, 3.3 (Local) u~Local bearing/azimuth received: Bearing 182.6, 3.3 (Local) }DAT read: Range 11 to 50 : 105.1 m (Round-trip 140.2 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996872,0.052244,0.059306]Fpublishing direction and range infoy`bޢ_?;J?Cg]?Yb3B`b{`` `)bEIbZ?i`bG>b$@bk=bY3$@ bs=)bPwV=Ibs``b4@*TD? E?/x5? b'>)b\iIbPwV=ibs``%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.YByII%>)p;iMb@Mb@Mb@ 9rh|? rh?Y>yC =| A fA)fAYA%@A%AAbD%߿VD%8y<%=ٔQ->9 ?Y ?=&EyTDE>Q 54?Q 94)&BY>Q E:yT?Q I@DI:i:m4y%œBɮ%A%Ei`ib [LAjb$B"jb$B:jb ?Rjb}v/Z@I5@ m\2@Bjbޢ_?;J?Cg]?*jbPwV=2jbsZjbͽ)!KV@b2Q;K@T@JjbOf(?nm?8GdI?jba\B jbYBib@s?ibljbkBjb BDAT read: Tx time:01:16:30.0455 $Ping request sent.B B IB BB B B qDB ;B )gEԡAIIO?C"&#,YLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250792^%>^h]?^Gٱ^ =^H?0޿?j??  h?'?j?i^%>I^^;^CYnBynIbDeۿVDe8yuhY%uV=ٔ}O;Q-}>9yYy=&Ey\D~E>Q 54Fʅ?Q 94)'BYy?Q I@DI ;i:t4yɮA:iFNOT Ignoring new targets: 105.07 m."i *i  ProNav: ac range: 105.070312 m, nav range: 104.714981 m, bearing: 31.166877 deg, approach rate: -0.525069 m/s, LOS rate: -0.008636 deg/s, cmd heading: 28.946656 deg, new cmd heading: 28.940526 deg. i|HeadingCmd: 0.505107 target range: 105.070312 and range: 105.10 m.hN?hhhhggjgrgereZe:e*e?-Bɢ-2F;)1 5|=i1)511i=лi=N?=E=E"F=IEN?IA9@ @@/@^A͢=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502731A D zD E  E E ,E "E ;*E $:VE g4ZE BE D`&#,ЛLA 2ɒ>2`/?2 ٱ2?=2H ?`޿`?\?`?wb?_3?J?i2ɒ>I2`f^;2CYR܀ByR~IbDZVDZ8yb%bW=ٔf;Q-f>9dYd=f&EyjcDj!Ej>lQ 5r4nׅ?Q 9r4nQ)n(BYtyv?Q Iv@nDIn:in:n*{4yzȓBɮzaAzE B*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 105.07 m."i%A*i%A5 ProNav: ac range: 105.070312 m, nav range: 104.527557 m, bearing: 31.163861 deg, approach rate: -0.492372 m/s, LOS rate: -0.007937 deg/s, cmd heading: 28.940526 deg, new cmd heading: 28.934483 deg. i5hh=HeadingCmd: 0.505002 target range: 105.070312 and range: 105.10 m.h=G?h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU?ɢX{`;) 0=i)\?i/ѻi G? yE= =I G?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7559069@ @@/@ԙ^AB= AA IY Ii Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0055010&#,jꛌLAE& E&E&-E$"E&:*E&:VE&t4ZE$a*@a.@a.@a.@PEGi>E?EhٱEN=EH`?`9޿yĦ???`jW?@o@?@&?iEGi>IE^^;AYeByeIiMb@Mb@Mb@ 9Mb?X9v?{GztY?y<ף@ A )|AY AbDVD8yH=%7=ٔ:Q->9!Y!=%&Ey%lD%׺E%>)Q 5=4-煊?Q 9=4-))Y=Q?Q E=:yE?Q IE@-DI-%);i-~(;-4yIɮMAI:iFNOT Ignoring new targets: 105.07 m."i ڸ*i ڸ  ProNav: ac range: 105.070312 m, nav range: 104.298004 m, bearing: 31.161201 deg, approach rate: -0.512823 m/s, LOS rate: -0.005957 deg/s, cmd heading: 28.934484 deg, new cmd heading: 28.929151 deg. i p.5HeadingCmd: 0.504909 target range: 105.070312 and range: 105.10 m.h5A?h1h1h1h1g1g9jg9rg=Be9reAZeA:eA*eEH?IɢMB CB IB BB : =B B B ƪ;B `gE=9@A @A@E/@A@M=@M=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258081=GQi9YA) ^Ae X=A ؟AI I O >Z'#,LA2>2?2iٱ21=2H ?޿?'??X67M?I2?#^;2C8Y>ByBIbDJVDJ8yR8%R[=ٔR:Q-V>9V"?YV"?=V&EyVtDZ'EZ>\Q 5b4^?Q 9b4^d)^'BY`ybf?Q If@^ǂDI^:i^::^4yjʓBɮj5Ah:i|~FNOT Ignoring new targets: 105.07 m."iAѸ*iAѸ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509479 ProNav: ac range: 105.070312 m, nav range: 104.106461 m, bearing: 31.159072 deg, approach rate: -0.513429 m/s, LOS rate: -0.005717 deg/s, cmd heading: 28.929150 deg, new cmd heading: 28.924884 deg. ig'HeadingCmd: 0.504834 target range: 105.070312 and range: 105.10 m.h<?hhhhggjgrgereZe:e*e@x?ɢ3;) L=i)ǥiһi%<?%C=%=I-<?IIDDa=E EE/E"E;*E:VEJ4ZEBEA'#,6tLAlYrByrIiuMb@Mb@Mb@qqqq q9u??Mb`Yu?yu9Y=&Ey}DE>Q 54?Q 94c)(BY)?Q E:y ?Q I@΂DI;i7;4yBɮlAE:iFNOT Ignoring new targets: 105.07 m."i:*i:  ProNav: ac range: 105.070312 m, nav range: 103.889061 m, bearing: 31.157966 deg, approach rate: -0.500750 m/s, LOS rate: -0.002551 deg/s, cmd heading: 28.924885 deg, new cmd heading: 28.922669 deg. i gHeadingCmd: 0.504796 target range: 105.070312 and range: 105.10 m.hL:?hhhhggjgrg%Be!re!Ze!:e!*e-@ɢ8;) =i)niMӻiL:?hA=9=IL:?I Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014400m9@i @i@m/@iE EE.E"E;*E:VEـ4ZEa@a@a@a@9^Am=a A A AAB B B IB BB ; =B B B ;B ~gEBiBiBiBm7 =BiCmʸ6A% .AIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265814d '#,PQ9LA9YAyEIIM]>)M>UAAU@AbDU׿VDU8yeT%eN=ٔiQ-m>9m ?Ym ?=u&EyuDqEu>yQ 54}d?Q 94})yYyQ I@}ԂDI}":i}:} 4yBɮAE:iFNOT Ignoring new targets: 105.07 m."ix;*ix; ProNav: ac range: 105.070312 m, nav range: 103.690025 m, bearing: 31.156950 deg, approach rate: -0.500745 m/s, LOS rate: -0.002561 deg/s, cmd heading: 28.922668 deg, new cmd heading: 28.920632 deg. iHeadingCmd: 0.504760 target range: 105.070312 and range: 105.10 m.h7?hhhhggjgrgereZe:e*e l@频ɢ ;) X=i)e顡i8Իi7??=F=I7?Iia@a @a@e/@a]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517574ԑDzDE  E E /E "E :*E :VE J4ZE BE %5'#,)SLA2̐>20?2P:ٱ2=2H`;?`޿6???9JN??i2̐>I2];2CY>By>IbDFѿVDF8yN(<%RX=ٔR7;Q-R>9TYT=V&EyVDVAEV>XQ 54Z ?Q 94Z)XYy ?Q I@ZڂDIZASm BDAT read: Rx Time:01:16:32.5871 m TRx dataTimestamp_ set to:1764897393.640454u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022470A E  E E 2E "E ;*E |:VE 4ZE a @a @a @a @/'#,mLA2>2J ?2!:ٱ2=2H6?޿)?? ?@qc 0U@ ?2?i2>I2];2CYNByRIi%Mb@Mb@Mb@!!!! !9%x&1?Q?~jth?Y%A?y%<%D;%@% A %fA)%A!Y% AbD=οVD=~8yM;%M@=ٔU :Q-U>9QYQ=&EyDE>Q 540?Q 94))BY|?Q E:y8?Q I@DI ';i&;W4y“BɮA:i FNOT Ignoring new targets: 105.07 m."i*i- ProNav: ac range: 105.070312 m, nav range: 103.280029 m, bearing: 31.154292 deg, approach rate: -0.514386 m/s, LOS rate: -0.004481 deg/s, cmd heading: 28.919151 deg, new cmd heading: 28.915306 deg. i-55HeadingCmd: 0.504667 target range: 105.070312 and range: 105.10 m.h51?h1h1h9h9g9g9jg9rgEBeAreAZeA:eA*eM@M @yɢ};)y }=iy)Ap顁i@ջi1?&9=UW=I1?IB5>B5CB1B1B5: =B1B5rDB5;B5gEI@I @I@M75@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273992^Am=qIi Iy O >ԙ !'#,rᆜLA>z>>?>+:ٱ>We=>H?޿!V??? lDY@⢸??i>z>I>];>CYFByFIbDRѿVDR8yZ<%ZU=ٔZ4:Q-Z>9\Y\=^&Ey^DbEb>dQ 5j4f >?Q 9j4fZ)f*BYhyj?Q Ij@fDIf:if:fӬ4ypɮrhAp:i  FNOT Ignoring new targets: 105.07 m."i *i򜸝%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525688- ProNav: ac range: 105.070312 m, nav range: 103.093849 m, bearing: 31.152707 deg, approach rate: -0.502675 m/s, LOS rate: -0.004288 deg/s, cmd heading: 28.915305 deg, new cmd heading: 28.912129 deg. i-=HeadingCmd: 0.504612 target range: 105.070312 and range: 105.10 m.h=>.?hAhAhIhIgQgQjgirgieqreyZe:e*e`gX@ԉE EE0E"E&:*E:VE4ZEBEj;.?u5=ub=Iu>.?IqI)yA!@! @!@%/5@)@-=@-=ԡ^AM d=q  DAT read: 01:16:32.5871 LVL= 26976, 31073, 26978, 32755, AGC= 69, IDX= 413,-0.07, 0.849,-0.866, 0.901, 0.456, PHS= 0.495,-1.277, 0.400, RAW= 147.3, 4.5, CAL= 146.7, 4.7, ROT= 3.3, -4.7  Ygot valid direction response: 01:16:32.5871 LVL= 26976, 31073, 26978, 32755, AGC= 69, IDX= 413,-0.07, 0.849,-0.866, 0.901, 0.456, PHS= 0.495,-1.277, 0.400, RAW= 147.3, 4.5, CAL= 146.7, 4.7, ROT= 3.3, -4.7  PDAT read: Bearing 183.6, 3.4 (Local) M ~Local bearing/azimuth received: Bearing 183.6, 3.4 (Local) IA IY Oe >} DAT read: Range 11 to 50 : 103.1 m (Round-trip 137.5 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.994985,0.057370,0.081939] Fpublishing direction and range infoyQ?/3_??Y3B`iaybi )Ip>it>"$@|٠=#@ =)k=I3xn[?;?4Z ? >''#,MLA 6#>6>6G;ٱ6j=6H`L?޿?`?x?I6];6CYBByBI)⟽Ik=ibT****** received valid address query ******bR****** received valid ping request ******bQuerying Benthos address 50 with one ping in standard two-way mode.iEMb@Mb@Mb@AAAA A9E)\(?V-?Mb`?YEG?yE9Y=&EyDE>Q 54O?Q 94 )+BY~?Q E:y`?Q I@DIu:iM: 4yɮ$A ii^LAj$B"j$B:j ?Rj|nY@&wb@ @BjQ?/3_??*jk=2jZj):>U@$J@  !@JjjXu3?Q@?YEh˵?jNVB j9BiŶ &?i~jBjLF?jjrjBzj K ?i addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 4.031461 s, deltaX: -2.000000 m, approachRate: -0.496098 m/s, rangeRepo size: 4  Added new target pos. range: 103.070541 m, bearing: 31.446363 deg, lat: 36.779511 deg, lon: -121.859758 deg, deltaT: 4.031461 s, deltaX: -1.999771 m, approachRate: -0.496041 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 103.07 m."i*i ProNav: ac range: 103.070541 m, nav range: 102.856865 m, bearing: 31.175426 deg, approach rate: 0.000000 m/s, LOS rate: -0.004288 deg/s, cmd heading: 28.912129 deg, new cmd heading: 28.907994 deg. iHeadingCmd: 0.504540 target range: 103.070541 and range: 103.10 m.h)?hhhhggjgrgBereZe:e`fY@*ee?i)I)5*DAT read: user:139> 5BDAT read: Tx time:01:16:34.0954 =$Ping request sent.=i)66顑iwֻi)?U0==I)?IE EE1E"E;*Eą:VE-4ZEa@a@a@a@]9@a @a@e!5@aԙ B) A- <B- >B- CB- IB- BB- 6 =B) B- sDB- ;B- gE^A =I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250611J-'#, LA2s>2dw>2i ;ٱ2=2H`9? w޿֨??`N?]}Kd@ϸ?h?i2s>I2];2CY>By>IPbDrrVDr*8yv]%zi=ٔza:Q-z>9xY|=~&Ey~D~պE?Q 5 4[?Q 94~)Yy@?Q I@DI:i.:4yœBɮ%KA%E:iAMFNOT Ignoring new targets: 103.07 m."iMw*iMw] ProNav: ac range: 103.070541 m, nav range: 102.681953 m, bearing: 31.174299 deg, approach rate: -0.524326 m/s, LOS rate: -0.003384 deg/s, cmd heading: 28.907994 deg, new cmd heading: 28.905736 deg. i]/ƸeHeadingCmd: 0.504500 target range: 103.070541 and range: 103.10 m.he&?hahahihigigijgirgieqreqZeq:eq*e}$?颡ɢ/<) >i)n!顩if*׻i&?,==I&?IQ@Q @Q@U/@QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502882^Au=IIO>E EE/E"E;*Exv:VEJ4ZEBEA2[&>2Ox-;ٱ2j=2H?`]n޿`??`?@e@׸?N?i2k>I2B];2CYRByRITTbDZVDZM8yb:%bM=ٔf :Q-f>9dYd=j&EyjDjd˺Ej>lQ 5r4nj?Q 9r4n{)n,BYtyv?Q Iv@nDIn:in:n 4yxɮzAx9B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 103.07 m."iiV*iiV= ProNav: ac range: 103.070541 m, nav range: 102.480324 m, bearing: 31.173065 deg, approach rate: -0.477587 m/s, LOS rate: -0.002929 deg/s, cmd heading: 28.905736 deg, new cmd heading: 28.903263 deg. i=EHeadingCmd: 0.504457 target range: 103.070541 and range: 103.10 m.hE$?hAhAhAhAgAgIjgIrgIeIreQZeq:eq*eu ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754682ɢ8;) l=i)& i[׻i$?'==I$?I9@ @@/@Q^Am=IQ Ia Om >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006610ԁ bEmJ4jEm94rEm0E  E E 2E "E :*E :VE 4ZE a @a @a @a @< ;'#,NLA2B?>22>2+<8;ٱ2H=2H?te޿7??`y? f`g`??i2B?>I2 ];2ߑCYBByBIi5Mb@Mb@Mb@1111 195x&1?Mb?{Gzt?Y5?y5=5ף;5@5 A 1)11Y1bDMVDM88Yye=%eA=ٔe9Q-m>9iYi=m&EymDuEu>yQ 54}cy?Q 94}x)}.BY?Q E:yC?Q I@}DI}:i}:}u4yǓBɮCAE:iFNOT Ignoring new targets: 103.07 m."ij*ij ProNav: ac range: 103.070541 m, nav range: 102.265305 m, bearing: 31.171192 deg, approach rate: -0.536664 m/s, LOS rate: -0.004683 deg/s, cmd heading: 28.903264 deg, new cmd heading: 28.899511 deg. i" HeadingCmd: 0.504392 target range: 103.070541 and range: 103.10 m.h?hhhhggjgrgBereZe:e*e 6i)%!!i%0ػi-?-!=-!=I-?I)@ @@@B>BCBIBBB5 =BBtDB;Bԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258654Ա^A=I9IIOU> A'#,(LA2L>2<~>278;ٱ2=2H ?`\޿??l?rGgؘ??i2L>I2\;2CY>By>IbDZMVDZ8ybK%bU=ٔfU.Q-f>9dYd=f&EyfňDjEj>lQ 5r4nE?Q 9r4nv)n/BYpyv?Q Iv@nDIn<;in:n'4yxɮzAxiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510883:i!-FNOT Ignoring new targets: 103.07 m."i-*i-= ProNav: ac range: 103.070541 m, nav range: 102.070961 m, bearing: 31.169564 deg, approach rate: -0.504466 m/s, LOS rate: -0.004235 deg/s, cmd heading: 28.899511 deg, new cmd heading: 28.896247 deg. iE EHeadingCmd: 0.504335 target range: 103.070541 and range: 103.10 m.hE?hIhIhIhIgIgIjgQrgQeQreQZeQ:eY*e] f?颁ɢ=;) =i)=顉iѯػi?=f=I?IE EE0E"E:*E:VE4ZEBEG8A 4H'#,:"LA2 }>2>2:F;ٱ2=2H`#?P޿p?x? ?3ThI?H?i2 }>I2n\;2CY>By>IiMb@Mb@Mb@ 9Zd;O?/$?I +?Yj>y,=94<" A A)|AY A 4=p=bD)VD8y-q=%-D=ٔ-R:Q-5>95"?Y5"?=5&Ey5͈DE>Q 54X?Q 94 s)2BYd>Q E:y%?Q I@DI&;i+;4yʓBɮ@AE:iFNOT Ignoring new targets: 103.07 m."i1*i1  ProNav: ac range: 103.070541 m, nav range: 101.857460 m, bearing: 31.165397 deg, approach rate: -0.496568 m/s, LOS rate: -0.009712 deg/s, cmd heading: 28.896246 deg, new cmd heading: 28.887894 deg. i 0HeadingCmd: 0.504189 target range: 103.070541 and range: 103.10 m.h?hhhhggjg!rg%ɀBe!re!Ze):e)*e-@@UBɢ]E<)Y ] >iY)]d$kYaie/\ٻie?m=m=Im?Ii@ @@0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017396AE EE/E"ED:*Ex:VEJ4ZEa@a@a@a@^A~4=qA A @AB >B CB IB BB 4 =B B B ;B gEAa Iq I O >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270567 ! ! #IN'#,%;LAB8GN/{AZArg>r>rfIT;ٱr=rH$?M޿`ۨ?Dv?`r?j;)jถ??irg>Ir\;pQ9/{AYCAYByIbD-VD-د8y=2%=I=ٔE" :Q-E>9AYA=M&EyMֈDMڹEM>QQ 5]4U ?Q 9]4U?p)U4BYaye?Q Ie@UDIU:iU:U4yiɮmIAi:iFNOT Ignoring new targets: 103.07 m."i0*i0 ProNav: ac range: 103.070541 m, nav range: 101.663300 m, bearing: 31.161611 deg, approach rate: -0.494816 m/s, LOS rate: -0.009666 deg/s, cmd heading: 28.887896 deg, new cmd heading: 28.880310 deg. iHeadingCmd: 0.504057 target range: 103.070541 and range: 103.10 m.h ?hhhhggjgrgereZe:e*eZ@IɢU_<)Q U\>iQ)UQQi]~ٻi] ?e =e=Ie ?Iai%9@! @!@-0@)ԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522744^AM=DzDE EE2E"E:*Ez:VE4ZEBE6 1U'#,ULAbO>b>bDM;ٱb=bH6%?"K޿ܨ? s??M ~ic? ?ibO>Ib-\;bCYr ByrIbD ׾VD 8ym;F=%uG=ٔuQ-u>9yYy=}&Ey}ވD}E>Q 54b?Q 94Tm)7BYy?Q I@DI;i;4yBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 103.07 m."i<0*i<0 ProNav: ac range: 103.070541 m, nav range: 101.460312 m, bearing: 31.157659 deg, approach rate: -0.493645 m/s, LOS rate: -0.009630 deg/s, cmd heading: 28.880311 deg, new cmd heading: 28.872391 deg. iHeadingCmd: 0.503918 target range: 103.070541 and range: 103.10 m.h?hhhhggjgrgereZe:e*e @%Bɢ-+<)) -0>i))-611i5ڻi5?=/==܏=I=?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774590@ @@;5@^A-{=! I I! O5 >M BDAT read: Rx Time:01:16:36.6343 U TRx dataTimestamp_ set to:1764897397.677256U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028655E  E E 1E "E :*E ą:VE -4ZE a @a @a @a @W['#,oLA4<ɰ49Y=&EyDE>Q 54?Q 94j)9BY?Q E:y?Q I@"DI#:i:4yɮA:iFNOT Ignoring new targets: 103.07 m."i%{*i%{5 ProNav: ac range: 103.070541 m, nav range: 101.247818 m, bearing: 31.149786 deg, approach rate: -0.513593 m/s, LOS rate: -0.019068 deg/s, cmd heading: 28.872391 deg, new cmd heading: 28.856613 deg. i5 =HeadingCmd: 0.503643 target range: 103.070541 and range: 103.10 m.h=?h9h9h9h9gAgAjgArgEрBeIreIZeI:eI*eM ` @}Bɢ}<)y  >i)t08顁ixۻi?u=\=I?IQB>BCBIBBB0 =BBuDB֪;BgEBECBECBEÕCBE5 =BE5 =CEa61@1 @1@55@1@EyA@EzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278668y^AiIIO>ԩ Ab'#,vLA2>2Ϧ>2EhB;ٱ2C=2H '?@nE޿`z?l? v?@Mh^??i2>I2\;2CByBIbDJVDJj8yR<%R^=ٔVRQ-V>9TYT=V&EyZDZ娺EZ>\Q 5b4^+Ά?Q 9b4^Gg)^;BYdyf?Q If@^(DI^:i^:^e4yhɮjAhchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530628:i FNOT Ignoring new targets: 103.07 m."i *i  ProNav: ac range: 103.070541 m, nav range: 101.059166 m, bearing: 31.142818 deg, approach rate: -0.513799 m/s, LOS rate: -0.019015 deg/s, cmd heading: 28.856614 deg, new cmd heading: 28.842650 deg. i2 %HeadingCmd: 0.503399 target range: 103.070541 and range: 103.10 m.h%?h!h!h)h)g)g)jg)rg1e1re1Ze1:e9*e=CT@]Bɢe+(<)iDyD}%=E EEE"E=;*Ex:VEZEBEIi)dCq9iH9ܻiM?UC=UЏ=IU?IQԩ@ @@N4@DAT read: 01:16:36.6343 LVL= 25920, 29649, 31906, 32755, AGC= 69, IDX= 417, 0.26,-2.136, 2.415,-2.123,-2.581, PHS= 0.547,-1.242, 0.414, RAW= 146.2, 3.3, CAL= 145.6, 3.5, ROT= 4.4, -3.5 Ygot valid direction response: 01:16:36.6343 LVL= 25920, 29649, 31906, 32755, AGC= 69, IDX= 417, 0.26,-2.136, 2.415,-2.123,-2.581, PHS= 0.547,-1.242, 0.414, RAW= 146.2, 3.3, CAL= 145.6, 3.5, ROT= 4.4, -3.5 PDAT read: Bearing 182.0, 4.3 (Local) ~Local bearing/azimuth received: Bearing 182.0, 4.3 (Local)  DAT read: Range 11 to 50 : 101.1 m (Round-trip 134.8 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.995193,0.076576,0.061049]% Fpublishing direction and range infoy+?8z?.xA?Y3B@es| )I1 ?i>N#@k="@ 5z=)nF=I5zϫ?/?"~qj? >)eukInF=i5z] T****** received valid address query ******] R****** received valid ping request ******] Querying Benthos address 50 with one ping in standard two-way mode.^Am =I I I O >jh'#,wNLA2L>2>2X=;ٱ2X=2HU%?K޿@ȍ?>s??`%g8q??i2L>I2w\;0Y^By^IiMb@Mb@Mb@ 9{Gz?I +?Mb`?Y?y94=;@ A )|AYAbDƾVD8y-%-4=ٔ5e2Q-U>9QYY=]'Ey]D] ~:E]>aQ 5m4eކ?Q 9m4ec)e BDAT read: Tx time:01:16:37.9969 %$Ping request sent.%i)T9项iݻi?m=G=I?IE EE0E"E:*Exv:VE4ZEa@a@a@a@y@ @@p4@qBu <Au <B} >B} CBy By B} 3 =By B} tDB} ;B} gE^Ae {=ԩ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249697n'#,B'LA2v>2 >2&(;ٱ2PO=2H $?P޿z?`w?@?@7< e@G? ^?i2v>I2=\;2CYBByBI DDbDJVDJ8yVہ%Vf=ٔZoQ-Z>9XYX=Z'EyZD^s:E^>`Q 5f4b놊?Q 9f4b@a)b=BYdyj?Q Ij@b6DIb:ib:b4ylɮ]AYy:iFNOT Ignoring new targets: 101.08 m."i-*i- ProNav: ac range: 101.078659 m, nav range: 100.480522 m, bearing: 31.410562 deg, approach rate: -0.511055 m/s, LOS rate: -0.009453 deg/s, cmd heading: 28.824597 deg, new cmd heading: 28.817898 deg. igHeadingCmd: 0.502967 target range: 101.078659 and range: 101.10 m.hu?hhhhggjgrgereZe:e*eI?-Bɢ5ʜ/<)1 5>i1)=999i=ֶݻiEu?E=E=IEu?IA9@ @@/@ԩiI%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502107^AIqIDzDE EE1E"E%;*E~:VE-4ZEBEK n~u'#, םLAR7>R%~>R;ٱR=RH@ ?7\޿˨??E?^b )? ?iR7>IR\;PY^By^IbDj2VDj8yr%rG=ٔrMQ-r>9tYt=v'EyvDz= ;Ez>|Q 54~?Q 94~-^)~>BYy?Q I@~Y E  E E +E "E :*E :VE [4ZE a @a @a @a @{'#,LA2>2ď>2.;ٱ24=2H$ ?]޿`?v?`J?͵%b2? z?i2>I2\;2CY>By>IiMb@Mb@Mb@ 9'1Z?/$?~jth?Y?y,=D;@| A A)Y3AbDMVD8y-S%-F=ٔ-VQ-->95 ?Y5 ?=5'Ey5D=9E=>AQ 5M4E ?Q 9M4E"[)E@BYMB?Q EM:yM?Q IM@ECDIE_:iEg:E4yɮ A:iFNOT Ignoring new targets: 101.08 m."i "*i "1= ProNav: ac range: 101.078659 m, nav range: 100.056328 m, bearing: 31.402872 deg, approach rate: -0.512901 m/s, LOS rate: -0.008855 deg/s, cmd heading: 28.809796 deg, new cmd heading: 28.802486 deg. i=EHeadingCmd: 0.502698 target range: 101.078659 and range: 101.10 m.hEհ?hAhAhAhAgAgIjgIrgM̀BereZe:e*e?B>BCBBB5 =BBB;BgEĀBɢ37<) =i)%|,:!!iE+߻iMհ?M=MB=IMհ?IQYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2580869@ @@@ԉ^A ̓=Թ A ؟AI I) O= >z'#, LA;ɰ;6*>6>6;ٱ6 e=6H? Qb޿@#?උ?@?@굿b@B??i6*>I6u\;6CYZByZII^=)^<bDfCVDf8yn5<%nQ=ٔn[9Q-r>9r"?Yr"?=r'EyrDvt:Ev>~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509887xQ 54z?Q 94zAX)zABY y ?Q I @zJDIz>:iz:z4yœBɮ"AE:i9EFNOT Ignoring new targets: 101.08 m."iE**iE* ProNav: ac range: 101.078659 m, nav range: 99.856270 m, bearing: 31.399371 deg, approach rate: -0.531847 m/s, LOS rate: -0.009328 deg/s, cmd heading: 28.802488 deg, new cmd heading: 28.795470 deg. iHeadingCmd: 0.502576 target range: 101.078659 and range: 101.10 m.hΨ?hhhhggjgrgere Ze):e)*e-?Eu EuEu/Eq"Eu;*Eu~:VEuJ4ZEqBEuD) '#,R$LA2[H>2I>2;ٱ2C =2H?cV?`?i2[H>I2\;0YLyPi]Mb@Mb@Mb@YYYY Y9]RQ??MbP?Y]?y]L=]:]@] A ]fA)]AYY]AbDu VDuޯ8yE:%@=ٔY9Q->9Y='Ey D :E>Q 54&?Q 94 U)BBY/?Q E:yG?Q I@QDI:i:,4yɮ A:iFNOT Ignoring new targets: 101.08 m."i}*i} ProNav: ac range: 101.078659 m, nav range: 99.638855 m, bearing: 31.393514 deg, approach rate: -0.514046 m/s, LOS rate: -0.013877 deg/s, cmd heading: 28.795470 deg, new cmd heading: 28.783731 deg. i*˹HeadingCmd: 0.502371 target range: 101.078659 and range: 101.10 m.ha?hhhhggjgrgĀBe re Ze :e *e @=ƀBɢ=4.<)9 ==iA)E3Z:AAiEֈiMa?Mܜ=Ms=IMa?IQiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147859@ @@_0@bE4jE4rE}0E EE1E"E:*Eg:VE-4ZEa@a@a@a@9^A=AA AA BU >BU CBQ BQ BQ BQ BQ BU ;BU gEy I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265762ߎ'#,b>LA>^>>L,>>S;ٱ>=>H`x?m޿??[? 1 pc??i>^>I>*\;>CYJByJIbDRVDRݯ8yZA%ZW=ٔZK8Q-Z>9\Y\=^'Ey^'Db:Eb>dQ 5j4fr4?Q 9j4f,R)fCBYhyjm?Q Ij@fWDIfq:if:f$4yrȓBɮrdArE:i FNOT Ignoring new targets: 101.08 m."i *i ProNav: ac range: 101.078659 m, nav range: 99.444191 m, bearing: 31.388182 deg, approach rate: -0.511936 m/s, LOS rate: -0.014049 deg/s, cmd heading: 28.783732 deg, new cmd heading: 28.773047 deg. i͹-HeadingCmd: 0.502184 target range: 101.078659 and range: 101.10 m.h-(?h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=@ȧ@mǀBɢm{I<)i mL=ii)m n:qqiu iu(?} ٜ=}Ֆ=I}(?IY9@ @@75@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518988^AE EEE"E:*E|:VEZEBE<6'#,QXLA6`>6N%>6;ٱ6=6H?k޿??`M?`MG|c@[?`?i6`>I6j\;6CLYnBynIbDv$VDv8y~^<%~G=ٔr7Q->9Y='Ey0D (E >Q 54C?Q 94O)DBY!y%j?Q I%@^DI ;i ;+4y-Bɮ-A-EEB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 101.08 m."i]€*i]€m ProNav: ac range: 101.078659 m, nav range: 99.234039 m, bearing: 31.382410 deg, approach rate: -0.511210 m/s, LOS rate: -0.014071 deg/s, cmd heading: 28.773046 deg, new cmd heading: 28.761477 deg. imιuHeadingCmd: 0.501982 target range: 101.078659 and range: 101.10 m.hu?hqhqhqhygygyjgyrgyereZe:e*e@颵ȀBɢ <) ,=i)X;:项ii?՜= =I?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770089M9@I @I@Mr4@Q^AmP=IIO>% BDAT read: Rx Time:01:16:40.5333 - TRx dataTimestamp_ set to:1764897401.708581- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0228301 E  E E /E "E :*E ҆:VE J4ZE a @a @a @a @'#,qLA>>>>>;ٱ>==>H?ql޿`1>?&??*&``|?H?i>>I>\;>CYRByRI|i5Mb@Mb@Mb@1111 195"~j?kt?Y5S?y5 0=55@5" A 1)5|A1Y5\AbDMVDMݯ8y]"*%]D=ٔe_Q-e>9aYa=m'Eym8DmEm>qQ 5}4u4R?Q 9}4uK)uEBY?Q E:y?Q I@udDIu;iuv;uC34yBɮ%AE:i5FNOT Ignoring new targets: 101.08 m."i=8*i=8u ProNav: ac range: 101.078659 m, nav range: 99.019989 m, bearing: 31.378227 deg, approach rate: -0.515032 m/s, LOS rate: -0.010086 deg/s, cmd heading: 28.761476 deg, new cmd heading: 28.753092 deg. i}HeadingCmd: 0.501836 target range: 101.078659 and range: 101.10 m.hUx?hhhhggjgrgɀBereZe:e*e  @B >BBIBBBBBuDB;BgEQɢ]D;)Y ]=iY)]d:YaieCgieUx?m}Ҝ=m =IUx?I)5GM9@I @I@U4@QU{Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2740129{AYAY^A ~=Ia ԩ I O >̢'#,LA2.>2>2 ;ٱ2+=2H?b޿ ,???fZa Z??i2.>I2g\;2CYVByVIbD^VD\yf÷<%fT=ٔf:Q-f>9hYh=j'Eyj@DnEn>ipIpDAT read: 01:16:40.5333 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422, 0.08,-1.922, 2.647,-1.865,-2.341, PHS= 0.521,-1.250, 0.432, RAW= 147.4, 3.5, CAL= 146.7, 3.6, ROT= 3.3, -3.6 Ygot valid direction response: 01:16:40.5333 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422, 0.08,-1.922, 2.647,-1.865,-2.341, PHS= 0.521,-1.250, 0.432, RAW= 147.4, 3.5, CAL= 146.7, 3.6, ROT= 3.3, -3.6 %PDAT read: Bearing 182.4, 3.3 (Local) %~Local bearing/azimuth received: Bearing 182.4, 3.3 (Local) -DAT read: Range 11 to 50 : 99.1 m (Round-trip 132.2 ms) speed 0.5 m/s 5R#Rx 1: Read range and direction messages.=\direction in FSK: [0.996372,0.057450,0.062791]=Fpublishing direction and range infoyprP&G?d $j?֏ ?Yr3Bprrr p)rDIrB`?irr/>r$@r5z=r#@ r=)rk=IrpprؔX? Vd $q?0- ? r=>)r|xIrk=irppUT****** received valid address query ******yR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q 5=4a?Q 9=4H)YAyE?Q IE@kDI;i;:4E] E]E]3EY"E]:*E]Ar:VE]4ZEYBE]G8?0S2?@8k?jr>NB jrBir0%?irEjrBjr0%?jrEjprjrBzjrt ? addTargetRange:: Added new target pos. range: 99.099998 m, deltaT: 3.779491 s, deltaX: -2.000000 m, approachRate: -0.529172 m/s, rangeRepo size: 4 E Added new target pos. range: 99.077591 m, bearing: 31.436108 deg, lat: 36.779507 deg, lon: -121.859753 deg, deltaT: 3.779491 s, deltaX: -2.001068 m, approachRate: -0.529454 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 99.08 m."iU*iQ] ProNav: ac range: 99.077591 m, nav range: 98.861336 m, bearing: 31.435808 deg, approach rate: 0.000000 m/s, LOS rate: -0.010086 deg/s, cmd heading: 28.753092 deg, new cmd heading: 28.743542 deg. iamHeadingCmd: 0.501669 target range: 99.077591 and range: 99.10 m.hmim?hihihihigigijgqrgqeqreqZey:e}`fX@*e} y ?ԩɀBɢ ;) @=i!)-ذ:))i-n i5im?=Μ===I=im?IA@ @@4@*DAT read: user:141> BDAT read: Tx time:01:16:41.7969 $Ping request sent.'#,ɪLA^" >^>^.O;ٱ^=^H`?^޿+?@?@:?ibXS?`?i^" >I^ew\;^CYByIiuMb@Mb@Mb@qqqq q9uX9v?+?{Gzt?Yu>yu=uף;qu A uA)ufAqYqAAbD!VD߯8y%/=ٔ=9Q->9Y='EyJDE>Q 54p?Q 94E)GBY>Q E:y ?Q I-@rDI8BCBIBBB1 =BBwDB%;BgEBCBCBȔCBB4 =CH5^A! A- xAzA- xAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503249I1 IA OU >`'#,LA2 >2U>2I ;ٱ2=2H!? 'W޿ ? ?`?嵿@(as4?-?i2 >I2Ƈ\;2CY:By:IbDF0VDF8yN%N^=ٔNQ-N>9PYP=R'EyRQDVɺEV>XQ 5^4Z}?Q 9^4Z*C)ZHBY\y^?Q I^@ZxDIZ;iZ;ZH4ydɮfAd:itzDNOT Ignoring new targets: 99.08 m."izq *i~q  ProNav: ac range: 99.077591 m, nav range: 98.465454 m, bearing: 31.429936 deg, approach rate: -0.517739 m/s, LOS rate: -0.007619 deg/s, cmd heading: 28.737140 deg, new cmd heading: 28.731775 deg. i_ HeadingCmd: 0.501464 target range: 99.077591 and range: 99.10 m.h _?h h hhggjgrgereZe:e!*e%:,?qˀBɢ0;) B=i)ާ:iNi_?ǜ=k=I_?I@ @@/@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754880DizDmAAEq EqEqEq"Eq*EqVEqZEqBEuj; '#,B\۞LA2]>2H>2;ٱ2n=2H#? Q޿?y??ӵ ؾbq#?b?i2]>I2Wo\;2CY:By:IbDFkVDF#8yJ=%NK=ٔNֺ9Q-N>9hYh=n'EynYDnEn>pQ 5v4r?Q 9v4rB@)rJBYxyz?Q Iz@rDIr:ir:rO4y|ɮ~AB*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 99.08 m."i-!*i-!= ProNav: ac range: 99.077591 m, nav range: 98.261703 m, bearing: 31.426981 deg, approach rate: -0.496828 m/s, LOS rate: -0.007220 deg/s, cmd heading: 28.731775 deg, new cmd heading: 28.725853 deg. iEhSEHeadingCmd: 0.501361 target range: 99.077591 and range: 99.10 m.hE-Y?hIhIhIhIgIgIjgQrgQeQreQZeQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791:ea*ee+?频ɢ̸;) z=i)q8:顙iD9i-Y?Ü=n=I-Y?IQ@Q @Q@U/@Q ^AU=IIO>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258707E  E E 3E "E :*E :VE 4ZE a @a @a @a @a '#,7LAR~>Rz>RT;ٱR=RH#?#P޿z?x? ?sʵ)6b@?@?iR~>IRЎ\;RCYfByfIB">BCBIBBB- =B/DBBY;B3hEiMb@Mb@Mb@ 9T㥛 ?Mb?Mb`Y?y=@ fA)AYAbDVDO8y%8=ٔNQ->9Y='EybDmFE>Q 54?Q 94/=)YH?Q E:yJ?Q I@DIV:i:[W4yBɮA1:iDNOT Ignoring new targets: 99.08 m."ibh*ibh ProNav: ac range: 99.077591 m, nav range: 98.041618 m, bearing: 31.425538 deg, approach rate: -0.482960 m/s, LOS rate: -0.003174 deg/s, cmd heading: 28.725853 deg, new cmd heading: 28.722960 deg. i蹸HeadingCmd: 0.501310 target range: 99.077591 and range: 99.10 m.hU?hhhhggjgrgBe re Ze :e *eU?颽̀Bɢ&;) :=i)6:is{i U? w= I U?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887a@ @@@@=@=ԉ^A =A A >Ii Iy O >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675'#, LAFL>F>F%;ٱFA=FH@Q%?J޿`K?`Ws?@?@D d??iFL>IF\;FCYRByRIbDZVDZk8ybt=%b\=ٔfQ:Q-f>9dYd=j'EyjjDjƅEj>lQ 5r4n"?Q 9r4n:)lYtyv1?Q Iv@nDIn2:in:n]4yxɮzAx:iDNOT Ignoring new targets: 99.08 m."i%y*i%y5 ProNav: ac range: 99.077591 m, nav range: 97.854218 m, bearing: 31.424345 deg, approach rate: -0.534560 m/s, LOS rate: -0.003409 deg/s, cmd heading: 28.722960 deg, new cmd heading: 28.720571 deg. i5Ǹ=HeadingCmd: 0.501269 target range: 99.077591 and range: 99.10 m.D==D9EE EEEAEA"EE;*EE]t:VEAZEABEEA '#,(LA2 >2>2*;ٱ2Pl=2H@&?E޿֨?`wn??2@^ep?`*?i2 >I2 z\;2CY:By:IieMb@Mb@Mb@aaaa a9e r?l?Mb`Ye?ye=ae@e| A eA)e|AaYeAbDؿVD8y%==ٔX9Q->9Y='EysDLE>Q 54?Q 94j7)Y?Q E:yB?Q I@DIw:i_:he4yÓBɮAE:iDNOT Ignoring new targets: 99.08 m."i&Ҹ*i&Ҹ ProNav: ac range: 99.077591 m, nav range: 97.631142 m, bearing: 31.421863 deg, approach rate: -0.514811 m/s, LOS rate: -0.005741 deg/s, cmd heading: 28.720570 deg, new cmd heading: 28.715594 deg. i(HeadingCmd: 0.501182 target range: 99.077591 and range: 99.10 m.hqM?h!h!h!h!g!g!jg)rg-Be)re)Ze):e1*e5T@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803ɢ ;) l=i):)1i5'.i5qM?=H==ia=I=qM?I9E] E]E]2EY"E];*E]M:VE]4ZEYae@ae@ae@am@9@ @@?0@!AqAqB}#>B}CB}IB}BB}/ =B}0DByB};B}hE^A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519483A9 IA IY Oe >'#,KBLA2h>2T>2*;ٱ23=2H'?D޿Ψ?`m??_ 8\elܸ?@@?i2h>I2\;2CY>By>IIB=)Bp;bDJܿVDJ8yNn+<%R\=ٔRY/Q-R>9TYT=V'EyVzDVcEV>XQ 5^4ZƇ?Q 9b4Z4)XY`yb<?Q Ib@ZDIZ:iZi:Zk4ydɮfAh:ixzDNOT Ignoring new targets: 99.08 m."i~Ҹ*i~Ҹ  ProNav: ac range: 99.077591 m, nav range: 97.440514 m, bearing: 31.419744 deg, approach rate: -0.515449 m/s, LOS rate: -0.005741 deg/s, cmd heading: 28.715594 deg, new cmd heading: 28.711348 deg. i (HeadingCmd: 0.501108 target range: 99.077591 and range: 99.10 m.hH?hhhhgg!jg!rg!e!re)Ze):e)*e-`p@ɢX;) {=i)P:iiH?ﰜ= I H?I Q9@ @@05@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770697yDQzDU@AE] E]E]3EY"E]:*E]Z:VE]4ZEYBE]>'#,\LA6'>6>61;ٱ6~3=6H '?@qA޿ب?`j?@?>f]ܸ???i6'>I6n\;4@YBByBIbDN޿VDN8yV;%VJ=ٔV9Q-V>9XYX=Z'EyZDZE^>`Q 5b4bbՇ?Q 9f4b1)`Ydyf.?Q If@bDIb::ibG:br4yjœBɮnAnEzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 99.08 m."i eи*i eи ProNav: ac range: 99.077591 m, nav range: 97.231720 m, bearing: 31.417439 deg, approach rate: -0.514681 m/s, LOS rate: -0.005694 deg/s, cmd heading: 28.711349 deg, new cmd heading: 28.706730 deg. i&%HeadingCmd: 0.501027 target range: 99.077591 and range: 99.10 m.h%MC?h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5`[1 @EBDAT read: Rx Time:01:16:44.3306 MTRx dataTimestamp_ set to:1764897405.488704Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023925qɢu.C;)y }=iy)}Q:yyiiMC?6=R=IMC?I9@ @@)1@Թ^Av=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026AI IY Ii Ou > bEe4jEɯ4rEɞ/Em  Em Em 1Ei "Em &:*Em ~:VEm -4ZEi a} @a} @a} @a} @'#,vLAJ%>J>J-;ٱJ1=JH&? E޿M?n?@?ĵ@e`?x?iJ%>IJ̠\;HYRByRIlB%>B!B%IB%BB!B!B%vDB%;B%hEiMb@Mb@Mb@ 9jt? rh?MbPY?yC =@ )YAbDVD8y*j%)=ٔ Q->9Y!=%'Ey%D%9:E%>IQ 5U4M懊?Q 9U4MP.)IY]?Q E]:y]?Q I]@MDIMQ:iM:M|{4yeBɮeiAE:iDNOT Ignoring new targets: 99.08 m."iʜ*iʜ ProNav: ac range: 99.077591 m, nav range: 96.985596 m, bearing: 31.415320 deg, approach rate: -0.496152 m/s, LOS rate: -0.004284 deg/s, cmd heading: 28.706728 deg, new cmd heading: 28.702478 deg. iHeadingCmd: 0.500953 target range: 99.077591 and range: 99.10 m.hq>?hhhhggjgrgBereZe!:e!*e-3@uDAT read: 01:16:44.3305 LVL= 32752, 31441, 30882, 32755, AGC= 68, IDX= 411, 0.26,-1.399,-3.100,-1.376,-1.859, PHS= 0.562,-1.196, 0.439, RAW= 146.4, 2.3, CAL= 145.8, 2.4, ROT= 4.2, -2.4 }Ygot valid direction response: 01:16:44.3305 LVL= 32752, 31441, 30882, 32755, AGC= 68, IDX= 411, 0.26,-1.399,-3.100,-1.376,-1.859, PHS= 0.562,-1.196, 0.439, RAW= 146.4, 2.3, CAL= 145.8, 2.4, ROT= 4.2, -2.4 PDAT read: Bearing 181.1, 4.1 (Local) ~Local bearing/azimuth received: Bearing 181.1, 4.1 (Local) DAT read: Range 11 to 50 : 97.1 m (Round-trip 129.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996440,0.073174,0.041876]Fpublishing direction and range infoyIMNn?$F4? ۷p?YM3BIIMzMx I)IIM;?iMM>MƇ#@Ml$=M4"@ M+=)MQ =IM+IIMT/?p? ɵ? M>)MR &IMQ =iM+IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1ɢ=+;)9 =e=iy)}:顁i-iq>?'=S=Iq>?I9@ @@@5@@%=@!9a ^A= H= *DAT read: user:142>  BDAT read: Tx time:01:16:45.5953  $Ping request sent. '#,LAFa>FO>Fa1;ٱF=FH &?C޿W,?Wm??`Gֵ`j:f1?2?iFa>IFZ\;DY^By^I dfAbDrVDrư8y~˼%~M=ٔ4=9Q->9 Y = 'Ey DxE>!Q 554%7?Q 954%+)%KBY9y=?Q I=@%DI%h;i%|;%o4yUBɮUAUEiyi}{LAj})B"j})B:j},t?Rj}y/X@MpWj@{ ZB@Bj}Nn?$F4? ۷p?*j}Q =2j}+Zj}6, '#,rLA2p>2^>2.;ٱ2,=2H'?e@޿Y#?i?? ׵e@+1?5?i2p>I2i\;2CY>ހBy>IZchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502608i Mb@Mb@Mb@     9 x&1?Q?Mb`?Y ?y \= ; @  A fA)  Y 3AbD%VD%8y=W%=F=ٔ=#Q-=>9E ?YE ?=E'EyEDM]EM>QQ 5]4U?Q 9]4U()QY]?Q E]:y]D?Q I]@UDIU:iU:U4yiɮmAiE- E-E-3E)"E-:*E-~:VE-4ZE)a5@a5@a5@a5@:iaeDNOT Ignoring new targets: 97.08 m."imu*imu} ProNav: ac range: 97.081665 m, nav range: 96.596039 m, bearing: 31.619926 deg, approach rate: -0.485280 m/s, LOS rate: -0.003359 deg/s, cmd heading: 28.699072 deg, new cmd heading: 28.696186 deg. i}ĸHeadingCmd: 0.500843 target range: 97.081665 and range: 97.10 m.h>7?hhhhggjgrgBereZe:e*e?Yɢ]҃;)Y ]`=ia)e:aaieim>7?mk=mcV=Im>7?IqBAp<B%>B!B!B!B%2 =B!B!B%;;B%iE @  @ @ "4@  yy8GGyA MA=@9=GyAY=ܢAechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754595 ^A =AE ؟AI IQ Ia Ou >'#,+ȟLA>Ս>>j>>Tj+;ٱ>d7=>H@(? =޿F?@@f?? ȵHme ?w?i>Ս>I>0\;>CYFByFIbDRVDR8yZC=%ZR=ٔZQ-Z>9^"?Y^"?=^'Ey^D^(,Eb>`Q 5f4b&?Q 9j4b%)bLBYhyj4?Q Ij@bDIb:ibQ;bm4yndBɮnArE:iDNOT Ignoring new targets: 97.08 m."i *i  ProNav: ac range: 97.081665 m, nav range: 96.398338 m, bearing: 31.618584 deg, approach rate: -0.545051 m/s, LOS rate: -0.003707 deg/s, cmd heading: 28.696186 deg, new cmd heading: 28.693497 deg. iٸ%HeadingCmd: 0.500796 target range: 97.081665 and range: 97.10 m.h%+4?h!h!h!h!g)g)jg1rg1e1re1Ze1:e1*e=@?aɢe;)a e]=ii)mh:iiimiu+4?u=u=I}+4?Iy%9@! @!@%/@!@-zA@-yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007236E EE1E"E ;*E1:VE-4ZEBE}TU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258525+'#,=F⟌LA4<ɰ Y~By~IbD VD 8y L%%D=ٔ%Q-%>9- ?Y- ?=-'Ey-D-E->1Q 5u452!?Q 9}45")5MBYyyyQ I}@5ƒDI5B B B B 1 =B B wDB e;B GiEBCBCBʓCB/ =B0 =C5A I I O >'#,LA26>2>2;ٱ2=2H%?SG޿%?p??E 7bX??i26>I2V\;2CY:By>Ii~Mb@Mb@Mb@|||| |9~}?5^I?L7A`?Y~M?y~+=~~@~ A |)||Y|bDVD8y%;%%?=ٔ-6Q-->91Y1=5'Ey5D5v:E5>9Q 5E4=0?Q 9M4=)=NBYM?Q EM:yMc?Q IM@=ɃDI=v;i=;=+4yQɮ]AYuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762633:iDNOT Ignoring new targets: 97.08 m."ix5*i%x55 ProNav: ac range: 97.081665 m, nav range: 95.969238 m, bearing: 31.616066 deg, approach rate: -0.499786 m/s, LOS rate: -0.002479 deg/s, cmd heading: 28.690613 deg, new cmd heading: 28.688451 deg. i5,=HeadingCmd: 0.500708 target range: 97.081665 and range: 97.10 m.h=e.?h9h9h9h9g9gajgargeBeireiZei:ei*emcd@颹ɢ~;) xU=i):i?ui e.? = q=I e.?I!9@ @@@I^Ai! I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015747y E  E E 2E "E :*E ~:VE 4ZE BE H85(#,DLA02>2>2#;ٱ2=2H`&?@C޿pF?m?5? `A~d@f??i2>I2V\;0YbBybIbDjVDj8yrn;%rP=ٔr9Q-r>9v"?Yv"?=v'EyvDz} Ez>|Q 54~??Q 94~)|YyV?Q I@~σDI~;i~:~4yɮA:i1=DNOT Ignoring new targets: 97.08 m."i="=*iE"=M ProNav: ac range: 97.081665 m, nav range: 95.768829 m, bearing: 31.615095 deg, approach rate: -0.532022 m/s, LOS rate: -0.002584 deg/s, cmd heading: 28.688451 deg, new cmd heading: 28.686504 deg. iMNUHeadingCmd: 0.500674 target range: 97.081665 and range: 97.10 m.hU+,?hQhQhYhYgYgYjgargaeareaZea:ei*emW@颹ɢ;) e=i)a:i;i+,?==I+,?II)i@q @q@u/@qԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266641Թ^A=A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519014m (#,O 1LA2 >2>2{;ٱ2=2H'?@B޿$;?l? a?@.;c 1n?@u?i2 >I2\;0Y8y<\iMb@Mb@Mb@ 9Mb?~jt?Mb`?Y?y<;@ A A)AY AEe EeEe/Ea"EeV:*Ee:VEeJ4ZEaam@am@au@au@ %=4=bDVD8ٔ@Q->9Y='EyƉD@E>Q 5E4O?Q 9E4)OBYM?Q EM:yM ?Q IM@փDIH;i?;4y}QBɮ}LAy:iDNOT Ignoring new targets: 97.08 m."iB8*iB8- ProNav: ac range: 97.081665 m, nav range: 95.547623 m, bearing: 31.616322 deg, approach rate: -0.479267 m/s, LOS rate: 0.002663 deg/s, cmd heading: 28.686504 deg, new cmd heading: 28.688963 deg. iM8UHeadingCmd: 0.500717 target range: 97.081665 and range: 97.10 m.hU.?hQhQhQhYgYgYjgYrgeBeareaZea:ea*em 5@A A ?AB$>BBIBBB0 =BBB;ByiE颕ʀBɢ;) k=i):顙iu4i.? =ʓ=I.?I]9@Y @Y@]/@Yichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770500ԁ ^A =Iy I O >N(#,CKLA2l>2\>2{;ٱ2=2H'?5@޿/?i?`?`b@Mn?@u?i2l>I2\;2CY:By>IbDFVDF8yN';%N<ٔNeQ-R>9PYP=R'EyRΉDV EV>XQ 5^4Z^\?Q 9^4Zx)XY\y^ ?Q Ib@Z܃DIZ+;iZI;Z&4yfRBɮf@AfE:itzDNOT Ignoring new targets: 97.08 m."i~|^8*i~|^8 ProNav: ac range: 97.081665 m, nav range: 95.362831 m, bearing: 31.617372 deg, approach rate: -0.533537 m/s, LOS rate: 0.003039 deg/s, cmd heading: 28.688963 deg, new cmd heading: 28.691068 deg. i 8=HeadingCmd: 0.500754 target range: 97.081665 and range: 97.10 m.h=c1?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM @ɀBɢ~;) ̀=i)';iic1? >= [=I c1?I1BDAT read: Rx Time:01:16:48.1264 TRx dataTimestamp_ set to:1764897409.269457checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0247389@ @@*1@D!zD!E- E-E-0E)"E-D:*E-:VE-4ZE)BE-2e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274508ԙ l(#,XeLA2>2x4>2;ٱ2=2Hx*?6޿ B?G`??l `S?bX??i2>I2:\;0Y:By:IbDF'VDFа8yJE<%JK=ٔNƸQ-N>9PYP=R'EyR։DRJںEV>TQ 5Z4Vj?Q 9Z4V)VPBY\y^ ?Q I=@VDIVPwV= d=)Id~c?iv!i?#? >)#WIidT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@0@@yA@zAEE EEEAEA"EE:*EE~:VEAZEAaM@aU@aU@aU@B '>B CB B B B B B ;B iE^A H=A zA wA Ia Iy O >q(#,H3LA;ɰ4<2`>2Q#>2_;ٱ2FY=2H@*?4޿`)?c^? h? 4 @c t`??i2`>I2\;0YNByPIV=)V=%*DAT read: user:143> -BDAT read: Tx time:01:16:49.3453 -$Ping request sent.-9Y='EyD萹E>Q 54P|?Q 94Z)RBY?Q E:y?Q I@DI3$%(#,LݘLA23~>2$>2)i;ٱ2G{=2H`u+?2޿"?`\? ?$ c d??i23~>I2w\;2CY:By:IbDFVDF8yj[=%jq=ٔnjQ-r?9xY|=~'EyD9E ? Q 54 戈?Q 94 ) SBYy?Q I@ DI  ;i ; w4y%DBɮ-bA-E:iIUDNOT Ignoring new targets: 95.18 m."iUO7*iUO7e ProNav: ac range: 95.183823 m, nav range: 94.833862 m, bearing: 32.189763 deg, approach rate: -0.543498 m/s, LOS rate: 0.001423 deg/s, cmd heading: 28.696278 deg, new cmd heading: 28.697200 deg. ie&8mHeadingCmd: 0.500861 target range: 95.183823 and range: 95.20 m.hmg8?hihihihqgqgqjgyrgyeyreyZey:e*eD?颭ǀBɢ "<)  =i)x ;顱iBig8?-q=蠑=Ig8?IQe9@i @i@m/@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503279y^AI I)OU>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754767,(#,LA2l>2>2g;ٱ2@=2H+? E1޿?Z?^ ?@`bn]?@?i2l>I2a\;2CYNByRIiMb@Mb@Mb@ 9x&1?Q?y&1|?Y?y\=`;@ A A)|AYAbD VD8y% Z%%7=ٔ%oAQ-->9)Y)=-'Ey-D5 E5>9Q 5E4=?Q 9E4= )=UBYE?Q EE:yM?Q IM@=DI=:i=k:=.4bE-4jE4rE8/EU EUEQEQ"EUf;*EUz:VEQZEQae@ae@ae@ae@yiɮmAmE:iDNOT Ignoring new targets: 95.18 m."ik5*ik5 ProNav: ac range: 95.183823 m, nav range: 94.609917 m, bearing: 32.189806 deg, approach rate: -0.504295 m/s, LOS rate: 0.000097 deg/s, cmd heading: 28.697200 deg, new cmd heading: 28.697286 deg. i"56HeadingCmd: 0.500862 target range: 95.183823 and range: 95.20 m.h8?Աhhhhggjgrg€BereZe:e*e@ڿ?BA<B(>BBIBBB- =B/DBxDB;BiEƀBɢ֏;) Ȓ=i);ii8?wj=d=I8?I@ @@@@@=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006723 ^A ~4=A A >A5 .A9 IA IQ Oe >3(#,̠LA22>2>2 3/;ٱ2v=2H-?@)޿a?GT?@ ?T%_e?-?i22>I2Lx\;2CYfByfI hjAbDrVDr8yzb=%z_=ٔz:Q-z>9~ ?Y~ ?=~'Ey~D~ƞE>Q 5 4!?Q 94* )WBYy?Q I@DI0;i;4yɮ%wA!:iAEDNOT Ignoring new targets: 95.18 m."iM6*iM6] ProNav: ac range: 95.183823 m, nav range: 94.424156 m, bearing: 32.189893 deg, approach rate: -0.510848 m/s, LOS rate: 0.000240 deg/s, cmd heading: 28.697286 deg, new cmd heading: 28.697460 deg. i]6eHeadingCmd: 0.500865 target range: 95.183823 and range: 95.20 m.he8?hahahahagigijgqrgqeqreqZeq:eq*e}?颡ɢZ0<)  =i)! ;顩iki8?e=A=I8?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259724%9@! @)@-/@)E5 E5E52E1"E52:*E5:VE54ZE1BE5-*] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510737%9(#,l^栌LA 2&>2>2 >;ٱ2"=2H .?(޿@R?R? ? ^`4gY??i2&>I2\;2CYRByVIbDbVDb8yj<%jM=ٔn:Q-n>9lYp=r'EyrDrnEr>tQ 5z4v?Q 9z4vV)vYBY|y~?Q I~@vDIv^;ivI;v4yEBɮ_A E%B*** querying acoustic contact ***i!i!:i)5DNOT Ignoring new targets: 95.18 m."i56*i56E ProNav: ac range: 95.183823 m, nav range: 94.221809 m, bearing: 32.189998 deg, approach rate: -0.506628 m/s, LOS rate: 0.000263 deg/s, cmd heading: 28.697460 deg, new cmd heading: 28.697670 deg. iM6MHeadingCmd: 0.500869 target range: 95.183823 and range: 95.20 m.hM8?hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee ?ŀBɢ5u<)9 ==i9)Eߜ;AIiM i8?_=w=I8?Iy9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862ԙE EE1E"E:*Ez:VE-4ZEa@a@a@a@^A ~4=B ">B CB IB BB 1 =B 0DB wDB ;B iE G {A A5 b95 {AY5 ȜAA= ؟AIA IY Oe > @(#,~9LA22>2>2VD;ٱ29=2H`-?)޿Z?KT? w ?hT??i22>I2m\;2CYJByNIP%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825i]Mb@Mb@Mb@YYYY Y9]w/?X9v?Mb`?Y]?y]<];]@] A Y)]AYY]\AbDu VDu8y$%@=ٔOl9Q->9"?Y"?='EyD'c9E>Q 54Ĉ?Q 94;)Y%?Q E:yC ?Q I@ DI:i:4yɮA:iDNOT Ignoring new targets: 95.18 m."il8*il8 ProNav: ac range: 95.183823 m, nav range: 93.996712 m, bearing: 32.191373 deg, approach rate: -0.528269 m/s, LOS rate: 0.003235 deg/s, cmd heading: 28.697672 deg, new cmd heading: 28.700429 deg. iz8HeadingCmd: 0.500917 target range: 95.183823 and range: 95.20 m.h<?hhhhggjgrgĀBe re Ze :e *e `a@=ĀBɢ=xV<)9 ==iA)Ev;AAiEqiM<?MX=M%=IM<?IQIY)]wA @  @ @ @ @xA@xA^A5=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849! Aa Iq I O >E  E E 2E "E :*E x:VE 4ZE BE .N̳>NPS;ٱNd=NHC.?'޿o?@R?` ?@ ijq?@d?iN>IN \;NCYVByVIIZ4>)Z<\\bDbտVDb8yjږ=%jV=ٔn:Q-n>9lYl=r'EyrDrйEr>tQ 5z4v+ӈ?Q 9z4vt)vZBYxy~8 ?Q I~@|vDIv&;iv*(;v4y FBɮ )A :i)5DNOT Ignoring new targets: 95.18 m."i5q8*i5q8E ProNav: ac range: 95.183823 m, nav range: 93.795380 m, bearing: 32.192628 deg, approach rate: -0.527219 m/s, LOS rate: 0.003293 deg/s, cmd heading: 28.700428 deg, new cmd heading: 28.702943 deg. iM8MHeadingCmd: 0.500961 target range: 95.183823 and range: 95.20 m.hM>?hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee@p@颉ɢ5<) =i)q%;顑ii>?S=#%=I>?I59@1 @1@5<0@15checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188301^AUH=YA I I O= >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770772bL(#,3LAR >R>R>\;ٱRL~=RHv.?J&޿f?ZQ?7 ?@`k e?@?iR >IRH\;RCYfByfIYEm EmEm1Ei"Em&:*Em~:VEm-4ZEiau@au@au@au@iMb@Mb@Mb@ 9~jt?~jt?MbP?Y?y=:@A |A)|AY3AbD5VD58yEKH%E5=ٔE9Q-E>9IYI=M'EyMDM EU>YQ 5e4]㈊?Q 9e4]')][BYe?Q Ee:ye?Q Ie@]DI]:i]:]4yqɮuAq:iDNOT Ignoring new targets: 95.18 m."i/ķ*i/ķA1A5@AB=/>B=CB=IB=BB=0 =B9B=xDB=;B=iEBCBCBB0 =BC5  ProNav: ac range: 95.183823 m, nav range: 93.561279 m, bearing: 32.192010 deg, approach rate: -0.506384 m/s, LOS rate: -0.001340 deg/s, cmd heading: 28.702944 deg, new cmd heading: 28.701706 deg. iU]HeadingCmd: 0.500939 target range: 95.183823 and range: 95.20 m.h]=?hYhYhahagagajgargm€BeireZe:e*e`= @ÀBɢ<) =i)+;id8i=?K=I=?Iԉ@ @@0@=BDAT read: Rx Time:01:16:51.8739 ETRx dataTimestamp_ set to:1764897413.048595Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023863Ա^Am {= A .AI I O >IS(#,!MLAB>B>B0o;ٱB1=BH .?#޿`#?MP? ? <8!m?`v?iB>IB\;BCYNByNIbDVVDV8y^rG%^g=ٔbU:Q-b>9b ?Yb ?=b'Eyf DfNVEf>hQ 5n4j?Q 9n4j)hYpyr?Q Ir@jDIj:ij;j4yvGBɮvAvE:iDNOT Ignoring new targets: 95.18 m."iͷ*iͷ- ProNav: ac range: 95.183823 m, nav range: 93.377373 m, bearing: 32.191532 deg, approach rate: -0.537875 m/s, LOS rate: -0.001401 deg/s, cmd heading: 28.701705 deg, new cmd heading: 28.700747 deg. i-$5HeadingCmd: 0.500923 target range: 95.183823 and range: 95.20 m.h5u<?h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eE@ @iɢuM$<)q u=iqԹ)uת/;iiu<?M O$@M 'g=M Ƈ#@ M C=)M =IM CI I M J/n? ?`[? M >)M GIM =iM CI I  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A= ؟Aԉ I I O >KzY(#,gLAZ.V>Z>Z7v;ٱZg=ZH,?`*޿?:?@,X?/ ?mU`n?@?iZ.V>IZ3\;ZCYfByfI bDEVDE8y]ṻ%]2=ٔ]k`9Q-e>9e"?Ye"?=e'Eye)Db:E>Q 54@?Q 94)\BYy?Q I@&DI;i$;4y1ɮ=A9iiimScLAjmB"jmB:jm ?RjmH1?7W@i^@@BjmeJF?2? M?*jm=2jmCZjm BQS@A,zHH@!dFK@JjmvS8?x;?:y߲?jmCBB jmBim ?imڹjmBjijijirjmDBzjmw? addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 3.779223 s, deltaX: -1.899994 m, approachRate: -0.502747 m/s, rangeRepo size: 4  Added new target pos. range: 93.285576 m, bearing: 31.469151 deg, lat: 36.779502 deg, lon: -121.859740 deg, deltaT: 3.779223 s, deltaX: -1.898247 m, approachRate: -0.502285 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 93.29 m."i*i1E ProNav: ac range: 93.285576 m, nav range: 93.133331 m, bearing: 32.190813 deg, approach rate: 0.000000 m/s, LOS rate: -0.001401 deg/s, cmd heading: 28.700745 deg, new cmd heading: 28.699276 deg. iAMHeadingCmd: 0.500897 target range: 93.285576 and range: 93.30 m.hM:?hIhIhIhQgQgQjgQrgYeYreYZeY:e]@3SW@*ee W?*DAT read: user:144> BDAT read: Tx time:01:16:53.1453 $Ping request sent.= =I:?IEu EuEu1Eq"Eu;*Eu&p:VEu-4ZEqa@a@a@a@9@ @@/0@aB- 8>B- CB) B) B- . =B- /DB- yDB- ;B- iEԉ ^A =U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251516A .AI IOU>aa(#,˅LA42'R>2>2{;ٱ2=2H,?@/*޿@#R?W?+ ?`0`{o?@?i2'R>I2\;2CY>By>Ii Mb@Mb@Mb@     9 MbX9?J +?~jth?Y ?y H= D; @ " A A) A Y AbD%VD%8y5U<%5==ٔ5Q9Q-=>9= ?Y= ?=='Ey=2DEEE>IQ 5U4MA?Q 9U4M)M]BYUf?Q EU:y]?Q I]@M-DIM:iMR:MJ 4yHBɮAEB*** querying acoustic contact ***ii:i)-DNOT Ignoring new targets: 93.29 m."i5x+*i5x+e ProNav: ac range: 93.285576 m, nav range: 92.919212 m, bearing: 32.187200 deg, approach rate: -0.553859 m/s, LOS rate: -0.009369 deg/s, cmd heading: 28.699277 deg, new cmd heading: 28.692032 deg. ie-mHeadingCmd: 0.500770 target range: 93.285576 and range: 93.30 m.hm~2?hihihihigigqjgqrguրBeqreyZey:ey*e?€Bɢ$<) x=i)o';;iyi~2?69==I~2?Iԙu9@q @q@u05@qiߡIߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503048Du=Du<E EE3E"E:*Ez:VE4ZEBE<g(#,qtLA:^N>:P>:g;ٱ:$=:H,?*޿`6?QW?@ ?@psl ??i:^N>I: \;:CYFByFIbDNVDN8yVJ%VU=ٔZOQ-Z>9Z"?YZ"?=^(Ey^:D^E^>`Q 5f4b?Q 9f4b )b^BYhyj?Q Ij@b3DIb`:ib:b4lypɮrAp:i DNOT Ignoring new targets: 93.29 m."i &*i&% ProNav: ac range: 93.285576 m, nav range: 92.723816 m, bearing: 32.183891 deg, approach rate: -0.536985 m/s, LOS rate: -0.009112 deg/s, cmd heading: 28.692033 deg, new cmd heading: 28.685402 deg. i%h-HeadingCmd: 0.500655 target range: 93.285576 and range: 93.30 m.h-*?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e= X?aɢm<)i m=ii)mo>;iqiuYiu*?}24=}2=I}*?Iy%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.75550359@1 @1@=/@9 9^A}~4= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006782A I I OM >q E  E E /E "E :*E :VE J4ZE a @a @a @a @m(#, PLAɰp;2E">26>2Yp;ٱ2.=2H '.? #%޿2>?@vR?u ? j; n@i?`?i2E">I2k\;0YNByRIBpApBv=>Bv CBvIBvBBv, =BtBvzDBv;BviE9iMb@Mb@Mb@ 9{Gz?Zd;O?Mbp?Y?yj<=;@ fA)|AYAbDVD8y<%:=ٔ 9Q->9Y=(EyCDHE>Q 54.?Q 94)`BY^?Q E:y?Q I@;DI/:i:4y9Bɮ>AܧE:iDNOT Ignoring new targets: 93.29 m."i*i縝- ProNav: ac range: 93.285576 m, nav range: 92.496994 m, bearing: 32.181122 deg, approach rate: -0.517552 m/s, LOS rate: -0.006334 deg/s, cmd heading: 28.685401 deg, new cmd heading: 28.679849 deg. i-v95HeadingCmd: 0.500558 target range: 93.285576 and range: 93.30 m.h5$?h1h1h1h9g9g9jg9rg=ȀBeAreAZeA:eA*eM@?qɢu<)q }ܼ=iy)}e.D;yyi}&i$?-==I$?Ii@ @@@@@@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258834ԑAa Ii Iy O > t(#,-ӡLA22>2>2};ٱ2v]=2H-?@U'޿$?@FT? ?5ov?b?i22>I2\;2CY:By:IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511414bDZVDZ8yfм%j[=ٔj :Q-j>9hYl=r(EyrJDvL9Ev>xQ 54z5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627899 wz(#,LA2)>2>2;ٱ2H_=2H`-? A&޿L,?@BS?` ? p7qנ??i2)>I2(\;2ߑCYJByJIbDVVDV8yZ<%^L=ٔ^XZ:Q-^>9`Y`=b(EybRDf6Ef>dQ 5j4f!K?Q 9n4f)fbBYlyn?Q In@fGDIf;if;f3&4yxɮ~LA:iDNOT Ignoring new targets: 93.29 m."iҸ*iҸ ProNav: ac range: 93.285576 m, nav range: 92.096565 m, bearing: 32.176174 deg, approach rate: -0.464434 m/s, LOS rate: -0.005756 deg/s, cmd heading: 28.675050 deg, new cmd heading: 28.669929 deg. i(HeadingCmd: 0.500385 target range: 93.285576 and range: 93.30 m.h5?h!h!h!h!g!g!jg)rg)eIreIZeQ:eQ*eU@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015993 ɢ I]<) x=i)M;i@i%5?M!=M=IM5?IQI)xAAbEjE-4rE/Em EiEm2Ei"Em:*EiVEm4ZEiau@au@au@a}@@ @@/@B?>BBIBBB- =BBBϬ;BiEiA.AIIO>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266810ԙ (#,LA2+>2>29;ٱ2R=2H@-?@%޿@V?wS?@{ ? +rG??i2+>I2Н\;2CBPExceeded connect timeout, disconnecting.YBByFIiUMb@Mb@Mb@QQQQ Q9Ux&1?Mb?YU?yU@=UQQ U|A)UAQYUAbDmVDm8y}kZ%>=ٔh:Q->9 ?Y ?=(Ey[D8E>Q 54rZ?Q 94)cBY?Q E:y?Q I@NDI:i:-4y;BɮAާEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 93.29 m."iD*iD ProNav: ac range: 93.285576 m, nav range: 91.878494 m, bearing: 32.172878 deg, approach rate: -0.574585 m/s, LOS rate: -0.008703 deg/s, cmd heading: 28.669927 deg, new cmd heading: 28.663322 deg. i~HeadingCmd: 0.500269 target range: 93.285576 and range: 93.30 m.h?hhhhggjgrgˀBere Ze :e *e '@=ÀBɢ= <)9 =̈=i9)=P;AAiEiE?M=MQ=IM?IIqA@A @A@A@AԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520048AIIO>Dm=Dm<E} E}E}/Ey"E}:*E}~:VE}J4ZEyBE}<2>2M;ٱ2O.=2H H.?$޿g?`Q? ?`s@? ?i2>I2ϑ\;2CYNByRIbDZVDZ8yb%bW=ٔbs:Q-f>9dYd=f(EyfbDjuEj>lQ 5r4nh?Q 9r4n)lYpyr?Q Iv@nUDIn;inI;nW44yxɮzAx:iDNOT Ignoring new targets: 93.29 m."i *i% - ProNav: ac range: 93.285576 m, nav range: 91.685509 m, bearing: 32.169963 deg, approach rate: -0.509009 m/s, LOS rate: -0.007706 deg/s, cmd heading: 28.663323 deg, new cmd heading: 28.657480 deg. i5a5HeadingCmd: 0.500167 target range: 93.285576 and range: 93.30 m.h5 ?h1h9hhggjgrgereZe:e*e#@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770926ɢ%K;)! %r=i!)% T;))i-i- ?5C=5;=I ?I)@) @)@-/@)^AIҔ=AzAzA)  BDAT read: Rx Time:01:16:55.6713  TRx dataTimestamp_ set to:1764897416.830507 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026524AA II E  E E 2E "E :*E &p:VE 4ZE a @a @a @a @I O >Q x(#,0:LAA<A>AABBD>B@BBIBBBBB+ =B@B@BB;BBiE rv>tYـBy{IMG]/{Aqb9/{AYYAy=?=AiMb@Mb@Mb@ 9NbX9?I +?Y?y94=9 A )AY(AbDVD8y %-=ٔQ->9Y=(EylDE>Q 54vy?Q 94)dBY?Q E:y?Q I@\DI ;i;<4y"(#,iTLARDAT read: 01:16:55.6713 LVL= 19440, 25841, 20018, 29811, AGC= 67, IDX= 413,-0.13,-3.062, 1.457,-3.018, 2.782, PHS= 0.541,-1.280, 0.439, RAW= 147.1, 3.4, CAL= 146.5, 3.6, ROT= 3.5, -3.6 ZYgot valid direction response: 01:16:55.6713 LVL= 19440, 25841, 20018, 29811, AGC= 67, IDX= 413,-0.13,-3.062, 1.457,-3.018, 2.782, PHS= 0.541,-1.280, 0.439, RAW= 147.1, 3.4, CAL= 146.5, 3.6, ROT= 3.5, -3.6 ^PDAT read: Bearing 182.4, 3.5 (Local) b~Local bearing/azimuth received: Bearing 182.4, 3.5 (Local) fDAT read: Range 11 to 50 : 91.4 m (Round-trip 121.9 ms) speed 0.4 m/s jR#Rx 1: Read range and direction messages.n\direction in FSK: [0.996165,0.060928,0.062791]nFpublishing direction and range infoy,.~ە?R$1?֏ ?Y.̶B,.K.d.2N .st).CI.~ ?i. ף.>,.s=._#@ .=).5z=I.,,.K^l?2l9%?J? .6>).OtI.5z=i.,,zT****** received valid address query ******zR****** received valid ping request ******~Querying Benthos address 50 with one ping in standard two-way mode.Eu>Ej?>E9 ;ٱEg=EH *?82޿|۪?ga? :? )@t??iEu>IEC\;AYuՀByuvII}=)};bDVD8y%V=ٔY:Q->9"?Y%"?=%(Ey%tDE- E-E-6E)"E-:*E-|:VE-c4ZE)BE-<IQ 5U4M?Q 9U4M)IYYy] ?Q I]@McDIM:iM:MSC4yɮ7Ai,i.xBULAj.ǶB"j.ǶB:j.+ ?Rj. ΅V@g!E@]˺#@Bj.~ە?R$1?֏ ?*j.5z=2j.Zj.SږAsS@&VQG@t$;@Jj.|Q=?A:m?%׿6D?j.b>B j.Bi.L<#?i.Q)j.sBj. ?j.Q)j.sBrj.YBzj.Y ?U addTargetRange:: Added new target pos. range: 91.400002 m, deltaT: 3.780189 s, deltaX: -1.900002 m, approachRate: -0.502621 m/s, rangeRepo size: 4  Added new target pos. range: 91.389877 m, bearing: 31.457047 deg, lat: 36.779507 deg, lon: -121.859751 deg, deltaT: 3.780189 s, deltaX: -1.895699 m, approachRate: -0.501482 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 91.39 m."i*i ProNav: ac range: 91.389877 m, nav range: 91.174347 m, bearing: 31.468570 deg, approach rate: 0.000000 m/s, LOS rate: -0.005178 deg/s, cmd heading: 28.652592 deg, new cmd heading: 28.648343 deg. iHeadingCmd: 0.500008 target range: 91.389877 and range: 91.40 m.h?hhhhggjgrgereZe:eV@*e⮾?mĀBɢmɸ;)i m =iq)u؁X;qqiui? ==I?II@I @Q@U0@Q@]R=@]=I *DAT read: user:145> BDAT read: Tx time:01:16:56.8953 $Ping request sent.\(#,oLA>>>)>>,;ٱ>ݒ=>H*?/޿)? _??!+`eu??i>>I>؋\;>CYVԀByZtI\bDݿVD8y%B=ٔ59Q-=>9qYq=}(Ey}|D5ĹE>Q 54͗?Q 94Z)eBYy?Q I@jDIU;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251727iU;J4y=BɮLA:iAeDNOT Ignoring new targets: 91.39 m."iml4*iml4} ProNav: ac range: 91.389877 m, nav range: 90.946556 m, bearing: 31.464424 deg, approach rate: -0.540247 m/s, LOS rate: -0.009859 deg/s, cmd heading: 28.648344 deg, new cmd heading: 28.640030 deg. i}VHeadingCmd: 0.499863 target range: 91.389877 and range: 91.40 m.h>hhhhggjgrgereZe:e*e@v3?E EE/E"E:*E~:VEJ4ZEa@a@a@a@颹ɢV;) 4=,=I>IB:>BBxIB׀BB* =BByDBL;BPjEB CB CBB, =B, =Co5u9@y @y@}/0@y9  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503216^A =A >A >A .AI I) O5 >(#,;VLA2w>2 >2;ٱ2=2H +?-,޿u?[??-)u|?`?i2w>I2\;2CY>ʀBy>hIiMb@Mb@Mb@ 9Mb?V-?Mbp?Y?y<;@" A )AYAbDVD8y-,@%-J=ٔ-9Q-5>95 ?Y5 ?=5(Ey5D=E=>AQ 5M4E?Q 9M4E)AYM?Q EM:yU ?Q IU@EpDIE ;iE ;EQ4yYɮ]AYB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 91.39 m."i-*i-= ProNav: ac range: 91.389877 m, nav range: 90.752327 m, bearing: 31.464218 deg, approach rate: -0.496115 m/s, LOS rate: -0.000526 deg/s, cmd heading: 28.640030 deg, new cmd heading: 28.639618 deg. i=Jv=HeadingCmd: 0.499856 target range: 91.389877 and range: 91.40 m.hE>hAhAhAhAgAgIjgIrgMBeQreQZeQ:eQ*eUy?ŀBɢV2;) .=+=I>Iay@y @y@}05@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757109ԉE EE1E"E:*Ev:VE-4ZEBE&5ר(#,LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0065726>6&>6ڰ;ٱ6R=6H*?.޿V?^?`?+`Qv??i6>I6ˁ\;4TYj̀ByjkI r=r=bDv VDv8y~iD<%~N=ٔ8Q->9"?Y"?= (Ey D z:E >Q 54?Q 94)fBY!y% ?Q I%@wDI:is;X4y->Bɮ-A-E:iQUDNOT Ignoring new targets: 91.39 m."i]7*i]7m ProNav: ac range: 91.389877 m, nav range: 90.552963 m, bearing: 31.463981 deg, approach rate: -0.524770 m/s, LOS rate: -0.000625 deg/s, cmd heading: 28.639618 deg, new cmd heading: 28.639143 deg. imyuHeadingCmd: 0.499847 target range: 91.389877 and range: 91.40 m.hu>hqhqhqhqgqgqjgyrgyeyreZe:e*e)?颱ɢ⏑;) u=/=I>IU9@Q @Q@U/@Y^A~4=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259371A E  E E /E "E ;*E |:VE J4ZE a @a @a @a @I I O% >) B <A B 6>B CB fIB ȀBB . =B B B ;B jE(#,򾢌LA2mN>2b>2;ٱ2=2H,?@n'޿@ ?BW? ?$v@#??i2mN>I2\;2CY:ŀBy:bI|iMb@Mb@Mb@ 9)\(?{Gz?MbpYG?yף<@ fA)|AY AbD VD8y-%-G=ٔ-9Q-5>91Y1=5(Ey5D=ԤE=>AQ 5M4EÉ?Q 9M4E()EeBYMb?Q EM:yU?Q IU@E}DIE:iE_:E_4yɮA:iDNOT Ignoring new targets: 91.39 m."iC8*iC85 ProNav: ac range: 91.389877 m, nav range: 90.345695 m, bearing: 31.465960 deg, approach rate: -0.486171 m/s, LOS rate: 0.004652 deg/s, cmd heading: 28.639144 deg, new cmd heading: 28.643110 deg. i=59=HeadingCmd: 0.499917 target range: 91.389877 and range: 91.40 m.h=>hAhAhAhAgAgAjgIrgMBeIreIZeI:eQ*e/?ɢ>[;)  i)h[;iXuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889i >}=}=I}>I)%9@! @!@%/@!Q^AI AQ zAU vAԉ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762791IA IQ Oe >(#,FآLA2>2>2;ٱ2_=2HN.? !޿`?@Q?` ?(@v??i2>I2\;2CY:ÀBy:`IbDF׿VDF8yJ%JT=ٔNQ-N>ER ERER3EP"ERV:*ER:VER4ZEPBER9dQ 5j4fXщ?Q 9j4f)fdBYhyj?Q In@fDIf :Yif::ff4y1BɮmAקE:iDNOT Ignoring new targets: 91.39 m."i8*i8 ProNav: ac range: 91.389877 m, nav range: 90.149300 m, bearing: 31.467892 deg, approach rate: -0.500215 m/s, LOS rate: 0.004932 deg/s, cmd heading: 28.643110 deg, new cmd heading: 28.646983 deg. ii9HeadingCmd: 0.499984 target range: 91.389877 and range: 91.40 m.h>hhhhggjgrgereZe:e*e@ɢI;)  mi ) ;[;  i j_i> =A=I>II))-wA9@ @@@ԉ}p?ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884^AIq I O > (#,TLAE֌>Ek>E ;ٱEf=ԹEH`W0?`޿ ު?J? ? )u@i?@?iE֌>IEo\;ECchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268895YBy%\II-i>)-49Y=(EyDE>Q 54≊?Q 94Y)Y?Q E:E EE/E"E*EVEJ4ZEa@a@a@a@yo?Q I@DI =i =n4yɮA:i!%DNOT Ignoring new targets: 91.39 m."i-غ8*i-غ8= ProNav: ac range: 91.389877 m, nav range: 89.911072 m, bearing: 31.470363 deg, approach rate: -0.490805 m/s, LOS rate: 0.005105 deg/s, cmd heading: 28.646983 deg, new cmd heading: 28.651939 deg. i=z9EHeadingCmd: 0.500071 target range: 91.389877 and range: 91.40 m.hE?hAhAhAhIgIgIjgIrgUBeQreQZeQ:eQ*e]0@颁B->BCB_IBÀBBBBxDB;BjEɢ.o4;) `i)Z;i i?=8=I?I9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518624^A A >A ?A II IY Oe >(#, LA:&W>:>:;ٱ:=:H4? ޿ |ߪ?I:\;:CYFÀByF_IbDR VDR8yVS<%Vu=ٔZX:Q-Z?9XY\=^(Ey^D^>Eb?`Q 5f4b?Q 9f4b)bcBYhyj/?Q Ij@bDIb:ib:bt4ylɮrsAp:iDNOT Ignoring new targets: 91.39 m."i 8*i 8 ProNav: ac range: 91.389877 m, nav range: 89.742928 m, bearing: 31.472220 deg, approach rate: -0.556987 m/s, LOS rate: 0.006161 deg/s, cmd heading: 28.651940 deg, new cmd heading: 28.655660 deg. ii49%HeadingCmd: 0.500136 target range: 91.389877 and range: 91.40 m.h%?h!h!h!h)g)g)jg)rg)e1re1Ze1:e1*e58@aɢevA;)a eii)mFvZ;iiimYiu?u=u3P=Iu?Iy59@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770747AE EEE"E;*Ez:VEZEBEDqԙ %(#,>^&LA&BDAT read: Rx Time:01:16:59.4187 &TRx dataTimestamp_ set to:1764897420.608504*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023724fD>f>fY;ٱf9=fH4?O ޿?9?? w@۹??ifD>IfW\;dY%€By%^IbD5 VD58yE%EA=ٔM?9Q-M>9IYI=M(EyUDU׮EU>YQ 5e4]S?Q 9e4]C)YYiym&?Q Im@]DI]:i]:]|4yu2BɮuAuاEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 91.39 m."i=8*i=8 ProNav: ac range: 91.389877 m, nav range: 89.529907 m, bearing: 31.474601 deg, approach rate: -0.502870 m/s, LOS rate: 0.005635 deg/s, cmd heading: 28.655659 deg, new cmd heading: 28.660433 deg. i$9HeadingCmd: 0.500219 target range: 91.389877 and range: 91.40 m.hY?hhhhggjgrgereZe:e*e @y颙ɢKPC;) i)`)Z;顡i!iY?=.=IY?I@ @@/@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275815^AW=II O% >bEUJ4jEUə4rEUuf0E  E E E "E l;*E :VE ZE a @a @a @a @B ,>B CB YIB BB 0 =B 0DB B ;B jE (#,K@LAYy_I i=Mb@Mb@Mb@9999 99=?y&1?~jth?Y=?y=`e<=D;=@= A =A)=A9Y=AbDUVDU8ye:%e9=ٔeQ-e>9iYi=m(EymDuEu>yQ 5}4}{?Q 94}a)yY ?Q E:y?Q I@}DI}:i}];}ǃ4yɮ~A:iDNOT Ignoring new targets: 91.39 m."i19*i19uDAT read: 01:16:59.4187 LVL= 28528, 32753, 31138, 32755, AGC= 70, IDX= 419, 0.01, 0.695,-1.087, 0.739, 0.229, PHS= 0.568,-1.271, 0.466, RAW= 147.2, 2.7, CAL= 146.5, 2.8, ROT= 3.5, -2.8 }Ygot valid direction response: 01:16:59.4187 LVL= 28528, 32753, 31138, 32755, AGC= 70, IDX= 419, 0.01, 0.695,-1.087, 0.739, 0.229, PHS= 0.568,-1.271, 0.466, RAW= 147.2, 2.7, CAL= 146.5, 2.8, ROT= 3.5, -2.8 PDAT read: Bearing 181.6, 3.4 (Local) ~Local bearing/azimuth received: Bearing 181.6, 3.4 (Local) DAT read: Range 11 to 50 : 89.5 m (Round-trip 119.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996943,0.060976,0.048850]Fpublishing direction and range infoyIMX?$S\38?s!D?YMBIMpoMMy M)MFIMsh?iM!M>Ml$@MA=I M+H=)IIM+HIIMpo?ma1? Q? M>)Mj?IIiM+HIIT****** received valid address query ******R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.] ProNav: ac range: 91.389877 m, nav range: 89.309189 m, bearing: 31.478879 deg, approach rate: -0.500313 m/s, LOS rate: 0.009721 deg/s, cmd heading: 28.660433 deg, new cmd heading: 28.669011 deg. i]T9eHeadingCmd: 0.500369 target range: 91.389877 and range: 91.40 m.he)?hahahihigigijgqrguBeqreqZeq:eu`V@*e}?eĀBɢe`H;)a eia)mY;iiim7iu)?u2כ=u=Iu)?I@ @@/@I  *DAT read: user:146>  BDAT read: Tx time:01:17:00.6952  $Ping request sent. (#,5[LA2{>2>2T;ٱ2c=2H:?`)ݿ(? #?@"?w@2ι?@"?i2{>I2\;2CYVŀByVaIbDbVDb8yj9<%jW=ٔj;:Q-n>9lYl=n(EynƊDrEr>tQ 5z4vn?Q 9z4v)tYxy~?Q I~@vDIvj;iv#;vo4yBɮcA٧Eii(GLAjB"jB:j ?RjMV@8zb@@|@BjX?$S\38?s!D?*j2j+HZj6yj?S@Sq6G@y*p@Jj^IO?m,??m ?j9B jBi$DR@?ijBjjjnBrj I(#,uLAipIp~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505014H>>>'V;ٱ~=H>?ݿmΪ???*x༯??iH>I\;CYƀBycIiMb@Mb@Mb@ 9K7A?Q?Mb?Y ?yu<<" A A)AY(AbDVD8y`;E5 E5E53E1"E5V:*E5҆:VE54ZE1a=@a=@a=@a=@Bu->BuCBqBqBu. =Bu/DBqBu;BujE8GzAMA]s9ezAYeA%e0=ٔm 9Q-m>9iYi=m(EyuъDu_Eu>yQ 54}/?Q 94}u)}eBY?Q E:yj?Q I@}DI};i}:}4yɮZA:iDNOT Ignoring new targets: 89.49 m."i @9*i @9 ProNav: ac range: 89.485390 m, nav range: 88.854164 m, bearing: 31.488276 deg, approach rate: -0.503472 m/s, LOS rate: 0.010498 deg/s, cmd heading: 28.676495 deg, new cmd heading: 28.687531 deg. i9]HeadingCmd: 0.500692 target range: 89.485390 and range: 89.50 m.h]X-?hYhYhYhagagajgargeBeireiZei:ei*em@G?QɢUd9k;)Y ];iY)]+6Z;YYi]ieX-?eÛ=m'=ImX-?Ii @  @ @ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754620A ^Am =q I I O >R (#,LA> >>ȡ>>;ٱ>J=>H=?@ݿ ~??f?@w˹?)?i> >I>p\;>CYFˀByJjIN@ALbDRVDR8yZ<%Zc=ٔ^oQ-^?9\Y\=b(Eyb׊Db,9Eb?dQ 5j4f;?Q 9j4ft)ffBYlynm?Q In@fDIf:ifs;f֘4yrBɮr?Ap:i  DNOT Ignoring new targets: 89.49 m."i H9*i H9% ProNav: ac range: 89.485390 m, nav range: 88.700127 m, bearing: 31.491489 deg, approach rate: -0.523085 m/s, LOS rate: 0.010930 deg/s, cmd heading: 28.687532 deg, new cmd heading: 28.693970 deg. i%9-HeadingCmd: 0.500804 target range: 89.485390 and range: 89.50 m.h-4?h)h)h)h1g9g9jgArgAeIreIZeQ:eY*e]@r$?颭ÀBɢ$;) pA5?IIOA>E EE2E"Es:*EVE4ZEBEr0F>FIC;ٱFc=FHd>?ݿ*&?Z?`?$^Hy??iF>IF\;FCYVрByVqIbDfVDfɰ8ynp<%rH=ٔrD[:Q-r>9tYt=v(EyvDvŹEv>xQ 5~4zSJ?Q 94z)zgBYyb?Q I@zDIzM;iz;z4y ɮ A-B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 89.49 m."i=C9*iEC9M ProNav: ac range: 89.485390 m, nav range: 88.492554 m, bearing: 31.495859 deg, approach rate: -0.507521 m/s, LOS rate: 0.010709 deg/s, cmd heading: 28.693970 deg, new cmd heading: 28.702730 deg. iM˜9UHeadingCmd: 0.500957 target range: 89.485390 and range: 89.50 m.hU>?hhhhggjgrgereZe:e*e?ɢm;) ?ڱ==I>?I@ @@"5@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511805E EE3E"E:*E:VE4ZEa@a@a@a@B<A<B#>BCB_IBÀBB1 =B0DBwDB;BjEBCBCBȔCB. =B/ =Cf5i ^A i=II IY Oe >;(#,-ģLA 6>6|>6;ٱ6=6H>?6ݿ]?v?? n<1z?H?i6>I6];6ߑCYb׀BybxIiMMb@Mb@Mb@IIII I9M r?~jt?I +?YM?yM9yYy=}(Ey}D}E>Q 54Z?Q 94ش)jBY?Q E:y?Q I@DI(:i<;[4yBɮAڧEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761884:iDNOT Ignoring new targets: 89.49 m."i8*i8 ProNav: ac range: 89.485390 m, nav range: 88.275238 m, bearing: 31.498150 deg, approach rate: -0.513051 m/s, LOS rate: 0.005423 deg/s, cmd heading: 28.702729 deg, new cmd heading: 28.707324 deg. i9HeadingCmd: 0.501037 target range: 89.485390 and range: 89.50 m.hC?hhhhggjgrgBereZe:e*eA4@€Bɢj;) (=i)^;iui%C?%R=%B=I%C?I)IQ)Qy9@ @@/@ԙ^A ff=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013751I I O > E  E E 2E "E :*E |:VE 4ZE BE H8Rh>R;ٱR݁=RHw??ݿ@j?H?@L?Q xy`i$?`?iRӊ>IRT\;RCYZـBy^zI ``bDfVDf°8yn4%<%nT=ٔr Q-r>9pYp=v(EyvDv͹Ev>xQ 5~4zzh?Q 9~4z1)zlBYy?Q I@zƄDIz;:iz:z4y Bɮ A :i15DNOT Ignoring new targets: 89.49 m."i=8*i=8M ProNav: ac range: 89.485390 m, nav range: 88.077065 m, bearing: 31.500270 deg, approach rate: -0.516673 m/s, LOS rate: 0.005540 deg/s, cmd heading: 28.707323 deg, new cmd heading: 28.711572 deg. iM6"9UHeadingCmd: 0.501111 target range: 89.485390 and range: 89.50 m.hUH?hQhQhQhQgQgYjgYrgYeareaZea:ea*ee E@颕Bɢ&h;) >=i)`;顙iiH?]=|ه=IH?I59@1 @1@1@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268915^AA!zA%zAA I I O >) n(#,?WLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524688|m>m'>m!;ٱm=mH`cA? Rݿ@D{? ?`I?M7z$?@?im>Im\;iYByIi Mb@Mb@Mb@     9 rh|? rh?Zd;O?Y >y C = j< @  A |A) A Y AbD=$VD=ΰ8yE`<%M5=ٔM9Q-M>9QYQ=U(EyUD]E]>YQ 5e4]qx?Q 9m4]Bu'>BuCBulIBùBBqBqBqBu;BuyjE)]qBY>E EE1E"E;*E&p:VE-4ZEBED<2ED<JEz;:E{;Q E:yl ?Q I@]̈́DI])#,aLARk>R>R;ٱR=RH@B?ݿDR?? ?f`25{Q??iRk>IRl\;PYbBybIbDr VDr8|y =%Z=ٔU9Q-U>9YYY=](Ey]D]GE]>aQ 5m4e ?Q 9u4e)euBYqyu\ ?Q Iu@eӄDIe+;ie';e4yyɮ}A:iDNOT Ignoring new targets: 89.49 m."iu*iu ProNav: ac range: 89.485390 m, nav range: 87.664841 m, bearing: 31.499587 deg, approach rate: -0.531814 m/s, LOS rate: -0.000839 deg/s, cmd heading: 28.710799 deg, new cmd heading: 28.710201 deg. iķHeadingCmd: 0.501088 target range: 89.485390 and range: 89.50 m.hFG?hhhhggjgrgereZe:e*e @ɢ%*<)! %=i!)%h;!!i-i-FG?5=5|=I5FG?I1BDAT read: Rx Time:01:17:03.2161 TRx dataTimestamp_ set to:1764897424.393658checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028319@ @@/@)EE EEEE2EA"EEV:*EE:VEE4ZEAaM@aM@aM@aM@Q^A8=A .AI! I1 OE >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277787 )#,H,LAɰ;:K>>:<>:u;ٱ:b=:H C?ݿO? ?!?` {? ?i:K>>I:\;8YBހByFIJAAJ@AbDN VDN8yV%VQ=ٔVa9Q-Z>9Z ?YZ ?=Z(EyZ D^mE^>`Q 5f4b?Q 9f4b)bzBYdyfF ?Q Ij@bلDIbP:ib:b]4ynBɮnFAnҧEzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 89.49 m."i D*i D ProNav: ac range: 89.485390 m, nav range: 87.476524 m, bearing: 31.499330 deg, approach rate: -0.492656 m/s, LOS rate: -0.000673 deg/s, cmd heading: 28.710202 deg, new cmd heading: 28.709687 deg. i%HeadingCmd: 0.501079 target range: 89.485390 and range: 89.50 m.h%F?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5@ @YeBɢm<)i mw=ii)mk;iqiuiuF?}~=}=I}F?Iy9@ @!@%0@)ԉDAT read: 01:17:03.2161 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408,-0.01, 1.872, 0.135, 1.917, 1.450, PHS= 0.525,-1.269, 0.423, RAW= 147.1, 3.7, CAL= 146.5, 3.9, ROT= 3.5, -3.9  Ygot valid direction response: 01:17:03.2161 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408,-0.01, 1.872, 0.135, 1.917, 1.450, PHS= 0.525,-1.269, 0.423, RAW= 147.1, 3.7, CAL= 146.5, 3.9, ROT= 3.5, -3.9 PDAT read: Bearing 182.7, 3.4 (Local) ~Local bearing/azimuth received: Bearing 182.7, 3.4 (Local) %DAT read: Range 11 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.4 m/s %R#Rx 1: Read range and direction messages.-\direction in FSK: [0.995823,0.060907,0.068015]5Fpublishing direction and range infoyG^?hr9/?,::si?YB )EIff?inu>O$@ A= 'g=)I'gKoUm?h?¤({? #(>)Ii'g^Au_=uT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԱAA@AB%>BBrIBҀBB0 =BBBl;B\jEE] E]E]/EY"E]T;*E]:VE]J4ZEYBE]G )#,FLA2N>2>2KC;ٱ2:2=2HZC?ݿL??'!?``[{@ڹ??i2N>I2\;0Y>By>IiMb@Mb@Mb@ 9%C?V-? rh?YZ?ym=C<@ A )AYzAbDVD8y-;%-B=ٔ-˱7Q-5>95"?Y5"?==(Ey=D=9E=>AQ 5M4Eբ?Q 9M4E)E~BYM@?Q EU:yU?Q IU@EDIE:]*DAT read: user:147> eBDAT read: Tx time:01:17:04.4952 e$Ping request sent.e~)#,-{`LA2>2>2;ٱ27=2HA?ݿFU? ?p?{ l۹?@?i2>I2\;2CY:By:IbDFVDF8yJ<%NU=ٔN8Q-N>9PYP=R(EyRDVR:EV>TQ 5Z4VȰ?Q 9^4V)VBY\y^?Q I^@VDIV;iV;Vq4yfBɮf3AfӧE:itzDNOT Ignoring new targets: 87.48 m."izࣹ*izࣹ ProNav: ac range: 87.484756 m, nav range: 87.049545 m, bearing: 31.432124 deg, approach rate: -0.569336 m/s, LOS rate: -0.017909 deg/s, cmd heading: 28.709075 deg, new cmd heading: 28.696504 deg. i HeadingCmd: 0.500848 target range: 87.484756 and range: 87.50 m.h 7?h hhhggjgrgeyreyZey:ey*e@?ɢ4<) (=i)]r;i?Hi 7? h= b=I 7?II@I @I@M0@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504707IIIOI>qԡ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757424q)#,(bzLAe`>eRu>e ;ٱe=eH??@3ݿs?? ? ZY|??ie`>Ie\;eCY}ˀBy}jI B>BCBIB܀BBBBvDBY;BCjEbE4jE4rE/E EE1E"EV:*Ex:VE-4ZEBE99Y=(Ey#D:E>Q 54 Š?Q 94)BY?Q E:y0?Q I@DIv;i;4yɮA:iDNOT Ignoring new targets: 87.48 m."i ѹ*i ѹ ProNav: ac range: 87.484756 m, nav range: 86.799370 m, bearing: 31.421304 deg, approach rate: -0.529071 m/s, LOS rate: -0.022948 deg/s, cmd heading: 28.696504 deg, new cmd heading: 28.674801 deg. i'%HeadingCmd: 0.500470 target range: 87.484756 and range: 87.50 m.h%?h!h!h!h!g)g)jg)rg-ˀBe1re1Ze1:e1*e5`)?eBɢeq3;)a pchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008350 S$)#,"9LAFp8>Fb>F1R;ٱF=FH`{IF\;FCYNByNIbDZ VDZ8yb=%bo=ٔb_@8Q-b?9dYd=f(Eyf*Dj0;Ej?lQ 5r4nΊ?Q 9r4n-)nBYpyr\?Q Ir@nDInq:in:n4yxɮzCAx:iDNOT Ignoring new targets: 87.48 m."iFչ*iFչ- ProNav: ac range: 87.484756 m, nav range: 86.618912 m, bearing: 31.413380 deg, approach rate: -0.529700 m/s, LOS rate: -0.023308 deg/s, cmd heading: 28.674801 deg, new cmd heading: 28.658920 deg. i-*5HeadingCmd: 0.500193 target range: 87.484756 and range: 87.50 m.h5 ?h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM/Z?ɢ<) =i)v;iHi ?(V==I ?I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259163@ @@S4@I)IAOM>D%=D!E- E-E-0E)"E-:*E-:VE-4ZE)a5@a5@a5@a5@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511206*)#,t LA02D>26=>2A;ٱ2'=2H09?ݿ͙?(?? ` |@ ??i2D>I2\;2CYRՀByRvIbDZVDZ8yzbi%zH=ٔz59Q-z>9|Y|=~(Ey~2Dt;E> Q 54 q݊?Q 94 ) BYy?Q I@ DI  :i ~: 4y%Bɮ%A!=B*** querying acoustic contact ***i9i9:iIMDNOT Ignoring new targets: 87.48 m."iUzع*iUzعe ProNav: ac range: 87.484756 m, nav range: 86.402237 m, bearing: 31.403700 deg, approach rate: -0.528199 m/s, LOS rate: -0.023657 deg/s, cmd heading: 28.658921 deg, new cmd heading: 28.639511 deg. im.-mHeadingCmd: 0.499854 target range: 87.484756 and range: 87.50 m.hm>hqhqhqhqgqgqjgyrgyeyreyZe:e*e?颩ɢ1;) 9=i)ay;顱i%Fi>N==I>II)q@q @q@u/@qԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765325 =v>=CGB<Ap<B>BCBxIB׀BB4 =BBtDBK;B!jE^A8=/{AA9/{AYoAE9 E=E9E9"E9*E=:VE9ZE9BE=G8 p1)#,}ǤLA2.;>2">2;ٱ2=2H4?޿`?8?^?|?`S?i2.;>I2\;2CYLyPIV>)V>\=E?=%=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015072iuMb@Mb@Mb@qqqq q9u!rh?x&?~jt?Yul?yu7=uD9Y=(Ey;D,;E>Q 54튊?Q 94p)BY?Q E:yg?Q I@DIp;io;A4yɮA:iDNOT Ignoring new targets: 87.48 m."i$ع*i$ع ProNav: ac range: 87.484756 m, nav range: 86.175896 m, bearing: 31.393639 deg, approach rate: -0.530006 m/s, LOS rate: -0.023621 deg/s, cmd heading: 28.639511 deg, new cmd heading: 28.619336 deg. i,HeadingCmd: 0.499502 target range: 87.484756 and range: 87.50 m.h>hh!h!h!g!g!jg)rg-ՀBe)re)Ze):e1*e5_@Yɢ]bc;)a e`7=ia)e{;aaie:Aim>mG=m =Iu>IA@I @I@I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267378^Am @=A D9 zD9 EE  EE EE 2EA "EE V:*EE :VEE 4ZEA aM @aU @aU @aU @A I I O >A&8)#,b.⤌LA2lΌ>2`c>29;ٱ2=2H0? ޿ u?I? ? {` ? L?i2lΌ>I2u\;2CY>πBy>nIbDFVDFð8yN%NX=ٔN %Q-R>9PYP=R(EyRBDVB;EV>XQ 5^4Z?Q 9^4Z`)ZBY\y^?Q Ib@Z DIZ%:iZ:Z4yfBɮfAfԧEt:ix~DNOT Ignoring new targets: 87.48 m."i~a޹*i~a޹  ProNav: ac range: 87.484756 m, nav range: 85.974777 m, bearing: 31.384504 deg, approach rate: -0.533757 m/s, LOS rate: -0.024302 deg/s, cmd heading: 28.619336 deg, new cmd heading: 28.601022 deg. i 1HeadingCmd: 0.499182 target range: 87.484756 and range: 87.50 m.hɔ>hhhhggjg!rg!e!re!Ze):e)*e-c@QɢUN;)Y ]=iY)]׈};YYi]3i%ɔ>%B=%3o=I%ɔ>I)9@ @@@@xA@zA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519592)I^AĎ=I I O >i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773117BI>)#,LABU>BUCBUrIBUҀBBU6 =BQBQBU3;BUjEB CqB CB CB 1 =B 2 =C .6E EE/E"E;*E:VEJ4ZEBE@C>5;ٱL=H ,?'޿`Qǫ?Y?: ? . x{?`?ie>I\;ߑCYmĀBymaIi=Mb@Mb@Mb@9999 99=?Dl?9Y=(EyLD*;E>Q 54 ?Q 94~)BY;?Q E :y  ?Q I @DI jhYhYhYhYgYgajgargeĀBeireiZei:ei*em=v @颙ɢc;)ԡ `3===IV>I9@ @!@!@!=BDAT read: Rx Time:01:17:07.0135 =TRx dataTimestamp_ set to:1764897428.172668Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023938^A= H= I I O >/E)#,LA2 >2>2s;ٱ2Y=2H~&? ;޿9?Xn? B?N{JD??i2 >I2H\;2CY:ŀBy8 <<bDF VDF8yN;%N=ٔNǡQ-R?9PYP=R(EyRSDV;EV?XQ 5^4Z?Q 9^4Z)ZBY\y^N!?Q Ib@ZDIZ2:iZ;Z4yfBɮfAd:iimDNOT Ignoring new targets: 87.48 m."iu*iu ProNav: ac range: 87.484756 m, nav range: 85.569618 m, bearing: 31.362353 deg, approach rate: -0.497028 m/s, LOS rate: -0.027594 deg/s, cmd heading: 28.573821 deg, new cmd heading: 28.556611 deg. iIHeadingCmd: 0.498407 target range: 87.484756 and range: 87.50 m.h0/>hhhhggjgrgereZe:e*e @ɢ! ;) B;=r=I0/>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275415@ @@/@E EE1E"E=;*EVE-4ZEa@a@a@a@^A=9IaIO> DAT read: 01:17:07.0135 LVL= 32208, 32753, 32754, 32755, AGC= 72, IDX= 414, 0.30,-1.852, 2.648,-1.798,-2.277, PHS= 0.527,-1.313, 0.435, RAW= 147.5, 4.0, CAL= 146.8, 4.1, ROT= 3.2, -4.1  Ygot valid direction response: 01:17:07.0135 LVL= 32208, 32753, 32754, 32755, AGC= 72, IDX= 414, 0.30,-1.852, 2.648,-1.798,-2.277, PHS= 0.527,-1.313, 0.435, RAW= 147.5, 4.0, CAL= 146.8, 4.1, ROT= 3.2, -4.1  PDAT read: Bearing 183.2, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 183.2, 3.1 (Local)  DAT read: Range 11 to 50 : 85.6 m (Round-trip 114.2 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.995886,0.055679,0.071497] Fpublishing direction and range infoyA E XK?2 P遬? M?YE 3BA E }A A A )E HIE y?iE bE R>E S$@E 5=E (#@ E C=)E d=IE CA A E S?G/mp? f?? E [>)E MIE d=iE CA A Y } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.XK)#,9/LA2]>2P>2i;ٱ2/=2H\ ?/R޿3???@v4y`sk??i2]>I2ڗ\;2CY:By>PIbDFVDF8yN퉽%^J=ٔbJ\Q-b>9`Y`=f(Eyf[Df };Ef>hQ 5~4j$?Q 9~4j)jBYy!?Q I@jDIj;ij;j 4y ɮ @A iyi}E+LAj}(B"j}(B:j}$ ?Rj}3NU@8I@Ly@Bj}XK?2 P遬? M?*j}d=2j}CZj} j3?R@ u"F@$l,@Jj} J?4Q?Wq4?j}1B j}Bi}"+?i}]fj}͌Bj}"+?j}j}Brj}ժBzj} ?- addTargetRange:: Added new target pos. range: 85.599998 m, deltaT: 3.777924 s, deltaX: -1.900002 m, approachRate: -0.502922 m/s, rangeRepo size: 4 9 Added new target pos. range: 85.579117 m, bearing: 31.240206 deg, lat: 36.779508 deg, lon: -121.859752 deg, deltaT: 3.777924 s, deltaX: -1.905640 m, approachRate: -0.504414 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 85.58 m."i*iM ProNav: ac range: 85.579117 m, nav range: 85.417366 m, bearing: 31.297414 deg, approach rate: 0.000000 m/s, LOS rate: -0.027594 deg/s, cmd heading: 28.556611 deg, new cmd heading: 28.533048 deg. iQUHeadingCmd: 0.497996 target range: 85.579117 and range: 85.60 m.hUI>hYhYhYhYgYgYjgargaeareaZea:em`ffU@*e@?Bɢ9;) i)U};i{Xi I> ;= A=I I>Ii*DAT read: user:148> BDAT read: Tx time:01:17:08.2952 $Ping request sent.BMCBMYIBMBBIBIBMsDBM ;BMiEE EE.E"EV:*E|:VEـ4ZEBE9Թ RCR)#,}ILA200>2#>2;ٱ2UQ=2Hq?Y޿ѫ?`5??s;x@^?I?i200>I2q\;2ߑCY>By>HI~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245856iMb@Mb@Mb@ 9}?5^I?S㥫?YM?y/]=@ )"AYbD-VD-8y=4%=@=ٔ=[Q-E>9AYA=E(EyEdDM:EM>QQ 5]4U3?Q 9]4U)UBY] ?Q Ee:yeL?Q Ie@U$DIUb:iU:Ul4ymBɮmAm̧EB*** querying acoustic contact ***ii:i15DNOT Ignoring new targets: 85.58 m."i=`*i=`E ProNav: ac range: 85.579117 m, nav range: 85.202370 m, bearing: 31.289240 deg, approach rate: -0.528595 m/s, LOS rate: -0.020149 deg/s, cmd heading: 28.533049 deg, new cmd heading: 28.516658 deg. iMUHeadingCmd: 0.497710 target range: 85.579117 and range: 85.60 m.hU>hQhQhQhQgQgYjgYrg]BeYreaZea:ea*ee?ԉɢhS:) i) H|;  i i>:=>=I>I]9@Y @Y@] 0@aԹiߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498038^A D=A >A >I I O >E  E E 2E "E &:*E ~:VE 4ZE a @a @a @a @ jX)#,NcLAY~By~7II4=)=bD#VDͰ8y%,%%L=ٔ%Q-%>9)Y)=-(Ey-lD5E5>9Q 5E4=A?Q 9E4=)9YAyAQ IE@=*DI=u:i=:=i4yIɮUAQ:iq}DNOT Ignoring new targets: 85.58 m."i}*i} ProNav: ac range: 85.579117 m, nav range: 84.997948 m, bearing: 31.281428 deg, approach rate: -0.539048 m/s, LOS rate: -0.020647 deg/s, cmd heading: 28.516658 deg, new cmd heading: 28.500998 deg. i%HeadingCmd: 0.497436 target range: 85.579117 and range: 85.60 m.h>hhhhggjgrgereZe:e*e ?ɢب) ki){zy;iQi>;=l=I>I@ @@15@@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750851IIO>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001833^)#,NA}LABz>BzCBzFIBzBBz8 =BxBzrDBz;BziEE EE-E"E;*E1:VEt4ZEBEAb>ۢ;ٱ.=H`?1l޿?`?`?@Uu!i?-?i͏>Il\;CY5By5!IiMb@Mb@Mb@ 9Zd;?Mb?MbpY>y= A A)AYAbD5 VD58AyE%M,=ٔM ԺQ-M>9QYQ=U(EyUuDU%;EU>YQ 5m4][R?Q 9m4]W)]BYmf>Q Em:ym?Q Im@]2DI]:i]:] 4y}Bɮ}A}ͧE:iDNOT Ignoring new targets: 85.58 m."i*i㸝 ProNav: ac range: 85.579117 m, nav range: 84.765251 m, bearing: 31.278470 deg, approach rate: -0.487892 m/s, LOS rate: -0.006220 deg/s, cmd heading: 28.500998 deg, new cmd heading: 28.495065 deg. i6HeadingCmd: 0.497333 target range: 85.579117 and range: 85.60 m.he>hhhhggjgrgBereZe:e*e?ɢ) ؽi ) Ts;  i eie><=/=Ie>I@ @@?5@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253983IIO>ԙ |e)#,!LA2>2z>2-;ٱ2;=2HI?`*r޿n??@;?Y @VtT?@s?i2>I2J\;2ChihihihigigijgqrgqeqreyZey:ey*e}@{?颡ɢ1B) ஽i)p;顩iiޘ>==[=Iޘ>II)tAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508295@ @@/@ԱE EE2E"E;*E:VE4ZEa@a@a@a@IIIYOm5> - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758312k)#,찥LA2^i>2Q>2eV;ٱ2=2H? }޿ ???ꢶǪs v?`?i2^i>I2ý\;2CYNByNIbDVVDV8yf %jL=lٔrչQ-r>9tYx=z)Ey~D~;E~> Q 54 k?Q 94 N{) BYy%?Q I%@ =DI X;i f; -4y1ɮ5A9:iy}DNOT Ignoring new targets: 85.58 m."i*i𸝏 ProNav: ac range: 85.579117 m, nav range: 84.407921 m, bearing: 31.273695 deg, approach rate: -0.481348 m/s, LOS rate: -0.006577 deg/s, cmd heading: 28.490901 deg, new cmd heading: 28.485496 deg. i@HeadingCmd: 0.497166 target range: 85.579117 and range: 85.60 m.h>hhhhg!g!jg!rgAeIreIZeI:eI*eU@颹ɢ/6) ɽi)i;ii>@==I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0123789@! @!@-!4@)BA<BBB'IBBB: =BB1BǬ;BiEIIIqO|>bEUǻ4jEUr4rEUǒ0E EE-E"E=;*E҆:VEt4ZEBEI2*?2;ٱ2K=2H? 4޿?>? C?-s$}?@?i2b>I2(\;2CYRByRIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2619129i=Mb@Mb@Mb@9999 99=jt?9iYi=u)EyuDuH:Eu>yQ 54}*{?Q 94}x)}BY?Q E:yD?Q I@}DDI}:i}n:}44yBɮAΧEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 85.58 m."i9*i9 ProNav: ac range: 85.579117 m, nav range: 84.197617 m, bearing: 31.277311 deg, approach rate: -0.469038 m/s, LOS rate: 0.008085 deg/s, cmd heading: 28.485495 deg, new cmd heading: 28.492745 deg. il9HeadingCmd: 0.497292 target range: 85.579117 and range: 85.60 m.h>hhhhgg!jg!rg%Be!re)Ze):e)*eU 1@ ɢr) Խi)Kdd;i[iM>MMC=U?=IU>IQi9@ @!@%/@!ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513764^A X=IQ Ia Om > E  E E 1E "E :*E :VE -4ZE a @a @a @a @lx)#,u䥌LA2Ő>2-?2@T;ٱ2m=2H``?A޿`ܞ?? ?{`Js??i2Ő>I2ۘ\;0YNByRIbDZVDZ8ybm%bU=ٔbr8Q-b>9dYd=f)EyfDj:Ej>hQ 5r4jhhhhggjgrgereZe:e*e@ ɢ) i)d^;iri%>-E=-=I->I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766242@ @@@^A =I I O >  BDAT read: Rx Time:01:17:10.8109  TRx dataTimestamp_ set to:1764897431.952561 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018890= WG~)#,,}LA{A(BN>BLBNIBNBBN7 =BLBLBN;BNDiE 9{AYͣAE EE0E"E;*Exv:VE4ZEBEa ?);ٱw6=H`? "޿ ?n??`?rz??i~>I\;YByII>)y-#-Ļ)- A -A)-A)Y-GAE@AAbDMVDMİ8yU %]=ٔ]HQ-]>9aYa=e)EyeDmEm>qQ 5u4u?Q 9}4ur)uBY}^>Q E}:y}0>Q I@uRDIu;iu";uD4yBɮAA:iDNOT Ignoring new targets: 85.58 m."iQ9*iQ9 ProNav: ac range: 85.579117 m, nav range: 83.753212 m, bearing: 31.291824 deg, approach rate: -0.481972 m/s, LOS rate: 0.021563 deg/s, cmd heading: 28.499308 deg, new cmd heading: 28.521854 deg. i:HeadingCmd: 0.497800 target range: 85.579117 and range: 85.60 m.h>hhhhggjgrgBereZe:e*e! @ Bɢ) i)jW;i}i>%+H=%0=I%>I!A9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269906i^A lŠ=ԑ A I I9 Oe >b[)#,LA27>%>v;ٱ4=H?x޿ 8?$?I?;rvZ?e?i27>I&v\;CY|ByIbD-eDAT read: 01:17:10.8109 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 419, 0.10,-0.018,-1.733, 0.053,-0.441, PHS= 0.526,-1.247, 0.450, RAW= 147.8, 3.2, CAL= 147.1, 3.2, ROT= 2.9, -3.2 mYgot valid direction response: 01:17:10.8109 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 419, 0.10,-0.018,-1.733, 0.053,-0.441, PHS= 0.526,-1.247, 0.450, RAW= 147.8, 3.2, CAL= 147.1, 3.2, ROT= 2.9, -3.2 q}PDAT read: Bearing 182.7, 2.7 (Local) }~Local bearing/azimuth received: Bearing 182.7, 2.7 (Local) DAT read: Range 11 to 50 : 83.7 m (Round-trip 111.6 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.997162,0.050514,0.055822]Fpublishing direction and range infoy15?@Kvܩ?ᢔ?Y5fB1511 1)5FI5?i55ff>5%@5d=5O$@ 5d=)54QO=I5d115HA?㥝?6? 5A>)5aI54QO=i5d1VD-81T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yZ%c=ٔSйQ->9Y=)EyDźE>Q 5 4?Q 9 4p)BY y >Q I@XDID=iZ=J4yɮmAi1i5b-LAj5ZB"j5ZBD=DE EE,E"E;*E҆:VEg4ZEa@a@a@a@:j5O ?Rj5YT@"wH@ @Bj5?@Kvܩ?ᢔ?*j54QO=2j5dZj5J@oQ@F0TE@f0y@Jj5=U?v2 w? L׬?j5-B j5Bi5X50?i5 2j5Bj5X50?j5]fj5sBrj5(Bzj5} ?E addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.779771 s, deltaX: -1.900002 m, approachRate: -0.502676 m/s, rangeRepo size: 4 U Added new target pos. range: 83.676491 m, bearing: 31.179739 deg, lat: 36.779508 deg, lon: -121.859753 deg, deltaT: 3.779771 s, deltaX: -1.902626 m, approachRate: -0.503371 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 83.68 m."i}*i ProNav: ac range: 83.676491 m, nav range: 83.578926 m, bearing: 31.219547 deg, approach rate: 0.000000 m/s, LOS rate: 0.021563 deg/s, cmd heading: 28.521854 deg, new cmd heading: 28.539822 deg. iHeadingCmd: 0.498114 target range: 83.676491 and range: 83.70 m.h>hhhhԙggjgrgereZe:eT@*e ?ɢ)9 =i9)=(O;AAiEKiM>MI=M=IM>II@ @@@*DAT read: user:149> BDAT read: Tx time:01:17:12.0452 $Ping request sent.Z)#,6LAXYyByIbD%)VD%Ұ8y5%5D=ٔ5Q-=>99Y9==)Ey=DEEE>IQ 5U4M*?Q 9]4Men)MBYYyYQ I]@M^DIM+;iM,;M5R4yeBɮeAmƧE:iDNOT Ignoring new targets: 83.68 m."i9*i9  ProNav: ac range: 83.676491 m, nav range: 83.377937 m, bearing: 31.228482 deg, approach rate: -0.537113 m/s, LOS rate: 0.023933 deg/s, cmd heading: 28.539821 deg, new cmd heading: 28.557733 deg. i 3/: HeadingCmd: 0.498426 target range: 83.676491 and range: 83.70 m.h1>hhhhggjgrgereZe!:e!*e%"?IɢUe)Q U iQ)UlI;QYi]ɨi]1>eiJ=e =Ie1>Ia=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2527859@ @ @ /@ A]AAA]@ABu>BuCBuIBuwBBu8 =BqBuqDBuQ;BuhEB%CB%CB%ĔCB%8 =B%8 =C%5E EE-E"E&:*E:VEt4ZEBEj; checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502689)#,ԛPLA64>6>6H;ٱ6Lv=6H?v޿ū??h?t0_q?@6?i64>I6go\;6CYNuByRI TT!iMb@Mb@Mb@ 9K?Mb`~jth?Y^>yD;@5 A A)AYAbDEVD8y莼%B=ٔ{ϹQ->9Y=)EyDMI,EM>QQ 5]4UNj?Q 9]4Uk)QY]_>Q E]:y]_>Q Ie@UeDIU;iU:UY4yiɮm,AiB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 83.68 m."i9*i9 ProNav: ac range: 83.676491 m, nav range: 83.164932 m, bearing: 31.235851 deg, approach rate: -0.499416 m/s, LOS rate: 0.017322 deg/s, cmd heading: 28.557733 deg, new cmd heading: 28.572509 deg. i9HeadingCmd: 0.498684 target range: 83.676491 and range: 83.70 m.hS>hhhhg g jg rg pBereZe:e*e@?EBɢElջ)A EiA)MA;IIiM piUS>U;K=U=IUS>IYI9@ @ @ @ Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754853qDzD?AE EE/E"E;*E:VEJ4ZEa@a@a@a@^AM D=I I O >ԡ a )#,:yjLAB>B>B*;ٱB=BH ?n޿ Hɫ??`? *@Brz?@h?iB>IBta\;BߑCYR~ByV IbDbMVDb8ynQB=%[=ٔ:Q->9Y=)EyD%E%>)Q 554-DՋ?Q 954-i))Y1y5>Q I5@-kDI-.:i-;-;`4yEBɮEAA:iimDNOT Ignoring new targets: 83.68 m."iu9*iu9y ProNav: ac range: 83.676491 m, nav range: 82.986046 m, bearing: 31.242135 deg, approach rate: -0.492758 m/s, LOS rate: 0.017348 deg/s, cmd heading: 28.572508 deg, new cmd heading: 28.585104 deg. i9HeadingCmd: 0.498904 target range: 83.676491 and range: 83.70 m.h_p>hhhhchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006801ggjgrgereZe:e*e@3?BɢAFɻ) i)<;i`qi_p>VK=qP=I_p>I@ @@j2@ԩ^AA>A>II)O5>M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258650BM >BM CBI BI BM < =BI BM oDBM &;BM hE E  E E 0E "E : )#,K[LA*E:VE4ZEBE<9)Y1=5)Ey5ȋD5E5>9Q 5E4=x勊?Q 9E4=f)=BYM?Q EM:yM?Q IM@=rDI=:i=:=g4yQɮUAY:iy}DNOT Ignoring new targets: 83.68 m."i&t9*i&t9 ProNav: ac range: 83.676491 m, nav range: 82.766273 m, bearing: 31.247980 deg, approach rate: -0.500308 m/s, LOS rate: 0.013341 deg/s, cmd heading: 28.585105 deg, new cmd heading: 28.596825 deg. iQ9HeadingCmd: 0.499109 target range: 83.676491 and range: 83.70 m.h/>hhhhggjgrgBereZe:e*e 3?ɢ򊢻) xi)|5;i\i/>GK=%=I/>II)xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511022@ @@?5@A^A=I) I9 OM >Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762631k7)#,DLA2>25>2b;ٱ2Ƥ=2H ?f޿ I???QrǺ?`?i2>I2ct\;2CY:By:II>>)>>bDF+VDF԰8y &;=% ^=ٔ9Q->9Y=)EyЋD[ѺE>!Q 5-4%?Q 9-4%Vd)%BY1y5?Q I5@%xDI%;i%';%\n4y=Bɮ=A=ǧE:iamDNOT Ignoring new targets: 83.68 m."im=x9*im=x9} ProNav: ac range: 83.676491 m, nav range: 82.582054 m, bearing: 31.252977 deg, approach rate: -0.498960 m/s, LOS rate: 0.013564 deg/s, cmd heading: 28.596826 deg, new cmd heading: 28.606842 deg. i}9HeadingCmd: 0.499284 target range: 83.676491 and range: 83.70 m.h>hhhhggjgrgereZe:e*e^@Bɢ ) ƽi)0;i~i>J= =I>IEU EUEU/EQ"EU:*EU:VEUJ4ZEQa]@a]@a]@a]@q@ @@3@ԑ^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015333I)I9OM> v[)#,BLAR=>R0B>R#;ٱR=RH@?@$h޿5?@?K?`3xsź??iR=>IRq\;RCYZByZIbDvVDv8yzǹ<%~L=ٔMq8Q-U>9QYQ=U)EyU؋D}m9E}>Q 54W?Q 94a)BYy?Q I@~DI:i::u4yɮA:iDNOT Ignoring new targets: 83.68 m."it9*it9 ProNav: ac range: 83.676491 m, nav range: 82.374825 m, bearing: 31.258611 deg, approach rate: -0.490879 m/s, LOS rate: 0.013379 deg/s, cmd heading: 28.606842 deg, new cmd heading: 28.618138 deg. i9%HeadingCmd: 0.499481 target range: 83.676491 and range: 83.70 m.h%>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e= ;@eBɢe5T)a e|ii)m,;iiimTiu>uI=qIu>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267472BAB>BCQ@Q @Y@]/@YBIB|BB? =BBnDB;BhEE EEE"E&:*E~:VEZEBEi;E)#,OѦLA,f>f>fcߘ;ٱfen=fH`?[s޿@ԫ?`??`8s?@?if>IfXz\;fCYvByz#Ii}Mb@Mb@Mb@yyyy y9}K?S㥛?I +?Y}^>y}/<}99Y=)EyD:;E>Q 54?Q 94^Q =tI)BY>Q E:y ?Q I@DI":iL:|4yUBɮUAUȧEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 83.68 m."i쾷*i쾷 ProNav: ac range: 83.676491 m, nav range: 82.173012 m, bearing: 31.258058 deg, approach rate: -0.475173 m/s, LOS rate: -0.001304 deg/s, cmd heading: 28.618137 deg, new cmd heading: 28.617030 deg. iHeadingCmd: 0.499461 target range: 83.676491 and range: 83.70 m.hg>hhhhggjgrgBe re Ze:e*e e@]Bɢ] @%)a eLia)ei';aaiieig>I=U=Ig>I!@! @!@%/@!%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770721ԑEu EqEu0Eq"Eu;*EqVEu4ZEqa}@a}@a}@a}@^AQ A I I O >ty)#,릌LA:zJ>:n>:Ap;ٱ:}=:H ? x޿ ܫ???L?@.s??i:zJ>I:\;8DYFByF0I HHbDR0VDRٰ8yZf=%ZZ=ٔZ@8Q-^>9\Y\=^)Ey^Db$:Eb>dQ 5j4f ?Q 9j4fd\)fBYhyj ?Q In@fDIf:if2:f^4ypɮr7Ap:i  DNOT Ignoring new targets: 83.68 m."i*i川 ProNav: ac range: 83.676491 m, nav range: 81.989143 m, bearing: 31.257503 deg, approach rate: -0.518209 m/s, LOS rate: -0.001568 deg/s, cmd heading: 28.617029 deg, new cmd heading: 28.615916 deg. i%7-HeadingCmd: 0.499442 target range: 83.676491 and range: 83.70 m.h-۶>h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e= ) @mBDAT read: Rx Time:01:17:14.5583 mTRx dataTimestamp_ set to:1764897435.732652uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023908}Bɢp]) xXi)0H%;i c=i ۶> I=B=I۶>IԹ9@ @@@^AX=% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275683B >B CB IB BB @ =B 1DB mDB ث;B _hEA5 .AA II IY Om >bE J4jE [4rE +/E  E E ,dW)#,ILAE"E;*EVEg4ZEBE@%P4?%;ٱ%W =%H?`޿ ?M??@\RrH?b?i%Ӑ>I%\;%CYBy6IiUMb@Mb@Mb@QQQQ Q9Ux&1?v/?:v?YU?yUxi=U9 ?Y ?=)EyDU ;E>Q 54l/?Q 94X)BY?Q E:yc?Q I@DI:iF:4yɮA:iDNOT Ignoring new targets: 83.68 m."iɹ*iɹ ProNav: ac range: 83.676491 m, nav range: 81.738663 m, bearing: 31.246704 deg, approach rate: -0.507930 m/s, LOS rate: -0.021966 deg/s, cmd heading: 28.615916 deg, new cmd heading: 28.594251 deg. i HeadingCmd: 0.499064 target range: 83.676491 and range: 83.70 m.hK>hhhhggjgrgʀBereZe :e *e @5Bɢ5UL)9 =P-i9)="";99i=ϣໝDAT read: 01:17:14.5583 LVL= 24560, 32753, 26354, 32755, AGC= 69, IDX= 410,-0.28,-0.291,-1.978,-0.186,-0.666, PHS= 0.477,-1.267, 0.436, RAW= 148.8, 4.1, CAL= 148.1, 4.3, ROT= 1.9, -4.3 Ygot valid direction response: 01:17:14.5583 LVL= 24560, 32753, 26354, 32755, AGC= 69, IDX= 410,-0.28,-0.291,-1.978,-0.186,-0.666, PHS= 0.477,-1.267, 0.436, RAW= 148.8, 4.1, CAL= 148.1, 4.3, ROT= 1.9, -4.3 PDAT read: Bearing 184.1, 2.0 (Local) ~Local bearing/azimuth received: Bearing 184.1, 2.0 (Local) DAT read: Range 11 to 50 : 81.8 m (Round-trip 109.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996637,0.033062,0.074979]Fpublishing direction and range infoys?{*{?]1?YB_f )EIX9>i-d;>6&@C=m%@ `=)=I`~ɬ?u#E?4=? ?)%K=%o=I%K>I)@ @@@)^A =A >A >Y ] *DAT read: user:150> e BDAT read: Tx time:01:17:15.7951 e $Ping request sent.e E)#,^!LAE EE-E"E:*E:VEt4ZEa%@a%@a%@a%@)YBy=IbDTVD8y(=%S=ٔQ->9Y=)EyDE>Q 54=?Q 94U)BYyQ I@DI;i;4y%Bɮ%A!iiYLAjB"jB:jA?Rj7_T@l5@% @Bjs?{*{?]1?*j=2j`Zjl]vQ@W]wD@?sJ@Jjڃ ?K`Q?Mkֲ?j#B jBiEsht?ik}!jBj$DR@?j 2jBrjWBzjk ? addTargetRange:: Added new target pos. range: 81.800003 m, deltaT: 3.779783 s, deltaX: -1.899994 m, approachRate: -0.502673 m/s, rangeRepo size: 4  Added new target pos. range: 81.768646 m, bearing: 30.129115 deg, lat: 36.779510 deg, lon: -121.859754 deg, deltaT: 3.779783 s, deltaX: -1.907845 m, approachRate: -0.504750 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 81.77 m."i*i  ProNav: ac range: 81.768646 m, nav range: 81.670860 m, bearing: 31.127668 deg, approach rate: 0.000000 m/s, LOS rate: -0.021966 deg/s, cmd heading: 28.594251 deg, new cmd heading: 28.576762 deg. iHeadingCmd: 0.498759 target range: 81.768646 and range: 81.80 m.hI]>h!h!h!h!gAgAjgIrgIeIreIZeQ:eU@3sT@*eU?颽Bɢ :) pi) ;i<3iI]>M==II]>AI@ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247018q^A= =ԡ A I I O >h)#,]p6n?6;ٱ6e=6H ?`1޿Z???ȶ1p?`?i6>I6a\;4 Fv>FCYJByV.IvG~yAUMAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.4997259yAYAeAAabD^VD8ym%H=ٔQ->9Y=)EyD;E>Q 54mK?Q 94R)BYy?Q I@DI:i~:4yɮ_A:iDNOT Ignoring new targets: 81.77 m."i߹*i߹AAAAB>BB'IBBBBBB;B5hE- ProNav: ac range: 81.768646 m, nav range: 81.462814 m, bearing: 31.118010 deg, approach rate: -0.523656 m/s, LOS rate: -0.024370 deg/s, cmd heading: 28.576762 deg, new cmd heading: 28.557398 deg. i5f25HeadingCmd: 0.498421 target range: 81.768646 and range: 81.80 m.h50>h9h9h9h9g9gAjgQrgQeYreaZei:ei*em 5?颕BɢH) xOi)x;顙i4߻i0>Q=-H=I-0>I9E EE0E"E:*Ex:VE4ZEBE$5PM)#,6>>?>@t;ٱ>7=>H@?޿f?@z?a?@ݶ`n ܣ?`w?i>6>I>\;>CYNByNMIi-Mb@Mb@Mb@)))) )9-%C?ʡE?Zd;O?Y-Z?y-=-j<)-fA -5A)-KA)Y-AbDEJVDE8yU'=%UP=ٔU<Q-]>9YYY=e)Eye DeO;Ee>iQ 5u4mhhhhQgQgQjgYrg]BeYreYZea:ea*ee?颭Bɢά;) Xi)Zm;i֊߻i\>vV= =I\>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003492ԩ@ @@/@@=@=E EE2E"E:*E:VE4ZEa@a@a@a@^A=AzAwA A ؟AI) I9 OA = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254589l)#,|pLA6m>6:?6NX;ٱ6E$=6H@?`޿\???,?`8k`?6?i6m>I6];6CYFByF:IbDZ^VDZ8yf%jP=ٔnQ-n>9r"?Yr"?=r)EyrDv;Ev>|Q 54~g?Q 9 4~L)~BYy%?Q I@~DI~T;i~U;~4y!ɮ%A!:iaԩDNOT Ignoring new targets: 81.77 m."iI0*iI0 ProNav: ac range: 81.768646 m, nav range: 81.052986 m, bearing: 31.087658 deg, approach rate: -0.513410 m/s, LOS rate: -0.038530 deg/s, cmd heading: 28.527398 deg, new cmd heading: 28.496541 deg. iHeadingCmd: 0.497358 target range: 81.768646 and range: 81.80 m.hť>h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=I?颁ɢ(-9)  i);顉i<߻iť>]=`=Iť>II)9@9 @9@=}0@9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506648B>BCB:IBBBBBBp;BgEBCBCBB@ =B? =C55 ^Auh=E  E E .E "E l;*E h:VE ـ4ZE BE bFcn)#,{2LAYvByvDI xxiuMb@Mb@Mb@qqqq q9uPn?+η?/$?Yu?yuv=u=ٔQ->9Y=)EyDE>Q 54u?Q 94PH)BYT?Q E:y-?Q I@DI:ik:4yBɮvA:iDNOT Ignoring new targets: 81.77 m."ik*ik ProNav: ac range: 81.768646 m, nav range: 80.831688 m, bearing: 31.066111 deg, approach rate: -0.526145 m/s, LOS rate: -0.051369 deg/s, cmd heading: 28.496541 deg, new cmd heading: 28.453329 deg. iHeadingCmd: 0.496604 target range: 81.768646 and range: 81.80 m.hB>h!h!h!h!g!g!jg)rg-Be)re)Ze):e1*e5` ?]Bɢ]v:)a e`Iia)eB;aaimw ߻imB>mCe=uȪ=IuB>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758565IQ@ @@1@Ay^A 벫= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011455A9 II IY Oe >ԙ @)#,v6LAD6=D6<E: E:E:-E8"E:;*E:x:VE:t4ZE8aB@aB@aB@aB@Y By 4IbDVD8y-؀%-Q=ٔ1Q-5>91Y1==)Ey=#D9E=>AQ 5M4E5?Q 9M4ED)EBYQyQQ IU@EDIEH;iET;E4yYɮ]AY:iDNOT Ignoring new targets: 81.77 m."i  i*i  i ProNav: ac range: 81.768646 m, nav range: 80.628662 m, bearing: 31.046238 deg, approach rate: -0.519060 m/s, LOS rate: -0.050937 deg/s, cmd heading: 28.453330 deg, new cmd heading: 28.413483 deg. ipHeadingCmd: 0.495909 target range: 81.768646 and range: 81.80 m.h>h!hAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU-?@a额Bɢ%@)! %Hi!)-dN;))i-w޻i5>=Jn===I=>IU9@Q @Q@U95@Qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262985^Au p=A} >A} >A I I O > )#,LAYBy7IbD%VD%8y5f/<%5K=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514683ٔAQ-E>9IYI=M)EyM+DQEU>YQ 5e4]?Q 9e4]mA)]BYayaQ Ie@]DI]:i]~:]4ymBɮuAuE:iB<A4=B>BBBB? =BBlDB ;BgEDNOT Ignoring new targets: 81.77 m."inj*inj ProNav: ac range: 81.768646 m, nav range: 80.418701 m, bearing: 31.025579 deg, approach rate: -0.519416 m/s, LOS rate: -0.051239 deg/s, cmd heading: 28.413483 deg, new cmd heading: 28.372059 deg. iHeadingCmd: 0.495186 target range: 81.768646 and range: 81.80 m.h>hhhhggjgrgereZe:e*eY@ɢ,9)  i)I;i[޻i%>%v=%.=I%>I)E EE.E"E*E:VEـ4ZE@ @@/@BE@Ӭ)#,קLAY~By~-II;>)iMb@Mb@Mb@ 9~jt?+η?:v?Y?yT<fA A)YAbDVD8y%?=ٔQ->9Y=)Ey4DE>Q 5 4͟?Q 9 4=)BY?Q E:y.?Q I@ȅDI;i;x4yɮ&A!=B*** querying acoustic contact ***i9i9:iAMDNOT Ignoring new targets: 81.77 m."iMm*iUm] ProNav: ac range: 81.768646 m, nav range: 80.196617 m, bearing: 31.003462 deg, approach rate: -0.520018 m/s, LOS rate: -0.051933 deg/s, cmd heading: 28.372059 deg, new cmd heading: 28.327701 deg. ieeHeadingCmd: 0.494412 target range: 81.768646 and range: 81.80 m.he#>hihihihigigijgqrguҀBeqreqZey:ey*e} @颡ɢ`) `=i)/;顱iݻi#>=z=I#>IIMBDAT read: Rx Time:01:17:18.3058 UTRx dataTimestamp_ set to:1764897439.512890Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020032e9@a @i@i@iyE EE/E"EV:*E:VEJ4ZEa@a@a@a@^A"=Ա I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2710751)#,LA@z>z|?z:ٱz;N=zH?d߿ "? D?Ѯ?2Vݺ??iz>Iz];xYBy"IbDVD8y-:%-X=ٔ-רQ-->91Y1=5)Ey5;D=<E=>AQ 5M4E?Q 9M4Ea:)EBYIyM0?Q IM@EυDIE:iE:E4yYɮ]mAY:iyDNOT Ignoring new targets: 81.77 m."i_*i_ ProNav: ac range: 81.768646 m, nav range: 79.999481 m, bearing: 30.982273 deg, approach rate: -0.520825 m/s, LOS rate: -0.056117 deg/s, cmd heading: 28.327701 deg, new cmd heading: 28.285220 deg. ifͺHeadingCmd: 0.493670 target range: 81.768646 and range: 81.80 m.hX>hhhhggjgrgereZe:e*e @ɢu) 8i);iZݻiX>^==IX>Iu9@y @y@}/@ԱDAT read: 01:17:18.3058 LVL= 26416, 32753, 30802, 32755, AGC= 70, IDX= 416, 0.05,-2.038, 2.518,-1.916,-2.436, PHS= 0.500,-1.284, 0.476, RAW= 149.3, 3.5, CAL= 148.5, 3.5, ROT= 1.5, -3.5 B>BCB4IBBB@ =BBB;B-gEYgot valid direction response: 01:17:18.3058 LVL= 26416, 32753, 30802, 32755, AGC= 70, IDX= 416, 0.05,-2.038, 2.518,-1.916,-2.436, PHS= 0.500,-1.284, 0.476, RAW= 149.3, 3.5, CAL= 148.5, 3.5, ROT= 1.5, -3.5 PDAT read: Bearing 183.9, 1.5 (Local) ~Local bearing/azimuth received: Bearing 183.9, 1.5 (Local) ^A=AzAxADAT read: Range 11 to 50 : 79.9 m (Round-trip 106.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.997793,0.026128,0.061049]Fpublishing direction and range infoyY]e?FT?.xA?Y]̟BY]0gY]Rx Y)]FI]?i]Z]F>] &@]5z=]H%@ ]5z=)]Pw*#,~ LABi>Bo?BY:ٱB U=BH` ?K|߿ ?L??V> 3Kݺ??iBi>IB];BCYNByNIliMb@Mb@Mb@ 9y&1?{Gz?Mb`?Y`?yף=;=@ A 5A)YbDVD8y %==ٔ5VQ-5>99Y9==)Ey=DD=cr;EE>AQ 5M4E?Q 9U4E6)EBYu?Q Eu:yu0+?Q Iu@EօDIE:;iE;E4y}BɮA§E*DAT read: user:151> BDAT read: Tx time:01:17:19.5951 $Ping request sent.h!h!h!hIgIgIjgIrgU€BeQreQZeQ:eUS@*e]`?颕Bɢ.) i)(;顙iݻiH> =K=IH>I=9@9 @9@E/@A^A C=1IyIO~>m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249100i *#,Y%LAE2 E0E2/E0"E2=;*E0VE2J4ZE0a:@a:@a:@a:@>4>>?>ό:ٱ>=>H`?@߿Ӫ??ڢ?1B`I˺?@?i>4>I>^;>CY^BybI ddbDjVDj8yr%r_=ٔv:Q-v>9tYt=v)EyzKDzo;Ez>|Q 54~Ȍ?Q 94~3)~BYy +?Q I @~܅DI~:i~:~ 4yɮA9:i9EDNOT Ignoring new targets: 79.87 m."iE*iEU ProNav: ac range: 79.866966 m, nav range: 79.454933 m, bearing: 30.788505 deg, approach rate: -0.581079 m/s, LOS rate: -0.055917 deg/s, cmd heading: 28.232092 deg, new cmd heading: 28.195728 deg. iU̺]HeadingCmd: 0.492108 target range: 79.866966 and range: 79.90 m.h]>hahahahagagajgirgieireiZei:eq*eu@c?9ɢ=&)9 EiA)EJ ;AAiE˞ܻiM>g=2=I>I)@) @)@-/@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502275ԙ^A/=IIO> r*#,L3?LA2Ԛ>24?28ٱ2=2H?߿@?? ̜?@.<@ɺ? ?i2Ԛ>I2?^;2ߑCY>pBy>IbDFVDFư8yN%RO=ٔRQ-R>9PYT=V)EyVTDV;p;EV>XQ 5^4ZM֌?Q 9^4Z0)ZBY`yb+?Q Ib@ZDIZ\:iZ:Z4yfBɮfAfçE:ixzDNOT Ignoring new targets: 79.87 m."i~vi*i~vi  ProNav: ac range: 79.866966 m, nav range: 79.248764 m, bearing: 30.768392 deg, approach rate: -0.521713 m/s, LOS rate: -0.051027 deg/s, cmd heading: 28.195728 deg, new cmd heading: 28.155398 deg. i źHeadingCmd: 0.491404 target range: 79.866966 and range: 79.90 m.h[>hhhh%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753332A]@AA]@ABe>Be CBe!IBeBBeB =BaBekDBe};BefEԙggjgrgereZe:e*eg?ɢ) i);iYۻi[>֛=D=I[>I!bE 4jE rE Ͱ/E EEE"ET;*E:VEZEBEGA ?I I O > Z*#,YLA2>2?2hٱ2%=2H?߿`ɨ??`і?L _-? ׺??i2>I2];2CY>kBy>IiMb@Mb@Mb@ 9RQ?Q?Y?y\=&@K A A)KAYAbDVD8y-Ÿ%-B=ٔ-2Q-->91Y1=5)Ey5\D5YZ;E=>AQ 5E4E䌊?Q 9M4E,)EBYM?Q EM:yMK(?Q IM@EDIE,:iE:EQ4yUBɮFAEB*** querying acoustic contact ***ii:i%DNOT Ignoring new targets: 79.87 m."i%D*i%Du ProNav: ac range: 79.866966 m, nav range: 79.033211 m, bearing: 30.749487 deg, approach rate: -0.487372 m/s, LOS rate: -0.042861 deg/s, cmd heading: 28.155397 deg, new cmd heading: 28.117485 deg. i}᜺}HeadingCmd: 0.490743 target range: 79.866966 and range: 79.90 m.h}B>hhhhggjgrgBereZe:e*e i?1ɢ=,)9 = i9)= :AAiE ۻiEB>MI=M<=IMB>II)tA5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257413!@ @@/@E EE+E"E;*E:VE [4ZEa@a@a@a@Q^A $=ԁ A .AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510672I! O= >*#,6rLAN;>N?N˹ٱN:=NHI?y߿T??`(?wB 09?Tɺ? ?iN;>INO];NCYZgByZII^=)^>bDfVDf8yj]%nR=ٔnQ-n>9r ?Yr ?=r)EyrdDv;Ev>tQ 5~4v-?Q 9~4vb))vBY|y~(?Q I~@vDIv;iv;v#4y Bɮ A E:i)5DNOT Ignoring new targets: 79.87 m."i5[*i=[E ProNav: ac range: 79.866966 m, nav range: 78.833817 m, bearing: 30.731771 deg, approach rate: -0.539307 m/s, LOS rate: -0.048039 deg/s, cmd heading: 28.117485 deg, new cmd heading: 28.081962 deg. iEկMHeadingCmd: 0.490123 target range: 79.866966 and range: 79.90 m.hM]>hIhIhQhQgQgjgrgereZe:e*eA?ɢ) Di)V:ioGڻi]> ==I]>I!q9@ @@?5@ԙG{AA 9{AYXAB}>ByB}IB}|BB}A =ByByB};B}xfEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768613^A2=E  E E .E "E ;*E :VE ـ4ZE BE L "*#,oLA2C>2?2$Ĺٱ2 =2H`?]߿ >??u?Td8?u?!?i2C>I2];2CYN]ByRIi]Mb@Mb@Mb@YYYY Y9]MbX9?kt?Mb`Y]?y] 0=]Y]fA ]5A)]5AYY]fAbDu"VDṵ8yC%@=ٔ8Q->9"?Y"?=)EymDNE>Q 54$?Q 94#&)YB?Q E:yn?Q I@DI:i:4yɮA:iDNOT Ignoring new targets: 79.87 m."i*i𹝏 ProNav: ac range: 79.866966 m, nav range: 78.618088 m, bearing: 30.720625 deg, approach rate: -0.507697 m/s, LOS rate: -0.026302 deg/s, cmd heading: 28.081962 deg, new cmd heading: 28.059610 deg. i@HeadingCmd: 0.489733 target range: 79.866966 and range: 79.90 m.h;>hhhhggjgrgBereZe :e *e @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013616ɢ6) (i):i|Dٻi-;>5)=5m=I5;>I19@ @@15@) ^Am 6[=Ai zAm yAm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265222A I I O >7%)*#,[LAE6 E6E6/E4"E6:*E6:VE6J4ZE4a:@a:@a:@a:@B>B?BBWٱBF=BH`J? ߿ #?P?@ѕ?ö@*?IB70];BCYJ\ByHbD~VD~8y % R=ٔ39Q->9Y=)EytDٹE>!Q 5-4%?Q 9-4%+#)%BY1y5c?Q I5@%DI%:i%G:%\4y9ɮ=A9:iaeDNOT Ignoring new targets: 79.87 m."im;*im;񹝏} ProNav: ac range: 79.866966 m, nav range: 78.420647 m, bearing: 30.710394 deg, approach rate: -0.507438 m/s, LOS rate: -0.026363 deg/s, cmd heading: 28.059611 deg, new cmd heading: 28.039096 deg. i}@HeadingCmd: 0.489375 target range: 79.866966 and range: 79.90 m.hM>hhhhggjgrgereZe:e*e@ɢ"') j(i)L):izAػiM>4C=w=IM>IY@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518060y^AZ=ԩ A I I! O- > 0*#,9LA2٤>2?2%Ĵ9ٱ2=2HS?߿`? >??2s6??i2٤>I25];2C@YBZByBI DDbDNVDNð8yVF%VQ=ٔV:Q-V>9XYX=Z)EyZ|D^E^>`Q 5f4b?Q 9f4b. )`YdyfC?Q If@bDIb:ib::b44ynBɮn AnE:i|DNOT Ignoring new targets: 79.87 m."i*i 𹝏 ProNav: ac range: 79.866966 m, nav range: 78.221931 m, bearing: 30.700115 deg, approach rate: -0.507577 m/s, LOS rate: -0.026320 deg/s, cmd heading: 28.039096 deg, new cmd heading: 28.018488 deg. i@i!I%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769563Be>BaBeIBegBBaBaBejDBe;BeCfEB CBCBBA =BA =C5HeadingCmd: 0.489015 target range: 79.866966 and range: 79.90 m.h(`>hhhhggjgrgereZe:e*eU@Bɢ') v,i):i׻i%(`>%_=-@=I-(`>I)E} E}E}0Ey"E};*E}:VE}4ZEyBE}A2%T?20:ٱ2k=2H@? J߿೓?`x? ?/Fg?@?i2Y>I2P];0YNOByRI|i-Mb@Mb@Mb@)))) )9-rh|?I +?Mb`?Y->y-9<-;-@- A ))-A)Y-AbDEVDE8yUO%U@=ٔU]I:Q-]>9YYa=e)EyeDe*Ee>iQ 5u4m+?Q 9u4m:)mBY(>Q E:y?Q I@m DImۓhhhhggjgrgsBereZe:e*e`# @ɢЃ;) Ai)zT: i ɹջiK>|==IK>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2737779%9@! @!@!@!@-yA@-zAE EE,E"E;*E:VEg4ZEa@a@a@a@Q^A ^=A% >A% >ԁ A} .AI I O > DAT read: 01:17:22.1033 LVL= 23520, 29681, 22098, 32755, AGC= 68, IDX= 422, 0.05,-0.004,-1.665, 0.169,-0.356, PHS= 0.454,-1.264, 0.481, RAW= 150.8, 3.8, CAL= 149.8, 3.8, ROT= 0.2, -3.8  Ygot valid direction response: 01:17:22.1033 LVL= 23520, 29681, 22098, 32755, AGC= 68, IDX= 422, 0.05,-0.004,-1.665, 0.169,-0.356, PHS= 0.454,-1.264, 0.481, RAW= 150.8, 3.8, CAL= 149.8, 3.8, ROT= 0.2, -3.8  PDAT read: Bearing 184.6, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 184.6, 0.2 (Local) - DAT read: Range 11 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.4 m/s - R#Rx 1: Read range and direction messages.5 \direction in FSK: [0.997795,0.003483,0.066274]5 Fpublishing direction and range infoy  [?5Ul?{S?Y B [ s RV ) DI r>i ʡ E> q(@ ԇ= T'@ ԇ=) d;I ԇ an?ݮ4U?|KJ(?  ?) \I d;i ԇ M T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.c<*#,wLAY6>?}:ٱC=H?߿2?? ٧? V`OR`??i6>I^];CYFByIbDVD8y%@=ٔ:Q->9 ?Y ?= )Ey D E >1Q 5=45:?Q 9=45A)5BYAyE.?Q IE@5DI52:i5:5)4yMBɮMAii i ,LAj B"j B:j $?Rj uG!rS@]a?@Bj [?5Ul?{S?*j d;2j ԇZj  *mP@Cg3C@>PQ@Jj Bv?m?wF-?j B j SBi wy?i A(j oBj 9F?j j Brj Bzj ; ?5 addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.779431 s, deltaX: -1.900002 m, approachRate: -0.502722 m/s, rangeRepo size: 4 = Added new target pos. range: 77.965347 m, bearing: 29.575344 deg, lat: 36.779511 deg, lon: -121.859757 deg, deltaT: 3.779431 s, deltaX: -1.901619 m, approachRate: -0.503150 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 77.97 m."im*ii} ProNav: ac range: 77.965347 m, nav range: 77.866859 m, bearing: 30.662395 deg, approach rate: 0.000000 m/s, LOS rate: -0.010050 deg/s, cmd heading: 28.009513 deg, new cmd heading: 28.000901 deg. iyHeadingCmd: 0.488708 target range: 77.965347 and range: 78.00 m.h7>hhhhggjgrgereZe:eS@*e?BɢN) %Qi!)-:))i-%Իi57>5=5b=I57>I1ԉ@ @@@=*DAT read: user:152> EBDAT read: Tx time:01:17:23.3951 E$Ping request sent.EB CBIBSBBC =BBiDB;B5fEԱE  E E .E "E &:*E :VE ـ4ZE BE i;[C*#, LAB>B?B:ٱBn=BH@?@̆߿Gߨ???ش@`_fD??iB>IBS];BCYNHByNIIR=)Rp;i%Mb@Mb@Mb@!!!! !9%S?Mb?y&1|?Y%>y%<%`;%S@%K A !)%5A!Y%fAbD=VD=8y];%]T=ٔe;Q-m>9qYq=})Ey}D4\E>ԙQ 54G?Q 94)BYE>Q E:y ?Q I@DIy;i<4yAɮEAA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250655:iDNOT Ignoring new targets: 77.97 m."i}*i} ProNav: ac range: 77.965347 m, nav range: 77.686249 m, bearing: 30.660353 deg, approach rate: -0.454349 m/s, LOS rate: -0.005150 deg/s, cmd heading: 28.000900 deg, new cmd heading: 27.996806 deg. iHeadingCmd: 0.488636 target range: 77.965347 and range: 78.00 m.h.>hhhhggjgrg{BereZe:e*e ?UBɢU-w[)Y ](MiY)]Qg:YYi]һie.>e_=e.=Ie.>IE9@A @A@A@A^Ae +=- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502934 A ؟AI I O >I*#,:'LADDE EE-E"E:*Ev:VEt4ZEa@a@a@a@>>>k;?>B;ٱ>'=>H:? t߿`ƨ???٘]Hc /?@?i>>I>[];>ޑCYJ7ByJIbDVD8y%O=ٔ:Q->9%"?Y%"?=%)Ey%D-@WE->1Q 5E45T?Q 9E45@)5BYIyM ?Q IM@5DI5f;i51;54y]Bɮ]cAeE:iDNOT Ignoring new targets: 77.97 m."i*i ProNav: ac range: 77.965347 m, nav range: 77.502922 m, bearing: 30.658443 deg, approach rate: -0.499900 m/s, LOS rate: -0.005221 deg/s, cmd heading: 27.996805 deg, new cmd heading: 27.992976 deg. iHeadingCmd: 0.488570 target range: 77.965347 and range: 78.00 m.h%>hhhhggjgrgereZe:e*e`v?)ɢ5Ѕ)1 5Tni1)5::11i=лi=%>=ǜ=E/F=IE%>IA9@ @@/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755092Q^A(S=AyAzAwAA .AI I O >y mkP*#,ALA2>2p?2CM;ٱ25J=2H`?m^߿`???bi`Y?`@?i2>I2k.];2ߑCY>JBy>IbDFVDF8yN=%NR=ٔR;Q-R>9R ?YR ?=V)EyVDVEV>XQ 5^4Za?Q 9^4Z)ZBY`yb6 ?Q Ib@Z#DIZ;iZ;Z&4ydɮfAdBr>Br CBrIBrDBBrF =BpBrhDBr;BreEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010309:iDNOT Ignoring new targets: 77.97 m."i虸*i虸 ProNav: ac range: 77.965347 m, nav range: 77.321999 m, bearing: 30.656752 deg, approach rate: -0.448887 m/s, LOS rate: -0.004205 deg/s, cmd heading: 27.992975 deg, new cmd heading: 27.989586 deg. i@HeadingCmd: 0.488510 target range: 77.965347 and range: 78.00 m.h >hhhhggjgrgereZe:e*e?MBɢMQ)QQ UJEiq)uv:qyi}ϻi} >ܜ==I >II ) EE EEEE0EA"EE;*EEB:VEE4ZEABEE8N V*#,ܝ[LA2E>2m?2N u;ٱ2Yb=2H?@NG߿Y?n?@?  n@? ?i2E>I2-];0Y>FBy>I @@i5Mb@Mb@Mb@1111 195X9v?~jt?:v?Y5>y5<5T<15fA 5A)5KA1Y5AbDMVDM8y]%]?=ٔe#:Q-e>9e"?Ye"?=m)EymDmGxEm>qQ 5}4u}p?Q 9}4u)uBY>Q E:y ?Q I@u)DIu;iu;u.4yBɮAEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 77.97 m."i4Ӹ*i4Ӹ ProNav: ac range: 77.965347 m, nav range: 77.117836 m, bearing: 30.654398 deg, approach rate: -0.499107 m/s, LOS rate: -0.005770 deg/s, cmd heading: 27.989586 deg, new cmd heading: 27.984865 deg. i(HeadingCmd: 0.488428 target range: 77.965347 and range: 78.00 m.h=>hhhhggjgrgBereZe:e*e*?Bɢ^N_) \Li)9i%wKͻi%=>%d=-%v=I-=>I)Ա@ @@{4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515422EE EEEAEA"EE ;*EE:VEAZEAaM@aM@aM@aM@^AZs= A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7665989 ¿\*#,1yuLAYMByIbD5VD58yE=%EL=ٔEQ-E>9IYI=M)EyMDUEU>QQ 5e4U/~?Q 9e4UV )UBYayaQ Ie@U/DIU:iU:U54yiɮuHAq:iDNOT Ignoring new targets: 77.97 m."iʸ*iʸ ProNav: ac range: 77.965347 m, nav range: 76.927139 m, bearing: 30.652188 deg, approach rate: -0.477016 m/s, LOS rate: -0.005542 deg/s, cmd heading: 27.984865 deg, new cmd heading: 27.980433 deg. iI"HeadingCmd: 0.488351 target range: 77.965347 and range: 78.00 m.h >hhhhggjgrgereZe:e*e@BɢJUO) =m=I >I9@ @@?5@9BBBBBBBB`;BeEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018634^A2=A>A>bEـ4jE4rEȒ0EU  EU EU +EQ "EU %;*EU ?:VEU [4ZEQ BEU Kwc*#,5`LA v>v[?v3;ٱv7=vH`?!߿A?gJ? ?@ڳmu@k~?@R?iv>Iv ];vCY5PBy=IiMb@Mb@Mb@ 9`"?Mb?y=t<A A )AY AbDVD8y<%>=ٔT;Q- >9 Y =)EyDE>Q 5%4򌍊?Q 9%4] )BY%>Q E-:y-?Q I-@6DI:i:<4y1ɮ5*A1:iY]DNOT Ignoring new targets: 77.97 m."ie}*ie}uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270786} ProNav: ac range: 77.965347 m, nav range: 76.718803 m, bearing: 30.646242 deg, approach rate: -0.484473 m/s, LOS rate: -0.013865 deg/s, cmd heading: 27.980433 deg, new cmd heading: 27.968509 deg. iʹHeadingCmd: 0.488143 target range: 77.965347 and range: 78.00 m.h>hhhhg g jgrgBereZe:e*e`]@ieBɢg:) 2i)8i ɻi>==I>I@ @@05@ԙ^A = - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523224A I I O >i*#,,LAE EE*E"E;*EVE(N4ZEa@a@a@a@`rg>r~?r"9;ٱr.=rHy?߿@?`e:? ?Gv`;?`?irg>Ir\;pYyII C>) ;bD%&VD%ϰ8y5a%=Y=ٔEeT:Q-E>9AYI=M*EyMnjDU BEU>YQ 5e4]?Q 9m4])]BYiymp?Q Iu@]hhhhggjgrgereZe:e*eE@ BɢR) 2i) 顑iǻif>2-=S=If>Ii@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774606^AU(= A ] )GA .A I I 9 Y ާAO >p*#,p éLA6>6;V?6*ٻ;ٱ6+3=6H?߿@?`1?M?`}{w? ?i6>I6<\;6ߑCBB<A@BDBDBDBDBFG =BDBDBFR;BFeEYNTByNIbDZ(VDZѰ8yb<%bR=ٔbF:Q-b>9f ?Yf ?=f*EyfΌDj*ͺEj>lrBDAT read: Rx Time:01:17:25.9006 vTRx dataTimestamp_ set to:1764897447.076716vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027841Q 5z4nE?Q 9z4n)nBY|y~H?Q I~@nBDIn˞;inI;nI4yɮ .A :i15DNOT Ignoring new targets: 77.97 m."is*is ProNav: ac range: 77.965347 m, nav range: 76.347588 m, bearing: 30.635975 deg, approach rate: -0.483509 m/s, LOS rate: -0.013327 deg/s, cmd heading: 27.958269 deg, new cmd heading: 27.947926 deg. iùHeadingCmd: 0.487783 target range: 77.965347 and range: 78.00 m.h>hhhhggjgrgereZe!:e!*e% ̑ @mBɢm:)q 'i)r1顑iƻi>J?==I>IE= E=E=0E9"E==;*E=x:VE=4ZE9BE=Iv*#,qܩLA>HG?;ٱ=H? ߿@nީ?k.?@*? x̷?_?i>I\;YUWByUIԁi]Mb@Mb@Mb@YYYY Y9]x??{Gz?Y]K>y]L=]ף<]5A]fA Y)]AYY]\AbD7VD߰8y p<%-=ٔQ:Q->9"?Y"?=*Ey،DE>Q 54?Q 94)BY>Q E:y?Q I@IDI7;i;)R4yBɮ2AEB*** querying acoustic contact ***ii:i)5DNOT Ignoring new targets: 77.97 m."i5n*i5nE ProNav: ac range: 77.965347 m, nav range: 76.119156 m, bearing: 30.623389 deg, approach rate: -0.487338 m/s, LOS rate: -0.026931 deg/s, cmd heading: 27.947927 deg, new cmd heading: 27.922680 deg. iE%EMHeadingCmd: 0.487343 target range: 77.965347 and range: 78.00 m.hM>hIhIhIhQgQgQjgQrg]BeYreYZeY:eY*eeL @颍Bɢ-) i),;顑iĻi>S==I>IeDAT read: 01:17:25.9006 LVL= 26096, 31665, 29074, 32755, AGC= 69, IDX= 412,-0.25,-0.336,-2.015,-0.203,-0.712, PHS= 0.478,-1.258, 0.465, RAW= 149.6, 3.7, CAL= 148.8, 3.7, ROT= 1.2, -3.7 uYgot valid direction response: 01:17:25.9006 LVL= 26096, 31665, 29074, 32755, AGC= 69, IDX= 412,-0.25,-0.336,-2.015,-0.203,-0.712, PHS= 0.478,-1.258, 0.465, RAW= 149.6, 3.7, CAL= 148.8, 3.7, ROT= 1.2, -3.7 }PDAT read: Bearing 183.9, 1.0 (Local) ~Local bearing/azimuth received: Bearing 183.9, 1.0 (Local) DAT read: Range 11 to 50 : 76.1 m (Round-trip 101.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.997697,0.020899,0.064532]ԡ!@! @)@)@)5Fpublishing direction and range infoy!?{|f?P0?Y3Be{q )EIj>i%{>'@ A=6&@  A=) *DAT read: user:153>  BDAT read: Tx time:01:17:27.2450  $Ping request sent. 25?2g;ٱ2P=2H@?߿ߩ?@*?g? @,y"?@?i2֔>I2\;2CY^fBy^I ``bDjBVDj8yr=%rp=ٔv9Q-v?9tYt=v*EyvߌDzPEz?|Q 54~?Q 94~')~BYy ?Q I @~ODI~:i~%:~X4yɮAii 婌LAjB"jB:j?RjI8FR@&io?4B@Bj!?{|f?P0?*j<2j AZjjxpP@DB-&B@zvE@Jjz,?^{?DRN#?jB jBig?itjBjg?jtjoBrjٗBzjQ? addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 3.783989 s, deltaX: -1.900002 m, approachRate: -0.502116 m/s, rangeRepo size: 4  Added new target pos. range: 76.061989 m, bearing: 29.993007 deg, lat: 36.779514 deg, lon: -121.859765 deg, deltaT: 3.783989 s, deltaX: -1.903358 m, approachRate: -0.503003 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 76.06 m."i*i ProNav: ac range: 76.061989 m, nav range: 75.924606 m, bearing: 29.992785 deg, approach rate: 0.000000 m/s, LOS rate: -0.026931 deg/s, cmd heading: 27.922681 deg, new cmd heading: 27.903655 deg. iHeadingCmd: 0.487011 target range: 76.061989 and range: 76.10 m.hvY>hhhhg!g!jg!rg!e!re)Ze):e-`fS@*e-`0?额BɢK) i)Ϲ顡i<»ivY>c==IvY>Im9@i @i@m/@iB>BBIBNBBE =BBgDBT;BBE CBE CBEƓCBEF =BEE =CE5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2505731^A C=EM  EM EM -EI "EM ;*EM z:VEM t4ZEI BEM ?C,?@;ٱO=H`e?`W޿`$ө? (??`x@??iĔ>IH\;ݑCY[ByIiMb@Mb@Mb@ 9bX9?x&?~jt?YE>y7=<A A 9A)OAY AbDVDǰ8yK%<=ٔ3hQ->9 ?Y ?=*EyDrE>Q 54Ѝ?)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502647Q 94)BY>Q E:y$?Q I@UDIhhhh!g!gjgrgBereZe:e*e?=Bɢ=u )Y ]iy)}k 顁i\ib>y==Ib>IYU9@Q @Q@Q@Qԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755258^A =A >A >Թ EU  EU EU 0EQ "EU %;*EU :VEU 4ZEQ ae @ae @ae @ae @A ؟AI I O >y*#,+LA:f>:?:;ٱ:?)=:H`A?@޿&ͩ?]??@@mxM?@?i:f>I:\;:CYFaByFIbDNVDN8y<%L=ٔ [ 9Q- >9 "?Y "?=*EyD E>Q 5%4ݍ?Q 9%4) BY)y-W$?Q I-@\DI ;iX ;f4y1ɮ5A1:iY]DNOT Ignoring new targets: 76.06 m."ie(U*ie(Uu ProNav: ac range: 76.061989 m, nav range: 75.522148 m, bearing: 29.956323 deg, approach rate: -0.513106 m/s, LOS rate: -0.046589 deg/s, cmd heading: 27.865591 deg, new cmd heading: 27.830537 deg. iu}HeadingCmd: 0.485734 target range: 76.061989 and range: 76.10 m.h}1>hyhyhyhyggjgrgereZe:e*e@&?颽Bɢw*) *i)!i1i1>"=ק=I1>II)yAy@y @y@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006700 ^A C=9A .AI I) O5 >a B z>B CB IB XBB F =B B fDB k;B eEU*#,ELAiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827: >:?:];ٱ: =:H?޿?@?O? 7@yط? 8?i: >I:\;:CYBiByBIIJ=)JZ?bDN VDN8yV#=%VR=ٔVd9Q-Z>9Z ?YZ ?=Z*EyZD^hE^>`Q 5f4bꍊ?Q 9f4b)bBYdyj($?Q Ij@bbDIb:ib):bm4ylɮnAl:iDNOT Ignoring new targets: 76.06 m."i H*i H ProNav: ac range: 76.061989 m, nav range: 75.334244 m, bearing: 29.939322 deg, approach rate: -0.482069 m/s, LOS rate: -0.043726 deg/s, cmd heading: 27.830536 deg, new cmd heading: 27.796449 deg. i %HeadingCmd: 0.485140 target range: 76.061989 and range: 76.10 m.h%6d>h!h!h!h!g)g)jg)rg)e)re1Ze1:e1*e5տ?ɢ%N)! %Hi!)%8!!i-Ki-6d>-/=5&=I56d>QE} EyE}.Ey"E};*EyVE}ـ4ZEyBE}D *#,u_LAY~cBy~IiMb@Mb@Mb@ 9Mb?㥛 ?Q?Y?y=u<OAA OA)AYAbDVD8ya%:=ٔQ->9"?Y"?=*EyDE>Q 54?Q 942)BYt?Q E:y8%?Q I@iDIf:i4:0u4yBɮAE B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 76.06 m."i]*i%]- ProNav: ac range: 76.061989 m, nav range: 75.108994 m, bearing: 29.918104 deg, approach rate: -0.512518 m/s, LOS rate: -0.048422 deg/s, cmd heading: 27.796449 deg, new cmd heading: 27.753886 deg. i5<5HeadingCmd: 0.484397 target range: 76.061989 and range: 76.10 m.h=>h9h9h9h9g9g9jgArgEŀBeAreAZeI:eI*eM@I?uBɢ})y }Piy)}iT顁i軻i>==I>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763154q-9@) @)@-?5@)@5=@5=E EE,E"E ;*Eą:VEg4ZEa@a@a@a@ԙ^AU$ӿ=AazAewA A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014651O >*#,OyLA2Γ>2ñ?2;ٱ2]=2H?޿@TD? ?`?B1-{7??i2Γ>I2\;2CPYVfByVIbD^ VD^8yvAt<%vY=ٔvJb:Q-v>9xYx=z*EyzD~fE~>Q 5 4?Q 9 4)BY y %?Q I @oDI:i:{4yBɮvAE:iAEDNOT Ignoring new targets: 76.06 m."iEd^*iMd^U ProNav: ac range: 76.061989 m, nav range: 74.915581 m, bearing: 29.899859 deg, approach rate: -0.513957 m/s, LOS rate: -0.048607 deg/s, cmd heading: 27.753886 deg, new cmd heading: 27.717302 deg. iU鱺eHeadingCmd: 0.483758 target range: 76.061989 and range: 76.10 m.he'>hahahahagagijgirgieireiZeq:eq*eu`@颥Bɢ) \i)k顩iXi'>=A=I'>IQ@Q @Q@U>4@QBs>BCBIB]BBH =BBBf;BeEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266610^A4=E EE.E"E~ ;*EM:VEـ4ZEBE V) 7*#,4LAJr>J̃?JG;ٱJfS=JH@?޿R? ??&|=??iJr>IJg\;JCYVkByVI XX|iuMb@Mb@Mb@qqqq q9u)\(?{Gz?Mb?YuG?yuף=u9 ?Y ?=*EyDgֺE>Q 54?Q 94)BY?Q E:y(?Q I@vDII:it:C4yBɮrA:iDNOT Ignoring new targets: 76.06 m."iv*iv ProNav: ac range: 76.061989 m, nav range: 74.698593 m, bearing: 29.876821 deg, approach rate: -0.506385 m/s, LOS rate: -0.053921 deg/s, cmd heading: 27.717302 deg, new cmd heading: 27.671091 deg. i]źHeadingCmd: 0.482952 target range: 76.061989 and range: 76.10 m.hpE>hhhhg!g!jg!rg%̀Be)re)Ze):e)*e5T@Yɢ]k+)Y ]`ֽia)eeaaieimpE>m֝=m}=ImpE>Iq%9@! @)@-/@)AQ^AM=M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770579A} ؟AI I O >ԩ D =D E  E E 0E "E :*E :VE 4ZE a @a @a @a @*#,WLAJo>JK?JoY;ٱJ\=JH`? x޿J?`? ?g+}`??iJo>IJڶ\;JߑCYRjByRIbD^VD^8yfi%fZ=ٔf8:Q-f>9j"?Yj"?=j*EyjDnEn>pQ 5v4r"?Q 9v4r~)r!BYxyz(?Q Iz@r|DIr:irG:rԉ4y~Bɮ~A:i!%DNOT Ignoring new targets: 76.06 m."i-zv*i-zv= ProNav: ac range: 76.061989 m, nav range: 74.508270 m, bearing: 29.856627 deg, approach rate: -0.506431 m/s, LOS rate: -0.053872 deg/s, cmd heading: 27.671091 deg, new cmd heading: 27.630600 deg. i=.źEHeadingCmd: 0.482245 target range: 76.061989 and range: 76.10 m.hE>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU`U @ԁ颵Bɢ ) ؽi)2i3i>=I?=I>I@ @@@@@@@BDAT read: Rx Time:01:17:29.7481 TRx dataTimestamp_ set to:1764897450.856573checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023679A>A>A I I OM > By Ay B u>B B B B I =B B B ;B .eE] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274500*#,ƪLA2>2&?2W;ٱ2ξ=2H@8?3޿Z?`G?`?;~з?>?i2>I2\;2CY:kBy>IbDFVDF8yN8;%NM=ٔNe\:Q-N>9PYP=R*EyR DREV>TQ 5Z4V0?Q 9^4V7)V%BY\y^s(?Q I^@VDIV;iV;Vʐ4ybBɮbAfE:itvDNOT Ignoring new targets: 76.06 m."i5v*i=vE ProNav: ac range: 76.061989 m, nav range: 74.306549 m, bearing: 29.835197 deg, approach rate: -0.506425 m/s, LOS rate: -0.053946 deg/s, cmd heading: 27.630600 deg, new cmd heading: 27.587624 deg. iEtźmHeadingCmd: 0.481495 target range: 76.061989 and range: 76.10 m.hm>hqhqhqhqgqgqjgyrgyeyreyZey:e*e @ɢ8) ӽi)Fifi>==I>IbEjErE]%0EU EUEU,EQ"EUT;*EU:VEUg4ZEQBEUG DAT read: 01:17:29.7481 LVL= 22160, 25073, 22658, 32755, AGC= 68, IDX= 418, 0.03, 3.042, 1.316,-3.120, 2.657, PHS= 0.487,-1.295, 0.462, RAW= 149.3, 3.9, CAL= 148.5, 4.0, ROT= 1.5, -4.0 Ygot valid direction response: 01:17:29.7481 LVL= 22160, 25073, 22658, 32755, AGC= 68, IDX= 418, 0.03, 3.042, 1.316,-3.120, 2.657, PHS= 0.487,-1.295, 0.462, RAW= 149.3, 3.9, CAL= 148.5, 4.0, ROT= 1.5, -4.0 PDAT read: Bearing 183.7, 1.2 (Local) ~Local bearing/azimuth received: Bearing 183.7, 1.2 (Local) !DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.997222,0.026113,0.069756]Fpublishing direction and range infoyMX>?)(j?&k۱?YfBVaX )DIX>i¥D> &@'g=H%@ 5=)Pw?O8Wa? ?)XIPw)vp=iuMb@Mb@Mb@qqqq q9u~jt?kt?9Y=*Ey)DE>Q 54?)(j?&k۱?*jPw<2j5ZjӑNP@BB@P"@Jj??k[?h}?j B j&BiCV?iswjBjjjrj)Bzj0? addTargetRange:: Added new target pos. range: 74.199997 m, deltaT: 3.781293 s, deltaX: -1.900002 m, approachRate: -0.502474 m/s, rangeRepo size: 4 - Added new target pos. range: 74.160072 m, bearing: 30.025850 deg, lat: 36.779514 deg, lon: -121.859765 deg, deltaT: 3.781293 s, deltaX: -1.901917 m, approachRate: -0.502980 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 74.16 m.1"i=*i9M ProNav: ac range: 74.160072 m, nav range: 74.080078 m, bearing: 29.809442 deg, approach rate: 0.000000 m/s, LOS rate: -0.053946 deg/s, cmd heading: 27.587624 deg, new cmd heading: 27.540137 deg. iIMHeadingCmd: 0.480666 target range: 74.160072 and range: 74.20 m.hU>hQhQhQhQgQgYjgYrg]BeYreaZea:eěR@*ee`=?*DAT read: user:154> BDAT read: Tx time:01:17:30.9450 $Ping request sent.%]4=]uO=Ie>Ia!@) @)@)@)Em EmEm/Ei"Em%;*Em:VEmJ4ZEia}@a}@a}@a}@ԁAIIO>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250735 **#,LA2>2?2y <ٱ2 Ƽ=2H?@D޿X?C?? #??i2>I2\;2ߑCY>\ByBIbDJVDJ8yfnμ%fY=ٔf:Q-f>9hYh=j*Eyj1Dj'~En>pQ 5r4r]L?Q 9v4rG)r*BYtyvO*?Q Iv@rDIr:ir:r4yxɮzHA|B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 74.16 m."i*i ProNav: ac range: 74.160072 m, nav range: 73.884148 m, bearing: 29.787254 deg, approach rate: -0.502966 m/s, LOS rate: -0.057110 deg/s, cmd heading: 27.540137 deg, new cmd heading: 27.495643 deg. iѺ-׃G=/{AQɧ9/{AYAHeadingCmd: 0.479890 target range: 74.160072 and range: 74.20 m.h>hhhhgԱgjgrgereZe:e*e`?!ɢ-*)) m~ii)mPqqiu xi}>}&=}=I}>IyB-o>B-CB)B)B-G =B)B-eDB-;B-dEa@a @a@e/@aAizAmzA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502640AIIO>Eu EuEu,Eq"Eu:*Eu:VEug4ZEqBEuG8z/?z%<ٱzǍ=zH ?_޿>?%?F? ֳطȷ?@K?izmӑ>Iz:\;zCY YBy Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889iMb@Mb@Mb@ 9Mb?/$?{Gz?Y?y=#<AA KA)YAbDVD8y%5=ٔ8Q->9Y=*Ey%:D%&E%>)Q 554-[?Q 954-)--BY=R?Q E=:y=~*?Q I=@-DI-;i-;-ަ4yEBɮEAEE:iimDNOT Ignoring new targets: 74.16 m."iu=*iu= ProNav: ac range: 74.160072 m, nav range: 73.657448 m, bearing: 29.761304 deg, approach rate: -0.522469 m/s, LOS rate: -0.059992 deg/s, cmd heading: 27.495644 deg, new cmd heading: 27.443583 deg. iۺHeadingCmd: 0.478981 target range: 74.160072 and range: 74.20 m.h<>hhhhggjgrgBereZe:e*e`)?ɢ6)  i)i wi<>R:=PX=I<>II)xAm9@i @i@m/@i^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007141I A I I O >Ee  Ee Ee 1Ea "Ee T;*Ee |:VEe -4ZEa am @am @am @am @1 *#,M.LA 2q>2?2? <ٱ21k=2H  ?"޿ Vת?? +?U㳿y@B?`?i2q>I2.];0YNOByRI TVAbDdVDdyvbR%vb=ٔzX:Q-z>9|Y|=~*EyBDZE >Q 54g?Q 94)0BYy\*?Q I@DIohhhhggjgrgere!Ze!:e!*e%{?IɢUP)Up8 UiQ)]HѺYYi]7Qie>eM=e=Ie>Iiq @  @ @ ~0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259515ԙ^AQ A I I O >A! A% AAB- z>B- CB- IB- SBB- J =B) B- fDB- 7;B- ZdEBCBCBBH =BH =Cw5= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510796[*#,A*HLA>=>>pi?P><ٱ>=>H?X޿@HǪ??N?U ]+??i>=>I>;];>CYrKByrIbDzVDz8y%I=ٔ ns:Q- >9 Y =*EyJDW˺E>Q 5%4u?Q 9%42)2BY)y-4*?Q I-@DIP:i:Q4y5Bɮ5A5E:iY]DNOT Ignoring new targets: 74.16 m."ieƋ*ieƋu ProNav: ac range: 74.160072 m, nav range: 73.270004 m, bearing: 29.716838 deg, approach rate: -0.530619 m/s, LOS rate: -0.061101 deg/s, cmd heading: 27.401466 deg, new cmd heading: 27.354415 deg. iuߺ}HeadingCmd: 0.477425 target range: 74.160072 and range: 74.20 m.h}q>hyhyhyhyggjgrgereZe:e*e?E= E=E=-E9"E==;*E=M:VE=t4ZE9BE=Im7b=mA=Imq>I9@ @@v1@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762749^A-  =A- >A- >! Aa Ii Iy O >#*#,bLA2>2?2<ٱ2xs=2H?@ׅ޿`? ??`Q`? ?i2>I2 ];0Y:GBy:I|i5Mb@Mb@Mb@1111 195?V-?I +?Y5?y5h=594<5KA5A 5A)11Y5QAbDM VDM8y]n%]E=ٔe_:Q-e>9aYa=e*EymRDmLEm>qQ 5}4u?Q 9}4u)u5BYP?Q E:y#?Q I@uDIuj;iu;u4yɮ$A:iDNOT Ignoring new targets: 74.16 m."iY*iY ProNav: ac range: 74.160072 m, nav range: 73.062088 m, bearing: 29.697161 deg, approach rate: -0.501179 m/s, LOS rate: -0.047565 deg/s, cmd heading: 27.354416 deg, new cmd heading: 27.314950 deg. iHeadingCmd: 0.476736 target range: 74.160072 and range: 74.20 m.h>hhhhggjgrgBereZe:e*e?@ɢL`) 80i)ii%>%u=-~=I->I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0149161@ @@/5@@@@@EM EMEIEI"EM;*EM$:VEIZEIaU@aU@aU@aU@YA ԁ I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266922I O >XF*#,n{LA2O.>2>>2y<ٱ27=2H@?z޿R?? ?`| @~?`?i2O.>I2];2ߑCY:@By:IIB=)B=bDF VDF8yN %NX=ٔR#.Q-R>9PYP=V*EyVZDVEV>XQ 5^4Z?Q 9^4Z)Z8BY`ybS#?Q Ib@ZDIZ;iZ;Z14yf~BɮfAfEvB*** querying acoustic contact ***itit:ixzDNOT Ignoring new targets: 74.16 m."i~;Y*i~;Y  ProNav: ac range: 74.160072 m, nav range: 72.871841 m, bearing: 29.679175 deg, approach rate: -0.500877 m/s, LOS rate: -0.047479 deg/s, cmd heading: 27.314951 deg, new cmd heading: 27.278883 deg. i ȭHeadingCmd: 0.476106 target range: 74.160072 and range: 74.20 m.h5>hhhhggjg!rg!e!re!Ze!:e)*e-~@QɢU &{Y)Q e=ia)ewaaieiim5>mm=m=Im5>IqԉB>B CBIBIBBE =BBgDB;B dE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519256`Ի9@ @@1@ԹEU EUEQEQ"EU=;*EU:VEQZEQBEQae2EUI 5*#,=וLA>0><ٱ=H ?%k޿?җ??@M༑ YM??i>I1\;Y7ByIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770822ԩiMb@Mb@Mb@ 9x&1?p= ף?Mb?YA?y=<bAA KA)bAYbDVD8yR"%7=ٔD:Q->9Yi=m*EymcDuEu>yQ 54}?Q 94}M)}:BYX?Q E:y ?Q I@}DI}h;i}m ;}M4yɮ7A:iDNOT Ignoring new targets: 74.16 m."i;D*i;D ProNav: ac range: 74.160072 m, nav range: 72.638794 m, bearing: 29.659347 deg, approach rate: -0.502489 m/s, LOS rate: -0.042889 deg/s, cmd heading: 27.278882 deg, new cmd heading: 27.239100 deg. iHeadingCmd: 0.475412 target range: 74.160072 and range: 74.20 m.h3i>hhhhggjgrgBereZe:e*e'@ɢ|) Pi)%!!i%i-3i>-Ğ=-B9=I-3i>I19q@q @y@}/0@yAzAyAIIO> BDAT read: Rx Time:01:17:33.4456  TRx dataTimestamp_ set to:1764897454.636565 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0238561 DU =DU <EY  E] E] ,EY "EY *E] :VE] g4ZEY ae @ae @ae @ae @Z*#,,LAZ>Z>Z o!<ٱZ9=ZH@ ?X޿x???  -?`?iZ>IZ\;ZCYj/BynIbDVD8y-,%-W=ٔ5#M:Q-5>99Y9==*Ey=kD=DkE=>AQ 5M4E7?Q 9M4E{)E;BYQyU?Q IU@EDIEb;iE;E4yYɮ]yAa:iDNOT Ignoring new targets: 74.16 m."iB*iB ProNav: ac range: 74.160072 m, nav range: 72.456261 m, bearing: 29.643915 deg, approach rate: -0.502560 m/s, LOS rate: -0.042595 deg/s, cmd heading: 27.239100 deg, new cmd heading: 27.208158 deg. i蛺HeadingCmd: 0.474872 target range: 74.160072 and range: 74.20 m.hj">hhhhggjgrgereZe:e*e@ @Bɢ) ai)Ui]ij">=1=Ij">Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274798959@1 @1@51@1ԁII Ii O >B A <B B B IB 5BB D =B B B ӧ;B dEԑ E DAT read: 01:17:33.4456 LVL= 30608, 32753, 30962, 32755, AGC= 70, IDX= 408, 0.45,-0.275,-1.997,-0.176,-0.641, PHS= 0.467,-1.311, 0.421, RAW= 148.7, 4.9, CAL= 148.0, 5.1, ROT= 2.0, -5.1 M Ygot valid direction response: 01:17:33.4456 LVL= 30608, 32753, 30962, 32755, AGC= 70, IDX= 408, 0.45,-0.275,-1.997,-0.176,-0.641, PHS= 0.467,-1.311, 0.421, RAW= 148.7, 4.9, CAL= 148.0, 5.1, ROT= 2.0, -5.1 U PDAT read: Bearing 184.2, 1.5 (Local) U ~Local bearing/azimuth received: Bearing 184.2, 1.5 (Local) e DAT read: Range 11 to 50 : 72.3 m (Round-trip 96.4 ms) speed 0.4 m/s e R#Rx 1: Read range and direction messages.m \direction in FSK: [0.995434,0.034761,0.088894]m Fpublishing direction and range infoO*#y)- C ?<<̡??Y-B)-w--x ))-FI->i-Χ-P>-x&@-%=-MQ%@ -K=)-5=I-K))-&?N2/?޷? -5;?)-UI-5=i-K))T****** received valid address query ******R****** received valid ping request ******,ɫLAQuerying Benthos address 50 with one ping in standard two-way mode.!!Q?>?>!&<ٱ9=H _%?`^D޿ "?@xq? ?@6҄>? ?iQ?>Iv\;CY%ByIbDؿVD8y/%==E EE.E"E;*E:VEـ4ZEBEA9!Y!=%*Ey%tD%;KE->)QQ 5]4-U?Q 9]4-)-=BYayeo?Q Ie@-ƆDI-;i-";-J4ymBɮmAii)i-(ȫLAj-B"j-B:j-ػ?Rj-95eQ@@4u@Bj- C ?<<̡??*j-5=2j-KZj-33^5O@>A@xO"@Jj-N?U ?Af?j-B j-yBi-\H?i-j-Bj-CV?j-swj)rj-RBzj-[? addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 3.778589 s, deltaX: -1.899994 m, approachRate: -0.502832 m/s, rangeRepo size: 4  Added new target pos. range: 72.263733 m, bearing: 29.931173 deg, lat: 36.779512 deg, lon: -121.859763 deg, deltaT: 3.778589 s, deltaX: -1.896339 m, approachRate: -0.501864 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 72.26 m."i*i ProNav: ac range: 72.263733 m, nav range: 72.161545 m, bearing: 29.847011 deg, approach rate: 0.000000 m/s, LOS rate: -0.042595 deg/s, cmd heading: 27.208158 deg, new cmd heading: 27.167945 deg. i EHeadingCmd: 0.474170 target range: 72.263733 and range: 72.30 m.hEl>hihihihigigijgqrgqeqreqZey:e}@3R@*e}C:?ԉɢ=) ui) u* i+i-l>5XȞ=5J=I=l>Ie*DAT read: user:155> mBDAT read: Tx time:01:17:34.7450 u$Ping request sent.uI I O >*#,䫌LAYvByzIiuMb@Mb@Mb@qqqq q9u`"?y&1?I +?Yu>yu`e=u949Y=*Ey|DE>Q 54"ʎ?Q 94)@BY>Q E:y?Q I@̆DI:i(:s4yɮA:iDNOT Ignoring new targets: 72.26 m."i)*i)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249649% ProNav: ac range: 72.263733 m, nav range: 71.962685 m, bearing: 29.833126 deg, approach rate: -0.529900 m/s, LOS rate: -0.037103 deg/s, cmd heading: 27.167945 deg, new cmd heading: 27.140097 deg. i%͇-HeadingCmd: 0.473684 target range: 72.263733 and range: 72.30 m.h->h)h)h)h)g1g1jg1rg5Be9re9Ze9:e9*e=P?mBɢ!) *i)5iQʙi>Dמ=*=I>I)Em EmEm0Ei"Eml;*Em:VEm4ZEia}@a}@a}@a}@@ @@@Aq^A (=Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501519ԑ *#,LA2ƕ>2*>2'K)<ٱ2i=2Hd*? ~1޿?@^??@w;@L)D??i2ƕ>I2\;2ߑCY:By:IbDFVDFǰ8yJ%J]=ٔN9Q-N>9PYP=R*EyRDRceEV>TQ 5Z4V֎?Q 9Z4Vd)VBBY\y^k?Q I^@V҆DIV:iV;V4ybBɮbAfErB*** querying acoustic contact ***ipip:itzDNOT Ignoring new targets: 72.26 m."iz*iz ProNav: ac range: 72.263733 m, nav range: 71.783424 m, bearing: 29.820730 deg, approach rate: -0.485590 m/s, LOS rate: -0.033663 deg/s, cmd heading: 27.140096 deg, new cmd heading: 27.115242 deg. i nv HeadingCmd: 0.473250 target range: 72.263733 and range: 72.30 m.h M>hhhhggjgrgereZe!:e!*e%O?IɢMü)Q UDiQ)UCQQiviM>=m=IM>II)zAq@ @@/@B>B CBIB BBB =BBhDB;BcE-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753645ԡbEt4jErE./E} E}E}-Ey"E}:*E}:VE}t4ZEyBE}< +#,LAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0065908ɰ:;bq>b>b&<ٱbK=bH`y+?`-޿u?Z?`g?3Rӄ@W? s?ibq>IbE\;bCYjBynIiMb@Mb@Mb@ 9Q?~jt?Mbp?Y>y=; KA)| AYzAAAbDVDɰ8y%7=ٔuQ->9Y=*EyD!E>Q 54厊?Q 94U)Y>Q E:yu?Q I@نDI:i:4yɮA :i15DNOT Ignoring new targets: 72.26 m."i=Ƕ*i=ǶE ProNav: ac range: 72.263733 m, nav range: 71.569023 m, bearing: 29.811860 deg, approach rate: -0.481391 m/s, LOS rate: -0.019975 deg/s, cmd heading: 27.115241 deg, new cmd heading: 27.097449 deg. iM8UHeadingCmd: 0.472940 target range: 72.263733 and range: 72.30 m.hU'%>hQhQhQhQgQgYjgYrg]BeYreaZea:ea*ee)?aɢe_)i mii)mE Uiiiuiu'%>u=}O=I}'%>IyY@Y @Y@]/@Y5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257512Y ^A =A yAzA tAE  E E E "E ;*E :VE ZE a @a @a @a @A .AI I O > +#,ׅ2LA28>2&>2!<ٱ2=2H/? ޿?eM??@pS}=@uK??i28>I2"];2ߑCY>By>vIbDJ VDJ8yN~P%R`=ٔRLQ-R>9R ?YV ?=V*EyVDV'EZ>XQ 5^4ZB?Q 9b4Zָ)ZCBY`yb8?Q Ib@ZކDIZX:iZ:Z4yfBɮjAjE:ix~DNOT Ignoring new targets: 72.26 m."i~*i~  ProNav: ac range: 72.263733 m, nav range: 71.393486 m, bearing: 29.804690 deg, approach rate: -0.480640 m/s, LOS rate: -0.019680 deg/s, cmd heading: 27.097449 deg, new cmd heading: 27.083074 deg. i HeadingCmd: 0.472689 target range: 72.263733 and range: 72.30 m.hE>hhhhggjgrg!e!re!Ze!:e!*e-?QɢUټ)Q ]^iY)]bYYi]NieE>ew =e=IeE>Ii@ @@4@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510508 G5{AIq/9{AYA^A =A] ؟AIa Iq O >ԙ A A B |>B CB ~IB BB B B gDB ;B cE5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761429#+#,ALLA22p>2">2Q<ٱ2=2H%3? ޿~?`>?R? 7`Q@/?@;?i22p>I2];2C9V"?YZ"?=Z*EyZDZ}'EZ>\Q 5b4^?Q 9b4^)\Ydyf?Q If@^DI^:i^:^4yhɮjAh:i|EE EAEE1EA"EET;*EAVEE-4ZEABEEGhhhhggjgrgereZe:e*e@D@颙ɢ]Ҽ) i)]v顡i7i>=E_=I>IԱu9@q @q@}@5@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013558^A= I I O >t+#,fLA2>2>2I<ٱ2L=2H7?޿ ԩ?/? :?:& T?`?i2>I2{];2CY:By:tI <>AliMb@Mb@Mb@ 9x?L7A`?Mbp?YK>y+=AA A)Y A %=bDVDð8y-*V=%-B=ٔ5ºQ-5>91Y1==*Ey=D=EE>AQ 5M4E?Q 9M4E<)EDBYU>Q EU:yU?Q IU@EDIE4:iE:Ez4yYɮe%Aachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265893:iIuDNOT Ignoring new targets: 72.26 m."i}*i} ProNav: ac range: 72.263733 m, nav range: 70.995781 m, bearing: 29.790579 deg, approach rate: -0.456272 m/s, LOS rate: -0.014168 deg/s, cmd heading: 27.067437 deg, new cmd heading: 27.054773 deg. ioϹHeadingCmd: 0.472195 target range: 72.263733 and range: 72.30 m.h>hhhhggjgrgBereZe:e*en@qɢu˼)q uiq)}^yyi}mri>.=^$=I>IE EE,E"Ex;*Ex:VEg4ZEa@a@a@a@@ @@?5@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518037^A a I I O >D@+#,LA2%>2v>2 <ٱ2j=2H I2];2CY:By:YIbDF,VDFհ8yN<%NT=ٔjQ-n>9lYl=r*EyrDr{Er>tQ 5z4v2?Q 9z4v)vEBYxy~?Q I~@vDIv :iv ;vU 4yBɮAE%B*** querying acoustic contact ***i!i!:i)5DNOT Ignoring new targets: 72.26 m."i5*i59M ProNav: ac range: 72.263733 m, nav range: 70.805939 m, bearing: 29.784899 deg, approach rate: -0.516379 m/s, LOS rate: -0.015491 deg/s, cmd heading: 27.054772 deg, new cmd heading: 27.043382 deg. iM⹝UHeadingCmd: 0.471996 target range: 72.263733 and range: 72.30 m.hUx>hQhQhQhQgQgYjgYrgYeareaZea:ea*ee=@频ɢj) i)z顙i䃻ix>:==Ix>IB]Q>B]CB]lIB]BB]L =BYB]bDB];B]cEB% CB%CB%ÖCB%D =B%E =C%B6q@y @y@}/@yi checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769463^AO=ԙI!I9OE>Em EmEm1Ei"Em:*Em:VEm-4ZEiBEm<~x>~;ٱ~aX=~H PB?ݿ@"?A?1(?@1Ku` ? ?i~p>I~r^;~ޑCYByԑi=Mb@Mb@Mb@9999 99=Q?~jt?~jth?Y=>y=<=D;=bA9 =KA)= A9Y=AbDUVDU8yet7;%e0=ٔe̺Q-e>9iYi=m*EymDuFEu>yQ 54},?Q 94})yY>Q E:y ?Q I@}DI}:i} ;}L4y|BɮmAE:iDNOT Ignoring new targets: 72.26 m."i0*i0 ProNav: ac range: 72.263733 m, nav range: 70.586914 m, bearing: 29.781757 deg, approach rate: -0.480656 m/s, LOS rate: -0.006917 deg/s, cmd heading: 27.043383 deg, new cmd heading: 27.037079 deg. iJHeadingCmd: 0.471886 target range: 72.263733 and range: 72.30 m.h >hhhh!g!g!jgArgMsBeIreIZeI:eQ*eU` @颙ɢKD޼) i)el顡i-i >^K==I >I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274004^A =I I O5 >E  E E +E "E *E ~:VE [4ZE a% @a% @a% @a% @) U,+#,LAU9>U'}>U;ٱU=UHXF?@ݿ?>? +? l>|@3??iU9>IUZ_;QYy@AbDVD8y%U=ٔQ->9Y=*EyD/E>Q 549?Q 94!)YyV ?Q I@DI;i;4yBɮ%A%E:iDNOT Ignoring new targets: 72.26 m."ih*ih渝 ProNav: ac range: 72.263733 m, nav range: 70.399818 m, bearing: 29.779216 deg, approach rate: -0.462257 m/s, LOS rate: -0.006295 deg/s, cmd heading: 27.037078 deg, new cmd heading: 27.031983 deg. iS8HeadingCmd: 0.471797 target range: 72.263733 and range: 72.30 m.hd>hhhhggjgrgereZe:e*e`@ɢ_)! %i!)%[P))i-Kwi5d>5W=5w=I5d>I9DAT read: 01:17:37.2430 LVL= 22336, 32753, 25842, 32755, AGC= 66, IDX= 415, 0.19, 1.696,-0.032, 1.771, 1.286, PHS= 0.513,-1.273, 0.442, RAW= 148.0, 3.7, CAL= 147.3, 3.8, ROT= 2.7, -3.8 Ygot valid direction response: 01:17:37.2430 LVL= 22336, 32753, 25842, 32755, AGC= 66, IDX= 415, 0.19, 1.696,-0.032, 1.771, 1.286, PHS= 0.513,-1.273, 0.442, RAW= 148.0, 3.7, CAL= 147.3, 3.8, ROT= 2.7, -3.8 PDAT read: Bearing 182.4, 2.5 (Local) ~Local bearing/azimuth received: Bearing 182.4, 2.5 (Local) DAT read: Range 11 to 50 : 70.5 m (Round-trip 94.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996694,0.047003,0.066274]Fpublishing direction and range infoyim6\?Ly&?{S?YmBim@Wimd i)mB@ @@/@ImS?im񢿉mM>mMQ%@m A=m"$@ mԇ=)mA=Imԇiim[ 3?!y?8ee? m>)mFImA=imԇiiET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.q^Az=BM <AI BM o>BM CBM YIBM BBM O =BI BM dDBM q;BM cEIi Iy O > *DAT read: user:156> % BDAT read: Tx time:01:17:38.5449 % $Ping request sent.% > +P;ٱ  = H`L?`&ݿ?y?B2?Sz)y ٶ?%?i >I 5_; CYMByUUIbDuϿVDu8E EE0E"E:*E|:VE4ZEBE>9Y= *Ey ƍD E >Q 54G?Q 94)FBY!y%?Q I%@DI:i:.4y)ɮ-A)qii&庬LAjB"jB:j?RjȲQ@͎ޤ~ @}[~@Bj6\?Ly&?{S?*jA=2jԇZjs$-eN@f8ݖKA@]:ry@Jjtˏ?" ?^g?jZ B j)sBi hJ?i jBjjjBrjiBzjN ? addTargetRange:: Added new target pos. range: 70.500000 m, deltaT: 3.780517 s, deltaX: -1.800003 m, approachRate: -0.476126 m/s, rangeRepo size: 4  Added new target pos. range: 70.460312 m, bearing: 30.169973 deg, lat: 36.779512 deg, lon: -121.859763 deg, deltaT: 3.780517 s, deltaX: -1.803421 m, approachRate: -0.477030 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 70.46 m."i*i% ProNav: ac range: 70.460312 m, nav range: 70.205170 m, bearing: 29.776830 deg, approach rate: 0.000000 m/s, LOS rate: -0.006295 deg/s, cmd heading: 27.031983 deg, new cmd heading: 27.026872 deg. i!-HeadingCmd: 0.471708 target range: 70.460312 and range: 70.50 m.hU>hQhQhQhQgQgQjgYrgYeYreYZea:eeQ@*ee`?Bɢ) %i)0$iAoi>d=Ұ=I>IԱ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255013^Ae 2=I I O > Rd9+#,sd笌LA:->:>::C;ٱ:=:H@TS? iݿ`P?d?o8?`r`uɶ?@]?i:->I:l`;:ߑCYBByBPIi Mb@Mb@Mb@     9 Cl?{Gz?{Gzt?Y d>y ף< ף; A A A) A Y G AbD%VD%8y55%5X=ٔ5|Q-5>99Y9==*Ey=΍DE6EE>IQ 5]4MHU?Q 9]4M)MGBYe>Q Ee:ye?Q Ie@M DIM06;iM`F;M%4yuBɮuAuEiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503758:iaeDNOT Ignoring new targets: 70.46 m."imLܷ*iuLܷ ProNav: ac range: 70.460312 m, nav range: 70.019333 m, bearing: 29.776246 deg, approach rate: -0.477581 m/s, LOS rate: -0.001505 deg/s, cmd heading: 27.026872 deg, new cmd heading: 27.025701 deg. i=0HeadingCmd: 0.471687 target range: 70.460312 and range: 70.50 m.h>hhhhggjgrgvBereZe:e*e@L? ɢ4) {i)&ihi>%m=%=I%>I!I5yA)1E EE-E"E:*E$:VEt4ZEa@a@a@a@9@ @@@^Al=i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755011I I O >Q uN@+#,ILA2 ]>2>2J;ٱ2˷=2H@lY?`ݿ"?[?@=?@{׳ [p??i2 ]>I2c`;2CY:By:RI << B=@bDFVDF8yN<%NT=ٔR(JQ-R>9PYP=V*EyV֍DVHEV>XQ 54Zc?Q 94Z)XYy?Q I@ZDIZUhihihihigqgqjgyrgereZe:e*e`:t?Bɢ6w) si)nʺiaik>u=my=Ik>IB>B CBSIBBBC =BBiDBQ;BcE)u9@q @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902Y^A?=E EE/E"E ;*E:VEJ4ZEBERA~F+#,<LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260715(-6>-$>-/Y;ٱ-]=-H`_? tݿ@K?u?C? 糿"k?`$?i-6>I-`;-ߑCY=ByEWIi5Mb@Mb@Mb@1111 195/$?:v?y&1?Y5&>y5<5`e<11 5bA)5| A1Y1bDM˿VDM|8y]<%]1=ٔe޺Q-e>9aYa=m*EymߍDm3iEm>qQ 5}4ur?Q 9}4u)uKBY}>Q E:yn?Q I@uDIu;iu;u44yBɮA:iDNOT Ignoring new targets: 70.46 m."i*i ProNav: ac range: 70.460312 m, nav range: 69.611832 m, bearing: 29.773515 deg, approach rate: -0.483329 m/s, LOS rate: -0.005286 deg/s, cmd heading: 27.025001 deg, new cmd heading: 27.020225 deg. iHeadingCmd: 0.471592 target range: 70.460312 and range: 70.50 m.h~t>hhhhggjgrg{BereZe:e*e@?ɢ) i)ŻyiZi~t>~=#=I~t>Iu9@q @q@u0@qԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313^A} 6= I I O- >D1 D5 %=E  E E 0E "E ;*E z:VE 4ZE a @a @a @a @L+#,+4LA2`R>2N>2+;ٱ2:=2H h?>TݿA!?qu? L?:㳿}e@?@?i2`R>I2`;2C\YbByb\IbDjVDj8yr<%rg=ٔvQ-v>9tYt=z*EyzDzػEz>|Q 54~?Q 94~t)~NBY y ?Q I @~DI~::i~:~:4yɮA:i9=DNOT Ignoring new targets: 70.46 m."iEל*iMל} ProNav: ac range: 70.460312 m, nav range: 69.444862 m, bearing: 29.772005 deg, approach rate: -0.472419 m/s, LOS rate: -0.004285 deg/s, cmd heading: 27.020225 deg, new cmd heading: 27.017196 deg. i}HeadingCmd: 0.471539 target range: 70.460312 and range: 70.50 m.hm>hhhhggjgrgereZe:e*eU?颽Bɢ#) i)ͻi7Sim>==Im>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763152Y@Y @Y@]15@a^A}"=IIO>AAB>B CBBB@ =BBjDB<;BwcEA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855S+#,NLA8ɰ8f>fn>f:ٱfs=fHdn?>ݿť?^?.R?L@C_ƶ??if>IfPIa;fCYvByvhIbE=J4jE=4rE=20E~ E~E~/E|"E~;*E~ą:VE~J4ZE|BE~@9aYa=e*EymDmrqEm>Q 54 ?Q 94)QBYyp?Q I@#DIih:iB4yɮ gA :iimDNOT Ignoring new targets: 70.46 m."iu*iu ProNav: ac range: 70.460312 m, nav range: 69.239159 m, bearing: 29.770397 deg, approach rate: -0.463610 m/s, LOS rate: -0.003634 deg/s, cmd heading: 27.017196 deg, new cmd heading: 27.013971 deg. iԸHeadingCmd: 0.471483 target range: 70.460312 and range: 70.50 m.h0f>hhhhggjgrgereZe:e*e-@Bɢv) i)2ֻiLi0f>=ا=I0f>IE9@A @A@M/5@Iamchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269033i^Aep=AmxAzAmzAIIO>ԙ vY+#,2hLA6>6y>6)߹:ٱ6 =6H@s?-ݿ?@L?sV? d(;Wܶ? D?i6>I6DHa;6ޑCYNByRiIyiMb@Mb@Mb@ 9K?yt=C< A) AY AbDVDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519452y;%D=ٔęQ-U>9YYY=]*Ey]D]o;E]>aQ 5m4eМ?Q 9m4e)eUBYu2>Q Eu:yu ?Q Iu@e*DIe;ie;eI4yBɮzAE:iDNOT Ignoring new targets: 70.46 m."iE*iE ProNav: ac range: 70.460312 m, nav range: 69.034309 m, bearing: 29.765968 deg, approach rate: -0.498398 m/s, LOS rate: -0.010808 deg/s, cmd heading: 27.013972 deg, new cmd heading: 27.005088 deg. i;HeadingCmd: 0.471328 target range: 70.460312 and range: 70.50 m.hQ>hhhhggjgrgBereZe:e*e{@9ɢE)A EiI)U޻QQiU]==e0=IeQ>IiDzDE% E%E%,E!"E%7;*E%xv:VE%g4ZE!a-@a-@a-@a-@ԩ@ @@5@u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771244^A ا= aG) I u 9q Yu AI I O >0`+#,LA2K/>2:>2X S:ٱ2,η=2H@x?ݿ[Q? 8?@1[?@QaJ`??i2K/>I2^a;2CY:By:rIbDFVDF8yJ_ =%J`=ٔNܺQ-N>9PYP=R*EyRDRrEV?TQ 5Z4V?Q 9Z4V)VYBY\y^S ?Q I^@V/DIV:iV ;VO4y`ɮb@AdrB*** querying acoustic contact ***ipip:ix}DNOT Ignoring new targets: 70.46 m."i}8*i}8 ProNav: ac range: 70.460312 m, nav range: 68.863914 m, bearing: 29.762462 deg, approach rate: -0.489953 m/s, LOS rate: -0.010106 deg/s, cmd heading: 27.005088 deg, new cmd heading: 26.998058 deg. iHeadingCmd: 0.471205 target range: 70.460312 and range: 70.50 m.hA>hhhhggjgrgereZe:e*e%` @mBɢm)i miqB>BBYIBBB? =BBB;BAcE)AiDh@iA>=3=IA>IBDAT read: Rx Time:01:17:41.0406 TRx dataTimestamp_ set to:1764897462.196618checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0240069@ @@/@E EE.E"E=;*E:VEـ4ZEBEInf+#,nLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2768329YBykIAAi5Mb@Mb@Mb@1111 195v?)\(??Y5>y5Ga=5<11 5 A)5 A1Y5 A IMR=bDMVDM°8y]%]%=ٔeQ-e>9iYi=m+Eym DmEu>qQ 5}4u+?Q 9}4u)u`BY>Q E:y?Q I@u7DIu;iuj;utX4yBɮAE:iDNOT Ignoring new targets: 70.46 m."i*i鹝M ProNav: ac range: 70.460312 m, nav range: 68.621948 m, bearing: 29.749844 deg, approach rate: -0.488207 m/s, LOS rate: -0.025549 deg/s, cmd heading: 26.998058 deg, new cmd heading: 26.972733 deg. iM;UHeadingCmd: 0.470763 target range: 70.460312 and range: 70.50 m.hU>hQhQhQhQgQgYjgYrg]BeYreZe:e*e` @a颕Bɢ&ۼ) ƞi)Wki.9i>%;=%&7=I->IqDAT read: 01:17:41.0406 LVL= 26032, 32753, 29074, 32755, AGC= 68, IDX= 422,-0.03,-2.794, 1.758,-2.763, 3.080, PHS= 0.512,-1.277, 0.397, RAW= 146.7, 4.3, CAL= 146.1, 4.6, ROT= 3.9, -4.6 9@  @ @ 4@ Ygot valid direction response: 01:17:41.0406 LVL= 26032, 32753, 29074, 32755, AGC= 68, IDX= 422,-0.03,-2.794, 1.758,-2.763, 3.080, PHS= 0.512,-1.277, 0.397, RAW= 146.7, 4.3, CAL= 146.1, 4.6, ROT= 3.9, -4.6 PDAT read: Bearing 182.4, 4.1 (Local) %~Local bearing/azimuth received: Bearing 182.4, 4.1 (Local) MDAT read: Range 11 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]\direction in FSK: [0.994471,0.067796,0.080199]]Fpublishing direction and range infoy ?OĘ[?zꇴ?YfBeq )DIo?itC>ԉ#@`=1#@ l=)'g=Ily?DD?%]Ɠ&? f>)KYI'g=ilT****** 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% g4ZE! a5 @a5 @a5 @a5 @Ա ^A &=A >A >IY Ii Ou >$m+#,ѓLAYByuIbD-VD-ð8y=1=%=q=ٔAQ-E?9AYA=E+EyEDIEM?QQ 5]4Uŏ?Q 9]4U)UeBYYyaQ Ie@UhAhIhIhIgIgIjgQrgQeQreQZeY:e],Q@*e]O?i颉ɢof) 斾i),顑i3iz>=¥=Iz>I *DAT read: user:157> BDAT read: Tx time:01:17:42.2949 $Ping request sent.BqBueIBuBBu@ =BqBqBu;Bu-cEB5 CB5 CB1B5@ =B5C =C5Q6IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894 `s+#,_ЭLA6>6>6lٱ64=6H@"}?ݿǥ?`%?[?˵M?@ ]?@?i6>I6a;6ߑCYF ByJIbDZEb E`Eb.E`"Eb;*E`VEbـ4ZE`BEb]9AYA=E+EyEDMTEM>QQ 5]4Uӏ?Q 9]4Uߍ)UlBYYy]?Q I]@UCDIU:iU;Uhe4ymBɮmAmE:iDNOT Ignoring new targets: 68.67 m."i@*i@깝 ProNav: ac range: 68.668930 m, nav range: 68.145462 m, bearing: 29.808070 deg, approach rate: -0.507318 m/s, LOS rate: -0.025600 deg/s, cmd heading: 26.954648 deg, new cmd heading: 26.934826 deg. if;HeadingCmd: 0.470101 target range: 68.668930 and range: 68.70 m.h">hhhhggjgrgereZe:e*e?ɢ) ꍾi)i{.i">Ŗ=أ=I">I IxA)yA9@ @@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505404^A=II O>I |z+#,6ꭌLA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787YByrII=)yף=<5A )Y= AAAbDVD8y:%4=ٔQ->9Y=+Ey!DE>Q 54t㏊?Q 94P)tBYU?Q E :y B ?Q I @JDI:i:im4yɮA:i9EDNOT Ignoring new targets: 68.67 m."iEM*iEMQ] ProNav: ac range: 68.668930 m, nav range: 67.915932 m, bearing: 29.787512 deg, approach rate: -0.500073 m/s, LOS rate: -0.044939 deg/s, cmd heading: 26.934827 deg, new cmd heading: 26.893573 deg. i]|eHeadingCmd: 0.469381 target range: 68.668930 and range: 68.70 m.heR>hahahahagiE EE1E"E;*EM:VE-4ZEa@a@a@a@gijg rg Be reZe:e*e@z?Bɢhaڼ) %3i!)%n!)i-z'i-R>5u=5m=I5R>I1y9@ @@/@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006966ԩ ^A =A yAzA xA A I I) OE >q+#,LA2>2p@>2Sٱ2==2H{? { ݿ#?)?X?Qs`ouj? ̸? m?i2>I2P a;0Y:By:uIbDFVDF8yNU<%Na=ٔN-һQ-N>9PYP=R+EyR)DV.Z:EV>XQ 5^4Z?Q 9^4Z)Z{BY\y^P ?Q I^@ZPDIZ.:iZ~:Zs4ydɮfAdrB*** querying acoustic contact ***ipip:ixzDNOT Ignoring new targets: 68.67 m."i~O*i~O  ProNav: ac range: 68.668930 m, nav range: 67.735374 m, bearing: 29.771211 deg, approach rate: -0.501608 m/s, LOS rate: -0.045408 deg/s, cmd heading: 26.893573 deg, new cmd heading: 26.860883 deg. i 4HeadingCmd: 0.468811 target range: 68.668930 and range: 68.70 m.h>hhhhggjgrgB->B- CB-rIB-BB-> =B)B-hDB-;B-JcEereAZeA:eA*eM?qɢu)q uiq)}3yyi}8$#Թi>]˝=]w=I]>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588069@ @@/@E EE/E"E&:*Ey:VEJ4ZEBEi;ؑ+#,LA8%͂>%b>%LZ}ٱ%-4=%H`z? Wݿ`ͤ?-?W?@ w`Do???i%͂>I%z`;%CY9y=vIiMb@Mb@Mb@ 9K7A?K?Zd;O?Y ?y^=j<|A A)YbDVD8y>;% 6=ٔ Q- >9Y=+Ey2D:E>Q 5%4g?Q 9-4ۃ)BY-??Q E-:y-I%?Q I-@WDIj;i&;{4y=Bɮ=A=E:iYeDNOT Ignoring new targets: 68.67 m."ie|*ie|u ProNav: ac range: 68.668930 m, nav range: 67.506149 m, bearing: 29.746559 deg, approach rate: -0.511723 m/s, LOS rate: -0.055220 deg/s, cmd heading: 26.860883 deg, new cmd heading: 26.811412 deg. i}ʺ}HeadingCmd: 0.467947 target range: 68.668930 and range: 68.70 m.h}Ζ>hyhhhggjgrgBereZe:e*e?颹ɢc) єi) i}iΖ>H=8ި=IΖ>Ii9@ @@o0@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762912^Aܪ=E  E E E "E ;*E :VE ZE a @a @a @a @ A I I O >+#,9LA2>2>2ٱ2=2H@x?@Cݿ`C?5?`DU? >t?@??i2>I2bL`;2ݑCY:By:nI << @B<bDFVDF8yN P%Re=ٔRREQ-R>9TYT=V+EyV9DZ:EZ>\Q 5b4^ ?Q 9b4^)^BY`ybp%?Q Ib@^]DI^:i^:^Ɂ4yjBɮj Ah:ix~DNOT Ignoring new targets: 68.67 m."i}&*i}& ProNav: ac range: 68.668930 m, nav range: 67.323410 m, bearing: 29.726689 deg, approach rate: -0.511502 m/s, LOS rate: -0.055767 deg/s, cmd heading: 26.811412 deg, new cmd heading: 26.771566 deg. i̺HeadingCmd: 0.467252 target range: 68.668930 and range: 68.70 m.h;>hhhhggjgrgereZe:e*e` @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081AɢMh)I MiI)M)IQiUjmi;>==I;>I9@ @@?5@A9A=@ABEx>BECBExIBEBBEF =BABEfDBET;BEpcE^A.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266954) A I) I9 OE >E%  E% E! E! "E% :*E% xv:VE! ZE! BE% <6>6]뼻ٱ6=6H`v?u"ݿ`?=?`S? cw?笸? ?i6W>I6r_;6CY>By>mIbDJVDJ8yR%RF=ٔRQ-R>9TYT=V+EyVADZ:EZ>\Q 5^4^ ?Q 9b4`^})^BYdyf%?Q If@^dDI^}0;i^W1;^4yjBɮj:AnE:i|~DNOT Ignoring new targets: 68.67 m."i*i ProNav: ac range: 68.668930 m, nav range: 67.113182 m, bearing: 29.703607 deg, approach rate: -0.510271 m/s, LOS rate: -0.056201 deg/s, cmd heading: 26.771565 deg, new cmd heading: 26.725256 deg. iͺHeadingCmd: 0.466444 target range: 68.668930 and range: 68.70 m.h>hhhhg!g!jg)rg)e)re)Ze):e1*e5 0@Yɢ]u) "i)i li>d=(=I>I@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521082^A}v=A .AI I O >I Wۚ+#,emLAi4I4:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772448vA>v>vcٱvO=vHw?"ݿ?`:?`tT?dn|?g@??ivA>Ivr_;vܑCY ByqIAiMb@Mb@Mb@ 9T㥛 ?B`"۹?~jt?Y?y=D<A  A) AY AbDҿVD8y!<%9=ٔ;Q->9 ?Y ?=+EyJDǹE>Q 54)?Q 94y)BY?Q E :y I+?Q I @kDI4:i:4yɮAE EE,E"E*E:VEg4ZEa@a@a@a@:i DNOT Ignoring new targets: 68.67 m."iY*iY% ProNav: ac range: 68.668930 m, nav range: 66.888702 m, bearing: 29.674414 deg, approach rate: -0.483580 m/s, LOS rate: -0.063100 deg/s, cmd heading: 26.725256 deg, new cmd heading: 26.666674 deg. i%溝-HeadingCmd: 0.465421 target range: 68.668930 and range: 68.70 m.h-K>h)h)hIhIgQgQjgQrgUĀBeYreYZeY:eY*e]@ɢ P)  Ři )NLi*iK>.=)p=IK>I!i9@ @@5@ԑBDAT read: Rx Time:01:17:44.7882 TRx dataTimestamp_ set to:1764897465.976546%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023979^A = A ؟AI! I1 O= >L+#,6LA2KO>2<>2ٱ28=2Hw?s%ݿ?I2S_;2ߑCYNByRkITTbDZݿVDZ8ybռ%b`=ٔf%8Q-f>9f"?Yf"?=f+EyfRDBn>Bn CBn~IBn BBnG =BlBngDBn;BncEz9Ez>|Q 54~5?Q 94~v)~BYyP+?Q I@~qDI~.:i~::~"4yBɮiA-B*** querying acoustic contact ***i)i):i9=DNOT Ignoring new targets: 68.67 m."iEM*iEMU ProNav: ac range: 68.668930 m, nav range: 66.701767 m, bearing: 29.649935 deg, approach rate: -0.540284 m/s, LOS rate: -0.070947 deg/s, cmd heading: 26.666674 deg, new cmd heading: 26.617579 deg. iU]HeadingCmd: 0.464564 target range: 68.668930 and range: 68.70 m.h]b>hYhYhYhYgagajgargaeireiZei:ei*eu @颙ɢ) Нi)顡i< ib>Ͻ=ԱF'=Ib>IM9@I @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276112bEe4jEe~4rEe/E EE/E"E;*E:VEJ4ZEBEA DAT read: 01:17:44.7882 LVL= 24720, 31713, 27794, 32755, AGC= 68, IDX= 414,-0.33, 0.323,-1.411, 0.386,-0.073, PHS= 0.498,-1.293, 0.415, RAW= 147.6, 4.4, CAL= 147.0, 4.6, ROT= 3.0, -4.6  Ygot valid direction response: 01:17:44.7882 LVL= 24720, 31713, 27794, 32755, AGC= 68, IDX= 414,-0.33, 0.323,-1.411, 0.386,-0.073, PHS= 0.498,-1.293, 0.415, RAW= 147.6, 4.4, CAL= 147.0, 4.6, ROT= 3.0, -4.6  PDAT read: Bearing 182.5, 3.6 (Local)  ~Local bearing/azimuth received: Bearing 182.5, 3.6 (Local)  DAT read: Range 11 to 50 : 66.9 m (Round-trip 89.2 ms) speed 0.4 m/s 5 R#Rx 1: Read range and direction messages.E \direction in FSK: [0.995413,0.052167,0.080199]+#,LAjFpublishing direction and range infoy)-(l?0?zꇴ?Y-̅B)-`-{-l )))I->i--z>-$@-nF=-Y3$@ ))-PwV=I)))-faC?uU?•? ->)-R՜I-PwV=i)))zT****** received valid address query ******zR****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. Q> > 9>ٱ a= Hv?&ݿG?=I ;^; CY%By%YIԉi-Mb@Mb@Mb@)))) )9-)\(?ʡE?Mbp?Y-G?y--=-;-A) - A)-| A)Y)bDԿVD8yCr%"=ٔ|Q->9Y=+Ey\D#8E>Q 54F?Q 94r)BY0?Q E:y$?Q I@yDI;i;4yɮAi)i-ϽLAj-B"j-B:j-?Rj-KʋϣP@L @ąNs@Bj-(l?0?zꇴ?*j-PwV=2j)Zj-b WL@:ӄ@@ AyL@Jj-:Y?y?DqM?j-B j-hihihihqgqgqԹjgrgBereZe:eP@*ey?MBɢM)Qe*DAT read: user:158> mBDAT read: Tx time:01:17:46.1449 m$Ping request sent.uC˟=M=I0>II)]9@Y @Y@]5@YE EE0E"E ;*E҆:VE4ZEa@a@a@a@ ^A ٦= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249529 -wv>-C҂GA.AII 9YAO>F+#,t)LARf*>RY>Rث ٱRd=RH@ x?#ݿ@١?7?S?'ݶe?;j?C?iRf*>IR^;RߑCYvByvIIbDVD8y}%G=ٔb Q->9 ?Y ?=+EydD@E%>)Q 554-U?Q 954-lo)-BY1y5$?Q I5@-DI-:i-Z:-4yEBɮEAEE:iimDNOT Ignoring new targets: 66.87 m."iuم*iuم} ProNav: ac range: 66.866287 m, nav range: 66.323326 m, bearing: 29.727758 deg, approach rate: -0.541570 m/s, LOS rate: -0.058510 deg/s, cmd heading: 26.543042 deg, new cmd heading: 26.497891 deg. i(ֺHeadingCmd: 0.462475 target range: 66.866287 and range: 66.90 m.h>hhhhggjgrgereZe:e*e@(?ɢ:) i) %ii>yӟ= =I>IAYBA<B>B CBrIBBBB =BBhDBҧ;BdE9@ @@/@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502152^Aϰ=E%  E% E% +E! "E% ;*E% :VE% [4ZE! BE% 8Nkf+#,ڮLAPb1>R>/2ٱn=Hw?%ݿ'i?@|8?`R?U B?v??ib1>I^;YBy >I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755483bDuҿVDu8y%'=ٔC Q->9Y=+EynD8E>1Q 5545Pf?Q 9=45ak)5BY9y=$?Q I=@5DI5:i5`:5ί4yAɮM0AI:iiuDNOT Ignoring new targets: 66.87 m."iu9}*iu9} ProNav: ac range: 66.866287 m, nav range: 66.069038 m, bearing: 29.700166 deg, approach rate: -0.508113 m/s, LOS rate: -0.055346 deg/s, cmd heading: 26.497891 deg, new cmd heading: 26.442495 deg. iʺHeadingCmd: 0.461509 target range: 66.866287 and range: 66.90 m.hJ>hhhhggjgrgereZe:e*e@rr?Bɢh+ ) kľi)U+iաiJ>=Դ=IJ>I}9@y @y@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005534) ^A *=A >A >EE  EE EE *EA "EE :*EE :VEE (N4ZEA aU @aU @aU @aU @I I O >ü+#,‰LA2 9>2>2s=ٱ2B=2H|w?`'ݿ@?I9?dR? r#벇?`O~? ?i2 9>I2^;0Y:By>BILiUMb@Mb@Mb@QQQQ Q9UV-?Dl?~jth?YU|>yUO=UD;UAUKA Q)U AQYU AbDmԿVDm8y}<%}o=ٔQ-?9Y=+EyuD189E?Q 54q?Q 94h)BY?Q E:yH?Q I@DI:iI:4yBɮ8A:iDNOT Ignoring new targets: 66.87 m."ix8*ix8 ProNav: ac range: 66.866287 m, nav range: 65.902618 m, bearing: 29.686800 deg, approach rate: -0.500737 m/s, LOS rate: -0.040319 deg/s, cmd heading: 26.442495 deg, new cmd heading: 26.415695 deg. iHeadingCmd: 0.461041 target range: 66.866287 and range: 66.90 m.h >hhhhggjgrgBere Ze :e *e @?9ɢ=s")9 =!i9)EJr/AAiEXiM >M=M=IM >IQ9@ @@@p?8@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258275^AE=IIO>B B B _IB BB C =B B B ;B -dEBM CBIBMɔCBMC =BICMɤg6 +#,dLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471xY5By55IbDEVDE8yU]%UM=ٔ]Q-]>9YYY=e+Eye}DeEe>iQ 5u4m?Q 9u4me)mBYyyyQ I}@mDImQ;im^;m4yɮAB*** querying acoustic contact ***ii:i)5DNOT Ignoring new targets: 66.87 m."i52*i52E ProNav: ac range: 66.866287 m, nav range: 65.702805 m, bearing: 29.670662 deg, approach rate: -0.482310 m/s, LOS rate: -0.039071 deg/s, cmd heading: 26.415695 deg, new cmd heading: 26.383322 deg. iEMHeadingCmd: 0.460476 target range: 66.866287 and range: 66.90 m.hM}>hIhIhQhQgQgQjgQrgYeYreYZeY:eY*eef?E EE)E"E ;*EVEFA4ZEBEZQ==I}>I!)@) @1@5/@1Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762189^Amõ=I I) OU >y +#,/)LA4<ɰ4<: x>: >:wOٱ:s=:H|? ݿ;?#?X?@?$?`?i: x>I:];:ޑCYJByJ.IiUMb@Mb@Mb@YQQQQ Q9Ui|?5?I +?Mbp?YU>yU94=U;QUA U A)QQYUf AyybDؿVD8y߼%G=ٔ0Q->9Y=+EyDkjE>Q 54?Q 94c)BY>Q E:y?Q I@DI";i;4yɮA:iDNOT Ignoring new targets: 66.87 m."iƸ*iƸ ProNav: ac range: 66.866287 m, nav range: 65.507950 m, bearing: 29.662702 deg, approach rate: -0.492809 m/s, LOS rate: -0.020193 deg/s, cmd heading: 26.383322 deg, new cmd heading: 26.367353 deg. iHeadingCmd: 0.460197 target range: 66.866287 and range: 66.90 m.h>hhhh=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013633gg9jgArgE~BeAreAZeA:eI*eM)@颕Bɢ) =Ӿi)J:顙iϺi>k= H=I>Iԉa@a @a@a@iE EE,E"E;*E:VEg4ZEa@a@a@a@Ա^A =A xAzA wAI I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265314 +#, CLA20>2y>2,Vٱ24=2H`~?- ݿ ?`?{Z?hŊ?`?`?i20>I2ڶ];2ߑCY:By:%IbDFVDF8yN%N\=ٔRƉQ-R>9PYP=R+EyRDVEV>XQ 5^4Z#?Q 9^4Z`)ZBY\yba?Q Ib@ZDIZ;iZ;ZA4yfBɮfAfE:ixzDNOT Ignoring new targets: 66.87 m."i~i*i~i  ProNav: ac range: 66.866287 m, nav range: 65.332054 m, bearing: 29.655559 deg, approach rate: -0.473464 m/s, LOS rate: -0.019279 deg/s, cmd heading: 26.367353 deg, new cmd heading: 26.353028 deg. i ! HeadingCmd: 0.459947 target range: 66.866287 and range: 66.90 m.h0~>hhhhggjgrgere!Ze!:e!*e%d@Թɢ3) ھi)?iZúi0~>n = =I0~>I A1A1B=u>B=CB=LIB=BB=A =B9B=fDB=;B=dE@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517237^Aõ=IIO%>E EE+E"E;*Ev:VE [4ZEBE)d9)Y)=-+Ey-D-E->1Q 5=45U?Q 9=45])5BYAyAQ IE@5DI5^;i5{;54yIɮMpAI:iߝ>ߝ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769669DNOT Ignoring new targets: 66.87 m."i*i ProNav: ac range: 66.866287 m, nav range: 65.132912 m, bearing: 29.647425 deg, approach rate: -0.468778 m/s, LOS rate: -0.019205 deg/s, cmd heading: 26.353028 deg, new cmd heading: 26.336711 deg. i HeadingCmd: 0.459662 target range: 66.866287 and range: 66.90 m.hX>hhhhggjgrgereZe:e*el?@Yɢe"*)i `i)4F顙igiX>==IX>I A9@ @@A0@qU BDAT read: Rx Time:01:17:48.6356 U TRx dataTimestamp_ set to:1764897469.756529] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022325^A b=ԙ D zD @AE  E E .E "E ;*E :VE ـ4ZE a @a @a @a @A ؟AI! I1 O= >z+#,:vLABɁ>B~^>BjWٱB=BH@΁?ݿ2X?`=?@\?h@*??}?iBɁ>IB];@YJ{ByJIiMb@Mb@Mb@ 9rh|?y&1?Y>y`<AA  A)Y= A 5%=5=bD5VD5ǰ8yE<%EI=ٔMCQ-M>9"?Y"?=+EyDE>Q 54[?Q 94[)BYO>Q E:y,?Q I@DI ;i] ;4yBɮuAE:iDNOT Ignoring new targets: 66.87 m."i_*i_ ProNav: ac range: 66.866287 m, nav range: 64.926529 m, bearing: 29.645500 deg, approach rate: -0.497355 m/s, LOS rate: -0.004655 deg/s, cmd heading: 26.336711 deg, new cmd heading: 26.332848 deg. iLHeadingCmd: 0.459595 target range: 66.866287 and range: 66.90 m.hP>hh!h!h!g!g!jg)rg-kBe)re)Ze1:e1*e5 @]Bɢ]/5)a ezia)eޠKaaim,(iuP>uv=uT=IuP>Iyԉ9@ @@ 5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273722Ա^A%l=A->A->Be b>Be CBe 3IBe BBe J =Ba Be dDBe ħ;Be cEA I! I1 OE > +#,dLA&DAT read: 01:17:48.6355 LVL= 21440, 29121, 23906, 32755, AGC= 67, IDX= 419,-0.15, 1.103,-0.624, 1.162, 0.686, PHS= 0.519,-1.264, 0.432, RAW= 147.5, 3.6, CAL= 146.9, 3.8, ROT= 3.1, -3.8 *Ygot valid direction response: 01:17:48.6355 LVL= 21440, 29121, 23906, 32755, AGC= 67, IDX= 419,-0.15, 1.103,-0.624, 1.162, 0.686, PHS= 0.519,-1.264, 0.432, RAW= 147.5, 3.6, CAL= 146.9, 3.8, ROT= 3.1, -3.8 >PDAT read: Bearing 181.6, 4.0 (Local) B~Local bearing/azimuth received: Bearing 181.6, 4.0 (Local) FDAT read: Range 11 to 50 : 64.9 m (Round-trip 86.6 ms) speed 0.4 m/s JR#Rx 1: Read range and direction messages.J\direction in FSK: [0.996341,0.053960,0.066274]Fpublishing direction and range infoyHdD?5AS?{S?ÝBSqb] )CI/?iʡ/>S$@=$@ ԇ=)k]=Iԇ՜sR?>?n_)Ik]=iԇT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-V>->-zZٱ-=-H ?@tܿ+=?o?-_? u$O?@I-];)Ye^Bye IE EE,E"E;*E:VEg4ZEBE7N9Y=+EyDE>Q 5 41ǐ?Q 942X)BYy?Q I@DI;i;4yɮ%A!ii衐LAjB"jB:j?Rjٌ(P@o^ @M1@BjHdD?5AS?{S?*jk]=2jԇZjE"$L@@@4@z@Jj~_6?~G-?':1?jB j`BirB?i[jBj\H?j[jrj^BzjC? addTargetRange:: Added new target pos. range: 64.900002 m, deltaT: 3.779547 s, deltaX: -2.000000 m, approachRate: -0.529164 m/s, rangeRepo size: 4  Added new target pos. range: 64.862587 m, bearing: 29.683821 deg, lat: 36.779511 deg, lon: -121.859761 deg, deltaT: 3.779547 s, deltaX: -2.003700 m, approachRate: -0.530143 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 64.86 m."i*i ProNav: ac range: 64.862587 m, nav range: 64.685387 m, bearing: 29.656146 deg, approach rate: 0.000000 m/s, LOS rate: -0.004655 deg/s, cmd heading: 26.332848 deg, new cmd heading: 26.328592 deg. iHeadingCmd: 0.459521 target range: 64.862587 and range: 64.90 m.hIF>hhh!h!gAgijgqrgqeqreyZey:e}9P@*e} fK?ɢ0/) Yi)Ri_PiIF>*= =IIF>II)}9@y @y@}@5@y*DAT read: user:159> BDAT read: Tx time:01:17:49.8948 $Ping request sent.+#,6LA6j̀>6Za>6yWٱ6=6H?ܿzE? ? 'c?zq?ܕ?`l?i6j̀>I6%];4Y>`ByB IiMb@Mb@Mb@ 9tV?/$?~jtx?Y>y<;|AA  A)AY AbDVD8y_;%K=ٔ9Q->9Y=+EyD+E>Q 54:Ր?Q 94U)BY>Q E:y*?Q I@DIS;i;4y Bɮ  A Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251203YB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 64.86 m."i5 8*i5 8  ProNav: ac range: 64.862587 m, nav range: 64.494286 m, bearing: 29.657036 deg, approach rate: -0.468899 m/s, LOS rate: 0.002189 deg/s, cmd heading: 26.328591 deg, new cmd heading: 26.330375 deg. i *8 HeadingCmd: 0.459552 target range: 64.862587 and range: 64.90 m.h^J>hhhQhQgQgYjgYrg]YBeYreaZea:ea*ee'U?ɢ;) ei)(Yi^~i^J>3=5=I^J>IE EE0E"E*EM:VE4ZEa@a@a@a@ԁ9@ @@4@Ա^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503744A I I O >}e+#,jůLA2w>2 >2Uٱ2=2Ha?ܿf?`?I2x];2CY:EBy:II>a=)><bDFVDF8yN蕽%Nc=ٔrƧ9Q-r>9tYt=v+EyvDvEv>xQ 5~4z␊?Q 94z{S)zBYy?Q I@zDIzT:iz;z4y ɮ u A:i15DNOT Ignoring new targets: 64.86 m."i=#B8*i=#B8M ProNav: ac range: 64.862587 m, nav range: 64.319374 m, bearing: 29.657956 deg, approach rate: -0.502560 m/s, LOS rate: 0.002652 deg/s, cmd heading: 26.330376 deg, new cmd heading: 26.332222 deg. iMO8UHeadingCmd: 0.459584 target range: 64.862587 and range: 64.90 m.hUN>hQhQhQhQgYgYjgYrgaeareaZea:ea*em`U?频ɢBS) i)!^顙iiN>_9=5=IN>IBA<B%I>B%CB%'IB%BB!B!B%bDB%;B%cEQ@Q @Q@U/@Q@]zA@]zAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754682^A5٦=A=yAzA=zAbE]g4jE]^n4rE]f0E EE.E"Ex;*E:VEـ4ZEBEKgQ +#,߯LA2F>2>2 Vٱ2g=2H,?ܿc??h?6?~¸?`?i2F>I2];2ݑCY:dBy:IbDFۿVDF8yN=%NJ=ٔNuQ-N>9R ?YR ?=R+EyRDV)EV>^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006782XQ 5b4Z?Q 9b4ZQ)ZBYdyf?Q If@ZƇDIZ:iZ\:Z 4yhɮjAh:iDNOT Ignoring new targets: 64.86 m."i%'U8*i%'U85 ProNav: ac range: 64.862587 m, nav range: 64.131363 m, bearing: 29.659124 deg, approach rate: -0.467263 m/s, LOS rate: 0.002912 deg/s, cmd heading: 26.332222 deg, new cmd heading: 26.334565 deg. i58=HeadingCmd: 0.459625 target range: 64.862587 and range: 64.90 m.h=S>h9h9h9hAgAgAjgArgAeIreIZeI:eQ*eU`y?Yɢes:)q uiy)}d顁iOciS> A=g=IS>)I@ @@@Qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258673^A= 6=y E  E E *E "E l;*E M:VE (N4ZE a @a @a @a @Am ؟AIy I O >Թ+#,LA02'>2(>2Tٱ2 =2HΑ? ~ܿ@q?4?Kk? n?Ҹ??i2'>I2i];2ߑCY>aBy>IiMb@Mb@Mb@ 9bX9?I +?y&1|?YE>y94<`;A5A  A)| AY= AbDVD8y}%}==ٔ`"9Q->9"?Y"?=+EyǎD׺E>Q 54Y?Q 94N)BY\>Q E:y>Q I@̇DI ;i;4yBɮAE:iDNOT Ignoring new targets: 64.86 m."i'j9*i'j9 ProNav: ac range: 64.862587 m, nav range: 63.923862 m, bearing: 29.664555 deg, approach rate: -0.487297 m/s, LOS rate: 0.012795 deg/s, cmd heading: 26.334564 deg, new cmd heading: 26.345461 deg. iR9HeadingCmd: 0.459815 target range: 64.862587 and range: 64.90 m.hl>hhhhggjgrg_BereZe:e*e@I?1ɢ5?)9 =i9)=&k99iEFiEl>EF=M=IMl>II}Gԑ/{Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849@ @@/@A9/{AY AԹ^A =B7>BCBIBvBBO =B2DB`DBǧ;BcE Aa Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762645,#,!LA2;}>2>2Uٱ2=2H@.?uܿ F? Ϳ?o?B?l? ?i2;}>I2=];0Y>qBy>I F=F<bDJοVDJ~8LyRs'=%RW=ٔVQ-V>9TYT=Z+EyZώDZLEZ>\Q 5b4^ ?Q 9b4^?L)^BYdyf|>Q If@^҇DI^:i^\:^?4yhɮjmAh:i|DNOT Ignoring new targets: 64.86 m."iq9*iq9 ProNav: ac range: 64.862587 m, nav range: 63.740776 m, bearing: 29.669571 deg, approach rate: -0.481288 m/s, LOS rate: 0.013223 deg/s, cmd heading: 26.345460 deg, new cmd heading: 26.355521 deg. i9HeadingCmd: 0.459991 target range: 64.862587 and range: 64.90 m.h>hhh!h!g!g!jg!rg)e)re)Ze):e)*e5w@aɢeq@)a eia)mpiiim݃+iu>uK=u=Iu>E EE,E"E%;*E:VEg4ZEBEK% ,#, R-LAZ|>Z>Z]TٱZ=ZH@C?ܿ`?? ju?Sy?-?i?iZ|>IZ ];ZۑCYn]Byn Ii}Mb@Mb@Mb@yyyy y9}Q?I +?~jt?Y}>y}9<}D9 ?Y ?=+Ey׎D`QE>Q 54L?Q 94I)BY>Q E:y?Q I@هDI,:iV: 4yBɮA:iDNOT Ignoring new targets: 64.86 m."i48*i48 ProNav: ac range: 64.862587 m, nav range: 63.532871 m, bearing: 29.671461 deg, approach rate: -0.479681 m/s, LOS rate: 0.004377 deg/s, cmd heading: 26.355521 deg, new cmd heading: 26.359315 deg. i)9HeadingCmd: 0.460057 target range: 64.862587 and range: 64.90 m.h>hhhhgg!jg!rg%WBe!re)Ze):e)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282865*e+'@1ɢ5_P;)9 =8i9)=Gw99i=" iE>O=P=I>IAD=D<E EE+E"E&:*Eh:VE [4ZEa@a@a@a@y@y @y@/@q^A =e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534631ԙ A ؟AI I O% >,#,"GLA2f{>2>2ƭVٱ2=2H ?ܿ g??fw?`Պ?4?+?i2f{>I2];2CY:gBy:IbDFVDF8yJ<%J]=ٔNNQ-N>9R"?YR"?=R+EyRߎDRBٺEV>TQ 5Z4VZ)?Q 9Z4VSG)VBY\y^?Q I^@V߇DIV:iV;VB4y`ɮbAdrB*** querying acoustic contact ***ipip:itzDNOT Ignoring new targets: 64.86 m."iz8*iz8 ProNav: ac range: 64.862587 m, nav range: 63.355686 m, bearing: 29.673182 deg, approach rate: -0.479884 m/s, LOS rate: 0.004674 deg/s, cmd heading: 26.359315 deg, new cmd heading: 26.362767 deg. i 9 HeadingCmd: 0.460117 target range: 64.862587 and range: 64.90 m.h w>hhhhggjgrgereZe!:e!*e%@yAAAAB.>BCBBBBB_DBӧ;BcEBCBCBCBJ =BJ =C6BɢhI)  i)M}ii%w>%R=%{`=I%w>I)9@ @@0@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786694E EE,E"E ;*E:VEg4ZEBEL ,#,.`LA;ɰ2G{>2>2[ٱ2=2H|?ܿ`?`?@v?h v?θ??i2G{>I2}%];0Y:By>!IbDFVDF8yN}=%NJ=ٔRNFQ-R>9PYP=R+EyRDV0EV>XQ 5^4Z7?Q 9^4ZD)ZBY\yb?Q Ib@ZDIZ ;iZ;ZT4yfBɮfAfE%BDAT read: Rx Time:01:17:52.3832 %TRx dataTimestamp_ set to:1764897473.552590-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039807:iyDNOT Ignoring new targets: 64.86 m."i>8*i>8 ProNav: ac range: 64.862587 m, nav range: 63.161434 m, bearing: 29.675083 deg, approach rate: -0.459867 m/s, LOS rate: 0.004515 deg/s, cmd heading: 26.362766 deg, new cmd heading: 26.366580 deg. i19HeadingCmd: 0.460184 target range: 64.862587 and range: 64.90 m.h1>hhhhggIjgrgereZe:e*e& @ɢ)h3) ݾi)qi᤹i=1>=V==Cr=I=1>IA A@A @A@M?0@I@UyA@Q1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290680^Ae h=D zD E  E E -E "E ~ ;*E ?:VE t4ZE a @a @a @a @Y I9 IQ O} >,#,0,{LAJk{>JJ>J\ٱJ5=JH@+?@ܿ??@hx?ŷf? ܸ??iJk{>IJ'$];JߑCYrByr*IiMb@Mb@Mb@ 9-?L7A`?y&1?Y?>y+=`e<  A)| AY= AbDVD8y*<%*=ٔQ->9Y=+EyD |E>Q 54cH?Q 94A)BY>Q E:yu?Q I @DI:i; 4yɮEA:iquDNOT Ignoring new targets: 64.86 m."i}*i} ProNav: ac range: 64.862587 m, nav range: 62.931545 m, bearing: 29.672739 deg, approach rate: -0.485870 m/s, LOS rate: -0.004973 deg/s, cmd heading: 26.366581 deg, new cmd heading: 26.361875 deg. iHeadingCmd: 0.460102 target range: 64.862587 and range: 64.90 m.hm>hhhhggjgrgvBereZe:e*e N@5DAT read: 01:17:52.3832 LVL= 22768, 28657, 25538, 32755, AGC= 67, IDX= 411,-0.08,-1.348,-3.095,-1.301,-1.780, PHS= 0.534,-1.270, 0.435, RAW= 147.2, 3.5, CAL= 146.5, 3.6, ROT= 3.5, -3.6 =Ygot valid direction response: 01:17:52.3832 LVL= 22768, 28657, 25538, 32755, AGC= 67, IDX= 411,-0.08,-1.348,-3.095,-1.301,-1.780, PHS= 0.534,-1.270, 0.435, RAW= 147.2, 3.5, CAL= 146.5, 3.6, ROT= 3.5, -3.6 EPDAT read: Bearing 181.3, 4.3 (Local) M~Local bearing/azimuth received: Bearing 181.3, 4.3 (Local) UDAT read: Range 11 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.e\direction in FSK: [0.996165,0.060928,0.062791]eFpublishing direction and range infoy~ە?R$1?֏ ?Yf|BXoc )I9?i\R>l$@5z=_#@ =)5z=Ih?t53?81? />)@wI5z=i}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bɢ39)Y ]վiY)]Yaie Xiem>mY=m4ƥ=Imm>IiIy)y9@ @@0@B#>BCB!IBBBQ =BB^DBҧ;BcEi^A ܪ=Iy I ԑ O > *DAT read: user:160>  BDAT read: Tx time:01:17:53.6463  $Ping request sent. 2j>2R`ٱ2=2H?@ܿ"?4?@ly?`aⷿ`?{?;?i2{>I2#D];2CY:By:,IbDFVDF8yN<%Nv=ٔERQ-E?9AYI=M+EyMDM_EM>QQ 5]4UT?Q 9]4U?)UBYaye[?Q Ie @UDIUZ:iU:U&4ymBɮmcAuEi9i=dLAj=8|B"j=8|BE EE,E"E=;*E:VEg4ZEBEI%?@@@Jj=U͇?k?Wl?j=A j=jZBi=OHN?i=_ j=$Bj= hJ?j=_ j=Brj=7{Bzj=? addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.796050 s, deltaX: -1.800003 m, approachRate: -0.474178 m/s, rangeRepo size: 4  Added new target pos. range: 63.055546 m, bearing: 29.668614 deg, lat: 36.779511 deg, lon: -121.859760 deg, deltaT: 3.796050 s, deltaX: -1.807041 m, approachRate: -0.476032 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 63.06 m."i*iE ProNav: ac range: 63.055546 m, nav range: 62.804447 m, bearing: 29.688280 deg, approach rate: 0.000000 m/s, LOS rate: -0.004973 deg/s, cmd heading: 26.361875 deg, new cmd heading: 26.358400 deg. iAMHeadingCmd: 0.460041 target range: 63.055546 and range: 63.10 m.hMz>hIhIhIhIgIgQqjgyrgyeyreyZe:ěO@*e?ɢsF) Ӿi)zAi+iz>[=oA=Iz>I@ @@<4@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250855^A T=I I O > b++,#,ٮLAY~By~1I A AiMb@Mb@Mb@ 9ʡE?y&1?Mb?Y->y`e=< 5 A) AY A %=bDVD8y<%:=ٔQ->9Y=+EyDE>Q 54b?Q 94<)BYE>Q EE:yE?Q IE @DIhhhhggjgrgBereZe:e*ecz?Bɢ>7) VϾi)i[iY>^==IY>Ii@i @i@m/@iD=D4=E EEE"E;*E:VEZEa@a@a@a@^Ah=II O >9 - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754855Q 2,#,QȰLA2z>2>2kٱ21 =2H? -ܿp?|?"y?Qt?X??i2z>I2];2ߑCYNByN=IbDV VDV8y^P=%^[=ٔ^Q-b>9`Y`=b+EybDf^Ef>hQ 5n4jXo?Q 9n4j!:)jBYpyr?Q Ir @jDIjm ;ij ;j44ytɮvAtB*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 63.06 m."i*i- ProNav: ac range: 63.055546 m, nav range: 62.428249 m, bearing: 29.667935 deg, approach rate: -0.495774 m/s, LOS rate: -0.026882 deg/s, cmd heading: 26.336800 deg, new cmd heading: 26.317586 deg. i-DB=<A=<B=!>B9B=3IB=BB9B9B9B=;B=cEUHeadingCmd: 0.459329 target range: 63.055546 and range: 63.10 m.hU->hQhQhQhQgYgYjgYrgYeareaZea:ea*ee ?BɢN:) ľi!)%+u}a=}==I}->I)A@A @A@A@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006882QE EE*E"Ef;*E:VE(N4ZEBEWԁ <8,#,vⰌLA,2vz>2O>2nٱ2p=2Hx?ܿ`$?`? fy?@D@xэ?`?M?i2vz>I2O^;2CYNByNEIbDVVDV8y^s=%^J=ٔbQ-b>9`Yd=f+EyfDfEf>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967Q 5v4j|?Q 9v4j`7)jBYtyv?Q Iv @jDIj.a;ija;j;4y~Bɮ~A~E:i%DNOT Ignoring new targets: 63.06 m."i%G*i-G빝5 ProNav: ac range: 63.055546 m, nav range: 62.236481 m, bearing: 29.657552 deg, approach rate: -0.473462 m/s, LOS rate: -0.025712 deg/s, cmd heading: 26.317586 deg, new cmd heading: 26.296758 deg. i=9<=HeadingCmd: 0.458965 target range: 63.055546 and range: 63.10 m.hEv>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUm?aɢm1) ti)W顡i"19iv>d=A=Iv>Iԉ!@! @!@!@!Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511003 ^Ay E  E E .E "E T;*E ą:VE ـ4ZE a @a @a @a @A I I O >V>,#,ԂLAYzByzQII~=)~4=bDVD8y8=%==ٔQ->9!Y!=%+Ey%D%E%>)Q 554-v?Q 9=4-l4)-BY9y9Q I= @- DI-.:i-G:-WC4yAɮEAI:iiDNOT Ignoring new targets: 63.06 m."i*i ProNav: ac range: 63.055546 m, nav range: 62.030910 m, bearing: 29.646351 deg, approach rate: -0.477167 m/s, LOS rate: -0.026086 deg/s, cmd heading: 26.296758 deg, new cmd heading: 26.274281 deg. i>HeadingCmd: 0.458573 target range: 63.055546 and range: 63.10 m.h >hhhhg g jg rg ereZe:e*e?EBɢEj')A MxiI)M77IIiM9iU >Ug=U=IU >IYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763657q@ @@/@ԉ"JFailed to parse device response: .57 ^Ae&=Թ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014898rE,#,ALA:\y>:q>:}ٱ: =:H`?vܿ@? @? {?tƸ`j?s??i:\y>I:'];:ݑCYBByBRIbDNPVDN8yVG[;%VR=ٔZQ-Z>9XY\=^+Ey^!D^E^>`Q 5f4b?Q 9f4b1)bBYhyjg?Q Ij @bDIb:ibh:b#J4ynBɮnApbEjEb4rEA/E EE*E"E ;*E$:VE(N4ZE:i%DNOT Ignoring new targets: 63.06 m."i%*i%鹝5 ProNav: ac range: 63.055546 m, nav range: 61.846275 m, bearing: 29.636356 deg, approach rate: -0.470383 m/s, LOS rate: -0.025541 deg/s, cmd heading: 26.274281 deg, new cmd heading: 26.254231 deg. i5:=HeadingCmd: 0.458223 target range: 63.055546 and range: 63.10 m.hE->hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU a@}BɢE/) ܰi)Y顁i/9i->j=0=I->I1@1 @1@50@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266791^AQA .AI I ) O= >K,#,%1LA|Y~ByWIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879a@a a@a a@a a@a bDVD8yd<%7=ٔQ->9 ?Y ?=+Ey*D E >Q 54?Q 94.)BQ A+:YQ E%:y!Q I% @DI(:i>wP4y-Bɮ-+A-E:iQUDNOT Ignoring new targets: 63.06 m."i]*i]﹝m ProNav: ac range: 63.055546 m, nav range: 61.633892 m, bearing: 29.624784 deg, approach rate: -0.478746 m/s, LOS rate: -0.026175 deg/s, cmd heading: 26.254231 deg, new cmd heading: 26.231008 deg. im?uHeadingCmd: 0.457817 target range: 63.055546 and range: 63.10 m.hu g>hqhqhqhqgqgyjgyrgyeyreZe:e*e-Z@颵Bɢ\-&) i)eɕ项iR9i g>n==I g>I)E5 E5E5,E1"E5=;*E5ą:VE5g4ZE1=9@9 @A@E0@A !!Q8G{A9{AYhAyU?]A^AmT= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770809ԁ A ؟AI I O >R,#,JLAA0A0B6>B6CB6YIB6BB4B4B6]DB6;B6bEB4y>B^>B?zٱBjb=BH?sܿŶ?"?{?મR???iB4y>IBv]];BޑCYHyH LLbDVVDV8y^a:%^b=ٔ^:Q-b>9b"?Yb"?=b+Eyb1DfҹEf>hQ 5n4j?Q 9r4jB,)j BQ Av :YtQ Ev:yv^?Q Iv @jDIj;ijEP?jT4yBɮUA EYB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 63.06 m."iWݹ*iWݹ ProNav: ac range: 63.055546 m, nav range: 61.461842 m, bearing: 29.615372 deg, approach rate: -0.440945 m/s, LOS rate: -0.024189 deg/s, cmd heading: 26.231007 deg, new cmd heading: 26.212131 deg. i%1%HeadingCmd: 0.457488 target range: 63.055546 and range: 63.10 m.h%;>h!h)h)h)g)g)jg1rg1eQreQZeY:eY*e] @颥Bɢ+) Di)w顩i):i;>r=3R=I;>Iԉ@ @@1@@=@=BDAT read: Rx Time:01:17:56.1323 TRx dataTimestamp_ set to:1764897477.332772checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024121E EE-E"E ;*E:VEt4ZEBELA>A I I O >X,#,dLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2748466Hy>68>6}ٱ6=6H? oܿg?|?`|?`ʸ ? ??i6Hy>I6W];6ݑCYBByB_IbDNVDN8yR^<%RJ=ٔVzQ-V>9XYX=Z+EyZ9DZ:E^>\Q 5b4^V?Q 9b4^))^BQ Af9YdQ Efl:yfK?Q If @^#DI^;i^?^^X4yhɮn#Al:i|DNOT Ignoring new targets: 63.06 m."i *i  ProNav: ac range: 63.055546 m, nav range: 61.270088 m, bearing: 29.604875 deg, approach rate: -0.509642 m/s, LOS rate: -0.027988 deg/s, cmd heading: 26.212130 deg, new cmd heading: 26.191069 deg. iLHeadingCmd: 0.457120 target range: 63.055546 and range: 63.10 m.h >hhh!h!g!g!jg!rg)e)re)Ze):e1*e5 { @}Bɢ}H,) iԩ)晼!)i-:ie >mu=u1s=Iu >II)xA@ @@?5@DAT read: 01:17:56.1323 LVL= 23920, 28449, 24642, 32755, AGC= 67, IDX= 418,-0.23, 0.767,-1.018, 0.802, 0.315, PHS= 0.554,-1.288, 0.443, RAW= 146.9, 3.3, CAL= 146.3, 3.4, ROT= 3.7, -3.4 %Ygot valid direction response: 01:17:56.1323 LVL= 23920, 28449, 24642, 32755, AGC= 67, IDX= 418,-0.23, 0.767,-1.018, 0.802, 0.315, PHS= 0.554,-1.288, 0.443, RAW= 146.9, 3.3, CAL= 146.3, 3.4, ROT= 3.7, -3.4 %PDAT read: Bearing 180.9, 4.7 (Local) -~Local bearing/azimuth received: Bearing 180.9, 4.7 (Local) 5DAT read: Range 11 to 50 : 61.3 m (Round-trip 81.8 ms) speed 0.4 m/s =R#Rx 1: Read range and direction messages.E\direction in FSK: [0.996159,0.064419,0.059306]EFpublishing direction and range infoyz?@Ҿ}?Cg]?Y3uBp]!oB` )I ?i/ݤ>$@k=.k#@ s=) A=IsޟC|?{P?2MCe? '>)IkI A=isT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A] =E  E E ,E "E ;*E ҆:VE g4ZE a% @a% @a% @a% @) A I I O >^,#,~LAY~By~`Iaa aa aa aa iMb@Mb@Mb@ 9+?Mb?~jt?Yv>y=<AA  A)AY AbDVD8y;%;=ٔQ->9Y=+EyBDE>Q 547Б?Q 94&)BQ AT:Y?Q E:y$?Q I @*DI;i ;`4yBɮFAi!i%}uLAj%uB"j%uB:j% ?Rj%/ ۮN@?Os@w @Bj%z?@Ҿ}?Cg]?*j% A=2j%sZj%[֝J@S~R>@bj@Jj%L?mZ`?ފ7#?j%A j%SBi% A?i%Klxj%݉Bj%rB?j!j!rj%sBzj%X?= addTargetRange:: Added new target pos. range: 61.299999 m, deltaT: 3.779865 s, deltaX: -1.799999 m, approachRate: -0.476207 m/s, rangeRepo size: 4 M Added new target pos. range: 61.255806 m, bearing: 29.778359 deg, lat: 36.779510 deg, lon: -121.859760 deg, deltaT: 3.779865 s, deltaX: -1.799740 m, approachRate: -0.476139 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 61.26 m."iU*iYe ProNav: ac range: 61.255806 m, nav range: 60.972729 m, bearing: 29.620684 deg, approach rate: 0.000000 m/s, LOS rate: -0.027988 deg/s, cmd heading: 26.191069 deg, new cmd heading: 26.166332 deg. iamHeadingCmd: 0.456689 target range: 61.255806 and range: 61.30 m.hm>hihihqhqgqgqjgyrg}BeyreyZe:e`fN@*e?颭Bɢ#) ؠi)+顱iR3:i>y=A=I>Iu*DAT read: user:161> }BDAT read: Tx time:01:17:57.3963 }$Ping request sent.BeCBeeIBeBBeR =BaBe^DBe;Be[bEy^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246641A= .AIA IQ O >ԙ  PExceeded connect timeout, disconnecting.'e,#,LA4<ɰ;2 x>2^>2^yٱ2(=2H?]ܿ Ο?.k?&?`Ÿ+?8??i2 x>I23];2ޑCY>By9U ?YU ?=U,EyUJD]rKE]>aQ 5m4eݑ?Q 9m4e")e BYiyuD$?Q Iu @e0DIe:ie~:ef4yyɮ}BAy:iDNOT Ignoring new targets: 61.26 m."iz*iz ProNav: ac range: 61.255806 m, nav range: 60.777477 m, bearing: 29.597613 deg, approach rate: -0.506958 m/s, LOS rate: -0.060097 deg/s, cmd heading: 26.166332 deg, new cmd heading: 26.120040 deg. iۺHeadingCmd: 0.455881 target range: 61.255806 and range: 61.30 m.h2i>hhhhggjgrgereZe:e*e`q?Bɢ }=f=I2i>Iq9@ @@/@ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498400^AA5 ؟AIi I O > )l,#,ZfLA2w>2b[>2ktٱ2;=2Hͬ?VܿÛ?`)d? ?󆸿.?`{?d?i2w>I2R\;2ߑCY>By>QIi-Mb@Mb@Mb@)))) )9-K7A?B`"۹? rh?Y- ?y-=-C<-bA-A ))- A)Y- AbDEVDE8yUk%U?=ٔUyC:Q-]>9]"?Y]"?=e,EyeRDeEe>iQ 5u4m둊?Q 9u4m)m'BYu?Q E}:y}&?Q I} @m7DIma;im;mm4yɮA:iDNOT Ignoring new targets: 61.26 m."i*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750744 ProNav: ac range: 61.255806 m, nav range: 60.570011 m, bearing: 29.570881 deg, approach rate: -0.512363 m/s, LOS rate: -0.066242 deg/s, cmd heading: 26.120040 deg, new cmd heading: 26.066394 deg. iv򺝏HeadingCmd: 0.454944 target range: 61.255806 and range: 61.30 m.hy>hhhhggjgrgBereZe:e*e:?BɢH/) Ci)%dY!!i%?`:i-y>-=-4a=I-y>I)@ @@@E EE+E"E:*E:VE [4ZEa@a@a@a@^A) u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003005A .AI I! O- >B] <AY Be #>Be CBe rIBe BBe M =Ba Ba Be ;Be aEB%CB%CB%̓CB%Q =B%P =C%̃6ԉ L s,#,̱LA~7Vw>~ @>~uٱ~E=~H`?Sܿ׎?`a?`y?`? }?_?i~7Vw>I~/\;~ݑCY ByLIbD%VD%8y5b%5H=ٔ5qոQ-=>9= ?Y= ?==,Ey=[DEEE>IQ 5U4M?Q 9U4M:)M.BYYy]&?Q I] @M>DIM ;iM ;Mu4ye“BɮeAeEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 61.26 m."i+*i+ ProNav: ac range: 61.255806 m, nav range: 60.360920 m, bearing: 29.543795 deg, approach rate: -0.511716 m/s, LOS rate: -0.066519 deg/s, cmd heading: 26.066394 deg, new cmd heading: 26.012034 deg. iy󺝏HeadingCmd: 0.453996 target range: 61.255806 and range: 61.30 m.hr>hhhhggjgrgereZe:e*e,?ɢF2) ?i)uqqiuߒx:i}r>}=}=I}r>I 9@9 @9@9@9i߁I߁checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254801nManaging dock network, ignoring radio surface power off9E EE,E"E%;*E:VEg4ZEBEK= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5064595y,#,E汌LA 2{v>2>2Dutٱ2~A=2H?GܿI?T??6m@^?\??i2{v>I2H\;2ߑCYNByROI TT V=TbDZֿVDZ8ybu<%bR=ٔf8Q-f>9dYd=j,EyjbDj4 Ej>lQ 5r4n,?Q 9r4n)n5BYtyv&?Q Iv @nDDIn2:in:n{4yxɮzAx:iDNOT Ignoring new targets: 61.26 m."ih*ih ProNav: ac range: 61.255806 m, nav range: 60.161259 m, bearing: 29.517910 deg, approach rate: -0.488663 m/s, LOS rate: -0.063562 deg/s, cmd heading: 26.012034 deg, new cmd heading: 25.960093 deg. i躝HeadingCmd: 0.453089 target range: 61.255806 and range: 61.30 m.hK>hhhhgg1jgArgAyereZe:eq*e}4?BɢED()A EiA)McIIiMa!:iUK>U=U=IUK>IYԙ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758673 D zD ?AE  E E +E "E ;*E ~:VE [4ZE a @a @a @a @^A =A ؟A I I O >,#,!LAYByMIiMb@Mb@Mb@ 9)\(?+η?I +?YG?yv=94<AA )| AYbDVD8y׻%1=ٔQ->9"?Y"?=,EylDE>Q 54U?Q 94F)hahahahagagajgirgmBeireiZeq:eq*eu8@yBɢ4) }iy)}yyi}W:iz>@==Iz>IB >B CB lIB BB O =B B ]DB ;B \aEI@Q @Q@U/@Qԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265949 ^A p=E  E E E "E l;*E ՚:VE ZE BE aF,#,LAFlu>F(g>FByٱFz=FH@?@><ܿӞ?H??\h(?`L??iFlu>IF\;DYRByRRIbDZVDZ8ybj<%fM=ٔnv@Q-r>9xYx=z,EyztD~E~>Q 54;%?Q 9 4)ABY y #?Q I  @RDI:i:4yɮA:i9EDNOT Ignoring new targets: 61.26 m."iEs*iEs ProNav: ac range: 61.255806 m, nav range: 59.720692 m, bearing: 29.465932 deg, approach rate: -0.511028 m/s, LOS rate: -0.060521 deg/s, cmd heading: 25.903988 deg, new cmd heading: 25.855751 deg. iݺHeadingCmd: 0.451268 target range: 61.255806 and range: 61.30 m.h >hhhhggjgrgereZe:e*e%@ɢ 4) i)¤i:i >=U=I  >I amchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514802@ @@/@ԙ^A벫=Թ A .AI I1 O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766421<,#,7LA2Pu>2<=>2nٱ2=2H?-8ܿ`e?D?@?m? E??i2Pu>I2ٍ\;0Y:By:=IPiMb@Mb@Mb@ 9Mb?MbX9?~jth?Y?yʡ=D;AA  A) AY AAAbDVD8yG%<=ٔhQ->9 ?Y ?=,Ey}DCE>Q 544?Q 94)FBY?Q E:y?Q I @YDI;ia;s4yBɮ?AEDD<E EE,E"E;*E$:VEg4ZEa @a @a @a @:i!%DNOT Ignoring new targets: 61.26 m."i-W*i-W ProNav: ac range: 61.255806 m, nav range: 59.499863 m, bearing: 29.445653 deg, approach rate: -0.511403 m/s, LOS rate: -0.047136 deg/s, cmd heading: 25.855751 deg, new cmd heading: 25.815043 deg. iHeadingCmd: 0.450558 target range: 61.255806 and range: 61.30 m.hy>hhhhggjgrgBereZe:e*e@ @=Bɢ=r:)A EiA)E (AAiEE:iMy>m=mX=Iuy>Iq@ @ @ /@ }BDAT read: Rx Time:01:17:59.8797 TRx dataTimestamp_ set to:1764897481.112576checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019522^AM ʞ=A- AAA) B5 >B5 CB5 _IB5 BB5 P =B1 B5 \DB5 N;B5 aEY A ؟AI I O >$,#,9`QLA2}u>2/o>2ށٱ2%=2H;?@=ܿMV?I? Z? ;? 8Y? ?i2}u>I2\;2ޑCY:By:-IbDF VDF8yZP%^\=ٔb~4Q-b>9f"?Yf"?=f,EyfDf:Ef>hQ 5n4jA?Q 9r4j )jIBYpyr?Q Ir @j_DIjI;ij;j4ytɮvAx B*** querying acoustic contact ***i i :i%DNOT Ignoring new targets: 61.26 m."i%Y]*i%Y]5 ProNav: ac range: 61.255806 m, nav range: 59.307705 m, bearing: 29.427814 deg, approach rate: -0.519439 m/s, LOS rate: -0.048379 deg/s, cmd heading: 25.815043 deg, new cmd heading: 25.779249 deg. i5HeadingCmd: 0.449933 target range: 61.255806 and range: 61.30 m.h]>hhhhggjgrgereZe:e*eH @颁ɢߦJ) < Fži)Lx顉i0:i]>٢==I]>II)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271068IbE|a4jE|a4rEIJ.E EE+E"E&:*E?:VE [4ZEBEi; #@ PwV= e#@ k]=) 5=I k] xH϶?-I?)i3t? P>) SI 5=i k] E T****** received valid address query ******E R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.A] .AIa Iq O >P,#,BCkLAu> >1ٱeB=HB?7ܿ@ ?@?@r?@f?IF\;CYUByU3Ii]Mb@Mb@Mb@YYYY Y9]+?Q?~jth?Y]v>y]\=Y]A]A ] A)]| AYY] AbD VD8yF<%=ٔ Q->9 ?Y ?=,EyDE>Q 54T?Q 94)NBY}?Q E:y?Q I @hDI!;i;P4yēBɮAEiigLAjlmB"jlmB:j'?RjN̝M@.ϩ@ (k @Bj%?Ա?ʾ7?*j5=2jk]ZjNwҧI@8 =0{=@ :6l@Jj?AQe?ݳ?jA j>MBi?T~8?iofmjBjjj$Brj)lBzjc?*DAT read: user:162> BDAT read: Tx time:01:18:01.1948 $Ping request sent.hQhQhQhQiqgygyjgyrg}BereZe:e@3M@*eA?ɢ3) i)n豼i:i>e=R=I>I  =&Changing to mode: 2E EE.E"El;*E:VEـ4ZEa-@a-@a-@1a5@ 9@  @ @ /@ ׃G /{A 륿9 /{AY ̢AY  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251341^A "=ԡB->B-CB-SIB-BB)B)B)B--;B-`EAYIiIO ?`,#,A(LA2t>2>2 ٱ2]=2H0?/ܿ@K?@8? ?}?i ?9?i2t>I2A\;2ޑCY>nBy>IbDFVDFȰ8yN,%RE=ٔRQ-R>9PYT=V,EyVDV E>!Q 5-4%{c?Q 954%)%RBY1y5q?Q I5 @%oDI%:i%:%4y9ɮ=j AA:iaeDNOT Ignoring new targets: 59.36 m.2iamPowering the camera and arming the capture device at range: 59.40 m.ii"iuC*iuC} ProNav: ac range: 59.356438 m, nav range: 58.827866 m, bearing: 29.389327 deg, approach rate: -0.530998 m/s, LOS rate: -0.042783 deg/s, cmd heading: 25.725117 deg, new cmd heading: 25.690890 deg. iHeadingCmd: 0.448391 target range: 59.356438 and range: 59.40 m.ht>hhhhiggjgrgereZe:e*e~?ɢ%V) ׾i)i:it>=Rh=It>Im8@i @i@mO0@i9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502769E EE+E"E;*E:VE [4ZEBEAԑ U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754698},#,XLA2tt>2l>2ٱ2;=2H`o?@/ܿ`RA? x7??@`y?$?`;?i2tt>I2|\;0Y:_By: IbDF)VDFҰ8yN6%NK=ٔNQQ-N>9PYP=R,EyRDVOEV>TQ 5^4Vq?Q 9^4V)VVBY\y^l?Q I^ @VuDIV :iV.:V4yfʓBɮf AfE:itzDNOT Ignoring new targets: 59.36 m.2ixzPowering the camera and arming the capture device at range: 59.40 m.ix"i~V9*i~V9 ProNav: ac range: 59.356438 m, nav range: 58.633541 m, bearing: 29.373632 deg, approach rate: -0.499900 m/s, LOS rate: -0.040509 deg/s, cmd heading: 25.690889 deg, new cmd heading: 25.659395 deg. iE%HeadingCmd: 0.447841 target range: 59.356438 and range: 59.40 m.h%hK>h!h!h!h)i)g)g1jg1rg9e9re9ZeA:eA*eE?ԑ%BɢMPtV)Q U߾iQ)]o}YYi]:ihK>Ⱥ=K=IhK>I0:ĺchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007681m4@i @i@m/@iE  E E E "E ;*E VE ZE a @a @a @a @ ^A K=AA؟AIIO>Z,#,6DzLA2t>2>2Pٱ2b=2H? 5ܿ\?@I=?t?`,̸`i?`?Q?i2t>I2\;2ݑC>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258786YBeByBIi Mb@Mb@Mb@     9 MbX9?&1?y&1|Y ?y P= ` |A 5A  A)  Y  AbD%VD%8y-5<%!=ٔ^Q->9"?Y"?=,EyDG:E>Q 54-?Q 94)XBYu?Q E:y?Q I @~DI:i:4yɮ A:i  DNOT Ignoring new targets: 59.36 m.2iPowering the camera and arming the capture device at range: 59.40 m.i"i>ѹ*i>ѹ% ProNav: ac range: 59.356438 m, nav range: 58.366680 m, bearing: 29.361700 deg, approach rate: -0.509067 m/s, LOS rate: -0.022867 deg/s, cmd heading: 25.659395 deg, new cmd heading: 25.635421 deg. i-d'5HeadingCmd: 0.447423 target range: 59.356438 and range: 59.40 m.h5>h1h1h1h1i1g1g9jg9rg=kBe9reAZeA:eA*eE`}?ԑ颩ɢ!K) ܾi)E 项i>:B>BB:IBBBO =BB]DB ;B`EiM>M:Š=Uɸ=IU>IQ%<_2@ @@/@Ա-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739^A= d=Em  Em Em *Ei "Em :*Em :VEm (N4ZEi BEm <,#,᲌LA;ɰ4<2t>2>2˖ٱ2 =2H@u?6ܿ@?>?`?8 .ْ? '̹??i2t>I2t\;2ߑCY9Y = ,Ey D 49E >Q 54U?Q 94Z)YBY!y%?Q I% @DIG:iu:|4y-ГBɮ- A1MB*** querying acoustic contact ***iIiI:iQ]DNOT Ignoring new targets: 59.36 m.2iY]Powering the camera and arming the capture device at range: 59.40 m.iY"ieҹ*ieҹu ProNav: ac range: 59.356438 m, nav range: 58.168861 m, bearing: 29.352760 deg, approach rate: -0.508318 m/s, LOS rate: -0.023050 deg/s, cmd heading: 25.635421 deg, new cmd heading: 25.617481 deg. iu(}HeadingCmd: 0.447109 target range: 59.356438 and range: 59.40 m.h}>hyhyhyhiggjgrgereZe:e*e`jK?颹ɢ\) ۾i) i ;i>̠=i=I>IԩMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762918 /@ @@0@ i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905^AU ٦=) E-  E- E) E) "E- &:*E- $:VE) ZE) a= @a= @a= @a= @Ai Iq I O >˾,#,LA2t>2H>2'uٱ2=2H@`?@2ܿ?$;?l?C>@^? <Ϲ??i2t>I2\;0Y:lBy:Ii~Mb@Mb@Mb@|||| |9~ ףp= ?X9v?{GztY~Q>y~<~ף|~A ~ A)~bA|Y|bDVD8y%{<%%6=ٔ-F91Y1=5,Ey5D5E5>9Q 5E4=O?Q 9E4=})=[BY>Q E:y~?Q I @=DI=hYhYhahaiagagajgirgmnBeireiZeq:eq*eu֠=&=Il>Iu_-@y @y@}A3@y%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267483Bu>BqBu'IBuBBqBqBqBu;Bu`EB=CB=CB9B=O =B=O =C=M 5)^A=A>A>A .AI I O >I ),#,LA>9t>>>Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518594>~ٱ>z=>H?`,ܿ?3??@ h@?`?v?i>9t>I>l\;9b ?Yf ?=f,EyfÏDfǣEf>hQ 5r4j?Q 9r4j)j\BYpyr_?Q Iv @jDIj+;ij,;j"4yz֓Bɮz_!AzE:iDNOT Ignoring new targets: 59.36 m.2i%Powering the camera and arming the capture device at range: 59.40 m.i!"i%*i%5 ProNav: ac range: 59.356438 m, nav range: 57.761509 m, bearing: 29.349148 deg, approach rate: -0.512718 m/s, LOS rate: -0.004446 deg/s, cmd heading: 25.613503 deg, new cmd heading: 25.610231 deg. i5-=HeadingCmd: 0.446983 target range: 59.356438 and range: 59.40 m.h=>hAhAhAhAiAgAgAjgIrgIeIreIZeQ:eQ*eUK[@}Bɢ1g) fi)Uü顁i);i>ݠ=M==I>I1E EE,E"E;*E:VEg4ZEBE?C p,#,1LAUs>Ui>UٱU^=UH?%ܿx\?+?6?`χ?`?8?iUs>IUI\;UޑCYemByeI qqiMb@Mb@Mb@ 9I +?/$?~jtxY9>y<ĻxA1A  A)AYf AbDVDs8y\=%5=ٔQ->9%"?Y%"?=%,Ey%̏D-џE->1Q 5=45?Q 9=45M)5^BY=z>Q E=:y=<?Q IE @5DI5_:i5:54ԁyɮ A:i DNOT Ignoring new targets: 59.36 m.2iPowering the camera and arming the capture device at range: 59.40 m.i"i{8*i{8m ProNav: ac range: 59.356438 m, nav range: 57.546482 m, bearing: 29.351571 deg, approach rate: -0.457849 m/s, LOS rate: 0.005177 deg/s, cmd heading: 25.610231 deg, new cmd heading: 25.615094 deg. im9uHeadingCmd: 0.447068 target range: 59.356438 and range: 59.40 m.hu>hqhqhqhqiqgqgyjgyrg}iBBDAT read: Rx Time:01:18:03.6756 TRx dataTimestamp_ set to:1764897484.892721checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023954ereZe:e*eF @1ɢ5O)1 =_־i9)}Ǽ顁i3;i>A=4=I>IE EE.E"E:*E:VEـ4ZEa@a@a@a@U'@Q @Q@U!5@Q ^Aq = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274632) A I I O > ,#,LLABF>BDBFIBFvBBFN =BDBDBF;BF`Err>r>r*ٱr=rH` ?ܿ6???E@u?ѹ?@k?irr>Ir];pY=UBy=IbDVD8yc%G=ٔQ->9Yq=},EyԏD E>Q 54ϒ?Q 94)_BYy->Q I- @DIuhhhhiggjgrgereZe:e*e@ @=Bɢ=_)a euia)eʼiiimR";im>u=uXs=Iu>Iqԡ-DAT read: 01:18:03.6756 LVL= 23024, 32753, 29026, 32755, AGC= 62, IDX= 415,-0.01,-0.100,-1.843,-0.071,-0.550, PHS= 0.551,-1.248, 0.434, RAW= 146.7, 3.0, CAL= 146.0, 3.2, ROT= 4.0, -3.2 5Ygot valid direction response: 01:18:03.6756 LVL= 23024, 32753, 29026, 32755, AGC= 62, IDX= 415,-0.01,-0.100,-1.843,-0.071,-0.550, PHS= 0.551,-1.248, 0.434, RAW= 146.7, 3.0, CAL= 146.0, 3.2, ROT= 4.0, -3.2 EPDAT read: Bearing 180.1, 5.1 (Local) E~Local bearing/azimuth received: Bearing 180.1, 5.1 (Local) MDAT read: Range 11 to 50 : 57.6 m (Round-trip 76.8 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]`%@Y @Y@]4@Y\direction in FSK: [0.996009,0.069648,0.055822]Fpublishing direction and range infoy5EtM?JnԱ?ᢔ?YffBYbq )>IV ?iw?5> d=)Id" &?2-? =D? AO>)?ZIidT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E5 E5E5,E1"E5 ;*E5:VE5g4ZE1BE5Lx,#,gLA2\q>2>2|@ٱ2=2H@?$ܿ@?O?b?1`?@Ź?e?i2\q>I2RV];2ߑCY:bBy:IbDBɿVDBz8yJ=%NV=ٔN3Q-N>9PYP=R,EyR܏DRKER>TQ 5Z4V ܒ?Q 9^4V)V`BY\y^>Q I^ @VDIV:iV;V4ybΓBɮb Af}En*DAT read: user:163> rBDAT read: Tx time:01:18:04.9947 r$Ping request sent.rhhhhiggjgrgereZe:eL@*e[w?UBɢUMb)Q ]ھiY)]̼YYi]Sf);i>=X=I>Ie"@a @i@m/@iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250947ԡ^A m=E  E E )E "E l;*E VE FA4ZE a @a @a @a @A .AI I O >[,#,ELAɰY]By IiMb@Mb@Mb@ 9/$?/$?~jth?Y>yD;bAA  A)Y AbDֿVD8y/%9=ٔQ->9 ?Y ?=,EyDE>Q 54&뒊?Q 94)dBYH>Q E:y^>Q I @DIhhhhiggjgrgMBereZe:e*e Z9?)ɢ5c)1 5Dܾi1)5ϼ11i=Ye0;i= >EU=E=IE >IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504208/ @ @@@B >B B IB lBB B B B ;B `E^Aʞ= A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548499 Р,#,̛LA2,o>2V+>20ȼٱ2=2H`?ۿ`'???z?…?`?i2,o>I2sp^;2ܑCY:oBy>IbDF˿VDF|8yN>=%N\=ٔNֻQ-R>9PYP=R,EyRDVEV>XQ 5^4Z?Q 9^4Z)ZgBY\y^ >Q Ib @ZDIZ:iZ:Z4yfԓBɮf Af~E:ixzDNOT Ignoring new targets: 57.56 m.2ixzPowering the camera and arming the capture device at range: 57.60 m.i|"i~p,9*i~p,9  ProNav: ac range: 57.558353 m, nav range: 56.883568 m, bearing: 29.525637 deg, approach rate: -0.488491 m/s, LOS rate: 0.009422 deg/s, cmd heading: 25.631258 deg, new cmd heading: 25.637866 deg. i 9HeadingCmd: 0.447465 target range: 57.558353 and range: 57.60 m.h(>hhhhiggjg!rg!e!re!Ze):e)*e-@Y8?bEjEd4rEa0EM EMEM.EI"EMV:*EM:VEMـ4ZEIBEM9=٦=I(>I5@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007932^Ay1 A I I O= >%,#,fLAV m>Vx>V׼ٱV(=VH?wۿ??ʠ??ⱹ??iV m>IV;^;VݑCYblBybIimMb@Mb@Mb@iiii i9mQ?y&1?~jt?Ym>ym`9Y=,EyD8E>Q 54m?Q 94E)mBY{>Q E:yD?Q I @DIA:i(:4yɮ A:i%DNOT Ignoring new targets: 57.56 m.2i!%Powering the camera and arming the capture device at range: 57.60 m.i!"i-W8*i-W85checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966E ProNav: ac range: 57.558353 m, nav range: 56.685444 m, bearing: 29.526932 deg, approach rate: -0.449780 m/s, LOS rate: 0.002949 deg/s, cmd heading: 25.637866 deg, new cmd heading: 25.640465 deg. iE8MHeadingCmd: 0.447511 target range: 57.558353 and range: 57.60 m.hM >hQhQhQhQiQgQgQjgYrg]TBeYreYZea:ea*eeJ?IuBɢuZ)q uҾiq)ua3ռyyi}e<;i >= :=I >IEi EmEm,Ei"Ei*Em?:VEmg4ZEia}@a}@a}@a}@E IMC@A @I@]/@aGzA ܾ9zAYκAqԡ ^A ܪ= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511533B <A <B >B CB !IB BB B B B ;B r`EAM ؟AIY Ii Ou >,#,zϳLA,N3m>N.>NٱN=NH`?@ۿ',? p?i?;R(?`Uǹ?$?iN3m>IN_;NCYZByZ,I \\bDf VDfʰ8yn=%nU=ٔnwQ-n>9r"?Yr"?=r,EyrDr)Ev>tQ 5~4vA?Q 9~4v )vrBY|y~?Q I~ @vDIv;iv;vf4yړBɮ  A E:i)5DNOT Ignoring new targets: 57.56 m.2i15Powering the camera and arming the capture device at range: 57.60 m.i1"i=!w8*i=!w8M ProNav: ac range: 57.558353 m, nav range: 56.511189 m, bearing: 29.528202 deg, approach rate: -0.461568 m/s, LOS rate: 0.003376 deg/s, cmd heading: 25.640465 deg, new cmd heading: 25.643014 deg. iM8UHeadingCmd: 0.447555 target range: 57.558353 and range: 57.60 m.hU%>hQhQhQhQiQgYgYjgYrgYeareaZea:ea*eeN?颕Bɢ.N^) ;i)uR׼i:A;iM%>M=M3=IM%>IQYԉO@ @@'0@@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762757ԱEU EUEU-EQ"EUT;*EU:VEUt4ZEQBEUGj,#,"q鳌LA6&l>6>66Zٱ6l=6H K? %ۿ@Wޑ?ҽ??`Kʞ?@2?C?i6&l>I6@2_;4Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015398YNByN3I`bD^'VD^а8yn><%nK=ٔrQ-r>9v ?Yv ?=v,EyvDz&Ez>Q 54!?Q 94)xBYy?Q I @ˆDIGc;iom;4yɮX A:i)5DNOT Ignoring new targets: 57.56 m.2i1UPowering the camera and arming the capture device at range: 57.60 m.iQ"i]Z8*i]Z8m ProNav: ac range: 57.558353 m, nav range: 56.316528 m, bearing: 29.529844 deg, approach rate: -0.446678 m/s, LOS rate: 0.003780 deg/s, cmd heading: 25.643015 deg, new cmd heading: 25.646309 deg. im\8HeadingCmd: 0.447613 target range: 57.558353 and range: 57.60 m.hx->hhhhiggjgrgereZe:e*eQ@UBɢUVM)Y ]iY)]mټYYi]dF;iex->e~=eyC=Iex->Ii @ @@T0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793^AM =A Dq zDu AAE  E E E "E &:*E :VE ZE a @a @a @a @A} ؟AI I O >3-#,KLA2k>2|>2ٱ2Fn=2H?`Rۿ7? ?` ?~'8??`w?i2k>I2_;2ޑCYNByRCIi-Mb@Mb@Mb@)))) )9-oʡ??y&1?Y->y-L=-`e<-A) - A)-KA)Y- A@AbD+VD԰8yk=%<=ٔsQ->9"?Y"?=,EyDjFE>Q 54F/?Q 94)BY>Q E:yb ?Q I @ȈDI4:i: 4yɮAB*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 57.56 m.2i)-Powering the camera and arming the capture device at range: 57.60 m.-lFinal approach. Armed for intercept at range: 57.60 m.-\Transitioning guidance mode to: FINAL_APPROACH i5@"i5*i5E ProNav: ac range: 57.558353 m, nav range: 56.125973 m, bearing: 29.522664 deg, approach rate: -0.473054 m/s, LOS rate: -0.017885 deg/s, cmd heading: 25.646308 deg, new cmd heading: 25.631900 deg. iEMHeadingCmd: 0.447361 target range: 57.558353 and range: 57.60 m.hM >hIhM:hM33?hQgQgQjgYrg]uBeYreYZeY:ea*ee@颍BɢO) i)ܼ顑i/J;i >=)33? (kpHeading = 0.700000I: (kiHeading = 0.001000:=I >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519573@ @@15@IBm>BiBm3IBmBBmL =BiBiBm;Bmi`Ey^A`=I I O >ԡ E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770837r-#,jLAɰp;:ck>:F>:ٱ:(=:H7?@\ۿʏ? 4?@? )3? մ??i:ck>I:^;:CYBByFMIbDNVDN8yV(5=%V\=ٔVzQ-V>9XYX=Z,EyZD^E^>`Q 5f4b;?Q 9f4b)bBYdyfG ?Q If @bΈDIb:ib:b4ynBɮnAlE EE+E"E7;*Eh:VE [4ZEBEZhqhhhggjgrgere!Ze!:e!*e%@Z @MBɢUEH)q uiq)}. ޼yyi}߃M;i>==I>I- @) @)@-4@)@1@5=ԁBDAT read: Rx Time:01:18:07.4732 TRx dataTimestamp_ set to:1764897488.673184checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024826^Au=I I! O5 > M! -#,Q7LAf k>fz>f5 ٱf=fH"?-ۿ@*{???ѻ?.?@?if k>Ife^;fߑCYnByrZIiMb@Mb@Mb@ 9 rh?V-?/$?Y>yh=<A 5 A)AY= AbDVD8y-9=%:=ٔ'Q->9Y=,EyDIE>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274848Q 5 4J?Q 9 4)BY>Q E:yK?Q I @ԈDI/;i3;@4yɮA:iAEDNOT Ignoring new targets: 57.56 m.2iA"iM0*iM0] ProNav: ac range: 57.558353 m, nav range: 55.748405 m, bearing: 29.499345 deg, approach rate: -0.468114 m/s, LOS rate: -0.038585 deg/s, cmd heading: 25.618938 deg, new cmd heading: 25.585098 deg. i];eHeadingCmd: 0.446544 target range: 57.558353 and range: 57.60 m.heq>hahahahigigijgqrguBeqreqZeq:ey*e}\ @EBɢE$@)A i){-顉ibP;iq>=Fd=Iq>ID!D%a=E- E-E--E)"E-:*E-:VE-t4ZE)a5@a5@a5@a5@@ @@4@I DAT read: 01:18:07.4732 LVL= 18640, 22897, 20978, 26547, AGC= 64, IDX= 422,-0.02, 2.268, 0.545, 2.276, 1.806, PHS= 0.564,-1.216, 0.426, RAW= 146.0, 2.7, CAL= 145.4, 2.8, ROT= 4.6, -2.8  Ygot valid direction response: 01:18:07.4732 LVL= 18640, 22897, 20978, 26547, AGC= 64, IDX= 422,-0.02, 2.268, 0.545, 2.276, 1.806, PHS= 0.564,-1.216, 0.426, RAW= 146.0, 2.7, CAL= 145.4, 2.8, ROT= 4.6, -2.8  PDAT read: Bearing 179.5, 6.5 (Local)  ~Local bearing/azimuth received: Bearing 179.5, 6.5 (Local) ^A% ͢=- DAT read: Range 11 to 50 : 55.8 m (Round-trip 74.4 ms) speed 0.4 m/s = R#Rx 1: Read range and direction messages.U \direction in FSK: [0.995589,0.080103,0.048850]U Fpublishing direction and range infoy  +?TcV?s!D?Y 3_B H qY Q g) @I Nb?i 㥛 > e#@ A= i"@ +H=) l=I +H g1}?oȡ? pӧ? `>) ͭ>I l=i +H  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I O >B] >B] CB] SIB] BB] O =BY B] \DB] ;B] g`EB!B!B!B%N =B%N =C%l5ԁ -#,PLAbj>bh>bٱb}=bH Q?ۿHŠ? U?Ť?@`;=?`=? [?ibj>IbDC_;`Y~By~eI = <bDVD8y]?=%eS=ٔelQ-e>9iYi=m,Eym&Dm#ϹEu>yQ 5}4}V?Q 94})}BYyB?Q I @}ڈDI}:i}:}$4yBɮtAEiiHKLAj _B"j _B:j˴?RjK@&@{[@Bj+?TcV?s!D?*jl=2j+HZj:}P+H@>R;@(lq@JjP~?\>~?DQEA?jA jy@Biyc-?iø[jDBj A?jjrj^Bzj? addTargetRange:: Added new target pos. range: 55.799999 m, deltaT: 3.780359 s, deltaX: -1.799999 m, approachRate: -0.476145 m/s, rangeRepo size: 4  Added new target pos. range: 55.758858 m, bearing: 29.925008 deg, lat: 36.779510 deg, lon: -121.859756 deg, deltaT: 3.780359 s, deltaX: -1.799496 m, approachRate: -0.476012 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 55.76 m.2iQ"i]*iYm ProNav: ac range: 55.758858 m, nav range: 55.652298 m, bearing: 29.659171 deg, approach rate: 0.000000 m/s, LOS rate: -0.038585 deg/s, cmd heading: 25.585098 deg, new cmd heading: 25.554787 deg. iiHeadingCmd: 0.446015 target range: 55.758858 and range: 55.80 m.h\>hhhhggjgrgereZe:e`fK@*e9?BɢA ?) )i) iR;i\>%H=%v=I%\>I! *DAT read: user:164>  BDAT read: Tx time:01:18:08.7947 $Ping request sent.=I I O- > /1-#,jLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251954EWk>E~>EƈٱEr=EH9?%ۿ??`?tϣ?`CѺ? ?iEWk>IEva;EޑCY]By]mIbDmVDm8y}<%}H=ٔQ->9Y=,Ey.DQ;E>Q 54c?Q 94)BYy~?Q I @DI:i:,4yɮCA:iDNOT Ignoring new targets: 55.76 m.2i"i/*i/ ProNav: ac range: 55.758858 m, nav range: 55.462910 m, bearing: 29.643873 deg, approach rate: -0.473332 m/s, LOS rate: -0.038364 deg/s, cmd heading: 25.554787 deg, new cmd heading: 25.524087 deg. ikHeadingCmd: 0.445479 target range: 55.758858 and range: 55.80 m.h>hhhhggjgrgereZe:e*e@?5Bɢ5Q =)9 =i9)=99i="T;iE>E=M.U=IM>IIԱ}@y @@@@zA@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503440^A=AxAzAxAII O >EE  EE EA EA "EE ;*EE :VEA ZEA aU @aU @aU @aU @1 !!-#,LAY~ByiIiMb@Mb@Mb@ 9/$??/$?Y&>y=5A  A)AY AbDVD8y}%E=ٔQ->9Y=,Ey7DE>Q 54q?Q 94)BY>Q E:y '?Q I @DI;ia;\34yBɮAEB*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 55.76 m.2i)"i5v*i5vE ProNav: ac range: 55.758858 m, nav range: 55.265831 m, bearing: 29.616097 deg, approach rate: -0.474280 m/s, LOS rate: -0.067084 deg/s, cmd heading: 25.524087 deg, new cmd heading: 25.468336 deg. iEEHeadingCmd: 0.444506 target range: 55.758858 and range: 55.80 m.hEU>hIhIhIhQgQgQjgQrg]BeYreYZeY:eY*ee@P'?颍Bɢ;) i)I顑iLU;iU>=9=IU>I uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755359A@A @A@A@AB >B B xIB BB P =B B B B 1^Ae=IIO>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006817A'-#,?oLA 6T*m>6*>60&ٱ6U=6H@ ?ۿ.Z?`?ۘ? @1?7??i6T*m>I6;a;6ݑCYN ByRITTbDZVDZ8yj^=%n]=ٔvQ-v>9xYx=z,Eyz>D~e;E~>E EE-E"E;*E:VEt4ZEBEAhhhhggjg!rg!e!re!Ze):e)*e-?Bɢ2) lci)%iZ[V;i  > = =I  >Ii @ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260187ԡ^A= I I O >Po--#,YLA<ɰ>;Pchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827YByIiMb@Mb@Mb@ 9i|?5?V-? rh?Y>y=C<A )Y AbDĿVDu8yt<%/=ٔQ->9Y=,EyHDE>Q 54?Q 94F)BY>Q E:y/?Q I @DI:i:B4yɮnA:iDNOT Ignoring new targets: 55.76 m.2i"iA˺*iA˺- ProNav: ac range: 55.758858 m, nav range: 54.866714 m, bearing: 29.551030 deg, approach rate: -0.493950 m/s, LOS rate: -0.088849 deg/s, cmd heading: 25.416828 deg, new cmd heading: 25.337721 deg. i-"5HeadingCmd: 0.442227 target range: 55.758858 and range: 55.80 m.h5k>h1h1h9h9g9g9jg9rgEBeAreAZeI:eI*eM)?u~Bɢu.)y }Xiy)} Cyyi}V;ik>=ث=Ik>IE  E E .E "E T;*E :VE ـ4ZE a@a@a@a@@ @@/@@ =@ =^A- v=A5 >A5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763274 B >B CB IB BB N =B B ]DB ;B \`EI9 II O] >c4-#,iҴLAlYpypbDzVDz8y% ;%%f=ٔ)Q-->9)Y)=5,Ey5OD1E5>9Q 5E4=?Q 9E4=h)=BYIyIQ IM @=DI= :i=G:=8H4yUBɮUAUxE:iDNOT Ignoring new targets: 55.76 m.2i!"i-*i-M ProNav: ac range: 55.758858 m, nav range: 54.697327 m, bearing: 29.520464 deg, approach rate: -0.456452 m/s, LOS rate: -0.082622 deg/s, cmd heading: 25.337721 deg, new cmd heading: 25.276399 deg. iM5UHeadingCmd: 0.441156 target range: 55.758858 and range: 55.80 m.hU@>hQhYhYhYgYgYjgargaeareaZea:ei*em@颙ɢ2) Vi)顡inW;i@>7=W=I@>I@ @@0@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015860bE^n4jEƁj4rEL/E EE+E"E;*E:VE [4ZEBEa 2Ea JE;a:E;a1^Amjb=IIO>a :-#,C촌LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268018vgq>v&>ve:@ٱvZ=vH ?5ܿs?E ?`X? ?`1@?@b?ivgq>IvSc;vޑCYByI 4= bDVD8y%.<%%J=ٔ-Q-->9)Y)=-,Ey5WD5W?<E5>9AQ 5M4E?Q 9M4E!)EBYIyM0?Q IM @EDIEq:iE~:EIO4yYɮ]AY:iyDNOT Ignoring new targets: 55.76 m.2i"iԺ*iԺ ProNav: ac range: 55.758858 m, nav range: 54.504791 m, bearing: 29.484473 deg, approach rate: -0.495731 m/s, LOS rate: -0.092995 deg/s, cmd heading: 25.276399 deg, new cmd heading: 25.204163 deg. i1*HeadingCmd: 0.439896 target range: 55.758858 and range: 55.80 m.h:>hhhhggjgrgereZe:e*e@w@}}Bɢ}y1)y }6Qi)顁i*V;i:>: =%=I:>IIim@i @q@uL2@qԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518771^A "=E  E E *E "E :*E M:VE (N4ZE a @a @a @a @I e {AIy I ɫ9 {AY AO >uA-#,LAB3s>B >BGٱB9=BH?GܿZj? ??.罿 ?1?`?iB3s>IBsc;BߑCYNByNIiUMb@Mb@Mb@QQQQ Q9UQ?Zd;?I +?YU>yU=U949Y=,Ey`D$;E>ԙQ 54ΰ?Q 94)BY>Q E:y3?Q I @DI0;i/;V4yBɮAyEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 55.76 m.2i"iݺ*iݺ ProNav: ac range: 55.758858 m, nav range: 54.304096 m, bearing: 29.444449 deg, approach rate: -0.482880 m/s, LOS rate: -0.096655 deg/s, cmd heading: 25.204163 deg, new cmd heading: 25.123819 deg. i0HeadingCmd: 0.438493 target range: 55.758858 and range: 55.80 m.h4>hhhhggjgrgBe re Ze :e *e @9ɢ=@1)9 =ViA)ECAAiEU;iM4>U=Ź=I4>II)yAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772762BBBIB:BBM =BBB;B;`E@ @@ 5@@@)^A2=IIOI>Q BDAT read: Rx Time:01:18:11.2708  TRx dataTimestamp_ set to:1764897492.452545 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023933y G-#,LAR.t>R>R;MٱR[=RH?`ܿc?2?`jz?1 ?&U??iR.t>IRc;PY^BEb EbEb+E`"Eb ;*Eb~:VEb [4ZE`BEb|T9Y=,EyhD ;E >Q 54?Q 94i)BYy3?Q I% @ DI;i;L]4y)ɮ-lA):iDNOT Ignoring new targets: 55.76 m.2i"i+ۺ*i+ۺ ProNav: ac range: 55.758858 m, nav range: 54.116398 m, bearing: 29.406424 deg, approach rate: -0.471287 m/s, LOS rate: -0.095807 deg/s, cmd heading: 25.123820 deg, new cmd heading: 25.047506 deg. iV/HeadingCmd: 0.437161 target range: 55.758858 and range: 55.80 m.h>hhhhggjgrgereZe:e!*e%`?$ @Qm|Bɢ]*)h: :i)p~项i`S;i> =?=I>Ia@a @i@m/@iyEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904^AU(׵=ԩIIO> M-#,9LA5ru>5>5Tٱ5^*=5Ht?uܿ4P? D?@>u?\`?`N? -?i5ru>I5c;5ޑCYEByMIDAT read: 01:18:11.2708 LVL= 23568, 28657, 24946, 31555, AGC= 66, IDX= 414, 0.01,-0.185,-1.930,-0.132,-0.651, PHS= 0.568,-1.233, 0.476, RAW= 147.4, 2.2, CAL= 146.7, 2.2, ROT= 3.3, -2.2 Ygot valid direction response: 01:18:11.2708 LVL= 23568, 28657, 24946, 31555, AGC= 66, IDX= 414, 0.01,-0.185,-1.930,-0.132,-0.651, PHS= 0.568,-1.233, 0.476, RAW= 147.4, 2.2, CAL= 146.7, 2.2, ROT= 3.3, -2.2 PDAT read: Bearing 179.2, 6.1 (Local) ~Local bearing/azimuth received: Bearing 179.2, 6.1 (Local) DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.997606,0.057522,0.038388]Fpublishing direction and range infoyXSc?z{xs?.?YXB\ora C{)BIsh?iҝF>$@nF=#@ nF=)k=InF !oc? +٠n?u? >)7Ik=inFT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩi5Mb@Mb@Mb@1111 195Gz?X9v?{Gzt?Y5>y5=5ף;E EE*E"E ;*Exv:VE(N4ZEa@a@a@a@5GA5A 5 A)5A1Y5 AAAbD$VDΰ8y'%!=ٔ9yYy=,EyrD;E>Q 54O͓?Q 94)BY?>Q E:yU4?Q I @DI:i:nf4yɮAii,=LAjWB"jWB:j?RjKÝJ@V@hNU@BjXSc?z{xs?.?*jk=2jnFZjh}:NkG@3D0J:@p[@Jj?H A.?fÒ?jQA jZ;BiF8?i2jpBj?T~8?jjrjWBzj[k? addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.779584 s, deltaX: -1.799999 m, approachRate: -0.476243 m/s, rangeRepo size: 4  Added new target pos. range: 53.961205 m, bearing: 29.304983 deg, lat: 36.779509 deg, lon: -121.859756 deg, deltaT: 3.779584 s, deltaX: -1.797653 m, approachRate: -0.475622 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 53.96 m.2i"i*i ProNav: ac range: 53.961205 m, nav range: 53.772114 m, bearing: 29.413182 deg, approach rate: 0.000000 m/s, LOS rate: -0.095807 deg/s, cmd heading: 25.047506 deg, new cmd heading: 24.945770 deg. i%HeadingCmd: 0.435386 target range: 53.961205 and range: 54.00 m.h%>h!h!h!h!g)g)jg)rg-BeQreQZeQ:eUK@*e]`)?颡ɢTx)) HOi)IK顩iP;i>u=A=I>I@ @@@5@ M *DAT read: user:165> U BDAT read: Tx time:01:18:12.5447 ] $Ping request sent.] B B IB IBB B B B a;B `E1 ^A }=A.AIIO%>V-#,8YLAɰ4<2Dv>2>2d[ٱ2d=2H?ރܿ(EN?Hr?k8i? (?`?i2Dv>I2.5d;2ݑCY>By>IbDJRVDJ8yR<%RV=ٔRQ-R>9V ?YV ?=V,EyVzDZ ;EZ>\Q 5b4^ؓ?Q 9b4^)^BY`yb4?Q If!@^DI^:i^:^l4yjBɮjAzE:iY]DNOT Ignoring new targets: 53.96 m.2iY"ie*ie溝 ProNav: ac range: 53.961205 m, nav range: 53.598099 m, bearing: 29.377034 deg, approach rate: -0.484034 m/s, LOS rate: -0.100872 deg/s, cmd heading: 24.945770 deg, new cmd heading: 24.873241 deg. i8HeadingCmd: 0.434120 target range: 53.961205 and range: 54.00 m.hD>hhhhggjgrgereZe:e*e ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249628u{Bɢ}1)y }VCiy)}njyyiSN;iD>=7=ID>IiE  E E E "E  ;*E v:VE ZE BE OB\-#,msLA2Cdw>2G>2 bٱ2u=2H@? ܿlnbW?o? e@?} ?@?i2Cdw>I2c;2CY: By:~IbDFVDF!8yN%NK=PٔR Q-V>9TYT=V,EyVDZ:EZ>\Q 5b4^)哊?Q 9b4^ij)^BY`yf4?Q If!@^ DI^Q;i^g:^s4yhɮj3Ah:ix~DNOT Ignoring new targets: 53.96 m.2i|"i*i뺝 ProNav: ac range: 53.961205 m, nav range: 53.407166 m, bearing: 29.336951 deg, approach rate: -0.489278 m/s, LOS rate: -0.103084 deg/s, cmd heading: 24.873240 deg, new cmd heading: 24.792786 deg. i<HeadingCmd: 0.432716 target range: 53.961205 and range: 54.00 m.h>hhhhg!g!jg!rg!e)re)Ze):e)*e- X?ɢ 4) n^i)%+iiim :L;im>u$=uw =Iu>Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754503DzD?AE% E%E%+E!"E%%;*E%:VE% [4ZE!a-@a-@a-@a-@<% @!  @) @- 1@) )  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005500Q B >B B IB NBB B B B E;B _EByByByB}M =ByC}q5^AM =AeyAzAeyAA]؟AIiyIO ?MGe-#,#LA2_x>2>2Othٱ2=2H?@ܿLtme?k?5 ? a??i2_x>I2_c;2ݑCY:By:Ii~Mb@Mb@Mb@|||| |9~kt?zG?MbpY~ >y~ =~|~A ~1 A)~A|Y~zA %=%=bDVD08y%3=%-=ٔ-4Q-->95"?Y5"?=5,Ey5D5:E5>9Q 5E4=?Q 9M4=T)=BYM>Q EM:yMQ.?Q IM!@=(DI=j;i=;=}4yUBɮUA]qEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 53.96 m.2i"i º*i  º ProNav: ac range: 53.961205 m, nav range: 53.142868 m, bearing: 29.288357 deg, approach rate: -0.459044 m/s, LOS rate: -0.084820 deg/s, cmd heading: 24.792786 deg, new cmd heading: 24.695115 deg. i:HeadingCmd: 0.431011 target range: 53.961205 and range: 54.00 m.h{>hhahahagagajgirgmBeireiZei:eq*euڃ?ɢM*) Ei),iH;i {> J,= =I{>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258392E EE(E"E;*Eą:VEc44ZEBE?C_l-#,LA2x>2b>2Gnٱ2P=2H?`ܿTtj? `j?䰾`ĭ?`޺??i2x>I2Lob;2ّCY^By^IhbDjVDj=8yrX%r)=ٔv>AQ-v>9tYt=z-EyzDz]M:E~>|Q 54~?Q 94~)~BY y k.?Q I !@~0DI~.:i~:~4yɮA:i9=DNOT Ignoring new targets: 53.96 m.2iA"iEѺ*iEѺU ProNav: ac range: 53.961205 m, nav range: 52.914829 m, bearing: 29.245931 deg, approach rate: -0.489171 m/s, LOS rate: -0.091401 deg/s, cmd heading: 24.695114 deg, new cmd heading: 24.609896 deg. iUF']HeadingCmd: 0.429524 target range: 53.961205 and range: 54.00 m.h]>hYhYhahagagajgargieireiZei:eq*eu ?颹ɢ3) TWi),i}D;i>3==I>I -checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7617549E] E]E].EY"E] ;*E]?:VE]ـ4ZEYae@ae@ae@ae@)@ @@/0@Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013492^A $=B A <B >B B B B N =B B B 9;B _Eԁ I I O >vt-#,йҵLAYzByxiMb@Mb@Mb@ 9Zd;O?+η?{GzY~>yv=#S@A 5 A)AYAbDVD.8yg%)=ٔQ->9Y=-EyDE>Q 54?Q 94ا)BYV>Q E:y)?Q I!@7DIf:i:4yBɮArE:iDNOT Ignoring new targets: 53.96 m.2i"i*i- ProNav: ac range: 53.961205 m, nav range: 52.691845 m, bearing: 29.208736 deg, approach rate: -0.461203 m/s, LOS rate: -0.077256 deg/s, cmd heading: 24.609897 deg, new cmd heading: 24.535193 deg. i-c 5HeadingCmd: 0.428220 target range: 53.961205 and range: 54.00 m.h5?>h1h1h1h9g9g9jg9rg=qBeAreAZeA:eA*eMI@qɢu2)q }Wiy)}{yyi}@;i?>;=O=I?>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265559IY)]xAy@ @@0@E EE+E"E=;*E:VE [4ZEBEIz-#,TLA>z>>>>3~ٱ> =>Hޓ?ܿU`?a?`Cz>I>u1`;>ߑCYJByJIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517613bDZVDZ!8yb%bU=ٔf%Q-f>9dYd=f-EyfDj;Ej>lQ 5r4n ?Q 9r4n)n$BYpyv)*?Q Iv!@n=DIn:in~:n?4yxɮz,Ax:iDNOT Ignoring new targets: 53.96 m.2i"i%H*i%H5 ProNav: ac range: 53.961205 m, nav range: 52.514904 m, bearing: 29.178588 deg, approach rate: -0.460972 m/s, LOS rate: -0.078807 deg/s, cmd heading: 24.535194 deg, new cmd heading: 24.474695 deg. i59=HeadingCmd: 0.427164 target range: 53.961205 and range: 54.00 m.h=>>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM`[@ɢn9) Zi);!i%Nr=;i%>>-rC=-B=I->>IQI@ @@3@y^A-O=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769569IIO>ԡ Dy zD} @AE  E E /E "E ;*E ҆:VE J4ZE a @a @a @a @˴-#, (LA2+{>2*>2ٱ2=2HF?ܿl?`?/??@P?i2+{>I2_;2ޑCY:By:uIy-h=-D-=@-A - A)-bA)Y- AbDMEVDM8y]m'%]A=ٔ]Q-]>9aYa=e-EyeDe`U:Em>iQ 5}4m-?Q 9}4m)m)BY}>Q E}:y}D?Q I}!@mCDImY;imn;m4yBɮmA:iDNOT Ignoring new targets: 53.96 m.2i"id~*id~ ProNav: ac range: 53.961205 m, nav range: 52.324329 m, bearing: 29.154933 deg, approach rate: -0.446332 m/s, LOS rate: -0.055602 deg/s, cmd heading: 24.474695 deg, new cmd heading: 24.427214 deg. i˺ HeadingCmd: 0.426335 target range: 53.961205 and range: 54.00 m.h H>hhhhggjg!rg%LBe!re)Ze):e)*e5 ! @ɢXq=)  li)i9;iH>K= s=I H>I BDAT read: Rx Time:01:18:15.0184 TRx dataTimestamp_ set to:1764897496.233681checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024057B>BBBBBBB(;B_E@ @@/@^ADc=II Ia Om >! e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273531݇-#,& LA2{>2t\>2ٱ2K=2H`?`ܿ6?_?>2?{?J?i2{>I2 ^;0Y:By:IbDjVDj8yrkq=%rR=ٔr4Q-r>9tYt=v-EyvDv:Ez>|xQ 54z9?Q 94zK)z.BY y ]?Q I !@zIDIz*;iz+;zi4yBɮCA5B*** querying acoustic contact ***i1i1bE [4jE^4rE\00EE EEEE-EA"EE:*EE:VEEt4ZEABEE>hhhhggjgrgereZe:e*e: @颹ɢx:) Ti)NieB6;i>S=&)=I>Iu@y @y@y@@yA@)DAT read: 01:18:15.0184 LVL= 22416, 27633, 26226, 32755, AGC= 66, IDX= 421, 0.26, 3.117, 1.424,-3.010, 2.672, PHS= 0.548,-1.203, 0.557, RAW= 150.3, 1.1, CAL= 149.1, 0.7, ROT= 0.9, -0.7 Ygot valid direction response: 01:18:15.0184 LVL= 22416, 27633, 26226, 32755, AGC= 66, IDX= 421, 0.26, 3.117, 1.424,-3.010, 2.672, PHS= 0.548,-1.203, 0.557, RAW= 150.3, 1.1, CAL= 149.1, 0.7, ROT= 0.9, -0.7 PDAT read: Bearing 178.3, 4.0 (Local) ~Local bearing/azimuth received: Bearing 178.3, 4.0 (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: [0.999802,0.015706,0.012217]Fpublishing direction and range infoyr`?2{E?I:?YPBWkrf )II ?i?'@nF<ۋ&@ +H<)ԁ u -#,:LAJ|>J\>JSٱJ5q=JH?pܿwăग?`\?(@>??`ϳ??iJ|>IJ8^;HYxy~I bDEYVDE8%*DAT read: user:166> =BDAT read: Tx time:01:18:16.2946 E$Ping request sent.E9yYy=-EyDZ:E>Q 54FH?Q 94)3BYy?Q I!@ODIG:i:y4yɮFA UQGi9Y;Aii,/LAjPB"jPB:j>Rjv?xJ@דw7?$&d?Bjr`?2{E?I:?*j<EE EEEE)EA"EE;*EE:VEEFA4ZEAaU@aU@aU@aU@2j+HZjG@n?p7@u@JjodR?ra? Wirij?jA j8Bi~z?i:1&jBԁjjjiBrjOBzj ? addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 3.781255 s, deltaX: -1.799999 m, approachRate: -0.476032 m/s, rangeRepo size: 4  Added new target pos. range: 52.162445 m, bearing: 27.417825 deg, lat: 36.779509 deg, lon: -121.859756 deg, deltaT: 3.781255 s, deltaX: -1.798759 m, approachRate: -0.475704 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 52.16 m.2i"i*i ProNav: ac range: 52.162445 m, nav range: 51.940979 m, bearing: 29.106529 deg, approach rate: 0.000000 m/s, LOS rate: -0.056649 deg/s, cmd heading: 24.383118 deg, new cmd heading: 24.325386 deg. i HeadingCmd: 0.424558 target range: 52.162445 and range: 52.20 m.h _>h h h h ggjgrge9re9Ze9:e=J@*eEf?zBɢ1) Si)Ti0;i_>3^=2o=I_>I@ @@/@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246089Ay Ay B >B B B B M =B B B ";B _E ^A L=A .AI I Om>-#,,YLA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497871+|>z>ᬁٱ=Hy?ܿ7 j?]?`2?){??i+|>I];ߑCYByIiMb@Mb@Mb@ 9Zd;O?S㥫?y/]=t5@K A  A)Y=AE9 E=E=+E9"E9*E=?:VE= [4ZE9BE=?C9e ?Ye ?=e-EyeΐDmo8Em>qQ 5}4uZ?Q 9}4uN)u8BY}L>Q E:y?Q I!@uXDIu:iuo:uR4yBɮWAsE:iDNOT Ignoring new targets: 52.16 m.2i"iG*iG ProNav: ac range: 52.162445 m, nav range: 51.681900 m, bearing: 29.084377 deg, approach rate: -0.508238 m/s, LOS rate: -0.043673 deg/s, cmd heading: 24.325386 deg, new cmd heading: 24.280860 deg. iڟmHeadingCmd: 0.423781 target range: 52.162445 and range: 52.20 m.hu>hqhqhqhqgqgqjgyrg}CBeyreyZe:e*e?yBɢX{1) Ii)iH+;i>i==I>I@ @@4@@=@=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749861Q ^A Sk=A5؟AI9IQO]?-#,ZdyLAYuByuIbD VD8yǣ<%R=ٔQ->9"?Y"?=%-Ey%֐D5E5>QQ 5m4Ug?Q 9u4U)UhhhhggjgrgereZe:e*e%4?颩ɢν3) z@i)q顱i&;iװ>IEE EEEE,EA"EE~ ;*EE:VEEg4ZEAaM@aM@aM@aM@q@ @@]4@ԙ ^Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254280BY BY BY BY BY BY BY B] ;B] _EA I I O >\-#,\LAɰ;2$({>2)>2ٱ2{=2H@w?ܿ Y?b?V`?@6?`?i2$({>I2^;0Y>'By>IIBR=)B=iEMb@Mb@Mb@AAAA A9E}?5^I?ˡE?QYEM>yE'=EuE@E A Ex A)EAAYEAbD] VD]8yuk=%uG=ٔu ;Q-u>9yYy=}-Ey}ސD}!E>Q 54(t?Q 94')?BYg>Q E:y?Q I!@cDI;i=:I4yBɮAtE:iDNOT Ignoring new targets: 52.16 m.2i"is*is ProNav: ac range: 52.162445 m, nav range: 51.320934 m, bearing: 29.058344 deg, approach rate: -0.487492 m/s, LOS rate: -0.028075 deg/s, cmd heading: 24.248959 deg, new cmd heading: 24.228609 deg. iMHeadingCmd: 0.422869 target range: 52.162445 and range: 52.20 m.hI>hhhhggjgrgABereZe:e*et`?%xBɢ%=y1)) -""i))-d))i5ln#;i5I>5zy=='=I=I>I9@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505899)E EE.E"E:*E$:VEـ4ZEBEF8 -#,KLA :Izz>:>:mٱ:=:H? ܿ?e?@ es???i:Izz>I:];:ޑCYB(ByFIbDNVDN8yV˻;%VY=ٔV9Q-Z>9XYX=Z-EyZD^E^>`Q 5f4b?Q 9f4bҐ)bBBYdyf?Q Ij!@biDIb:ibh:b4ylɮnArchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757940lB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 52.16 m.2i"i*i湝- ProNav: ac range: 52.162445 m, nav range: 51.153828 m, bearing: 29.048817 deg, approach rate: -0.441136 m/s, LOS rate: -0.025231 deg/s, cmd heading: 24.228609 deg, new cmd heading: 24.209493 deg. i-8-HeadingCmd: 0.422535 target range: 52.162445 and range: 52.20 m.h5V>h1h1h1h1g1g1jg9rgAeAreAZeA:eA*eM9@uwBɢur.)q uiy)顁i;iV>r=4=IV>I@ @@@qԩ^A5Sk=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012667AM .AIa Iq O} > E  E E *E "E :*E :VE (N4ZE a @a @a @a @-#,$'ȶLA2x>2>2}ٱ2l=2H՚?^ܿndj?lm?$k? ?@G?i2x>I29];2CPYR3ByRIiMb@Mb@Mb@ 9Cl?Q?~jtY;>y<D@ A  A)KAYbDVD8yFJ=%7=ٔ:Q->9 ?Y ?=-EyDgbE> Q 54 E?Q 94 9) FBY>Q E:y:?Q I!@ oDI &;i <; 4y%Bɮ%8A%jE:iIMDNOT Ignoring new targets: 52.16 m.2iI"iUc*iUce ProNav: ac range: 52.162445 m, nav range: 50.958988 m, bearing: 29.043309 deg, approach rate: -0.438433 m/s, LOS rate: -0.012443 deg/s, cmd heading: 24.209493 deg, new cmd heading: 24.198433 deg. ie-mHeadingCmd: 0.422342 target range: 52.162445 and range: 52.20 m.hmA=>hihihihigqgqjgqrg}MBeyreyZey:ey*e=@颭vBɢ$) i)5Y11i5:;i=A=>====I=A=>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262183BiAm<ByByB}IB}XBByByByB};B}_EB1B1B1B1B5M =C504%@! @!@)@)^AI ) Ay I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513924O >;-#,WⶌLAJhJ$3>J75{ٱJm=JH ?ܿ_vR?@t?ɽa? v??iJhIJ2^;JߑCYVDByVI XXbDbVDbư8yj=%j_=ٔj:Q-j>9lYl=n-EynDrEr>tQ 5z4v뙔?Q 9z4v)vJBYxyz?Q Iz!@vtDIvq:iv:v4|yBɮA kE:i)-DNOT Ignoring new targets: 52.16 m.2i)"i5+U*i5+UE ProNav: ac range: 52.162445 m, nav range: 50.798782 m, bearing: 29.039043 deg, approach rate: -0.436094 m/s, LOS rate: -0.011648 deg/s, cmd heading: 24.198433 deg, new cmd heading: 24.189875 deg. iEMHeadingCmd: 0.422193 target range: 52.162445 and range: 52.20 m.hM)>hIhIhIhQgQgQjgQrgQeYreYZeY:ea*ee@E EEE"EV:*E~:VEZEBE9=av=I)>IU@Q @Q@U0@Q1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766553Y^Au=A ؟AI I O >ԁ dF-#,LA>Iu>>a>>xٱ>r=>H`?}ܿ- ;?z?v? W?`?i>Iu>I>h>^;>ޑCYNLByNIbDV1VDVڰ8y^#=%bK=ٔb:Q-b>9f"?Yf"?=f-EyfDfǂEf>aqQ 54uR?Q 94u)uMBYye?Q I!@uzDIu[hAhAhAhAgAgIjgirgieqreqZeq:eq*e}"~ @EtBɢM)I MliI)M^IQiU;iU>]ٚ=]w=I]>IYE EE-E"E:*Eą:VEt4ZEa@a@a@a@ԙ@ @@/@Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269794B} >By B} IB} mBB} L =By By B} #;B} _E^A ! =A ?A > A9 Ia I O > -#,weLA2t>2o>2vٱ2_=2HȬ?`sfܿ%? [?` j֮?dU??i2t>I2<^;82ݑCYB\ByBIiMb@Mb@Mb@ 9x&1?+?y&1|YA>y=`@5 A | A)5AYAbDVD8y=%-=ٔ:Q->9Y=-EyD\VE>Q 54?Q 94)SBY+>Q E:y ?Q I!@DIw:i_:\4yBɮ^AlE:iDNOT Ignoring new targets: 52.16 m.2i"ifȹ*ifȹ ProNav: ac range: 52.162445 m, nav range: 50.415970 m, bearing: 29.025511 deg, approach rate: -0.485150 m/s, LOS rate: -0.021900 deg/s, cmd heading: 24.180642 deg, new cmd heading: 24.162706 deg. iQ HeadingCmd: 0.421719 target range: 52.162445 and range: 52.20 m.h >h h h h g gjgrg\BereZe:e*eӳ @MsBɢMȍ)I MP;iI)UQQiU ;i]>]=]=I]>Iaԡ @ @i!I%AUDAT read: 01:18:18.7662 LVL= 19312, 25521, 21186, 29635, AGC= 64, IDX= 415, 0.19, 1.237,-0.451, 1.374, 0.801, PHS= 0.538,-1.207, 0.529, RAW= 149.7, 1.6, CAL= 148.7, 1.3, ROT= 1.3, -1.3 eYgot valid direction response: 01:18:18.7662 LVL= 19312, 25521, 21186, 29635, AGC= 64, IDX= 415, 0.19, 1.237,-0.451, 1.374, 0.801, PHS= 0.538,-1.207, 0.529, RAW= 149.7, 1.6, CAL= 148.7, 1.3, ROT= 1.3, -1.3 ePDAT read: Bearing 178.7, 4.6 (Local) m~Local bearing/azimuth received: Bearing 178.7, 4.6 (Local) uDAT read: Range 11 to 50 : 50.5 m (Round-trip 67.4 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.999485,0.022681,0.022687]Fpublishing direction and range infoy!%}u?99?NGY;?Y%JB!%pK%c%R %s)%@I%^ ?i%~%l?%m7'@%<%x&@ %޹<)%޹ *DAT read: user:167>  BDAT read: Tx time:01:18:20.0946  $Ping request sent. 2>2puٱ2=2H ? VܿG ?`?`c? ?w?i2r>I2^;0YNjByRIIV=)Vp=bDZVDZ8yb?=%bY=ٔfo:Q-f>9f ?Yf ?=f-EyjDj34Ej>lQ 54n?Q 94n)nWBYy ?Q I!@nDIn:in`:n4yɮAiaie!LAjeIB"jeIB:je~>Rje`r7I@V4P?}iQ?Bje}u?99?NGY;?*je޹<2je޹Zje*YF@w'~7@A'@Jje[ҹX?t=|l2?5Cg?je+A je2Bie~x?ie6''jeBjeB?je2jarje4IBzjeO?M addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.779676 s, deltaX: -1.700001 m, approachRate: -0.449774 m/s, rangeRepo size: 4  Added new target pos. range: 50.463226 m, bearing: 27.248193 deg, lat: 36.779510 deg, lon: -121.859757 deg, deltaT: 3.779676 s, deltaX: -1.699219 m, approachRate: -0.449567 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 50.46 m.2i"i*i ProNav: ac range: 50.463226 m, nav range: 50.301704 m, bearing: 28.832629 deg, approach rate: 0.000000 m/s, LOS rate: -0.021900 deg/s, cmd heading: 24.162706 deg, new cmd heading: 24.144663 deg. iHeadingCmd: 0.421404 target range: 50.463226 and range: 50.50 m.h?>hhhhggjgrgereZe:e@I@*e ,?5rBɢM)Q U0iQ)Ue*QQiU;i]?>]r=e=Ie?>IaI@ @@0@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252985y^A Vo=Dm %=Dm =E}  E} E} )Ey "E} V:*E} ˭:VE} FA4ZEy a @a @a @a @ԡ A] ؟AIq I O >-#,LLA>oq>>L>>sٱ>6q=>H:?`t@ܿ+ ?O?@]?`w?`?i>oq>I>U^;>ޑCYFwByJIiMb@Mb@Mb@ 95^I ?:v?Mb`?Y>yT=;@ bA)=@Y(AbD-VD-8y=t=%EC=ٔE:Q-E>9M"?YM"?=M-EyMDM[gEM>QQ 5]4UΔ?Q 9e4U!)U^BYe>Q Ee:yeY?Q Ie!@UDIU;iU;UC4yiɮuAqyB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 50.46 m.2i"iL/*iL/5 ProNav: ac range: 50.463226 m, nav range: 50.124210 m, bearing: 28.817923 deg, approach rate: -0.460819 m/s, LOS rate: -0.038314 deg/s, cmd heading: 24.144662 deg, new cmd heading: 24.115147 deg. i5<=HeadingCmd: 0.420889 target range: 50.463226 and range: 50.50 m.h=~>h9h9h9h9gAgAjgArgEbBeIreIZeI:eI*eM?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803颥qBɢ~) @;BCBIBBBM =BB\DB*;B_Ei:i~>@=q=I~>I!ԩ@ @@25@ ^A- 6[=A5 xAzA5 wAm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758350 A I! I9 OE >-#,eLAbE5T4jE5-W4rE1E EE,E"E:*EZ:VEg4ZEBE>Bu>BrٱBNv=BHഹ?I2ܿFb? Ό? ϋhU?sx? ?iB sp>IBk^;BݑCYNByNIbDVVDV8y^)i=%^S=ٔb(9Q-b>9`Y`=b-Eyb Df #Ef>hQ 5n4jٔ?Q 9n4j)jeBYpyr?Q Ir!@jDIj;ij;j4yvBɮvcAvmE:iDNOT Ignoring new targets: 50.46 m.2i"iT *iT - ProNav: ac range: 50.463226 m, nav range: 49.960461 m, bearing: 28.804446 deg, approach rate: -0.424374 m/s, LOS rate: -0.035043 deg/s, cmd heading: 24.115147 deg, new cmd heading: 24.088104 deg. i-C5HeadingCmd: 0.420417 target range: 50.463226 and range: 50.50 m.h5@>h1h1h1h1g1g9jg9rg9eAreAZeA:eA*eE`p?upBɢu)q u=iq)i:i-@>-=-=I-@>I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006773^AS-=1I I O >Y 5-#,qLAiIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264120҂GzA1M9UzAYUAo>և>_pٱ֜=H ܻ?@)ܿd҂`?@S?`^d?]?z?io>ID^;ܑCYBy1I a@a a@a a@a  a @a  bD VD8y!=%%)=ٔ%:E- E-E--E)"E-;*E-҆:VE-t4ZE)a=@a=@a=@a=@Q-=>9AYA=E-EyE*DM EM>IQ 5U4MR蔊?Q 9]4M|)MmBQ A]+:YYQ E]:y]?Q I]!@MDIM_:iM>M4yiɮmAi:i  DNOT Ignoring new targets: 50.46 m.2i "i*iE ProNav: ac range: 50.463226 m, nav range: 49.754646 m, bearing: 28.787508 deg, approach rate: -0.409485 m/s, LOS rate: -0.033838 deg/s, cmd heading: 24.088103 deg, new cmd heading: 24.054088 deg. iEwMHeadingCmd: 0.419823 target range: 50.463226 and range: 50.50 m.hM >hIhIhIhIgQgQjgQrgQeYreYZeY:ey*e} ?nBɢsԼ) =i) ϡ  i 1:i >Y=e.=Ie >Ii@ @@5@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514748B>BCB@IBBBO =BB[DBH;B_E^AU =A] >A] >Ա IQ Ia Om >D-#,g𛷌LA:Go>:$>:֑oٱ:c=:H?ܿ샿@?ࡓ? ?6?@?i:Go>I:h^;:ݑCYFByFAIbDNVDNŰ8yV=%Vc=ٔViD:Q-Z>9XYX=^-Ey^1D^ E^>`Q 5f4b?Q 9f4bz)brBQ Af :YdQ Ej:yj?Q Ij!@bDIb;ib^X?b4ynBɮnXAl:iDNOT Ignoring new targets: 50.46 m.2i"i &*i &% ProNav: ac range: 50.463226 m, nav range: 49.603878 m, bearing: 28.775140 deg, approach rate: -0.442747 m/s, LOS rate: -0.036430 deg/s, cmd heading: 24.054087 deg, new cmd heading: 24.029276 deg. i%W-HeadingCmd: 0.419390 target range: 50.463226 and range: 50.50 m.h-I>h)h)h)h)g)g)jg1rg1e9re9Ze9:e9*e=\?mmBɢm<ֶ)i m=iiq)uOqyi};Z:i}I>ġ==II>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766935@ @@/@ԡE% E%E%,E!"E%=;*E%:VE%g4ZE!BE%I߽ ?߽ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019010 f-#,˺LA2!n>2>2Mmٱ2=2H?/ܿ ?? O@㵭?`H??i2!n>I2M~^;0YNByRQIbDZ1VDZڰ8yb=%bI=ٔb-:Q-b>9dYd=f-Eyf9DfEj>hQ 5r4j2?Q 9r4j:x)jyBQ Ar9YpQ Er:yr?Q Ir!@jDIj;ij?j 4yxɮzAx:iDNOT Ignoring new targets: 50.46 m.2i"i*i ProNav: ac range: 50.463226 m, nav range: 49.432377 m, bearing: 28.761091 deg, approach rate: -0.422972 m/s, LOS rate: -0.034770 deg/s, cmd heading: 24.029277 deg, new cmd heading: 24.001081 deg. i~HeadingCmd: 0.418898 target range: 50.463226 and range: 50.50 m.hy>hhhhggjgrgereZe:e*e@颽kBɢ) >i)iO:iy>ˡ=Iy>Ie@i @i@m/@i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2729191EE EEEE.EA"EE:*EE:VEEـ4ZEAaM@aM@aM@aU@^AmL=IIO>Y 0-#,ϷLA2n>2|>2-Mlٱ2,=2H?`ܿ$?`?M(t?@=?c?i2n>I2a^;2ܑCYRByRZIa-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-(\? ףp= ?~jtx?Y->y-Q=-;-@-x A -A)-@)Y-AbDEcVDE8yU@=%UA=Be>BaBelIBèBBaBaBe\DBe`;Be`Eٔurc:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522963Q->9Y=-EyBDE>Q 54 ?Q 94 u)BQ AT:Y>Q E:y#?Q I!@DIn:iU:A4y7BɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 50.46 m.2i"i*i ProNav: ac range: 50.463226 m, nav range: 49.232151 m, bearing: 28.728583 deg, approach rate: -0.466483 m/s, LOS rate: -0.076044 deg/s, cmd heading: 24.001080 deg, new cmd heading: 23.935800 deg. i+ HeadingCmd: 0.417759 target range: 50.463226 and range: 50.50 m.hr>hhhhggjgrgwBe re Ze :e *e vY@9jBɢ) 4)>i)&7i :ir>  ӡ= =I r>I@ @@/@aԉ^AL=AzAzA5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774990I9 IQ O] >EE  EE EE ,EA "EE =;*EE ą:VEE g4ZEA BEA aU 2EA aU JEE #;aU :EE #;aU Թ [-#,p鷌LARQ8o>R1>RmٱR5y=RH?@ܿQ>?@?K ? Y??iRQ8o>IRf3^;RCY~̀BylIbD%OVD%8y50=%}L=ٔeQ->9Y=-EyJD:E>Q 54?Q 94 r)BYy'$?Q I!@DI~ ;iG ;O4y>BɮAnE:iDNOT Ignoring new targets: 50.46 m.2i"i*i ProNav: ac range: 50.463226 m, nav range: 49.043556 m, bearing: 28.697573 deg, approach rate: -0.468039 m/s, LOS rate: -0.077255 deg/s, cmd heading: 23.935800 deg, new cmd heading: 23.873541 deg. ib HeadingCmd: 0.416672 target range: 50.463226 and range: 50.50 m.hV>hhhhggjgrgereZe:e *e @]iBɢ]㌼)]2 eI>ia)e.aaie2:imV>m%ڡ=mM=ImV>Iqԙ@ @@/@BDAT read: Rx Time:01:18:22.5639 TRx dataTimestamp_ set to:1764897503.797399checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028857^A:=IqIO>! G.#,XLA}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280898e.o>e >enٱew_=eH?(ܿXS?+?h`2?v?z?ie.o>Ien];eۑCY}؀By}yIDzD?AE EE2E"E:*E~:VE4ZEa-@a5@a5@a5@iMb@Mb@Mb@ 9v/?A`"?y&1|?Yx>y=`;x@ A )YbD ^VD 8y"=%#=ٔ&Q-%>9!Y!=%-Ey-TD-3:E->1Q 5=45(?Q 9=45Fn)5BY=>Q E=:yE-?Q IE!@5DI5;i5;5!4yM3BɮMAMeE:iquDNOT Ignoring new targets: 50.46 m.2iq"i}޺*i}޺ ProNav: ac range: 50.463226 m, nav range: 48.818466 m, bearing: 28.650027 deg, approach rate: -0.458730 m/s, LOS rate: -0.097343 deg/s, cmd heading: 23.873541 deg, new cmd heading: 23.778012 deg. i&2HeadingCmd: 0.415005 target range: 50.463226 and range: 50.50 m.h|{>hhhhggjgrgBereZe:e*e@ @hBɢĴ) _>i)7qi:i|{>==I|{>I@ @@/@Be>BeCBeIBeBBeN =BaBaBe_;Be`EB%CB%CB!B%N =B%N =C%׆5DAT read: 01:18:22.5639 LVL= 18800, 29089, 21954, 32723, AGC= 64, IDX= 424, 0.01,-1.918, 2.703,-1.781,-2.344, PHS= 0.528,-1.191, 0.519, RAW= 149.8, 1.7, CAL= 148.7, 1.4, ROT= 1.3, -1.4 Ygot valid direction response: 01:18:22.5639 LVL= 18800, 29089, 21954, 32723, AGC= 64, IDX= 424, 0.01,-1.918, 2.703,-1.781,-2.344, PHS= 0.528,-1.191, 0.519, RAW= 149.8, 1.7, CAL= 148.7, 1.4, ROT= 1.3, -1.4 PDAT read: Bearing 178.3, 4.4 (Local) ~Local bearing/azimuth received: Bearing 178.3, 4.4 (Local) DAT read: Range 11 to 50 : 48.9 m (Round-trip 65.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999444,0.022681,0.024432]Fpublishing direction and range infoy>Zr?9?{J?YCBpIqU )I+?ir/?T'@< +<)I+ȼ?Ȝ?nԻ?d? ?)/Ii+ȼMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.A ^A ==A >A >q AM .AIY Ii Ou >.#,LA2p>2r>2'lٱ2&`=2H-?0ܿ `??'z`P??@B?i2p>I2z#];2ܑCY:By>IbDFcVDF8yN=%Nz=ٔN:Q-R?9R ?YR ?=V-EyZ[Db:Ef?lQ 5r4n2?Q 9r4nk)nBYpyr-?Q Ir!@nDIn:in:n'4yz:BɮzAxiiX9LAjtCB"jtCB:jG,>RjSu!kH@Mt?U? ?Bj>Zr?9?{J?*j2j+ȼZjTE@h_.6@W8+u@JjFb?猉F ?M ?jrA j`-BiSiw?iLZM$j BjSiw?jLZM$j BrjBBzj+>= addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 3.783589 s, deltaX: -1.599998 m, approachRate: -0.422879 m/s, rangeRepo size: 4 M Added new target pos. range: 48.864117 m, bearing: 27.100563 deg, lat: 36.779516 deg, lon: -121.859770 deg, deltaT: 3.783589 s, deltaX: -1.599110 m, approachRate: -0.422644 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 48.86 m.2iQ"i]*iY*DAT read: user:168> BDAT read: Tx time:01:18:23.8946 $Ping request sent.hhhhggjgrgereZe:e%@3sH@!*eE@?mgBɢmJjO)q u|>iq)uqqiux:i}'>}= ==I'>IE EE)E"E&:*E:VEFA4ZEBEi;ԩ .#,M9LA6~q>60h>6lٱ64=6H*?QAܿ[~`F??@Bৌ?@¹??i6~q>I6];6ޑCYBByBIbDJiVDJ 8yf%fH=ٔfֶQ-j>9hYh=j-EyjcDn*5;En>pQ 5v4r&??Q 9v4rh)rBYtyv:.?Q Iz!@rDIr%:ir:r.4y|ɮ~A|:i!%DNOT Ignoring new targets: 48.86 m.2i!"i-*i-5 ProNav: ac range: 48.864117 m, nav range: 48.506687 m, bearing: 27.054693 deg, approach rate: -0.460663 m/s, LOS rate: -0.115049 deg/s, cmd heading: 23.712735 deg, new cmd heading: 23.620916 deg. i=REHeadingCmd: 0.412263 target range: 48.864117 and range: 48.90 m.hE>hAhAhAhAgAgIjgIrgIeIreIZeQ:eQ*eU`j?颅fBɢQ) z>i)}顉iGU:i>#=d=I>Iԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5063980::D=D<E  E E ,E "E ;*E :VE g4ZE a@a@a@a@}@y @y@}/@y^A e=A zA wA BE >BA BE IBE BBE M =BA BA BE 5;BE _E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962A I I O >b.#,VLA6?2s>6.>6y/lٱ6=6Hǰ?\WܿNe{~?`?@#߽ ???i6?2s>I6\;4YRByVIi-Mb@Mb@Mb@)))) )9-/$?)\(?{Gzt?Y-&>y-G=-ף;)-bA -A)-@)Y-pAAAbDEVDE28Qy]%],=ٔe79Q-e>9aYa=e-EyelDmO;Em>qQ 5}4u"N?Q 9}4ud)uBY>Q E:y.?Q I!@uȉDIuA:iu(:u 74yɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 48.86 m.2i"i *i  ProNav: ac range: 48.864117 m, nav range: 48.282452 m, bearing: 26.997612 deg, approach rate: -0.470330 m/s, LOS rate: -0.120283 deg/s, cmd heading: 23.620917 deg, new cmd heading: 23.506224 deg. i!\HeadingCmd: 0.410261 target range: 48.864117 and range: 48.90 m.h >hhhhggjgrgvBereZe:e*e|?qJTimed out from 2025-12-05T01:08:25.3Z8qfCompleted lineCaptureHoming:MicromodemComms:CheckIn8 qAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInpVCompleted lineCaptureHoming:MicromodemComms额eBɢw) x>i)8ih):i > ={=I >Iԁ}@y @y@}0@y]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007160ԩEm EmEm(Ei"Em:*Emxv:VEmc44ZEiBEm6U.#,opLA2Pr>2>2;hٱ2A=2H@C?RMܿ{?M?@z@?g?`S?i2Pr>I25\;0YZByZIbDbVDb(8yjy=%nS=ٔno ;Q-n>9pYp=r-EyrtDrrɺEr>tQ 5M4vPZ?Q 9M4va)vBYIyM.?Q IU!@v͉DIvOhhhhggchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258880ԹjgrgereZe:e*e9?q8pnAggregate::initialize lineCaptureHoming:MicromodemComms8 q~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8dBɢj|-) Ë>i)Ji:i7> = =I 7>I I)tA-@) @)@-0@1@9@9 } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5131421 E}  E} E} -Ey "E} :*E} &p:VE} t4ZEy a @a @a @a @^A e=A ؟AI I aB>BCBIB#BBBBB;B_Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762917ԉOe+?}&.#,.7LA(6Es>67>6"hٱ6h=6H?Vܿy?h?ږ G? ׹??i6Es>I6h\;4Y>By>Ii Mb@Mb@Mb@     9 sh|??S㥻?Y >y /=  b@ A A) @ Y  4=4=bD%VD%68y<%<ٔ9Q->9"?Y"?=-EyD }:E>Q 54wo?Q 94K\)BYm>Q E:y/?Q I!@؉DI4:i=:I4yɮKA:iDNOT Ignoring new targets: 48.86 m.2i"i *i  ProNav: ac range: 48.864117 m, nav range: 47.783302 m, bearing: 26.867278 deg, approach rate: -0.463788 m/s, LOS rate: -0.123263 deg/s, cmd heading: 23.412584 deg, new cmd heading: 23.244093 deg. i aHeadingCmd: 0.405686 target range: 48.864117 and range: 48.90 m.h>hhhhggjg!rg%Be!re!Ze):e)*e- S@UcBɢUCh)Y ]p>iY)]YYi]F9ie>m=m=Im>Iiԁ@ @@/@iYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015190bEg4jEţf4rEL0Eu EuEu(Eq"Eu;*Eu]t:VEuc44ZEqBEu?C A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267048,.#,ELAFhs>FH>F@ieٱF=FH`?WܿNv0?`?@Q?`??iFhs>IFL\;FܑCYNByNIbDZsVDZ8`yf,<%fY=ٔf:Q-f>9hYh=j-EyjDn59En>pQ 5v4rz?Q 9v4r[Y)rBYtyv/?Q Iv!@rމDIr:ir\:rzP4y~IBɮ~_A~gE:i%DNOT Ignoring new targets: 48.86 m.2i!"i%X *i-X 5 ProNav: ac range: 48.864117 m, nav range: 47.611572 m, bearing: 26.821436 deg, approach rate: -0.457997 m/s, LOS rate: -0.122701 deg/s, cmd heading: 23.244093 deg, new cmd heading: 23.152078 deg. i5`=HeadingCmd: 0.404080 target range: 48.864117 and range: 48.90 m.hE>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU@@yɢ(() >i)顁i U9i>$=8=I>I@ @@/@  CmG{A9{AYKA^A}zA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523784I I O >I E  E E )E "E :*E x:VE FA4ZE a @a @a @a @3.#,θLABX s>B>BXcٱBD=BH ,? RܿLu9? ?`so? ӹ??iBX s>IB1];BޑCYHyH`bAiMb@Mb@Mb@ 9??~jthYf>y=DA A)YGAbD`VD8y~:%:=ٔ:Q->9Y=-EyDPE>Q 54??Q 94 V)BY>Q E:y,?Q I !@DI:iw:*X4yɮ]AB=>B9B=IB=.BB=N =B9B=[DB=;B=C_E:iQ]DNOT Ignoring new targets: 48.86 m.2iY"i]T*ieTm ProNav: ac range: 48.864117 m, nav range: 47.413528 m, bearing: 26.771446 deg, approach rate: -0.446079 m/s, LOS rate: -0.113068 deg/s, cmd heading: 23.152079 deg, new cmd heading: 23.051682 deg. imNuHeadingCmd: 0.402328 target range: 48.864117 and range: 48.90 m.h}>hyhyhyhygygyjgrgereZe:e*e`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774871ɢF!) l>i)dip18i>Z1= mg=I >I I@ @@/@q^A I= BDAT read: Rx Time:01:18:26.3617  TRx dataTimestamp_ set to:1764897507.580547 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027827Ա I I O= >9.#,{踌LAFr>F>F#}^ٱF=FH?Lܿ r?@? )@$̫?樹??iFr>IFĚ];FݑCYVByZIbDrKVDr8Eu EuEu-Eq"Eul;*Eu:VEut4ZEqBEuaF9Y=-EyD<$E>Q 542?Q 94S)BYy|,?Q I!@DI7@;iDA;_4yPBɮAhE B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 48.86 m.2i"i*i5 ProNav: ac range: 48.864117 m, nav range: 47.235916 m, bearing: 26.726308 deg, approach rate: -0.452352 m/s, LOS rate: -0.115391 deg/s, cmd heading: 23.051682 deg, new cmd heading: 22.961067 deg. i5-S=HeadingCmd: 0.400746 target range: 48.864117 and range: 48.90 m.h=.>h9h9h9h9gAgAjgArgAeAreIZeI:eI*eM[B @}bBɢ})y }c>iy)顁i;i .> ;= t=I .>I@ @@90@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278719^Ah5=AzAxAIA Ii O > @.#,ELA2r>2Н>2jYٱ2u=2H? d@ܿҡn ?J? ܼf0? z??i2r>I24];0Y:By:IbDDVDDyN,=%N]=ٔNS;Q-f>9hYh=j-EyjDnpEn>pQ 5v4r?Q 9v4r=P)rBYxy~M,?Q I!@rDIr;ir ;re4yɮ%A!:iAEDNOT Ignoring new targets: 48.86 m.2iI"iM*iM] ProNav: ac range: 48.864117 m, nav range: 47.067593 m, bearing: 26.683362 deg, approach rate: -0.447514 m/s, LOS rate: -0.114588 deg/s, cmd heading: 22.961067 deg, new cmd heading: 22.874868 deg. i]QeHeadingCmd: 0.399242 target range: 48.864117 and range: 48.90 m.heji>hahahihigqg jgrgereZeDAT read: 01:18:26.3617 LVL= 21552, 26849, 23026, 30419, AGC= 64, IDX= 417,-0.28, 0.310,-1.391, 0.477,-0.091, PHS= 0.502,-1.255, 0.524, RAW= 150.6, 2.6, CAL= 149.6, 2.4, ROT= 0.4, -2.4 :e*e I@]Ygot valid direction response: 01:18:26.3617 LVL= 21552, 26849, 23026, 30419, AGC= 64, IDX= 417,-0.28, 0.310,-1.391, 0.477,-0.091, PHS= 0.502,-1.255, 0.524, RAW= 150.6, 2.6, CAL= 149.6, 2.4, ROT= 0.4, -2.4 DqzDu@APDAT read: Bearing 178.9, 3.3 (Local) ~Local bearing/azimuth received: Bearing 178.9, 3.3 (Local)  DAT read: Range 11 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.%\direction in FSK: [0.999098,0.006975,0.041876]%Fpublishing direction and range infoEM EMEM0EI"EM:*EM n:VEM4ZEIaU@aU@aU@aU@aɢeS)ayy:a?4|? ۷p?Yfi)Pi☴iji>!YI=-b=I-ji>I1=@9 @9@=0@9QB]>B]CB]IB]3BBYBYBYB];B]-_E5 *DAT read: user:169> = BDAT read: Tx time:01:18:27.7446 = $Ping request sent.= ȴF.#, LA ɰ >lq>>k>>=Tٱ>H=>H`v?8ܿh?@?`? =? ?i>lq>I>CI^;>ܑCYJByJIiMb@Mb@Mb@ 9+?#~j?~jtY>y=D5@A A)@Y@bD5NVD58yE%E@=ٔMI;Q-M>9IYI=M-EyUDUoEU>YQ 5e4] ?Q 9e4]QM)]BYm>Q Em:ym#?Q Im!@]DI]:i](:]l4yuEBɮueAu^Eii~LAjARj PL‚G@?d?Bjy:a?4|? ۷p?*j;2j+ZjUE@ڜf[4@΍@Jjj#?>??jRA j5(Bi?i|-jӉBj~x?j:1&jrjt;Bzj:T>Qe addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.785489 s, deltaX: -1.800003 m, approachRate: -0.475501 m/s, rangeRepo size: 4  Added new target pos. range: 47.063984 m, bearing: 26.170757 deg, lat: 36.779516 deg, lon: -121.859771 deg, deltaT: 3.785489 s, deltaX: -1.800133 m, approachRate: -0.475535 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 47.06 m.2i"i*i ProNav: ac range: 47.063984 m, nav range: 46.863575 m, bearing: 26.558497 deg, approach rate: 0.000000 m/s, LOS rate: -0.114588 deg/s, cmd heading: 22.874867 deg, new cmd heading: 22.774134 deg. iHeadingCmd: 0.397484 target range: 47.063984 and range: 47.10 m.h>hhhhggjgrgZBereZe:ěG@*e`F?IɢM)Q UŖ>iQ)UQQi]Ci]>]S=eү=Ie>Iaqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251627@ @ @  5@ @zA@ԁE= E=E=+E9"E=l;*E=҆:VE= [4ZE9BE9aM2E9aMJE=;aM:E=;aMԱ^A) I I O > = == a=E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503128L.#,T5LAYrByrI z%=z=bD~JVD~8y ?<% N=ٔQ->9Y=-EyDE>!Q 5-4% ?Q 9-4%J)%BY)y)Q I5!@%DI%P:i%G:%s4y=MBɮ=wA=_E:iDNOT Ignoring new targets: 47.06 m.2i"i޺*i޺ ProNav: ac range: 47.063984 m, nav range: 46.690052 m, bearing: 26.520717 deg, approach rate: -0.445397 m/s, LOS rate: -0.097334 deg/s, cmd heading: 22.774134 deg, new cmd heading: 22.698293 deg. i!2 HeadingCmd: 0.396160 target range: 47.063984 and range: 47.10 m.h z>h h h h g gjgrgereZe:e*e^t?MaBɢM$˻)I M2>iI)UYaie8y iz>,_==Iz>I-@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754772^Auۻ=I 1 D D =I O >E  E E )E "E %;*E v:VE FA4ZE a5 @a5 @a5 @a5 @Q #S.#,OLA6(p>6>6cIٱ6i=6H;?`Sܿe[?E?Yջ`7? -Ѹ? m?i6(p>I6ī_;6ݑCYBByBIi Mb@Mb@Mb@     9 $C?y&1?MbY >y `e=   A bA)  Y f@bD-gVD- 8y=;%=G=ٔ=;Q-=>9AYA=E-EyEDE끻EM>IQ 5U4Mkĕ?Q 9]4MG)MBY]$>Q E]:y]?Q I]!@MDIM;iM;M{4ymJBɮm[Ai:iDNOT Ignoring new targets: 47.06 m.2i"iܛ*iܛ ProNav: ac range: 47.063984 m, nav range: 46.515141 m, bearing: 26.494055 deg, approach rate: -0.445291 m/s, LOS rate: -0.068133 deg/s, cmd heading: 22.698293 deg, new cmd heading: 22.644768 deg. iaHeadingCmd: 0.395226 target range: 47.063984 and range: 47.10 m.h[>hhB>BBIB.BBBBB;B=_EBCBCBBBC%5hhQgYgYjgargeLBeareaZei:ei*em?颹ɢ,) >i)qiFEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006872i[>k=P=I[>I)@ @@/@Y-PExceeded connect timeout, disconnecting.^A% =ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259490AY Ia I O >~Y.#,iLA(*@0Eb EbE`E`"Eb:*Ebxv:VE`ZE`BEbF8 > MCٱ %= H?@ܿP I ?`; ޑCY-By-IbDMTVDM8y]%]H=ٔeĄ;Q-e>9aYa=e-EymđDmEm>qQ 5}4uЕ?Q 9}4uqE)uBYy?Q I!@uDIuY;iu3;u&4yRBɮA`EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 47.06 m.2i"i1*i1 ProNav: ac range: 47.063984 m, nav range: 46.340996 m, bearing: 26.467693 deg, approach rate: -0.426331 m/s, LOS rate: -0.064779 deg/s, cmd heading: 22.644768 deg, new cmd heading: 22.591847 deg. iHeadingCmd: 0.394302 target range: 47.063984 and range: 47.10 m.h>hhhhggjgrgereZe:e*e` ?颕`Bɢ48) >i)顙i!gi>aw==I>Iԑm@i @i@m/@i@u=@u=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510793Թ^A\= A I I O >`.#,eLA:^m>:bD>: <ٱ:W=:H@?ۿ ݾ?[?ܛ?O? 8?i:^m>I:,`;:ߑC\YbBybIhhbDnYVDn8yv5<%vR=ٔz?{;Q-z>9xYx=~-Ey~̑D~yE~>Q 5 4ܕ?Q 9 4C)BYyW?Q I!@ DI:i:4yQBɮA!:iAUDNOT Ignoring new targets: 47.06 m.2iQuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764796"iu}*i}} ProNav: ac range: 47.063984 m, nav range: 46.174633 m, bearing: 26.442506 deg, approach rate: -0.427191 m/s, LOS rate: -0.064910 deg/s, cmd heading: 22.591846 deg, new cmd heading: 22.541290 deg. iHeadingCmd: 0.393420 target range: 47.063984 and range: 47.10 m.hPn>hhhhggjgrgereZe:e*e /@颙ɢȻ) W>i)iDYzD]AAE EEE"EV:*EVEZEa@a@a@a@i-Pn>ǃ=>=IPn>I@ @@/@B>BBBBBBB;BE_E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871^A #=A A I I O- >g.#,hLAYr ByrIiMb@Mb@Mb@ 9S?yt=u@ A)@Y@bDzVD8yYF=%?=ٔQ->9Y=.EyԑDE>Q 54ꕊ?Q 94@)BY>Q E:y( ?Q I!@DII:i:nManaging dock network, ignoring radio surface power offr4yɮ;A :i15DNOT Ignoring new targets: 47.06 m.2i1"i=5*i=5M ProNav: ac range: 47.063984 m, nav range: 45.989361 m, bearing: 26.425334 deg, approach rate: -0.426602 m/s, LOS rate: -0.039699 deg/s, cmd heading: 22.541291 deg, new cmd heading: 22.506808 deg. iMNUHeadingCmd: 0.392818 target range: 47.063984 and range: 47.10 m.hUn>hQhQhQhQgYgYjgYrg]BBeareaZea:ea*ee`*@颕_Bɢ) >i)M߼顙iin>\=R=In>I-@) @)@-/@)Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267047Em EmEm*Ei"Em;*Emz:VEm(N4ZEiBEm@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518771-m.#,FLAɰYByIbD-VD-&8y=Y%=Q=ٔAQ-E>9AYI=M.EyMܑDIEM>QQ 5]4U@?Q 9]4U?>)UBYayaQ Ie!@UDIU^;iUj;UB4ymYBɮmAiy:iDNOT Ignoring new targets: 47.06 m.2i"i;*i; ProNav: ac range: 47.063984 m, nav range: 45.820747 m, bearing: 26.409584 deg, approach rate: -0.438291 m/s, LOS rate: -0.041089 deg/s, cmd heading: 22.506809 deg, new cmd heading: 22.475194 deg. idHeadingCmd: 0.392266 target range: 47.063984 and range: 47.10 m.h>hhhhggjgrgereZe:e*e@O@%^Bɢ%(zn)! %Ũ>i))-1ݼ))i-Vi5>5=5]%=I=>I9@ @@0@@yA@ԡiyIy}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771228^A<=E  E E E "E :*E :VE ZE a @a @a @a @IA Ii O > t.#,XѹLA2fg>2#>2&ٱ2=2H@?ۿm?~?V?XФ??`?i2fg>I27b;2ޑCYR ByRIi-Mb@Mb@Mb@)))) )9-V-??I +Y-h>y-<-94-@-A -A)))Y-(@ EC=Ep=bDEVDE18yUs<%UI=ٔ][9aYa=e.EyeDeTEe>iQ 5u4m?Q 9u4BBBBBBBB;B@_Em<)mBY5>Q E5;y5?Q I=!@mDImdhhBDAT read: Rx Time:01:18:30.2094 TRx dataTimestamp_ set to:1764897511.360680checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023996hhggjgrg3BereZe:e*eD @M]BɢM鉻)I mҬ>ii)ڼi>5i#>ӧ==I#>I @ @@/@1^A ^= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275108a I I O% >`@z.#,m까LAbE%G4jE%T4rE%NU0E EE)E"E&:*E:VEFA4ZEBEi;Z>Z5 ٱZG=ZH@D?@ۿ{r? f?`b?ݲd?l??iZeCf>IZFc;ZݑCY By IbDEVDE*8yMm~=%UK=ٔU|;Q-U>9YYY=].Ey]D]!Ee>aQ 5m4e?Q 9u4e:)eBYqyu?Q I!@e"DIe!;ie;el4yɮ AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 47.06 m.2i "i ߹*i ߹1E ProNav: ac range: 47.063984 m, nav range: 45.488895 m, bearing: 26.390357 deg, approach rate: -0.426342 m/s, LOS rate: -0.024430 deg/s, cmd heading: 22.455536 deg, new cmd heading: 22.436600 deg. iE2MHeadingCmd: 0.391593 target range: 47.063984 and range: 47.10 m.hM~>hIhIhIhIgIgQjgQrgYeYreYZeY:eY*eeN @颵\Bɢ) >iI)UkSؼQYi]niɺim~>u=}=I}~>Ia!@! @!@%/0@!MDAT read: 01:18:30.2092 LVL= 22848, 26961, 24866, 31219, AGC= 65, IDX= 425, 0.16,-0.698,-2.395,-0.550,-1.121, PHS= 0.525,-1.229, 0.527, RAW= 150.1, 2.0, CAL= 149.1, 1.8, ROT= 0.9, -1.8 UYgot valid direction response: 01:18:30.2092 LVL= 22848, 26961, 24866, 31219, AGC= 65, IDX= 425, 0.16,-0.698,-2.395,-0.550,-1.121, PHS= 0.525,-1.229, 0.527, RAW= 150.1, 2.0, CAL= 149.1, 1.8, ROT= 0.9, -1.8 PDAT read: Bearing 177.7, 3.0 (Local) ~Local bearing/azimuth received: Bearing 177.7, 3.0 (Local) DAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999383,0.015700,0.031411]Fpublishing direction and range infoyT?lC?Iz?Y5B@YQi"a y^A=)AIff?iOy?ϩ'@5=ۋ&@ =)? @K?)IԉE aGY q Թ 9 Y \A^'.#,LA@Yr!ByrIbDzVDz/8y +E=% O=ٔ Q- >9Y=.EyDE>E*DAT read: user:170> MBDAT read: Tx time:01:18:31.4945 M$Ping request sent.M>RjR%F@(9p? ?BjT?lC?Iz?*j<2jZjJĘQD@_?I3@2uU @Jj addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.778274 s, deltaX: -1.699997 m, approachRate: -0.449940 m/s, rangeRepo size: 4  Added new target pos. range: 45.365070 m, bearing: 26.101387 deg, lat: 36.779516 deg, lon: -121.859771 deg, deltaT: 3.778274 s, deltaX: -1.698914 m, approachRate: -0.449653 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 45.37 m.2i"i*iM ProNav: ac range: 45.365070 m, nav range: 45.318089 m, bearing: 26.325457 deg, approach rate: 0.000000 m/s, LOS rate: -0.024430 deg/s, cmd heading: 22.436601 deg, new cmd heading: 22.412358 deg. iIUHeadingCmd: 0.391169 target range: 45.365070 and range: 45.40 m.hU\G>hQhQhQhQgQgYjgYrgYeyreZe:e@3F@*e ?[Bɢaĺ) >i)+BռiNܺi\G>n==I \G>I B>BBIB3BBBBZDB;BA_E@ @@L0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251096^A  I9 IQ O] >dU.#,YLA2b>2 >2>ٱ2Z=2H?`Mۿ~?K7??@?@ ?;?i2b>I2ac;2ۑCY>2By>IiMb@Mb@Mb@ 9|?5^?Zd;O?MbpY>yj<@A 5@)@Y@bD%VD%-8y-=%G=ٔ9Y=.EyDE>Q 54'?Q 945)BY H>Q E ;y >Q I!@,DIhhhhggjgrgQBereZe:e*e+?ZBɢh;)! %>i!)mӼiiimiu%>uǢ=uO=Iu%>IyMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502888}@y @y@4@E= E=E=,E9"E=;*E=xv:VE=g4ZE9BE=?C checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754820i v.#,8LA2b>2>2Oٱ2ռ=2H ??ۿ\ς?+?@?`︿ ? ێ?`?i2b>I2c;2ߑCY>,By>IbDFVDF08yN %NR=ٔR";Q-R>9PYP=R.EyVDV_ EV>XQ 5b4Z 3?Q 9b4Z3)ZBY`yb>Q Ib!@Z1DIZ0;iZ1;ZF4yjhBɮjAjbE:ix~DNOT Ignoring new targets: 45.37 m.2i|"i~%*i%  ProNav: ac range: 45.365070 m, nav range: 45.003159 m, bearing: 26.310969 deg, approach rate: -0.420235 m/s, LOS rate: -0.019250 deg/s, cmd heading: 22.397348 deg, new cmd heading: 22.383280 deg. i  %HeadingCmd: 0.390662 target range: 45.365070 and range: 45.40 m.h%>h)h)h1h1gAgAjgIrgIeIreIZeI:eQ*eUV?YBɢ0;) >i) мi%Ei > Т= =I >I1@ @@/@QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010444^A=IyIO>D) D- %=EE  EE EE 0EA "EE ;*EE x:VEE 4ZEA ae @am @am @am @ԉ gc.#,gRLAɰ4<@Yr@ByrIAIAIBU>BQBUIBUBBBQBQBU[DBU;BQiMb@Mb@Mb@ 9Q?/$?Mbp?Y(>y,=;A K@)Y3@bDVD28y =% 7=ٔ Q- >9Y=.EyDE>!Q 5%4%A?Q 9-4%=1Q =-tI)%BY-7>Q E-:y-?Q I-"@%7DI%:i%:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258708%4yɮ>A:i DNOT Ignoring new targets: 45.37 m.2i "iU47*iU47e ProNav: ac range: 45.365070 m, nav range: 44.811150 m, bearing: 26.292340 deg, approach rate: -0.410946 m/s, LOS rate: -0.040042 deg/s, cmd heading: 22.383280 deg, new cmd heading: 22.345861 deg. ieeHeadingCmd: 0.390009 target range: 45.365070 and range: 45.40 m.hm=>hihihhԩggijgirgmYBeireqZeq:eq*eu ?颥XBɢt;) >i)j̼顩iI i=>$ݢ==I=>I]@Y @Y@Y@Y m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511501^A 56=A >A ?Ee  Ee Ee ,Ea "Ee :*Ee z:VEe g4ZEa BEe $5<.#, mLA n6]>ng>n%ٱn^=nH 2? ڿ@ ?p?)?D #?``?o?in6]>In c;nܑCYzRByzI R=bD VD 68yk=%M=ٔC9!Y!=%.Ey%D-2E->1Q 5=45M?Q 9=45.)5BY9y=?Q IE"@5=DI5o:i5:5 4yM]BɮMXAMXEeB*** querying acoustic contact ***iaia:iq}DNOT Ignoring new targets: 45.37 m.2iy"i}B@*iB@ ProNav: ac range: 45.365070 m, nav range: 44.639526 m, bearing: 26.276518 deg, approach rate: -0.454077 m/s, LOS rate: -0.042022 deg/s, cmd heading: 22.345860 deg, new cmd heading: 22.314095 deg. iΙHeadingCmd: 0.389454 target range: 45.365070 and range: 45.40 m.hf>hhhhggjgrgereZe:e*e`?WBɢO<) R>i)@ʼiW if>=[=If>IIQ@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762749ԁ^A-=Ay I I O >ԩ Pԡ.#,?LAi4I4:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016725@jb\>jZ>jݼٱj=jH`?`ڿ@u?`q??@2?x??ijb\>Ij c;hY~YBy~IbDVD98yM=%UG=ٔUQk;Q-U>9YYY=].Ey]DeDEe>aQ 5m4ecZ?Q 9u4e,)e BYqyu?Q Iu"@eCDIe:ie;e34y}eBɮ^AYEEm EmEm*Ei"Em;*Em:VEm(N4ZEia@a@a@a@:i!MDNOT Ignoring new targets: 45.37 m.2iQ"i]!*ie!ԩ ProNav: ac range: 45.365070 m, nav range: 44.463036 m, bearing: 26.260404 deg, approach rate: -0.385813 m/s, LOS rate: -0.035365 deg/s, cmd heading: 22.314095 deg, new cmd heading: 22.281739 deg. iqHeadingCmd: 0.388890 target range: 45.365070 and range: 45.40 m.h>hhhhggjgrgere Ze :e *e @UVBɢU<)Y ]?iY)];ƼYYie;ie>mZ=mM5=Im>Ii@ @@/@BBBIBVBBBBB;B-_EBECBECBABABACEą4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266754^A e= A I I O >.#,ˀLA((V˸[>VXq>VAԼٱV8ּ=VH`( ?`ڿ??@?-ę?.?r?iV˸[>IVNb;VݑCYblByb0IliMMb@Mb@Mb@IIII I9Mx&1??{Gzt?YMA>yML=Mף;IMA M5@)Mx@IYM@bDeVDe'8yu=%uH=ٔ}!;Q-}>9Y=.Ey'DкE>Q 54Zg?Q 94&*) BY>Q E:yt ?Q I"@HDIr;i;V4yɮA:iDNOT Ignoring new targets: 45.37 m.2i"i *i  ProNav: ac range: 45.365070 m, nav range: 44.283836 m, bearing: 26.240317 deg, approach rate: -0.497647 m/s, LOS rate: -0.056009 deg/s, cmd heading: 22.281739 deg, new cmd heading: 22.241402 deg. iͺHeadingCmd: 0.388186 target range: 45.365070 and range: 45.40 m.hF>hhhhggjgrgBereZe:e*eS@颭UBɢы<)  ?i)üiiF>==IF>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520471@ @@/@Em EmEiEi"Em;*Em~:VEiZEiBEmA+.#,pLABQZ>B>B ʼٱBmU=BH?`ڿ? ?Z?@tC?5??iBQZ>IBb;@YNnByN1IbDVHVDV8y^;%^V=ٔbn`;Q-b>9`Y`=b.Eyf/Df#Ef>hQ 5n4jxs?Q 9n4j')jBYpyr5 ?Q Ir"@jNDIj:ij):j4yvlBɮvAvZE:iDNOT Ignoring new targets: 45.37 m.2i"iSa*iSa- ProNav: ac range: 45.365070 m, nav range: 44.116398 m, bearing: 26.221611 deg, approach rate: -0.439173 m/s, LOS rate: -0.049249 deg/s, cmd heading: 22.241401 deg, new cmd heading: 22.203848 deg. i-C1=HeadingCmd: 0.387530 target range: 45.365070 and range: 45.40 m.h=]j>h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM.@uTBɢ}g<)y } ?iy)}UӿyiN &i]j>= =I]j>I)@) @)@-0@)Y}BDAT read: Rx Time:01:18:33.9570 TRx dataTimestamp_ set to:1764897515.141358checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025487^Ame=ԙE} E}E},Ey"E}:*E}҆:VE}g4ZEya@a@a@a@Ay I I OM >Ա .#,?պLABA<BBB4IBpBBBBB;B_EBY>B~v>BX¼ٱB=BH!?`+ڿy? ? ?@ J?1??iBY>IBhb;BߑCY~xBy~?Ii}Mb@Mb@Mb@yyyy y9}"~j?ʡE?Mb?Y}S>y}=}9Y=.Ey7DKE>Q 54 ?Q 94$)BY>Q E:y?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274853Q I"@TDIdd;ic;4yɮA:i DNOT Ignoring new targets: 45.37 m.2i"iž*iž% ProNav: ac range: 45.365070 m, nav range: 43.923199 m, bearing: 26.185454 deg, approach rate: -0.443637 m/s, LOS rate: -0.083392 deg/s, cmd heading: 22.203847 deg, new cmd heading: 22.131214 deg. i--HeadingCmd: 0.386263 target range: 45.365070 and range: 45.40 m.h-5>h1h1h1h1g1g1jg9rg=Be9re9ZeA:eA*eET @IɢM2o<)I UZ?iQ)U3QQiUj3/i]5>] =]=I]5>Ia9@A @A@E80@A^Aa  DAT read: 01:18:33.9570 LVL= 20976, 25841, 22242, 29747, AGC= 63, IDX= 418, 0.49, 1.730, 0.049, 1.811, 1.320, PHS= 0.512,-1.227, 0.447, RAW= 148.1, 3.2, CAL= 147.4, 3.2, ROT= 2.6, -3.2  Ygot valid direction response: 01:18:33.9570 LVL= 20976, 25841, 22242, 29747, AGC= 63, IDX= 418, 0.49, 1.730, 0.049, 1.811, 1.320, PHS= 0.512,-1.227, 0.447, RAW= 148.1, 3.2, CAL= 147.4, 3.2, ROT= 2.6, -3.2  PDAT read: Bearing 178.3, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 3.9 (Local)  DAT read: Range 11 to 50 : 43.7 m (Round-trip 58.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.- \direction in FSK: [0.997413,0.045292,0.055822]5 Fpublishing direction and range infoy   R?zE/ދ0?ᢔ?Y .B Q d V 3t) ?I o?i V /> m%@ d= $@ d=) 9=I d  .?i[?i^? 3>) ;cI 9=i d ] 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 t4ZE BE $59.#,nﺌLA4<ɰ6X>6>6ٱ6[=6H ?@iڿ:?`?|?@U ?.??i6X>I6La;6ޑCYNByNQIbDV!VDV˰8y^]=%~[=ٔ%I;Q->9!Y!=%.Ey%?D%E->)Q 554-?Q 9]4-d")-BYayeq?Q Ie"@-YDI-Q;i-;-O4yiɮm'AiiiDQ麌LAj.B"j.B:jۗ>Rja E@;ݤ?/p @Bj R?zE/ދ0?ᢔ?*j9=2jdZj劖fC@z3@YT @JjU7Qo?e?|g^1r?jA j4Bi6R?ijBj~x?jjrj.Bzj|>= addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 3.781447 s, deltaX: -1.700001 m, approachRate: -0.449564 m/s, rangeRepo size: 4 M Added new target pos. range: 43.666409 m, bearing: 26.923778 deg, lat: 36.779516 deg, lon: -121.859771 deg, deltaT: 3.781447 s, deltaX: -1.698662 m, approachRate: -0.449209 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 43.67 m.2iI"iu*iq ProNav: ac range: 43.666409 m, nav range: 43.730625 m, bearing: 26.166940 deg, approach rate: 0.000000 m/s, LOS rate: -0.083392 deg/s, cmd heading: 22.131215 deg, new cmd heading: 22.064500 deg. iHeadingCmd: 0.385098 target range: 43.666409 and range: 43.70 m.h+>hhhhggjgrgereZe:eE@*e? SBɢ *R<)  -,?i))5L11i5d8i=+>===fU=I=+>IAi*DAT read: user:171> BDAT read: Tx time:01:18:35.2445 $Ping request sent.N>NhDٱNc=NH?ڿc?\??@귿H?=·? ?iNeX>IN9a;NܑCYVByV_IbDbVDbð8yjV_=%jF=ٔj:Q-n>9n ?Yn ?=n.EynGDrdEr>tQ 5z4v?Q 9z4v)v!BYxyzJ?Q I~"@v_DIv;iv;vL4ytBɮA[EB*** querying acoustic contact ***ii:i)-DNOT Ignoring new targets: 43.67 m.2i)"i5Ⱥ*i5ȺE ProNav: ac range: 43.666409 m, nav range: 43.552395 m, bearing: 26.133398 deg, approach rate: -0.464463 m/s, LOS rate: -0.087767 deg/s, cmd heading: 22.064499 deg, new cmd heading: 21.997141 deg. iE ]HeadingCmd: 0.383923 target range: 43.666409 and range: 43.70 m.h]>hYhahahaDzD@AE5 E5E5,E1"E5:Q*E5]t:VE5g4ZE1ae@ae@ae@ae@gigyjgrgereZe:e*e`?ɢգ<) 3 ?i)iuAi>X=>=I>I!y@ @@55@B>BBYIBBBM =BBZDB;B _Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502667ԡ^A l9= A- ؟AI9 IQ O] >d.#,1#LA2W>2֓>2nٱ2/=2H@z?ڿW??,? ᷿t?:ͷ?`?i2W>I2`;2ߑCY:By:\Ii~Mb@Mb@Mb@|||| |9~ˡE?MbX?Mb?Y~>y~=|~@~A ~@)||Y|bDVDư8y%=]%%D=ٔ:Q->9"?Y"?=.EyPDrE>Q 54?Q 94)'BYr>Q E:yJ$?Q I"@fDI;i:4yɮA:iDNOT Ignoring new targets: 43.67 m.2i"i*i ProNav: ac range: 43.666409 m, nav range: 43.357262 m, bearing: 26.084966 deg, approach rate: -0.455419 m/s, LOS rate: -0.113544 deg/s, cmd heading: 21.997142 deg, new cmd heading: 21.899841 deg. iOHeadingCmd: 0.382224 target range: 43.666409 and range: 43.70 m.h>hhhhgg jg rg Be reZe:e*e?ERBɢE<)A E?iI)MIQiU])Jie>m'=mMj=Im>Iqԩ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756161@! @!@%/@!@-@-@-@-bEg4jE^4rE#e0E EE(E"E:*E~:VEc44ZEBE< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006682! e.#,6>6=ٱ6=6H?ڿ@?6?`g?緿@뱔? ?v?i6W>I6`;6ݑCY>By>hIbD^VD^8yfG=%fQ=ٔf;Q-j>9j ?Yj ?=j.EyjXDn1En>pQ 5v4rв?Q 9v4r)r,BYtyzB$?Q Iz"@rkDIrq:ir\:rb4y~{Bɮ~ A|:i!%DNOT Ignoring new targets: 43.67 m.2i!"i-*i-= ProNav: ac range: 43.666409 m, nav range: 43.185684 m, bearing: 26.042041 deg, approach rate: -0.454980 m/s, LOS rate: -0.114277 deg/s, cmd heading: 21.899840 deg, new cmd heading: 21.813651 deg. i=#QEHeadingCmd: 0.380720 target range: 43.666409 and range: 43.70 m.hE>hAhAhAhAgIgIjgIrgIeIreQZeQ:eQ*eU?颁ɢz<) #?i)顉i%Si>j1=s=I>I 7v>CGzA-MA]@Y @Y@]/@YAazAetAuڢ9}zAY}dAAIIOC>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259351IEM EMEM)EI"EMD:*EM n:VEMFA4ZEIaU@aU@aU@aU@q A AAA B >B CB rIB BB N =B B B y;B _El.#,˿VLA2ZW>2TB>2ٱ2~=2H@?ڿ?{? ?? W?`O?i2ZW>I2x9`;2ޑC@YBByBnIiUMb@Mb@Mb@QQQQ Q9U/$?S㥻?Mb`?YU>yU/=U;QUxA U@)Ux@QYU@im@AbDuVDu8ym<%?=ٔ:Q->9Y=.Ey`DE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510844Q 54I?Q 94)1BYl>Q E:y=(?Q I"@rDI:i:4yɮA:iDNOT Ignoring new targets: 43.67 m.2i"i+*i+ ProNav: ac range: 43.666409 m, nav range: 42.987869 m, bearing: 25.987859 deg, approach rate: -0.461233 m/s, LOS rate: -0.126915 deg/s, cmd heading: 21.813650 deg, new cmd heading: 21.704787 deg. iDhHeadingCmd: 0.378820 target range: 43.666409 and range: 43.70 m.h>hhhh g g jg rgBereZe:e*e s?AɢEh+<)I M&?iI)MpIIiM\iU>U<=]i=I]>IYԱ @  @ @ /@A}؟AIIO^>U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763031 EE  EE EE ,EA "EE :*EE :VEE g4ZEA BEE $5B>BۚٱBGչ=BH =? /ڿ?a?? {@/[? q1? ?iB^V>IB`;BߑCYJByJxIbDVVDVİ8yZ-=%^X=ٔ^s;Q-b>9f"?Yf"?=f.EyfhDjLEj>hlQ 5r4jF̖?Q 9r4j)j5BYtyv(?Q Iv"@jwDIj6);ij2*;jz4yxɮzAx:iDNOT Ignoring new targets: 43.67 m.2i"i%*i%5 ProNav: ac range: 43.666409 m, nav range: 42.812016 m, bearing: 25.939420 deg, approach rate: -0.464935 m/s, LOS rate: -0.128591 deg/s, cmd heading: 21.704787 deg, new cmd heading: 21.607513 deg. i5Uk=HeadingCmd: 0.377122 target range: 43.666409 and range: 43.70 m.h=+>h9h9h9hAgAgAjgArgAeIreIZeI:eI*eM"@@QBɢ<) *?i)ܢ!!i%2fi%+>-G=-=I-+>I) @  @ @ @ !checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017284AIIiIyOZ>1a ~.#,:wLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271247ɰ;9YEByEiIIM;>)Mi>bDUVDUŰ8ye[%e@=ٔmQ-m>9iYi=u.EyupDuEu>yQ 54}ٖ?Q 94}})}9BYyQ I"@}~DI}B:i}N:}4yBɮ>A\EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 43.67 m.2i"i*iEU EUEU)EQ"EU:*EU:VEUFA4ZEQau@a}@a}@a}@ ProNav: ac range: 43.666409 m, nav range: 42.615036 m, bearing: 25.884679 deg, approach rate: -0.458836 m/s, LOS rate: -0.128102 deg/s, cmd heading: 21.607513 deg, new cmd heading: 21.497524 deg. ipj]HeadingCmd: 0.375203 target range: 43.666409 and range: 43.70 m.h]>hYhahahaggjgrgereZe:e*eM1@i颱ɢ<) $?i)C|ipi>T==I>IB>BCBIBBBBB[DBZ;B^EE@A @A@A@Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522621^A M=A >A > A I I O >.#,LA2nU>2'>2r^ٱ2m=2H?@zڿnB?~? ?T?4??i2nU>I2`;2ܑCY:By:qIxi Mb@Mb@Mb@     9 Zd;O?zG?~jthY ~>y  = D @ bA @)  Y @ 4=<bDVDð8y<%<=ٔ;Q->9Y=.EyyD`E>Q 54|疊?Q 945 )Q E:y&?Q I"@DIKG;iY;4yyBɮA SE:i9=DNOT Ignoring new targets: 43.67 m.2i9"iEu*iEu] ProNav: ac range: 43.666409 m, nav range: 42.413368 m, bearing: 25.829384 deg, approach rate: -0.461610 m/s, LOS rate: -0.127169 deg/s, cmd heading: 21.497524 deg, new cmd heading: 21.386409 deg. iehmHeadingCmd: 0.373263 target range: 43.666409 and range: 43.70 m.hm\>hihihqhqgqgqjgyrg}BereZechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775438:e*e$:@qɢu<)q }'(?iy)}Xyyi}Uyi\>N_==I\>I!E EEE"E&:*E~:VEZEBEi;E BDAT read: Rx Time:01:18:37.7049 E TRx dataTimestamp_ set to:1764897518.924615M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027823ԁ !.#,uLA2lU>2z>2 ٱ2Z=2Hg ?wڿC?(|??%@?jt? m?i2lU>I2e`;2ݑCYNByReIbDZ*VDZӰ8yb9dYd=f.EyfDj Ej>lQ 5-4n?Q 9-4nq )n?BY)y-&?Q I-"@nDIno7hhhhggjgrgereZe:e*e"/ @ɢJ<) &#?i)ii(iD>Yi=!=ID>I@ @@0@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278654^Au=E EE*E"E:*E1:VE(N4ZEa@a@a@a@A I I O > B =A 4=B >B B IB BB M =B B B C;B ^EBBBBBCʄ4.#,MNٻLA>:;U>>2>>Y[~ٱ> =>H`b"? mڿ*1?t?f?@F嶿`ˏ?WX??i>:;U>I>F`;$@=#@  A=)k=I ACBK\?$-g^?^? Ù>)}Ik=i AuT****** received valid address query ******uR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i-Mb@Mb@Mb@)))) )9-ˡE?EԸ?{GzY->y-=-#-x@-A ))-@)Y-@bDe6VDeް8y}8%}2=ٔ} ;Q-}>9Y=.EyDE>Q 54?Q 94)@BY?>Q E:y`#?Q I"@DI%Rjd GE@UC`@{6@Bj2^?#Ni?P0?*jk=2j AZj|B@cP3@C @JjwgʨP?y Q?Έ?jA j?Bi6lI?i jBjSiw?jLZM$jBrjG(Bzj*>- addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 3.782515 s, deltaX: -1.500000 m, approachRate: -0.396562 m/s, rangeRepo size: 4 = Added new target pos. range: 42.167679 m, bearing: 27.369902 deg, lat: 36.779516 deg, lon: -121.859770 deg, deltaT: 3.782515 s, deltaX: -1.498730 m, approachRate: -0.396226 m/s, posRepo size: 4 :i9EDNOT Ignoring new targets: 42.17 m.2iA"iE*iiu ProNav: ac range: 42.167679 m, nav range: 42.069874 m, bearing: 25.868885 deg, approach rate: 0.000000 m/s, LOS rate: -0.125384 deg/s, cmd heading: 21.292259 deg, new cmd heading: 21.171336 deg. iy}HeadingCmd: 0.369510 target range: 42.167679 and range: 42.20 m.h}Z0>hhhhggjgrgvBereZe:e E@*e ?}RBɢ}ګ<)y }!?iy) H顡if/iZ0>y==IZ0>I]@Y @Y@]/@a1*DAT read: user:172> BDAT read: Tx time:01:18:39.0445 $Ping request sent..#,:LA2T>2u >2epٱ2;=2H #?gڿ.?@xo? K??C~?@?i2T>I2Gl`;2ޑCY:By:UI@BAAbDFVDF8LyrH%rJ=ٔv;Q-v>9tYt=v.EyzDzrJEz>|Q 54~>?Q 94~()~BBY y L#?Q I "@~DI~G:i~:~#44yɮA:i9=DNOT Ignoring new targets: 42.17 m.2i9"iE*iEU ProNav: ac range: 42.167679 m, nav range: 41.885120 m, bearing: 25.821224 deg, approach rate: -0.494367 m/s, LOS rate: -0.128096 deg/s, cmd heading: 21.171336 deg, new cmd heading: 21.075592 deg. iUnj]HeadingCmd: 0.367838 target range: 42.167679 and range: 42.20 m.h]SU>hYhYhYhagagajgargaeireiZei:eq*eu`+?颙ɢ<) ?i)顡iB iSU>= =ISU>Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249898E@I @I@M45@I^Am=A .AI I O >i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501889) E=  E= E= ,E9 "E= l;*E= :VE= g4ZE9 aE @aE @aE @aE @/#,d\LAYByNIiMb@Mb@Mb@ 9~jt?T㥛 ?QY>y=u@ @)x@Y @bDVDǰ8yS%-=ٔ Q- >B>BBIBBBN =BBZDBZ;B^E9  ?Y- ?=-.Ey-D5E5>9Q 5E4=?Q 9E4=5)=ABYE">Q EE:yE?Q IE"@=DI=b:i=1:=u<4yUBɮUAUTEmB*** querying acoustic contact ***iiii:iy}DNOT Ignoring new targets: 42.17 m.2iy"iŨ*iŨ ProNav: ac range: 42.167679 m, nav range: 41.680096 m, bearing: 25.786237 deg, approach rate: -0.430221 m/s, LOS rate: -0.073776 deg/s, cmd heading: 21.075592 deg, new cmd heading: 21.005275 deg. iHeadingCmd: 0.366611 target range: 42.167679 and range: 42.20 m.hw>hhhhggjgrg\BereZe:e*e[?ɢ<) ?i)FiCiw>֑=.=Iw>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754004@ @@=5@Q^A +=ԁ A1 IA IQ Oe > /#,:Z*LAɰZ R>Z{>ZdATٱZ=ZH+? dBڿ?L??@ж?h??iZ R>IZR`;ZܑCnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006596YrByrSIbDVDy<%o=ٔ;Q-?9Y=.EyD%E%?)Q 554-E'?Q 954-)-@BY1y5c?Q I5"@-DI-:i-u:-`B4yAɮEAAI:iiuDNOT Ignoring new targets: 42.17 m.2iq"iu¦*iu¦ ProNav: ac range: 42.167679 m, nav range: 41.534298 m, bearing: 25.761624 deg, approach rate: -0.430298 m/s, LOS rate: -0.072896 deg/s, cmd heading: 21.005275 deg, new cmd heading: 20.955876 deg. ihHeadingCmd: 0.365749 target range: 42.167679 and range: 42.20 m.huC>hhhhggjgrgereZe:e*e?ɢ <) a?i)ꄼi>kiuC>==IuC>IE EE-E"ET;*Eą:VEt4ZEBEG /#,,DLA6:P>6,>6Dٱ6!=6H33?Z ڿ@?l+??@8?`^[?=?i6:P>I6_;6ݑCYBByBGIbDJVDJ8yRH%VS=ٔVs;Q-V>9Z"?YZ"?=Z.EyZDZEZ>\Q 5b4^73?Q 9f4^)^?BYdyf?Q If"@^DI^:i^:^'I4yjBɮjAnUE:i|DNOT Ignoring new targets: 42.17 m.2i"i*i ProNav: ac range: 42.167679 m, nav range: 41.367195 m, bearing: 25.733725 deg, approach rate: -0.431789 m/s, LOS rate: -0.072381 deg/s, cmd heading: 20.955876 deg, new cmd heading: 20.899853 deg. iwHeadingCmd: 0.364771 target range: 42.167679 and range: 42.20 m.hLú>hh!h!h!g!g!jg!rg)e)re)Ze):e)*e5?]SBɢ]<)a eG?ia)et1aaieFimLú>m=mV=ImLú>Iq9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510300aE EE*E"El;*E&p:VE(N4ZEa @a @a@a@^AYԙA @AA B% >B! B% rIB% BB% M =B! B! B% i;B% ^EA .AI I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761654Թ "/#,l]LA2N>2>2x3ٱ2Mɻ=2H18?ڿ`? ??ྋ`|?@bp?`?i2N>I2`;2ޑCYB~ByBFIiMb@Mb@Mb@ 9/$?/$?:vY>y,=T@ x@)@Y@bDm)VDmҰ8y};Ļ%==ٔ@;Q->9 ?Y ?=.EyD^E>Q 54@?Q 94I)Y>Q E:y?Q I"@DI:i:P4yɮA:iDNOT Ignoring new targets: 42.17 m.2i"iA*iA ProNav: ac range: 42.167679 m, nav range: 41.180656 m, bearing: 25.715494 deg, approach rate: -0.431401 m/s, LOS rate: -0.042353 deg/s, cmd heading: 20.899853 deg, new cmd heading: 20.863226 deg. iHeadingCmd: 0.364132 target range: 42.167679 and range: 42.20 m.ho>hhhhggjgrgPBereZe :e *e 7@1ɢ=r<)9 =g?i9)=?zAAiE>iEo>M(=M}U=IMo>IIԑ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013758^Aa=bE(N4jEȼP4rEȼk0E  E E %E "E D:*E VE 4ZE BE 2 O/#,0wLA6M>6">6}!ٱ6ؾ=6H=?ٿ@r??y?o/? 'o?4?i6M>I6O`;4Y>{By>BIbDF1VDFڰ8yN΃%RY=ٔRC;Q-R>9V"?YV"?=V.EyVDVEV>XQ 5^4ZL?Q 9b4Z+)Z>BY`yb?Q Ib"@ZDIZ:iZ:ZDW4ydɮfAh:ixzDNOT Ignoring new targets: 42.17 m.2i|"i~?*i~?  ProNav: ac range: 42.167679 m, nav range: 41.018154 m, bearing: 25.699838 deg, approach rate: -0.432785 m/s, LOS rate: -0.041863 deg/s, cmd heading: 20.863226 deg, new cmd heading: 20.831789 deg. i :HeadingCmd: 0.363583 target range: 42.167679 and range: 42.20 m.h'>hhhhggjgrg!e!re!Ze!:e!*e-d@UTBɢUH<)Q ]?iY)]sYYi]۝ie'>e뾣=e/=Ie'>Ii]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266943@ @@/@@yA@zAm׃G{AA09{AYiA^A-e=A1zA5xAAA II IY Oe >i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517719E  E E ,E "E *E ~:VE g4ZE a% @a% @a% @a% @L4$/#,QLA FӿJ>F>FwٱFdy=FHBE?@}ٿoV? ?#?4.?F??iFӿJ>IFQ/`;FܑCYMByMKIbDVD8y5><%=5=ٔMV ;Q-M>9YYY=e.EyeĒD㣻E>Q 54[?Q 94)BB`IBBBN =BBB;B _Ei\:i_4yBɮAVEB*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 42.17 m.2i!"i-V7*i-V7] ProNav: ac range: 42.167679 m, nav range: 40.816727 m, bearing: 25.680914 deg, approach rate: -0.424450 m/s, LOS rate: -0.040072 deg/s, cmd heading: 20.831788 deg, new cmd heading: 20.793755 deg. i]eHeadingCmd: 0.362920 target range: 42.167679 and range: 42.20 m.heй>hahahahagagiijgrgereZe:e*e,@ɢ<) ?i)ii i й>̣=l=Iй>Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770773}@y @y@}/@yԙ ^A =A9 II IY Om >o*/#, ƫLA<:fCH>:>:`6ٱ:w=:HWM? ٿ R?4?,?@?&?@.?i:fCH>I:y0`;8YJByJLIRBDAT read: Rx Time:01:18:41.5026 VTRx dataTimestamp_ set to:1764897522.704687Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022905i-Mb@Mb@Mb@)))) )9-y-<-#-@) -@)-x@)Y)bDE4VDEܰ8yU?<%U=ٔ<-;Q->9Y=.Ey̒DɻE> Q 554 g?Q 954 ) ;BY5>Q E=;y=E>Q I="@ DI u;i ; 6f4yAɮEAA:iE EEE"E:*EVEZEBE$5h h)h)h)g)g1jg1rg5VBe1re9Ze9:e9*e=, @ԩ颁ɢ+<) ?i)aii¹>8ף==I¹>Ia@a @a@e/@aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273626^A ]= A I I O- >SJ1/#,{iżLA>;ɰ<|mRF>mL>mٱme=mH S? ٿl?Ϛ? 3?5ൿ|?\?h?imRF>Im*-`;mޑCYByIIbD#VDͰ8y{]%E=ٔ ;Q->9Y=.EyԒDE>Q 54)t?Q 94):BYyL>Q I"@ĊDIh:i:$m4yBɮA:i)DNOT Ignoring new targets: 42.17 m.2i"i*i ProNav: ac range: 42.167679 m, nav range: 40.491768 m, bearing: 25.675264 deg, approach rate: -0.422803 m/s, LOS rate: -0.006849 deg/s, cmd heading: 20.787723 deg, new cmd heading: 20.782410 deg. iHHeadingCmd: 0.362721 target range: 42.167679 and range: 42.20 m.h>hhhhggjgrgereZe:e*e@, @EUBɢM*<)I M?iI)MonZIQiUBiU>]=]=I]>IYDAT read: 01:18:41.5026 LVL= 23504, 27201, 24450, 30115, AGC= 64, IDX= 421, 0.12,-1.987, 2.528,-1.987,-2.419, PHS= 0.534,-1.291, 0.388, RAW= 145.9, 4.2, CAL= 145.3, 4.6, ROT= 4.7, -4.6 Ygot valid direction response: 01:18:41.5026 LVL= 23504, 27201, 24450, 30115, AGC= 64, IDX= 421, 0.12,-1.987, 2.528,-1.987,-2.419, PHS= 0.534,-1.291, 0.388, RAW= 145.9, 4.2, CAL= 145.3, 4.6, ROT= 4.7, -4.6  PDAT read: Bearing 178.3, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 4.9 (Local) DAT read: Range 11 to 50 : 40.5 m (Round-trip 54.0 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.!-\direction in FSK: [0.993427,0.081675,0.080199]-Fpublishing direction and range infoyR'?U?zꇴ?Y"B[Aj_ u)@I9?i}?>"@Q =:M"@ l=)=Il2yت???Kh ? 42>)ԗI=ilET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.E EE)E"E*E҆:VEFA4ZEa@a@a@a@@ @@/@YB<A<B>BBSIBBBM =BB[DB;B_E^A= =AE ?AE ?y  *DAT read: user:173>  BDAT read: Tx time:01:18:42.7945  $Ping request sent. T7/#,߼LABhC>B"r>B?ٱB)=BH[?@aٿ@ꦟ?t?%;?r w?N??iBhC>IBf`;BܑCY^By^GIiMb@Mb@Mb@ 9㥛 ?I +?MbY>y94<@A x@)@Yf@ C=<bDVD8yx%D=ٔL;;Q->9 ?Y ?=.EyݒDjȻE>Q 54[?Q 94)9BY>Q E:y>Q I "@ɊDI;i";bt4yBɮAMEiiPͼLAj!B"j!B:jG>Rj9kD@773q @ @BjR'?U?zꇴ?*j=2jlZjGVA@n"E2@xY7 !@Jjљ5?"?'ҷ?jڕA jBia??i6%$jBj6R?jjrjB Bzju> addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 3.779914 s, deltaX: -1.700001 m, approachRate: -0.449746 m/s, rangeRepo size: 4  Added new target pos. range: 40.468819 m, bearing: 27.702494 deg, lat: 36.779512 deg, lon: -121.859767 deg, deltaT: 3.779914 s, deltaX: -1.698860 m, approachRate: -0.449444 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.47 m.2i"i*i- ProNav: ac range: 40.468819 m, nav range: 40.065414 m, bearing: 26.349391 deg, approach rate: 0.000000 m/s, LOS rate: -0.006849 deg/s, cmd heading: 20.782410 deg, new cmd heading: 20.776513 deg. i)5HeadingCmd: 0.362619 target range: 40.468819 and range: 40.50 m.h5$>h1h1h1h1g1g9jg9rg=LBe9reaZea:ee@D@*ee`?ɢ5<) ?i )  0R i謻AiM$>M=M=IU$>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249533@ @@0@qE EE(E"E*E n:VEc44ZEBEa2EaJE;a:E;aԑ ^A [-=A! I) IA O] >A>/#,CLA2A>2v>2ٱ2;=42H`9b?@Cٿ50?`W?@A?@ߵWs?J??i2A>I2:`;0Y>~By>FIbDJVDJ8yNoU%RN=ٔR!;Q-R>9TYT=V.EyVDVƞEZ>XQ 5^4Z?Q 9^4Z)Z8BY`yb>Q Ib"@ZΊDIZ:iZ;ZM{4ydɮjAhv=v=zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501754:iDNOT Ignoring new targets: 40.47 m.2i "i /9*i /9 ProNav: ac range: 40.468819 m, nav range: 39.900311 m, bearing: 26.355254 deg, approach rate: -0.432706 m/s, LOS rate: 0.015429 deg/s, cmd heading: 20.776513 deg, new cmd heading: 20.788288 deg. i9%HeadingCmd: 0.362824 target range: 40.468819 and range: 40.50 m.h%Ĺ>h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=?aɢe^<)a m?ii)m6WKiiim;iuĹ>u=u2=IuĹ>Iyԙ@ @@15@^AM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753766 A ؟AI I) O5 >D zD E  E E 'E "E :*E z:VE '4ZE a @a @a @a @"E/#,vLAPPlB1B1B1B1B1B1B1B5;B5_EBBBBM =BM =C4YmBymaIiMb@Mb@Mb@ 9x&1?{Gz?MbpYA>y#<b@A )b@Yp@bD VD Ű8y&=%)=ٔQ->9%"?Y%"?=%.Ey%D-E->1Q 5=453?Q 9=45)1Y=R>Q E=:y=>Q I="@5ՊDI5V:i5:54yMBɮMNAMNEeB*** querying acoustic contact ***iaia:iquDNOT Ignoring new targets: 40.47 m.2iq"i}9*i}9 ProNav: ac range: 40.468819 m, nav range: 39.688545 m, bearing: 26.364205 deg, approach rate: -0.439146 m/s, LOS rate: 0.018661 deg/s, cmd heading: 20.788289 deg, new cmd heading: 20.806286 deg. i:HeadingCmd: 0.363138 target range: 40.468819 and range: 40.50 m.h@>hhhhggjgrgRB checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005449 eYreaZea:ea*ee`Z?ɢ<) ?i)@i|i%@>%=% =I-@>I) @ @@0@1Y ^A5 e=A= yAzA= vA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257642IQ Ia Om >)K/#,11LAE. E.E.+E,"E.:*E.|:VE. [4ZE,BE,a62E,a6JE.e;a6:E.f;a6No?>N(f>N:^OٱNȵ=NHi?@z!ٿ@n.?@8? G? `i???iNo?>INo`;NّCYTyV`IbDbVDb8yf%j`=ٔj;Q-n>9lYl=n.EynDrtEr>tQ 5z4vx?Q 9z4v)tYxy~w>Q I~"@vڊDIv;iv;v"4yBɮIA:i)-DNOT Ignoring new targets: 40.47 m.2i)"i59*i59E ProNav: ac range: 40.468819 m, nav range: 39.528522 m, bearing: 26.371513 deg, approach rate: -0.438300 m/s, LOS rate: 0.020096 deg/s, cmd heading: 20.806286 deg, new cmd heading: 20.820961 deg. iE:MHeadingCmd: 0.363394 target range: 40.468819 and range: 40.50 m.hM>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*e] ?颉ɢ=) H?i) :顑iaﷻi>=|=I>I)@) @)@-0@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509439q^AII) I9 OE >ԙ 4R/#,}KLA2B?>2T6>2-ٱ2Ȍ=2H2j?ٿ`ܡ?=3?EH?Q@b? ??i2B?>I2_;2ܑCY:By:iI@bDFVDF8yN =%NN=ٔR;Q-R>9PYP=V.EyVDVqEV>XQ 5^4Zķ?Q 9^4Z)Z7BY`ybI>Q Ib"@ZDIZ:iZ;Z 4yfBɮfOAd:ixzDNOT Ignoring new targets: 40.47 m.2ix"i~|9*i~|9  ProNav: ac range: 40.468819 m, nav range: 39.355164 m, bearing: 26.379586 deg, approach rate: -0.438024 m/s, LOS rate: 0.020489 deg/s, cmd heading: 20.820961 deg, new cmd heading: 20.837179 deg. i :HeadingCmd: 0.363677 target range: 40.468819 and range: 40.50 m.h3>hhhhechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761252ggjgrgereZe:e*e63@ɢ^=) "?i)b1i»i%3>%=%ȹ=I%3>I)DqDu4=E} E}E})Ey"E}7;*E}1:VE}FA4ZEya@a@a@a@ԩ @  @ @ /@BqBqBuYIBuBBqBqBqBu;Bu_E^Ah=IqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013365 X/#,YeLA4<ɰ4<:X>>:>:?ٱ:=:Hn?`ٿl%? ? L? +`W?V??i:X>>I:_;:ޑCYBByF{IpiUMb@Mb@Mb@QQQQ Q9UM?Mb?Mb?YUn>yU=U9Y=.EyD5E>Q 54Lŗ?Q 94):BY>Q E;yF>Q I"@DI;i);4yɮA:iDNOT Ignoring new targets: 40.47 m.2i"iF*iF ProNav: ac range: 40.468819 m, nav range: 39.174221 m, bearing: 26.374653 deg, approach rate: -0.396611 m/s, LOS rate: -0.010863 deg/s, cmd heading: 20.837179 deg, new cmd heading: 20.827267 deg. i HeadingCmd: 0.363504 target range: 40.468819 and range: 40.50 m.h?>h h h hQgQgQjgYrg]lBeYreaZea:ea*em @ QɢU_=)Y ]*?iY)]&YYi]ie?>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265534=+0=I?>I}@y @y@}{2@yE EE+E"ED:*E?:VE [4ZEBE2IA IQ Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517357O_/#,2LA>P<>>U>>,ٱ>=>Hvs?@ؿ`Y?@?xR?E?ڷ? ]?i>P<>I>_;>ܑCYJByJIbDRVDRŰ8yZ=%Z[=ٔZ;Q-^>9\Y\=b.EybDbEb>dQ 5j4fЗ?Q 9j4f)fQ In"@fDIf7:if :f94yrBɮrArOE:i  DNOT Ignoring new targets: 40.47 m.2i "iF*iF% ProNav: ac range: 40.468819 m, nav range: 39.020920 m, bearing: 26.370810 deg, approach rate: -0.431985 m/s, LOS rate: -0.010873 deg/s, cmd heading: 20.827267 deg, new cmd heading: 20.819550 deg. i%/-HeadingCmd: 0.363370 target range: 40.468819 and range: 40.50 m.h- >h)h)h1h1g1g1jg1rg99eAreAZeA:eA*eE`@qɢuN4=)q u}-?iq)v iŤûi >% =%m=I% >I!@ @@/@qiyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769813ԑ^Az=I9IIOU>D zD E  E E *E "E :*E Ar:VE (N4ZE a @a @a @a @ B >B B fIB BB B B ZDe/#,`!LABEi;BE^Eb ;>">ގٱ=Hrw?ؿo?!?V?`1?`Rͷ??ib ;>I.w^;ڑCY-By-IԑiMb@Mb@Mb@ 9~jt?:v?{Gz?Y>yT=#<@bA x@)@Y @bD VD8y<%8=ٔod:Q->9IYI=M/EyMDU2EU>YQ 5e4]2ߗ?Q 9e4]h)]@BYeP>Q Ee:ye?Q Im"@]DI] ;i]7 ;]24yqɮuAqB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 40.47 m.2i"i**i* ProNav: ac range: 40.468819 m, nav range: 38.824211 m, bearing: 26.353866 deg, approach rate: -0.430763 m/s, LOS rate: -0.037292 deg/s, cmd heading: 20.819550 deg, new cmd heading: 20.785491 deg. iHeadingCmd: 0.362775 target range: 40.468819 and range: 40.50 m.h>hhhhggBDAT read: Rx Time:01:18:45.2503 TRx dataTimestamp_ set to:1764897526.484712checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022619jgrgBereZe:e*e+< @VBɢ>g=) 0?i)ViȻi%>%l)=%|;=I%>I)@ @@/@^Ao== checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273908A  I! I1 OE >#l/#,경LAbEUT4jEQrEU0E& E&E&-E$"E&&:*E&~:VE&t4ZE$BE&i;Z>Z#b8ٱZϰ=ZHz? 9ؿ??@\Y?p뵿`S Iͷ??iZ?6:>IZ_*^;ZܑCYy bDVDy=w:%EE=ٔEkN:Q-E>9IYI=M/EyM DMEU>YQ 5]4]뗊?Q 9e4]%)]CBYaye?Q Ie"@]DI]:i]:];4yiɮmA:iDNOT Ignoring new targets: 40.47 m.2i"i&*i& ProNav: ac range: 40.468819 m, nav range: 38.650566 m, bearing: 26.338974 deg, approach rate: -0.423379 m/s, LOS rate: -0.036472 deg/s, cmd heading: 20.785492 deg, new cmd heading: 20.755574 deg. iHeadingCmd: 0.362253 target range: 40.468819 and range: 40.50 m.h=y>hhhhggjgrg!e!re!Ze!:e!*e- @频ɢl"=) 0?i)v@ 顙i9̻i=y>1=M=I=y>I!e@a @a@a@a@m@m@i@i DAT read: 01:18:45.2503 LVL= 24656, 28657, 26226, 32451, AGC= 63, IDX= 416,-0.27,-0.146,-1.837,-0.209,-0.541, PHS= 0.497,-1.250, 0.289, RAW= 143.7, 5.7, CAL= 143.3, 6.2, ROT= 6.7, -6.2 Ygot valid direction response: 01:18:45.2503 LVL= 24656, 28657, 26226, 32451, AGC= 63, IDX= 416,-0.27,-0.146,-1.837,-0.209,-0.541, PHS= 0.497,-1.250, 0.289, RAW= 143.7, 5.7, CAL= 143.3, 6.2, ROT= 6.7, -6.2 -PDAT read: Bearing 179.3, 6.8 (Local) -~Local bearing/azimuth received: Bearing 179.3, 6.8 (Local) =DAT read: Range 11 to 50 : 38.8 m (Round-trip 51.8 ms) speed 0.3 m/s ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.987362,0.115988,0.107999]MFpublishing direction and range infoy Ew?n}"i?Niإ?Y3BP`orf ~)?Iv>i> @%=Q @ k=)|=Ikݽ6%?^Boe?D`LwH? +>)ʽI|=ikݽeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. CQG !QUɪ9QYUAA xAzA xAA9 IA IY Oe >y O s/#,̽LA28>27 >2v!:ٱ2N=2H }?ؿ`? *?]?µ.D?`?i28>I2];2ޑCY:By:IbDFVDF8yNm=%Nj=ٔN:Q-R>9PYP=R/EyR'DVhEV>XQ 5Z4Z?Q 9^4Z.)ZEBY\y^:?Q Ib"@ZDIZ ;iZ;ZX4yfBɮfAfPEii?8LAjB"jB:j^F?Rj^#C@gtS@Ơ@Bj Ew?n}"i?Niإ?*j|=2jkݽZj @@T.S2@x`>@Jj7d?fT`R\??jA jBi o?i addTargetRange:: Added new target pos. range: 38.799999 m, deltaT: 3.779794 s, deltaX: -1.700001 m, approachRate: -0.449760 m/s, rangeRepo size: 4 - Added new target pos. range: 38.770020 m, bearing: 28.933221 deg, lat: 36.779511 deg, lon: -121.859759 deg, deltaT: 3.779794 s, deltaX: -1.698799 m, approachRate: -0.449442 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 38.77 m.2i)"i5*i1E*DAT read: user:174> MBDAT read: Tx time:01:18:46.5444 M$Ping request sent.MhhhhggjgrgereZe:e`ffC@*e\o?AɢM3=)I M5?iI)MIIiU_лQiu?>}8=}=I}?>IyE] E]E]&EY"E]V:*E]:VE]4ZEYam@am@am@am@)@) @)@50@1ԉBBBIBBBN =BBBs;B^EA}.AIIOh>ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250773 z7y/#,]潌LAV7>Vr>V5:ٱVd=VH ?@ؿ ΢??`?P ??iV7>IV];VݑCYfɁByfIimMb@Mb@Mb@iiii i9m333333?ʡE?:v?Ym>ym=mT9 ?Y ?=/Ey0D-E>Q 54[?Q 94})JBY>>Q E:y?Q I"@DIrB;i;4yiɮuUAqԱL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEntering USBL mode with 120.000000 count pings at 38.799999 m (mode 2.000000 count ).L1M:i DNOT Ignoring new targets: 38.77 m.2i "iP*iP% ProNav: ac range: 38.770020 m, nav range: 38.507713 m, bearing: 27.229730 deg, approach rate: -0.401155 m/s, LOS rate: -0.058713 deg/s, cmd heading: 20.730345 deg, new cmd heading: 20.675399 deg. i%ֺ-HeadingCmd: 0.360854 target range: 38.770020 and range: 38.80 m.h->h)h)h)h)g1g1jg1rg5Be9re9Ze9:e9*e=?颭WBɢ?&=) G9?i)Y顱iVջi>MA==I>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503934}@ @@0@Ee EeEe)Ea"Eea:*Eexv:VEeFA4ZEaBEe(  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547461 y/#,{LA;ɰ;26>2>2N:ٱ2d=2H ?ؿ??(e? @)PW@??i26>I2];2ۑCY:΁By>IbDFVDF8yN{<%N\=ٔR:Q-R>9PYP=R/EyV7DV>]EV>XQ 5^4Z?Q 9^4Z5)ZMBY\ybq?Q Ib"@ZDIZ;iZ;Zw4ydɮf1Adjr^@1MrqMr:ixzDNOT Ignoring new targets: 38.77 m.2i|"i]흺*i]흺m ProNav: ac range: 38.770020 m, nav range: 38.348171 m, bearing: 27.206583 deg, approach rate: -0.473864 m/s, LOS rate: -0.069036 deg/s, cmd heading: 20.675399 deg, new cmd heading: 20.628913 deg. imuHeadingCmd: 0.360042 target range: 38.770020 and range: 38.80 m.hu|W>hqhqhqhqgygjgrgereZe:e*e?ɢlC=)˨ A;?i){!!i%ZEٻi%|W>-G=-,=I-|W>I)I9)=yA@ @@/5@A?A?A؟AIIOI>9]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006831Em  Em Em ,Ei "Em :*Em &p:VEm g4ZEi a} @a} @a} @a} @y B >B B IB BB B B B ;B _EK/#,wgLA ]:5>]L2>],C:ٱ]A=]H@q? ؿpU?f?h?@d(_??i]:5>I]n^;YYiyqiMb@Mb@Mb@ 9㥛 ?{Gz?{Gz?Y>yף=#<@GA )@Y@ %= =bDVD8ٔ%:Q-%>9%"?Y-"?=-/Ey-AD~DE>Q 54?Q 94W)QBYu>Q E:߭>߭?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259102y?Q I"@ DIx;iw;4yBɮoAQEjqMMB*** querying acoustic contact ***iix:iDNOT Ignoring new targets: 38.77 m.2i"i,*i,  ProNav: ac range: 38.770020 m, nav range: 38.150909 m, bearing: 27.174876 deg, approach rate: -0.419837 m/s, LOS rate: -0.067832 deg/s, cmd heading: 20.628913 deg, new cmd heading: 20.565171 deg. i G HeadingCmd: 0.358930 target range: 38.770020 and range: 38.80 m.hŷ>hhhhggjgrgBereZe!:e!*e%n?MXBɢUH,=)Q U:?iQ)U ˻QQi]ݻi]ŷ>ebP=e=Ieŷ>aIi@ @@@!ԙ^AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514366A I I O >zq/#,04LAE EEE"E:*E:VEZEBE$5bx>bs;ٱb=bHN?+wؿ ś?@j?`=j?@`MIb6^;bݑCY~ցBy~IbD׿VD8y<%%<ٔ%e:Q-%>9)Y)=-/Ey-HD-ٺE5>1Q 5=45^(?Q 9E45')5TBYAyE?Q IE"@5DI5;i5;54yIɮM.AQjiMmmCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLm mAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:iy}DNOT Ignoring new targets: 38.77 m.2i"i*i ProNav: ac range: 38.770020 m, nav range: 38.000137 m, bearing: 27.150563 deg, approach rate: -0.424156 m/s, LOS rate: -0.068670 deg/s, cmd heading: 20.565170 deg, new cmd heading: 20.516351 deg. iYHeadingCmd: 0.358078 target range: 38.770020 and range: 38.80 m.hU>hhhhggjgrgereZe:e*e@u?YBɢJJK=) >?i)ihiU>#W=_=IU>I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762681^AI=I I ! O- >Z/#,@NLA23>2B>2L;ٱ2=2H@?lؿ@:?? m?)b`i??i23>I2;u^;2ۑCY:ׁBy>IbDFVDF8yN;%NS=ٔR,Q-R>9PYP=R/EyRPDVEV>XQ 5^4Z3?Q 9^4Z)ZXBY\yb?Q Ib"@ZDIZ;:iZT:Z4yfÔBɮfdAd:ixzDNOT Ignoring new targets: 38.77 m.2ix|"i*i  ProNav: ac range: 38.770020 m, nav range: 37.836613 m, bearing: 27.124148 deg, approach rate: -0.423054 m/s, LOS rate: -0.068634 deg/s, cmd heading: 20.516351 deg, new cmd heading: 20.463293 deg. i6HeadingCmd: 0.357152 target range: 38.770020 and range: 38.80 m.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014854h%ܶ>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=,@aɢe'C=)a m>?ii)miiim iuܶ>u^=}=I}ܶ>IyE5 E5E1E1"E5;*E5ga:VE1ZE1a=@a=@a=@a=@!AMAAAIBU>BUCBUIBUЁBBUM =BQBUYDBU;BU!_EB)B)B)B)B)C-*4@! @!@%4@)@Ep=@E=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266711ԉ ^AY AY zA] yAIQ Ii O} >a/#,[jLAJú2>JS>J;ٱJ=JH? 4\ؿ`rB?tz?`dq?c`2? ?iJú2>IJS^;JݑCYXy\iMb@Mb@Mb@ 9)\(?Zd;O?MbPYG>yj=K@A @)@Y@BAbDVD8ٔ9Q->9Y=/EyZDE>Q 54B?Q 94)YBY'>Q E:y?Q I"@DI:i:4yBɮAHE:i  DNOT Ignoring new targets: 38.77 m.2i "iú*iú% ProNav: ac range: 38.770020 m, nav range: 37.623547 m, bearing: 27.083532 deg, approach rate: -0.445851 m/s, LOS rate: -0.085471 deg/s, cmd heading: 20.463293 deg, new cmd heading: 20.381603 deg. i%k-HeadingCmd: 0.355726 target range: 38.770020 and range: 38.80 m.h-!>h)h)h)h)g)g1jg1rg5Be1re9Ze9:e9*e=@mZBɢmc1=)q u7>?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917Yiy)e>aaie'%im!>mQh=m%=Im!>IqmE EE-E"E:*E1:VEt4ZEBEF8ߵ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771015I I O >\/#,LA>t2>>F>>4;ٱ>:=>H?`AWؿ@?gv? q?ɵOfn޷?H?i>t2>I>RZ^;>ޑCYFӁByFILbDRVDRŰ8yZ%Z<ٔ^`b:Q-^>9\Y\=b/EybaDb=Eb>dQ 5j4fzN?Q 9j4f%)fZBYhyn?Q In"@f#DIf":if:fs4ypɮr@Ap:i  DNOT Ignoring new targets: 38.77 m.2i "iĺ*iĺ5 ProNav: ac range: 38.770020 m, nav range: 37.458878 m, bearing: 27.051895 deg, approach rate: -0.446105 m/s, LOS rate: -0.086087 deg/s, cmd heading: 20.381602 deg, new cmd heading: 20.318048 deg. i5EHeadingCmd: 0.354617 target range: 38.770020 and range: 38.80 m.hEW>hAhIhIhIgQgQjgYrgaeareaZea:ei*em @M[BɢMUC=)I M;?iI)U}zQyi}iW>o==IW>I%BDAT read: Rx Time:01:18:48.9983 -TRx dataTimestamp_ set to:1764897530.264572-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023817@ @@(0@D1zD5?AE= E=E=(E9"E=:*E=]t:VE=c44ZE9aE@aE@aE@aE@! BA BE CBE IBE ՁBBE O =BA BA BE ;BE $_E^A I I O >d/#,"LA4<ɰ4<BI'>Bа:;ٱBW=BH?Dؿ`r?b?v?Vg+·??iB$1>IB^;BݑCYNցByNI~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274750i-Mb@Mb@Mb@)))) )9-y-=--x@-GA -5@)))Y-p@bDE&VDEϰ8yUx<%U9=ٔ][9Q-]>9YYY=]/Ey]jDel>Ee>iQ 5u4m[?Q 9u4m)m[BYu>Q E}:y}?Q I}"@m)DIm;im&;m(4y”Bɮ_AIEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 38.77 m.2i"i*iu ProNav: ac range: 38.770020 m, nav range: 37.274635 m, bearing: 27.024025 deg, approach rate: -0.417267 m/s, LOS rate: -0.063430 deg/s, cmd heading: 20.318049 deg, new cmd heading: 20.262035 deg. iu*躝HeadingCmd: 0.353639 target range: 38.770020 and range: 38.80 m.h3>hhhhggjgrgBe)re1Ze9:e9*eE@ @ԩU]BɢUS 3=)Y ]?y=B=I3>I=@9 @9@=/@9DAT read: 01:18:48.9983 LVL= 23664, 27361, 26498, 32755, AGC= 65, IDX= 426, 0.05, 0.566,-1.202, 0.472, 0.128, PHS= 0.540,-1.285, 0.300, RAW= 143.1, 5.2, CAL= 142.7, 5.8, ROT= 7.3, -5.8 Ygot valid direction response: 01:18:48.9983 LVL= 23664, 27361, 26498, 32755, AGC= 65, IDX= 426, 0.05, 0.566,-1.202, 0.472, 0.128, PHS= 0.540,-1.285, 0.300, RAW= 143.1, 5.2, CAL= 142.7, 5.8, ROT= 7.3, -5.8 PDAT read: Bearing 178.1, 7.3 (Local) ~Local bearing/azimuth received: Bearing 178.1, 7.3 (Local) DAT read: Range 11 to 50 : 37.3 m (Round-trip 49.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.986817,0.126414,0.101056] Fpublishing direction and range infoy/&?V.?+hg޹?Y3Bp\jg )AIq= ?iz> @޹=e@ 4Q=)w>I4QϽ^R?lt?A\/Y? h>)AIw>i4QϽ T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A= Q=AE >AE >I E  E E E "E :*E x:VE ZE BE <A/#,θLAlY=́By=IbDM1VDMڰ8yV@%E=ٔQ->9Y=/EysDE>Q 54h?Q 94)\BYyQ I"@/DIq:i:x4yɮAii1$LAjB"jB:j%?RjkcB@#^<@Y(!@Bj/&?V.?+hg޹?*jw>2j4QϽZjpD..@@Cn2@&\T@JjOm?sZzD?G ?jCA jqBi ?i%jBja??j6%$jBrjBzj>E addTargetRange:: Added new target pos. range: 37.299999 m, deltaT: 3.780026 s, deltaX: -1.500000 m, approachRate: -0.396823 m/s, rangeRepo size: 4 U Added new target pos. range: 37.270290 m, bearing: 29.128586 deg, lat: 36.779510 deg, lon: -121.859756 deg, deltaT: 3.780026 s, deltaX: -1.499729 m, approachRate: -0.396751 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 37.27 m.2iY"ie*iam ProNav: ac range: 37.270290 m, nav range: 37.130505 m, bearing: 27.495008 deg, approach rate: 0.000000 m/s, LOS rate: -0.063430 deg/s, cmd heading: 20.262035 deg, new cmd heading: 20.208504 deg. iq}HeadingCmd: 0.352705 target range: 37.270290 and range: 37.30 m.h}>hyhyhyhygygjgrgereZe:e`fB@*e?颕^BɢøK=) `7?i)<)顙ii>==I>I*DAT read: user:175> BDAT read: Tx time:01:18:50.3444 $Ping request sent.a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250649r/#,;ҾLAYŁByIbD-VD-89yE=%EQ=ٔIQ-M>9IYI=M/EyM{DQEU>YQ 5e4]s?Q 9e4])]]BYayaQ Im"@]4DI]:iY]:4yuʔBɮu'AqDyD}<E EE)E"E:*E՚:VEFA4ZEa@a@a@a@:iUDNOT Ignoring new targets: 37.27 m.2iQ"i]*i]m ProNav: ac range: 37.270290 m, nav range: 36.968861 m, bearing: 27.472310 deg, approach rate: -0.414209 m/s, LOS rate: -0.058418 deg/s, cmd heading: 20.208503 deg, new cmd heading: 20.162908 deg. imպuHeadingCmd: 0.351909 target range: 37.270290 and range: 37.30 m.huo->hhhhggjgrgereZe:e*e`?5_Bɢ5i?=)1 =3?i9)=799i=p2iEo->E=E=IEo->IIBU>BUCBQBQBUN =BQBQBU;BUE_Eii@i @q@q@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502770ԑ^A Sk= I I O >/#,쾌LA2,>2 >2);ٱ22=2H? ؿ@'?P$?@A?~`8s Ϸ?h?i2,>I2 H];2ۑCY:ǁBy>Ii5Mb@Mb@Mb@1111 195A`"?T㥛 ?MbY5>y5=511 5b@)11Y5@bDMVDM8y]<%]I=ٔ]};Q-e>9aYa=e/EyeDmG&Em>qQ 54u:?Q 94u`ԡ)u\BY>Q E:y ?Q I"@u9DIu;iu;uV4yɮA:iDNOT Ignoring new targets: 37.27 m.2i"i,,*i,, ProNav: ac range: 37.270290 m, nav range: 36.794720 m, bearing: 27.457134 deg, approach rate: -0.429783 m/s, LOS rate: -0.037631 deg/s, cmd heading: 20.162908 deg, new cmd heading: 20.132413 deg. iHeadingCmd: 0.351377 target range: 37.270290 and range: 37.30 m.h>hhhhggjg rg Be re Ze :e *e{?E`BɢE'J=)A E3?iA)MúIIiMiU>U=Up=IU>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757041@ @@0@bEFA4jEĔK4rEXQ0E EEE"E;*E:VEZEBE?C- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006657 G! % zA9 9 zAY A!/#,hLAb+>bz>b;ٱb,=bH?D׿???s?:+v{?T?ib+>Ibo];bݑCYrByvIbD~VD~8y hr% O=ٔ :Q->9Y=/EyDE>!Q 5-4%~?Q 9-4%)%[BY)y-?Q I5"@%?DI%:i%:%; 4y9ɮ=wA9:iDNOT Ignoring new targets: 37.27 m.2i"i**i* ProNav: ac range: 37.270290 m, nav range: 36.625828 m, bearing: 27.442519 deg, approach rate: -0.429116 m/s, LOS rate: -0.037305 deg/s, cmd heading: 20.132413 deg, new cmd heading: 20.103048 deg. iHeadingCmd: 0.350864 target range: 37.270290 and range: 37.30 m.h>hhhhggjgrgereZe:e*e8?aBɢ Q?=) ,?i)z|ii>Ԗ=ȩ=I>I@  @ @ 15@ iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990DzD@AE EE+E"E:*Ex:VE [4ZEa@a@a@a@I^Aa5=II O >BM >BM CBM IBM ˁBBI BI BI BM ̣;BM P_Ey /#,F LAFS*>Ft>F;ٱF=FH s?@#׿}2???`@Rxn?s?iFS*>IF];FܑCYRByRInchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510807i=Mb@Mb@Mb@9999 99=S㥛? rh?~jtY=>y=C ==D9=1A =5@)=x@9Y=z@bD}ؿVD}8y|%C=ٔ1:Q->9Y=/EyD zE>Q 54?Q 94)YBY>Q E:y>Q I#@EDI:i:4yҔBɮAJEIuB*** querying acoustic contact ***iqiq:iyDNOT Ignoring new targets: 37.27 m.2i"iO9*iO9 ProNav: ac range: 37.270290 m, nav range: 36.437569 m, bearing: 27.447425 deg, approach rate: -0.432038 m/s, LOS rate: 0.011316 deg/s, cmd heading: 20.103048 deg, new cmd heading: 20.112910 deg. i9HeadingCmd: 0.351036 target range: 37.270290 and range: 37.30 m.h>hhhhggjgrgfBereZe:e1*e=v?cBɢv.=) q*?i)֯is+im>m@=m=Im>Iqy@ @@64@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762682ԩ^A ! =I! I9 OE >E  E E &E "E ;*E $:VE 4ZE BE @2>2qw;ٱ2oc=2H?<׿ ]??? n{b?`?i2Gk(>I2^;2ݑCY:By>IbDFVDF8yNx%N[=ٔN:Q-R>9PYP=R/EyRDVEV>XQ 5^4ZP?Q 9^4Z)ZVBY\yb>Q Ib#@ZJDIZ<;iZ;Z4ydɮfAd:ixzDNOT Ignoring new targets: 37.27 m.2ix"i~"9*i~"9  ProNav: ac range: 37.270290 m, nav range: 36.270443 m, bearing: 27.452314 deg, approach rate: -0.474327 m/s, LOS rate: 0.013941 deg/s, cmd heading: 20.112909 deg, new cmd heading: 20.122733 deg. i 9HeadingCmd: 0.351208 target range: 37.270290 and range: 37.30 m.hѳ>hhhhggjgrge!re!Ze):e1*e n@dBɢ@O=) G(?i)n8iiѳ>u==Iѳ>IԹ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014802^AA!=A?A>IAIYOe>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2666479 /#,0SLA2C&>2>2-;ٱ2E=2H`z? ׿ ?`?@? ܵ qS? ?i2C&>I2_;0Y:By:IbDFVDF8yN\%NJ=ٔr]!;Q-z>9xYx=z/Ey~D~7E~> Q 554 `?Q 954 ȸ) TBY9y=>Q I=#@ PDI ;i ]; W4yEڔBɮEBAMKE:iimDNOT Ignoring new targets: 37.27 m.2iq"iu 9*iu 9D}=D}a=E EE-E"ED:*Ei:VEt4ZEa@a@a@a@ ProNav: ac range: 37.270290 m, nav range: 36.084381 m, bearing: 27.458433 deg, approach rate: -0.443149 m/s, LOS rate: 0.014649 deg/s, cmd heading: 20.122733 deg, new cmd heading: 20.135034 deg. iz9HeadingCmd: 0.351423 target range: 37.270290 and range: 37.30 m.h>hhhhggjgrgereZe:e*e@eBɢ:=)  &?i)=%:i i>=}~=I>IB%>B!Y@Y @a@e/@iB%IB%BB%O =B!B!B!B%N_EADDAT read: Rx Time:01:18:52.5211  TRx dataTimestamp_ set to:1764897533.541225PDAT read: Bearing 177.8, 8.6 (Local) ~Local bearing/azimuth received: Bearing 177.8, 8.6 (Local) %DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.4 DAT read: 01:18:52.5211 LVL= 22800, 25841, 24690, 30099, AGC= 66, IDX= 164,-0.06, 2.099, 0.290, 1.944, 1.637, PHS= 0.565,-1.302, 0.263, RAW= 141.4, 5.5, CAL= 141.0, 6.2, ROT= 9.0, -6.2 Ygot valid direction response: 01:18:52.5211 LVL= 22800, 25841, 24690, 30099, AGC= 66, IDX= 164,-0.06, 2.099, 0.290, 1.944, 1.637, PHS= 0.565,-1.302, 0.263, RAW= 141.4, 5.5, CAL= 141.0, 6.2, ROT= 9.0, -6.2 R#Rx 1: Read range and direction messages.^A2=\direction in FSK: [0.981911,0.155519,0.107999]Fpublishing direction and range infoyUGk?&G?Niإ?YBYdr` u)BIף?i𧦿>@ =@ k=)| >Ikݽl|S?Ϝ-?♸? >)ŽI| >ikݽ=checking for new query: numPingsReceived=1, elapsed TxPingTime=2.559344IYIiOu>i F/#,:mLA 2U$>2>2ƶ<ٱ2Q=2Hü?z׿ ??M?:ց@??i2U$>I2_;2ۑCYNByRIiMb@Mb@Mb@ 9|?5^?:v?MbpY>yT<K@GA b@)Y@bD+VD԰8y7<%:=ٔ;Q->9Y=/EyDƟE>Q 54Ø?Q 94)RBY>Q E;y1>Q I#@VDI ;i ;&4yɮAi1i5nbLAj5B"j5B:j55?Rj5{XA@U:0@@Bj5UGk?&G?Niإ?*j5| >2j5kݽZj5&Ώ)>@l1@r58@Jj5]gʅ?wW2?m?j5A j5qAi5dܢ?i5uOj5ԉBj5 ?j5hqh hhggjgrgkBereZe:eA@*e%@S?imfBɢ =6=)  (?i ):i; i[ >?=;=I[ >IE EE)E"E:*Ega:VEFA4ZEBE6  Pw=  |=) I |ゥ   z6%?lSO(?Rw?  >) ׽I i |ゥ  ^A L= checking for new query: numPingsReceived=2, elapsed TxPingTime=3.041403A I I O >/#,ÈLA HJ@%e>%G>% 2<ٱ%U"=%Hy?2׿ O?;[?`ì? Y3_A@۷?@?i%e>I%1 `;%ܑCYUByUIaabDmVDmð8yM]%M9=ٔU(;Q-U>9QYQ=U/EyUD]m+E]>aQ 54eј?Q 94e )eQBYy>Q I#@e\DIe;ie;e.4yBɮWALEiiタLAj| B"j| B:j=?RjȜIYA@hr@ @Bjlc?; ?mu"޽?*j2j|ZjF~>@4ֻj1@Ez@Jj)x? ?87v?jVA jAi{ڢ?izj3Bj o?j%jBrjBzjz?AM addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503912 s, deltaX: -0.299999 m, approachRate: -0.595341 m/s, rangeRepo size: 4 ] Added new target pos. range: 35.371635 m, bearing: 29.734808 deg, lat: 36.779505 deg, lon: -121.859746 deg, deltaT: 0.503912 s, deltaX: -0.299759 m, approachRate: -0.594864 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 35.37 m.2i"i*i ProNav: ac range: 35.371635 m, nav range: 35.636642 m, bearing: 29.202769 deg, approach rate: 0.000000 m/s, LOS rate: 0.014649 deg/s, cmd heading: 20.147574 deg, new cmd heading: 20.160843 deg. iHeadingCmd: 0.351873 target range: 35.371635 and range: 35.40 m.h(>hhhhggjgrgereZe:e@3A@*e3?=gBɢ8=) y'?i):顁i>i(>7==I(>Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.2749645@1 @1@9@9qEU EUEQEQ"EUs:*EUe:VEQZEQa]@a]@a]@a]@B>BBIBBBL =BBB;B*_EB-CB-CB)B-N =B-N =C-u5ԩ ^A] !=Am xAzAm xAߝ %=ߝ R= DDAT read: Rx Time:01:18:53.5208  TRx dataTimestamp_ set to:1764897534.553094 PDAT read: Bearing 178.1, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 178.1, 8.4 (Local) A .AI I! O- >ެ/#,bLA2DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.3 M>eDAT read: 01:18:53.5208 LVL= 21792, 27009, 23362, 32755, AGC= 62, IDX= 496, 0.33, 2.060, 0.264, 1.913, 1.618, PHS= 0.544,-1.309, 0.250, RAW= 141.5, 6.0, CAL= 141.2, 6.7, ROT= 8.8, -6.7 mYgot valid direction response: 01:18:53.5208 LVL= 21792, 27009, 23362, 32755, AGC= 62, IDX= 496, 0.33, 2.060, 0.264, 1.913, 1.618, PHS= 0.544,-1.309, 0.250, RAW= 141.5, 6.0, CAL= 141.2, 6.7, ROT= 8.8, -6.7 M6>MGF<ٱMQ=MH?׿&?G??@P)Ȉ`? ?iM>IMQe`;MݑCYByIR#Rx 3: Read range and direction messages.\direction in FSK: [0.981479,0.151941,0.116671]Fpublishing direction and range infoy  Y'Gh?EUr?mu"޽?Y f B U i B[ ) >I C ?i P > @ ϸ@ ) nF>I  -C?;x V?/@ߺ? :>) c׽I nF>i Uchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.622619i%Mb@Mb@Mb@!!!! !9%ףp= ?y&1|Y%>y%%`%@! %K@)%@!Y%@9=AAbDE VDE8y]%=ٔ;Q->9 ?Y ?=/EyD E>Q 54☊?Q 94)NBY>Q E:yh>Q I #@cDI:i_:}74yɮsAi i eLAj I B"j I B:j ?Rj fQ+~6A@P@^@Bj Y'Gh?EUr?mu"޽?*j nF>2j Zj HFeR>@B  1@|~@Jj V4~?ztJA?:`'T?j A j Ai Şݢ?i ej Bj Şݢ?j j Brj Bzj ? addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.507957 s, deltaX: -0.300003 m, approachRate: -0.590607 m/s, rangeRepo size: 4  Added new target pos. range: 35.071899 m, bearing: 29.460530 deg, lat: 36.779500 deg, lon: -121.859746 deg, deltaT: 0.507957 s, deltaX: -0.299736 m, approachRate: -0.590082 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 35.07 m.2i"i*i5 ProNav: ac range: 35.071899 m, nav range: 34.912846 m, bearing: 29.714981 deg, approach rate: 0.000000 m/s, LOS rate: 0.014649 deg/s, cmd heading: 20.160844 deg, new cmd heading: 20.175999 deg. i1=HeadingCmd: 0.352138 target range: 35.071899 and range: 35.10 m.h=aK>h9h9hAhAgAgAjgArgMzBeIreIZeI:eM̌A@*eU f?额iBɢ-=)  %?i)!;顡i EiaK>=Xc=IaK>Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.778849m@i @i@i@i) E  E E +E "E :*E z:VE [4ZE BE F8ž/#,¿LA2DDAT read: Rx Time:01:18:54.0208 2TRx dataTimestamp_ set to:1764897535.052956:PDAT read: Bearing 182.0, 8.7 (Local) :~Local bearing/azimuth received: Bearing 182.0, 8.7 (Local) BDAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.4 RDAT read: 01:18:54.0208 LVL= 24400, 27617, 26018, 32755, AGC= 63, IDX= 512, 0.09,-2.851, 1.729,-2.984, 3.121, PHS= 0.414,-1.347, 0.134, RAW= 141.5, 9.8, CAL= 141.0, 10.7, ROT= 9.0, -10.7 VYgot valid direction response: 01:18:54.0208 LVL= 24400, 27617, 26018, 32755, AGC= 63, IDX= 512, 0.09,-2.851, 1.729,-2.984, 3.121, PHS= 0.414,-1.347, 0.134, RAW= 141.5, 9.8, CAL= 141.0, 10.7, ROT= 9.0, -10.7 ZR#Rx 4: Read range and direction messages.^\direction in FSK: [0.970515,0.153715,0.185667]^Fpublishing direction and range infoy02M.u?X? &K{?Y002P_2k2e 0)2?I2>i2j2L7 >02%/>2@ 2t;?>)2| >I2t;?002uW?{޵s?A? 2B>)2(.I2| >i2t;?00jchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.045966r>rR>rٔW<ٱr޿=rH?׿Ҟ? 5? ?@6 h]?`^?ir>IrN a;pY~By~IbD VD 8y<%[=ٔq8;Q->9Y=/EyǓDVE>1Q 5E45?Q 9E45K)5KBYyƾ>Q I#@5hDI54yɮIAi0i2cÿLAj0"j0:j2w?Rj2 iA@jr@Y9 @Bj2M.u?X? &K{?*j2| >2j2t;?Zj2I7E>@X`Gk0@:a'@Jj2b]q?6$x?A q?j2{A j2Ai2"O_֢?i2($j2̎Bj2dܢ?j0j0rj2 Bzj2? addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.499862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.071899 m, bearing: 29.200177 deg, lat: 36.779499 deg, lon: -121.859746 deg, deltaT: 0.499862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 35.07 m.2i"i*i ProNav: ac range: 35.071899 m, nav range: 34.733002 m, bearing: 29.768313 deg, approach rate: 0.000000 m/s, LOS rate: 0.014649 deg/s, cmd heading: 20.175998 deg, new cmd heading: 20.187563 deg. iHeadingCmd: 0.352339 target range: 35.071899 and range: 35.10 m.he>hhhhgg1jg9rg9e9AreZe:e*eT?jBɢBC=)  '?i ) DE;  i *ie>=C=Ie>I9@ @@@qchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.282860E  E E E "E s:*E c:VE ZE a @a @ԡ a @a @^A =B A B >B CB IB BB P =B B WDB ;B _EIy I O >o/#,ݿLAɰp;Bl>B* >BEl<ٱB=BH@?`cֿW"?B??@% O?S?iBl>IBa;BۑCYbBybI)bDMVDM8y] ;%]M=ٔ]WV;Q-]>9aYa=e/EyeϓDeNEm>qQ 5}4u?Q 9}4u)uHBYyн>Q I#@umDIul;iu;uD4yBɮ?ACEB*** querying acoustic contact ***iiUDDAT read: Rx Time:01:18:54.5206 ]TRx dataTimestamp_ set to:1764897535.562084PDAT read: Bearing 178.1, 9.4 (Local) ~Local bearing/azimuth received: Bearing 178.1, 9.4 (Local) :iDNOT Ignoring new targets: 35.07 m.2i"i:*i: ProNav: ac range: 35.071899 m, nav range: 34.566490 m, bearing: 29.809697 deg, approach rate: -0.391860 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.187563 deg, new cmd heading: 20.270731 deg. i3;DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.3 HeadingCmd: 0.353791 target range: 35.071899 and range: 35.10 m.h$>h!h!h!h!g!g)jg1rg1EDAT read: 01:18:54.5206 LVL= 24656, 27889, 26418, 30707, AGC= 64, IDX= 510,-0.10, 0.572,-1.241, 0.382, 0.115, PHS= 0.559,-1.311, 0.223, RAW= 140.3, 6.2, CAL= 140.0, 6.9, ROT= 10.0, -6.9 Ye1reZe:e*e@ܪ?Ygot valid direction response: 01:18:54.5206 LVL= 24656, 27889, 26418, 30707, AGC= 64, IDX= 510,-0.10, 0.572,-1.241, 0.382, 0.115, PHS= 0.559,-1.311, 0.223, RAW= 140.3, 6.2, CAL= 140.0, 6.9, ROT= 10.0, -6.9 R#Rx 5: Read range and direction messages.\direction in FSK: [0.977675,0.172390,0.120137]Fpublishing direction and range infoyQU!YI?pJ%P?rjƹI?YU3 BQUP`UlU2g Uw)U@IU?iUΧUZd>Ut@Uk=Ua@ UϢ=)U¸2>IUϢQQ颅kBɢB=) &?i)nj;顉i9UU.?A)?Y%u[? Ub>)UܽIU¸2>iUϢQQchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.614927i5$>5ä=5=I5$>I9ԉ!@! @!@)@)@5zA@5zAԱ  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786633^A }=A >A >I I O >o/#,qZLAE* E*E*-E("E*:*E*҆:VE*t4ZE(BE(aB2E(aBJE*;aF:E*;aJ|m>mb!>mր<ٱmO=mH;?ֿI??)?^ش`I?F?im>ImYb;mܑCYByIi Mb@Mb@Mb@     9 333333?{Gz?Y >y #<  x@ A @) @ Y @bD%VD%8y5m<%5'=ٔ5i*;Q-=>99Y9==/Ey=ٓDEoEE>Q 54 ?Q 94)GBY>Q E:y>Q I#@tDI ;i;M4yɮAii/㿌LAj B"j B:jc?RjQ@@m @8@Bj!YI?pJ%P?rjƹI?*j¸2>2jϢZjoxr=@hQhQhQhQgYgYjgYrgexBeareaZea:ee`ffA@*em?颕mBɢuO=) )?i)s;顙ii@>Ť=o=I@>I߅=߅%=DDAT read: Rx Time:01:18:55.0205 TRx dataTimestamp_ set to:1764897536.062414PDAT read: Bearing 178.6, 9.5 (Local) ~Local bearing/azimuth received: Bearing 178.6, 9.5 (Local) DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.4 DAT read: 01:18:55.0205 LVL= 25584, 32753, 26946, 32755, AGC= 64, IDX= 510,-0.36, 1.787,-0.027, 1.593, 1.347, PHS= 0.542,-1.329, 0.202, RAW= 140.2, 6.8, CAL= 139.8, 7.6, ROT= 10.2, -7.6 Ygot valid direction response: 01:18:55.0205 LVL= 25584, 32753, 26946, 32755, AGC= 64, IDX= 510,-0.36, 1.787,-0.027, 1.593, 1.347, PHS= 0.542,-1.329, 0.202, RAW= 140.2, 6.8, CAL= 139.8, 7.6, ROT= 10.2, -7.6 R#Rx 6: Read range and direction messages. \direction in FSK: [0.975550,0.175529,0.132256]Fpublishing direction and range infoy񲜘7?V9%w?) ?Y BcBi )I ?iN>ۚ@=y(@ >)K6>I"߀-?7ר?Bp't? R>)H5IK6>i-checking for new query: numPingsReceived=6, elapsed TxPingTime=5.061065=@9 @9@=/@9^A=YIIO>y ^S0#,$LA2y>2Q>2B<ٱ2 =2H`?YֿC??K?]@շ? 1?i2y>I28b;2ڑCrchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.290608YYByIbD VD8y%e=ٔL;Q->9Y=/EyDʏE>Q 5 4?Q 9 4)FBY y P>Q I #@yDI :i\:S4y}Bɮ}mA}DEiiLAj B"j B:j?Rjܙn3b@@m[ W@JƒW@Bj񲜘7?V9%w?) ?*jK6>2jZjJ ӥ=@sFc1@2bx p1@JjT5k]?Ԙ ?ybE?jA j.AiVqۢ?iLjӊBjVqۢ?jj3BrjBzj? addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.500330 s, deltaX: -0.099998 m, approachRate: -0.199865 m/s, rangeRepo size: 4 DQzDU?AEu EuEu)Eq"Eus:*Eu:VEuFA4ZEqa@a@a@a@ Added new target pos. range: 34.671017 m, bearing: 30.393524 deg, lat: 36.779499 deg, lon: -121.859746 deg, deltaT: 0.500330 s, deltaX: -0.099915 m, approachRate: -0.199697 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.67 m.2i"i*i"UrFailed to parse device response: 12.7699,3.92269,3566.46 ԉ ProNav: ac range: 34.671017 m, nav range: 34.213928 m, bearing: 29.940846 deg, approach rate: 0.000000 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.356477 deg, new cmd heading: 20.427680 deg. iHeadingCmd: 0.356530 target range: 34.671017 and range: 34.70 m.h#>hhhhggjgrgereZe:eYA@*e<-?颥nBɢk@=) 4&?i)Q ;顩iFi=#>EǤ=Mn=IM#>ԹIDDAT read: Rx Time:01:18:55.5203 TRx dataTimestamp_ set to:1764897536.569672PDAT read: Bearing 177.8, 9.3 (Local) ~Local bearing/azimuth received: Bearing 177.8, 9.3 (Local) DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.3  DAT read: 01:18:55.5203 LVL= 23536, 28113, 24562, 30051, AGC= 63, IDX= 507, 0.30, 2.684, 0.839, 2.482, 2.213, PHS= 0.573,-1.329, 0.226, RAW= 140.1, 6.1, CAL= 139.8, 6.9, ROT= 10.2, -6.9 @  @ @ /@ - Ygot valid direction response: 01:18:55.5203 LVL= 23536, 28113, 24562, 30051, AGC= 63, IDX= 507, 0.30, 2.684, 0.839, 2.482, 2.213, PHS= 0.573,-1.329, 0.226, RAW= 140.1, 6.1, CAL= 139.8, 6.9, ROT= 10.2, -6.9 5 R#Rx 7: Read range and direction messages. \direction in FSK: [0.977067,0.175802,0.120137] Fpublishing direction and range infoyrW"D?l־{?rjƹI?Y B[m_ cu)?I!?ilg>C~@^ = Ϣ=) IϢ4?A?aȳ 0? >)ٽIiϢ- checking for new query: numPingsReceived=7, elapsed TxPingTime=5.627385 ^AqAuyAzAuwAIIO > 0#,d1LA@R>R>R q<ٱRH=RH` ?@&ֿ?`?E? Ɗ풿 Ƿ?`.?iR>IROLb;RܑCYnBynI=checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794792iMb@Mb@Mb@ 9S? rh?{Gzt?Y>yC<ף;b@A 5@)@Yf@bDVD8y%D<%%"=ٔ%!;Q-%>9)Y)=-/Ey-D15JE5>9Q 5E4=)?Q 9E4=ߩ)=EBYM>Q EM:yM@>Q IM#@=DI=&;i=;=\4yUBɮUAYi9i=u$LAj=| B"j=| B:j=?Rj=3=@@HV+@ϮQ[@Bj=rW"D?l־{?rjƹI?*j92j=ϢZj=d`r=@&{A1@ϡ]4@Jj=Mwpj?^<)?~*%jW,?j=A j=Ai="ۢ?i=4j=؉Bj9j=4j=Brj=Bzj=? addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.507258 s, deltaX: -0.299999 m, approachRate: -0.591413 m/s, rangeRepo size: 4  Added new target pos. range: 34.371269 m, bearing: 30.372462 deg, lat: 36.779499 deg, lon: -121.859743 deg, deltaT: 0.507258 s, deltaX: -0.299747 m, approachRate: -0.590917 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.37 m.2i"i*i ProNav: ac range: 34.371269 m, nav range: 34.134834 m, bearing: 30.369255 deg, approach rate: 0.000000 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.427680 deg, new cmd heading: 20.522405 deg. iHeadingCmd: 0.358184 target range: 34.371269 and range: 34.40 m.hc>hhhhggjgrgBereZe:e@33A@*e@T?pBɢS=)  '?i)p;!i%Si-c>-)ɤ=-̬=I-c>I)bE5 [4jE5R4rE5\00E EE+E"E:*E҆:VE [4ZE@ @@@i^A?=IIOL> YYԉG{ADDAT read: Rx Time:01:18:56.0202 TRx dataTimestamp_ set to:1764897537.070432 PDAT read: Bearing 178.3, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 9.3 (Local)  DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.3 E DAT read: 01:18:56.0202 LVL= 26160, 32753, 29826, 32755, AGC= 64, IDX= 506, 0.03, 2.531, 0.720, 2.335, 2.085, PHS= 0.548,-1.320, 0.206, RAW= 140.1, 6.6, CAL= 139.8, 7.4, ROT= 10.2, -7.4 M Ygot valid direction response: 01:18:56.0202 LVL= 26160, 32753, 29826, 32755, AGC= 64, IDX= 506, 0.03, 2.531, 0.720, 2.335, 2.085, PHS= 0.548,-1.320, 0.206, RAW= 140.1, 6.6, CAL= 139.8, 7.4, ROT= 10.2, -7.4 M R#Rx 8: Read range and direction messages.U \direction in FSK: [0.975998,0.175610,0.128796]U Fpublishing direction and range infoyha;?az?OZ_|?YB0ft )@II ?iR>=  A>)I A>?I8 ?R? >)Ii Au checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064257 |9 {AY xAy i? -AԱ ٽ0#,KLA2<>2>2'<ٱ2M=2H w?ֿN??E?iDƿ??i2<>I2`b;2ۑCYNByRIbDZVDZ8y % ^=ٔ Bi;Q- >9Y=/EyD!]E>AQ 5E4E5?Q 9M4E>)AYIyM>Q IM#@EDIE:iE:Ec4yuBɮ}'Ayi1i5DLAj5B"j5B:j5+?Rj5 D@@@^Ⱦ@e @Bj5ha;?az?OZ_|?*j12j5 AZj5HI=@ߋ1@2@Jj5LKl?LU?[閘)?j5A j5HAi5'@٢?i5G-j5GBj5"ۢ?j1j5GBrj5Bzj5? addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.500760 s, deltaX: -0.200001 m, approachRate: -0.399394 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.171432 m, bearing: 30.252858 deg, lat: 36.779499 deg, lon: -121.859743 deg, deltaT: 0.500760 s, deltaX: -0.199837 m, approachRate: -0.399067 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 34.17 m.2i9"i9*iAM ProNav: ac range: 34.171432 m, nav range: 33.974430 m, bearing: 30.406626 deg, approach rate: 0.000000 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.522405 deg, new cmd heading: 20.597370 deg. iIuHeadingCmd: 0.359492 target range: 34.171432 and range: 34.20 m.h}S>hyhyhyhygygyjgrgereZe:eA@*e ٕ?ԑqBɢJPP=) $?i)(;iTiS> ɤ= i==I S>I)Uchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.299367@ @@/@E EE,E"Es:*E&p:VEg4ZEA@AA@AB>BCByIBBBQ =BBVDBO;B^E^A=A?A?A I! Ii O > = DDAT read: Rx Time:01:18:56.5200 M TRx dataTimestamp_ set to:1764897537.5805310#,EbeLAPDAT read: Bearing 177.7, 9.8 (Local) "~Local bearing/azimuth received: Bearing 177.7, 9.8 (Local)  DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 DAT read: 01:18:56.5200 LVL= 25136, 28849, 27858, 32691, AGC= 65, IDX= 504,-0.14,-0.164,-2.008,-0.390,-0.646, PHS= 0.583,-1.317, 0.212, RAW= 139.4, 6.0, CAL= 139.2, 6.8, ROT= 10.8, -6.8 Ygot valid direction response: 01:18:56.5200 LVL= 25136, 28849, 27858, 32691, AGC= 65, IDX= 504,-0.14,-0.164,-2.008,-0.390,-0.646, PHS= 0.583,-1.317, 0.212, RAW= 139.4, 6.0, CAL= 139.2, 6.8, ROT= 10.8, -6.8 R#Rx 9: Read range and direction messages.\direction in FSK: [0.975377,0.186063,0.118404]Fpublishing direction and range infoyimJ6?T?EO?YmBim0bmpml m)mAIm}??imu7> >'p<ٱ=H`7?wֿ jI?Ԯ?@? Z핿`??i7>Ib;ݑCY-BmY>m@mPw=m|@ m=)mA>Imiim>5?0e& ?̮(W? m<>)m׽ImA>imiichecking for new query: numPingsReceived=9, elapsed TxPingTime=6.649208yIiMb@Mb@Mb@ 9333333?V-?Mb?Y>y<< K@)@YbDVD8y%=ٔG;Q->9Y=/EyD'E>aQ 5e4eG?Q 9m4e)aYm$>Q Em:ymZ>Q Im#@eDIe8:ieb:e|l4yyɮ}0Aiiimk'eLAjm{B"jm{B:jm ?Rjmҽ@@a3b5@X> @BjmJ6?T?EO?*jmA>2jmZjm޹<@a\A1@*t@JjmEJ?GM?LwM?jmA jmAimGɢ?im jmyBjijmajmBrjmBzjmU?- addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.510099 s, deltaX: -0.299999 m, approachRate: -0.588120 m/s, rangeRepo size: 4 ] Added new target pos. range: 33.870934 m, bearing: 30.855968 deg, lat: 36.779499 deg, lon: -121.859742 deg, deltaT: 0.510099 s, deltaX: -0.300499 m, approachRate: -0.589099 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 33.87 m.2ia"ia*ia ProNav: ac range: 33.870934 m, nav range: 33.768852 m, bearing: 30.513130 deg, approach rate: 0.000000 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.597369 deg, new cmd heading: 20.703144 deg. iHeadingCmd: 0.361338 target range: 33.870934 and range: 33.90 m.hL>hhhhggjgrgBereZe:e@3@@*e?sBɢ:6=)! %_"?i!)%F;!!i%Ji-L>-5ʤ=-ͥ=I5L>]checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802835IYi @  @ @ /@ I E  E E )E "E :*E xv:VE FA4ZE BE a 2E a JE ;a :E ;a y ^A- p=DDAT read: Rx Time:01:18:57.0199 TRx dataTimestamp_ set to:1764897538.077423PDAT read: Bearing 178.4, 9.5 (Local) %~Local bearing/azimuth received: Bearing 178.4, 9.5 (Local) 5DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4 mDAT read: 01:18:57.0199 LVL= 27296, 32753, 30802, 32755, AGC= 65, IDX= 504,-0.50, 1.537,-0.299, 1.327, 1.084, PHS= 0.555,-1.338, 0.198, RAW= 139.8, 6.8, CAL= 139.5, 7.6, ROT= 10.5, -7.6 }Ygot valid direction response: 01:18:57.0199 LVL= 27296, 32753, 30802, 32755, AGC= 65, IDX= 504,-0.50, 1.537,-0.299, 1.327, 1.084, PHS= 0.555,-1.338, 0.198, RAW= 139.8, 6.8, CAL= 139.5, 7.6, ROT= 10.5, -7.6 A؟AIԡIOU?!0#,LAT#Rx 10: Read range and direction messages.\direction in FSK: [0.974618,0.180635,0.132256]Fpublishing direction and range infoyAEo;!0?҄ ?) ?YE3BAEjEERx E)AIE{?iECEJ>Ey(@&4<ɰ&4)Ef;>IEAAE&~h=? IC?m*H0.? E>)EIEf;>iEAAVchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.119703O><><ٱY=H}?@hֿ n? y?? $?c?iO>Ic;ۑCY5ˁBy=IbDMVDM8qyޡ=%2=ٔ ;Q->9"?Y"?=/EyD)E>Q 543V?Q 94)FBYy>Q I#@DI :i:Lt4y&BɮAEEiAiELAjEB"jEB:jE?RjE'Ht@@^ef@!{⡠@BjEo;!0?҄ ?) ?*jEf;>2jEZjE7FW<@7̶0@@JjE Xe`?2(?eƧ?jEA jEAiEDآ?iE_gqjEIBjE'@٢?jE4jEGBrjE+BzjE??u addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.496892 s, deltaX: -0.100002 m, approachRate: -0.201256 m/s, rangeRepo size: 4  Added new target pos. range: 33.771019 m, bearing: 30.421429 deg, lat: 36.779499 deg, lon: -121.859743 deg, deltaT: 0.496892 s, deltaX: -0.099915 m, approachRate: -0.201079 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.77 m.2i"i*i ProNav: ac range: 33.771019 m, nav range: 33.542458 m, bearing: 30.493975 deg, approach rate: 0.000000 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.703143 deg, new cmd heading: 20.789708 deg. iHeadingCmd: 0.362849 target range: 33.771019 and range: 33.80 m.hSǹ>hhhhggjgrgereZe:e`f@@*e?EuBɢE}R=)i m*?ii)mV;iiiu+iuSǹ>uɤ=}ˢ=I}Sǹ>Iyԡ%@! @!@%/@!echecking for new query: numPingsReceived=10, elapsed TxPingTime=7.306737E EE*E"E:*E:VE(N4ZEa @a @a @a @! B >B CB B B R =B B B #;B ^E^A% h=A AQ Ia Iq O} >(0#,סLADDAT read: Rx Time:01:18:57.5197 TRx dataTimestamp_ set to:1764897538.588669Y-ƁBy5IMPDAT read: Bearing 177.6, 9.6 (Local) U~Local bearing/azimuth received: Bearing 177.6, 9.6 (Local) DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.3 DAT read: 01:18:57.5197 LVL= 25184, 30945, 29266, 32755, AGC= 64, IDX= 501, 0.20, 1.717,-0.152, 1.489, 1.232, PHS= 0.587,-1.339, 0.213, RAW= 139.4, 6.2, CAL= 139.2, 6.9, ROT= 10.8, -6.9 Ygot valid direction response: 01:18:57.5197 LVL= 25184, 30945, 29266, 32755, AGC= 64, IDX= 501, 0.20, 1.717,-0.152, 1.489, 1.232, PHS= 0.587,-1.339, 0.213, RAW= 139.4, 6.2, CAL= 139.2, 6.9, ROT= 10.8, -6.9 T#Rx 11: Read range and direction messages. \direction in FSK: [0.975173,0.186024,0.120137] Fpublishing direction and range infoy4?N?rjƹI?YB`bxRr )@IE?iZdZ>@k=|@ Ϣ=)A>IϢ԰?|0?~|k? -ͭ>)۽IA>iϢmchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.651324iMb@Mb@Mb@ 9V-?kt?y&1|?Yh>y 0=`;@bA 5@)Y@BAbD%%VD%ϰ8y-%5%=ٔ5Q-5>9yYy=}/Ey}DE>Q 54e?Q 947)Y>Q E;y>Q I#@DI_;i;}4yɮAaiiLAjB"jB:jm ?RjQ@@,n @ Z@Bj4?N?rjƹI?*jA>2jϢZj4ƽ<@ q1@>)@Jj7MO?pF?<|4:?j,A jAi 3̢?iejkBjDآ?jj؉BrjMBzjg? addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.511246 s, deltaX: -0.299999 m, approachRate: -0.586800 m/s, rangeRepo size: 4  Added new target pos. range: 33.471035 m, bearing: 30.790208 deg, lat: 36.779499 deg, lon: -121.859743 deg, deltaT: 0.511246 s, deltaX: -0.299984 m, approachRate: -0.586770 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.47 m.2i"i*i= ProNav: ac range: 33.471035 m, nav range: 33.325539 m, bearing: 30.528902 deg, approach rate: 0.000000 m/s, LOS rate: 0.097861 deg/s, cmd heading: 20.789708 deg, new cmd heading: 20.892034 deg. i9EHeadingCmd: 0.364635 target range: 33.471035 and range: 33.50 m.hEi>hAhAhAhAgAgIjgqrguBeqreqZeq:e}@@*e}?xBɢB=) $'?i);iii>.ɤ=\=Ii>IU checking for new query: numPingsReceived=11, elapsed TxPingTime=7.811942ԁ @  @ @ @ E  E E )E "E s:*E k:VE FA4ZE BE p02 >2<ٱ29=2H@?_ֿ? ?+? @??i22>I2ec;0Y:ȁBy:IbDF"VDF̰8yJ\<%NY=ٔN;Q-N>9PYP=R/EyRDRgEV>TQ 5Z4V5q?Q 9^4Vn)TY\y^>Q I^#@VDIV3;iV@;V4yf.Bɮf1AfFEvDDAT read: Rx Time:01:18:58.0196 ~TRx dataTimestamp_ set to:1764897539.087489 PDAT read: Bearing 179.3, 10.2 (Local) ~Local bearing/azimuth received: Bearing 179.3, 10.2 (Local) -DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.3 DAT read: 01:18:58.0196 LVL= 31776, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.06, 2.146, 0.283, 1.901, 1.704, PHS= 0.544,-1.375, 0.154, RAW= 138.9, 7.8, CAL= 138.6, 8.6, ROT= 11.4, -8.6 Ygot valid direction response: 01:18:58.0196 LVL= 31776, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.06, 2.146, 0.283, 1.901, 1.704, PHS= 0.544,-1.375, 0.154, RAW= 138.9, 7.8, CAL= 138.6, 8.6, ROT= 11.4, -8.6 T#Rx 12: Read range and direction messages.\direction in FSK: [0.969249,0.195435,0.149535]Fpublishing direction and range infoB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 33.47 m.2i"i5]:*i5]:yxzE?W5?S&r#?Yz3Bxz |zz x)xIzC ?izz->z'@z'g >zT@ z`>)z%K>Iz`xxz?-)e?QsŮG? z>)z٩ Iz%K>iz`xxEchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.109114 ProNav: ac range: 33.471035 m, nav range: 33.174129 m, bearing: 30.546916 deg, approach rate: -0.404540 m/s, LOS rate: 0.048349 deg/s, cmd heading: 20.892034 deg, new cmd heading: 20.928226 deg. i:HeadingCmd: 0.365266 target range: 33.471035 and range: 33.50 m.h4>hhhhggjgrgereZe:e`f@@*e`T? zBɢ.d=) "'?i)۫<i6!i4>%rȤ=%=I%4>I]@Y @Y@]/@Ychecking for new query: numPingsReceived=12, elapsed TxPingTime=8.314869A ^A} ٠=E  E E E "E D:*E Ar:VE ZE aE @aE @aE @aM @B <A A B >B B IB BB B B B ;B b^EI I O >70#,ZhLA^r>^>^<ٱ^T=^H@|?@^ֿ?,?Q?-J6?t?i^r>I^b;^ݑCYj́ByjI llbDrVDr8yz?<%zE=ٔ~,;Q-~>9|Y=/EyDL9E> Q 54 ~?Q 94 k) Yy>Q I#@ DI A;i ^; NJ4y!ɮ% A!i)i-kLAj-B"j-B:j-Q ?Rj-lo@@?ma@wG@Bj-E?W5?S&r#?*j-%K>2j-`Zj--<@(K 1@@Jj-(M?7vf?{?j-mA j-oAi- Ģ?i-vj-2Bj- 3̢?j-ej-GBrj-Bzj-P ?u addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.498820 s, deltaX: -0.200001 m, approachRate: -0.400948 m/s, rangeRepo size: 4  Added new target pos. range: 33.271042 m, bearing: 31.181328 deg, lat: 36.779498 deg, lon: -121.859742 deg, deltaT: 0.498820 s, deltaX: -0.199993 m, approachRate: -0.400932 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.27 m.2i"i*i ProNav: ac range: 33.271042 m, nav range: 32.930614 m, bearing: 30.831201 deg, approach rate: 0.000000 m/s, LOS rate: 0.048349 deg/s, cmd heading: 20.928226 deg, new cmd heading: 20.965096 deg. iHeadingCmd: 0.365910 target range: 33.271042 and range: 33.30 m.hX>hhhhggjgrgereZe:e*eg?额{Bɢhdc=) (?i) <顡i"iX>Ǥ=_=IX>IY%DDAT read: Rx Time:01:18:58.5194 ETRx dataTimestamp_ set to:1764897539.597616mPDAT read: Bearing 179.0, 10.2 (Local) }~Local bearing/azimuth received: Bearing 179.0, 10.2 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 @ @@/@DAT read: 01:18:58.5194 LVL= 25968, 32753, 31586, 32755, AGC= 64, IDX= 499,-0.10,-1.034,-2.892,-1.279,-1.483, PHS= 0.551,-1.364, 0.159, RAW= 138.8, 7.5, CAL= 138.6, 8.4, ROT= 11.4, -8.4 Ygot valid direction response: 01:18:58.5194 LVL= 25968, 32753, 31586, 32755, AGC= 64, IDX= 499,-0.10,-1.034,-2.892,-1.279,-1.483, PHS= 0.551,-1.364, 0.159, RAW= 138.8, 7.5, CAL= 138.6, 8.4, ROT= 11.4, -8.4 T#Rx 13: Read range and direction messages.E\direction in FSK: [0.969755,0.195537,0.146083]EFpublishing direction and range infoy9=;?_Z?/8ٲ?Y=B9=pe9=b{ 9)9I=V ?i==">= @= >ԁ9 =Q >)9I=Q 99=dp?e0Fz?k? =@>)=OZI9i=Q 99=checking for new query: numPingsReceived=13, elapsed TxPingTime=8.661247^Am e=ԩ A I I  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.822772O >-=0#, FLA2 >2 >2<ٱ2]7=2H4??[ֿ#???d@J??i2 >I2b;2ۑCy%T=%;!! !)%@!Y! 99bDEVDE8yUX%U*=ٔU:Q-U>9YYY=]/Ey])D]8Ee>aQ 5m4e?Q 9u4e)aYu>Q Eu;yuA>Q Iu#@eDIe ;ie ;e/4yyɮqAiiimW?LAjmBԩ"jmB:jmiT ?Rjmi&^?@@j#%D@Bjm;?_Z?/8ٲ?*ji2jmQ Zjm%;@x 0@/NP@JjmSM?]i?7HɀÒ?jmHA jmAim4?im6jm͊BjmGɢ?jm jmIBrjmBzjmj ? addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.510127 s, deltaX: -0.299999 m, approachRate: -0.588087 m/s, rangeRepo size: 4  Added new target pos. range: 32.971306 m, bearing: 31.183613 deg, lat: 36.779497 deg, lon: -121.859741 deg, deltaT: 0.510127 s, deltaX: -0.299736 m, approachRate: -0.587571 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 32.97 m.2i!"iI*iI] ProNav: ac range: 32.971306 m, nav range: 32.734623 m, bearing: 30.979337 deg, approach rate: 0.000000 m/s, LOS rate: 0.048349 deg/s, cmd heading: 20.965097 deg, new cmd heading: 21.011679 deg. iYeHeadingCmd: 0.366723 target range: 32.971306 and range: 33.00 m.hû>hhhhggjgrgBereZe:e@@*e?~Bɢ2J=) !?i ) j<  i #iû>AƤ=<<=Iû>I-DDAT read: Rx Time:01:18:59.0193 5TRx dataTimestamp_ set to:1764897540.098718EPDAT read: Bearing 176.8, 6.8 (Local) M~Local bearing/azimuth received: Bearing 176.8, 6.8 (Local) eDAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.3 DAT read: 01:18:59.0193 LVL= 27504, 32753, 29346, 32755, AGC= 64, IDX= 498, 0.37,-2.091, 2.332,-2.230,-2.565, PHS= 0.576,-1.341, 0.291, RAW= 142.1, 5.3, CAL= 141.8, 6.0, ROT= 8.2, -6.0 Ygot valid direction response: 01:18:59.0193 LVL= 27504, 32753, 29346, 32755, AGC= 64, IDX= 498, 0.37,-2.091, 2.332,-2.230,-2.565, PHS= 0.576,-1.341, 0.291, RAW= 142.1, 5.3, CAL= 141.8, 6.0, ROT= 8.2, -6.0 T#Rx 14: Read range and direction messages.\direction in FSK: [0.984354,0.141848,0.104528]Fpublishing direction and range infoy15B=?"(?4ޮ`º?Y5B15pk15r 1)1I5t?i5㥫5>5,@5q=5bd@ 5Pw=)5C>I5Pwֽ115 ?P<`?ܟ׷? 5hR>)5I5C>i5Pwֽ1@ @@/@1checking for new query: numPingsReceived=14, elapsed TxPingTime=9.106056 ^A ȝ=A >A ?9 A I I O >D0#,LA;ɰ;2X>2A>2<ٱ2|=2HF?@M\ֿ+???`N`c?w?i2X>I2bb;2ّCY>By>IbDFVDF8yNT%N^=ٔR1;Q-R>9PYP=R/EyR1DV-:EV>nchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.326788XQ 5e4Z?Q 9e4Z$)XYaye]>Q Im#@ZDIZȠRjO|0-@@v0@6\| @BjB=?"(?4ޮ`º?*jC>2jPwֽZj6U@<@\ $m/@ü7~@Jj6N?q/?#)޶?j xA jAi7?i4`jBj 3̢?jejrjUBzj ? addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.501102 s, deltaX: -0.099998 m, approachRate: -0.199557 m/s, rangeRepo size: 4  Added new target pos. range: 32.871395 m, bearing: 28.262558 deg, lat: 36.779498 deg, lon: -121.859742 deg, deltaT: 0.501102 s, deltaX: -0.099911 m, approachRate: -0.199382 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.87 m.2i"i*i ProNav: ac range: 32.871395 m, nav range: 32.583275 m, bearing: 30.862490 deg, approach rate: 0.000000 m/s, LOS rate: 0.048349 deg/s, cmd heading: 21.011679 deg, new cmd heading: 21.049351 deg. iHeadingCmd: 0.367380 target range: 32.871395 and range: 32.90 m.hL>hhhhggjgrgereZe:e@3s@@*e mo?ԱEE EAEE(EA"EE:*EAVEEc44ZEAae@am@am@am@BBByIBBBBBBޢ;B<^EBCBCBÔCBR =BQ =Cf5Bɢ%DJU=)! %?i!)% 5Ť=5޶=I5L>I1@ @@/@DDAT read: Rx Time:01:18:59.5191 TRx dataTimestamp_ set to:1764897540.607041 - PDAT read: Bearing 179.0, 10.0 (Local) 5 ~Local bearing/azimuth received: Bearing 179.0, 10.0 (Local) } DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 ^A  PExceeded connect timeout, disconnecting.% DAT read: 01:18:59.5191 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.30, 0.673,-1.195, 0.428, 0.222, PHS= 0.553,-1.373, 0.162, RAW= 138.9, 7.5, CAL= 138.6, 8.4, ROT= 11.4, -8.4 5 Ygot valid direction response: 01:18:59.5191 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.30, 0.673,-1.195, 0.428, 0.222, PHS= 0.553,-1.373, 0.162, RAW= 138.9, 7.5, CAL= 138.6, 8.4, ROT= 11.4, -8.4 5 T#Rx 15: Read range and direction messages.e \direction in FSK: [0.969755,0.195537,0.146083]e Fpublishing direction and range infoy;?_Z?/8ٲ?YfB )AIh ?iwT%>'@ >T@ Q >)%K>IQ &Eo?Jy?@?? %>)RI%K>iQ  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.648627A I I O >1 K0#,P.LAj>jM>j<ٱj=jH-?PֿD?@??V&ឿ??ij>Ija;jݑCY-By-II5<)5py}94=};}@}xA }@)}@yY}Q@bD"VD̰8y%.=ٔ:Q->9Y=/Ey:DúE>Q 54?Q 9 4ז)DBY >Q E-;y-+>Q I5#@DI;i>;4y9ɮ=6A9ii&LAjIB"jIB:jg. ?Rj&?@cy@{\@Bj;?_Z?/8ٲ?*j%K>2jQ Zj܏;@Un0@,Eqڬ@Jj3 "?Nnf?ڗp]?jA jAiBɽ?i[jBj Ģ?j[jBrj\Bzj ?checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830850 addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.508323 s, deltaX: -0.300003 m, approachRate: -0.590182 m/s, rangeRepo size: 4  Added new target pos. range: 32.571651 m, bearing: 31.150387 deg, lat: 36.779497 deg, lon: -121.859741 deg, deltaT: 0.508323 s, deltaX: -0.299744 m, approachRate: -0.589672 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 32.57 m.2i)"i1*i1= ProNav: ac range: 32.571651 m, nav range: 32.340534 m, bearing: 31.075333 deg, approach rate: 0.000000 m/s, LOS rate: 0.048349 deg/s, cmd heading: 21.049352 deg, new cmd heading: 21.094727 deg. i9eHeadingCmd: 0.368172 target range: 32.571651 and range: 32.60 m.he>hihihihigigijgqrguBeqreqZeq:e}L@@*e}?Bɢ3pM=) ?i))<idZ&i>lä=K=I>IE] E]E])EY"E]V:*E]e:VE]FA4ZEYBE]9S? M _?Y B 0l t ) @I V?i p ˡE> @ Ϣ= @ 'g >) q=>I 'g ?L_gi?(%? >) dI q=>i 'g  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.116268 A I I O >R0#, KLAV>V>V7<ٱVI=VH?@GֿL?`#?@? մş;?@%?iV>IV`;VܑCYbBybIhjAAbDnVDn°8yv|"=%vP=ٔv;Q-z>99Y9==/Ey=BDEAԺEE>IQ 5M4Ms?Q 9u4M)MCBYqyu>Q Iu#@MDIM;iM;Mب4y>Bɮ8AiiFLAj|B"j|B:j?Rjgqg?@մ%W@.H͒@BjyW)?tQ>S? M _?*jq=>2j'g Zj7({;@FAA0@;#@Jjf9-jd?S|?뭬k?j A jAi8Ѣ?i]jBjjjrjBzjk ?U addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.499455 s, deltaX: -0.199997 m, approachRate: -0.400430 m/s, rangeRepo size: 4 e Added new target pos. range: 32.371830 m, bearing: 30.398260 deg, lat: 36.779497 deg, lon: -121.859741 deg, deltaT: 0.499455 s, deltaX: -0.199821 m, approachRate: -0.400079 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 32.37 m.2iai"i*i ProNav: ac range: 32.371830 m, nav range: 32.182236 m, bearing: 31.096195 deg, approach rate: 0.000000 m/s, LOS rate: 0.048349 deg/s, cmd heading: 21.094727 deg, new cmd heading: 21.132712 deg. iHeadingCmd: 0.368835 target range: 32.371830 and range: 32.40 m.h׼>hhhhggjgrgereZe:e@33@@*eXR?%Bɢ%Y=)A M?iI)M 0U=Uqn=IU׼>IY@ @@(1@checking for new query: numPingsReceived=16, elapsed TxPingTime=10.338596E EE,E"E:*Ek:VEg4ZEA1A1BM>BIBMrIBMBBIBIBIBM;BM ^Ea}@a}@a}@a}@^A S=A zA A .AI I  O >X0#,dLALL-DDAT read: Rx Time:01:19:00.5187 ETRx dataTimestamp_ set to:1764897541.614563]PDAT read: Bearing 178.3, 9.0 (Local) e~Local bearing/azimuth received: Bearing 178.3, 9.0 (Local) %nManaging dock network, ignoring radio surface power offDAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 >v>/f=ٱY=H?6ֿ|? ??@ l ???i>IG`;ۑCY=By=IDAT read: 01:19:00.5187 LVL= 25728, 31409, 29138, 32755, AGC= 64, IDX= 509,-0.34,-1.236,-3.103,-1.451,-1.693, PHS= 0.559,-1.364, 0.198, RAW= 139.8, 6.9, CAL= 139.5, 7.7, ROT= 10.5, -7.7 Ygot valid direction response: 01:19:00.5187 LVL= 25728, 31409, 29138, 32755, AGC= 64, IDX= 509,-0.34,-1.236,-3.103,-1.451,-1.693, PHS= 0.559,-1.364, 0.198, RAW= 139.8, 6.9, CAL= 139.5, 7.7, ROT= 10.5, -7.7 T#Rx 17: Read range and direction messages.\direction in FSK: [0.974389,0.180592,0.133986]Fpublishing direction and range infoy15' 2.?l?L`u&?Y5B15d5z5q 1)1I5?i55J>5y(@15@ 5 >)5f;>I5 115^P?'t?{ξ? 50>)5I5f;>i5 11checking for new query: numPingsReceived=17, elapsed TxPingTime=10.688164iMb@Mb@Mb@ 9&1?yt=ף@A )@Y@bDm"VDm̰8y`%=ٔ*:Q->9 ?Y ?=/EyNDXE>)Q 5-4-Ù?Q 954-T)-?BY5>Q E5;y5>Q I5#@-DI-:i-A:-4yaɮeWAai1i5UgLAj5A"j5A:j5Q*?Rj5)zvM'?@@XO"@Bj5' 2.?l?L`u&?*j5f;>2j5 Zj5-?@tk;@r͟/@e5,@Jj50q?fi^k?,?j5A j5[Ai5Xϋʢ?i5ڴj5[Bj5Xϋʢ?j5]j5Brj5Azj5O? addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.508067 s, deltaX: -0.400002 m, approachRate: -0.787301 m/s, rangeRepo size: 4  Added new target pos. range: 31.972376 m, bearing: 30.251569 deg, lat: 36.779497 deg, lon: -121.859745 deg, deltaT: 0.508067 s, deltaX: -0.399454 m, approachRate: -0.786223 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 31.97 m.2i!"i)*i)] ProNav: ac range: 31.972376 m, nav range: 31.825794 m, bearing: 30.508067 deg, approach rate: 0.000000 m/s, LOS rate: 0.048349 deg/s, cmd heading: 21.132711 deg, new cmd heading: 21.187071 deg. iY]HeadingCmd: 0.369784 target range: 31.972376 and range: 32.00 m.heYT>hahahahagagajgirgmBeireiZeq:eu@@*e}@A?Bɢވ==) ~?i)Z;<i (iYT>===IYT>Ichecking for new query: numPingsReceived=17, elapsed TxPingTime=10.839160Q @  @ @ /@ bEFA4jEmF4rE/E  E E )E "E *E ]t:VE FA4ZE BE >*ۚ@*|=*E@ * >)*J4>I* ((*kw?s?Y5nU;? *bx>)*'I*J4>i* ((bchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.110861m>(~>D=ٱ=H`J? &ֿ@?@o?@?+{Ʊ?B?im>I\_;ݑCY-By-I 11bD=VD=Ű8yMq%MW=ٔUA;Q-U>9QYQ=]/Ey]UD]1E]>aQ 5m4eϙ?Q 9m4e)eQ I#@eƋDIe8;ie;e?4yɮyAi(i*ƇLAj("j(:j*F?ԑRj*s@AJ&5?@bV<@c@Bj*Sj 2j* Zj*N+;@hhhhggjg!rg!e!re!ZeI:eI*eM)?颕Bɢw>Q=) p?i)ёC<顙i)i)>==I)>Iy@y @y@}/@ychecking for new query: numPingsReceived=18, elapsed TxPingTime=11.347184Be >Be CBe fIBe BBe Q =Ba Ba Be w;Be ]EE  E E *E "E ;*E :VE (N4ZE BE ]<2E ]<JE ;:E ;^A =! I I O >5 h0#,LA:>:>:P =ٱ:J=:H? ֿ? `? ?@`@tQ??i:>I:'S_;:ۑCYFByFI LN=bDRVDRư8y^G%bJ=ٔj;Q-n>9pYp=r0Eyr]DrEv>tQ 5z4vcܙ?Q 9~4v)v9BY|y~~>Q I~#@vˋDIvY;ivD;vh4y@Bɮ A ?E%B*** querying acoustic contact ***i!i!:i15DNOT Ignoring new targets: 31.97 m.2i1"i=:*i=:M ProNav: ac range: 31.972376 m, nav range: 31.493628 m, bearing: 30.222699 deg, approach rate: -0.453673 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.225894 deg, new cmd heading: 21.275403 deg. iM:]HeadingCmd: 0.371326 target range: 31.972376 and range: 32.00 m.hek>hahihqhqgygjgrgereZe:e*e`?QDDAT read: Rx Time:01:19:01.5185 TRx dataTimestamp_ set to:1764897542.625318PDAT read: Bearing 178.3, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 8.7 (Local) ]DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.3 %Bɢ%U=)) -?i))-K<11i5rz*i=k>eDAT read: 01:19:01.5185 LVL= 23792, 28785, 25714, 32755, AGC= 63, IDX= 506,-0.06,-1.365, 3.089,-1.566,-1.807, PHS= 0.544,-1.342, 0.197, RAW= 140.0, 7.0, CAL= 139.7, 7.8, ROT= 10.3, -7.8 mYgot valid direction response: 01:19:01.5185 LVL= 23792, 28785, 25714, 32755, AGC= 63, IDX= 506,-0.06,-1.365, 3.089,-1.566,-1.807, PHS= 0.544,-1.342, 0.197, RAW= 140.0, 7.0, CAL= 139.7, 7.8, ROT= 10.3, -7.8 uT#Rx 19: Read range and direction messages.}=c[=Ik>I\direction in FSK: [0.974782,0.177148,0.135716]Fpublishing direction and range infoy.i1?!]kȬ? M _?YA\qprd )IC ?iƫ^I>a@5= @ 'g >)X8>I'g tH?E?Z? X$>)IX8>i'g checking for new query: numPingsReceived=19, elapsed TxPingTime=11.675196y@ @@<0@ԡ^A= H=e checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850755I I O > Jn0#,5LAE* E*E*(E("E*:*E*]t:VE*c44ZE(BE*><2E*><JE*;:E*;DɰFp;z >zie>z=ٱz=zH`? տ?Iz8_;zܑCYByuIiMb@Mb@Mb@ 9> ףp=??Mb`Y>y<@ )K@Y@bDVD8yb%7=ٔ ;Q- >9Y=0EyfD0E>Q 5%4cꙊ?Q 9%4)6BY-O>Q E-;y->Q I-#@ыDI;iB;%4y9ɮ=A9i i 6LAj bA"j bA:j ?Rj !K>@bpq@#1@Bj .i1?!]kȬ? M _?*j X8>2j 'g Zj fnGK;@^fA/@Ν9 @Jj l;r?j?^?R^]=?j zA j ZAi Wg梊?i %j Bj j j rj Azj 3? addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.507656 s, deltaX: -0.299999 m, approachRate: -0.590950 m/s, rangeRepo size: 4  Added new target pos. range: 31.672861 m, bearing: 29.793154 deg, lat: 36.779498 deg, lon: -121.859747 deg, deltaT: 0.507656 s, deltaX: -0.299515 m, approachRate: -0.589996 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.67 m.2i"i*iԩ ProNav: ac range: 31.672861 m, nav range: 31.312981 m, bearing: 30.259252 deg, approach rate: 0.000000 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.275402 deg, new cmd heading: 21.335393 deg. iHeadingCmd: 0.372373 target range: 31.672861 and range: 31.70 m.h>hhhhggjgrgBereZe:e@3?@*e ?}Bɢ}RS=)y } ?iy)?R<顁i0D+i>==I>IY@Y @Y@]55@aDDAT read: Rx Time:01:19:02.0184 TRx dataTimestamp_ set to:1764897543.125721PDAT read: Bearing 178.5, 8.8 (Local) ~Local bearing/azimuth received: Bearing 178.5, 8.8 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.3 -DAT read: 01:19:02.0184 LVL= 26288, 32161, 28962, 32755, AGC= 65, IDX= 506,-0.40, 0.239,-1.602, 0.030,-0.201, PHS= 0.542,-1.356, 0.187, RAW= 139.9, 7.2, CAL= 139.5, 8.0, ROT= 10.5, -8.0 EYgot valid direction response: 01:19:02.0184 LVL= 26288, 32161, 28962, 32755, AGC= 65, IDX= 506,-0.40, 0.239,-1.602, 0.030,-0.201, PHS= 0.542,-1.356, 0.187, RAW= 139.9, 7.2, CAL= 139.5, 8.0, ROT= 10.5, -8.0 ET#Rx 20: Read range and direction messages.M\direction in FSK: [0.973686,0.180462,0.139173]MFpublishing direction and range infoy"Uio(?A3a?H@l?YAf}"q )AI ?ih|?>E@>@ 5>)f;>I58uk!?a?m;!? H>)0If;>i5mchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.124273 ^A I I O >1 .u0#,bLAY By jII);%checking for new query: numPingsReceived=20, elapsed TxPingTime=12.354746bD-VD-İ8y5I%=Y=ٔ=Q-=>9AYA=E0EyEnDMEM>QQ 5U4UN?Q 9]4U)U3BYYyYQ I]#@U֋DIUT:iU ;U4yeHBɮmcAiii LAjA"jA:jE?Rj+>@^ @C'S@Bj"Uio(?A3a?H@l?*jf;>2j5Zjsy;@<55/@f@Jj?J0E?8?jyA j}Aie8ޢ?i3HjHBje8ޢ?j3HjHBrjAzj*?e addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.500403 s, deltaX: -0.200001 m, approachRate: -0.399679 m/s, rangeRepo size: 4 !B]<A]<Be>BaBeYIBeBBeP =BaBaBe1;Be]EE} E}E}*Ey"E}%;*E}e:VE}(N4ZEyBE}K<2E}K<JE}`;:E}`; Added new target pos. range: 31.473032 m, bearing: 29.969138 deg, lat: 36.779500 deg, lon: -121.859748 deg, deltaT: 0.500403 s, deltaX: -0.199829 m, approachRate: -0.399336 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.47 m.2i"i*i ProNav: ac range: 31.473032 m, nav range: 31.238119 m, bearing: 29.969046 deg, approach rate: 0.000000 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.335394 deg, new cmd heading: 21.388488 deg. iHeadingCmd: 0.373300 target range: 31.473032 and range: 31.50 m.h!>hhhhggjgrgereZe:e?@*e?mBɢuk'H=)q u?iq)u=YⱤ=p=I!>I@! @!@%+5@!IDDAT read: Rx Time:01:19:02.5182  TRx dataTimestamp_ set to:1764897543.633983% PDAT read: Bearing 178.2, 8.4 (Local) U ~Local bearing/azimuth received: Bearing 178.2, 8.4 (Local) q  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 ^Am @=I I O >M DAT read: 01:19:02.5182 LVL= 23584, 28097, 26594, 31571, AGC= 63, IDX= 503, 0.20, 0.320,-1.521, 0.124,-0.123, PHS= 0.545,-1.353, 0.203, RAW= 140.3, 7.0, CAL= 140.0, 7.7, ROT= 10.0, -7.7 U Ygot valid direction response: 01:19:02.5182 LVL= 23584, 28097, 26594, 31571, AGC= 63, IDX= 503, 0.20, 0.320,-1.521, 0.124,-0.123, PHS= 0.545,-1.353, 0.203, RAW= 140.3, 7.0, CAL= 140.0, 7.7, ROT= 10.0, -7.7 ] T#Rx 21: Read range and direction messages.e \direction in FSK: [0.975928,0.172082,0.133986]e Fpublishing direction and range infoyc::?X?L`u&?YA \mg S{)?I ?i/;O>t@5=a@  >)¸2>I ??BK? >)I¸2>i  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.698577.Y{0#,5LA J4#>J>Jή=ٱJ=JH?qֿg ?rU??D`@??iJ4#>IJ_;JڑCYBy%Ii-Mb@Mb@Mb@)))) )9-Cl?~jt?Mb`Y-;>y-<)-x@-A -C@)--@)Y)yybDVD8y֛=%6=ٔ;Q->9Y=0EywDL:E>Q 54i?Q 94)/BY>Q E:y>Q I#@܋DI;iu;4yɮAi)i--LAj-cA"j-cA:j- +?Rj-'GgEl>@ٛ!u@I @Bj-c::?X?L`u&?*j-¸2>2j- Zj-墷:@K.@ 72 @Jj-!M:? Ad? _[ġ?j-tA j-}Ai-tI㢊?i-&j-Bj-ܮᢊ?j-cj- Brj-Azj-?i addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.508262 s, deltaX: -0.299999 m, approachRate: -0.590245 m/s, rangeRepo size: 4  Added new target pos. range: 31.173340 m, bearing: 29.580774 deg, lat: 36.779500 deg, lon: -121.859748 deg, deltaT: 0.508262 s, deltaX: -0.299692 m, approachRate: -0.589641 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.17 m.2i"i*i ProNav: ac range: 31.173340 m, nav range: 31.066847 m, bearing: 29.954642 deg, approach rate: 0.000000 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.388488 deg, new cmd heading: 21.447878 deg. iHeadingCmd: 0.374336 target range: 31.173340 and range: 31.20 m.h>hhhhgg jg rg BereZe:e@33?@*e !?5checking for new query: numPingsReceived=21, elapsed TxPingTime=12.858866eBɢeV=) ?i)`<顙i,i>=O=I >IE EE(E"E:*E$:VEc44ԙZEa@a@a@a@@ @@5@ ^A] p,= DDAT read: Rx Time:01:19:03.0182  TRx dataTimestamp_ set to:1764897544.133774 PDAT read: Bearing 178.7, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 178.7, 8.6 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 5 DAT read: 01:19:03.0182 LVL= 24192, 29281, 27506, 32755, AGC= 64, IDX= 503,-0.03, 0.186,-1.638,-0.014,-0.243, PHS= 0.531,-1.349, 0.185, RAW= 140.1, 7.4, CAL= 139.7, 8.2, ROT= 10.3, -8.2  Ygot valid direction response: 01:19:03.0182 LVL= 24192, 29281, 27506, 32755, AGC= 64, IDX= 503,-0.03, 0.186,-1.638,-0.014,-0.243, PHS= 0.531,-1.349, 0.185, RAW= 140.1, 7.4, CAL= 139.7, 8.2, ROT= 10.3, -8.2  T#Rx 22: Read range and direction messages.% \direction in FSK: [0.973826,0.176974,0.142629]% Fpublishing direction and range infoy  bWu1)?&?x0A?Y ^ ar rk ) @I ?i  p=>AM ؟AIY Ii Ou >I҂0#,| ŒLAC~@ A> @ C>)X8>IC :Sq?jL/?y}d? >)IX8>iC"checking for new query: numPingsReceived=22, elapsed TxPingTime=13.171775R>R<>Rp=ٱR2=RH?@0ֿ@?`T?y?u@죿བྷ??iR>IR_;RܑCYEByEpIbDVD8yM4i%U==ٔU:Q-U>9]"?Y]"?=]0Ey]D]]E]>aQ 54e?Q 94e )e+BYy>Q I#@eDIe-:ie:e4yPBɮ}A@EԩiiŒLAj"j:j%f?RjϐA>[>@6H@,FU@BjbWu1)?&?x0A?*jX8>2jCZj1z_:@3 S.@<ʹ*@Jj3&0?'iP{?Ϧ?jzvA jAi颊?iMj+BjtI㢊?j%jrjAzjz?5 addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.499791 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 31.173340 m, bearing: 29.856249 deg, lat: 36.779500 deg, lon: -121.859748 deg, deltaT: 0.499791 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 31.17 m.2ia"ii*ii} ProNav: ac range: 31.173340 m, nav range: 30.883091 m, bearing: 29.933475 deg, approach rate: 0.000000 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.447878 deg, new cmd heading: 21.506073 deg. iy}HeadingCmd: 0.375352 target range: 31.173340 and range: 31.20 m.h.>hhhhggjgrgereZe:e*e7?%Bɢ%\L=)! -?i))-ih<))i-f[-i5.>5=5等=I5.>I9@ @@/@5checking for new query: numPingsReceived=22, elapsed TxPingTime=13.366175B5>B1B5MIB5BB1B1B5WDB5;B5P]EEm EmEm)Ei"Em:*Em:VEmFA4ZEiBEmF8!+0#,t&ŒLARw>Rж>R#=ٱRwT=RH3?`U ֿ?Z??@ n t??iRw>IR_;RڑCYvByz`I ]DDAT read: Rx Time:01:19:03.5179 mTRx dataTimestamp_ set to:1764897544.645711PDAT read: Bearing 178.9, 8.4 (Local) ~Local bearing/azimuth received: Bearing 178.9, 8.4 (Local) bDVD8ԩDAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.3 5DAT read: 01:19:03.5179 LVL= 25872, 30897, 26610, 32755, AGC= 64, IDX= 501,-0.28,-1.334, 3.112,-1.532,-1.762, PHS= 0.531,-1.364, 0.186, RAW= 140.2, 7.5, CAL= 139.8, 8.3, ROT= 10.2, -8.3 =Ygot valid direction response: 01:19:03.5179 LVL= 25872, 30897, 26610, 32755, AGC= 64, IDX= 501,-0.28,-1.334, 3.112,-1.532,-1.762, PHS= 0.531,-1.364, 0.186, RAW= 140.2, 7.5, CAL= 139.8, 8.3, ROT= 10.2, -8.3 yEOa%E7=ٔM;Q-M>9IYQ=U0EyUDUO:EU>YT#Rx 23: Read range and direction messages.\direction in FSK: [0.973887,0.175230,0.144356]Fpublishing direction and range infoyae=*?m?'ЌCz?Ye3Aaeeexeg a)aIaieev>>eۚ@e >ey(@ eV>)eK6>IeVaae|r!? 2]E?d@Y? e%>Q 54)e:IeK6>ieVaachecking for new query: numPingsReceived=23, elapsed TxPingTime=13.706658]#?Q 94])](BYy>Q I#@]DI].@֣@@Bje=*?m?'ЌCz?*jeK6>2jeVZje:@Gq.@ Y @Jje;X$y?YE?? e ?jesA jeAiec4k䢊?ie1jeBjec4k䢊?jeMjarjeAzje? addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.511937 s, deltaX: -0.300001 m, approachRate: -0.586012 m/s, rangeRepo size: 4 e Added new target pos. range: 30.873722 m, bearing: 29.783309 deg, lat: 36.779500 deg, lon: -121.859749 deg, deltaT: 0.511937 s, deltaX: -0.299618 m, approachRate: -0.585263 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 30.87 m.2ia"ii*ii ProNav: ac range: 30.873722 m, nav range: 30.697844 m, bearing: 29.951965 deg, approach rate: 0.000000 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.506073 deg, new cmd heading: 21.568060 deg. iHeadingCmd: 0.376434 target range: 30.873722 and range: 30.90 m.h>hhhhggjgrgereZe:e`f>@*ea?}Bɢ}W==)y }?i)p<顁i-i>=]=I>IE@I @I@M4@I  DDAT read: Rx Time:01:19:04.0179 - TRx dataTimestamp_ set to:1764897544.899490M PDAT read: Bearing 178.7, 8.3 (Local) U ~Local bearing/azimuth received: Bearing 178.7, 8.3 (Local)  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.892762E  E E +E "E :*E ~:VE [4ZE a% @a% @a% @a% @1 ^AM =AyIIO>J0#,]jEŒLAL^b(>^%)>^'=ٱ^=^H?eֿ4? d?@l?C岿 ?`?i^b(>I^|_;\YdyfaIi]Mb@Mb@Mb@YYYY Y9]~jt?/$?Mb`?Y]>y]<];]@Y Y)]C@YY]@ u4=u<bDuVDqy%;%@=ٔL!;Q->9Y=0EyDa:E>Q 54<1?Q 94)%BY>Q E:y>Q I#@DDAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 DAT read: 01:19:04.0179 LVL= 27536, 30273, 27314, 32755, AGC= 64, IDX= 500, 0.37, 1.811,-0.046, 1.609, 1.368, PHS= 0.545,-1.369, 0.197, RAW= 140.2, 7.2, CAL= 139.8, 7.9, ROT= 10.2, -7.9 Ygot valid direction response: 01:19:04.0179 LVL= 27536, 30273, 27314, 32755, AGC= 64, IDX= 500, 0.37, 1.811,-0.046, 1.609, 1.368, PHS= 0.545,-1.369, 0.197, RAW= 140.2, 7.2, CAL= 139.8, 7.9, ROT= 10.2, -7.9 T#Rx 24: Read range and direction messages.\direction in FSK: [0.974855,0.175404,0.137445]Fpublishing direction and range infoy?2?!Es?yjȗ?YkAvj )I ?id;^I>> 0 >)I0 xf4?&E?ފR? E>){Ii0 =checking for new query: numPingsReceived=24, elapsed TxPingTime=14.135264I:i =d4yXBɮAAEii5IŒLAj"j:j#n?Rjlt>@^X@YND@Bj?2?!Es?yjȗ?*j2j0 Zj0d:@ɥO.@r2x @JjIIem?옩?"?jbtA jAic?iKUjBjjjBrj Azjl?E addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.498156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 30.873722 m, bearing: 29.863237 deg, lat: 36.779500 deg, lon: -121.859749 deg, deltaT: 0.498156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 30.87 m.2i1"i9*i9m ProNav: ac range: 30.873722 m, nav range: 30.516027 m, bearing: 29.992003 deg, approach rate: 0.000000 m/s, LOS rate: 0.067176 deg/s, cmd heading: 21.568061 deg, new cmd heading: 21.627263 deg. iiHeadingCmd: 0.377467 target range: 30.873722 and range: 30.90 m.hYC>hhhhggjgrgBereZe:e*eh:?BɢtH=) F?i)$w<ik8.iYC>y=A=IYC>I@ @@y3@ DDAT read: Rx Time:01:19:04.5177  TRx dataTimestamp_ set to:1764897545.399974 PDAT read: Bearing 179.1, 8.1 (Local)  ~Local bearing/azimuth received: Bearing 179.1, 8.1 (Local)  checking for new query: numPingsReceived=24, elapsed TxPingTime=14.385161! ^A ff=A) A- ?AY A] ?ABe >Be CBe @IBe zBBa Ba Ba Be ١;Be <]EB-CB)B-˓CB-P =B)C-5E  E E E "E ;*E ?:VE ZE BE 7NI0#,aŒLAɰ2/>2>2RT*=ٱ2rg=2H?&ֿ?y?I2_;2ۑCY>By>lIbDF VDF8ynF#=%nA=ٔn:Q-n>9r ?Yr ?=r0EyrDr[;Ev>xQ 5~4zE??Q 9~4z0)z"BY|y~>Q I~#@zDIz:iz:z4yɮ A %B*** querying acoustic contact ***i!i!:i15DNOT Ignoring new targets: 30.87 m.2i1"i=}:*i=}:e ProNav: ac range: 30.873722 m, nav range: 30.335852 m, bearing: 30.031674 deg, approach rate: -0.476603 m/s, LOS rate: 0.105563 deg/s, cmd heading: 21.627263 deg, new cmd heading: 21.707077 deg. ie1A;uHeadingCmd: 0.378860 target range: 30.873722 and range: 30.90 m.h}>hyhyhyhggjgrgereZe:e*e`?Bɢg]=) ?i)K}<i.i>%=!I%>IDAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 DAT read: 01:19:04.5177 LVL= 26784, 30833, 28946, 32755, AGC= 64, IDX= 498, 0.16, 0.121,-1.738,-0.078,-0.312, PHS= 0.534,-1.381, 0.190, RAW= 140.3, 7.5, CAL= 139.9, 8.3, ROT= 10.1, -8.3 @ @@/@Ygot valid direction response: 01:19:04.5177 LVL= 26784, 30833, 28946, 32755, AGC= 64, IDX= 498, 0.16, 0.121,-1.738,-0.078,-0.312, PHS= 0.534,-1.381, 0.190, RAW= 140.3, 7.5, CAL= 139.9, 8.3, ROT= 10.1, -8.3 T#Rx 25: Read range and direction messages.\direction in FSK: [0.974191,0.173530,0.144356]Fpublishing direction and range infoyzЦ3,?5]:6?'ЌCz?YAhqxq )I9?iİ\B>t@ >E@ V>)J4>IV~/@?ɻ>?[FOϫ? h>)IJ4>iVEchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.712111^A A iY IY } DDAT read: Rx Time:01:19:05.0176  TRx dataTimestamp_ set to:1764897545.905292 PDAT read: Bearing 179.8, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 179.8, 8.2 (Local) A ؟AI - DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 E Z#Rx 26: Read range message, but no direction.ԁ yy Y} Ay - checking for new query: numPingsReceived=26, elapsed TxPingTime=14.938825I1 E  E E 'E "E s:*E ]t:VE '4ZE a @a @a @a @O>"0#,$|ŒLAz(>z>z~,=ٱz=zHU?`6ֿ ? ?@?8j`ؤ?t?iz(>Iz _;zݑCYBy fII=)4yu<`;@A b@)1AY=@bDVD8y%&=ٔ:Q->9"?Y"?=0EyDN?;E>Q 54'P?Q 94)BYp>Q E:y*>Q I#@DII:it:b4y(Bɮ{$ABEiiNyŒLAjA"jA:jE?Rj=@k$'@s{@BjzЦ3,?5]:6?'ЌCz?*jJ4>2jVZj;>8?:@.@ZB22 @Jjm(?%β?H1\?jpA jAiu2?iLF.jBj颊?jLF.jBrj/Azj}?E addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.761425 s, deltaX: -0.400000 m, approachRate: -0.525330 m/s, rangeRepo size: 4 U Added new target pos. range: 30.474434 m, bearing: 29.828134 deg, lat: 36.779501 deg, lon: -121.859749 deg, deltaT: 0.761425 s, deltaX: -0.399288 m, approachRate: -0.524396 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 30.47 m.2iY"i]*ia ProNav: ac range: 30.474434 m, nav range: 30.147976 m, bearing: 29.944850 deg, approach rate: 0.000000 m/s, LOS rate: 0.105563 deg/s, cmd heading: 21.707077 deg, new cmd heading: 21.811865 deg. i%HeadingCmd: 0.380689 target range: 30.474434 and range: 30.50 m.h->h)h)h)h1g1g9jg9rgEBeAreAZeA:eM>@*em@]?颵Bɢ?=) ?i)<i/i>]=D=I>Iԩ-DAT read: 01:19:05.0176 LVL= 26720, 30305, 27314, 32755, AGC= 64, IDX= 497,-0.00,-0.977,-2.810,-1.173,-1.386, PHS= 0.511,-1.380, 0.169, RAW= 140.2, 8.1, CAL= 139.8, 8.9, ROT= 10.2, -8.9 MYgot valid direction response: 01:19:05.0176 LVL= 26720, 30305, 27314, 32755, AGC= 64, IDX= 497,-0.00,-0.977,-2.810,-1.173,-1.386, PHS= 0.511,-1.380, 0.169, RAW= 140.2, 8.1, CAL= 139.8, 8.9, ROT= 10.2, -8.9 MZ#Rx 27: Read direction message, but no range.U\direction in FSK: [0.972346,0.174953,0.154710]y+t?#Ťd?j?`havj )I?iףV->ۚ@>y(@ >)K6>I?Ѕ1?Iie? Ŵ>)>IK6>iuchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.148692}@ @@@^A A I I O > 0#,\ŒLADDAT read: Rx Time:01:19:05.5174 %TRx dataTimestamp_ set to:1764897546.432182ePDAT read: Bearing 180.2, 8.2 (Local) m~Local bearing/azimuth received: Bearing 180.2, 8.2 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.3 DAT read: 01:19:05.5174 LVL= 25184, 31057, 26834, 32755, AGC= 64, IDX= 511,-0.15,-3.078, 1.360, 3.008, 2.800, PHS= 0.507,-1.395, 0.164, RAW= 140.3, 8.3, CAL= 139.8, 9.1, ROT= 10.2, -9.1 B>BCB4IBpBBO =BBXDB;B']E DizDm@AEu EuEu+Eq"Eu:*Eu|:VEu [4ZEqBEu$5?YA`bQyh )I?i\'>t@V> ">uT>up?>u'+=ٱu`=uH ?@Gֿ9?X?@?@r??iuT>IuU`;uܑC)I"brȴ?U?J@5&w? L >)=Ii"checking for new query: numPingsReceived=28, elapsed TxPingTime=15.491260Yy@AbDVD8ٔ51Q-5>91Y1=50Ey5D=%;E=>Q 54"a?Q 94|)BYy>Q I#@DI:i: 4yɮ !iiߨŒLAjfA"jfA:j?Rj֦S=@r+@,.@Bj{L ?xa?@\~>?*jK6>2j"ZjoCn9@w/-@vvn;?6@JjVz}?|C?"61?jqnA jcAi颊?iMjBj颊?jjBrjvAzj?] addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.526890 s, deltaX: -0.299999 m, approachRate: -0.569377 m/s, rangeRepo size: 4 m Added new target pos. range: 30.175289 m, bearing: 29.893362 deg, lat: 36.779501 deg, lon: -121.859749 deg, deltaT: 0.526890 s, deltaX: -0.299145 m, approachRate: -0.567756 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 30.18 m.2ii"iq*i ProNav: ac range: 30.175289 m, nav range: 29.932989 m, bearing: 29.996791 deg, approach rate: 0.000000 m/s, LOS rate: 0.105563 deg/s, cmd heading: 21.811866 deg, new cmd heading: 21.924503 deg. iHeadingCmd: 0.382655 target range: 30.175289 and range: 30.20 m.hS>hhhhggjgrgereZe:e@33>@*e%?eBɢm$aA=checking for new query: numPingsReceived=28, elapsed TxPingTime=15.638042)!Q %>iY)eO<顉i>w/iS>5=̖=IS>I @  @ @ T4@ y ԩ^At=DDAT read: Rx Time:01:19:06.0173 TRx dataTimestamp_ set to:1764897546.913161PDAT read: Bearing 180.9, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 180.9, 7.9 (Local) DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.3 AIIO%?0#,EŒLA$*Z#Rx 29: Read range message, but no direction.$y)Y-A):checking for new query: numPingsReceived=29, elapsed TxPingTime=15.950406XbE=(N4jE=JJ4rE=/E^ E^E^,E\"E^%;*E^:VE^g4ZE\af@af@af@af@8&>F>Z^#=ٱm=HȰ?@P׿`:?B?@ ?hj0ֽ?`?i8&>I `;YBy^IiMb@Mb@Mb@ 9jt?Q?y\=t<@A x@)AY@ Wv>CuqGm9YiAbDVD8y-D%5<ٔ]^kQ-]>9aYa=e0EyeDeK=Em>iQ 54ms?Q 94my)mBY>Q E:y>Q I#@m DIm;imq;m4y2Bɮ$A addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.480979 s, deltaX: -0.200001 m, approachRate: -0.415820 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 30.18 m.2i"i% :*i% :- ProNav: ac range: 30.175289 m, nav range: 29.689453 m, bearing: 30.028174 deg, approach rate: -0.467863 m/s, LOS rate: 0.060785 deg/s, cmd heading: 21.924503 deg, new cmd heading: 21.987783 deg. i5|:UHeadingCmd: 0.383759 target range: 30.175289 and range: 30.00 m.h]|>hYhYhYhYgYgYjgargeBeareaZei:em>@*emT?UDAT read: 01:19:06.0173 LVL= 22864, 30705, 25202, 32755, AGC= 63, IDX= 511,-0.28,-2.485, 1.991,-2.661,-2.874, PHS= 0.491,-1.373, 0.169, RAW= 140.7, 8.3, CAL= 140.3, 9.1, ROT= 9.7, -9.1 ]Ygot valid direction response: 01:19:06.0173 LVL= 22864, 30705, 25202, 32755, AGC= 63, IDX= 511,-0.28,-2.485, 1.991,-2.661,-2.874, PHS= 0.491,-1.373, 0.169, RAW= 140.7, 8.3, CAL= 140.3, 9.1, ROT= 9.7, -9.1 eZ#Rx 30: Read direction message, but no range.e\direction in FSK: [0.973297,0.166369,0.158158]y15=3@%?kK?@\~>?15PY5w5rb 1)5?I5Zd>i5w5V->5)@15t@ 1)5-\->I115 ə??b?h? 5]>)5zI5-\->i1checking for new query: numPingsReceived=30, elapsed TxPingTime=16.148552颵Bɢ&@=) >i)W^<项i /i|>K==I|>I @ @@0@1 ^A =i i I DDAT read: Rx Time:01:19:06.5171 %TRx dataTimestamp_ set to:1764897547.419349=PDAT read: Bearing 181.4, 7.7 (Local) E~Local bearing/azimuth received: Bearing 181.4, 7.7 (Local) IDAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.3  Z#Rx 31: Read range message, but no direction.yYAB}<AyB>BCB.IBkBBM =BBYDB;B]Echecking for new query: numPingsReceived=31, elapsed TxPingTime=16.429604IO?T0#,/ŒLAE EE*E"E ;*E:VE(N4ZEBE|T~4 >~=ٱ~! >~H?@׿(?~=?h? 2ޣ}3?w?i~.>I~_;~ߑCYByXI bDVD8yڧ%9=ٔQ->9Y=0Ey”DK<E>Q 54Q I#@DI:i:q4yɮ$%A iiŒLAjhA"jhA:j?Rjcu$4<@d:O@cH&@Bj=3@%?kK?@\~>?*j-\->2jZjDH9@-@S@Jj_ȄC?`ʃ!?LƄ?j`oA jEAiaԢ?i)jBjjjrjAzj`D? addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.506188 s, deltaX: -0.299999 m, approachRate: -0.592664 m/s, rangeRepo size: 4  Added new target pos. range: 29.676041 m, bearing: 30.613777 deg, lat: 36.779501 deg, lon: -121.859749 deg, deltaT: 0.987167 s, deltaX: -0.499249 m, approachRate: -0.505739 m/s, posRepo size: 4 :i-DNOT Ignoring new targets: 29.68 m.2i)"i5*i1u ProNav: ac range: 29.676041 m, nav range: 29.495445 m, bearing: 30.050537 deg, approach rate: 0.000000 m/s, LOS rate: 0.060785 deg/s, cmd heading: 21.987783 deg, new cmd heading: 22.041848 deg. iqHeadingCmd: 0.384703 target range: 29.676041 and range: 29.70 m.h>hhhhggjgrgereZe:e@3=@*e`M,?5Bɢ5PC=)1 =>i9)=<99i= ~0i>F=s)=I>IDAT read: 01:19:06.5171 LVL= 24224, 29649, 25010, 32755, AGC= 63, IDX= 509,-0.49, 2.898, 1.091, 2.738, 2.516, PHS= 0.483,-1.380, 0.178, RAW= 141.2, 8.4, CAL= 140.8, 9.2, ROT= 9.2, -9.2  Ygot valid direction response: 01:19:06.5171 LVL= 24224, 29649, 25010, 32755, AGC= 63, IDX= 509,-0.49, 2.898, 1.091, 2.738, 2.516, PHS= 0.483,-1.380, 0.178, RAW= 141.2, 8.4, CAL= 140.8, 9.2, ROT= 9.2, -9.2  Z#Rx 32: Read direction message, but no range.\direction in FSK: [0.974438,0.157825,0.159881]ys.? \ 3?Čsv?^sa )IK>iףE6>ϸ@Q >nF@ l$>)l$>Il$$ik?GI7?? q>)TIl$>il$checking for new query: numPingsReceived=32, elapsed TxPingTime=16.672447@ @@0@^A = I I O >{0#,ڌŒLA%DDAT read: Rx Time:01:19:07.0171 -TRx dataTimestamp_ set to:1764897547.920944MPDAT read: Bearing 181.8, 7.5 (Local) U~Local bearing/azimuth received: Bearing 181.8, 7.5 (Local) ԁDAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.3 Z#Rx 33: Read range message, but no direction.y!Y!!checking for new query: numPingsReceived=33, elapsed TxPingTime=16.919191<>>=ٱh39>H`_m?EAؿ@|??@ ?!cÿಢ<?u?i<>I_;ܑCYByZIE5 E5E5)E1"E5:*E5҆:VE5FA4ZE1a=@aE@aE@aE@iMb@Mb@Mb@ 9n?+?I +?Y>y=94<@GA )AY@ԩ C==bDVD8y;%"=ٔQ->9Y=0Ey̔D<E>Q 5%4񑚊?Q 9%4u)BY%>Q E%:y-S>Q I-#@DI;i;: 4y52j%l$Zj%=N9@jJ5-@ m2@Jj%+VTJ?Y ?ݗ1?j%mA j%wAi%S梊?i%C0j%uBj!j%KUj%Brj%Azj%? addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.501595 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 29.676041 m, bearing: 30.392921 deg, lat: 36.779501 deg, lon: -121.859748 deg, deltaT: 0.501595 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 29.68 m.2ia"ii*ii ProNav: ac range: 29.676041 m, nav range: 29.319708 m, bearing: 30.184024 deg, approach rate: 0.000000 m/s, LOS rate: 0.060785 deg/s, cmd heading: 22.041849 deg, new cmd heading: 22.104422 deg. iHeadingCmd: 0.385795 target range: 29.676041 and range: 29.70 m.h>hhhhggjgrg€BereZe:e*e 8?EBɢMȁA=)I M>iI)M/]m=]0=I]>IYDAT read: 01:19:07.0171 LVL= 32016, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.45,-1.989, 2.483,-2.130,-2.361, PHS= 0.474,-1.394, 0.187, RAW= 141.8, 8.5, CAL= 141.4, 9.3, ROT= 8.6, -9.3 Ygot valid direction response: 01:19:07.0171 LVL= 32016, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.45,-1.989, 2.483,-2.130,-2.361, PHS= 0.474,-1.394, 0.187, RAW= 141.8, 8.5, CAL= 141.4, 9.3, ROT= 8.6, -9.3 Z#Rx 34: Read direction message, but no range.\direction in FSK: [0.975760,0.147570,0.161604]yӐl9?;W?o?} )AI!>in|?>bd@>@ 6&>)`>I6&2vc?)3I`>i6& checking for new query: numPingsReceived=34, elapsed TxPingTime=17.157547 @  @ @ /0@  ^A5 t=I I O >0#,GÌLAɰ;2R>2m >2=ٱ2b>2H@N%? *1ٿ@ݿ?N?V?@9ǿ Rq?`t2?i2R>I2Q_;2ّCByBXIbDJVDJ8yn%n=ٔnE;Q-r ?9pYp=r0EyrӔDv=Ev ?xQ 5~4z?Q 9~4z]s)zBY|yF?Q I#@zDIzp:iz:z%4y ɮ s%A %B*** querying acoustic contact ***i!i!:i1=DNOT Ignoring new targets: 29.68 m.2i9"i=p9*i=p9M ProNav: ac range: 29.676041 m, nav range: 29.186699 m, bearing: 30.188704 deg, approach rate: -0.452776 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.104422 deg, new cmd heading: 22.113824 deg. iMM9UHeadingCmd: 0.385959 target range: 29.676041 and range: 29.70 m.hUl>hQhQhYhYgYgYjgYrgaeareaZea:ea*emoB?颕Bɢ9Po=) ;>i)\<顙id1il>==Il>IDDAT read: Rx Time:01:19:07.5169 TRx dataTimestamp_ set to:1764897548.4253935@1 @9@=/@9PDAT read: Bearing 183.7, 6.8 (Local) ~Local bearing/azimuth received: Bearing 183.7, 6.8 (Local) ԡDAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.3 B->B)B-'IB-fBB)B)B)B-;B-]E^AET=eDAT read: 01:19:07.5169 LVL= 29872, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.38, 1.823, 0.044, 1.728, 1.502, PHS= 0.423,-1.413, 0.183, RAW= 143.1, 9.4, CAL= 142.6, 10.2, ROT= 7.4, -10.2 mYgot valid direction response: 01:19:07.5169 LVL= 29872, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.38, 1.823, 0.044, 1.728, 1.502, PHS= 0.423,-1.413, 0.183, RAW= 143.1, 9.4, CAL= 142.6, 10.2, ROT= 7.4, -10.2 mT#Rx 35: Read range and direction messages.u\direction in FSK: [0.975998,0.126760,0.177085]uFpublishing direction and range infoyha;? 9?ki?Y3AtIIO > )Iu>i/ݴZd;> @'>&I@ K6>) A>IK6%,Z ?%?0? W^>E EE*E"ED:*E:VE(N4ZEBE2iK6checking for new query: numPingsReceived=35, elapsed TxPingTime=17.474667 e checking for new query: numPingsReceived=35, elapsed TxPingTime=17.651201h=0#,$/ÌLAVc>V>V&=ٱV a>VH? ڿ;?58?@`?0ǿФ?2?iVc>IVy_;TlYlylIp)r;ieMb@Mb@Mb@aaaa a9e?Mb?S㥛?Yef>ye=e/9Y=0EyܔD,=E>Q 54}?Q 94:q)"BY(>Q E;yx?Q I#@ DI;i3;9-4yɮi i 9ÌLAj A"j A:j Q?Rj Z<@%!nF @&@Bj ha;? 9?ki?*j A>2j K6Zj =$\9@Il-@;=@Jj q)6Q?Ȁ?H?j hA j Ai =梊?i oj Bj =梊?j oj Brj Azj 7? addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.504449 s, deltaX: -0.300001 m, approachRate: -0.594711 m/s, rangeRepo size: 4  Added new target pos. range: 29.376509 m, bearing: 30.128295 deg, lat: 36.779500 deg, lon: -121.859749 deg, deltaT: 0.504449 s, deltaX: -0.299532 m, approachRate: -0.593780 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.38 m.2i"i*i ProNav: ac range: 29.376509 m, nav range: 28.994738 m, bearing: 30.128209 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.113823 deg, new cmd heading: 22.128363 deg. i HeadingCmd: 0.386213 target range: 29.376509 and range: 29.40 m.h >h h h h g g jgrgBereZe:e`ff=@*e h?MBɢMG=)I M;>iI)U`]=]? =I]>IY@ @@3@DDAT read: Rx Time:01:19:08.0169 TRx dataTimestamp_ set to:1764897548.929224 PDAT read: Bearing 184.2, 5.5 (Local) ~Local bearing/azimuth received: Bearing 184.2, 5.5 (Local) MDAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.3 ]Z#Rx 36: Read range message, but no direction.yYchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.9256021E EE+E"E:*E|:VE [4ZEa@a@a@a@Y ^A =I I) O= > 0#,|HÌLA2m>2a>2-=ٱ2O>2H?@uڿ? ?qW?Ŀ? sP?i2m>I2Щ_;2ۑCY:By:PIBAAB@AbDFVDF8yNٍ%N<ٔRD;Q-R>9PYP=V0EyVDVA<EV>XQ 5^4Z?Q 9^4ZUo)Z&BY`yb?Q Ib#@Z$DIZ;iZ;Z34yf4Bɮfm%Af:EEDAT read: 01:19:08.0169 LVL= 27120, 32529, 31474, 32755, AGC= 64, IDX= 507,-0.32, 2.958, 1.174, 2.898, 2.628, PHS= 0.432,-1.410, 0.226, RAW= 144.2, 8.6, CAL= 143.7, 9.4, ROT= 6.3, -9.4 MYgot valid direction response: 01:19:08.0169 LVL= 27120, 32529, 31474, 32755, AGC= 64, IDX= 507,-0.32, 2.958, 1.174, 2.898, 2.628, PHS= 0.432,-1.410, 0.226, RAW= 144.2, 8.6, CAL= 143.7, 9.4, ROT= 6.3, -9.4 MZ#Rx 37: Read direction message, but no range.U\direction in FSK: [0.980614,0.108261,0.163326]yP 1a??$vz?iz )@I/>izlg>!@`> @ '>)z0=I'\v?Y?1?? >)2Iz0=i'mchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.163994qiihx;ÌLAj"j:ju?RjZ<<@r,Nq @g{"1@BjP 1a??$vz?*jz0=2j'Zj+Ԩ/9@ѡ-@.v@Jj'37xo?GOwղ?Bt?jhA j}AiO?ijBjjjrj@Azj?- addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 29.376509 m, bearing: 30.014763 deg, lat: 36.779500 deg, lon: -121.859748 deg, deltaT: 0.503831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 29.38 m.2iY"ia*ia5 ProNav: ac range: 29.376509 m, nav range: 28.906366 m, bearing: 30.221501 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.128363 deg, new cmd heading: 22.140615 deg. i1=HeadingCmd: 0.386427 target range: 29.376509 and range: 29.40 m.h=>h9hIhIhQgQgQjgQrgQeYreYZeY:eY*e] ?颭Bɢ-'K=) E>i)^<顱iS2i>a=pI>I>IԉE@A @A@M/@I^Ae9=IIO]>ԹDDAT read: Rx Time:01:19:08.5168  TRx dataTimestamp_ set to:1764897549.433068% PDAT read: Bearing 185.9, 4.3 (Local) - ~Local bearing/azimuth received: Bearing 185.9, 4.3 (Local) ] DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.2 A) A- @AB5 >B5 CB5 IB5 [BB1 B1 B1 B5 ;B5 ]E DAT read: 01:19:08.5168 LVL= 26480, 32433, 32754, 32755, AGC= 64, IDX= 505,-0.30, 1.354,-0.392, 1.337, 1.066, PHS= 0.390,-1.413, 0.226, RAW= 145.3, 9.3, CAL= 144.9, 10.1, ROT= 5.1, -10.1  Ygot valid direction response: 01:19:08.5168 LVL= 26480, 32433, 32754, 32755, AGC= 64, IDX= 505,-0.30, 1.354,-0.392, 1.337, 1.066, PHS= 0.390,-1.413, 0.226, RAW= 145.3, 9.3, CAL= 144.9, 10.1, ROT= 5.1, -10.1  T#Rx 38: Read range and direction messages. \direction in FSK: [0.980606,0.087517,0.175367] E  E E *E "E :*E :VE (N4ZE BE F8i/ݴ:M"@6&>!@ J4>)K=IJ4Ё???R/? >) %IK=iJ4 checking for new query: numPingsReceived=38, elapsed TxPingTime=18.501097K0#,bÌLA2\u>2WC>21=ٱ2]<>2Hs? FVۿ@킾?>?U?ݠ¿4m?m?i2\u>I2_;2ّCYPyPbDfVDf8ٔ;Q->99YA=E0EyEDMS<EM>QQ 54U~?Q 94U$m)U,BYy""?Q I#@U(DIU=R;ԹiUT;U';4y>Bɮ%Ai)i-c[ÌLAj-6A"j-6A:j-Q?Rj-Bx<@Ra@A_@Bj-a? +~g?:ujr?*j-K=2j-J4Zj-j?9@OA!b,@w> @Jj-鐼 ?_9b?zY$?j-cA j-Ai-/?i-Pj-Bj)j)j-Brj-!Azj-?u addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503844 s, deltaX: -0.100000 m, approachRate: -0.198475 m/s, rangeRepo size: 4  Added new target pos. range: 29.276670 m, bearing: 29.338836 deg, lat: 36.779500 deg, lon: -121.859748 deg, deltaT: 0.503844 s, deltaX: -0.099838 m, approachRate: -0.198153 m/s, posRepo size: 4 :iVStarting intercept timer at range: 29.30 m.DNOT Ignoring new targets: 29.28 m.2i"i*i ProNav: ac range: 29.276670 m, nav range: 28.766272 m, bearing: 30.191847 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.140615 deg, new cmd heading: 22.153731 deg. iHeadingCmd: 0.386656 target range: 29.276670 and range: 29.30 m.h>hhhhg9g9jgArgAeAreAZeI:emL=@*em?BɢȆK=) N>i)V<io3i>Ĥ=>I>I5checking for new query: numPingsReceived=38, elapsed TxPingTime=18.659100%@! @)@)@)^A =A  DDAT read: Rx Time:01:19:09.0167  TRx dataTimestamp_ set to:1764897549.938068e PDAT read: Bearing 187.1, 3.1 (Local) m ~Local bearing/azimuth received: Bearing 187.1, 3.1 (Local)  DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.3 A .AI I O >0#,P}ÌLArDAT read: 01:19:09.0167 LVL= 27968, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.31, 2.068, 0.327, 2.086, 1.805, PHS= 0.364,-1.433, 0.237, RAW= 146.4, 9.6, CAL= 145.9, 10.5, ROT= 4.1, -10.5 vYgot valid direction response: 01:19:09.0167 LVL= 27968, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.31, 2.068, 0.327, 2.086, 1.805, PHS= 0.364,-1.433, 0.237, RAW= 146.4, 9.6, CAL= 145.9, 10.5, ROT= 4.1, -10.5 zs4{>z+/>zR3=ٱz.,>zH`?ۿ` ?P?rS? `hy??izs4{>Iz`;zܑCY|ByCI-T#Rx 39: Read range and direction messages.E5 E5E5(E1"E5:*E5:VE5c44ZE1a=@a=@a=@a=@ IIԉ\direction in FSK: [0.980739,0.070300,0.182236]Fpublishing direction and range infoy׌5b?E1?m~S?YA@m )AI5^>il!r>Ƈ#@+>"@ f;>)C=If;;D?/?Q_? (>)+IC=if;checking for new query: numPingsReceived=39, elapsed TxPingTime=19.007118iEMb@Mb@Mb@AAAA A9EʡE?bX9ȶ? rh?YE->yEE=EC9% ?Y% ?=%0Ey%D-,5<E->1Q 5}45hÚ?Q 9}45i)50BY}>Q E};y}3?Q I#@5.DI5$hhhhggjgrgBerechecking for new query: numPingsReceived=39, elapsed TxPingTime=19.162802Ze:e=@*ew?5Bɢ='7=)9 =o>i9)=<99iE-3ie>m٤=m# >Im>Ii @  @ @ /@ @ @ ^A > A I I! O- >0#,ÌLA:~>:^>:4=ٱ:,!>:H?@u ܿ?y?`R?@Ҿc`V ?@?i:~>I:]`;:ۑCYFoByF3IbDRVDR8yZ%^=ٔf:Q-j?9pYp=v0EyvD~!A<E~?Q 554Uʚ?Q 9=4'h)2BYIyM4?Q IM#@2DIq;i;hI4yqɮ}x&AEDDAT read: Rx Time:01:19:09.5166 MTRx dataTimestamp_ set to:1764897550.441444mPDAT read: Bearing 187.5, 3.0 (Local) ~Local bearing/azimuth received: Bearing 187.5, 3.0 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.3 DAT read: 01:19:09.5166 LVL= 26928, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.32, 0.576,-1.141, 0.595, 0.319, PHS= 0.359,-1.415, 0.232, RAW= 146.3, 9.6, CAL= 145.9, 10.5, ROT= 4.1, -10.5  Ygot valid direction response: 01:19:09.5166 LVL= 26928, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.32, 0.576,-1.141, 0.595, 0.319, PHS= 0.359,-1.415, 0.232, RAW= 146.3, 9.6, CAL= 145.9, 10.5, ROT= 4.1, -10.5  T#Rx 40: Read range and direction messages.\direction in FSK: [0.980739,0.070300,0.182236]Fpublishing direction and range infoyAE׌5b?E1?m~S?YEfAAE0iAA A)E@IEη>iEEhm>E.k#@AA A)AIAAAEk%rF? //?AQ66r? E4>)Ee,IAiABU>BUCBUIBUQBBQBQBQBUġ;BU4]EBCBCBBM =BM =CE55iAiE@ÌLAjE7A"jE7A:jE?RjE*"9<@Kn,/@6@BjE׌5b?E1?m~S?*jA2jAZjEhlt8@m!+@G@JjEĦ?F??jE]A jEAiEP}?iEjEBjEP}?jEPjEBrjEMAzjE4I?AAchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.466366EU EUEU*EQ"EUs:*EUAr:VEU(N4ZEQBEUp0hahahahagagajgirgieireiZeq:eu<@*eu?BɢxG=) O>i)4<id3i-i9>-=- >I5i9>I1@ @@/@Q checking for new query: numPingsReceived=40, elapsed TxPingTime=19.667988ԉ ^A] >A؟AԩII1O=>m:0#,{ÌLAYtBy 9IeDDAT read: Rx Time:01:19:10.0166 uTRx dataTimestamp_ set to:1764897550.945544ԙPDAT read: Bearing 187.7, 1.9 (Local) ~Local bearing/azimuth received: Bearing 187.7, 1.9 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.2 DAT read: 01:19:10.0166 LVL= 28640, 32753, 32754, 32755, AGC= 65, IDX= 502,-0.40, 1.916, 0.189, 1.967, 1.669, PHS= 0.349,-1.435, 0.255, RAW= 147.3, 9.6, CAL= 146.9, 10.4, ROT= 3.1, -10.4 -Ygot valid direction response: 01:19:10.0166 LVL= 28640, 32753, 32754, 32755, AGC= 65, IDX= 502,-0.40, 1.916, 0.189, 1.967, 1.669, PHS= 0.349,-1.435, 0.255, RAW= 147.3, 9.6, CAL= 146.9, 10.4, ROT= 3.1, -10.4 5T#Rx 41: Read range and direction messages.=\direction in FSK: [0.982132,0.053190,0.180519]=Fpublishing direction and range infoyimxm?`;?lE@?Yiimoii i)mAIm!>imm\>m"$@im$@ m9>)mk]=Im9iEu EuEu/Eq"Eu:*Euv:VEuJ4ZEqa}@a}@a}@a}@iMb@Mb@Mb@ 9tV?ˡE?~jt?Y>y=D<Z@ A @)AY@imx@=?W?v`iS? m>)m e+Imk]=im9iichecking for new query: numPingsReceived=41, elapsed TxPingTime=20.003021-@A)bD5VD58yu<%<ٔQ->9"?Y"?=0Ey DE>Q 5%4ٚ?Q 9-44d)6BY->Q E-;y-n0?Q I-#@9DI;i;T4yeHBɮe&Ae;Eiiim˃ÌLAjm6A"jm6A:jm>Rjm{Q=C<@ԑp}?ΐq@Bjmxm?`;?lE@?*jmk]=2jm9Zjm%9@ l*@OU {@Jjm?RY(?+S?jmVA jmAim9?imajmBjm/?jmjmBrjmAzjm?M addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.776834 m, bearing: 28.146294 deg, lat: 36.779504 deg, lon: -121.859753 deg, deltaT: 0.504100 s, deltaX: -0.000233 m, approachRate: -0.000462 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 28.78 m.2ia"ii*ii ProNav: ac range: 28.776834 m, nav range: 28.368862 m, bearing: 28.868792 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.182448 deg, new cmd heading: 22.201305 deg. iHeadingCmd: 0.387486 target range: 28.776834 and range: 28.80 m.hd>hhhhggjgrgՀBereZe:e*e?=BɢE{0=)A E0>iA)EtM=UJ >IUd>Iq checking for new query: numPingsReceived=41, elapsed TxPingTime=20.170879 @  @ @ 3@  ^A5 >A1zA5wAQAIIO? 0#,vmÌLARDDAT read: Rx Time:01:19:10.5163 VTRx dataTimestamp_ set to:1764897551.449236bPDAT read: Bearing 188.4, 1.2 (Local) b~Local bearing/azimuth received: Bearing 188.4, 1.2 (Local) jDAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.3 DAT read: 01:19:10.5163 LVL= 30832, 32753, 32754, 32755, AGC= 65, IDX= 499, 0.38, 2.574, 0.847, 2.645, 2.348, PHS= 0.328,-1.455, 0.253, RAW= 147.9, 10.0, CAL= 147.5, 10.9, ROT= 2.5, -10.9 %Ygot valid direction response: 01:19:10.5163 LVL= 30832, 32753, 32754, 32755, AGC= 65, IDX= 499, 0.38, 2.574, 0.847, 2.645, 2.348, PHS= 0.328,-1.455, 0.253, RAW= 147.9, 10.0, CAL= 147.5, 10.9, ROT= 2.5, -10.9 %T#Rx 42: Read range and direction messages.-\direction in FSK: [0.981024,0.042832,0.189095]-Fpublishing direction and range infoyPQB<A<B>BCBIBGBBBBB;Bx]ERjd?u"?oG4?YR3APRpxPP P)PIR>iRq=R7>R4%@R¸2>RS$@ RB>)R¸2=IRBPPRǖg'?>u?:b~DL? R >)RRL3IR¸2=iRBPPchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.488886L;>>>x4=ٱ;=H?^ܿ ?Q?`j?@D涿@9@K?@?iL;>I[`;YhBy+IDD<E EE*E"E:*Ez:VE(N4ZEBE69iYi=u0EyuDu[;Eu>yQ 54}䚊?Q 94}Oa)}7BYyn1?Q I#@}?DI};i};}Q]4yɮ&AiPiRHÌLAjRA"jRA:jRb>RjRP7;@_r?dDvv@ԁBjRjd?u"?oG4?*jR¸2=2jRBZjR8u8@ (\O*@=@JjR1{?z'?g#?jRzRA jRDAiRS ?iReLjRBjRS ?jRCjPrjRAzjRZ> addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.503692 s, deltaX: -0.400000 m, approachRate: -0.794135 m/s, rangeRepo size: 4 - Added new target pos. range: 28.377512 m, bearing: 27.959137 deg, lat: 36.779505 deg, lon: -121.859754 deg, deltaT: 0.503692 s, deltaX: -0.399323 m, approachRate: -0.792791 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 28.38 m.2i)"i1*i1e ProNav: ac range: 28.377512 m, nav range: 28.229519 m, bearing: 28.606079 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.201306 deg, new cmd heading: 22.216787 deg. iamHeadingCmd: 0.387756 target range: 28.377512 and range: 28.40 m.hm>hihihihigqgqjgqrgqereZe:e`ff<@*eJx?BɢP3=) >i)ɪ<iL3i%>%=%{ >I%>I)Ա @ @@5@Echecking for new query: numPingsReceived=42, elapsed TxPingTime=20.676859 ^A5 O > AaIIO>0#,ÌLADDAT read: Rx Time:01:19:11.0163 TRx dataTimestamp_ set to:1764897551.952257-PDAT read: Bearing 186.3, 0.7 (Local) -~Local bearing/azimuth received: Bearing 186.3, 0.7 (Local) =DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.3 eDAT read: 01:19:11.0163 LVL= 25392, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.24,-1.765, 2.809,-1.683,-2.035, PHS= 0.372,-1.394, 0.309, RAW= 148.2, 8.3, CAL= 147.7, 8.9, ROT= 2.3, -8.9 mYgot valid direction response: 01:19:11.0163 LVL= 25392, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.24,-1.765, 2.809,-1.683,-2.035, PHS= 0.372,-1.394, 0.309, RAW= 148.2, 8.3, CAL= 147.7, 8.9, ROT= 2.3, -8.9 mT#Rx 43: Read range and direction messages.\direction in FSK: [0.987164,0.039649,0.154710]Fpublishing direction and range infoy2ؖ?IL?j?Y0c )@Iv>in?5>~%@V>$@ >)l$=Ié7)?S70p?}St f? >)\Il$=ichecking for new query: numPingsReceived=43, elapsed TxPingTime=20.957512=}>=b>=%3=ٱ===H ? EܿI=la;=ّCIYWByIbEjEwX4rE$Z0E5 E5E5/E1"E5;*E5Ar:VE5J4ZE1a=@a=@a=@a=@iMb@Mb@Mb@ 9-?yt=;@ A @)tAY(AbD VD 8y%=ٔ% ¹Q-%>9)Y)=-0Ey-D-EE5>1Q 5=45 ?Q 9m45O^)56BY%>m҂GyQ E;y#*?Q I$@x9YtA5EDI5]=i5]=5Bf4yRBɮ'ARjZd<@S? P*@Bj2ؖ?IL?j?*jl$=2jZjv-8@IXj*@UE- @Jj^j J]??˟?Jc?jRSA j addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.503021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.377512 m, bearing: 27.938701 deg, lat: 36.779505 deg, lon: -121.859756 deg, deltaT: 0.503021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.38 m.2i"i*i ProNav: ac range: 28.377512 m, nav range: 27.975092 m, bearing: 28.179106 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.216787 deg, new cmd heading: 22.233994 deg. iHeadingCmd: 0.388056 target range: 28.377512 and range: 28.40 m.hT>hhhhggjgrg€BereZe:e*e ?eBɢe/&=)a m>ii)m<顉i3iT>i+=$ >IT>Ichecking for new query: numPingsReceived=43, elapsed TxPingTime=21.179489Թ @  @ @ 0@ ^A  >!AII)O5?1#,/ČLADDAT read: Rx Time:01:19:11.5161 TRx dataTimestamp_ set to:1764897552.453139PDAT read: Bearing 185.9, 0.3 (Local) ~Local bearing/azimuth received: Bearing 185.9, 0.3 (Local) &DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.3 JDAT read: 01:19:11.5161 LVL= 28080, 32225, 32722, 32755, AGC= 64, IDX= 497, 0.10,-3.057, 1.498,-2.963, 2.947, PHS= 0.381,-1.404, 0.329, RAW= 148.5, 7.9, CAL= 148.0, 8.6, ROT= 2.0, -8.6 NYgot valid direction response: 01:19:11.5161 LVL= 28080, 32225, 32722, 32755, AGC= 64, IDX= 497, 0.10,-3.057, 1.498,-2.963, 2.947, PHS= 0.381,-1.404, 0.329, RAW= 148.5, 7.9, CAL= 148.0, 8.6, ROT= 2.0, -8.6 T#Rx 44: Read range and direction messages. \direction in FSK: [0.988154,0.034507,0.149535] Fpublishing direction and range infoyCTA?*U!ꪡ?S&r#?YAm} )Io>iFr>H%@0 >MQ%@ `>B%>B!B%IB%8BB%L =B!B%ZDB%9;B%]E)5=I``\?p-G?̃? 6>) I5=i`Echecking for new query: numPingsReceived=44, elapsed TxPingTime=21.467308T{>~>^E1=ٱ4O=H ?@k-ܿ?@J?I"`;ڑCY%HBy%I ))DYzD]AAEe EeEe*Ea"EeD:*Ee:VEe(N4ZEaBEe29Y=0Ey(DE>Q 54?Q 9 4p[)4BY y )?Q I$@JDI;i_;n4yQɮUN(AYii;ČLAjA"jA:jЌ>Rjr Njʾ;@3 *?*=mg@BjCTA?*U!ꪡ?S&r#?*j5=2j`Zj7 08@$)@N@Jjn 0?T)v? ?jNA jAiK!?isjoBj9?jjBrjAzjj> addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.500882 s, deltaX: -0.299999 m, approachRate: -0.598942 m/s, rangeRepo size: 4  Added new target pos. range: 28.077887 m, bearing: 27.590385 deg, lat: 36.779506 deg, lon: -121.859756 deg, deltaT: 0.500882 s, deltaX: -0.299625 m, approachRate: -0.598196 m/s, posRepo size: 4 !:i-DNOT Ignoring new targets: 28.08 m.2i)"i)*i)= ProNav: ac range: 28.077887 m, nav range: 27.953165 m, bearing: 27.942540 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.233994 deg, new cmd heading: 22.249175 deg. i9EHeadingCmd: 0.388321 target range: 28.077887 and range: 28.10 m.hE>hahahahagagajgirgieireiZei:eu<@*eu?额Bɢ#=) '>i)9ӯ<i2i>#>=>I>I@ @@A0@checking for new query: numPingsReceived=44, elapsed TxPingTime=21.684626Qy ^A l >A I I O%>$ 1#,u:ČLA@uDDAT read: Rx Time:01:19:12.0161 }TRx dataTimestamp_ set to:1764897552.961140PDAT read: Bearing 199.2, -6.7 (Local) ~Local bearing/azimuth received: Bearing 199.2, -6.7 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 ]DAT read: 01:19:12.0161 LVL= 24208, 29233, 29762, 32755, AGC= 63, IDX= 513,-0.02, 3.060, 1.695,-2.901,-3.080, PHS=-0.041,-1.463, 0.135, RAW= 155.8, 17.7, CAL= 156.9, 21.0, ROT= 353.1, -21.0 eYgot valid direction response: 01:19:12.0161 LVL= 24208, 29233, 29762, 32755, AGC= 63, IDX= 513,-0.02, 3.060, 1.695,-2.901,-3.080, PHS=-0.041,-1.463, 0.135, RAW= 155.8, 17.7, CAL= 156.9, 21.0, ROT= 353.1, -21.0 mT#Rx 45: Read range and direction messages.u^direction in FSK: [0.926819,-0.112157,0.358368]uFpublishing direction and range infoyy} ?T.*?Yyy}^}1r}Bt y)}?I}'i}C}q= >}.@}2+>}LB/@Y:ByI }f>)}P5@I}fyy}Y?:P0p?F2p"r? }}?)}I}i}fyyMchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.999390E EE(E"E;*E:VEc44ZEa@a@a@a@ԙiMb@Mb@Mb@ 9tV?S㥫?Mb`?Y>y/]=@A @)AY@!!bD-VD-8y=>^%= =ٔEQ-E>9AYA=E0EyM2DMEM>QQ 54UJ ?Q 94UX)U3BYѴ>Q E;y?Q I$@UPDIU;Rj}Y:@km1 }&$@Bj} ?T.*?*j}2j}fZj}T*9@N @aY!@Jj}M ?C {D?K9'g?j}:A j}9Ai}Q {p?i}j}@Bj}K!?j}eLjyrj}Azj}3> addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.508001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.077887 m, bearing: 17.429181 deg, lat: 36.779507 deg, lon: -121.859758 deg, deltaT: 0.508001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.08 m.2i"i*i ProNav: ac range: 28.077887 m, nav range: 27.733383 m, bearing: 27.551347 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.249176 deg, new cmd heading: 22.265001 deg. iHeadingCmd: 0.388598 target range: 28.077887 and range: 28.10 m.h C>h h h h g)g1jg1rg5Be1re9Ze9:e9*e=?颅Bɢv=) >i)i<顱i2iC>Q=>IC>I@ @@0@- checking for new query: numPingsReceived=45, elapsed TxPingTime=22.191189 ^A >! AIIO=??1#,z\ČLA 64t>6b>6}'*=ٱ6=6H?Gۿ?.?`E? ^C F??i64t>I6[_;6ޑCYB1ByBIRDDAT read: Rx Time:01:19:12.5159 RTRx dataTimestamp_ set to:1764897553.465192VPDAT read: Bearing 186.3, 0.6 (Local) Z~Local bearing/azimuth received: Bearing 186.3, 0.6 (Local) bDAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.3 rDAT read: 01:19:12.5159 LVL= 23760, 29425, 27874, 32755, AGC= 63, IDX= 511,-0.15, 1.773, 0.065, 1.855, 1.511, PHS= 0.364,-1.401, 0.300, RAW= 148.2, 8.6, CAL= 147.7, 9.3, ROT= 2.3, -9.3 vYgot valid direction response: 01:19:12.5159 LVL= 23760, 29425, 27874, 32755, AGC= 63, IDX= 511,-0.15, 1.773, 0.065, 1.855, 1.511, PHS= 0.364,-1.401, 0.300, RAW= 148.2, 8.6, CAL= 147.7, 9.3, ROT= 2.3, -9.3 zT#Rx 46: Read range and direction messages.~\direction in FSK: [0.986061,0.039604,0.161604]~Fpublishing direction and range infoyPR{+ύ? pG?o?YRfAPR\RrRl P)PIR5^>iRSR>R~%@R`>R$@ R6&>)Rl$=IR6&PPR1 5?JU]?0N? R>bD'VDа8y% %%>=ٔ-`Q-->AQAQBYBYB]IB]#BB]M =BYBYB]g;B]]E)RtIRl$=iR6&PPchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.4746639)Y=0Ey;D=E>Q 54 ?Q 94YV)1BYy?Q I$@UDIxlRjRPd;@x"?_@BjR{+ύ? pG?o?*jRl$=2jR6&ZjRݶs8@:Bu)@Hvy @JjRY]*?jitQT?dqv?jRKA jRAiRo ?iRjRBjPjRsjRBrjRAzjRͻ>E EE*E"E:*E:VE(N4ZEBE.hhhhggjgrgereZe:e;@*e`ֻ?颥Bɢ=) Xo>i)q<顩i;2i>/b=,?>I>IIyA)zAU@Q @Q@U/@Q@]=@]=yMchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.695004ԡ ^A} >A I I O >C1#,bwČLAVoq>V*i>V'=ٱV8=VH=?@ۿ@B?V ??u`θ??iVoq>IV_;VۑCY)By II))-iMb@Mb@Mb@ 9kt?~jt?~jth?Y >y=D;Z@-A x@)Y @bD8VD8y-%+=ٔQ->9Y=0EyEDE>Q 54?Q 94T)/BY4>Q E;y?Q I$@ZDIU:iI:4yɮ)A DDAT read: Rx Time:01:19:13.0158 TRx dataTimestamp_ set to:1764897553.969156PDAT read: Bearing 186.3, 1.6 (Local) ~Local bearing/azimuth received: Bearing 186.3, 1.6 (Local) -DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 uDAT read: 01:19:13.0158 LVL= 24560, 32177, 32754, 32755, AGC= 63, IDX= 510,-0.30, 1.318,-0.382, 1.367, 1.051, PHS= 0.368,-1.388, 0.271, RAW= 147.2, 8.8, CAL= 146.8, 9.6, ROT= 3.2, -9.6 }Ygot valid direction response: 01:19:13.0158 LVL= 24560, 32177, 32754, 32755, AGC= 63, IDX= 510,-0.30, 1.318,-0.382, 1.367, 1.051, PHS= 0.368,-1.388, 0.271, RAW= 147.2, 8.8, CAL= 146.8, 9.6, ROT= 3.2, -9.6 }T#Rx 47: Read range and direction messages.\direction in FSK: [0.984459,0.055040,0.166769]Fpublishing direction and range infoy  d?r4,.?8_X?Y A  _ }  ) I j>i  > l$@ nF> (#@ +>) d=I +   L!?N&$?}Jp? >) ]ԙI d=i +  checking for new query: numPingsReceived=47, elapsed TxPingTime=22.967241i i ~ČLAj A"j A:j Z>Rj +(N&;@`xQI?q|e@Bj d?r4,.?8_X?*j d=2j +Zj α48@S L)@ @Jj O?3zp?m addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503964 s, deltaX: -0.199999 m, approachRate: -0.396851 m/s, rangeRepo size: 4  Added new target pos. range: 27.578234 m, bearing: 28.239850 deg, lat: 36.779507 deg, lon: -121.859758 deg, deltaT: 0.503964 s, deltaX: -0.199841 m, approachRate: -0.396537 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.58 m.2i"i*iE EEE"E:*EAr:VEZEa%@a%@a%@a-@5 ProNav: ac range: 27.578234 m, nav range: 27.415085 m, bearing: 27.471299 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 22.278836 deg, new cmd heading: 22.294379 deg. i9=HeadingCmd: 0.389110 target range: 27.578234 and range: 27.60 m.h=w9>hAhAhAhAgAgAjgIrgMBeIreIZeI:eU;@*eu?BɢJ=) 4[>i)O<i1i w9> r= .>I-w9>I9a@a @a@e/@a  checking for new query: numPingsReceived=47, elapsed TxPingTime=23.198912^A >! AIIO?%1#,XČLA\-|yn>->-%=ٱ-׿=-H ~?aۿ`??@?@?@d?i-|yn>I-p_;-ݑCYE#ByEI UC=QbD]VD]8yeͼ%m$=ٔmbQ-m>9qYq=u0EyuODu=̻E}>yQ 54}+?Q 94}Q)}-BYy??Q I$@}`DI};i};}T4yɮ)AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 27.58 m.2iDDAT read: Rx Time:01:19:13.5155 TRx dataTimestamp_ set to:1764897554.473272PDAT read: Bearing 186.4, 1.3 (Local) ~Local bearing/azimuth received: Bearing 186.4, 1.3 (Local) DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 DAT read: 01:19:13.5155 LVL= 26016, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.47, 1.865, 0.153, 1.929, 1.610, PHS= 0.357,-1.411, 0.275, RAW= 147.6, 9.1, CAL= 147.2, 9.8, ROT= 2.8, -9.8 %Ygot valid direction response: 01:19:13.5155 LVL= 26016, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.47, 1.865, 0.153, 1.929, 1.610, PHS= 0.357,-1.411, 0.275, RAW= 147.6, 9.1, CAL= 147.2, 9.8, ROT= 2.8, -9.8 -T#Rx 48: Read range and direction messages.5\direction in FSK: [0.984231,0.048137,0.170209]5Fpublishing direction and range infoym ~?[g?rl?YAe )@Iȶ>ǐ>$@">l$@ %/>)+H=I%/^?mjS?1'N$?"ie)*ie)Bu>BqBuIBuBBqBqBqBu;Bu^E  > ProNav: ac range: 27.578234 m, nav range: 27.243057 m, bearing: 27.442259 deg, approach rate: -0.376117 m/s, LOS rate: -0.063893 deg/s, cmd heading: 22.294378 deg, new cmd heading: 22.235931 deg. i麝HeadingCmd: 0.388090 target range: 27.578234 and range: 27.60 m.hó>hhhhgg)!I+H=i%/checking for new query: numPingsReceived=48, elapsed TxPingTime=23.478615jgrgereZe:e@33;@*eO?DzD?AE EE,E"E:*EZ:VEg4ZEBE>i)۶<项i1iMó>M=M=IMó>IQ @  @ @ /@9  checking for new query: numPingsReceived=48, elapsed TxPingTime=23.702730^AU >Ae ?Ae >q AIIO>jA-1#,ČLA2Qj>2>2n~$=ٱ2PB=2H?`]ۿ;?@o?X?kc o??i2Qj>I2_;2ܑCYFByJIԱiMb@Mb@Mb@ 9Cl?X9v?Yd>y<-@ @)tAYbDVDİ8yD%"=ٔh9Q->9Y=0EyYD[޻E>Q 54S9?Q 948O)*BY>Q E;y?Q I$@fDI:i:4y^Bɮ-<*A-4EUDDAT read: Rx Time:01:19:14.0154 UTRx dataTimestamp_ set to:1764897554.977226]PDAT read: Bearing 185.1, 1.0 (Local) e~Local bearing/azimuth received: Bearing 185.1, 1.0 (Local) uDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.3 DAT read: 01:19:14.0154 LVL= 27536, 32097, 32754, 32755, AGC= 64, IDX= 507, 0.30,-2.705, 1.849,-2.638,-2.993, PHS= 0.390,-1.396, 0.311, RAW= 147.8, 8.0, CAL= 147.3, 8.7, ROT= 2.7, -8.7 Ygot valid direction response: 01:19:14.0154 LVL= 27536, 32097, 32754, 32755, AGC= 64, IDX= 507, 0.30,-2.705, 1.849,-2.638,-2.993, PHS= 0.390,-1.396, 0.311, RAW= 147.8, 8.0, CAL= 147.3, 8.7, ROT= 2.7, -8.7 T#Rx 49: Read range and direction messages.\direction in FSK: [0.987397,0.046564,0.151261]Fpublishing direction and range infoyQU۞?&NKק?ni\?YUAQUkUa}Q Q)QIU>iU!Ud;>U%@U5>U"$@ U|>)UA=IU|QQU~{ ?=c? o? UA >)UIUA=iU|QQiQiUߊČLAjUA"jUA:jU>RjU쮼h:@q?[R@BjU۞?&NKק?ni\?*jUA=2jU|ZjUXVW7@b(@TvCv@JjU Ǹ0?`h`?^:ju?jU#FA jU"AiU  ?iUN jULBjUo ?jUjQrjUbAzjU> addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 1.008070 s, deltaX: -0.600000 m, approachRate: -0.595197 m/s, rangeRepo size: 4  Added new target pos. range: 26.978889 m, bearing: 27.521364 deg, lat: 36.779507 deg, lon: -121.859758 deg, deltaT: 1.008070 s, deltaX: -0.599344 m, approachRate: -0.594546 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.98 m.2i}checking for new query: numPingsReceived=49, elapsed TxPingTime=23.973585"i*i ProNav: ac range: 26.978889 m, nav range: 27.048315 m, bearing: 27.426900 deg, approach rate: 0.000000 m/s, LOS rate: -0.063893 deg/s, cmd heading: 22.235932 deg, new cmd heading: 22.168352 deg. iHeadingCmd: 0.386911 target range: 26.978889 and range: 27.00 m.h*>hhhhggjgrgnBereZe:e;@*e y?Ea EeEe)Ea"Ea*Eeh:VEeFA4ZEaam@am@am@am@uBɢu!g=)uۚ ur->i)jA<i1i*>%==I*>I )@) @)@-/@) checking for new query: numPingsReceived=49, elapsed TxPingTime=24.2070011 ^AM ط=aA}.AIIO>7R51#,QČLA2+g>2^>2]#=ٱ2=2H ?/ۿ޲?by?? b`? ?i2+g>I2_;2ۑCY> By>I @@bDFVDF8yZD%^H=ٔfWQ-f>9f ?Yj ?=j0EyjaDjbEn>lQ 5r4nSD?Q 9r4n7M)n(BYtyv=?Q Iv$@nkDIn.:in:nQ4yxɮz*A|:iDNOT Ignoring new targets: 26.98 m.2i"i3*i3 ProNav: ac range: 26.978889 m, nav range: 26.897329 m, bearing: 27.410935 deg, approach rate: -0.369218 m/s, LOS rate: -0.039259 deg/s, cmd heading: 22.168352 deg, new cmd heading: 22.136244 deg. iHeadingCmd: 0.386350 target range: 26.978889 and range: 27.00 m.h>hhhhgg jg rg e reZe:e*e5?]BɢeI =) &>i)8<顉i0i>s=s=I>I DDAT read: Rx Time:01:19:14.5152 TRx dataTimestamp_ set to:1764897555.481262PDAT read: Bearing 185.1, 1.2 (Local) ~Local bearing/azimuth received: Bearing 185.1, 1.2 (Local) -DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.3 eDAT read: 01:19:14.5152 LVL= 26848, 30705, 30994, 32755, AGC= 64, IDX= 505, 0.19, 2.404, 0.680, 2.467, 2.120, PHS= 0.386,-1.395, 0.303, RAW= 147.7, 8.2, CAL= 147.2, 8.8, ROT= 2.8, -8.8 mYgot valid direction response: 01:19:14.5152 LVL= 26848, 30705, 30994, 32755, AGC= 64, IDX= 505, 0.19, 2.404, 0.680, 2.467, 2.120, PHS= 0.386,-1.395, 0.303, RAW= 147.7, 8.2, CAL= 147.2, 8.8, ROT= 2.8, -8.8 uT#Rx 50: Read range and direction messages.BBCBIBBBL =BBB;B,^EBMCBMCBIBIBICM+4\direction in FSK: [0.987049,0.048275,0.152986]Fpublishing direction and range infoy  ;?lw?8C ?Y A  h w y ) I ˡ>i \ "> $@ C> l$@ nF>) +H=@! @!@%/@!I nF   "e?HlFb?5=w*? >) I +H=i nF  checking for new query: numPingsReceived=50, elapsed TxPingTime=24.507086E% E%E!E!"E%:*E%~:VE!ZE!BE%3 checking for new query: numPingsReceived=50, elapsed TxPingTime=24.710732w;1#,ČLAja>jU>jw=ٱj'n=jH ? ڿ |? "?5?Q6 ͣ?`?ija>Ij_;jܑCY ByI))bD=VD=8yMV;%MA=ٔU0Q-U>9QYQ=U0Ey]jD]fE]>aQ 5m4eO?Q 9m4e1K)e%BYqyu?Q Iu$@eoDIe:iee:e4yyɮ}*AyiIiMČLAjMnA"jMnA:jM1>RjMfgU:@֎ [?>s}S@BjM;?lw?8C ?*jM+H=2jMnFZjM%7@Qे~#(@bEB @JjM[+0I?5?D/IK?jMAA jMAiM ?iMJ jM[BjM ?jMN jIrjMAzjM>Y addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504036 s, deltaX: -0.299999 m, approachRate: -0.595194 m/s, rangeRepo size: 4  Added new target pos. range: 26.679148 m, bearing: 27.102877 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.504036 s, deltaX: -0.299742 m, approachRate: -0.594683 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.68 m.2i"i*i ProNav: ac range: 26.679148 m, nav range: 26.565434 m, bearing: 27.412101 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 22.136244 deg, new cmd heading: 22.100841 deg. iHeadingCmd: 0.385732 target range: 26.679148 and range: 26.70 m.h~>hhhhg)g1jgArgieqreyZe:e@3:@*e9#?ÀBɢo=) >i)U<i]?0i~>==I~>Iy-DDAT read: Rx Time:01:19:15.0152 5TRx dataTimestamp_ set to:1764897555.986237EPDAT read: Bearing 185.1, 1.7 (Local) E~Local bearing/azimuth received: Bearing 185.1, 1.7 (Local) eDAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.3 DAT read: 01:19:15.0152 LVL= 26912, 31153, 30930, 32755, AGC= 64, IDX= 505, 0.09, 3.005, 1.278, 3.052, 2.721, PHS= 0.385,-1.399, 0.286, RAW= 147.2, 8.4, CAL= 146.7, 9.1, ROT= 3.3, -9.1 Ygot valid direction response: 01:19:15.0152 LVL= 26912, 31153, 30930, 32755, AGC= 64, IDX= 505, 0.09, 3.005, 1.278, 3.052, 2.721, PHS= 0.385,-1.399, 0.286, RAW= 147.2, 8.4, CAL= 146.7, 9.1, ROT= 3.3, -9.1 T#Rx 51: Read range and direction messages.\direction in FSK: [0.985776,0.056840,0.158158]Fpublishing direction and range infoy)-${?b5?@\~>?Y))- i-y-x )))I->i-o-n>-l$@-Q >@ @@/@-#@ -">)-k=I-"))-v^K)?T\V?ye? ->)-I-k=i-"))checking for new query: numPingsReceived=51, elapsed TxPingTime=24.988777Ա Ee  Ee Ee +Ea "Ee ;*Ee :VEe [4ZEa am @am @am @am @^A =A zA zA A)I1IAOU>;^C1#,u ŌLA2^>2>2=ٱ2y=2H?hڿW?@?t?i- c?`?i2^>I2a_;2ݑC>checking for new query: numPingsReceived=51, elapsed TxPingTime=25.214766YBByBIi Mb@Mb@Mb@     9 tV??{Gz?Y >y < #< C@ GA @)  Y (AbDVD8yT@<%+=ٔQ->9Y=0EysDE>ԱQ 54[?Q 94I)Y8>Q E;y?Q I$@uDI.;iF:4yhBɮ*A5EiaieČLAja"ja:je>RjeEqL:@3AKC?z@Bje${?b5?@\~>?*jek=2je"Zje /7@ȔF!Ib(@S @JjeL .?=8- =??NjA߿?jeCA jeAie|?ieY*cjeBjajeY*cjeBrjeWAzje>> addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504975 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 26.679148 m, bearing: 27.423778 deg, lat: 36.779505 deg, lon: -121.859758 deg, deltaT: 0.504975 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 26.68 m.2i)"i1*i1= ProNav: ac range: 26.679148 m, nav range: 26.417690 m, bearing: 27.484349 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 22.100841 deg, new cmd heading: 22.067170 deg. iAEHeadingCmd: 0.385145 target range: 26.679148 and range: 26.70 m.hE1>hIhIhIhIgIgIjgQrgUyBeQreQZeY:eY*e]@?颅ĀBɢ=) :>i)+<顑i0i1>'=*=I1>IM i)I)=DDAT read: Rx Time:01:19:15.5150 ETRx dataTimestamp_ set to:1764897556.490372UPDAT read: Bearing 185.1, 2.6 (Local) U~Local bearing/azimuth received: Bearing 185.1, 2.6 (Local) mDAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.3 B>BBIBBBBBB֢;B\^E@ @@@ DAT read: 01:19:15.5150 LVL= 25680, 32753, 31378, 32755, AGC= 63, IDX= 503, 0.02, 1.253,-0.481, 1.271, 0.962, PHS= 0.392,-1.399, 0.265, RAW= 146.4, 8.6, CAL= 145.9, 9.4, ROT= 4.1, -9.4  Ygot valid direction response: 01:19:15.5150 LVL= 25680, 32753, 31378, 32755, AGC= 63, IDX= 503, 0.02, 1.253,-0.481, 1.271, 0.962, PHS= 0.392,-1.399, 0.265, RAW= 146.4, 8.6, CAL= 145.9, 9.4, ROT= 4.1, -9.4  T#Rx 52: Read range and direction messages. \direction in FSK: [0.984047,0.070537,0.163326] Fpublishing direction and range infoy9=8eP}?,?$vz?Y=3A9=Pd==z 9)=?I=9>i9=>=Ƈ#@=`>="@ ='>)=C=I='99=lzȆY?]2?g=}-? =d>)=zI=C=i='99 checking for new query: numPingsReceived=52, elapsed TxPingTime=25.525978E5  E5 E5 *E1 "E5 :*E5 z:VE5 (N4ZE1 BE5 F8d\>>>>4=ٱ>@=>H`?ڿ]?@??p`K?@?i>d\>I>x_;>ّCYn BynIIr=)r<bDzܿVDz8y<%'=ٔQ- >9 Y = 0Ey }DE>Q 5%4h?Q 9-4F)Y)y-e?Q I-$@zDI:i,:4y9ɮ=*A9iAiEAbŌLAjE A"jE A:jE^z>RjEMtOe9@=3u?k(9;@BjE8eP}?,?$vz?*jEC=2jE'ZjE'o-7@dE(@ݎ稩 @JjE[.?͍?RC?jEDA jEAiE"?iEYjEBjE[Q ?jAjArjEAzjE> addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504135 s, deltaX: -0.300001 m, approachRate: -0.595081 m/s, rangeRepo size: 4  Added new target pos. range: 26.379406 m, bearing: 28.029946 deg, lat: 36.779505 deg, lon: -121.859758 deg, deltaT: 0.504135 s, deltaX: -0.299742 m, approachRate: -0.594566 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.38 m.2i"i*i ProNav: ac range: 26.379406 m, nav range: 26.187981 m, bearing: 27.542377 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 22.067170 deg, new cmd heading: 22.028732 deg. iHeadingCmd: 0.384474 target range: 26.379406 and range: 26.40 m.h>hhhhg gIjgYrgYeareZe:e`ff:@*e` ?ƀBɢ=D<)I M >iI)Msa]~å=]=I]>IYADDAT read: Rx Time:01:19:16.0150 TRx dataTimestamp_ set to:1764897556.993417%PDAT read: Bearing 185.3, 3.0 (Local) -~Local bearing/azimuth received: Bearing 185.3, 3.0 (Local) =DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.3 amDAT read: 01:19:16.0150 LVL= 25488, 30369, 29170, 32755, AGC= 63, IDX= 503,-0.05, 1.109,-0.624, 1.119, 0.826, PHS= 0.385,-1.405, 0.249, RAW= 146.1, 9.0, CAL= 145.6, 9.8, ROT= 4.4, -9.8 Ygot valid direction response: 01:19:16.0150 LVL= 25488, 30369, 29170, 32755, AGC= 63, IDX= 503,-0.05, 1.109,-0.624, 1.119, 0.826, PHS= 0.385,-1.405, 0.249, RAW= 146.1, 9.0, CAL= 145.6, 9.8, ROT= 4.4, -9.8 T#Rx 53: Read range and direction messages.\direction in FSK: [0.982504,0.075600,0.170209]Fpublishing direction and range infoyp?SM}Z?rl?Ycvq )I>i ׳~>1#@| >"@ %/>)nF=I%/ N_c?r|?\v? )>)e InF=i%/e checking for new query: numPingsReceived=53, elapsed TxPingTime=26.014338 @  @ @ /@ ] v>] C GbEjEL4rE?/E  E E E "E &:*E :VE ZE a @a @a @a @  M r9I YM nAԑ ^A%C=A-?A->Թchecking for new query: numPingsReceived=53, elapsed TxPingTime=26.223228AU؟AIYIiO} ?T1#,2QŌLA2X>2@>2X=ٱ2D2=2H@?EYڿ5?? i?B i? ?i2X>I2cX_;2ܑCYJByJIiUMb@Mb@Mb@QQQQ Q9UZd;O?y&1?:v?YUj>yU`9"?Y"?=0EyD@ɻE>Q 54w?Q 94KD)Y>Q E;y~?Q I$@DIv;i;N4yrBɮM+Ai!i%%?ŌLAj!"j!:j%c>Rj%H9@,?A@Bj%p?SM}Z?rl?*j%nF=2j%%/Zj%F 7@&M(@/᪌L @Jj%ا?Xe?nRs?j%DA j%]Ai%(e ?i%j%[Bj%(e ?j!j!rj%Azj%>  addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503045 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.379406 m, bearing: 28.094649 deg, lat: 36.779505 deg, lon: -121.859758 deg, deltaT: 0.503045 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.38 m.2i"i!*i!5 ProNav: ac range: 26.379406 m, nav range: 25.987673 m, bearing: 27.526678 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 22.028733 deg, new cmd heading: 21.985024 deg. i1=HeadingCmd: 0.383711 target range: 26.379406 and range: 26.40 m.h=u>h9h9h9hAgAgAjgArgAeIreIZeI:eQ*eU`!s?}ȀBɢ}zH<)y >i)g<顁iI/ieu>eϥ=m=Imu>IiqqqqԡDDAT read: Rx Time:01:19:16.5148 TRx dataTimestamp_ set to:1764897557.497410 PDAT read: Bearing 185.0, 2.9 (Local)  ~Local bearing/azimuth received: Bearing 185.0, 2.9 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.3 A1A5AAB1B1B5IB5BB1B1B1B5;B5}^EeDAT read: 01:19:16.5148 LVL= 23472, 28801, 29490, 32755, AGC= 63, IDX= 501,-0.15, 0.095,-1.635, 0.108,-0.189, PHS= 0.386,-1.402, 0.253, RAW= 146.2, 8.9, CAL= 145.7, 9.7, ROT= 4.3, -9.7 mYgot valid direction response: 01:19:16.5148 LVL= 23472, 28801, 29490, 32755, AGC= 63, IDX= 501,-0.15, 0.095,-1.635, 0.108,-0.189, PHS= 0.386,-1.402, 0.253, RAW= 146.2, 8.9, CAL= 145.7, 9.7, ROT= 4.3, -9.7 uT#Rx 54: Read range and direction messages.u\direction in FSK: [0.982929,0.073907,0.168489]}Fpublishing direction and range infoy 1't?[ :D?RV?YA[p2s )Iˡ>it7>N#@>"@ -\->)`=I-\-5B_?ꙙ?I-? {>)}I`=i-\-checking for new query: numPingsReceived=54, elapsed TxPingTime=26.495283- @)  @) @- 4@1 E  E E ,E "E 2:*E ]t:VE g4ZE BE +*NP>N:(=ٱNx=NH (? ڿ@C? D?@?jĵ? ?iN2R>INQ_;NّCYZ ByZI \\bDfۿVDf8ynf;%n&=ٔnϺQ-n>9pYp=r0EyrDvHPEv>xQ 5~4zA?Q 9~4zB)xY|y~>Q I~$@zDIzQ;izM;z4yɮF+A!ii_ŌLAjA"jA:j~Z>RjWkX;k9@QGz?ܚ@Bj 1't?[ :D?RV?*j`=2j-\-Zj<=6@'@nbo? @Jj?r?j?j?A jAi[ ?i'ej5Bjj'ejBrjAzj3A>} addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503993 s, deltaX: -0.299999 m, approachRate: -0.595245 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 26.079659 m, bearing: 27.680294 deg, lat: 36.779505 deg, lon: -121.859757 deg, deltaT: 0.503993 s, deltaX: -0.299747 m, approachRate: -0.594745 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.08 m.2i"ia*ia ProNav: ac range: 26.079659 m, nav range: 25.841232 m, bearing: 27.669238 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 21.985025 deg, new cmd heading: 21.946078 deg. i-HeadingCmd: 0.383031 target range: 26.079659 and range: 26.10 m.h->hQhYhYhagigjgrgereZe:e:@*eOq?ɀBɢ<) X=i)<!i%}.iM>Mۥ=M)E=IM>IIiߩIߩDDAT read: Rx Time:01:19:17.0147 TRx dataTimestamp_ set to:1764897558.002677PDAT read: Bearing 185.3, 3.9 (Local) ~Local bearing/azimuth received: Bearing 185.3, 3.9 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.3 @ @@4@DAT read: 01:19:17.0147 LVL= 23008, 32753, 27794, 32755, AGC= 62, IDX= 500,-0.24,-0.541,-2.257,-0.559,-0.821, PHS= 0.383,-1.391, 0.218, RAW= 145.2, 9.3, CAL= 144.8, 10.2, ROT= 5.2, -10.2  Ygot valid direction response: 01:19:17.0147 LVL= 23008, 32753, 27794, 32755, AGC= 62, IDX= 500,-0.24,-0.541,-2.257,-0.559,-0.821, PHS= 0.383,-1.391, 0.218, RAW= 145.2, 9.3, CAL= 144.8, 10.2, ROT= 5.2, -10.2 T#Rx 55: Read range and direction messages.\direction in FSK: [0.980145,0.089200,0.177085]Fpublishing direction and range infoya(Y]? Dcն?ki?YAYl )>I>iJ d;_>0"@6&>?!@ K6>)޹=IK6ӹ?Ā@?ie ? >)&I޹=iK65checking for new query: numPingsReceived=55, elapsed TxPingTime=26.996925E5  E1 E5 +E1 "E5 &:*E1 VE5 [4ZE1 a= @a= @a= @a= @) ^AE s=A .AI I O >c1#,ŌLA2qN>2,>2=ٱ2=2H@F3?ٿm? ? i'? &&ֵ??i2qN>I2oJ_;2ۑCY:By:INchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.230837himMb@Mb@Mb@iiii i9m r?Q?Q?Ym>ym9 ?Y ?=0EyD$E>Q 54?Q 94?)&BYV>Q E ;y<>Q I$@DIG ;iL ;+4y{Bɮ?+A6Eii+ŌLAjA"jA:j8>Rj4.v9@D@q&g@Bja(Y]? Dcն?ki?*j޹=2jK6ZjkR6@3]d(@-yq@Jj}?ZH ?y~,?j CA jAif?ijňBj[ ?jYj5BrjAzj'> addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.505267 s, deltaX: -0.100000 m, approachRate: -0.197916 m/s, rangeRepo size: 4 % Added new target pos. range: 25.979736 m, bearing: 28.337005 deg, lat: 36.779505 deg, lon: -121.859756 deg, deltaT: 0.505267 s, deltaX: -0.099922 m, approachRate: -0.197761 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 25.98 m.2i!"i*i ProNav: ac range: 25.979736 m, nav range: 25.698954 m, bearing: 27.881817 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 21.946079 deg, new cmd heading: 21.909261 deg. iHeadingCmd: 0.382389 target range: 25.979736 and range: 26.00 m.hu>hhhhggjgrgBereZe:e:@*e?ʀBɢ% =)! E>iI)MֈUh=U(=IUu>IY@ @@/@^AZ=A xAzA xA)AE؟AIQIaBiBiBiBiBmM =BiBiBm ;Bm^EDDAT read: Rx Time:01:19:17.5144 TRx dataTimestamp_ set to:1764897558.513007PDAT read: Bearing 184.8, 3.9 (Local) ~Local bearing/azimuth received: Bearing 184.8, 3.9 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.3 DAT read: 01:19:17.5144 LVL= 30016, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.40,-1.003,-2.743,-1.019,-1.294, PHS= 0.392,-1.404, 0.230, RAW= 145.3, 9.1, CAL= 144.9, 9.9, ROT= 5.1, -9.9 Ygot valid direction response: 01:19:17.5144 LVL= 30016, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.40,-1.003,-2.743,-1.019,-1.294, PHS= 0.392,-1.404, 0.230, RAW= 145.3, 9.1, CAL= 144.9, 9.9, ROT= 5.1, -9.9 T#Rx 56: Read range and direction messages.\direction in FSK: [0.981209,0.087571,0.171929]Fpublishing direction and range infoyXB#f?U{k?!?YA@u )AI9>iFk>:M"@">!@ ;0>)K=I;0։ ?T!?,uVN? J>)"##IK=i;0O > checking for new query: numPingsReceived=56, elapsed TxPingTime=27.509285ԉ E  E E *E "E :*E :VE (N4ZE BE $52g>2=ٱ2H=2H=?١ٿ@U??81?d`uz?W?i2vK>I2H_;0Y>ByBIFAAFAAbDJۿVDJ8yVU%V[=ٔVzQ-Z>9Z"?YZ"?=r1EyrDrEv>xQ 54z?Q 94z=)z'BYy >Q I $@zDIz?;iz@;z4yɮ%k+A!YiiՠŌLAjA"jA:jv>Rj+ W9@&u@@BjXB#f?U{k?!?*jK=2j;0Zjh?6@o'@vѬ}3 @JjN*?W ?|)V?j=A jAiKj?ij[Bjf?jj[BrjAzjL> addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.510330 s, deltaX: -0.500000 m, approachRate: -0.979758 m/s, rangeRepo size: 4  Added new target pos. range: 25.480118 m, bearing: 28.080257 deg, lat: 36.779504 deg, lon: -121.859756 deg, deltaT: 0.510330 s, deltaX: -0.499619 m, approachRate: -0.979011 m/s, posRepo size: 4 :i5DNOT Ignoring new targets: 25.48 m.2i1"i9*i9M ProNav: ac range: 25.480118 m, nav range: 25.463985 m, bearing: 27.986638 deg, approach rate: 0.000000 m/s, LOS rate: -0.039259 deg/s, cmd heading: 21.909261 deg, new cmd heading: 21.877783 deg. iIMHeadingCmd: 0.381839 target range: 25.480118 and range: 25.50 m.hMr>hqhqhqhqgqgqjgyrgyeyreyZe:e9@*e@+0?ˀBɢ^=) Z>i)c<i,.ir>=X=Ir>Ichecking for new query: numPingsReceived=56, elapsed TxPingTime=27.744331ԁ@ @@@Թ^Az= A I) I9 OM > DDAT read: Rx Time:01:19:18.0144  TRx dataTimestamp_ set to:1764897559.016656 DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.3  Z#Rx 57: Read range message, but no direction.y Y  checking for new query: numPingsReceived=57, elapsed TxPingTime=27.998095p1#,/ŌLAE- E-E)E)"E-;*E-:VE)ZE)a5@a5@a5@a5@I>m>T=ٱ?=H:F?$}ٿ%?پ?9?}\Iݵ??iI>II_;ݑCYmBymIIu=)uԹiMMb@Mb@Mb@IIII I9MyM,=MC9yYy=}1Ey}D^E>Q 54t?Q 94;)(BY>Q E:y?Q I$@DI;i+;4yɮJ+AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503649 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 25.48 m.2i"iԹ*iԹM ProNav: ac range: 25.480118 m, nav range: 25.274670 m, bearing: 27.976678 deg, approach rate: -0.439082 m/s, LOS rate: -0.023273 deg/s, cmd heading: 21.877782 deg, new cmd heading: 21.857713 deg. iM^*UHeadingCmd: 0.381489 target range: 25.480118 and range: 25.50 m.hUR>hQhYhYhYgYgYjgarge"BeareaZea:ei*em0?颵̀Bɢ=)  >i)T[<项i .iR>=}x=IR>I@ @@@^A]ew=checking for new query: numPingsReceived=57, elapsed TxPingTime=28.246782AIIO>I Wv1#,rŌLA2eF>2>2Y=ٱ2DY=2HN?Vٿ? ?@A?@@L꡿@??i2eF>I2z_;2ؑCY:By>IbDFVDFS8ybe%fj=ٔf(Q-f>9hYh=j1EyjDnEn>pQ 5r4r*?Q 9v4r9)r)BYtyvP?Q Iv$@rDIr:ir:r4y~Bɮ~+A~7E:i%DNOT Ignoring new targets: 25.48 m.2i!"i%&*i-&= ProNav: ac range: 25.480118 m, nav range: 25.129137 m, bearing: 27.969791 deg, approach rate: -0.415898 m/s, LOS rate: -0.019797 deg/s, cmd heading: 21.857714 deg, new cmd heading: 21.843859 deg. i==HeadingCmd: 0.381247 target range: 25.480118 and range: 25.50 m.hE2>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU@F$?yɢ~ =) 2 >i)}<顁i-i2>H=2=I2>I B<A%=]DDAT read: Rx Time:01:19:18.5142 eTRx dataTimestamp_ set to:1764897559.522021uPDAT read: Bearing 184.7, 4.5 (Local) u~Local bearing/azimuth received: Bearing 184.7, 4.5 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.3 DAT read: 01:19:18.5142 LVL= 29168, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.23, 0.799,-0.957, 0.760, 0.506, PHS= 0.395,-1.418, 0.210, RAW= 144.7, 9.4, CAL= 144.3, 10.3, ROT= 5.7, -10.3 Ygot valid direction response: 01:19:18.5142 LVL= 29168, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.23, 0.799,-0.957, 0.760, 0.506, PHS= 0.395,-1.418, 0.210, RAW= 144.7, 9.4, CAL= 144.3, 10.3, ROT= 5.7, -10.3 T#Rx 58: Read range and direction messages.\direction in FSK: [0.979020,0.097719,0.178802]Fpublishing direction and range infoyae(3Y"T? 8\ ??YeAaeqB%>B!B%IB%BB%L =B!B!B%;B%^Eaa a)e?Ieq=>iee= W>e!@e'>eE/!@ eX8>)e%=IeX8aaesw̮?Hqa\?R? e>)eL(Ie%=ieX8aamchecking for new query: numPingsReceived=58, elapsed TxPingTime=28.534567}@y @y@/@E- E-E-)E)"E-:*E-|:VE-FA4ZE)BE- 'ԑ |1#,\uŌLAJ8C>JX>J| =ٱJ]=JHIJn_;JڑCYn ByrIbD-VD-[8yuർ%?=ٔ-AQ-5>9AYI=U1EayUDpǻE>Q 54ě?Q 94)7)+BYy?Q I$@DI\;if;4y ɮ +A iyi}hŌLAj}qA"j}qA:j}>Rj}eA18@ {O@YZ@Bj}(3Y"T? 8\ ??*j}%=2j}X8Zj}sB5@2Ͷ'@sB@i@Jj}:m??:?j} addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.505365 s, deltaX: -0.299999 m, approachRate: -0.593629 m/s, rangeRepo size: 4  Added new target pos. range: 25.180317 m, bearing: 28.184981 deg, lat: 36.779504 deg, lon: -121.859755 deg, deltaT: 1.009014 s, deltaX: -0.299801 m, approachRate: -0.297123 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.18 m.2i"i *iM ProNav: ac range: 25.180317 m, nav range: 24.963833 m, bearing: 28.088406 deg, approach rate: 0.000000 m/s, LOS rate: -0.019797 deg/s, cmd heading: 21.843859 deg, new cmd heading: 21.824621 deg. iQUHeadingCmd: 0.380911 target range: 25.180317 and range: 25.20 m.hU>hYhYhYhYgYgYjgargaeareaZea:em@339@*e@w?̀Bɢ=) =i)%(-=5҆=I5>I1mDDAT read: Rx Time:01:19:19.0142 mTRx dataTimestamp_ set to:1764897560.028174}PDAT read: Bearing 184.1, 4.5 (Local) }~Local bearing/azimuth received: Bearing 184.1, 4.5 (Local) ԁDAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.3 DAT read: 01:19:19.0142 LVL= 26544, 32065, 32754, 32755, AGC= 63, IDX= 511, 0.11, 1.592,-0.177, 1.552, 1.285, PHS= 0.410,-1.417, 0.223, RAW= 144.7, 9.0, CAL= 144.2, 9.9, ROT= 5.8, -9.9 Ygot valid direction response: 01:19:19.0142 LVL= 26544, 32065, 32754, 32755, AGC= 63, IDX= 511, 0.11, 1.592,-0.177, 1.552, 1.285, PHS= 0.410,-1.417, 0.223, RAW= 144.7, 9.0, CAL= 144.2, 9.9, ROT= 5.8, -9.9 T#Rx 59: Read range and direction messages.\direction in FSK: [0.980066,0.099552,0.171929]%Fpublishing direction and range infoyimv\?8[5|?!?YiimgmA}i i)iIm>imB`mZd>im| >m!@ m;0>)m4Q=Im;0iimӣT ?oM_?"T? mc>)m!Im4Q=im;0iichecking for new query: numPingsReceived=59, elapsed TxPingTime=29.045017@ @@/@E% E%E%*E!"E%:*E%&p:VE%(N4ZE!a-@a-@a-@a-@Ա^A d= A I I  checking for new query: numPingsReceived=59, elapsed TxPingTime=29.254770O >>1#,lƌLA2{@>2>2.1 =ٱ2=2H d`? ٿ?I?@R?@JeƵ?`?i2{@>I2Y_;2ۑCY:By:I <yy=A @)AY@bDuVDuc8y}=%>=ٔԵQ->9Y=1EyŕD!̻E>Q 54zЛ?Q 944)-BY>Q E:y ?Q I$@DI;i7;4yBɮ+A8EiiƌLAj"j:j >Rj"H8@) @F v!Q@Bjv\?8[5|?!?*j4Q=2j;0Zj]j5@{'@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.506153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.180317 m, bearing: 28.188920 deg, lat: 36.779504 deg, lon: -121.859755 deg, deltaT: 0.506153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.18 m.2i"i*i!- ProNav: ac range: 25.180317 m, nav range: 24.798006 m, bearing: 28.067173 deg, approach rate: 0.000000 m/s, LOS rate: -0.019797 deg/s, cmd heading: 21.824621 deg, new cmd heading: 21.809756 deg. i15HeadingCmd: 0.380652 target range: 25.180317 and range: 25.20 m.h5>h1h9h9h9g9g9jgArgEuBeAreAZeI:eI*eM ?qɢu4{ =)y }2 >iy)}<顁i-i>=`=I>I@ @@0@1BM>BIBMIBMBBIBIBIBM-;BM^EB CB CB B L =B L =C 4DDAT read: Rx Time:01:19:19.5140 TRx dataTimestamp_ set to:1764897560.529188PDAT read: Bearing 184.1, 4.9 (Local) ~Local bearing/azimuth received: Bearing 184.1, 4.9 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.3 DAT read: 01:19:19.5140 LVL= 30800, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.02,-0.874,-2.631,-0.924,-1.179, PHS= 0.407,-1.407, 0.211, RAW= 144.4, 9.2, CAL= 143.9, 10.0, ROT= 6.1, -10.0 Ygot valid direction response: 01:19:19.5140 LVL= 30800, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.02,-0.874,-2.631,-0.924,-1.179, PHS= 0.407,-1.407, 0.211, RAW= 144.4, 9.2, CAL= 143.9, 10.0, ROT= 6.1, -10.0 T#Rx 60: Read range and direction messages.\direction in FSK: [0.979232,0.104650,0.173648]Fpublishing direction and range infoy; U?|WRʺ?ٖNs:?Y3APx )@YINb>ibX>K!@l$> @Dq zDu @AE}  E} E} )Ey "E} D:*E} :VE} FA4ZEy BE} 2)^ =I¸2)*Ep?bL " ?&p? >) ;$I^ =i¸2 checking for new query: numPingsReceived=60, elapsed TxPingTime=29.572020^A L=ԉ A! I1 II O] >fm1#,E+ƌLAn{>>n1>n =ٱnЯ=nH`g?ؿ@ƅ? 4'?Y?`ΰh: ?5?in{>>InY_;lYzByzIbD VD 8yj%P=ٔ%ZQ-%>9)Y)=-1Ey-͕D-E->1Q 545ܛ?Q 9452)5.BYy ?Q I$@5DI5RjaJ-)]8@:,S{@Jd1+H@Bj; U?|WRʺ?ٖNs:?*j^ =2j¸2Zj̺k5@˜(\'@i @Jj緉u?gG ?qu[?j:A j;AiU?i*fjqBjU?jsgjrjAzj C>Q} addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501014 s, deltaX: -0.300001 m, approachRate: -0.598788 m/s, rangeRepo size: 4  Added new target pos. range: 24.880638 m, bearing: 28.341940 deg, lat: 36.779503 deg, lon: -121.859754 deg, deltaT: 0.501014 s, deltaX: -0.299679 m, approachRate: -0.598145 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.88 m.2i"i*i ProNav: ac range: 24.880638 m, nav range: 24.603069 m, bearing: 28.341479 deg, approach rate: 0.000000 m/s, LOS rate: -0.019797 deg/s, cmd heading: 21.809757 deg, new cmd heading: 21.793259 deg. iHeadingCmd: 0.380364 target range: 24.880638 and range: 24.90 m.h>hchecking for new query: numPingsReceived=60, elapsed TxPingTime=29.758768hhhggjgrgere Ze :e `f8@*e 5=?颵΀BɢW0=) t=i)I<项i-i>$ =J=I>Iԉ@ @@/0@ԩ^AE !=AI zAI  DDAT read: Rx Time:01:19:20.0140  TRx dataTimestamp_ set to:1764897561.034383 PDAT read: Bearing 184.0, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 184.0, 5.0 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.3  DAT read: 01:19:20.0140 LVL= 28528, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.20, 0.073,-1.707, 0.017,-0.234, PHS= 0.409,-1.428, 0.207, RAW= 144.3, 9.3, CAL= 143.8, 10.2, ROT= 6.2, -10.2  Ygot valid direction response: 01:19:20.0140 LVL= 28528, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.20, 0.073,-1.707, 0.017,-0.234, PHS= 0.409,-1.428, 0.207, RAW= 144.3, 9.3, CAL= 143.8, 10.2, ROT= 6.2, -10.2  T#Rx 61: Read range and direction messages. \direction in FSK: [0.978439,0.106292,0.177085] Fpublishing direction and range infoy  EU_O?5?ki?Y po ) I sh>i ȶ S> E/!@ 6&> K @ K6>) k=I K6 aN?&?v? k>) &I k=i K6 E checking for new query: numPingsReceived=61, elapsed TxPingTime=30.063349E  E E ,E "E :*E :VE g4ZE a @a @a @a @A I I O >_1#,հFƌLAb`<>b>b[/=ٱbͽ=bHn?`ؿ -?'?`?x&Š@?(?ib`<>Ib=_;bݑCY ByI)iMb@Mb@Mb@ 9"~?l?I +?Y>y=94<@A @)YAbDVD8y;%*=ٔQ->9 Y = 1Ey וD9E>Q 5%4ꛊ?Q 9%4/)/BY%f>Q EE:yEp?Q IM$@DId;i;+4yUBɮU+AU.EiaieU3BƌLAja"ja:jed>RjeNX8@wb1(@,べ@BjeEU_O?5?ki?*jek=2jeK6Zjer<5@ DR'@>cփ@Jje:I?Xh??je:A je)Aieu ?ieqjeBjajajarje4Azjek> addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.505195 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.880638 m, bearing: 28.311906 deg, lat: 36.779503 deg, lon: -121.859754 deg, deltaT: 0.505195 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 24.88 m.2i"i*iM ProNav: ac range: 24.880638 m, nav range: 24.400564 m, bearing: 28.302739 deg, approach rate: 0.000000 m/s, LOS rate: -0.019797 deg/s, cmd heading: 21.793259 deg, new cmd heading: 21.774616 deg. iIUHeadingCmd: 0.380039 target range: 24.880638 and range: 24.90 m.hUp>hQhQhQhQgYgYjgyrg}BereZe:e*e?ɢ߼=) @=i)<in-ip>u=S-=Ip>I Ychecking for new query: numPingsReceived=61, elapsed TxPingTime=30.262987@ @@'0@ԉ^A :_=Թ B >B B B B M =B B B E;B ^EA I I O >~1#,MaƌLA"DDAT read: Rx Time:01:19:20.5137 "TRx dataTimestamp_ set to:1764897561.537171*PDAT read: Bearing 183.5, 5.0 (Local) *~Local bearing/azimuth received: Bearing 183.5, 5.0 (Local) >DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 5DAT read: 01:19:20.5137 LVL= 29168, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.47, 0.501,-1.291, 0.444, 0.181, PHS= 0.422,-1.427, 0.219, RAW= 144.3, 9.0, CAL= 143.8, 9.8, ROT= 6.2, -9.8 EYgot valid direction response: 01:19:20.5137 LVL= 29168, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.47, 0.501,-1.291, 0.444, 0.181, PHS= 0.422,-1.427, 0.219, RAW= 144.3, 9.0, CAL= 143.8, 9.8, ROT= 6.2, -9.8 ET#Rx 62: Read range and direction messages.]\direction in FSK: [0.979644,0.106423,0.170209]]Fpublishing direction and range infoy "&I>Y?l>?rl?Y"A "q ) I"b>i"𧶿"A`> "| > "%/>) I"%/ "E7?v? Y?V:>>yR=ٱ6=Hu?Fؿ`? m?g?`Ӱ@8??iV:>It_;ۑCY ByII<)< "*>)" I i"%/ checking for new query: numPingsReceived=62, elapsed TxPingTime=30.571217D D <E EE)E"E;*E~:VEFA4ZEBE@9Y=1EyDE>Q 5-4b?Q 9-41-)0BY1y5?Q I5$@DI :i:w 4y=Bɮ=2,A=/Ei i"abƌLAj"A"j"A:j";8>Rj"HB8@Q @cN@Bj"&I>Y?l>?rl?*j 2j"%/Zj"ϥUl5@ďx&@6SS6 @Jj"7 ?wx?S?j"7A j"bAi"Ew?i"Śj"CBj"Ew?j"*fj rj"kAzj"> addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502788 s, deltaX: -0.299999 m, approachRate: -0.596671 m/s, rangeRepo size: 4  Added new target pos. range: 24.580835 m, bearing: 28.224846 deg, lat: 36.779504 deg, lon: -121.859754 deg, deltaT: 0.502788 s, deltaX: -0.299803 m, approachRate: -0.596281 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.58 m.2i"i *i E ProNav: ac range: 24.580835 m, nav range: 24.302328 m, bearing: 28.172776 deg, approach rate: 0.000000 m/s, LOS rate: -0.019797 deg/s, cmd heading: 21.774616 deg, new cmd heading: 21.758088 deg. iIUHeadingCmd: 0.379750 target range: 24.580835 and range: 24.60 m.hUn>hQhQhQhYgYgyjgrgereZe:e8@*e h?-πBɢ-Z=)1 5=i1)5s<1Qi]-i]n>e=e=Ien>Ia@ @@_0@checking for new query: numPingsReceived=62, elapsed TxPingTime=30.766811I^A =y A .AI) I9 OM >1#,}ƌLABJ9>B$>B=ٱB>=BHy?`%ؿ ??'j?"h> ?`?iBJ9>IB1_;@Y\y\QiUMb@Mb@Mb@QQQQ Q9UQ?{Gz?I +?YU(>yUף=QU@UA UA)UAQYUAbDmVDm8y}%}P=ٔQ->9 ?Y ?=1EyDEE>Q 54?Q 94*)1BY>Q E:yh?Q I$@DI:i:T4yɮ6,AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 24.58 m.2i"iۺ*iۺ ProNav: ac range: 24.580835 m, nav range: 24.131186 m, bearing: 28.136918 deg, approach rate: -0.453815 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.758088 deg, new cmd heading: 21.685863 deg. i@/HeadingCmd: 0.378490 target range: 24.580835 and range: 24.60 m.hg>hhhhggjgrg€BereZe :e *e `9?1ɢ=\=)9 =8=i9)=mDDAT read: Rx Time:01:19:21.0136 uTRx dataTimestamp_ set to:1764897562.043527PDAT read: Bearing 182.9, 5.0 (Local) ~Local bearing/azimuth received: Bearing 182.9, 5.0 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 DAT read: 01:19:21.0136 LVL= 26464, 31665, 31298, 32755, AGC= 63, IDX= 505, 0.16, 1.029,-0.751, 0.973, 0.698, PHS= 0.433,-1.405, 0.231, RAW= 144.3, 8.5, CAL= 143.8, 9.3, ROT= 6.2, -9.3 Ygot valid direction response: 01:19:21.0136 LVL= 26464, 31665, 31298, 32755, AGC= 63, IDX= 505, 0.16, 1.029,-0.751, 0.973, 0.698, PHS= 0.433,-1.405, 0.231, RAW= 144.3, 8.5, CAL= 143.8, 9.3, ROT= 6.2, -9.3 T#Rx 63: Read range and direction messages.u\direction in FSK: [0.981084,0.106580,0.161604]aG=)=Ig>zr9YnAI}Fpublishing direction and range infoyibEjEüP4rEL/E5 E5E5*E1"E5:*E5:VE5(N4ZE1aE@aE@aE@aE@m9Z e?.H?o?YmAԁim`gm{mBz i)m?Im->im ׳mDl>im>i m6&>)iIm6&iim)>?pr? t? m>)mIiim6&iichecking for new query: numPingsReceived=63, elapsed TxPingTime=31.098623@ @@?5@@@yAԱ^A C=A ?A > checking for new query: numPingsReceived=63, elapsed TxPingTime=31.271421 A ؟AI I O >1#,ƌLA27>25>25<ٱ2ݯ=2H }?@Ԇؿ??!?m?.3 ? ?i27>I2sN_;2ܑCY:By:IbDNVDN8yj¼%nV=ٔrQ-v>9z"?Y"?=1EyDcGE>ԹQ 5=4\?Q 9E4()2BYIyU?Q Iu$@ČDIoRj8@4ͣ@\P@Bj9Z e?.H?o?*j2j6&ZjXV`5@0 @_]&@LOa @Jjp?a\@??j6A jAi?ijއBjq ?jŚjqBrj/Azj>  addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.506356 s, deltaX: -0.100000 m, approachRate: -0.197490 m/s, rangeRepo size: 4 = Added new target pos. range: 24.480913 m, bearing: 28.123998 deg, lat: 36.779504 deg, lon: -121.859754 deg, deltaT: 0.506356 s, deltaX: -0.099922 m, approachRate: -0.197336 m/s, posRepo size: 4 :i9=DNOT Ignoring new targets: 24.48 m.2iA"iE*iAu ProNav: ac range: 24.480913 m, nav range: 24.023033 m, bearing: 28.072976 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.685863 deg, new cmd heading: 21.601341 deg. iq}HeadingCmd: 0.377015 target range: 24.480913 and range: 24.50 m.h} >hyhyhyhyggjgrgereZe:e8@*e{0?9ɢ=+=)9 =D=i9)Em=ms=Im >IqBBBBBL =BBBC;B^EiqIqDDAT read: Rx Time:01:19:21.5134 TRx dataTimestamp_ set to:1764897562.548432PDAT read: Bearing 183.1, 5.5 (Local) ~Local bearing/azimuth received: Bearing 183.1, 5.5 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 @ @@5@DAT read: 01:19:21.5134 LVL= 27312, 31921, 32754, 32755, AGC= 63, IDX= 503,-0.06,-1.363,-3.135,-1.431,-1.686, PHS= 0.425,-1.404, 0.211, RAW= 143.8, 8.9, CAL= 143.4, 9.7, ROT= 6.6, -9.7 Ygot valid direction response: 01:19:21.5134 LVL= 27312, 31921, 32754, 32755, AGC= 63, IDX= 503,-0.06,-1.363,-3.135,-1.431,-1.686, PHS= 0.425,-1.404, 0.211, RAW= 143.8, 8.9, CAL= 143.4, 9.7, ROT= 6.6, -9.7 T#Rx 64: Read range and direction messages.\direction in FSK: [0.979171,0.113294,0.168489]Fpublishing direction and range infoyb^U?4?RV?YAj| )I>iFbX>K @>- @ -\->)=I-\-4m?O?Y(5F? 0>)O>I=i-\-checking for new query: numPingsReceived=64, elapsed TxPingTime=31.576815E= E=E=-E9"E=:*E=҆:VE=t4ZE9BE=F8q1#,e9ƌLA.checking for new query: numPingsReceived=64, elapsed TxPingTime=31.774837B6>BH >BS<ٱB6=BH`? xؿtr?`?o?<8 @=? A?iB6>IB_;BڑCYNByNI PPbDVVDV8y^L%^E=ٔbQ-b>9`Yd=f1EyfDfEf>hQ 5n4j?Q 9n4j%)j3BYpyr?Q Ir$@jʌDIjG:ij:j<"4ytɮv,AtiQiUƌLAjUsA"jUsA:jU0>RjUj}uo7@}5@KH& L@BjUb^U?4?RV?*jU=2jU-\-ZjUnQ5@O4@W&@1!c @JjU_WO?@tX ?O9?jU6A jUBAiUZp?iUQjU"BjUZp?jUqjUCBrjUAzjU>= addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504905 s, deltaX: -0.299999 m, approachRate: -0.594170 m/s, rangeRepo size: 4 M Added new target pos. range: 24.181152 m, bearing: 28.421975 deg, lat: 36.779504 deg, lon: -121.859753 deg, deltaT: 0.504905 s, deltaX: -0.299761 m, approachRate: -0.593697 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 24.18 m.2iQ"iQ*iQe ProNav: ac range: 24.181152 m, nav range: 23.866827 m, bearing: 28.207179 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.601341 deg, new cmd heading: 21.532729 deg. iamHeadingCmd: 0.375817 target range: 24.181152 and range: 24.20 m.hmk>hihqhqhqgqgqjgyrgyeyreyZey:e@338@*e@?)ɢ-C<)) -=i1)5a<11i5-i=k>=s===I=k>IA@ @@/@ !DDAT read: Rx Time:01:19:22.0133 %TRx dataTimestamp_ set to:1764897563.0501325PDAT read: Bearing 183.2, 5.5 (Local) 5~Local bearing/azimuth received: Bearing 183.2, 5.5 (Local) I]DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 DAT read: 01:19:22.0133 LVL= 26064, 31297, 30162, 32755, AGC= 63, IDX= 503,-0.39,-0.280,-2.052,-0.347,-0.596, PHS= 0.418,-1.411, 0.205, RAW= 143.9, 9.1, CAL= 143.4, 10.0, ROT= 6.6, -10.0 Ygot valid direction response: 01:19:22.0133 LVL= 26064, 31297, 30162, 32755, AGC= 63, IDX= 503,-0.39,-0.280,-2.052,-0.347,-0.596, PHS= 0.418,-1.411, 0.205, RAW= 143.9, 9.1, CAL= 143.4, 10.0, ROT= 6.6, -10.0 T#Rx 65: Read range and direction messages.E \direction in FSK: [0.978281,0.113191,0.173648]M Fpublishing direction and range infoyPaN?&?ٖNs:?E  E E )E "E V:*E Z:VE FA4ZE a @a @a @a @^A /=YAeAzu )I>iQ> @"> ¸2>)I¸21 1E?p\d?髰R? u>)H#Ii¸2m checking for new query: numPingsReceived=65, elapsed TxPingTime=32.103947y A- .AI1 II OU >1#,ƌLA2>7>23>2٪<ٱ27H=2H?|ؿ?=?n?` &`_??i2>7>I2^;2ܑCY:ByZIieMb@Mb@Mb@aaaa a9e1Zd?MbX9?{Gzt?Ye">yeʡ=eף;e@eA e-A)eAaYeAbD}VD}8y_%>=ٔ9DQ->9 ?Y ?=1EyD8:E>Q 54G)?Q 94#)2BY>Q E:y?Q I$@ЌDI;i;)4yɮ3-AiIiM]5ƌLAjMٿA"jMٿA:jMh>RjMtu7@#:@܍@@BjMPaN?&?ٖNs:?*jI2jM¸2ZjM#C4@&#&@ge @JjMGf?2y.?O ؜?jMa4A jM¦AiML?iM5jMMBjIjMjIrjMAzjMd>  addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.501700 s, deltaX: -0.200001 m, approachRate: -0.398646 m/s, rangeRepo size: 4  Added new target pos. range: 23.981306 m, bearing: 28.406333 deg, lat: 36.779504 deg, lon: -121.859753 deg, deltaT: 0.501700 s, deltaX: -0.199846 m, approachRate: -0.398338 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.98 m.2i"i!*i!5 ProNav: ac range: 23.981306 m, nav range: 23.706444 m, bearing: 28.285678 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.532730 deg, new cmd heading: 21.450407 deg. i1=HeadingCmd: 0.374380 target range: 23.981306 and range: 24.00 m.h=Į>h9h9h9h9gAgAjgArgEBeIIreQZeQ:eU8@*eU)u?颁ɢ<<) =i)<顉i,-iĮ>X$=l=IĮ>Iuchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.279106A@A @A@A@Ay^A-=A-zAzA-zAԩA] ؟ABa Ae 4=Bi Bi Bm IBm BBm M =Bi Bi Bm ?;Bm ^EI I O >- DDAT read: Rx Time:01:19:22.5131 5 TRx dataTimestamp_ set to:1764897563.554436E PDAT read: Bearing 183.2, 5.4 (Local) E ~Local bearing/azimuth received: Bearing 183.2, 5.4 (Local) e DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4  DAT read: 01:19:22.5131 LVL= 24336, 29985, 28530, 32755, AGC= 62, IDX= 500, 0.21,-0.101,-1.881,-0.161,-0.413, PHS= 0.414,-1.423, 0.207, RAW= 144.1, 9.2, CAL= 143.7, 10.1, ROT= 6.3, -10.1  Ygot valid direction response: 01:19:22.5131 LVL= 24336, 29985, 28530, 32755, AGC= 62, IDX= 500, 0.21,-0.101,-1.881,-0.161,-0.413, PHS= 0.414,-1.423, 0.207, RAW= 144.1, 9.2, CAL= 143.7, 10.1, ROT= 6.3, -10.1  T#Rx 66: Read range and direction messages. \direction in FSK: [0.978558,0.108034,0.175367] Fpublishing direction and range infoy) - VyGXP?a?:ujr?Y- A) - _- !u- ro ) )- >I- >i- $- S>-  @- l$>- @ - J4>)- z0=I- J4) ) - u߼?Qɰ.?WJkA? - R>)- )%I- z0=i- J4) )  checking for new query: numPingsReceived=66, elapsed TxPingTime=32.560787;1#,ƌLAER EREPEP"ER:*ER~:VEPZEPBER$5b>b<ٱb=bH|?Fؿ`? U?-k?@̱`?i?ibND8>Ib];bݑCYByIbDӿVD8y%F=ٔ#8Q->9"?Y"?=1Ey D;E>ԱQ 545?Q 94o )Yy"?Q I$@ՌDIf;i;04yBɮ-Aiaie{ƌLAjesA"jesA:je>Rjefvcx,7@鰲țw@f@BjeVyGXP?a?:ujr?*jez0=2jeJ4ZjeBjeL?jaje>BrjeAzje*> addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504304 s, deltaX: -0.299999 m, approachRate: -0.594878 m/s, rangeRepo size: 4  Added new target pos. range: 23.681507 m, bearing: 28.149533 deg, lat: 36.779504 deg, lon: -121.859753 deg, deltaT: 0.504304 s, deltaX: -0.299799 m, approachRate: -0.594481 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.68 m.2i"i*i ProNav: ac range: 23.681507 m, nav range: 23.499796 m, bearing: 28.284268 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.450407 deg, new cmd heading: 21.362912 deg. iHeadingCmd: 0.372853 target range: 23.681507 and range: 23.70 m.h>hhhhgg)jg)rg)e)re1Ze1:e5@37@*e5 2W?yɢ}(<) Hr=i)Y<顡i-i>*= =I>IQ@Q @Q@Q@Qchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.783432 ^A 6=9 A .AI I O >SQ1#,UnjLAB8>B>B<ٱB=BH{?Ώؿ??i? 챿e?`'?iB8>IBK];BّCYZByZII`)`-DDAT read: Rx Time:01:19:23.0131 5TRx dataTimestamp_ set to:1764897564.058545EPDAT read: Bearing 183.9, 5.7 (Local) E~Local bearing/azimuth received: Bearing 183.9, 5.7 (Local) eDAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 01:19:23.0131 LVL= 24816, 31025, 30482, 32755, AGC= 63, IDX= 500,-0.05,-0.490,-2.243,-0.556,-0.779, PHS= 0.391,-1.419, 0.179, RAW= 143.9, 9.9, CAL= 143.4, 10.8, ROT= 6.6, -10.8 Ygot valid direction response: 01:19:23.0131 LVL= 24816, 31025, 30482, 32755, AGC= 63, IDX= 500,-0.05,-0.490,-2.243,-0.556,-0.779, PHS= 0.391,-1.419, 0.179, RAW= 143.9, 9.9, CAL= 143.4, 10.8, ROT= 6.6, -10.8 T#Rx 67: Read range and direction messages.\direction in FSK: [0.975777,0.112901,0.187381]Fpublishing direction and range infoy)- 9?|h?0i?Y))-`-1y-w ))-?II-'1>i-ˡ-K7>- @-;0>-- @ -A>)-=I-A))-=?F7}? ? -!>)-1I-=i-A))checking for new query: numPingsReceived=67, elapsed TxPingTime=33.092072E EE+E"E:*Ex:VE [4ZEa@a@a@a@iMb@Mb@Mb@ 9㥛 ?ˡE?Mbp?Y>y=;@ )YAbDVD8yV%=ٔ(Q->9 ?Y ?=1EyDs:E>qQ 54qE?Q 943)Y>Q E:y9?Q I$@܌DIRj-M7@Uc@@Bj- 9?|h?0i?*j-=2j-AZj-uh4@;^4&@8H@Jj-t?*Bu?sƄh?j-1A j-OAi-8?i-)j-ЈBj-8?j-5j)rj-Azj-> addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.681507 m, bearing: 28.394754 deg, lat: 36.779504 deg, lon: -121.859752 deg, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.68 m.2i"i)*i)= ProNav: ac range: 23.681507 m, nav range: 23.323826 m, bearing: 28.284980 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.362912 deg, new cmd heading: 21.262552 deg. i9EHeadingCmd: 0.371102 target range: 23.681507 and range: 23.70 m.hE>hAhAhIhIggjgrgBereZe:e*e/?΀Bɢ<) (2=i!)%MQ2=Mk=IM>IQIY)]xAԩchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.286900 @  @ @ ]4@ ^A $=B>BBxIB׀BBBBB9;B^EAU؟AIaDDAT read: Rx Time:01:19:23.5128 TRx dataTimestamp_ set to:1764897564.562701PDAT read: Bearing 183.9, 5.9 (Local) ~Local bearing/azimuth received: Bearing 183.9, 5.9 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 DAT read: 01:19:23.5128 LVL= 24224, 31969, 30706, 32755, AGC= 62, IDX= 498,-0.34,-1.707, 2.823,-1.776,-1.994, PHS= 0.389,-1.421, 0.174, RAW= 143.8, 10.0, CAL= 143.3, 10.9, ROT= 6.7, -10.9 Ygot valid direction response: 01:19:23.5128 LVL= 24224, 31969, 30706, 32755, AGC= 62, IDX= 498,-0.34,-1.707, 2.823,-1.776,-1.994, PHS= 0.389,-1.421, 0.174, RAW= 143.8, 10.0, CAL= 143.3, 10.9, ROT= 6.7, -10.9 T#Rx 68: Read range and direction messages.IO?1#,1 %njLA\direction in FSK: [0.975253,0.114566,0.189095]Fpublishing direction and range infoy  ED5?+F/T?oG4?Y fA ^ | w ) >I +>i T㵿 -2> K @ ¸2> Q @ B>) |=I B [?FYc?R? O>) 3I |=i B ~checking for new query: numPingsReceived=68, elapsed TxPingTime=33.588425!EM EMEM)EI"EM;*EMz:VEMFA4ZEIBEMAx>V<ٱ=Hi~? 1ؿ5?@]?@k?` ?@I?i7>I];ڑCY%ЀBy%pI =4==%=bDEVDE8y}%=ٔQ->9"?Y"?=1EyDúE>Q 54U?Q 94)Yy?Q I$@DI:i:>C4yBɮ.A1Ei i K$njLAj AA"j AA:j n!>Rj  6@fdlV@"G+@Bj ED5?+F/T?oG4?*j |=2j BZj ,4@16%@&@D@Jj ƪRh?n T?oބ?j .A j dAi ?i SQj Bj L?j j MBrj Azj T> addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504156 s, deltaX: -0.400002 m, approachRate: -0.793408 m/s, rangeRepo size: 4  Added new target pos. range: 23.281942 m, bearing: 28.438691 deg, lat: 36.779504 deg, lon: -121.859752 deg, deltaT: 0.504156 s, deltaX: -0.399565 m, approachRate: -0.792542 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.28 m.2i"i*i ProNav: ac range: 23.281942 m, nav range: 23.076370 m, bearing: 28.265105 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.262551 deg, new cmd heading: 21.169090 deg. iHeadingCmd: 0.369470 target range: 23.281942 and range: 23.30 m.h7+>hh h h g g jgrgereZe:eL7@*e+g?aɢs<) ;i)<顉i-i7+>09=x=I7+>I-checking for new query: numPingsReceived=68, elapsed TxPingTime=33.7912299@A @A@E4@AyԱ ^A L= AI)IAOU>{1#,!#CnjLAFDDAT read: Rx Time:01:19:24.0128 FTRx dataTimestamp_ set to:1764897565.066431NPDAT read: Bearing 189.7, 2.5 (Local) N~Local bearing/azimuth received: Bearing 189.7, 2.5 (Local) VDAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 fDAT read: 01:19:24.0128 LVL= 27632, 32593, 31794, 32755, AGC= 62, IDX= 513, 0.28, 0.867,-0.488, 0.940, 0.819, PHS= 0.150,-1.262, 0.077, RAW= 147.4, 14.9, CAL= 147.3, 16.4, ROT= 2.7, -16.4 jYgot valid direction response: 01:19:24.0128 LVL= 27632, 32593, 31794, 32755, AGC= 62, IDX= 513, 0.28, 0.867,-0.488, 0.940, 0.819, PHS= 0.150,-1.262, 0.077, RAW= 147.4, 14.9, CAL= 147.3, 16.4, ROT= 2.7, -16.4 nT#Rx 69: Read range and direction messages.r\direction in FSK: [0.958249,0.045190,0.282341]rFpublishing direction and range infoyDF?dR #?Ix?YDDFkFQF2| D)DIF>iF7F-=F$@F%>F"$@ FC>)FA=IFCDDFB{zw?all>o?Ljp? F!>)FIFA=iFCDD~checking for new query: numPingsReceived=69, elapsed TxPingTime=34.059555mY8>m>mA<ٱmҸ=mH}?Aؿ@_#??1j?@|`=眿?i?imY8>ImrV];mܑCEQ EUEU+EQ"EQ*EUL_:VEU [4ZEQa]@a]@a]@a]@YmʀBymhIԩiuMb@Mb@Mb@qqqq q9u:v?T㥛 ?Yu>yu=uu@ut A u@)uAqYuAbDVD8yּ%+=ٔкQ->9Y=1Ey(D!9E>Q 54c?Q 9%4-)0BY%k>Q E%:y% ?Q I%$@DI;ih;K4y-Bɮ5&A1iDiFh@DnjLAjD"jD:jF>RjFp|UO6@'>;No? _ze8K@BjF?dR #?Ix?*jFA=2jFCZjF+qἎ4@>A"@X\b @JjFfA?`@?%%Ƅ?jF A jFuAiF'?iFW/'jFόBjDjFSjFBrjFAzjFJ> addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503730 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.281942 m, bearing: 23.942845 deg, lat: 36.779504 deg, lon: -121.859752 deg, deltaT: 0.503730 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.28 m.2i"i*i1E ProNav: ac range: 23.281942 m, nav range: 22.874636 m, bearing: 28.232908 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.169090 deg, new cmd heading: 21.077138 deg. iAMHeadingCmd: 0.367865 target range: 23.281942 and range: 23.30 m.hMX>hIhIhQhQgQgqjgyrg}BeyreyZey:e*e )?̀Bɢhj<) лi)<i,iX>@=KQ=IX>I@ @@05@5checking for new query: numPingsReceived=69, elapsed TxPingTime=34.295166 ^A /=1 A .AI IO%>1#,`njLA288>2\>2<ٱ24=2HV}?ؿ@?*?`h?EJ> #I2ĉ];2ݑCY>By>\I @BAbDF VDF8yRQ%Va=A^AAA^@ABf>BdBffIBfȀBBfL =BdBdBf1;Bf^EBBBBM =BCQ41ٔZQ-u>9} ?Y} ?=1Ey/D :E>i߱I߱DDAT read: Rx Time:01:19:24.5126 TRx dataTimestamp_ set to:1764897565.569468PDAT read: Bearing 182.7, 5.5 (Local) ~Local bearing/azimuth received: Bearing 182.7, 5.5 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 DAT read: 01:19:24.5126 LVL= 27008, 32497, 30962, 32755, AGC= 62, IDX= 511, 0.04,-0.743,-2.498,-0.798,-1.056, PHS= 0.415,-1.396, 0.214, RAW= 144.2, 9.0, CAL= 143.7, 9.8, ROT= 6.3, -9.8  Ygot valid direction response: 01:19:24.5126 LVL= 27008, 32497, 30962, 32755, AGC= 62, IDX= 511, 0.04,-0.743,-2.498,-0.798,-1.056, PHS= 0.415,-1.396, 0.214, RAW= 144.2, 9.0, CAL= 143.7, 9.8, ROT= 6.3, -9.8  T#Rx 70: Read range and direction messages.\direction in FSK: [0.979457,0.108133,0.170209]Fpublishing direction and range infoy i(W?Q΅?rl?YAi~x )Iz>i!"[>!@| > @ %/>)z0=I%/)Q 554-o?Q 954-)-/BY9y=* ?Q I=$@-DI-:i-:-R4yAɮEj&AAx?I@.e?\sA? 3(>)/ Iz0=i%/Uchecking for new query: numPingsReceived=70, elapsed TxPingTime=34.566917ii*rdnjLAj۷A"j۷A:jϊ>Rj6@d@@N[K@Bj i(W?Q΅?rl?*jz0=2j%/Zj)N,4@Ln%@ @Jj}?cuS?,|?jt+A j8Ai?inNjBj?jnNjrjAzj> addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503037 s, deltaX: -0.299999 m, approachRate: -0.596376 m/s, rangeRepo size: 4 % Added new target pos. range: 22.982235 m, bearing: 28.149038 deg, lat: 36.779504 deg, lon: -121.859752 deg, deltaT: 0.503037 s, deltaX: -0.299707 m, approachRate: -0.595796 m/s, posRepo size: 4 :i!EDNOT Ignoring new targets: 22.98 m.2iA"iI*iI] ProNav: ac range: 22.982235 m, nav range: 22.714333 m, bearing: 28.148974 deg, approach rate: 0.000000 m/s, LOS rate: -0.095760 deg/s, cmd heading: 21.077137 deg, new cmd heading: 20.998788 deg. iYeHeadingCmd: 0.366498 target range: 22.982235 and range: 23.00 m.E EEE"E:*E]t:VEZEBEN-hhhhggjgrgereZe:e7@*e`?a颡ɢ"<) ¼i)ϐ<顩i,i>G==I>I@ @@5@ԉm checking for new query: numPingsReceived=70, elapsed TxPingTime=34.798981^A} =Թ A I I1 OE >u1#,z|njLApu7>uLJ>u<ٱuvj=uH@~~?*ؿ@?@?fi?=벿 `b?@?iu7>IuBE^;uۑCYByKIiMb@Mb@Mb@ 9Cl?/$?Y>y,=@ -A)Y3AbDVD8yU%=ٔ%նQ-%>9)Y)=-1Ey-9D5)E=>AQ 5U4E~?Q 9U4Ek)E-BY]>Q E];y] ?Q I]$@EDIEQ;iE0Q;EZ4yuBɮu'Au2EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 22.98 m.2i"i0*i0 ProNav: ac range: 22.982235 m, nav range: 22.522295 m, bearing: 28.144630 deg, approach rate: -0.421591 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.998788 deg, new cmd heading: 20.990027 deg. i͌DDAT read: Rx Time:01:19:25.0125 TRx dataTimestamp_ set to:1764897566.073206PDAT read: Bearing 182.9, 5.5 (Local) ~Local bearing/azimuth received: Bearing 182.9, 5.5 (Local) DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 %DAT read: 01:19:25.0125 LVL= 27856, 32241, 32242, 32755, AGC= 63, IDX= 510,-0.18,-2.410, 2.114,-2.462,-2.715, PHS= 0.407,-1.410, 0.209, RAW= 144.3, 9.2, CAL= 143.9, 10.1, ROT= 6.1, -10.1 -Ygot valid direction response: 01:19:25.0125 LVL= 27856, 32241, 32242, 32755, AGC= 63, IDX= 510,-0.18,-2.410, 2.114,-2.462,-2.715, PHS= 0.407,-1.410, 0.209, RAW= 144.3, 9.2, CAL= 143.9, 10.1, ROT= 6.1, -10.1 -T#Rx 71: Read range and direction messages.5\direction in FSK: [0.978929,0.104617,0.175367]5Fpublishing direction and range infoy-/bS?W3Ⱥ?:ujr?YfAl}} )?INb>izV>E/!@l$> @ J4>)^ =HeadingCmd: 0.366345 target range: 22.982235 and range: 23.00 m.IJ4vEm?!!?/Ê? &>) %I^ =iJ4checking for new query: numPingsReceived=71, elapsed TxPingTime=35.083786h>hhhhggjgrgBereZe:e6@*eP?5̀Bɢ=#<)9 =Ii9)=0m'O=mO=Im>IiE EEE"E;*E:VEZEa@a@a@a@AE@I @I@M5@Ia  checking for new query: numPingsReceived=71, elapsed TxPingTime=35.302719^A ==ԑ I IO=>%W1#,njLAoU7>?>e<ٱ/=HV?ؿ ?F?j?[户?s?ioU7>I(^;ܑCY-By-8IbD=VD=8yM%MH=ٔU&Q-U>9QYQ=U1EyUAD] E]>aQ 5m4eI?Q 9m4eU)e,BYqyu>Q Iu$@eDIe:iel:ea4yyɮ}'AyiihnjLAjBA"jBA:j(>Rj` fM6@E@QQ@Bj-/bS?W3Ⱥ?:ujr?*j^ =2jJ4Zj @/+3@A2S%@S# @Jj|g?Wß? E?j2(A jAi'?izjڇBj8?jjrjAzj~a> addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503738 s, deltaX: -0.200001 m, approachRate: -0.397033 m/s, rangeRepo size: 4  Added new target pos. range: 22.782389 m, bearing: 27.860683 deg, lat: 36.779504 deg, lon: -121.859752 deg, deltaT: 0.503738 s, deltaX: -0.199846 m, approachRate: -0.396727 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.78 m.2i"i*i ProNav: ac range: 22.782389 m, nav range: 22.363819 m, bearing: 28.130977 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.990027 deg, new cmd heading: 20.982224 deg. iHeadingCmd: 0.366209 target range: 22.782389 and range: 22.80 m.h>hhhhggjg rg e re Ze :e*e@i6?=ˀBɢ=<)A EiA)EMU=MT=IU>IQyB>BBFIBBBM =BBB0;B^E@ @@/@ DDAT read: Rx Time:01:19:25.5123 TRx dataTimestamp_ set to:1764897566.577335PDAT read: Bearing 182.8, 5.6 (Local) ~Local bearing/azimuth received: Bearing 182.8, 5.6 (Local) 5DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.3 ]DAT read: 01:19:25.5123 LVL= 26848, 30897, 30594, 32755, AGC= 62, IDX= 508,-0.45,-3.022, 1.504,-3.076, 2.955, PHS= 0.408,-1.407, 0.208, RAW= 144.2, 9.2, CAL= 143.8, 10.1, ROT= 6.2, -10.1 mYgot valid direction response: 01:19:25.5123 LVL= 26848, 30897, 30594, 32755, AGC= 62, IDX= 508,-0.45,-3.022, 1.504,-3.076, 2.955, PHS= 0.408,-1.407, 0.208, RAW= 144.2, 9.2, CAL= 143.8, 10.1, ROT= 6.2, -10.1 mT#Rx 72: Read range and direction messages.u\direction in FSK: [0.978745,0.106326,0.175367]uFpublishing direction and range infoy"sQ?$G)8?:ujr?Y3Ahxw )>I`>iT>!@K @ )k=Is?'A?h42? \>)l$Ik=ichecking for new query: numPingsReceived=72, elapsed TxPingTime=35.575714ԡDzD?AE EE,E"E;*E~:VEg4ZEBEA :r1#,4njLA2checking for new query: numPingsReceived=72, elapsed TxPingTime=35.8065686i6>6>6t<ٱ6=6HF? qؿt? ?`m?@wH܍ E?-?i6i6>I63_;6ݑCY^By^;IbDhVDhy=MC<%=M=ٔEvQ-E>9AYA=E1EyMIDM{EM>QQ 5}4UN?Q 9}4UJ)U*BYyyX>Q I$@UDIU;iUm;Uh4yBɮ'A)EiAiEnjLAjEA"jEA:jE%Y>RjELntT(5@@; @7߱Ef@BjE"sQ?$G)8?:ujr?*jEk=2jAZjEX3@mҮ$@\rNx @JjE|x?B!G? '/Z?jEv%A jE:AiEx?iE>MHjEÇBjE?jEzjEڇBrjEnAzjE> addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504129 s, deltaX: -0.400000 m, approachRate: -0.793447 m/s, rangeRepo size: 4  Added new target pos. range: 22.382612 m, bearing: 27.903517 deg, lat: 36.779504 deg, lon: -121.859753 deg, deltaT: 0.504129 s, deltaX: -0.399776 m, approachRate: -0.793004 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.38 m.2i"i)*i1 ProNav: ac range: 22.382612 m, nav range: 22.179031 m, bearing: 28.065088 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.982225 deg, new cmd heading: 20.974341 deg. iHeadingCmd: 0.366071 target range: 22.382612 and range: 22.40 m.hm>hhhhggjg)rg1e9re9Ze:e`ff6@*e঱?!=ʀBɢEs<)A E$iA)M^=*=Im>I Wv>C%DDAT read: Rx Time:01:19:26.0123 -TRx dataTimestamp_ set to:1764897567.082628=PDAT read: Bearing 183.7, 5.7 (Local) =~Local bearing/azimuth received: Bearing 183.7, 5.7 (Local) ]DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.3 DAT read: 01:19:26.0123 LVL= 26608, 32337, 30306, 32755, AGC= 62, IDX= 507, 0.21,-0.318,-2.080,-0.371,-0.596, PHS= 0.380,-1.440, 0.181, RAW= 144.3, 10.2, CAL= 143.9, 11.1, ROT= 6.1, -11.1 Ygot valid direction response: 01:19:26.0123 LVL= 26608, 32337, 30306, 32755, AGC= 62, IDX= 507, 0.21,-0.318,-2.080,-0.371,-0.596, PHS= 0.380,-1.440, 0.181, RAW= 144.3, 10.2, CAL= 143.9, 11.1, ROT= 6.1, -11.1 T#Rx 73: Read range and direction messages.\direction in FSK: [0.975737,0.104276,0.192522]Fpublishing direction and range infoy)-8;9?nױ?M?Y))-g-Q~-bv )))I-\>i-Q-X9>-E/!@-K6>- @ -aF>)-^ =I-aF))- ?b.?{? ->)-6I-^ =i-aF))checking for new query: numPingsReceived=73, elapsed TxPingTime=36.084766 G) I I } q9y Y mA @  @ @ 05@ bEu [4jEuY4rEuַ/E  E E -E "E :*E :VE t4ZE a @a @a @a @q ^A Z=II!O->G1#,EnjLAB|4>B>BFA<ٱBҤ=BH? WXؿ/6?? ;r?@jZ`n'?>?iB|4>IB/_;BڑCYZBy^6Iqchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.310844iMb@Mb@Mb@ 9M?Q?~jthYn>y<D@ A )Y =bDVD8yM׈%M&=ٔU MQ-U>9QYQ=]1Ey]SD]_E]>aQ 54eʥ?Q 94e )e(BY>Q E;yj>Q I$@eDIe;iev;eq4yɮ'Aiyi}InjLAjy"jy:j}>Rj};5@&@=+f<@Bj}8;9?nױ?M?*j}^ =2j}aFZj}T@h3@ \ܳk$@2k@Jj}e>Rg?W1?/+?j}]#A j}/Ai}L?i}Jj}Bj}L?j}>MHjyrj}eAzj}5> addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.505293 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԡ= Added new target pos. range: 22.382612 m, bearing: 27.609113 deg, lat: 36.779505 deg, lon: -121.859754 deg, deltaT: 0.505293 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 22.38 m.2iA"iI*iIU ProNav: ac range: 22.382612 m, nav range: 22.049578 m, bearing: 27.697218 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.974341 deg, new cmd heading: 20.964301 deg. iyHeadingCmd: 0.365896 target range: 22.382612 and range: 22.40 m.hV>hhhhggjgrgnBereZe:e*e`T?颽ɀBɢ*<) i)d|<il+iV>d=<=IV>IBA<B%>B!B%-IB%BB%L =B!B!B%<;B%^E@ @@@U DDAT read: Rx Time:01:19:26.5121 ] TRx dataTimestamp_ set to:1764897567.586021m PDAT read: Bearing 184.2, 5.9 (Local) m ~Local bearing/azimuth received: Bearing 184.2, 5.9 (Local) } DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4  DAT read: 01:19:26.5121 LVL= 26192, 32337, 30194, 32755, AGC= 62, IDX= 505, 0.01,-1.992, 2.535,-2.050,-2.256, PHS= 0.366,-1.447, 0.162, RAW= 144.1, 10.7, CAL= 143.7, 11.7, ROT= 6.3, -11.7  Ygot valid direction response: 01:19:26.5121 LVL= 26192, 32337, 30194, 32755, AGC= 62, IDX= 505, 0.01,-1.992, 2.535,-2.050,-2.256, PHS= 0.366,-1.447, 0.162, RAW= 144.1, 10.7, CAL= 143.7, 11.7, ROT= 6.3, -11.7  T#Rx 74: Read range and direction messages. \direction in FSK: [0.973309,0.107454,0.202787] Fpublishing direction and range infoyQ U ?lY%?O ? ?YU ̰AQ U PfQ U u Q )Q IU Zd>iU L7U T%>U  @U t;?>U @ U Q>)U z0=IU QQ Q U `=?Z?N? U g>)U ,?IU z0=iU QQ Q  checking for new query: numPingsReceived=74, elapsed TxPingTime=36.580563 D %=D a=E%  E! E% +E! "E% :*E! VE% [4ZE! BE% 31#,!njLA2P2>26>21<ٱ2Z=2H?6ؿ`,ӭ?`[r? y?F@ř퀷??i2P2>I2$4_;2ۑCY:By:.IbDFVDF8yN0%NP=ٔN~Q-N>9PYP=R1EyR[DRrûEV>TXQ 5^4V?Q 9^4V )V&BY`yb=>Q Ib$@V DIV*;iV*;Vfx4yfBɮf8(Af*Eiiim^njLAjmA"jmA:jm]>RjmFV~5@ @3)q@Bjm?lY%?O ? ?*jmz0=2jmQZjmN4)83@f73$@H{@Jjm[?qP&?)aY?jm A jmAimJ?im7ijm߈Bjm?jijirjm+AzjmU> addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503393 s, deltaX: -0.299999 m, approachRate: -0.595954 m/s, rangeRepo size: 4 - Added new target pos. range: 22.082922 m, bearing: 27.625597 deg, lat: 36.779504 deg, lon: -121.859754 deg, deltaT: 0.503393 s, deltaX: -0.299690 m, approachRate: -0.595340 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 22.08 m.2i1"i9*i9M ProNav: ac range: 22.082922 m, nav range: 21.771172 m, bearing: 27.870814 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.964301 deg, new cmd heading: 20.957543 deg. iIHeadingCmd: 0.365778 target range: 22.082922 and range: 22.10 m.hEG>hhhhggjgrge re Ze :e6@*e?]ȀBɢ]֋<)Y e@ia)e mh=mg=IuEG>Iqchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.815601@ @@/@^A-l=II O- >9 E DDAT read: Rx Time:01:19:27.0121 E TRx dataTimestamp_ set to:1764897568.089121M PDAT read: Bearing 182.6, 6.1 (Local) U ~Local bearing/azimuth received: Bearing 182.6, 6.1 (Local) e DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.3  DAT read: 01:19:27.0121 LVL= 27568, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.14,-1.856, 2.664,-1.922,-2.165, PHS= 0.411,-1.409, 0.199, RAW= 143.9, 9.3, CAL= 143.5, 10.2, ROT= 6.5, -10.2  Ygot valid direction response: 01:19:27.0121 LVL= 27568, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.14,-1.856, 2.664,-1.922,-2.165, PHS= 0.411,-1.409, 0.199, RAW= 143.9, 9.3, CAL= 143.5, 10.2, ROT= 6.5, -10.2  T#Rx 75: Read range and direction messages. \direction in FSK: [0.977869,0.111414,0.177085] Fpublishing direction and range infoyA E EG J?}?ki?YA A E kE E  A )E ?IE n>iE ZE K>E @E 6&>E J @ E K6>)E V=IE K6A A E y? -vڒ?G$4/? E r>)E wT&IE V=iE K6A A  checking for new query: numPingsReceived=75, elapsed TxPingTime=37.0824622#,6ȌLA4<ɰEb EbEb(E`"Eb:*Eb~:VEbc44ZE`af@af@af@af@+0>><ٱ=H`?@ؿ?@Z?}? 4೿U?'?i+0>I*5_;Y]By]'IiMb@Mb@Mb@ 9&1?{Gz?Y>yף<@ A )AYbD-VD-8y%#=ٔ8_Q->9Y=1EyeDRE>Q 54t?Q 94)#BY%>Q E;y>Q I$@DIb:i::4yɮ e(A Iiyi})ȌLAjy"jy:j} >Rj}_Pa5@d!nˮ@u addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.082922 m, bearing: 27.853202 deg, lat: 36.779505 deg, lon: -121.859754 deg, deltaT: 0.503100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.08 m.2i"i*i ProNav: ac range: 22.082922 m, nav range: 21.685097 m, bearing: 27.728868 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.957542 deg, new cmd heading: 20.947685 deg. iHeadingCmd: 0.365606 target range: 22.082922 and range: 22.10 m.h0>hhhhggjgrgbBereZe:e*e%U?%ǀBɢ-=͕<)) -ƽi))-%7<)1i5pQ*i50>checking for new query: numPingsReceived=75, elapsed TxPingTime=37.318996=o=U=I0>II)yAq]@Y @a@e/@iԡ ^A $=A xAzA B >B B IB BB B B B R;B ^E iIIIUDDAT read: Rx Time:01:19:27.5118 ]TRx dataTimestamp_ set to:1764897568.593326ePDAT read: Bearing 182.9, 6.6 (Local) m~Local bearing/azimuth received: Bearing 182.9, 6.6 (Local) }DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.3 DAT read: 01:19:27.5118 LVL= 27344, 32753, 30834, 32755, AGC= 62, IDX= 503,-0.39,-2.707, 1.821,-2.784,-3.007, PHS= 0.403,-1.409, 0.179, RAW= 143.5, 9.7, CAL= 143.1, 10.6, ROT= 6.9, -10.6 Ygot valid direction response: 01:19:27.5118 LVL= 27344, 32753, 30834, 32755, AGC= 62, IDX= 503,-0.39,-2.707, 1.821,-2.784,-3.007, PHS= 0.403,-1.409, 0.179, RAW= 143.5, 9.7, CAL= 143.1, 10.6, ROT= 6.9, -10.6 T#Rx 76: Read range and direction messages.\direction in FSK: [0.975816,0.118087,0.183951]Fpublishing direction and range infoyY]9?/|:? =η?Y]̬AY]jY]rx Y)]>I]V>iY]K7>]J @]-\->] @ ]q=>)]Ϣ=I]q=YY]U٘?B.%?Vf? ]>)]O-I]Ϣ=i]q=YYchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.586521A=؟AIIE% E%E%*E!"E%;*E%x:VE%(N4ZE!BE%A6><ٱ=H`?׿Xխ?'??njT@]??iD->IO`;YUByU)IaabDm!VDm˰8y}<%}%=ٔ}Q-}>9"?Y"?=1EyoDۻE>Q 54М?Q 94l)"BYy.>Q I$@DI>:i:4yBɮ(A+Eii%ȌLAjA"jA:j1->Rj-㼬5@[tƢc@T#@Bj9?/|:? =η?*jϢ=2jq=Zjƾ?2@`1B#@V]}qڐ @Jj?)yCG?R?jA j5AiƢ%?ijBjJ?jjBrjAzjZ>] addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504205 s, deltaX: -0.500000 m, approachRate: -0.991660 m/s, rangeRepo size: 4  Added new target pos. range: 21.583330 m, bearing: 27.996210 deg, lat: 36.779504 deg, lon: -121.859754 deg, deltaT: 0.504205 s, deltaX: -0.499592 m, approachRate: -0.990851 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 21.58 m.2i"i*i ProNav: ac range: 21.583330 m, nav range: 21.328981 m, bearing: 27.904189 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.947685 deg, new cmd heading: 20.938151 deg. iHeadingCmd: 0.365440 target range: 21.583330 and range: 21.60 m.h>hhhh g g jg rg ereZe:e5@*e/?eŀBɢe<) иi)<顉i)i>u==I>Ichecking for new query: numPingsReceived=76, elapsed TxPingTime=37.823872=@9 @9@=/@A)I ^A ==A I I O >J2#,DlEȌLA2DDAT read: Rx Time:01:19:28.0117 2TRx dataTimestamp_ set to:1764897569.097148:PDAT read: Bearing 183.9, 6.4 (Local) :~Local bearing/azimuth received: Bearing 183.9, 6.4 (Local) BDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.3 VDAT read: 01:19:28.0117 LVL= 26160, 32753, 29586, 32755, AGC= 62, IDX= 502, 0.27, 0.148,-1.611, 0.081,-0.121, PHS= 0.371,-1.444, 0.158, RAW= 143.8, 10.7, CAL= 143.4, 11.6, ROT= 6.6, -11.6 ZYgot valid direction response: 01:19:28.0117 LVL= 26160, 32753, 29586, 32755, AGC= 62, IDX= 502, 0.27, 0.148,-1.611, 0.081,-0.121, PHS= 0.371,-1.444, 0.158, RAW= 143.8, 10.7, CAL= 143.4, 11.6, ROT= 6.6, -11.6 ZT#Rx 77: Read range and direction messages.^\direction in FSK: [0.973083,0.112590,0.201078]^Fpublishing direction and range infoy02v#?][ɫҼ?o?Y2A020f02s 0)0I2>i2Ը2!>2K @2t;?>2- @ 24QO>)2=I24QO002}?MBk?Pi9? 2(>h)2̊>I2=i24QO00nchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.091129z+>zh>z:<ٱz4=zH?׿@޻?@?*?@MǸ?@C?iz+>Iz`;zݑCY5By5IE5 E1E5(E1"E5&:*E1VE5c44ZE1a=@a=@a=@a=@iMb@Mb@Mb@ 9&1?I +?~jth?Yy94<D;@ A A)AYAbDVD8y>%/=ٔA'Q->9Y=1EyyD8E>Q 54ߜ?Q 94l) BY>Q E;y>Q I$@DI7Rj2N(4@Y@ ťG@Bj2v#?][ɫҼ?o?*j2=2j24QOZj2412@;Y~#@O+@Jj26?ta ? "?j2A j2Ai2_?i2.Oj2Bj2_?j2Jj2Brj2SAzj2> addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503822 s, deltaX: -0.100000 m, approachRate: -0.198484 m/s, rangeRepo size: 4  Added new target pos. range: 21.483408 m, bearing: 27.515063 deg, lat: 36.779504 deg, lon: -121.859754 deg, deltaT: 0.503822 s, deltaX: -0.099922 m, approachRate: -0.198328 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 21.48 m.2i"i*i9M ProNav: ac range: 21.483408 m, nav range: 21.165855 m, bearing: 27.856646 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.938152 deg, new cmd heading: 20.929027 deg. iIMHeadingCmd: 0.365280 target range: 21.483408 and range: 21.50 m.hM >hQhQhQhQgQgqjgyrg}mBeyreyZe:e5@*e|?ĀBɢgs<) ޽i)<iܓ)i >#z==I >I1@ @@w4@checking for new query: numPingsReceived=77, elapsed TxPingTime=38.326862a ^A =ԉ A I I O>[2#,^cȌLAA@AAAAB>BBIB|BBBB[DB\;B^E44Y}By}IbDVD8DDAT read: Rx Time:01:19:28.5115 TRx dataTimestamp_ set to:1764897569.601236PDAT read: Bearing 182.9, 6.4 (Local) ~Local bearing/azimuth received: Bearing 182.9, 6.4 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 DAT read: 01:19:28.5115 LVL= 25072, 32753, 29890, 32755, AGC= 60, IDX= 500, 0.12,-1.291,-3.054,-1.360,-1.585, PHS= 0.396,-1.424, 0.181, RAW= 143.8, 9.9, CAL= 143.4, 10.8, ROT= 6.6, -10.8 Ygot valid direction response: 01:19:28.5115 LVL= 25072, 32753, 29890, 32755, AGC= 60, IDX= 500, 0.12,-1.291,-3.054,-1.360,-1.585, PHS= 0.396,-1.424, 0.181, RAW= 143.8, 9.9, CAL= 143.4, 10.8, ROT= 6.6, -10.8 T#Rx 78: Read range and direction messages.\direction in FSK: [0.975777,0.112901,0.187381]Fpublishing direction and range infoy 9?|h?0i?YAat )<I>iEX9>;0> A>)IAk?Yp?@YK?yPM;%E=ٔQ->9!Y!=%1Ey%D%E->ԑ ͡>)@0IiAchecking for new query: numPingsReceived=78, elapsed TxPingTime=38.618782)Q 54-윊?Q 94-)-BYyQ I$@-$DI-<RjL<4@nh"@I`@Bj 9?|h?0i?*j2jAZj"8&O|2@QS#@=Б @JjW7?#5i1?3yU?jA jAi>>?i9jBjJ?j7ijBrjkAzjL> addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504088 s, deltaX: -0.299999 m, approachRate: -0.595133 m/s, rangeRepo size: 4 M Added new target pos. range: 21.183659 m, bearing: 27.596838 deg, lat: 36.779504 deg, lon: -121.859755 deg, deltaT: 0.504088 s, deltaX: -0.299749 m, approachRate: -0.594637 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 21.18 m.2iQ"iY*iY ProNav: ac range: 21.183659 m, nav range: 20.927715 m, bearing: 27.744030 deg, approach rate: 0.000000 m/s, LOS rate: -0.009617 deg/s, cmd heading: 20.929028 deg, new cmd heading: 20.920632 deg. iHeadingCmd: 0.365134 target range: 21.183659 and range: 21.20 m.h>hhhhggjgrgereZe:e@335@*em?5€Bɢ5<)9 =սi9)=R<9Yie-3)ie>m~=m5-=Im>IiԹ@ @@3@@!@%zAU checking for new query: numPingsReceived=78, elapsed TxPingTime=38.830837^A= /=AU >AU >! A I I O > 2#,ȌLAn'>no>nй<ٱn; =nHr? ܙ׿ ???@9@O? ?in'>In`;lYEByMIy %=bDVDȰ8yϵ;%/=ٔ*ܺQ->9Y=1EyDE>Q 549?Q 94)BYy>Q I$@*DIq:i ;U4yBɮ#)AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 21.18 m.2i"i_:*i_: ProNav: ac range: 21.183659 m, nav range: 20.737938 m, bearing: 27.784162 deg, approach rate: -0.453462 m/s, LOS rate: 0.096769 deg/s, cmd heading: 20.920632 deg, new cmd heading: 21.001629 deg. i1;HeadingCmd: 0.366548 target range: 21.183659 and range: 21.20 m.h >hhhhggjgrg e re Ze :e*e ?i)I-A5DDAT read: Rx Time:01:19:29.0114 =TRx dataTimestamp_ set to:1764897570.105463EPDAT read: Bearing 184.3, 7.2 (Local) E~Local bearing/azimuth received: Bearing 184.3, 7.2 (Local) UDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 DAT read: 01:19:29.0114 LVL= 28048, 32753, 32754, 32755, AGC= 63, IDX= 499,-0.06,-2.309, 2.210,-2.399,-2.570, PHS= 0.363,-1.458, 0.127, RAW= 143.2, 11.3, CAL= 142.7, 12.3, ROT= 7.3, -12.3 Ygot valid direction response: 01:19:29.0114 LVL= 28048, 32753, 32754, 32755, AGC= 63, IDX= 499,-0.06,-2.309, 2.210,-2.399,-2.570, PHS= 0.363,-1.458, 0.127, RAW= 143.2, 11.3, CAL= 142.7, 12.3, ROT= 7.3, -12.3 T#Rx 79: Read range and direction messages.\direction in FSK: [0.969126,0.124148,0.213030]Fpublishing direction and range infoy9=A?s(ȿ?AzUmD?Y=A9=m9= 9)=?I=#۹>i==J >=@=I>=e@ =[>)=w>I=[9Bɢ <) ʽi)?<i(i  > 3= =I  >I 9=u^g?Y\?h ? =>)=׫II=w>i=[99checking for new query: numPingsReceived=79, elapsed TxPingTime=39.126316ԡE  E E *E "E ;*E :VE (N4ZE a@a@a@a@@ @@/@^A = checking for new query: numPingsReceived=79, elapsed TxPingTime=39.334839 A .AI1 IY O >J&2#,kdȌLA %%> m> <ٱ n= H? $}׿|??ۛ?. `?\?i %%>I ;|_; ّCYBy%IԑiMb@Mb@Mb@ 9@5^I ?:v?yT<t<@- A ^A)-AYAbDVD8yļ%O=ٔZǺQ->9 ?Y ?= 1Ey D E >Q 54?Q 94)Y%>Q E%;y%>Q I%$@/DI(:i:;4y)ɮ-J)A1i)i-迆ȌLAj-ާA"j-ާA:j-x>Rj-'vV4@<@ky@Bj-A?s(ȿ?AzUmD?*j-w>2j-[Zj-*h,-2@c+#@ڶ@Jj-H?šTZ?i-j- Bj->Z?j-j)rj-dAzj-x>} addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504227 s, deltaX: -0.200001 m, approachRate: -0.396648 m/s, rangeRepo size: 4  Added new target pos. range: 20.983812 m, bearing: 27.805422 deg, lat: 36.779504 deg, lon: -121.859755 deg, deltaT: 0.504227 s, deltaX: -0.199846 m, approachRate: -0.396342 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.98 m.2i"i*i ProNav: ac range: 20.983812 m, nav range: 20.549124 m, bearing: 27.805365 deg, approach rate: 0.000000 m/s, LOS rate: 0.096769 deg/s, cmd heading: 21.001630 deg, new cmd heading: 21.078756 deg. iHeadingCmd: 0.367894 target range: 20.983812 and range: 21.00 m.h\>hhhhggjgrgBereZe:e5@*eb?Bɢޡ<) $ؽi)<i(i\>=x=I\>Ie@a @i@i@iBBBIBwBBBBBf;B^EB1B1B1B5L =B1C5:4^A==DDAT read: Rx Time:01:19:29.5112 TRx dataTimestamp_ set to:1764897570.609217PDAT read: Bearing 183.8, 7.5 (Local) ~Local bearing/azimuth received: Bearing 183.8, 7.5 (Local) %DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.3 MDAT read: 01:19:29.5112 LVL= 30880, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.26, 2.459, 0.691, 2.360, 2.184, PHS= 0.377,-1.448, 0.132, RAW= 142.9, 11.0, CAL= 142.4, 11.9, ROT= 7.6, -11.9 UYgot valid direction response: 01:19:29.5112 LVL= 30880, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.26, 2.459, 0.691, 2.360, 2.184, PHS= 0.377,-1.448, 0.132, RAW= 142.9, 11.0, CAL= 142.4, 11.9, ROT= 7.6, -11.9 UT#Rx 80: Read range and direction messages.]\direction in FSK: [0.969913,0.129414,0.206204]eFpublishing direction and range infoy> ?壐?Fa5d?YAx )I%>iX+>@ D>@ ȭT>)>IȭT\"?aYHr?Ji7Q? >)HCI>iȭTchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.615639AIE EEE"E:*E:VEZEBE. q,2#,2ȌLA;ɰ:#>:k>:'<ٱ:=:H`?`׿U-?ߙ?`?d d@C%?@?i:#>I:I_;:ڑCY^BybI `bAbDjVDj8yr<%r_=ٔrQ-v>9tYt=v1EyvDzcEz>|Q 54~8?Q 94~o)|Yy>Q I $@~4DI~:i~:~4yBɮ_)A,Ei9i=iȌLAj=xA"j=xA:j=Ч>Rj=F'4@u+j@0VCG@Bj=> ?壐?Fa5d?*j=>2j=ȭTZj=$ekK1@\#@~oH<@Jj=?ď52?år?,?j=A j=2Ai=p?i=j=Bj=>>?j9j=Brj=Azj=>echecking for new query: numPingsReceived=80, elapsed TxPingTime=39.838833m addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503754 s, deltaX: -0.299999 m, approachRate: -0.595527 m/s, rangeRepo size: 4  Added new target pos. range: 20.684071 m, bearing: 28.049811 deg, lat: 36.779503 deg, lon: -121.859755 deg, deltaT: 0.503754 s, deltaX: -0.299742 m, approachRate: -0.595016 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.68 m.2i"i*i ProNav: ac range: 20.684071 m, nav range: 20.388510 m, bearing: 27.855270 deg, approach rate: 0.000000 m/s, LOS rate: 0.096769 deg/s, cmd heading: 21.078756 deg, new cmd heading: 21.150173 deg. iHeadingCmd: 0.369140 target range: 20.684071 and range: 20.70 m.h>hhhhggjgrgereZe:e@34@*eO?Bɢ~<) i9)<顱i](i>W=: =I>I1@ @@@@=@iԑ^A5 DDAT read: Rx Time:01:19:30.0111 = TRx dataTimestamp_ set to:1764897571.117273M PDAT read: Bearing 183.5, 5.7 (Local) M ~Local bearing/azimuth received: Bearing 183.5, 5.7 (Local) e DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.3  DAT read: 01:19:30.0111 LVL= 28832, 32753, 30514, 32755, AGC= 62, IDX= 512, 0.41,-0.458,-2.601,-0.535,-0.794, PHS= 0.438,-1.762, 0.215, RAW= 144.7, 10.6, CAL= 144.3, 11.5, ROT= 5.7, -11.5  Ygot valid direction response: 01:19:30.0111 LVL= 28832, 32753, 30514, 32755, AGC= 62, IDX= 512, 0.41,-0.458,-2.601,-0.535,-0.794, PHS= 0.438,-1.762, 0.215, RAW= 144.7, 10.6, CAL= 144.3, 11.5, ROT= 5.7, -11.5  T#Rx 81: Read range and direction messages. \direction in FSK: [0.975080,0.097326,0.199368] Fpublishing direction and range infoy9 =   3?jސ9Y?i?Y= ̤A9 = p9 = 2w 9 )= >I= A>i= 7Έ= (\>= !@= q=>= E/!@ = M>)= %=I= M9 9 = )#ƒ?ZQ-N?vZ? = G>)= !>=I= %=i= M9 9  checking for new query: numPingsReceived=81, elapsed TxPingTime=40.139103I I O >E  E E -E "E :*E |:VE t4ZE a @a @a @a @Թ iZ32#,oȌLA2">2>2<ٱ2i=2H@?`'J׿q? &?[?+@ ÷??i2">I2 _;2ّCY>ByB#IiMb@Mb@Mb@ 9&1?I +?~jt?Y>y9<D<@ A A)GAY@AbDVD°8y ?<% 9=ٔ5eQ-5>99Y9==1Ey=D=nEE>AQ 5M4E;!?Q 9u4Eq)EBYuJ>Q Eu;yu>Q Iu%@E:DIE;iE;Et4yɮJ)AԑiaiegȌLAjeA"jeA:je|>Rjep84@|@'oOj@Bje  3?jސ9Y?i?*je%=2jeMZje6''2@%!@ WIC@Jjeù9??@?je~A je?AieyC7?ie)2je@Bje>Z?je.OjarjeAzje > addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.508056 s, deltaX: -0.100000 m, approachRate: -0.196829 m/s, rangeRepo size: 4 % Added new target pos. range: 20.584146 m, bearing: 26.128691 deg, lat: 36.779504 deg, lon: -121.859756 deg, deltaT: 0.508056 s, deltaX: -0.099924 m, approachRate: -0.196679 m/s, posRepo size: 4 :i)mDNOT Ignoring new targets: 20.58 m.2ii"iq*iq ProNav: ac range: 20.584146 m, nav range: 20.197109 m, bearing: 27.757283 deg, approach rate: 0.000000 m/s, LOS rate: 0.096769 deg/s, cmd heading: 21.150173 deg, new cmd heading: 21.238653 deg. iHeadingCmd: 0.370684 target range: 20.584146 and range: 20.60 m.hYʽ>hhhhggjgrgBereZe:e4@*e?%Bɢ- <)) -Hi))-e<)1i5i+(i5Yʽ>===_=I=Yʽ>I9checking for new query: numPingsReceived=81, elapsed TxPingTime=40.346794@ @@@^A=IIO>Ba Aa Bi Bi Bi Bi Bm K =Bi Bi Bm s;Bm _E E DDAT read: Rx Time:01:19:30.5109 E TRx dataTimestamp_ set to:1764897571.621110M PDAT read: Bearing 185.0, 8.3 (Local) U ~Local bearing/azimuth received: Bearing 185.0, 8.3 (Local) 92#,-ȌLA&DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.3 JDAT read: 01:19:30.5109 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.17,-1.877, 2.669,-1.988,-2.113, PHS= 0.338,-1.456, 0.080, RAW= 142.4, 12.3, CAL= 141.8, 13.4, ROT= 8.2, -13.4 NYgot valid direction response: 01:19:30.5109 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.17,-1.877, 2.669,-1.988,-2.113, PHS= 0.338,-1.456, 0.080, RAW= 142.4, 12.3, CAL= 141.8, 13.4, ROT= 8.2, -13.4 Rq >R->Rϫ<ٱRս=RH M?2.׿F?2d??y? ?iRq >IR^;RݑCbT#Rx 82: Read range and direction messages.b\direction in FSK: [0.962830,0.138746,0.231748]fFpublishing direction and range infoyqu ʁ?ըm?] A?YufAququ q)qIuV>iu5^u ף=u@u[>ubd@ u|o>)uC>Iu|oqquz?v?#iQ? uf>)u<\IuC>iu|oqq checking for new query: numPingsReceived=82, elapsed TxPingTime=40.635323Y9y=!IbDeVDe8yu%U=ٔ"Q->9Y=1EyDE EE*E"E:*Ek:VE(N4ZEBE<Q 5U4-?Q 9]4)!BYYy]>Q I]%@?DI-jRju9$jʇ3@w ؃@]W@Bju ʁ?ըm?] A?*juC>2ju|oZju[mg1@ o@"@b?@Jju-!]iu?d?>ٹ?juA ju>Aiu%E袊?iujuBju>>?jujuBrjuYAzju addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503837 s, deltaX: -0.300001 m, approachRate: -0.595433 m/s, rangeRepo size: 4  Added new target pos. range: 20.284395 m, bearing: 28.318895 deg, lat: 36.779503 deg, lon: -121.859755 deg, deltaT: 0.503837 s, deltaX: -0.299751 m, approachRate: -0.594937 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.28 m.2i"i*i ProNav: ac range: 20.284395 m, nav range: 20.043802 m, bearing: 27.900933 deg, approach rate: 0.000000 m/s, LOS rate: 0.096769 deg/s, cmd heading: 21.238653 deg, new cmd heading: 21.318474 deg. iHeadingCmd: 0.372078 target range: 20.284395 and range: 20.30 m.h->h)h)h)h)g)g)jg1rg1e1re1Ze9:e=L4@*e=?MPExceeded connect timeout, disconnecting.Bɢ8<) i)<il(i>=̨=I>I!@ @@/@checking for new query: numPingsReceived=82, elapsed TxPingTime=40.850857Y ^A =Ia Iq O >p@2#,ɌLA 5g>5>5:s<ٱ5-=5H?<׿`?R?`:?`4 ?@?i5g>I5g_;5ڑCYByIGAam9Y$iAIp<)%=DDAT read: Rx Time:01:19:31.0109 TRx dataTimestamp_ set to:1764897572.125138PDAT read: Bearing 184.3, 8.0 (Local) ~Local bearing/azimuth received: Bearing 184.3, 8.0 (Local) DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.4 =DAT read: 01:19:31.0109 LVL= 28032, 32753, 31906, 32755, AGC= 62, IDX= 510, 0.02,-1.828, 2.677,-1.938,-2.087, PHS= 0.360,-1.475, 0.105, RAW= 142.6, 11.7, CAL= 142.1, 12.7, ROT= 7.9, -12.7 EYgot valid direction response: 01:19:31.0109 LVL= 28032, 32753, 31906, 32755, AGC= 62, IDX= 510, 0.02,-1.828, 2.677,-1.938,-2.087, PHS= 0.360,-1.475, 0.105, RAW= 142.6, 11.7, CAL= 142.1, 12.7, ROT= 7.9, -12.7 AMT#Rx 83: Read range and direction messages.U\direction in FSK: [0.966276,0.134082,0.219846]UFpublishing direction and range infoy~?)?F#?Ym| )IQ>i̼= =&I@Q>,@ b>)0 >IbZ?k?a? :>)4iQI0 >ibuchecking for new query: numPingsReceived=83, elapsed TxPingTime=41.119251only read 1 of 4 data items for bottom velocity. Device response is::BS, +13,A a@a a@a a@a a@a bDVD8y%(=ٔzQ->9Y=1EyDJE>bE-(N4jE-(N4rE-IJ/E EE,E"E*Ee:VEg4ZEa@a@a@a@Q 5]4_Q Ie%@EDI<=i?4ymÕBɮm)Am-EiiCɌLAj"j:ji>Rj 3@7-h@E$Ky@Bj~?)?F#?*j0 >2jbZjo. G1@w"@^)@Jj͜?TiYc?.?jA jAi7'?iڄjBj7'?jj BrjAzj3>] addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 20.284395 m, bearing: 28.022652 deg, lat: 36.779503 deg, lon: -121.859755 deg, deltaT: 0.504028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 20.28 m.2iiq"i*i ProNav: ac range: 20.284395 m, nav range: 19.821018 m, bearing: 27.998965 deg, approach rate: 0.000000 m/s, LOS rate: 0.096769 deg/s, cmd heading: 21.318474 deg, new cmd heading: 21.415266 deg. iHeadingCmd: 0.373767 target range: 20.284395 and range: 20.30 m.h`^>hhhhg gjgrgereZe:e*e rl?eBɢeݑ<) ȷi)$<i'i`^>=9=I`^>I @  @ @ /@ @ @ yAԱ  checking for new query: numPingsReceived=83, elapsed TxPingTime=41.354801 ^AM =I I O >UG2#,ɌLA>!>>楾>>5<ٱ>=>H?P׿ު?G?`?Z`d@׷??i>!>I>^;>ۑCYFByF(I N4=Np=bDRVDR8yZ“=%Zk=ٔ^&Q-^?9\Y\=b1EybDb Eb?dQ 5j4fIG?Q 9j4f)f#BQ An :YlQ En:yn>Q In%@fJDIfj;iflR?f4ypɮrh)ApB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 20.28 m.2i"i:*i:% ProNav: ac range: 20.284395 m, nav range: 19.679287 m, bearing: 28.026006 deg, approach rate: -0.499423 m/s, LOS rate: 0.095973 deg/s, cmd heading: 21.415266 deg, new cmd heading: 21.469738 deg. i-/;5HeadingCmd: 0.374718 target range: 20.284395 and range: 20.30 m.h5ڿ>h9h9h9h9gAgAjgIrgIeQreYZeY:ea*ee`'?颵Bɢ}<) ~i)X׿<i'iڿ>=挢=Iڿ>I)YB>BBBBM =BBZDBY;B^EuDDAT read: Rx Time:01:19:31.5107 }TRx dataTimestamp_ set to:1764897572.724704PDAT read: Bearing 185.2, 8.5 (Local) ~Local bearing/azimuth received: Bearing 185.2, 8.5 (Local) mDAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.3 ԉDAT read: 01:19:31.5107 LVL= 32336, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.11, 1.448,-0.328, 1.328, 1.216, PHS= 0.334,-1.498, 0.068, RAW= 142.3, 12.7, CAL= 141.7, 13.8, ROT= 8.3, -13.8 Ygot valid direction response: 01:19:31.5107 LVL= 32336, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.11, 1.448,-0.328, 1.328, 1.216, PHS= 0.334,-1.498, 0.068, RAW= 142.3, 12.7, CAL= 141.7, 13.8, ROT= 8.3, -13.8 T#Rx 84: Read range and direction messages.nManaging dock network, ignoring radio surface power off\direction in FSK: [0.960962,0.140189,0.238533]Fpublishing direction and range infoyqu?4? ?iC?YuAquP~qu q)u=Iu >iuwuC=u\@ub>uG@ uϢv>)uV>IuϢvqquVh ?% ?M;7? u*>)ucIuV>iuϢvqqe checking for new query: numPingsReceived=84, elapsed TxPingTime=41.766102 @  @ @ @ Ա M checking for new query: numPingsReceived=84, elapsed TxPingTime=41.861092^A] =IIO%>gN2#,h<ɌLA\Y~By~)IbD VD 8yH2;%+=ٔ%Q-%>9!Y!=-1Ey-ĖD-E->1Q 5=45@V?Q 9=45)5$BQ A=9YAQ EE:yAQ IE%@5PDI5e;i53?5g4yM˕BɮM)AM.Eiia.ɌLAjA"jA:jx>Rj M43@Di@ox^@Bj?4? ?iC?*jV>2jϢvZj[1@'5i"@NJ2|@JjJוk?1I{?g?jMA jAi2BT?i&jՉBj2BT?jڄjBrjmAzj> addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.599566 s, deltaX: -0.299999 m, approachRate: -0.500361 m/s, rangeRepo size: 4  Added new target pos. range: 19.984459 m, bearing: 28.262981 deg, lat: 36.779502 deg, lon: -121.859755 deg, deltaT: 0.599566 s, deltaX: -0.299936 m, approachRate: -0.500256 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.98 m.2i"i*i ProNav: ac range: 19.984459 m, nav range: 19.428366 m, bearing: 28.183705 deg, approach rate: 0.000000 m/s, LOS rate: 0.095973 deg/s, cmd heading: 21.469738 deg, new cmd heading: 21.562810 deg. iHeadingCmd: 0.376342 target range: 19.984459 and range: 20.00 m.h>hhhhggjgrgereZe:e4@*e~8?%BɢM<)Q ]@diY)eia=w=I>IDDAT read: Rx Time:01:19:32.0106 TRx dataTimestamp_ set to:1764897573.133555PDAT read: Bearing 185.3, 8.4 (Local) ~Local bearing/azimuth received: Bearing 185.3, 8.4 (Local) DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.3 DAT read: 01:19:32.0106 LVL= 32720, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.34, 2.839, 1.071, 2.723, 2.612, PHS= 0.330,-1.496, 0.067, RAW= 142.4, 12.8, CAL= 141.8, 13.9, ROT= 8.2, -13.9 %Ygot valid direction response: 01:19:32.0106 LVL= 32720, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.34, 2.839, 1.071, 2.723, 2.612, PHS= 0.330,-1.496, 0.067, RAW= 142.4, 12.8, CAL= 141.8, 13.9, ROT= 8.2, -13.9 %T#Rx 85: Read range and direction messages.-\direction in FSK: [0.960792,0.138452,0.240228]-Fpublishing direction and range infoy&Ͼ?6 ͸?ؼʿ?YfA )I>i|L7=@d>bd@ Ulx>)C>IUlxi1?s|?4]? .>)dIC>iUlxMchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.127644M@I @I@U0@Q1E EE+E"E:*Ei:VE [4ZEBE.U2#,nWɌLA2+>2>2<ٱ2<*=2HM?ֿ@n?@A(?θ?@w C۷??i2+>I2k];2ّCY:By>#IlzDDAT read: Rx Time:01:19:32.5104 TRx dataTimestamp_ set to:1764897573.392432PDAT read: Bearing 185.2, 8.0 (Local) -~Local bearing/azimuth received: Bearing 185.2, 8.0 (Local) =checking for new query: numPingsReceived=85, elapsed TxPingTime=42.378220aa aa aa aa iMb@Mb@Mb@ 9M?I +?~jt?Yn>y94=<@ A tA)-AYAbD VD8y%ǝ%%=ٔ-ºQ-->9-"?Y-"?=-1Ey-ϖD5tE5>9Q 5e4=Ef?Q 9m4=l)=(BQ AmT:Ym>Q Em;ym>Q Im%@=WDI=I;i=:=l4yqɮ})Ayii*HɌLAjFA"jFA:j >RjY>G3@ڶc@5@Bj&Ͼ?6 ͸?ؼʿ?*jC>2jUlxZjGB50@ L"@۴z@Jjo@v?/k@?u|?jA jׇAirH%?igjωBjrH%?jjBrjAzji>m addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.408851 s, deltaX: -0.200001 m, approachRate: -0.489178 m/s, rangeRepo size: 4  Added new target pos. range: 19.784613 m, bearing: 28.036360 deg, lat: 36.779503 deg, lon: -121.859755 deg, deltaT: 0.408851 s, deltaX: -0.199846 m, approachRate: -0.488800 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.78 m.2i"i*i ProNav: ac range: 19.784613 m, nav range: 19.248064 m, bearing: 28.094659 deg, approach rate: 0.000000 m/s, LOS rate: 0.095973 deg/s, cmd heading: 21.562810 deg, new cmd heading: 21.665782 deg. iHeadingCmd: 0.378139 target range: 19.784613 and range: 19.80 m.hw>hhhhggjgrgBereZe!:e%3@*e%@b?AQAU@A"]JFailed to parse device response: .42 )UBɢU㱡<)Q UtiY)]־eO=el=Iew>IDAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.3 DAT read: 01:19:32.5104 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.26,-2.346, 2.177,-2.449,-2.570, PHS= 0.326,-1.491, 0.078, RAW= 142.8, 12.7, CAL= 142.2, 13.8, ROT= 7.8, -13.8 Ygot valid direction response: 01:19:32.5104 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.26,-2.346, 2.177,-2.449,-2.570, PHS= 0.326,-1.491, 0.078, RAW= 142.8, 12.7, CAL= 142.2, 13.8, ROT= 7.8, -13.8 T#Rx 86: Read range and direction messages.\direction in FSK: [0.962149,0.131798,0.238533]Fpublishing direction and range infoyimX?cB#?iC?YmAimii i)m@Imy>imپmw=mW@mb>m@ mϢv>)m'g >ImϢviim2b?{=*?eȡ? my>)m+bIm'g >imϢvii checking for new query: numPingsReceived=86, elapsed TxPingTime=42.634575A @A  @A @M /@I @Q @U =EE  EE EE )EA "EE :*EE xv:VEE FA4ZEA aM @aM @aM @aM @Y ^A =ԉ IIO?P]2#,wɌLARDDAT read: Rx Time:01:19:33.0103 VTRx dataTimestamp_ set to:1764897573.893313bPDAT read: Bearing 184.8, 8.2 (Local) f~Local bearing/azimuth received: Bearing 184.8, 8.2 (Local) rchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.878567u*8>u 1>uTI<ٱuն=uH?@ֿw?E? ?.??iu*8>IuK];uڑCYBy"IbDVD8y 2% ,=ٔ Q->9Y=1EyٖDٺE>!Q 5u4% u?Q 9u4%)%,BYyy}A>Q I}%@%]DI%Z:RjUFP2@e@lU@BjUX?cB#?iC?*jU'g >2jUϢvZjU0@_t!@*F/Q@JjU,ñ?6%?`}?jUS A jUhAiUzA?iUcjUBjUzA?jQjQrjUbAzjU 4> addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.502764 s, deltaX: -0.299999 m, approachRate: -0.596700 m/s, rangeRepo size: 4 AM Added new target pos. range: 19.484846 m, bearing: 27.565143 deg, lat: 36.779503 deg, lon: -121.859755 deg, deltaT: 0.502764 s, deltaX: -0.299767 m, approachRate: -0.596237 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 19.48 m.2iI"iQ*iQ ProNav: ac range: 19.484846 m, nav range: 19.048159 m, bearing: 28.111111 deg, approach rate: 0.000000 m/s, LOS rate: 0.095973 deg/s, cmd heading: 21.665782 deg, new cmd heading: 21.755755 deg. iHeadingCmd: 0.379710 target range: 19.484846 and range: 19.50 m.hKi>hhhhggjgrgereZe:e3@*e?颅Bɢ<) ei)j<顑i'i]Ki>eて=e]=ImKi>Iyԁ=DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 eDAT read: 01:19:33.0103 LVL= 31888, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.12,-2.924, 1.577,-3.036, 3.123, PHS= 0.338,-1.501, 0.080, RAW= 142.6, 12.5, CAL= 142.0, 13.6, ROT= 8.0, -13.6 mYgot valid direction response: 01:19:33.0103 LVL= 31888, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.12,-2.924, 1.577,-3.036, 3.123, PHS= 0.338,-1.501, 0.080, RAW= 142.6, 12.5, CAL= 142.0, 13.6, ROT= 8.0, -13.6 uT#Rx 87: Read range and direction messages.u\direction in FSK: [0.962502,0.135271,0.235142]}Fpublishing direction and range infoy)- EH?@P?#?Y-3A)-|)) ))->I-V>i- - ף=-&I@-f_>-@ -s>)-5>I-s))-??K1?^ ? -K>)-_I-5>i-s))checking for new query: numPingsReceived=87, elapsed TxPingTime=43.131935@ @@@E  E E E "E :*E x:VE ZE ԙ ^A = IIO>gce2#,ɌLAYByIUDDAT read: Rx Time:01:19:33.5101 eTRx dataTimestamp_ set to:1764897574.396831}PDAT read: Bearing 185.7, 8.6 (Local) ~Local bearing/azimuth received: Bearing 185.7, 8.6 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.3 Z#Rx 88: Read range message, but no direction.yYY]̘AYchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.399101QiMMb@Mb@Mb@IIII I9M"~j?v/?y&1|?YMS>yMxi=M`;M@M A MA)MAIYIbD߿VD8yͼ%=ٔQ->9Y=2EyDE>Q 54񆝊?Q 94)-BY%8>Q E%:y%{>Q I-%@eDI2;i<)4yAɮE#*AAqiYi]eɌLAj]A"j]A:j]H>Rj]n'^2@v@@5n@Bj] EH?@P?#?*j]5>2j]sZj]]Ϸo0@V(HQ!@%b>J}@Jj]TĎ?)6 ?m S?j] A j]|Ai]r?i]8Gj]IBjYj]gj]Brj]^Azj]>= addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.760512 s, deltaX: -0.400000 m, approachRate: -0.525961 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.085157 m, bearing: 27.784432 deg, lat: 36.779503 deg, lon: -121.859756 deg, deltaT: 0.760512 s, deltaX: -0.399689 m, approachRate: -0.525552 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 19.09 m.2ia"ia*ia} ProNav: ac range: 19.085157 m, nav range: 18.796293 m, bearing: 28.048122 deg, approach rate: 0.000000 m/s, LOS rate: 0.095973 deg/s, cmd heading: 21.755756 deg, new cmd heading: 21.861513 deg. iy}HeadingCmd: 0.381555 target range: 19.085157 and range: 19.10 m.h}:[>hhhhggjgB>BBIBBBL =BBB-;B^ErgBereZe:e3@*ex?颽Bɢ0<) i)ٽ<i2'i :[> Y~= =I :[>Iԡ DAT read: 01:19:33.5101 LVL= 32416, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.06, 0.134,-1.636, 0.014,-0.079, PHS= 0.315,-1.512, 0.049, RAW= 142.2, 13.3, CAL= 141.7, 14.4, ROT= 8.3, -14.4 % Ygot valid direction response: 01:19:33.5101 LVL= 32416, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.06, 0.134,-1.636, 0.014,-0.079, PHS= 0.315,-1.512, 0.049, RAW= 142.2, 13.3, CAL= 141.7, 14.4, ROT= 8.3, -14.4 - Z#Rx 89: Read direction message, but no range.5 \direction in FSK: [0.958438,0.139821,0.248690]yj!6?;i?l?~ )=IG>i79H=@,m>G@ >)V>I?;?f (? >)nIV>i @  @ @ /@  checking for new query: numPingsReceived=89, elapsed TxPingTime=43.654270E  E E *E "E :*E ~:VE (N4ZE BE >l2#,#ɌLA>>>F^>>ԓ<ٱ>=>H?oֿ@Z?@!?`Զ?`۞@Sz??i>>I>S];>ۑCYFByFIIJ<)J4<bDRVDR8yZһ%Zs=\ٔ^`ֺQ-^?9`Y`=b2EybDb:Ef?dQ 5j4f?Q 9n4f2)f.BYlyn>Q In%@fjDIf;if;f4yrוBɮvn*Av&EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 19.09 m.2i"i$*i$- ProNav: ac range: 19.085157 m, nav range: 18.647442 m, bearing: 28.045447 deg, approach rate: -0.497551 m/s, LOS rate: -0.009012 deg/s, cmd heading: 21.861513 deg, new cmd heading: 21.856121 deg. i-5HeadingCmd: 0.381461 target range: 19.085157 and range: 19.10 m.h5N>h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE`?mBɢu蘑<)q u}iq)}&|==IN>IuDDAT read: Rx Time:01:19:34.0100 TRx dataTimestamp_ set to:1764897574.901386PDAT read: Bearing 184.3, 8.5 (Local) ~Local bearing/azimuth received: Bearing 184.3, 8.5 (Local) @ @@,0@UDAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.3 eZ#Rx 90: Read range message, but no direction.yyY}3Aychecking for new query: numPingsReceived=90, elapsed TxPingTime=43.922859^A<=IIIYOe>% DAT read: 01:19:34.0100 LVL= 28912, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.31, 1.307,-0.491, 1.184, 1.051, PHS= 0.358,-1.497, 0.089, RAW= 142.3, 12.1, CAL= 141.7, 13.1, ROT= 8.3, -13.1 - Ygot valid direction response: 01:19:34.0100 LVL= 28912, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.31, 1.307,-0.491, 1.184, 1.051, PHS= 0.358,-1.497, 0.089, RAW= 142.3, 12.1, CAL= 141.7, 13.1, ROT= 8.3, -13.1 - Z#Rx 91: Read direction message, but no range.5 \direction in FSK: [0.963774,0.140599,0.226651]y  F=?)?+#?A   p   ) <I K>i  E= \@ @X>   j>) I  j  U4_??pZ?  ,>) WI i  j] checking for new query: numPingsReceived=91, elapsed TxPingTime=44.137505E  E E (E "E :*E x:VE c44ZE a @a @a @a @zks2#,XɌLA2>2Jc>2<ٱ2@:=2H?9ֿ s?@<"?2? d˵@?@:?i2>I2B];2ڑCYnBynIiMb@Mb@Mb@ 9Q?Q?y&1|?Y(>yu= A A)YpAbDVD8y<%8=ٔ6Q->9Y=2EyD98E>Q 5 4&?Q 9 4)/BY R>Q E :y ?Q I%@pDI;iK;4yɮH*AiiOɌLAjA"jA:jW>Rj/xNy32@Mr=@鯱@BjF=?)?+#?*jV>2j jZj{<0@ /q*\!@#@JjXն?jFhj?M]v?j A jAi~?iojBj2BT?jjrjXAzjP>m addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504555 s, deltaX: -0.200001 m, approachRate: -0.396390 m/s, rangeRepo size: 4 } Added new target pos. range: 18.885202 m, bearing: 28.126650 deg, lat: 36.779502 deg, lon: -121.859756 deg, deltaT: 0.504555 s, deltaX: -0.199955 m, approachRate: -0.396300 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 18.89 m.2iy"i*i ProNav: ac range: 18.885202 m, nav range: 18.418419 m, bearing: 28.096366 deg, approach rate: 0.000000 m/s, LOS rate: -0.009012 deg/s, cmd heading: 21.856120 deg, new cmd heading: 21.848070 deg. iHeadingCmd: 0.381321 target range: 18.885202 and range: 18.90 m.hy<>hhhhggjgrgBereZe:e`f2@*eE?=Bɢ=<)9 =Ci9)Eb8m z=m+$=Imy<>IqI @ @@0@!DDAT read: Rx Time:01:19:34.5098 TRx dataTimestamp_ set to:1764897575.404769PDAT read: Bearing 183.8, 7.8 (Local) ~Local bearing/azimuth received: Bearing 183.8, 7.8 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 -Z#Rx 92: Read range message, but no direction.yYfAmchecking for new query: numPingsReceived=92, elapsed TxPingTime=44.411602q^Ae ̓=Am yAzAm xAI I O >ԙ B A B B CB B B M =B B B ;B ^Ey2#,o*ɌLA2j>25ʽ>2ߍ<ٱ2=2H`t?`ֿ?A.?`I2:];2ݑCYBByB IrDAT read: 01:19:34.5098 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.33, 2.041, 0.249, 1.939, 1.777, PHS= 0.366,-1.483, 0.117, RAW= 142.9, 11.5, CAL= 142.4, 12.5, ROT= 7.6, -12.5 vYgot valid direction response: 01:19:34.5098 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.33, 2.041, 0.249, 1.939, 1.777, PHS= 0.366,-1.483, 0.117, RAW= 142.9, 11.5, CAL= 142.4, 12.5, ROT= 7.6, -12.5 vZ#Rx 93: Read direction message, but no range.~\direction in FSK: [0.967720,0.129121,0.216440]y`bcu? ?K?`b`` `)`IbZd>ibҽb=b@bM>b@ bf_>)b>Ibf_`bٖjb?9xS`?F$O? bc>)bMIb>ibf_checking for new query: numPingsReceived=93, elapsed TxPingTime=44.642040bDJVDJ8yy%M=ٔ2Q->9Y=2EyDU:EU>YQ 5e4]m?Q 9e4]p)]0BYiym?Q Im%@]vDI]:i]:]4E EE+E"El;*Ei:VE [4ZEBEaFRj-2@:Y5g@=[/sC@Bjcu? ?K?*j>2jf_Zj("8H0@4_ @Cb@Jjj?\?ڬ ?jA jAAi5} ?i<jpBjzA?j<jIBrjґAzj0>] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503383 s, deltaX: -0.100000 m, approachRate: -0.198657 m/s, rangeRepo size: 4  Added new target pos. range: 18.785234 m, bearing: 27.528169 deg, lat: 36.779503 deg, lon: -121.859757 deg, deltaT: 0.503383 s, deltaX: -0.099968 m, approachRate: -0.198592 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.79 m.2i"i*i ProNav: ac range: 18.785234 m, nav range: 18.227884 m, bearing: 27.746168 deg, approach rate: 0.000000 m/s, LOS rate: -0.009012 deg/s, cmd heading: 21.848069 deg, new cmd heading: 21.840231 deg. iHeadingCmd: 0.381184 target range: 18.785234 and range: 18.80 m.h*>hhhhggjgrgereZe:e2@*e@c?UBɢUD<)Q U8iQ)Uew=e=Ie*>Iiԡ@ @@=0@@ =@ =DDAT read: Rx Time:01:19:35.0098 TRx dataTimestamp_ set to:1764897575.909154PDAT read: Bearing 185.7, 8.1 (Local) ~Local bearing/azimuth received: Bearing 185.7, 8.1 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4  Z#Rx 94: Read range message, but no direction.yY checking for new query: numPingsReceived=94, elapsed TxPingTime=44.919170^A% oɖ= AY Ii I O >S2#,ʌLA:>: >: <ٱ:U=:H?%׿b?5?? !A:V?@?i:>I:V\;:ڑCYNByNI PPbDjVDj8yr6A=%rT=ٔvwQ-v>9tYt=v2EyvD:E>Q 5%4Q?Q 9%4`)2BY!y%?Q I-%@{DI:i\:v4yUߕBɮU*AU'Eԑ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504385 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 18.79 m.2i"i*iE ProNav: ac range: 18.785234 m, nav range: 18.066486 m, bearing: 27.734261 deg, approach rate: -0.450890 m/s, LOS rate: -0.033562 deg/s, cmd heading: 21.840230 deg, new cmd heading: 21.816202 deg. iEu}HeadingCmd: 0.380765 target range: 18.785234 and range: 18.80 m.h>hhhahigqgqDAT read: 01:19:35.0098 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.05,-2.782, 1.741,-2.882,-2.986, PHS= 0.306,-1.511, 0.060, RAW= 142.8, 13.3, CAL= 142.3, 14.5, ROT= 7.7, -14.5 Ygot valid direction response: 01:19:35.0098 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.05,-2.782, 1.741,-2.882,-2.986, PHS= 0.306,-1.511, 0.060, RAW= 142.8, 13.3, CAL= 142.3, 14.5, ROT= 7.7, -14.5 Z#Rx 95: Read direction message, but no range. \direction in FSK: [0.959418,0.129718,0.250380]y9y?ᯊ朚?=9? )=I>ishu=W@,m>\@ >) >Iهs?C)? և? >>)dnI >i-checking for new query: numPingsReceived=95, elapsed TxPingTime=45.154942jgArgAeAreIZeI:eI*eM 8g?}Bɢ}T<)y Fi)0a<i0C(i>wu==I>IEa EeEe&Ea"Ea*Ee:VEe4ZEaam@am@am@am@@ @@0@^A qj= iA IA m DDAT read: Rx Time:01:19:35.5096 } TRx dataTimestamp_ set to:1764897576.414542 PDAT read: Bearing 186.3, 8.3 (Local)  ~Local bearing/azimuth received: Bearing 186.3, 8.3 (Local) E DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4  DAT read: 01:19:35.5096 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.18, 0.231,-1.532, 0.127, 0.042, PHS= 0.291,-1.529, 0.041, RAW= 142.7, 13.9, CAL= 142.1, 15.0, ROT= 7.9, -15.0  Ygot valid direction response: 01:19:35.5096 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.18, 0.231,-1.532, 0.127, 0.042, PHS= 0.291,-1.529, 0.041, RAW= 142.7, 13.9, CAL= 142.1, 15.0, ROT= 7.9, -15.0  T#Rx 96: Read range and direction messages. \direction in FSK: [0.956759,0.132761,0.258819] Fpublishing direction and range infoyi m [ĝ?^MQ?V!}?Ym Ai A) I1 IA OM >E2#,$ʌLA )I>iFÿ'=e@Ulx>,@ >)0 >I h?s~e? !? - >)YxI0 >i 6checking for new query: numPingsReceived=96, elapsed TxPingTime=45.468460b,>bf+>b߇<ٱb2=bHX?׿^?9?d?)6@`z?@1?ib,>Ib\;bّCxY~sByIiMb@Mb@Mb@ 9/$?V-?Mb`?Y>ym=;@G A )-AYGA <bDݿVD8y%!=ٔQ->9Y=2EyD%9E%>B5>B5CB5IB5|BB1B1B1B5;B5^EBBBBM =BC½;5Q 54ɝ?Q 94)Y>Q E:y ?Q I%@DI:i4: 4yɮ`+A!iiۇʌLAjA"jA:j>Rj1@F " @6<#@Bj[ĝ?^MQ?V!}?*j0 >2j ZjFEL/@m,_ @w.@Jj4kl?r}O?晦ZO?jzA jx}AiHl?iظj߉BjjظjrjAzj0<> addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.505388 s, deltaX: -0.299999 m, approachRate: -0.593602 m/s, rangeRepo size: 4  Added new target pos. range: 18.485538 m, bearing: 27.594644 deg, lat: 36.779503 deg, lon: -121.859757 deg, deltaT: 1.009773 s, deltaX: -0.299696 m, approachRate: -0.296795 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.49 m.2i"i*i ProNav: ac range: 18.485538 m, nav range: 17.832056 m, bearing: 27.667048 deg, approach rate: 0.000000 m/s, LOS rate: -0.033562 deg/s, cmd heading: 21.816203 deg, new cmd heading: 21.780595 deg. iHeadingCmd: 0.380143 target range: 18.485538 and range: 18.50 m.h>hhhh g g jg rgBereZe:e2@*e=@>?checking for new query: numPingsReceived=96, elapsed TxPingTime=45.639290Bɢi<) i)촻<iO(i>Qs="=I>IIDqzDuAAE} E}E})Ey"E};*E}ga:VE}FA4ZEyBE}A2z2#,<ʌLA#>l>K<ٱ1=H? e ׿@v?`@A??۶F)@? I?i#>I\;ڑCYMtByMIibDVD8y:9;%2=ٔ Q->9Y=2EyD.:E>Q 54G؝?Q 94 )Y y '?Q I %@DI;i;R4yBɮ+AUB*** querying acoustic contact ***iQiQ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.502923 s, deltaX: -0.200001 m, approachRate: -0.397677 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 18.49 m.2i"i)*i) ProNav: ac range: 18.485538 m, nav range: 17.638313 m, bearing: 27.653434 deg, approach rate: -0.446632 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.780596 deg, new cmd heading: 21.753070 deg. iBhHeadingCmd: 0.379663 target range: 18.485538 and range: 18.30 m.h&c>hhhhggjgrgereZe:eL2@*e@$? v>Cp9YlAԙDAT read: 01:19:36.0095 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512, 0.39,-2.803, 2.025,-2.773,-2.859, PHS= 0.158,-1.354, 0.042, RAW= 146.0, 15.6, CAL= 145.8, 17.2, ROT= 4.2, -17.2 Ygot valid direction response: 01:19:36.0095 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512, 0.39,-2.803, 2.025,-2.773,-2.859, PHS= 0.158,-1.354, 0.042, RAW= 146.0, 15.6, CAL= 145.8, 17.2, ROT= 4.2, -17.2 Z#Rx 98: Read direction message, but no range.\direction in FSK: [0.952713,0.069963,0.295708]yF֟|?r ?-? )I!>iO1,=e#@'g>4"@ `>)Q =I`4-v?S\+?@? >)LIQ =i`checking for new query: numPingsReceived=98, elapsed TxPingTime=46.156990uBɢuv<)y }iy)}_ 0q=銛=I&c>IEu EuEqEq"Eu;*Eui:VEqZEqa@a@a@a@E @A  @A @E /@A @I @M zA ^Am D=uDDAT read: Rx Time:01:19:36.5093 TRx dataTimestamp_ set to:1764897577.422299PDAT read: Bearing 184.6, 7.5 (Local) ~Local bearing/azimuth received: Bearing 184.6, 7.5 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 Z#Rx 99: Read range message, but no direction.yqYuAq checking for new query: numPingsReceived=99, elapsed TxPingTime=46.419804!A.AIIO?dE2#,=^ʌLAB)>B>Bˋw<ٱB~=BH ?=׿@u?H?(? L@,˂??iB)>IB];BّCYunByuI)iMMb@Mb@Mb@IIII I9M/$?:v?MbPYIyMT=MM-@I I)MAIYMA]AA]@AbDeԿVDe8y࠼%=ٔ`Q->9 ?Y ?=2Ey"Dj:E>Q 54;靊?Q 945)1BYE>Q E:y>Q I%@DIM:iI:4yɮ+Aii[ʌLAjA"jA:j}>Rj=W"1@TP0"?:F@BjF֟|?r ?-?*jQ =2j`Zjo)W/@uȽ\@p:樤@Jj"{}?%[? &]?jR@ j||Ai,?iM2J$jBjHl?jjrjAzj?c>5 addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504834 s, deltaX: -0.299999 m, approachRate: -0.594253 m/s, rangeRepo size: 4 E Added new target pos. range: 17.985929 m, bearing: 23.667180 deg, lat: 36.779503 deg, lon: -121.859757 deg, deltaT: 1.007757 s, deltaX: -0.499609 m, approachRate: -0.495763 m/s, posRepo size: 4 AIAMAABU>BUCBUIBUrBBQBQBQBU ;BU^E:iamDNOT Ignoring new targets: 17.99 m.2ii"im*ii} ProNav: ac range: 17.985929 m, nav range: 17.453234 m, bearing: 27.572216 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.753070 deg, new cmd heading: 21.720044 deg. iyHeadingCmd: 0.379086 target range: 17.985929 and range: 18.00 m.h>hhhhggjgrgBereZe:e2@*e@?Bɢ5<) (i)o<i(i>o=I=I>IE@A @A@E0@Aa DAT read: 01:19:36.5093 LVL= 30144, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.09, 2.412, 0.630, 2.325, 2.177, PHS= 0.337,-1.502, 0.105, RAW= 143.3, 12.2, CAL= 142.9, 13.2, ROT= 7.1, -13.2 Ygot valid direction response: 01:19:36.5093 LVL= 30144, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.09, 2.412, 0.630, 2.325, 2.177, PHS= 0.337,-1.502, 0.105, RAW= 143.3, 12.2, CAL= 142.9, 13.2, ROT= 7.1, -13.2 %\#Rx 100: Read direction message, but no range.-\direction in FSK: [0.966113,0.120336,0.228351]yf?Sξ? :?u )<ID>iA= =Q @^ Z>@ k>)=IkYM?\?y(}"? >)sYI=ikMchecking for new query: numPingsReceived=100, elapsed TxPingTime=46.661118D=D<bE5FA4jE5ǏB4rE5?/E EEE"E;*Ek:VEZEBE@J=Ա A I I O >o2#,XxʌLA]DDAT read: Rx Time:01:19:37.0092 mTRx dataTimestamp_ set to:1764897577.925656PDAT read: Bearing 185.4, 7.8 (Local) ~Local bearing/azimuth received: Bearing 185.4, 7.8 (Local) -DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 UDAT read: 01:19:37.0092 LVL= 32080, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.14, 1.091,-0.692, 1.000, 0.877, PHS= 0.316,-1.524, 0.079, RAW= 143.2, 13.0, CAL= 142.7, 14.1, ROT= 7.3, -14.1 ]Ygot valid direction response: 01:19:37.0092 LVL= 32080, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.14, 1.091,-0.692, 1.000, 0.877, PHS= 0.316,-1.524, 0.079, RAW= 143.2, 13.0, CAL= 142.7, 14.1, ROT= 7.3, -14.1 ]V#Rx 101: Read range and direction messages.e\direction in FSK: [0.962011,0.123236,0.243615]eFpublishing direction and range infoyae?rk? .?Ye3AaeP}ԉ >_>8^q<ٱxy=H`?K ׿@????@UV+A?`?i >I];ۑCYjByIaa a)aIeʡ>ieoÿeʡ=e@eVh>ee@ ed{>)ew>Ied{aae %?XL?? eVS>)egIew>ied{aachecking for new query: numPingsReceived=101, elapsed TxPingTime=46.960468bDVD]8y%6=ٔ[Q->9AYI=M2EyM+DU顺EU>aQ 5m4e?Q 9u4e)aYqyu>Q I}%@eDIe@:;ieE5;e}$4yBɮ,,A(Eiaie={ʌLAjeA"jeA:jeX>Rje2jed{ZjeU.@U̖@A3;@Jjedj?;6B?sQ6?je@ jeWwAie?ie \jeBje5} ?jajeBrjeŠAzje*>Թ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503357 s, deltaX: -0.100000 m, approachRate: -0.198667 m/s, rangeRepo size: 4  Added new target pos. range: 17.885933 m, bearing: 27.060376 deg, lat: 36.779504 deg, lon: -121.859757 deg, deltaT: 0.503357 s, deltaX: -0.099997 m, approachRate: -0.198659 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.89 m.2i"i*i  ProNav: ac range: 17.885933 m, nav range: 17.344954 m, bearing: 27.410441 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.720044 deg, new cmd heading: 21.689339 deg. i 5HeadingCmd: 0.378550 target range: 17.885933 and range: 17.90 m.h=[>h9h9h9h9g9g9jgArgAeAreAZeI:eM`f1@*eM@?颵BɢO<) i){<项iҳ(i[>m=Ŝ=I[>I@ @@/@@=@= checking for new query: numPingsReceived=101, elapsed TxPingTime=47.152729 E  E E &E "E :*E :VE 4ZE a @a @a @a @Y ^A ஜ=A zA AIIO>X2#,=ʌLALYeByI 11DDAT read: Rx Time:01:19:37.5089 TRx dataTimestamp_ set to:1764897578.429330 PDAT read: Bearing 185.2, 7.8 (Local) ~Local bearing/azimuth received: Bearing 185.2, 7.8 (Local) UxDAT read: Range 11 to 50 : 17.4 m (trip time 11.6 m 0.4 uDAT read: 01:19:37.5089 LVL= 31824, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.49, 0.007,-1.772,-0.083,-0.212, PHS= 0.321,-1.515, 0.085, RAW= 143.2, 12.8, CAL= 142.7, 13.9, ROT= 7.3, -13.9 }Ygot valid direction response: 01:19:37.5089 LVL= 31824, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.49, 0.007,-1.772,-0.083,-0.212, PHS= 0.321,-1.515, 0.085, RAW= 143.2, 12.8, CAL= 142.7, 13.9, ROT= 7.3, -13.9 }V#Rx 102: Read range and direction messages.\direction in FSK: [0.962848,0.123344,0.240228]Fpublishing direction and range infoy(75?o3(t?ؼʿ?Y3AP| )IZ>i{=d> Ulx>)IUlxB-z?7ܽ?m-uJ? u>)6dIiUlxiMb@Mb@Mb@ 9333333?~jt?Mbp?Y>y=;@ A tA)GAYAchecking for new query: numPingsReceived=102, elapsed TxPingTime=47.474030bDVD8y%(=ٔQ->9Y= 2Ey 4D E >Q 54^?Q 94])Y=z>Q EE:yEI>Q IE%@DI =i=,4yIɮMW,AQii%zʌLAjA"jA:j>RjlP|k0@Hp'@)L@Bj(75?o3(t?ؼʿ?*j2jUlxZj.@ @i,T@Jj ?jKM?M&w>Zf?j @ jpAi ?i jBjj \jrjΈAzj> addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503674 s, deltaX: -0.500000 m, approachRate: -0.992706 m/s, rangeRepo size: 4  Added new target pos. range: 17.386326 m, bearing: 27.082562 deg, lat: 36.779504 deg, lon: -121.859758 deg, deltaT: 0.503674 s, deltaX: -0.499607 m, approachRate: -0.991925 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 17.39 m.2i"i1*i1E ProNav: ac range: 17.386326 m, nav range: 17.100752 m, bearing: 27.162489 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.689339 deg, new cmd heading: 21.657865 deg. iAMHeadingCmd: 0.378001 target range: 17.386326 and range: 17.40 m.hM[>hIhIhIhIgqgqjgqrg}~BeyreyZey:e}`ff1@*e@Gr?BBBIBbBBBBB;B^E=BɢE d<)A EýiA)EuXl=uV=Iu[>Iq! @!  @! @) @) m checking for new query: numPingsReceived=102, elapsed TxPingTime=47.655109 D1 zD5 @AE=  E= E9 E9 "E= :*E= :VE9 ZE9 BE= 3=ܽ>=f<ٱ=$==Hl?`Eֿ ݩ?0??_Ќw?@H?i=>I=>\;9YyIDAT read: 01:19:38.0089 LVL= 26608, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.18, 2.794, 1.001, 2.717, 2.527, PHS= 0.370,-1.481, 0.146, RAW= 143.6, 11.0, CAL= 143.2, 12.0, ROT= 6.8, -12.0 Ygot valid direction response: 01:19:38.0089 LVL= 26608, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.18, 2.794, 1.001, 2.717, 2.527, PHS= 0.370,-1.481, 0.146, RAW= 143.6, 11.0, CAL= 143.2, 12.0, ROT= 6.8, -12.0 V#Rx 103: Read range and direction messages.\direction in FSK: [0.971267,0.115817,0.207912]Fpublishing direction and range infoyy}+?q'?hٜ?Yyy}gyy ybDVD8y1;%)=ٔQ->9Y)};I}p>i}h}>}g @} D>}@ }PwV>)}=I}PwVyy}H!?K/?l8? }3>)}P0EI}=i}PwVyychecking for new query: numPingsReceived=103, elapsed TxPingTime=47.964188=%2Ey->D-~E->1Q 5=45?Q 9=45)52BY9y>Q I%@5DI5phRj}:y0@˯.<@6d% @Bj}+?q'?hٜ?*j}=2j}PwVZj}OV2d.@Z1f_@b0 @Jj}w]h?W16/?-X:@?j}@ j}&sAi}?i}a4 j}Bj}?j}a4 jyrj}]Azj}$j>] addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503894 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 17.386311 m, bearing: 26.740203 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.503894 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 17.39 m.2ii"iq*iq ProNav: ac range: 17.386311 m, nav range: 16.920897 m, bearing: 26.903794 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.657866 deg, new cmd heading: 21.627201 deg. iHeadingCmd: 0.377466 target range: 17.386311 and range: 17.40 m.h5C>hhhhggjgrgereZe:e*e(]?-Bɢ-4<)) -i))M3]j=]̜=Ie5C>Iq @ @@/@% checking for new query: numPingsReceived=103, elapsed TxPingTime=48.1620799 E  E E *E "E :*E ]t:VE (N4ZE a @a @a @a @^A ȝ=a AAIIIYOm>s2#,ʌLA2~>27>2j_<ٱ2=2HP?ֿ@l?@'?f?@`틿>l?`{?i2~>I2\;2ؑCY:kBy:I1DDAT read: Rx Time:01:19:38.5087 TRx dataTimestamp_ set to:1764897579.439827PDAT read: Bearing 186.0, 7.6 (Local) ~Local bearing/azimuth received: Bearing 186.0, 7.6 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.3 DAT read: 01:19:38.5087 LVL= 31152, 32753, 32754, 32755, AGC= 61, IDX= 504,-0.04,-0.144,-1.916,-0.222,-0.340, PHS= 0.298,-1.531, 0.074, RAW= 143.6, 13.3, CAL= 143.1, 14.5, ROT= 6.9, -14.5 Ygot valid direction response: 01:19:38.5087 LVL= 31152, 32753, 32754, 32755, AGC= 61, IDX= 504,-0.04,-0.144,-1.916,-0.222,-0.340, PHS= 0.298,-1.531, 0.074, RAW= 143.6, 13.3, CAL= 143.1, 14.5, ROT= 6.9, -14.5 V#Rx 104: Read range and direction messages.iMMb@Mb@Mb@IIII I9M333333?iÿP=,m> @ >)Ϣ=I3ӊ?3~{?2'Su? z>)nnIϢ=ibDchecking for new query: numPingsReceived=104, elapsed TxPingTime=48.459492VD8y<%#=ٔ@cQ->9Y=2EyHDqE>Q 54!'?Q 94)Yc>Q E:y>Q I%%@DI;i; >4y)ɮ-h,A)ii &ʌLAjA"jA:j/>RjTvY(l0@7T$?%?f@BjdM?xTƽ?=9?*jϢ=2jZj~ٝ-@ےqē@X@Jj3e n?FE?&>%_ɻ?j@ jlAi?iPjBjj jBrjuAzj'>Y addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.506603 s, deltaX: -0.299999 m, approachRate: -0.592178 m/s, rangeRepo size: 4  Added new target pos. range: 17.086548 m, bearing: 26.532250 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.506603 s, deltaX: -0.299763 m, approachRate: -0.591711 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.09 m.2i"i*i ProNav: ac range: 17.086548 m, nav range: 16.682335 m, bearing: 26.732881 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.627201 deg, new cmd heading: 21.595829 deg. iHeadingCmd: 0.376918 target range: 17.086548 and range: 17.10 m.hp>hhhhggjgrgBereZe:e1@*e ?B)A-<B5>B5CB5IB5XBB1B1B1B5;B5^E}Bɢ}<)y }iy)<顁iG)ip>h=7Ü=Ip>IԁY @a  @a @e /@a @i @i  checking for new query: numPingsReceived=104, elapsed TxPingTime=48.663555Ա E  E E .E "E s:*E z:VE ـ4ZE BE p0A >AIIAOm ?֭2#,_ʌLAeDDAT read: Rx Time:01:19:39.0087 eTRx dataTimestamp_ set to:1764897579.941402mPDAT read: Bearing 185.8, 7.5 (Local) u~Local bearing/azimuth received: Bearing 185.8, 7.5 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 ԑDAT read: 01:19:39.0087 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.27, 0.843,-0.932, 0.766, 0.641, PHS= 0.304,-1.528, 0.081, RAW= 143.6, 13.1, CAL= 143.1, 14.3, ROT= 6.9, -14.3 Ygot valid direction response: 01:19:39.0087 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.27, 0.843,-0.932, 0.766, 0.641, PHS= 0.304,-1.528, 0.081, RAW= 143.6, 13.1, CAL= 143.1, 14.3, ROT= 6.9, -14.3 V#Rx 105: Read range and direction messages.\direction in FSK: [0.961997,0.116414,0.246999]Fpublishing direction and range infoyae!0i?2Wͽ?⩝?Yaaeaa a)e<Ie㥛>ieÿeT=ae j>a er>)aIeraae;e?6#t?^<>P? e>)ejIaieraachecking for new query: numPingsReceived=105, elapsed TxPingTime=48.967659 > j> V<ٱ = H/?@oֿ`3??`u?MIފ~G??i >I \; ڑCYaByII-=))bD5VD58yE %E=ٔM Q-M>9QYQ=]2Ey]RDeEm>Q 54/8?Q 94)3BYy>Q I%@DIM;iF;AG4yBɮ,A Eiaie?ʌLAja"ja:jeF>Rjeso0@UG!z?zت@Bje!0i?2Wͽ?⩝?*ja2jerZje("-@w@P8ɻ@JjeӤ 6L?NM2?/W<=\?je@ je/mAieMc?ieo jeBjajajeBrjeAzje>Թ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501575 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.086620 m, bearing: 26.509122 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.501575 s, deltaX: 0.000072 m, approachRate: 0.000145 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 17.09 m.2i "i*i% ProNav: ac range: 17.086620 m, nav range: 16.457304 m, bearing: 26.744037 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.595829 deg, new cmd heading: 21.563060 deg. i!%HeadingCmd: 0.376346 target range: 17.086620 and range: 17.10 m.h-y>h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=!?Bɢ<) i)yܶ<i)i%y>% g=%)=I%y>Iq @  @ @ /@  checking for new query: numPingsReceived=105, elapsed TxPingTime=49.169186E  E E *E "E :*E :VE (N4ZE a @a @a @a @ ^A AI9IO-?c2#,NbˌLA:DDAT read: Rx Time:01:19:39.5084 >TRx dataTimestamp_ set to:1764897580.442500BPDAT read: Bearing 186.9, 7.2 (Local) B~Local bearing/azimuth received: Bearing 186.9, 7.2 (Local) JDAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 ^DAT read: 01:19:39.5084 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.37, 1.764, 0.012, 1.706, 1.604, PHS= 0.263,-1.546, 0.058, RAW= 144.1, 14.2, CAL= 143.6, 15.4, ROT= 6.4, -15.4 bYgot valid direction response: 01:19:39.5084 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.37, 1.764, 0.012, 1.706, 1.604, PHS= 0.263,-1.546, 0.058, RAW= 144.1, 14.2, CAL= 143.6, 15.4, ROT= 6.4, -15.4 bV#Rx 106: Read range and direction messages.f\direction in FSK: [0.958087,0.107467,0.265556]fFpublishing direction and range infoy8:ĝ=?LΒ?<?Y:A8888 8):>I:>i:Tſ:hm=: @:}>:g @ :>):=I:88:0θT?|L?vd(T? :>):3}I:=i:88 checking for new query: numPingsReceived=106, elapsed TxPingTime=49.439922>>J<ٱT =H? Vֿ@Ȩ?I??`NR 5?T?i>I0];ݑCY_ByIiMb@Mb@Mb@ 9㥛 ?Mb?~jtx?Y>y=;C@ A tA)Y=AbDVD8y% =ٔݩQ->9Y=2Ey^DE > Q 54 J?Q 94)BM>BIBMIBMSBBIBIBIBM ;BM^E .) 4BY}'>Q E:y8>Q I%@ DI  rRj:2b/@bW\?&e@Bj:ĝ=?LΒ?<?*j:=2j:Zj:XA,@u\@+@Jj:n;?j?q?j:@ j:gAi:MY?i:Pj:)Bj:MY?j:o j8rj:Azj:t>= addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.501098 s, deltaX: -0.400000 m, approachRate: -0.798246 m/s, rangeRepo size: 4 M Added new target pos. range: 16.687040 m, bearing: 25.886792 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.501098 s, deltaX: -0.399580 m, approachRate: -0.797409 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 16.69 m.2iI"iQ*iQ ProNav: ac range: 16.687040 m, nav range: 16.214119 m, bearing: 26.718149 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.563059 deg, new cmd heading: 21.526702 deg. iHeadingCmd: 0.375712 target range: 16.687040 and range: 16.70 m.hM]>hhhhggjgrgBereZe:e@30@*e Z? Bɢ ;z<)  5i9)=<99i=)iMM]>Me=M!=IMM]>Iq%checking for new query: numPingsReceived=106, elapsed TxPingTime=49.671928Q@ @@05@D zD AAE  E E E "E :*E |:VE ZE BE $5i"">" @"ȭT>"- @ "f>)"=I"f "Yo螣?5KfW?Qf:N? "jD>)"SI"=i"f %checking for new query: numPingsReceived=107, elapsed TxPingTime=49.951393}->}+>}A<ٱ}>;=}H`?ֿK?C?0?w}U=`Z? ?i}->I}R];}ّCQYU\ByUIbDVD8y-J%-4=ٔ5Q-5>91Y1=52Ey5gD=b:E=>AQ 54EX?Q 94E )E5BYyj>Q I%@EDIEL$Y4yBɮ.-A!Ei i"}<ˌLAj "j :j">>Rj"x(0@M9I? @Bj"[PR?h?Nu?*j"=2j"fZj"-U9'-@˟D@F#W @Jj"d ?fG?@5v|n?j"J@ j"9iAi"AK%?i"2 j"ƇBj"?j j rj"Azj":m> addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.502677 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.687040 m, bearing: 26.374472 deg, lat: 36.779506 deg, lon: -121.859759 deg, deltaT: 0.502677 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.69 m.2i"i*i ProNav: ac range: 16.687040 m, nav range: 16.117491 m, bearing: 26.569426 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.526702 deg, new cmd heading: 21.498211 deg. iHeadingCmd: 0.375215 target range: 16.687040 and range: 16.70 m.h >hhhhggjgrgereZe:e*e~?uByɢׇ<) di)Y<顙iy*i >c=^\=I >I@ @@@checking for new query: numPingsReceived=107, elapsed TxPingTime=50.176834ԩE  E E ,E "E D:*E :VE g4ZE a @a @a @a @^A = A ؟AI IOM>012#,YˌLAXlɰn4<UDDAT read: Rx Time:01:19:40.5083 ]TRx dataTimestamp_ set to:1764897581.449132ePDAT read: Bearing 186.0, 7.8 (Local) e~Local bearing/azimuth received: Bearing 186.0, 7.8 (Local) uDAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 DAT read: 01:19:40.5083 LVL= 30384, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.04,-0.162,-1.939,-0.242,-0.359, PHS= 0.299,-1.535, 0.073, RAW= 143.5, 13.4, CAL= 143.0, 14.5, ROT= 7.0, -14.5 Ygot valid direction response: 01:19:40.5083 LVL= 30384, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.04,-0.162,-1.939,-0.242,-0.359, PHS= 0.299,-1.535, 0.073, RAW= 143.5, 13.4, CAL= 143.0, 14.5, ROT= 7.0, -14.5 V#Rx 108: Read range and direction messages.\direction in FSK: [0.960931,0.117988,0.250380]eFpublishing direction and range infoyQU?6n4?=9?YU3AQUvQQ Q)U<IU>iUzĿU=UJ @U|o>U@ U>)U5=IUQQULŒ?s{?"%;z? U>)UnIU5=iUQQchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.465584YYByI i%Mb@Mb@Mb@!!!! !9%|?5^?/$?I +?Y%>y%,=%94<%@%^A %A)!!Y%fAbDYVDYymP%u=ٔQ->9"?Y"?=2EyrDE>Q 54i?Q 94^)8BY>Q E;y>Q I%@ƍDI;i;b4yɮJ-AAAAA@AB>BBIBNBBK =BB[DB;B^EBBBBBM =CŬK5iQiU\ˌLAjUA"jUA:jU0>RjUC̈́-~/@`N?gi@BjU?6n4?=9?*jU5=2jUZjU_d!`,@?3j@1)v_@JjUM\H ?`H L?BPw?jUT@ jUcAiUn?iUJ jUBjUn?jUJ jQrjU}AzjU> addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503955 s, deltaX: -0.300001 m, approachRate: -0.595294 m/s, rangeRepo size: 4  Added new target pos. range: 16.387360 m, bearing: 26.596511 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.503955 s, deltaX: -0.299681 m, approachRate: -0.594658 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.39 m.2i"i*i ProNav: ac range: 16.387360 m, nav range: 15.867812 m, bearing: 26.596467 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.498212 deg, new cmd heading: 21.463743 deg. iHeadingCmd: 0.374613 target range: 16.387360 and range: 16.40 m.hFͿ>hhhhggjg!rg%Be)re)Ze):e-`ff0@*e-0?uBɢ}溅<)y }Hiy)}<顡in*iFͿ>?b=!=IFͿ>I checking for new query: numPingsReceived=108, elapsed TxPingTime=50.679417} @y  @y @} T0@y 1 E  E E E "E :*E k:VE ZE BE +i"&"X9=" @"z0a>"&I@ "Gt>)" A>I"Gt "~y?v0π??? "tg>)"aI" A>i"Gt jchecking for new query: numPingsReceived=109, elapsed TxPingTime=50.950600zL>z>zW*<ٱz؞=zH? ֿg?M&?5??QS?2?izL>IzR];zؑCYUByIbDEVDE8y-s%5/=ٔ5IQ-5>91Y9==2Ey=|D=:AEe>iQ 5u4mx?Q 9u4m)m;BYqy}>Q I}%@m̍DIm:im:mj4yBɮ-A"Ei i"!}ˌLAj"A"j"A:j" >Rj"j.@@p@;,2{@Bj"MJ?2[3M?4ӋHP?*j" A>2j"GtZj" ^R+@RQu@RJN5C@Jj"Ӊt??JM?k$t?j"@ j"^Ai"wۙ ?i"=j"BQG5l9Y[hAj j"o j"Brj"zAzj"}>% addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504062 s, deltaX: -0.299999 m, approachRate: -0.595163 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.087591 m, bearing: 27.090405 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.504062 s, deltaX: -0.299768 m, approachRate: -0.594706 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 16.09 m.2iQ"iY*iYm ProNav: ac range: 16.087591 m, nav range: 15.675720 m, bearing: 26.602762 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.463743 deg, new cmd heading: 21.432416 deg. iiHeadingCmd: 0.374066 target range: 16.087591 and range: 16.10 m.h>hhhhggjgrgereZe:e0@*e@o?Bɢ+ǀ<) Hɽi)<i1*i%>%=I%>I)qchecking for new query: numPingsReceived=109, elapsed TxPingTime=51.184795 @ @@ 0@ԙ E  E E +E "E ;*E :VE [4ZE a @a @a @a @^A- = A9IiIO>C2#,ˌLAVP.>V>VT!<ٱVY=VH ?`/ֿQ?Y+?C?8@*Oֺ?@v?iVP.>IVe];TfDDAT read: Rx Time:01:19:41.5078 fTRx dataTimestamp_ set to:1764897582.457146jPDAT read: Bearing 184.4, 7.5 (Local) n~Local bearing/azimuth received: Bearing 184.4, 7.5 (Local) vDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.3  DAT read: 01:19:41.5078 LVL= 28448, 32753, 32754, 32755, AGC= 59, IDX= 495, 0.43, 0.281,-1.508, 0.205, 0.038, PHS= 0.345,-1.501, 0.124, RAW= 143.7, 11.8, CAL= 143.2, 12.8, ROT= 6.8, -12.8 Ygot valid direction response: 01:19:41.5078 LVL= 28448, 32753, 32754, 32755, AGC= 59, IDX= 495, 0.43, 0.281,-1.508, 0.205, 0.038, PHS= 0.345,-1.501, 0.124, RAW= 143.7, 11.8, CAL= 143.2, 12.8, ROT= 6.8, -12.8 V#Rx 110: Read range and direction messages.%\direction in FSK: [0.968290,0.115462,0.221548]-Fpublishing direction and range infoydfn:?U v㎽?@|[?YfyAdf odd d)dIfף>if f=f @fBR>f@ fd>)f=Ifdddf6?-90?.? f>)f?RIf=ifdddEchecking for new query: numPingsReceived=110, elapsed TxPingTime=51.451424YUTByUIiMMb@Mb@Mb@IIII I9MA`"?Mb?{Gz?YM>yM@=M#9Y=2EyD*:E> Q 54 ?Q 94 u) =BYz>Q E:y>Q I%@ ӍDI :i : s4y!ɮ%-AI!idifAˌLAjfhyA"jfhyA:jf$>Rjfh/.@i?! @Bjfn:?U v㎽?@|[?*jf=2jfdZjfA++@S;;@Lx @Jjfp?>՞?`Ʊ?jf@ jf]YAifG†?if[bjfFBjfMY?jfJ jfBrjf7vAzjf<> addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503952 s, deltaX: -0.500000 m, approachRate: -0.992158 m/s, rangeRepo size: 4  Added new target pos. range: 15.587976 m, bearing: 26.617036 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.503952 s, deltaX: -0.499615 m, approachRate: -0.991393 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 15.59 m.2iBM>BIBMIBMIBBMM =BIBMZDBM;BM^E"i*i ProNav: ac range: 15.587976 m, nav range: 15.388659 m, bearing: 26.712371 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.432416 deg, new cmd heading: 21.402173 deg. iHeadingCmd: 0.373538 target range: 15.587976 and range: 15.60 m.hm@>hhhhggjgrgBereZe:e@33/@*ey?Bɢix<)9 =ʽi9)E Mq`=M!=IMm@>IIq@ @@/@}checking for new query: numPingsReceived=110, elapsed TxPingTime=51.687538bE(N4jEɔK4rEA0EM  EM EM 'EI "EM :*EM |:VEM '4ZEI BEM <2#,~pˌLA<<[V>$>6Z<ٱB.=H?sֿԧ?-??o, 5낿غ?z?i[V>Ia];ّCY-MBy5II=<)=<bDE߿VDE8yU-%UJ=ٔ]źQ-]>9YYY=]2Ey]Deg9Ee>}DDAT read: Rx Time:01:19:42.0078 }TRx dataTimestamp_ set to:1764897582.961205PDAT read: Bearing 185.9, 7.4 (Local) ~Local bearing/azimuth received: Bearing 185.9, 7.4 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 DAT read: 01:19:42.0078 LVL= 31088, 32753, 32754, 32755, AGC= 60, IDX= 511, 0.16, 1.542,-0.245, 1.476, 1.344, PHS= 0.300,-1.544, 0.088, RAW= 144.0, 13.2, CAL= 143.5, 14.3, ROT= 6.5, -14.3 Ygot valid direction response: 01:19:42.0078 LVL= 31088, 32753, 32754, 32755, AGC= 60, IDX= 511, 0.16, 1.542,-0.245, 1.476, 1.344, PHS= 0.300,-1.544, 0.088, RAW= 144.0, 13.2, CAL= 143.5, 14.3, ROT= 6.5, -14.3 V#Rx 111: Read range and direction messages.\direction in FSK: [0.962787,0.109696,0.246999]Fpublishing direction and range infoyy}6L-&?W?⩝?Yyy}pyyy y)}<I}>i}ˡſ}X9=}| @}k>}J @ }r>)}V=I}ryy}8x?}v6Q?eኲ%? }:2>iQ 54mT?Q 94mj)m@BYy>Q I%@mٍDImS:imu:mz4yBɮ.A)}W>kI}V=i}ryychecking for new query: numPingsReceived=111, elapsed TxPingTime=51.958645Iiyi}bˌLAj}gyA"j}gyA:j}>Rj}.@&e[?1_c(@Bj}6L-&?W?⩝?*j}V=2j}rZj}U`1+@."@|9T@Jj}9K?^TeU?ge5?j} @ j}XAi}l ?i}Oj} Bj}wۙ ?jyjyrj}sAzj}o> addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504059 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.587814 m, bearing: 26.160505 deg, lat: 36.779505 deg, lon: -121.859759 deg, deltaT: 0.504059 s, deltaX: -0.000162 m, approachRate: -0.000322 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 15.59 m.2i "i*i ProNav: ac range: 15.587814 m, nav range: 15.193706 m, bearing: 26.754861 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.402174 deg, new cmd heading: 21.373677 deg. iHeadingCmd: 0.373041 target range: 15.587814 and range: 15.60 m.h<>hhhhggjgrgereZe:e*e -y?mBɢmoo<)i mt߽ii)u_==I<>II)@ @@@ԩE checking for new query: numPingsReceived=111, elapsed TxPingTime=52.193329E%  E% E! E! "E% V:*E% Ar:VE! ZE! a- @a- @a5 @a5 @^A Ii Iy O >u2#,>ˌLA2_;>22>2<ٱ2Dt=2H?` ׿lħ?;?d?ZN a??i2_;>I2];0Y>OBy>IqiMb@Mb@Mb@ 9/$?Zd;O?y&1|?Y>yj<=`; A)Y A %==bDVD8y};%#=MDDAT read: Rx Time:01:19:42.5076 MTRx dataTimestamp_ set to:1764897583.465230UPDAT read: Bearing 187.4, 7.9 (Local) ]~Local bearing/azimuth received: Bearing 187.4, 7.9 (Local) mDAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.3 DAT read: 01:19:42.5076 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.06,-1.016,-2.777,-1.088,-1.172, PHS= 0.257,-1.560, 0.039, RAW= 143.7, 14.6, CAL= 143.2, 15.8, ROT= 6.8, -15.8 Ygot valid direction response: 01:19:42.5076 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.06,-1.016,-2.777,-1.088,-1.172, PHS= 0.257,-1.560, 0.039, RAW= 143.7, 14.6, CAL= 143.2, 15.8, ROT= 6.8, -15.8 V#Rx 112: Read range and direction messages.\direction in FSK: [0.955449,0.113930,0.272280]Fpublishing direction and range infoyIMn] ?gEOu*? ^ m?YMtAIMII I)IIM>iMǿMw=M @Mw>M@ M0>)M=IM0IIM]Irm \?מ@?\GI? M>ٔsQ->9Y=2EyD :E>Q 54N?Q 94)M*DIM=iM0IIchecking for new query: numPingsReceived=112, elapsed TxPingTime=52.462654)BBY>Q E:yt>Q I%@DI;i;܃4yɮ .AiIiMTˌLAjMtA"jMtA:jMH>RjM456-@ ZN?Bi@BjMn] ?gEOu*? ^ m?*jM=2jM0ZjMm;+Z*@İ @( >@JjMLjU?=6K?{?jM@ jMRAiM(?iMr.ԙjMBjMl ?jM[bjM BrjM~nAzjM> addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504025 s, deltaX: -0.300000 m, approachRate: -0.595209 m/s, rangeRepo size: 4  Added new target pos. range: 15.288049 m, bearing: 26.329710 deg, lat: 36.779504 deg, lon: -121.859761 deg, deltaT: 0.504025 s, deltaX: -0.299766 m, approachRate: -0.594743 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.29 m.2i"i*i ProNav: ac range: 15.288049 m, nav range: 14.905777 m, bearing: 26.396514 deg, approach rate: 0.000000 m/s, LOS rate: -0.031727 deg/s, cmd heading: 21.373677 deg, new cmd heading: 21.342917 deg. iHeadingCmd: 0.372504 target range: 15.288049 and range: 15.30 m.h޸>hhhhg)g)jg1rg5Be1re1Ze1:e=.@*e=?颥Bɢv<) ӽi)K<iN+i޸>_=M0=I޸>IBAB>BBBBL =BBB;By^E@ @@@ checking for new query: numPingsReceived=112, elapsed TxPingTime=52.694950 ^A =D <D <E  E E +E "E :*E k:VE [4ZE BE F82#,ԵˌLA^2>^D>^<ٱ^_p=^H/? W׿ ~?I? ?@E R4 ??i^2>I^M];\YjFByjIlbDvVDv8y~<%~`=ٔ~Q->9Y=2EyD 3;E ?Q 54?Q 94)CBYy>Q I%%@DI;i';4y-Bɮ-.A-#EEB*** querying acoustic contact ***iAiA:iQUDNOT Ignoring new targets: 15.29 m.2iY"i]*i]m ProNav: ac range: 15.288049 m, nav range: 14.756235 m, bearing: 26.387382 deg, approach rate: -0.478046 m/s, LOS rate: -0.029490 deg/s, cmd heading: 21.342917 deg, new cmd heading: 21.324467 deg. imWuHeadingCmd: 0.372182 target range: 15.288049 and range: 15.30 m.hu>hqhqhyhygygyjgyrgereZe:e*e`?颵Bɢ,2<<) i)ð<项i+i>_==I>I1@9 @9@=05@AeDDAT read: Rx Time:01:19:43.0076 mTRx dataTimestamp_ set to:1764897583.969140uPDAT read: Bearing 187.2, 8.0 (Local) u~Local bearing/azimuth received: Bearing 187.2, 8.0 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 DAT read: 01:19:43.0076 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.27, 0.096,-1.673, 0.020,-0.066, PHS= 0.264,-1.562, 0.042, RAW= 143.6, 14.4, CAL= 143.1, 15.7, ROT= 6.9, -15.7 Ygot valid direction response: 01:19:43.0076 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.27, 0.096,-1.673, 0.020,-0.066, PHS= 0.264,-1.562, 0.042, RAW= 143.6, 14.4, CAL= 143.1, 15.7, ROT= 6.9, -15.7 V#Rx 113: Read range and direction messages.\direction in FSK: [0.955719,0.115655,0.270600]Fpublishing direction and range infoyim@?>?RlyQ?Yiiiii i)iIm+>imǿm1,=mg @m>m @ mK>)mϢ=ImKiim9e??O?Sl? m>)mImϢ=imKiichecking for new query: numPingsReceived=113, elapsed TxPingTime=52.9623341^Au&=IIO>Y 3#,τ ̌LA(ɰ*;RB>R5>R*;ٱR=RH` ?L+׿`Fr?VY??`øDE~ T?@?iRB>IR98];Pbchecking for new query: numPingsReceived=113, elapsed TxPingTime=53.198620YfGByjIbDVD8AyUB;%]E=ٔmAQ-m>9Y=2EyD w;E>)Q 5e4-?Q 9m4-)-EBYyt>Q I%@-DI-3zRjBJ=8-@CqBJ?v:@Bj@?>?RlyQ?*jϢ=2jKZjNuHN*@oXE@e|?@Jj:?bQ~?X?j*@ jrRAi?i5 jBjjjrj iAzjӯ> addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503910 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.288004 m, bearing: 26.534625 deg, lat: 36.779504 deg, lon: -121.859761 deg, deltaT: 0.503910 s, deltaX: -0.000045 m, approachRate: -0.000089 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.29 m.2i"i*i  ProNav: ac range: 15.288004 m, nav range: 14.565887 m, bearing: 26.374727 deg, approach rate: 0.000000 m/s, LOS rate: -0.029490 deg/s, cmd heading: 21.324467 deg, new cmd heading: 21.296281 deg. i HeadingCmd: 0.371690 target range: 15.288004 and range: 15.30 m.h.N>hhhhggjgrge!re!Ze!:e!*eMo?i颕Bɢ4%h<) i)Iѯ<顙io,i.N>`=8A=I.N>I@ @@J1@ԑ}DDAT read: Rx Time:01:19:43.5073 }TRx dataTimestamp_ set to:1764897584.473327PDAT read: Bearing 183.0, 7.4 (Local) ~Local bearing/azimuth received: Bearing 183.0, 7.4 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.2 DAT read: 01:19:43.5073 LVL= 26736, 32753, 30706, 32755, AGC= 57, IDX= 506, 0.41, 0.175,-1.610, 0.103,-0.105, PHS= 0.382,-1.459, 0.164, RAW= 143.8, 10.5, CAL= 143.3, 11.4, ROT= 6.7, -11.4 Ygot valid direction response: 01:19:43.5073 LVL= 26736, 32753, 30706, 32755, AGC= 57, IDX= 506, 0.41, 0.175,-1.610, 0.103,-0.105, PHS= 0.382,-1.459, 0.164, RAW= 143.8, 10.5, CAL= 143.3, 11.4, ROT= 6.7, -11.4 V#Rx 114: Read range and direction messages.\direction in FSK: [0.973577,0.114369,0.197657]Fpublishing direction and range infoyy}fv'?HG?g4L?Y}fnAy}phy}w y)}9I}>i}}'>}K @}f;>}Q @ }%K>)}|=I}%Kyy} N>?5_?rQ? }~>)};I}|=i}%Kyychecking for new query: numPingsReceived=114, elapsed TxPingTime=53.467113 ^A ا=A ?A ?Ia Iq O >#3 3#,)&̌LAB&>B$B&IB&DBB&K =B$B$B&;B&^EFN>Fx>F;ٱF=FH?:3׿Ma?@ a?@,?ḿ@|n??iFN>IF];FؑCYbLBybIiMMb@Mb@Mb@IIII I9M"~?Zd;O?yIMt9yYyԹ=2EyD%a:E%>)Q 5]4-p̞?Q 9]4-)-GBYeR>Q Ee:ye>Q Ie%@-DI-;i-l;-4yqɮuc.AqiiJ̌LAj6nA"j6nA:j>Rj2;Il,@ oш>?XD؊@Bjfv'?HG?g4L?*j|=2j%KZj@*@x bCpW@B{_ @JjJr?zN?qvL?j@ j(PAi?ivM jOBjjjrjVfAzjՎ> addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504187 s, deltaX: -0.400001 m, approachRate: -0.793358 m/s, rangeRepo size: 4 - Added new target pos. range: 14.888369 m, bearing: 26.847640 deg, lat: 36.779504 deg, lon: -121.859761 deg, deltaT: 0.504187 s, deltaX: -0.399635 m, approachRate: -0.792633 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 14.89 m.2i)"iQ*iQe ProNav: ac range: 14.888369 m, nav range: 14.396078 m, bearing: 26.360304 deg, approach rate: 0.000000 m/s, LOS rate: -0.029490 deg/s, cmd heading: 21.296281 deg, new cmd heading: 21.273301 deg. iamHeadingCmd: 0.371289 target range: 14.888369 and range: 14.90 m.hm>hihihihigqgjgrgBereZe:e-@*e0?checking for new query: numPingsReceived=114, elapsed TxPingTime=53.702816Bɢ\d<)i mսii)uK(}`=}yp=I}>IyE EE)E"E=;*E~:VEFA4ZEBEIiu 9ȿu L=u  @u >u @ u 0>)u z0=Iu 0q q u J kyF?rY 2V?? u ->)u }Iu z0=iu 0q q  checking for new query: numPingsReceived=115, elapsed TxPingTime=53.990543A I! I1 O= >3#,qWB̌LA1Yu@ByuIbDVD8yN%4=ٔQ->9Y=2EyD%E%>)Q 5=4-ٞ?Q 9=4-Q)-JBY9y9Q I=%@-DI-G;i-H;-A4yU BɮU/AU$Eii6>̌LAj"j:j>Rj;z,@rFH'?7@BjW? 2? ^ m?*jz0=2j0Zj%g)@[mN @!d@JjcO?C&?")D?jj@ jMAicWq?ijjsBj?jjjsBrjdAzjHP> addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 14.888369 m, bearing: 25.948946 deg, lat: 36.779505 deg, lon: -121.859761 deg, deltaT: 0.504164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 14.89 m.2iI"iQ*iQ] ProNav: ac range: 14.888369 m, nav range: 14.288355 m, bearing: 25.997244 deg, approach rate: 0.000000 m/s, LOS rate: -0.029490 deg/s, cmd heading: 21.273300 deg, new cmd heading: 21.247730 deg. iYHeadingCmd: 0.370843 target range: 14.888369 and range: 14.90 m.h߽>hhhhggjgrgereZe:e*eޭ? ɢ 5Q<)  i ):C<i%-i߽>Wa=K=I߽>I!a@ @@4@checking for new query: numPingsReceived=115, elapsed TxPingTime=54.208813ԙE EE(E"E:*EVEc44ZEa@a@a@a@^A9 Թ A I I O >3#,7]̌LA2!>2>2;ٱ2u=2H? dH׿@?}t?@? ൝w ?r?i2!>I2B ];0Y:4By>InDDAT read: Rx Time:01:19:44.5071 rTRx dataTimestamp_ set to:1764897585.481137vPDAT read: Bearing 187.8, 7.4 (Local) v~Local bearing/azimuth received: Bearing 187.8, 7.4 (Local) ~DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 %DAT read: 01:19:44.5071 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.11,-1.051,-2.804,-1.101,-1.188, PHS= 0.239,-1.571, 0.043, RAW= 144.3, 14.8, CAL= 143.9, 16.1, ROT= 6.1, -16.1 -Ygot valid direction response: 01:19:44.5071 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.11,-1.051,-2.804,-1.101,-1.188, PHS= 0.239,-1.571, 0.043, RAW= 144.3, 14.8, CAL= 143.9, 16.1, ROT= 6.1, -16.1 15V#Rx 116: Read range and direction messages.=\direction in FSK: [0.955339,0.102096,0.277315]=Fpublishing direction and range infoylnbq#?k"?/?YniAllll l)n<Injt>inɿn 0=nE/!@n A>n @ nޏ>)n^ =Inޏllnl"/?yg~?;fc? n{>)n?In^ =inޏllchecking for new query: numPingsReceived=116, elapsed TxPingTime=54.498814i]Mb@Mb@Mb@YYYY Y9]/$?y]t=]]-@Y ]A)YYY]\AbDVD8ySe%:=ٔ:>Q->9Y=2Ey×Dw=;E>Q 5-4H螊?Q 9-4)Y-p>Q E-:y5>Q I5%@DIO.Rjnw+@h?o.@Bjnbq#?k"?/?*jn^ =2jnޏZjnTtY6)@H1\@AqBh@Jjndwxɦ?y}t2j?&N?jn@ jnIAin?in)NjnhBjljljlrjnaAzjnH>Y addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503646 s, deltaX: -0.299999 m, approachRate: -0.595655 m/s, rangeRepo size: 4  Added new target pos. range: 14.588604 m, bearing: 25.784830 deg, lat: 36.779505 deg, lon: -121.859761 deg, deltaT: 0.503646 s, deltaX: -0.299765 m, approachRate: -0.595189 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 14.59 m.2i"i*i ProNav: ac range: 14.588604 m, nav range: 14.098110 m, bearing: 25.993883 deg, approach rate: 0.000000 m/s, LOS rate: -0.029490 deg/s, cmd heading: 21.247730 deg, new cmd heading: 21.220369 deg. iHeadingCmd: 0.370365 target range: 14.588604 and range: 14.60 m.h>hhhhggA@AA?AB>BCBIB?BBN =BBYDBG;B^Ejg1rg=Be9re9Ze9:e=@33-@*eE@c?颍Bɢc9<<) i)<顱ipv-i>b=ĭ=I>Im@i @i@m 5@i@u=@u=ԑchecking for new query: numPingsReceived=116, elapsed TxPingTime=54.710922E}  Ey E} )Ey "E} &:*Ey VE} FA4ZEy BE} i;S3#,1žLA R > > i;ٱ ~= H`#?@!H׿ڠ?@As?? ׸`vyB?K?i R >I /]; Y%0By%IbD5ڿVD58yE%EF=ٔMչQ-M>9M ?YM ?=M2EyU˗DUNEU>YQ 5e4]?Q 9e4])]KBYiym>Q Im%@]DI]:i]V:])4yu(Bɮu/Au%EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 14.59 m.2i"iC *iC  ProNav: ac range: 14.588604 m, nav range: 13.919448 m, bearing: 25.990697 deg, approach rate: -0.484795 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.220370 deg, new cmd heading: 21.213915 deg. i6HeadingCmd: 0.370253 target range: 14.588604 and range: 14.60 m.h‘>hhhhggjgrgereZe:e*e 3?ɢa<) i ) 9<  i -i‘>eDDAT read: Rx Time:01:19:45.0070 eTRx dataTimestamp_ set to:1764897585.993131}PDAT read: Bearing 187.2, 7.5 (Local) }~Local bearing/azimuth received: Bearing 187.2, 7.5 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 DAT read: 01:19:45.0070 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.35,-1.444, 3.083,-1.501,-1.601, PHS= 0.259,-1.554, 0.056, RAW= 144.1, 14.3, CAL= 143.7, 15.5, ROT= 6.3, -15.5 Ygot valid direction response: 01:19:45.0070 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.35,-1.444, 3.083,-1.501,-1.601, PHS= 0.259,-1.554, 0.056, RAW= 144.1, 14.3, CAL= 143.7, 15.5, ROT= 6.3, -15.5 V#Rx 117: Read range and direction messages.%\direction in FSK: [0.957811,0.105743,0.267238]%Fpublishing direction and range infoyaeFW[c??֚n?mkc=m{m=Iu‘>IqYeffAaaaa a)e;Ie>ieyƿeB`e=e @er>e @ ec>)ez0=IecaaejlL?4'\?LM? e>)eKIez0=iecaachecking for new query: numPingsReceived=117, elapsed TxPingTime=55.016743@ @@ /@ ^A- 6=Q  checking for new query: numPingsReceived=117, elapsed TxPingTime=55.222775A} ؟AI E  E E E "E V:*E :VE ZE a @a @a @a @IA Oe >$3#,̌LAJH!>Jo>J;ٱJq=JH`?~Q׿? }?И?@_uϻ?e?iJH!>IJa\;HYPyTiUMb@Mb@Mb@QQQQ Q9UA`"?I +?Mb`YU>yU99}"?Y"?=2EyӗD:E>Q 541?Q 94)JBYa>Q E:y>Q I%@DI1M;iFL;[4y"Bɮ/AEiiǔLAj7fA"j7fA:j^>Rj< q4+@(X?y..@BjFW[c??֚n?*jz0=2jcZj*(@qjV@O@JjyD7??ٍ/h?j@ jFAi1 A?ijBj?jjhBrjm\Azjr7> addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.511994 s, deltaX: -0.200001 m, approachRate: -0.390631 m/s, rangeRepo size: 4  Added new target pos. range: 14.388493 m, bearing: 26.069407 deg, lat: 36.779505 deg, lon: -121.859761 deg, deltaT: 0.511994 s, deltaX: -0.200111 m, approachRate: -0.390847 m/s, posRepo size: 4 q:iDNOT Ignoring new targets: 14.39 m.2i"i*i ProNav: ac range: 14.388493 m, nav range: 13.776727 m, bearing: 26.210198 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.213915 deg, new cmd heading: 21.206391 deg. iHeadingCmd: 0.370121 target range: 14.388493 and range: 14.40 m.h>hhhhggjgrgxBereZe:e,@*e7M?mBɢm4<)i mDii)m<d=ͮ=I>IuDDAT read: Rx Time:01:19:45.5067 }TRx dataTimestamp_ set to:1764897586.499402PDAT read: Bearing 186.1, 6.7 (Local) ~Local bearing/azimuth received: Bearing 186.1, 6.7 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 @ @@/@ԑDAT read: 01:19:45.5067 LVL= 32672, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.23,-0.329,-2.112,-0.364,-0.513, PHS= 0.286,-1.553, 0.105, RAW= 144.9, 13.2, CAL= 144.5, 14.4, ROT= 5.5, -14.4 -Ygot valid direction response: 01:19:45.5067 LVL= 32672, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.23,-0.329,-2.112,-0.364,-0.513, PHS= 0.286,-1.553, 0.105, RAW= 144.9, 13.2, CAL= 144.5, 14.4, ROT= 5.5, -14.4 5V#Rx 118: Read range and direction messages.5\direction in FSK: [0.964124,0.092835,0.248690]=Fpublishing direction and range infoyqus?:ķ?l?Yu`Aquqq q)qIun>iuƿu= =u!@uk>uvh!@ u>)u =IuqquH\D?h7?_Ѵ*? u N>)u gkIu =iuqqchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.551643B- >B- CB- IB- 5BB- M =B) B) B- _;B- ^EBBCBBBL =CH5Թ ^A =AI IQ Ia Ou >n+3#,ˢ̌LAɰ4<2!>2҄>2;ٱ28=2H?`S׿@ ?`?(?`@lt8$???i2!>I2"\;2ۑC<Nchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.726704YV$ByVI=A=AbDEVDE°8ym%m<ٔuFQ-u>9Y=2EyܗDR9E>Q 54?Q 948)Yy*>Q I%@ DI::i:4y*Bɮ-0AEii4̌LAj_A"j_A:j>Rjxj?*@X-2?E @Bjs?:ķ?l?*j =2jZj>_큖t(@hdS7@'B @Jj?l;@?})?j@ jCAie?iXj5BjcWq?jjjBrjYAzj#> addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.506271 s, deltaX: -0.400000 m, approachRate: -0.790090 m/s, rangeRepo size: 4 EU EUEU*EQ"EU:*EU&p:VEU(N4ZEQBEUF8hhhhggjgrgereZe:e,@*e ?ԡ~Bɢ<) 4i)7ߩ<i).ip>%f=%q=I%p>I!@ @@@@@uDDAT read: Rx Time:01:19:46.0067 TRx dataTimestamp_ set to:1764897587.006165PDAT read: Bearing 187.9, 7.5 (Local) ~Local bearing/azimuth received: Bearing 187.9, 7.5 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 DAT read: 01:19:46.0067 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.03,-0.380,-2.119,-0.431,-0.514, PHS= 0.235,-1.560, 0.039, RAW= 144.3, 14.9, CAL= 143.8, 16.2, ROT= 6.2, -16.2 Ygot valid direction response: 01:19:46.0067 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.03,-0.380,-2.119,-0.431,-0.514, PHS= 0.235,-1.560, 0.039, RAW= 144.3, 14.9, CAL= 143.8, 16.2, ROT= 6.2, -16.2  V#Rx 119: Read range and direction messages.^A 6=A >A > % \direction in FSK: [0.954677,0.103711,0.278991]- Fpublishing direction and range infoyy}抶?O 9fό??Yyy}yy y)}:I}ףp>i}ǿ}w=}E/!@}%>}K @ }Ð>)}k=I}Ðyy}E7.?o?CC}|? }< >)}dI}k=i}Ðyy checking for new query: numPingsReceived=119, elapsed TxPingTime=56.052128  wv> vC G k9 Y gAA I I) O5 >X23#,Pm̌LA2 ">2Z>2f;ٱ2=2H?*V׿ ?? ?繿LsS??i2 ">I2T];2ّCY:By:IbDVVDV8ly~5߼%~W=ٔqXQ->9Y=2EyD 9E >Q 5=4?Q 9=4n)IBY9yE@>Q IE%@DI;i;?4yIɮMW0AIiiěLAj"j:j3>Rj>ꕵ*@il|Ie6?~|8@Bj抶?O 9fό??*jk=2jÐZjv"(@Ph@ |@Jjњ?qLئ?(^01?jG@ jAAi?i*jBjj*jBrjVAzj> addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.506763 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 13.988669 m, bearing: 25.872847 deg, lat: 36.779506 deg, lon: -121.859762 deg, deltaT: 0.506763 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 13.99 m.2i)"iQ*iQe ProNav: ac range: 13.988669 m, nav range: 13.416904 m, bearing: 25.861886 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.199478 deg, new cmd heading: 21.192585 deg. iamHeadingCmd: 0.369880 target range: 13.988669 and range: 14.00 m.hm`>hihihihigigjgrgereZe:e*e`?ɢ;) F=i)<i%G.i`>Wg=_=I`>Ichecking for new query: numPingsReceived=119, elapsed TxPingTime=56.233627@ @@@E EEE"E:*E҆:VEZEa@a@a@a@9^AP=a A9 II u DDAT read: Rx Time:01:19:46.5065 } TRx dataTimestamp_ set to:1764897587.506457 PDAT read: Bearing 188.1, 7.3 (Local)  ~Local bearing/azimuth received: Bearing 188.1, 7.3 (Local)  DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 I O > DAT read: 01:19:46.5065 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.31,-2.184, 2.358,-2.230,-2.313, PHS= 0.231,-1.567, 0.038, RAW= 144.4, 15.0, CAL= 144.0, 16.3, ROT= 6.0, -16.3  Ygot valid direction response: 01:19:46.5065 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.31,-2.184, 2.358,-2.230,-2.313, PHS= 0.231,-1.567, 0.038, RAW= 144.4, 15.0, CAL= 144.0, 16.3, ROT= 6.0, -16.3  V#Rx 120: Read range and direction messages. \direction in FSK: [0.954547,0.100327,0.280667] Fpublishing direction and range infoyq u H?V?rwkq?Yu 3[Aq q q q q )u <Iu Dl>iu uȿu =u K!@u >u | @ u >)u Pw=Iu q q u h2%?\V;P?Nk? u >)u CIu Pw=iu q q 5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.,83#,8ǏLA9Y&ByIBAB>BCBIB+BBN =BBXDBy;B^EiMb@Mb@Mb@ 9{Gz?~jtx?MbY>y;tA GA)^AYAbDVD8y<% =ٔQ-->9)Y)=52Ey5D5E=>iAQ 5}4E.?Q 9}4E))EGBY>Q E:y|>Q I%@EDIE;iE;E"4yɮ 0AiiǐLAj[A"j[A:jQ>Rj<I"*@;?9Y@BjH?V?rwkq?*jPw=2jZjmP'@r@yE@Jjw]?!HNՏ?(XF?j̵@ j2=Ai/%?i"jBj?j)NjBrjRAzj>e addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.500292 s, deltaX: -0.300000 m, approachRate: -0.599650 m/s, rangeRepo size: 4 u Added new target pos. range: 13.688722 m, bearing: 25.661844 deg, lat: 36.779506 deg, lon: -121.859762 deg, deltaT: 0.500292 s, deltaX: -0.299948 m, approachRate: -0.599545 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 13.69 m.2iy"i*i ProNav: ac range: 13.688722 m, nav range: 13.162080 m, bearing: 25.719489 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.192585 deg, new cmd heading: 21.183470 deg. iHeadingCmd: 0.369721 target range: 13.688722 and range: 13.70 m.hL>hhhhggjgrg}BereZe:e`ff+@*eV ?2Acoustic response timeout}Bɢ"<) -i)oS<iҠ.iL>#i=J=IL>IԡbEFA4jEDz>4rE8/E} E}E}(Ey"E}:*E}:VE}c44ZEyBEya2EyaJE}Q;a:E}Q;a @  @ @ @ ^A5 d=A1 zA5 zA DDAT read: Rx Time:01:19:47.0064 TRx dataTimestamp_ set to:1764897588.010652PDAT read: Bearing 187.6, 6.1 (Local) ~Local bearing/azimuth received: Bearing 187.6, 6.1 (Local) DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 DAT read: 01:19:47.0064 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.24, 1.844, 0.073, 1.829, 1.705, PHS= 0.240,-1.587, 0.080, RAW= 145.5, 14.3, CAL= 145.2, 15.7, ROT= 4.8, -15.7 Ygot valid direction response: 01:19:47.0064 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.24, 1.844, 0.073, 1.829, 1.705, PHS= 0.240,-1.587, 0.080, RAW= 145.5, 14.3, CAL= 145.2, 15.7, ROT= 4.8, -15.7 R#Rx 1: Read range and direction messages. \direction in FSK: [0.959315,0.080556,0.270600] Fpublishing direction and range infoy;R?IVQ?RlyQ?YXA )=Iu>i"˿ ף=j"@r>0"@ K>)=IKԤ?c< ?{"? ӎ>) I=iK%2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.AAIIIaOm?b@3#,͌LAxz@u7">u>uJ;ٱuL=uH?OV׿?(??`#Pq??iu7">Iu];uۑCԩYM ByMIIQ)U;bDe VDe8yü%.=ٔ*NQ->9Y=2EyDͧ7E>!Q 5-4%>?Q 9-4%)%EBY)y->Q I5%@% DI%:i%:%P4y=2Bɮ=0A=Eii͌LAjWA"jWA:j->Rj addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504195 s, deltaX: -0.200000 m, approachRate: -0.396672 m/s, rangeRepo size: 4  Added new target pos. range: 13.488886 m, bearing: 24.527339 deg, lat: 36.779506 deg, lon: -121.859763 deg, deltaT: 0.504195 s, deltaX: -0.199836 m, approachRate: -0.396346 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 13.49 m.2i"i*i!- ProNav: ac range: 13.488886 m, nav range: 12.950997 m, bearing: 25.628116 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.183470 deg, new cmd heading: 21.175622 deg. i15HeadingCmd: 0.369584 target range: 13.488886 and range: 13.50 m.h5(:>h9h9h9hYgYgYjgargaeareaZei:em+@*em [?颵|Bɢ˕ <) D8i)<i.i(:>j=N=I(:>I2Acoustic response timeout@ @@@E} E}E})Ey"E}:*E}Ar:VE}FA4ZEya@a@a@a@^A =9 A! I) IA OM >9FG3#,͌LA6V!>6=@>6Q;ٱ6==6H+?L׿@ɼ?@kx?஘?jr?@l?i6V!>I6v\;4iIDDAT read: Rx Time:01:19:47.5062 %TRx dataTimestamp_ set to:1764897588.513196-PDAT read: Bearing 187.8, 6.7 (Local) -~Local bearing/azimuth received: Bearing 187.8, 6.7 (Local) =DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 eDAT read: 01:19:47.5062 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.00,-0.674,-2.428,-0.709,-0.813, PHS= 0.241,-1.571, 0.059, RAW= 144.8, 14.6, CAL= 144.4, 15.9, ROT= 5.6, -15.9 mYgot valid direction response: 01:19:47.5062 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.00,-0.674,-2.428,-0.709,-0.813, PHS= 0.241,-1.571, 0.059, RAW= 144.8, 14.6, CAL= 144.4, 15.9, ROT= 5.6, -15.9 mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.957151,0.093850,0.273959]uFpublishing direction and range infoy!%̰V?:l?ψ.?Y%3SA!!!! !)%;I%v>i%ɿ%q=%?!@%w>%K!@ %q>)%+=I%q!!%uQ?]ڥ?A? %dR>)%>I%+=i%q!!2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙYQyQB>BBIB BBBBB;B^EԹieMb@Mb@Mb@aaaa a9en?{GztYe>yeףee@e^A eA)eGAaYefAbDVDǰ8yԺ%=ٔ#9Q->9Y=2Ey D .E >9Q 5E4=P?Q 9M4=)=DBYM>Q EM:yM)>Q Iu%@='DI=;i==;=4y9Bɮ0Ai!i%4 ͌LAj%SA"j%SA:j%>Rj% l/m?)@ ?` @Bj%̰V?:l?ψ.?*j%+=2j%qZj%Wu{|&@f"@^g(] @Jj%d c?EJfB?)?j%)@ j%C7Ai%?i%ij%wBj%?j%Xj%Brj%@KAzj%>5 addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.502544 s, deltaX: -0.300000 m, approachRate: -0.596963 m/s, rangeRepo size: 4 E Added new target pos. range: 13.189014 m, bearing: 25.287525 deg, lat: 36.779506 deg, lon: -121.859763 deg, deltaT: 0.502544 s, deltaX: -0.299871 m, approachRate: -0.596707 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 13.19 m.2iI"ii*ii} ProNav: ac range: 13.189014 m, nav range: 12.703340 m, bearing: 25.606547 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.175622 deg, new cmd heading: 21.165959 deg. iyHeadingCmd: 0.369416 target range: 13.189014 and range: 13.20 m.h $>hhhhggjgrgSBereZe:e`ff*@*e?%{Bɢ-M<)) -h7i))-b<)1i57/i5 $>=dl==h=I= $>I92Acoustic response timeout @  @ @ @ Dy zD} @A A^Ae٦=DDAT read: Rx Time:01:19:48.0062 TRx dataTimestamp_ set to:1764897589.018214PDAT read: Bearing 186.7, 7.6 (Local) ~Local bearing/azimuth received: Bearing 186.7, 7.6 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.3 DAT read: 01:19:48.0062 LVL= 29872, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.24,-0.783,-2.571,-0.852,-0.968, PHS= 0.287,-1.557, 0.072, RAW= 143.9, 13.6, CAL= 143.4, 14.8, ROT= 6.6, -14.8 Ygot valid direction response: 01:19:48.0062 LVL= 29872, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.24,-0.783,-2.571,-0.852,-0.968, PHS= 0.287,-1.557, 0.072, RAW= 143.9, 13.6, CAL= 143.4, 14.8, ROT= 6.6, -14.8 R#Rx 1: Read range and direction messages.\direction in FSK: [0.960416,0.111124,0.255446]Fpublishing direction and range infoyAII O?P3#,t\B͌LA,RIa?v r?l39Y?Yt )I>iKǿt= @s>- @ A>)=I AtUo? -?eS$+? ~d>)sI=i AF2Acoustic response timeoutFQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.8ɰ:;Q!>#>p;ٱ=H?rI׿ l? u??@bعNq3??iQ!>I7\;ܑCYiyibD}VD}Ȱ8yEk:%E+=ٔMvQ-M>9IYI=U2EyU DU8EU>YԁQ 54]_?Q 94]%)YYy >Q I%@].DI];i];]4yɮ0Aiik*A͌LAj"j:j>RjPPyU)@&(s?$, @BjRIa?v r?l39Y?*j=2j AZj)q&@]ϥm@(:Nߦ @Jj2)?4t?*?j@ jk6Ail˶ ?i?R j Bjj"jrj]HAzjҦ>% addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505018 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 13.189014 m, bearing: 26.393840 deg, lat: 36.779506 deg, lon: -121.859763 deg, deltaT: 0.505018 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 13.19 m.2i9"iy*i ProNav: ac range: 13.189014 m, nav range: 12.522874 m, bearing: 25.811260 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.165959 deg, new cmd heading: 21.157896 deg. iHeadingCmd: 0.369275 target range: 13.189014 and range: 13.20 m.h>hhhhggjgrgereZe:e*e?ɢQ<) H5i1)=S <99i=aw/iE>Em=AIE>II@ @@/@-2Acoustic response timeoutE EE(E"EV:*E:VEc44ZE ^A x=) AA II Ia O} >mNW3#,"^͌LAF9!>F$>FL;ٱFk=FH`?pJ׿q?&u?@ә? )qa?@?iF9!>IFx\;FڑCYVByVIUDDAT read: Rx Time:01:19:48.5059 UTRx dataTimestamp_ set to:1764897589.521772ePDAT read: Bearing 184.6, 6.5 (Local) e~Local bearing/azimuth received: Bearing 184.6, 6.5 (Local) uDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 DAT read: 01:19:48.5059 LVL= 29168, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.36, 0.272,-1.526, 0.232, 0.036, PHS= 0.338,-1.517, 0.153, RAW= 144.8, 11.6, CAL= 144.4, 12.6, ROT= 5.6, -12.6 Ygot valid direction response: 01:19:48.5059 LVL= 29168, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.36, 0.272,-1.526, 0.232, 0.036, PHS= 0.338,-1.517, 0.153, RAW= 144.8, 11.6, CAL= 144.4, 12.6, ROT= 5.6, -12.6 R#Rx 1: Read range and direction messages.\direction in FSK: [0.971259,0.095233,0.218143]Fpublishing direction and range infoyQU?b-a?'$?YULAQUqQQ Q)U:IUV>iU-¿iMb@Mb@Mb@ 9S?MbP?{Gzt?Y>y:ף;C@A -A)Y3AU>U?!@U4QO>UK!@ Uz0a>)U+=IUz0aQQUt?;TvM? ~ ? U>bDEVDE8yU%U8=ٔ]Q-]>9YYa=e2EyeDe_7Ee>i)U OIU+=iUz0aQQ}2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Q 54mn?Q 94mP)iY>Q E:y>Q I%@m4DIm'Bɮ0AiQiUda͌LAjULA"jULA:jUNg>RjUa V(@Uq$|?AQ@BjU?b-a?'$?*jU+=2jUz0aZjU6+vx&@jb!h@qo@JjU y@2?A?LS?jUӬ@ jU3AiU횫!?iUZBjUӅBjUl˶ ?jQjUwBrjU.GAzjU>u addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503558 s, deltaX: -0.400000 m, approachRate: -0.794347 m/s, rangeRepo size: 4  Added new target pos. range: 12.789348 m, bearing: 25.671590 deg, lat: 36.779507 deg, lon: -121.859763 deg, deltaT: 0.503558 s, deltaX: -0.399667 m, approachRate: -0.793686 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 12.79 m.AAAAB>BBIBBBO =BBWDB`;B^E2i"i*i ProNav: ac range: 12.789348 m, nav range: 12.448860 m, bearing: 25.619914 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.157896 deg, new cmd heading: 21.149982 deg. iHeadingCmd: 0.369137 target range: 12.789348 and range: 12.80 m.h>hhh h g g jgrgkBereZe:e)@*e_?颅zBɢ%<) `7i)<顉i˱/i>io=D=I>Iu@q @y@}4@y2Acoustic response timeout1 D =D <E  E E )E "E ;*E Ar:VE FA4ZE BE RN Ϳ>N;ٱN=NH?@׿@GU? k?0?`Hy =qʻ??iN*p >ING\;LYb BybIllbDrVDr8y&<%@=ٔ 68Q- >9Y=2EyD%˺E%>]DDAT read: Rx Time:01:19:49.0058 ]TRx dataTimestamp_ set to:1764897590.024975mPDAT read: Bearing 185.1, 6.7 (Local) m~Local bearing/azimuth received: Bearing 185.1, 6.7 (Local) }DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 DAT read: 01:19:49.0058 LVL= 28064, 32753, 32562, 32755, AGC= 58, IDX= 507, 0.08,-0.165,-1.956,-0.209,-0.387, PHS= 0.324,-1.523, 0.134, RAW= 144.6, 12.1, CAL= 144.2, 13.2, ROT= 5.8, -13.2 Ygot valid direction response: 01:19:49.0058 LVL= 28064, 32753, 32562, 32755, AGC= 58, IDX= 507, 0.08,-0.165,-1.956,-0.209,-0.387, PHS= 0.324,-1.523, 0.134, RAW= 144.6, 12.1, CAL= 144.2, 13.2, ROT= 5.8, -13.2 R#Rx 1: Read range and direction messages.\direction in FSK: [0.968595,0.098386,0.228351]Fpublishing direction and range infoyY]*?/? :?Y]IAY]mY]2 Y)YI]T>i]¿]L7 >]!@]@X>]!@ ]k>)]4Q=I]kYY]:q?<_,?]V? ]#>)]WI]4Q=i]kYY2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. Q 54 ~?Q 94 n) EBYyW>Q I%@ :DI :i `: 4y%EBɮ%*1A%EiYi]1͌LAj]nIA"j]nIA:j]H>Rj]I_c(@Dm?S@Bj]*?/? :?*j]4Q=2j]kZj]2" &@sƱI@:@Jj]qq'?*ޟ ?Ӽ?j]M@ j]a0Ai]` ?i]sj]BjYj]sj] Brj]$DAzj]>M addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503203 s, deltaX: -0.200000 m, approachRate: -0.397454 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.589458 m, bearing: 25.770094 deg, lat: 36.779507 deg, lon: -121.859762 deg, deltaT: 0.503203 s, deltaX: -0.199889 m, approachRate: -0.397234 m/s, posRepo size: 4 :iYaDNOT Ignoring new targets: 12.59 m.2i"i*i ProNav: ac range: 12.589458 m, nav range: 12.258891 m, bearing: 25.729989 deg, approach rate: 0.000000 m/s, LOS rate: -0.008757 deg/s, cmd heading: 21.149983 deg, new cmd heading: 21.142206 deg. iHeadingCmd: 0.369001 target range: 12.589458 and range: 12.60 m.h>hhhhggjgrgereZe:e@33)@*e%7?颍yBɢ <) 0i)a_<顑i/i>p= [=I>I!ԉ@ @@4@@@= 2Acoustic response timeout E  E E E "E %;*E |:VE ZE a @a @a @a @^A 6= Ai I I O >6f3#,כ͌LA2s >2ο>2;ٱ2=2H ?`@׿9]?2k?#?`z`oqͻ?x?i2s >I2_\;2ّCY:.By>IiUMb@Mb@Mb@QQQQ Q9UA`"?I +?yU949Y=3Ey'D7E>Q 54?Q 94)GBY5>Q E:y>Q I%@@DI;i;K4yɮ0AB*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 12.59 m.2i)9"iE:*iE:e ProNav: ac range: 12.589458 m, nav range: 12.072126 m, bearing: 25.775212 deg, approach rate: -0.422521 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.142205 deg, new cmd heading: 21.234050 deg. im!>;uHeadingCmd: 0.370604 target range: 12.589458 and range: 12.60 m.huҿ>DDAT read: Rx Time:01:19:49.5056 TRx dataTimestamp_ set to:1764897590.529132PDAT read: Bearing 185.0, 7.6 (Local) ~Local bearing/azimuth received: Bearing 185.0, 7.6 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 %DAT read: 01:19:49.5056 LVL= 29488, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.11,-3.124, 1.350, 3.085, 2.922, PHS= 0.339,-1.527, 0.119, RAW= 143.8, 12.1, CAL= 143.4, 13.1, ROT= 6.6, -13.1 -Ygot valid direction response: 01:19:49.5056 LVL= 29488, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.11,-3.124, 1.350, 3.085, 2.922, PHS= 0.339,-1.527, 0.119, RAW= 143.8, 12.1, CAL= 143.4, 13.1, ROT= 6.6, -13.1 5R#Rx 1: Read range and direction messages.=\direction in FSK: [0.967521,0.111946,0.226651]=Fpublishing direction and range infoy?5~?+#?YHA0s )Ih>itÿF=K @- @  j>)=I jk;?ѠIC?GBXc? F>)pWI=i j]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.hqhhhggjgrgBereZe:e)@*e ?-xBɢ-<)1 5i1)5VX<11i=E0i=ҿ>=q=E֫=IEҿ>IAi@ @@/@B5>B5CB1B1B1B1B1B5.;B5^Eԑ^A- = 2Acoustic response timeout EE  EE EE ,EA "EE :*EE x:VEE g4ZEA BEE +"l3#,X͌LA2 >2>2;ٱ2=2H`? F׿`vb?Iq? ?`Gvsq`ʻ??i2 >I2x\;2בCY:0By:IbDBƿVDBw8yJL<%NV=ٔNEB8Q-N>9PYP=R3EyR/DR{:ER>TQ 5Z4V ?Q 9^4VQ =^tI)VIBY\y^>Q I^&@VEDIV,:iVZ:V4ybMBɮb0AfEiiLݡ͌LAijGA"jGA:j>Rj}dg[*(@IZ^?fh@Bj?5~?+#?*j=2j jZj^l%@[@. 'P@Jjqħ?:} ?_Ŧ?j@ j-AitF5,?i6 jBjjZBjBrj>Azj>% addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504157 s, deltaX: -0.100000 m, approachRate: -0.198352 m/s, rangeRepo size: 4 5 Added new target pos. range: 12.489517 m, bearing: 26.601239 deg, lat: 36.779507 deg, lon: -121.859762 deg, deltaT: 0.504157 s, deltaX: -0.099941 m, approachRate: -0.198234 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 12.49 m.2i9"i]*iYm ProNav: ac range: 12.489517 m, nav range: 11.914656 m, bearing: 25.846268 deg, approach rate: 0.000000 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.234051 deg, new cmd heading: 21.324186 deg. iiuHeadingCmd: 0.372177 target range: 12.489517 and range: 12.50 m.hu>hqhqhyhyggjgrgereZe:e*e `?wBɢ} <)  i)i<iÑ0i%>%I)ԑDDAT read: Rx Time:01:19:50.0056 TRx dataTimestamp_ set to:1764897591.034390PDAT read: Bearing 185.8, 7.8 (Local) ~Local bearing/azimuth received: Bearing 185.8, 7.8 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 DAT read: 01:19:50.0056 LVL= 32640, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.37,-2.126, 2.351,-2.207,-2.345, PHS= 0.321,-1.543, 0.094, RAW= 143.6, 12.8, CAL= 143.1, 13.9, ROT= 6.9, -13.9 Ygot valid direction response: 01:19:50.0056 LVL= 32640, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.37,-2.126, 2.351,-2.207,-2.345, PHS= 0.321,-1.543, 0.094, RAW= 143.6, 12.8, CAL= 143.1, 13.9, ROT= 6.9, -13.9 R#Rx 1: Read range and direction messages.%\direction in FSK: [0.963686,0.116619,0.240228]%Fpublishing direction and range infoyO؃?ڽ?ؼʿ?Y )IZ>iſ=g @d> @ Ulx>)Ϣ=IUlx(AKF?_q?XoC? >)cIϢ=iUlxE2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.)@I @Q@U/@QԹ^Au 벫= A I I O > t3#,N͌LA4<ɰ4<N2Acoustic response timeoutR1 >R>RX;ٱRoM=RH@/?`KC׿`}~?@)n??`r?@?iR1 >IRHe\;PYZ4ByZIbAbA `b4=bDfVDf8yn<%n?=ٔrR:Q-r>9pYp=v3Eyv8DvaEv>Q 54H?Q 94)JBYy>Q I&@KDIRj@j(@6M? @BjO؃?ڽ?ؼʿ?*jϢ=2jUlxZj 0H%@.Α@Iſ@Jjb?sߙ?j@ j,Ai5?i3 j_Bj횫!?j?R jrj7=AzjUz> addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505258 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 12.489517 m, bearing: 26.799159 deg, lat: 36.779507 deg, lon: -121.859760 deg, deltaT: 0.505258 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 12.49 m.2iY"ia*iam ProNav: ac range: 12.489517 m, nav range: 11.825954 m, bearing: 26.687060 deg, approach rate: 0.000000 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.324187 deg, new cmd heading: 21.424107 deg. iq}HeadingCmd: 0.373921 target range: 12.489517 and range: 12.50 m.h}r>hyhyhyhygygjgrgereZe:e*e@X?ԱvBɢc3<) ri)d<iG0i r> vr= O=I r>I@ @@@@@]DDAT read: Rx Time:01:19:50.5053 ]TRx dataTimestamp_ set to:1764897591.538185mPDAT read: Bearing 186.1, 6.8 (Local) u~Local bearing/azimuth received: Bearing 186.1, 6.8 (Local) DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 DAT read: 01:19:50.5053 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.28,-1.404, 3.073,-1.450,-1.604, PHS= 0.302,-1.561, 0.110, RAW= 144.6, 12.9, CAL= 144.2, 14.0, ROT= 5.8, -14.0 Ygot valid direction response: 01:19:50.5053 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.28,-1.404, 3.073,-1.450,-1.604, PHS= 0.302,-1.561, 0.110, RAW= 144.6, 12.9, CAL= 144.2, 14.0, ROT= 5.8, -14.0 R#Rx 1: Read range and direction messages.\direction in FSK: [0.965328,0.098054,0.241922]% Fpublishing direction and range infoyY]ۥ?Y}?79K?Y]@AY]YY Y)];I]>i]ǿ]G=]!@]f>]!@ ]5z>)]4Q=I]5zYY]:;J[?.Y?[&? ]Q >)]ifI]4Q=i]5zYY 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B} <A} <B} >By B} IB} BBy By By B} ;B} ^EB=CB=CB9B=O =B=O =C=U35^A \= AAIIIYOe>={3#,&͌LAhYn>BynIieMb@Mb@Mb@aaaa a9eS?:v?Mb?Ye>ye9Y=3EyBDE>Q 54v?Q 94)OBY.>Q E:y>Q I&@RDIQ:i:4yUBɮ0A Eiyi}q͌LAj}?A"j}?A:j}>Rj}?nb&'@C!?)G|4@Bj}ۥ?Y}?79K?*j}4Q=2j}5zZj}fu$@~ !~&@PѨ@Jj}???j}3@ j}'Ai})?i}2j}(Bj})?j}2jyrj}9Azj}> addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503795 s, deltaX: -0.500000 m, approachRate: -0.992467 m/s, rangeRepo size: 4  Added new target pos. range: 11.989939 m, bearing: 25.692882 deg, lat: 36.779508 deg, lon: -121.859762 deg, deltaT: 0.503795 s, deltaX: -0.499578 m, approachRate: -0.991630 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 11.99 m.2i"i*i ProNav: ac range: 11.989939 m, nav range: 11.619474 m, bearing: 25.692851 deg, approach rate: 0.000000 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.424108 deg, new cmd heading: 21.503761 deg. iHeadingCmd: 0.375311 target range: 11.989939 and range: 12.00 m.h(>hhhhg g jg rg BereZe:e(@*e &?EM EMEM(EI"EMa:*EMk:VEMc44ZEIBEM(\r=`=I(>Ie@a @a@i@i)M DDAT read: Rx Time:01:19:51.0053 M TRx dataTimestamp_ set to:1764897592.041103] PDAT read: Bearing 185.8, 7.1 (Local) ] ~Local bearing/azimuth received: Bearing 185.8, 7.1 (Local) u DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4  DAT read: 01:19:51.0053 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.09,-0.822,-2.637,-0.880,-1.036, PHS= 0.317,-1.556, 0.113, RAW= 144.3, 12.6, CAL= 143.9, 13.7, ROT= 6.1, -13.7  Ygot valid direction response: 01:19:51.0053 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.09,-0.822,-2.637,-0.880,-1.036, PHS= 0.317,-1.556, 0.113, RAW= 144.3, 12.6, CAL= 143.9, 13.7, ROT= 6.1, -13.7  R#Rx 1: Read range and direction messages. \direction in FSK: [0.966048,0.103241,0.236838] Fpublishing direction and range infoyI M Yz?bm?4ӋHP?YI I ^A ܪ=I I I I )M :IM M>iM +ǿM l=M E/!@M z0a>M @ M Gt>)M ^ =IM GtI I M 梘u?|yz?b`o? M ,>)M zVaIM ^ =iM GtI I  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Y } )G A I I O > q9 Y mA!3#,ΌLAr:f">r>rz;ٱrq=rH?[׿@?2??`9Jot@??ir:f">Ir\;rؑCYzDByzI9bDMVDM8yq<%F=ٔk:Q->9Y=3EyJD;E>Q 5%4ğ?Q 9-4”)RBYqyu>Q Iu&@WDITRjt[l*'@y Ez@ӏr~3@JjN1?2J S?M!?jԣ@ j&'Ai@5?i>jBjtF5,?j>jBrj8Azjf>M addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502918 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 11.989939 m, bearing: 26.108239 deg, lat: 36.779508 deg, lon: -121.859761 deg, deltaT: 0.502918 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 11.99 m.2ia"ia*ia ProNav: ac range: 11.989939 m, nav range: 11.537604 m, bearing: 26.342776 deg, approach rate: 0.000000 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.503761 deg, new cmd heading: 21.594133 deg. iHeadingCmd: 0.376889 target range: 11.989939 and range: 12.00 m.h>hhhhggjgrgereZe:e*e`?uBɢL<) %Ľi!)%uGr=ux=Iu>Iq2Acoustic response timeout@ @@@E EE+E"E:*E:VE [4ZEa@a@a@a@A^A :=A zA xAY A I I O% >e DDAT read: Rx Time:01:19:51.5051 e TRx dataTimestamp_ set to:1764897592.545075m PDAT read: Bearing 185.8, 7.5 (Local) u ~Local bearing/azimuth received: Bearing 185.8, 7.5 (Local)  DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4  DAT read: 01:19:51.5051 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.08, 2.884, 1.052, 2.810, 2.663, PHS= 0.323,-1.566, 0.103, RAW= 143.9, 12.7, CAL= 143.4, 13.8, ROT= 6.6, -13.8  Ygot valid direction response: 01:19:51.5051 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.08, 2.884, 1.052, 2.810, 2.663, PHS= 0.323,-1.566, 0.103, RAW= 143.9, 12.7, CAL= 143.4, 13.8, ROT= 6.6, -13.8  R#Rx 1: Read range and direction messages. \direction in FSK: [0.964698,0.111619,0.238533] Fpublishing direction and range infoya e m1?DJ?iC?Ye 3;Aa a a a a )a Ie B`>ie rȿe =e @e b>e - @ e Ϣv>)e =Ie Ϣva a e 2?t!EH?DTA!? e u>)e &bIe =ie Ϣva a  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.3#,#ΌLAYMEByMIIQ)U%=ԡBBBIB+BBBBB;Bp^Ei Mb@Mb@Mb@     9 l?:v?I +?Y >y T= 9<  A -A) A Y AbDyVDyy;% %=ٔ Q- >9Y=3EyTDE>!Q 5-4%}ԟ?Q 9-4%%)%YBY-{>Q E-:y-l>Q IU&@%^DI%);i%`;%$4y]]Bɮ]0AYii"ΌLAj ;A"j ;A:jƥ>Rj\s5&@h?B8'N@Bjm1?DJ?iC?*j=2jϢvZjKXE$@+HL@|wO@JjrG?lzY?!5㎙K?jb@ j-"Ai*?i&ʬ jBjj&ʬ jrj5AzjE>  addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503972 s, deltaX: -0.300000 m, approachRate: -0.595272 m/s, rangeRepo size: 4  Added new target pos. range: 11.690200 m, bearing: 26.594144 deg, lat: 36.779508 deg, lon: -121.859760 deg, deltaT: 0.503972 s, deltaX: -0.299739 m, approachRate: -0.594753 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 11.69 m.2i!"i!*i)U ProNav: ac range: 11.690200 m, nav range: 11.352041 m, bearing: 26.552096 deg, approach rate: 0.000000 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.594133 deg, new cmd heading: 21.694726 deg. iY]HeadingCmd: 0.378644 target range: 11.690200 and range: 11.70 m.h]>hahahahagagajgrgBereZe:e`ff'@*e"?ɢfU<) i)gK<i ;?2i > q==I>I-2Acoustic response timeout@ @@/@@=@=DzDE EE(E"El;*Eą:VEc44ZEBEaF#Q3#,PTAΌLA,:J%>:n>:r;ٱ::'=:HF?_׿?5?@?T깿wvu??i:J%>I:~\;:בCYbIBybIrDDAT read: Rx Time:01:19:52.0051 rTRx dataTimestamp_ set to:1764897593.049139vPDAT read: Bearing 185.4, 7.5 (Local) v~Local bearing/azimuth received: Bearing 185.4, 7.5 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 %DAT read: 01:19:52.0051 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.28,-2.771, 1.688,-2.845,-3.005, PHS= 0.337,-1.545, 0.116, RAW= 143.8, 12.2, CAL= 143.4, 13.3, ROT= 6.6, -13.3 -Ygot valid direction response: 01:19:52.0051 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.28,-2.771, 1.688,-2.845,-3.005, PHS= 0.337,-1.545, 0.116, RAW= 143.8, 12.2, CAL= 143.4, 13.3, ROT= 6.6, -13.3 5R#Rx 1: Read range and direction messages.5\direction in FSK: [0.966729,0.111854,0.230050]=Fpublishing direction and range infoypr*"xwr?\}}?gz}"Er?Yppppp p)r9IrD>irſrh=rK @r^ Z>p r,m>)pIr,mpprc!Nu?ek[F?jz5? r>)r\ZIpbDU VDU8ye1<%e\=ٔm :Q-m>9m ?ir,mppu2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Y ?=3Ey\DK <E>Q 54N?Q 94&)]BYy>Q I&@cDI;i;v+4yɮ0Aipir%CΌLAjp"jp:jrZ>Rjr>&@{ka?PU0@Bjr*"xwr?\}}?gz}"Er?*jp2jr,mZjrI*hG$@/\@E @JjrfkO?t_ ?Ή"-?jr@ jr;"AirU6?ir_ jr̅Bjr@5?jpjprjr4Azjr> addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504064 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.690200 m, bearing: 26.810340 deg, lat: 36.779509 deg, lon: -121.859760 deg, deltaT: 0.504064 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 11.69 m.2i"i!*i!  ProNav: ac range: 11.690200 m, nav range: 11.288812 m, bearing: 26.282117 deg, approach rate: 0.000000 m/s, LOS rate: 0.103891 deg/s, cmd heading: 21.694726 deg, new cmd heading: 21.770181 deg. i HeadingCmd: 0.379961 target range: 11.690200 and range: 11.70 m.hK>hhhhggjgrge!re!ZeA:eA*eM '?ԁ颕tBɢR<) i)Ú<顙ii2iK>q=g=IK>I@ @@/@Ա2Acoustic response timeout^A = bEjEL4rExE0E]  E] E] *EY "E] :*E] ]t:VE] (N4ZEY a @a @a @a @I I O% >zv3#,a[ΌLA:Є&>:_>:;ٱ:hY=:Hֵ?׿?@n? ?0ҹ;v#\?u?i:Є&>I:W\;:ّCYRFByVI\iMMb@Mb@Mb@IIII I9MMbX9?Q?y&1?YM>yM\=M`e9Y=3EydD :E >Q 5-4퟊?Q 9-4)bBY5>Q E=:y=?Q I=&@iDIq;ip;24yMVBɮM{0AME}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 11.69 m.2i"iF*iF ProNav: ac range: 11.690200 m, nav range: 11.102332 m, bearing: 26.209964 deg, approach rate: -0.441753 m/s, LOS rate: -0.173797 deg/s, cmd heading: 21.770181 deg, new cmd heading: 21.623450 deg. iHeadingCmd: 0.377400 target range: 11.690200 and range: 11.70 m.h:>hhhhggjgrgBereZe:e*e? ɢ K<)  0i)p3<顑i-2i:>[r=ӫ=I:>I*DAT read: user:176> DAT read: 0 8unknown deviceResponse_: 0 q (Communications Faulta  a  a  a  a  DAT read: Ok :unknown deviceResponse_: Ok  *DAT read: user:177> BDAT read: Tx time:01:19:52.9440 $Ping request sent.BBIB5BBN =BBB;Bu^E9^Am =Am ?Am ?a IA &U LCommunications Fault in component: DATIY Oe >3#,4tΌLA2y'>2>2+;ٱ2z-=2Hɱ? 9׿k??@?oʹju`V??i2y'>I2&\;2ڑCY:EBy:IbDFVDF8yN%NY=ٔNQ-R>9PYP=R3EyRkDVr;EV>XQ 5^4Zp?Q 9^4ZE EE)E"ED:*Ek:VEFA4ZEBE2hhhhggjgrgereZe:e*eQAAɢEF<)A EмiA)M]s=]%-=I]>IqIy)}xA Powering downi I @ @@O0@@@iԙ^A-ʞ=IIO> Q3#,ЎΌLA2t)>2>2K;ٱ21=2H׫?0׿l?@;?>?෹v uC??i2t)>I2\;2ّCY:@By:IbDFVDF8yNZɼ%NJ=ٔNQ-R>9PYP=R3EyRsDVȝ;EV>XQ 5^4Z?Q 9^4Z)ZiBY\ybn ?Q Ib&@ZtDIZ ;iZ ;Z@4yfBɮf.Ad:ixzDNOT Ignoring new targets: 11.69 m.2ix"i~xi*i~xi  ProNav: ac range: 11.690200 m, nav range: 10.763600 m, bearing: 26.068176 deg, approach rate: -0.467393 m/s, LOS rate: -0.204114 deg/s, cmd heading: 21.492392 deg, new cmd heading: 21.335421 deg. i ƺHeadingCmd: 0.372373 target range: 11.690200 and range: 11.70 m.h>hhhhggjgrgE% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE%-Transitioning to midcourse guidance. Received last range of 11.700000 m 29955718.400000 min ago.E-1F-e)re)Ze1:e1*e1ԙ颹ɢ<<<) нi) <ia3i>'v= =I>IE EE+E"E:*E|:VE [4ZEa%@a%@a%@a%@@ @@1@^A=I1 IA OM > x3#,;ΌLA6>,>6v>6;ٱ6=6H?m׿? m?w?-t??i6>,>I6s\;6ڑCBF>BDBFIBF?BBFO =BDBDBF;BF^EYR=ByRIiUMb@Mb@Mb@QQQQ Q9Ux&1?sh|??:v?YUA>yU=UT9Y=3Ey|D{;E>Q 54H?Q 94U)nBYX>Q E:y?Q I&@zDIC;iC;G4y#Bɮ,/AE:iDNOT Ignoring new targets: 11.69 m.2i"i*i ProNav: ac range: 11.690200 m, nav range: 10.570675 m, bearing: 25.948374 deg, approach rate: -0.422021 m/s, LOS rate: -0.266848 deg/s, cmd heading: 21.335421 deg, new cmd heading: 21.091445 deg. i.HeadingCmd: 0.368115 target range: 11.690200 and range: 11.70 m.hy>hhhhggjgrgBRg@1F%Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE% %Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangee!re!Ze!:e)*e)ɢA=<) ٽi)[.<i4iy>[z=M=IMy>II)@ @@ 2@E5 E5E5&E1"E5D:*E5z:VE54ZE1BE1a=2E1a=JE5;aE:E5;aEQ^A% G=A- xAzA- tAI & NClearing failed state for component DATq I O >ԁ 3#,aΌLA2.>2>2;ٱ2M.=2Hh?lؿ? 4?`Lq? GMvs4?8?i2.>I2<\;0Y:8By:I@BAAbDFVDF8yNټ%N[=ٔRz>Q-R>9PYP=V3EyVDV;EV>XQ 5^4Z ?Q 9^4Z)ZqBY`yb?Q Ib&@ZDIZ;iZ;Z6N4ydɮfU/AdqLrrAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1Kr rAggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqKv1KvvNo longer in Terminal. Resuming normal ranging with 1.000000 count pings.qKvKvDz~Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E~ ~Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF~~Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF~ ~Uninitialize.qG~G~G~ZTransitioning guidance mode to: UNINITIALIZED i?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAInitialize.A Initialize.q@ f f HBrf Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.%ZNavigating to waypoint: 36.779130,-121.859630e!re!Ze!:e)*e)8BɢA<) 9i).<iz4IQ@ @@/@^A=IIO (>ԁEE  EE EE *EA "EE :*EE k:VEE (N4ZEA a] @ae @ae @ae @ 4ȶ3#,*rΌLA2z/>2`R>21;ٱ2=2H?8ؿ?VJ?@l?,r ļ??i2z/>I2'\;2ؑCYN.ByNIiEMb@Mb@Mb@AAAA A9E333333?+?I +?YE>yE=E949 Y =3EyDP;E>Q 5%4-?Q 9%49)vBY-N>Q E-:y-?Q I-&@DI;iD;V4y1ɮ5/A9jm?KuKuuB*** querying acoustic contact ***iqiuff`+@fgffrfԩereZe:e*eɢ-<) pi)%< <))i-f55sɧ5*>5h1)5> =(kpHeading = 0.400000==I=aj#@ =aj#@I9@ @@@BqAup<BBCBIB:BBN =BBB8;B^E ^A% (=A- ?A- ?AU ؟AIi Iy O >1 3#,=ΌLA6U0>6>6;ٱ61=6H?@/ؿ ?%^?yh?P04q@ü??i6U0>I6F];6בCYf)ByfIEr ErEpEp"ErV:*Er]t:VEpZEpBEr99 "?Y"?=3EyD4g;E>Q 5%4D9?Q 9-4~)yBY)y-q?Q I-&@DI :i::\4y5*Bɮ50A91KM MAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKMfYfYfYgYfafarfaeareaZei:ei*ei频ɢrDž<) i)ޗ<顙i5nɧJ>駭wx윂=IQ#@ Q#@I@ @@@^A=A9AIIIYOmV>i h3#,όLA 692>6>6u;ٱ6=6H?Dؿ?@r?c?`?=n#˼??i692>I6h];6ܑCYN"ByRI TT Z4=Z<bDZ VDZ8yb%bO=ٔf"Q-f>9dYd=j3EyjDjc;Ej>lQ 5r4ndE?Q 9r4n|)n}BYtyv?Q Iv&@nDIn:in:n|c4yxɮz:0AxfffgffrfereZe:e*eɢr%<) *i)<i 6ɧ!>  K=I T$@ T$@I i@ @@@E EEE"E:*E:VEZEa@a@a@a@ԡ^A`=AzAxA A I I O- >3#,#)όLAF52>F>FX;ٱF=FH`?DOؿ@G?`s{?`c?@鹿`xk=d?@k?iF52>IF6];FڑCPYZ!ByZIB=>B=CB=IB=%BB9B9B9B=F;B=^EBuCBuCBqBuN =BuN =Cu4iMb@Mb@Mb@ 9{Gz?yt=D;AA CA)p AYzAbDVDy %8=ٔ}Q->9Y=3EyD ͤ:E >Q 54S?Q 94y)BY>Q E:y% ?Q I%&@DI;i;;k4y-0Bɮ-x0A-EfIfIfIgIfQfQrfQeQreYZeY:eY*eY颅7BɢZ~<)  0i)I<顉iK7ɧW?駝X)  Powering up "Initializing DAT.3#,hCόLA6 g3>6H>6E;ٱ6e=6H? Yؿ[?f?a?й`RhI6c\;6ؑCYNByRIbDZVDZ8ybʖ%ba=ٔbSQ-b>9dYd=f3EyfDf:Ej>hQ 5r4j_?Q 9r4jw)jBYpyrE ?Q Ir&@jDIj;ij;jq4ytɮz0Ax|fffgf! ))f)rf9eIreQZei:eqGG*eq9Y3Ayr?nAɢE`<) i)і<i7%cɧ%A?%C=i-N(?)-,I-U%@ -U%@I1)@ @@/@^A;=QAIIO>E  E E (E "E D:*E :VE c44ZE a- @a- @a- @a- @ԉ 3#,]όLAV4>V|>V7,;ٱVw=VH?&dؿQ?@7?`?@e`??iV4>IV\;VڑCYzByzIQiMb@Mb@Mb@ 9S㥛? ףp= ?y&1|Y>yQ8=`A ZA)AYAbD VDʰ8y䈼%:=ٔzaQ->9Y=3EyDZ:E>Q 54%n?Q 94 u)BY >Q E:y>Q I&@DI&;iL;Ey4yɮ1AB*** querying acoustic contact ***iif!f!f!g)f)f)rf)e1re1Ze1:e1*e16Bɢ W<) i)R<i o8Y3ɧ k? <=is}>?,͍IV%@ V%@IIMxA)MyAԁ@ @@0@@=@=AAAAB5>B5CB5IB5BB5Q =B1B5UDB5J;B5^Eԩ^Ar =A>A> A I! 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"E% D:*E% ]t:VE% g4ZE! a- @a- @a- @a- @ԡ x4#,[#ьLAyY1ByIiuMb@Mb@Mb@qqqq q9ux&1?M?/$?YuA>yun>u9Y=4EyDE>Q 54P?Q 941).BY&>Q E:y?Q I&@,DI#:i:9*4yɮ0AB*** querying acoustic contact ***iifffgffrfereZe:e*e BɢJ^<) =i)i<BAAE4=BM>BIBMIBMIBBIBIBIBM7;BMu\Eyi}5hɧ@駍[o>iվ2@I[2@ [2@Iԙ @  @ @ 4@ I I O > ~4#,ьLAV ?VE?VbٱV+o>VH?5[? J?@}?`fʿL???iV ?IV8J];VܑCYb-BybIbDj VDjʰ8En EnEn(El"En;*Eną:VEnc44ZElBEnA9Y=4EyDh=E> Q 54 ?Q 94 G.) if3@IfV3@ fV3@I-@) @)@5/@1IIO= 1Y 24#,ҌLA2"?2^J?2\cٱ2o>2Hgm?@Mu@vQ?`? ?ɿ@g?`:??i2"?I2?];2ڑCY:By:I @@bDF7VDF߰8yN%NQ=ٔnQ-n>9pYp=r4EyrDvQ=Ev>tQ 5z4vÓ?Q 9~4v *)vLBY|y~Ӌ?Q I~&@v6DIv{;ivU;vN74y ABɮ 1A f)f)f)g)f)f1rf1e1re1Ze1:e9*e9eBɢe6 <)i mp.=ii)mi}3@yyI}3@ }3@Iԙ@ @@O0@bEFA4jEÏB4rEò0E EE+E"Es:*Exv:VE [4ZEa@a@a@a@AAIIIYOu6>MDAT read: eVDAT read: Teledyne Benthos DAT-900 Series BM >BI BM IBM NBBM S =BI BI BM ';BM d\E \Ջ4#,1ҌLA2mM?2P?2cٱ2ao>2H?? ?N4?? iɿ Vz???i2mM?I2^];2בCYN2ByRIi-Mb@Mb@Mb@)))) )9-%C?@5^I ? rh?Y-Z>y-b>-C<-C@-A -ZA)-A)Y-3 AbD3VD۰8y=%;=ٔ Q->9Y=4EyDA@=E>Q 54H?Q 94\%)\BY>Q E:yy?Q I&@=DI:i:>4yɮw0AfffgffrfereZe:e*e 5Bɢ5Q<)1 =x=i9)=?<99i={sEɧEئ@EOz>iE4@IIIM4@ M4@II@ @@0@A.AI!I1DAzDAO]U>E EE,E"E*E:VEg4ZEBEp02H`9?~MK? U??ɿt[?`5??i2\?I2CP];2ّCY>!ByBIbDJVDJð8yj%jY=ٔj#:Q-j>9n ?Yn ?=n4EynDr[V=Er>tQ 5z4v?Q 9z4v9!)vkBYxyz?Q Iz&@vBDIv;iv;vkE4yDBɮ1Af!f!f!g)f)f)rf)e)re)Ze1:e1*e1]Bɢeo<)a e@=ia)eiurP5@qqI}rP5@ }rP5@Iy5@1 @1@55@1QA=؟AIIIYOe4>yEM  EM EM )EI "EM &:*EM :VEM FA4ZEI a] @a] @a] @a] @ԩ $4#,0heҌLAH???C,?ȿ@"?@?B?iu"?I];ؑCY,ByIiMb@Mb@Mb@ 9/$?Pn?{Gz?Y>y>#<CA )AY AbDVD8y==%,=ٔjo:Q- >9 "?Y "?=4EyD*=E>!Q 5-4%9?Q 954%()%zBY5f>Q E5:y5?Q I=&@%IDI% B;i%A;%M4yAɮM0AImB*** querying acoustic contact ***iiiifqfqfqgyfyfyrfyeyreyZe:e*eAAAAB>BCBBBT =BBRDB?;Bs\E颭Bɢ<) =i)h<iv|<ɧ;@b>i<6@I<6@ <6@I5@1 @9@=1@9AIIO>9 4#,H1ҌLAD=DE EEE"Es:*E[:VEZEBEa2EaJEF;a":EG;a">r'?>4=_?>^ٱ>o>>H?`K~c?v? /?fCȿ`{?`??i>r'?I>}];>ّCYJByJIbDRVDR8yZҴ%Zy=ٔ^H;Q-^?9\Y`=b4EybDb t=Eb?dQ 5j4f6?Q 9j4f)fBYlynw?Q In'@fNDIf.:ifՒi->6@))I->6@ ->6@I)@ @@/@:DAT read: MF Frequency Band %vDAT read: Directional Acoustic Transponder version 8.15.0 -BDAT read: Dec 5 2025 01:20:05 IIIOE>yԡ S4#,sҌLA2k,?2k6d?2cZٱ2p>2H@?uM?@6?`>?ǿ-I?`O?`A?i2k,?I2}j];0YN&ByRIbDZVDZ8yb)*=%bI=ٔb;Q-b>9dYd=f4EyfDjED=Ej>hQ 5r4j!?Q 9r4jH)jBYpyr?Q Ir'@jTDIj3;ij;jZ4yzJBɮz 1AzEfffgffrfereZe!:e!*e!MBɢM˚<)Q U޹=iQ)U Si0C7@I0C7@ 0C7@IE= E9E=%E9"E=;*E9VE= 4ZE9aE@aM@aM@aM@@ @@/@IIOA>B >B CB B B U =B B B g;B \E #4#,6ҌLAɰ4<6k1?65i?6fVٱ6Cq>6H?-??? ?xǿԪ? ??i6k1?I6|];6ؑCYB$ByBIi Mb@Mb@Mb@     9 zG?i|?5?y = t< @ A  A) A Y  AbD%VD%8y5:%5C=ٔ5 ;Q-=>99Y9=E4EyEęDE>=EE>IQ 5U4M?Q 9U4M)MBYUi>Q E]:y]U?Q I]'@MYDIM;iM;Ma4ye;Bɮe0AmEfffgffrfereZe:e*e]BɢeN<)y }=iy)<顁iWɧq@駍Z>i7@I7@ 7@II)-@) @)@-/@)A1zA5yAIIO(>!EE EEEE)EA"EE:*EEi:VEEFA4ZEABEE<2H?j*?? TN?ƿ@^?? f?i2{,6?I2 k];2ۑCYR*ByRIbDZVDZf8yb<%bQ=ٔf ;Q-f>9dYd=f4Eyf̙Dj5C=Ej>lQ 5r4nD?Q 9r4n )nBYpyv?Q Iv'@n_DIn:inW:nh4yxɮz0Axfffgffrfere!Ze!:e!*e!MBɢU<)Q U=iQ)]Uie18@aaIm18@ m18@IiQ @  @@/@IIO=LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600ԙԩEM  EI EM 'EI "EM :*EI VEM '4ZEI aU @a] @a] @a] @ 54#,ҌLA^=;?^s?^2Pٱ^*q>^Ho?`O?@? R?ƿJ??`?i^=;?I^];\YE#ByEIbDVDZ8y=%E5=ٔMI:Q-U>9qYy=}4Ey}ՙD0=E>ԱQ 54!š?Q 94)BYy;?Q I'@eDIiMC9@IIIMC9@ MC9@IQBA<B>BBIBIBBBBBl;B\EBUCBUCBUÔCBUT =BUT =CUÖ5@ @@/@IIIYOe4> 9 4#,yӌLAE& E&E&.E$"E&:*E&:VE&ـ4ZE$BE&>@?>Hw?> Kٱ>p>>Hp?n@?T?%W?@ſPy? ? ?i>@?I>z];>ّCYJ&ByJIiMb@Mb@Mb@ 9&1?v/?~jt?Y>yx=D<@-A C A)pAY AbD5ٿVD58yEw<%E\=ٔE2;Q-E>9IYI=M4EyMݙDMQ=EU>QQ 54Utɡ?Q 94U)UBY>Q E:y??Q I'@UjDIU?i}9@yyI9@ 9@I!/{A]9/{AY^YA @  @ @ /@ A>A>IIO>9i /G4#,UӌLA4:D?:y|?:oHٱ:Nxp>:H? ((|? ?9XYX=Z4EyZDZB=E^>`Q 5f4b͡?Q 9f4b)bBYdyf?Q If'@boDIb2:ib`:b}4yhɮn-0Alf|f|f|gffrf e reZe:e*eeBɢmp<)m;L m>iq)u;$il:@Il:@ l:@I5@1 @1@51@1Ee EeEe)Ea"Ees:*Ee&p:VEeFA4ZEaau@au@au@au@ԱAyIIO=>B >B CB B B B B B Y;B \E q4#,/14ӌLA2mkI?2?2zREٱ2^xp>2Hi$?u`'?)?rc?nſ ާ? ? ?i2mkI?I24];2ڑCYN1ByRIpiUMb@Mb@Mb@QQQQ Q9UK7?`"?/$?YUI>yU=U=ٔ}:Q->9Y=4EyD.=E>Q 54 ҡ?Q 94)BY>Q E:y?Q I'@uDI;i;R4yABɮ~0AfffgffrfereZe:e*e Bɢ ٳ<)  >i )6<i,t'ɧ@.>i;@!I%;@ %;@I!@ @@?5@ AIIO%M>Ee EeEe,Ea"Ee:*Ee:VEeg4ZEaBEe#52H@?`%@}?J??@hĿ 2F?{?K?i2=#N?I2]];2בCYN9dYd=f4EyjDjJF=Ej>lQ 5r4nա?Q 9r4n)nBYtyv}?Q Iv'@nzDIn:in:n4yxɮz)0AxfffgYffrfereZe:e*eBɢ,<) G:>i)ze<i5{<ݽɧ@ >i;@I;@ ;@I @ @@4@AzAwAԉA.AIIO!*entering command modeԱbEjEI4rE҄0Eu  Eu Eu *Eq "Eu =;*Eu L_:VEu (N4ZEq a} @a} @a} @a} @ 4#,gӌLABR?B]?B>ٱB0!l>BH ?dcW?`)?@?ÿ?K9??iBR?IB];@YZ?ByZIbD~ϿVD~8y- <%5D=UDAT read: e&DAT read: user:1> m(setting verbose to 3ٔo;Q->9  ?Y ?=%4Ey%D5h+=E=>QQ 54Uy١?Q 94U)UBYy?Q I'@UDIU#9B9B=IB=XBB=S =B9B9B=W;B=\EɮU 0AQmB*** querying acoustic contact ***iiiifffgffrfereZe:e*e-Bɢ5<)1 5K>i1)5<19i= =ٽɧE~@Ew˺>iEz[<@AAIez[<@ mz[<@Iicռ &DAT read: user:1>  TDAT read: Verbose | 3 % set verbose to 3% 6setting DatVerbose to 27440 @  @ @ 0@ A A5 ؟AIA IQ O] >?p4#,ցӌLAD D4=E EE-E"E ;*E:VEt4ZEBERiW?>?>O|;ٱ>SLi>>H@8?_]Rq?F?~?`ÿqm?^?@#?i>iW?I>*];>ڑCYJOByJIi}Mb@Mb@Mb@yyyy y9}B`"?Pn?Q?Y}>y}>}<}@}A } A)yyY}QAbDVD8yY=%B=ٔ:Q->9"?Y"?=4EyDiD=E>Q 54xܡ?Q 94)BY>Q E:y?Q I'@DIs:i/;4y1Bɮ/AEfffgffrfereZe:e*e 5Bɢ=D=)9 =p>i9)=AG<9AiE~|E׽ɧ@о>i<@I<@ <@I*m&DAT read: user:2> uTDAT read: DatVerbose | 27440 u.set DatVerbose to 27440}6setting transmit power to 8@ @@/@9AiIqIO}>qԑ  &DAT read: user:3>  TDAT read: TxPower | 8 (Max)  .set transmit power to 8 6setting local address to 11֕4#,鞛ӌLABZv\?Bj ?B]9ٱB[g>BH/?;?..? ?'¿)? ?'?iBZv\?IB];BؑCYVSByVIIZ%=)Z4<bDfVDf8yvo<%vX=ٔz:Q-z>9|Y|=~4Ey~D 7G=E >Q 54.ߡ?Q 94)BYy?Q I'@DIi)A <i ӽɧ v@E5 E5E5(E1"E5:*E5:VE5c44ZE1aE@aE@aE@aE@ >iE=@AAIM=@ M=@Iiԡ&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11\Setting time to: 1:20:14 And date to:12/5/2025I1)5xABM >BI BM IBM gBBM U =BI BI BM R;BM \E @  @ @ ;5@ A >A > A I I O% >4#,xӌLA2Ba?2?296ٱ21@e>2H?`?u??EŦ?c?+?i2Ba?I2@];2ّCY:dBy:Ii5Mb@Mb@Mb@1111 195V-?㥛 ?Q?Y5h>y5>5\=15A 5 A)11Y1bDMVDM8y]=%]C=ٔe0:Q-e>9aYa=e4EymDm#8=Em>qQ 5}4uuᡊ?Q 9}4u)u)BY>Q E:y?Q I'@uDIu;iu;u4yɮi.AfffgffrfereZe:e*eBɢh$=) ҕ>i)qК<i~Θsнɧ@^>i,>@I,>@ ,>@I   &DAT read: user:5> NDAT read: Fri Dec 5, 2025 01:20:14 fLocal DAT time set to Fri Dec 5, 2025 01:20:14 2Acoustic response timeout6setting remote address to 8!EM EMEM'EI"EMV:*EM:VEM'4ZEIBEM9I  &DAT read: user:6>  TDAT read: RemoteAddr | 8  .set remote address to 8 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.4#,PTӌLA 2kf?22?23ٱ2Me>2H ?@x1@ +?u?@)?Yn?@e?+?i2kf?I2];0YNeByPbDZVDZ8yb;%bU=ٔb$:Q-b>9dYd=f4EyfDfV=Ej>hQ 5r4jI㡊?Q 9r4j)j:BYpyr?Q Ir'@jDIj;ijQ;jC4ytɮzf.AxfffgffrfereZe!:e!*e%):6@MBɢMz&=)Q UL>iQ)Uie>@aaIe>@ e>@Iim@q @q@u/@qqA.A&DAT read: user:7> BDAT read: Tx time:01:20:14.6417 %$Ping request sent.%EU  EU EU 0EQ "EU :*EU z:VEU 4ZEQ a] @a] @a] @a] @ 4#,0ӌLA2k?2L?2./ٱ2e>2H ?r`P?`?Ğ?0M?zs?Y+?i2k?I2r];0PY^uBybI dd lnR=]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246521bDzVDzǰ8y=%%6=ٔ- ;Q-5>9e ?Ye ?=m4Eym'D .=E>B>BCBIB|BBBBBX;B\E Q 554 7塊?Q 954 b) NBY9y=?Q I='@ DI ;i : 4yAɮE-AA}B*** querying acoustic contact ***iyiyfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 11.700000 m @1AereZe:e*e,6@Bɢr(=) >i)ziUU?@QQIUU?@ ]U?@IY@ @@/@A-؟AI9IIOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495975! 5#,WԌLAD=DE EE*E"EV:*Exv:VE(N4ZEBEa2EaJE;a:E;a^p?^77?^x*ٱ^xe>^H?s?.I?`~?+{N?k??,?i^p?I^|];^ؑCYjByj I|i]Mb@Mb@Mb@YYYY Y9]Q?(\?ˡE?Y]>y].>]'=]@]A ]p A)]AYY]3AbDuVDu8yo=%U=ٔU;Q->9"?Y"?=4Ey/D`=E>Q 54Y桊?Q 94)`BY>Q E:y?Q I'@DIA:i(:ӽ4yɮ-AfQfqfqgqfyfyrfybf}@1A}}Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e 7@Bɢ A=) 6>i)\<izƽɧAp>iz@@Iz@@ z@@I1)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.748511@ @@0@IIOj>Qԁ  = = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001581U5#,WԌLAJu?J.Ж?J#ٱJKc>JHv?/?`Ɋ?@[?ӾJu?8?/?iJu?IJt];HYrByrIbDzVDz8yH<%S=ٔ/;Q->9 Y = 4Ey 7DkV=E>Q 5%4B硊?Q 9%4 )sBY!y%?Q I%'@DI%:i:4y1ɮ5u-A1qLEM~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalLM MAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLMY]Entering USBL mode with 120.000000 count pings at 11.700000 m (mode 0.000000 count ).L]1MeDmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Em mAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFmmInitialize.FuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1Gu uInitialize.qGuGuqEug}h7g}h7F}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 64.256096 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*et7@B#)  i)M<{iIE= E=E=%E9"E=&:*E=ga:VE= 4ZE9aM@aM@aM@aM@m@i @i@m05@qԁIaIyO8>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252512ԹB>BB'IBBBT =BBQDBV;B\EBBBȓCBU =BCD5 ( 5#,6ԌLA2{?2f?2`ٱ2U^>2HuD?93`?`?=?&@֪?ܟ?`8?i2{?I2c];0YBByBIi Mb@Mb@Mb@     9  rh?-?I +?Y >y ?5> 94= @ CA A) A Y =A@AbD%VD%8y5Q=%5G=ٔ5w;Q->9Y=4Ey?DC=E>Q 54硊?Q 94Թ)BYO>Q E:y2?Q I'@DI;i;4y"Bɮ,AEj^@1MqMh-.Ж?h-h-;h-L?h)i-g)g1jgQrgUBeYreYZeY:eY*e]67@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505433=Bɢ=Q<)E} EPiA)E9 5#,PԌLA2?2?2ٱ2U]>2H@ ?l1???@J?o? 9jYj=j4Eyhn\=En>pQ 5v4r硊?Q 9v4r)rBYtyv?Q Iv'@rDIrK:ir:r4y|ɮ~i,A|jqMMh!h!h!h!h!i!g)g)jg)rg)e1re1Ze1:e1*e5 ?8@[UO>[UO>"[US>*[Uj?iɢm<)i mBH?`?@A?/?i@D?6?`4?iBJ?IB^;@YbByb?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259847bDvVDv8yU'=%?=ٔ:Q->9Y=%4Ey!UDK=E]>AyAyB>BB@IBBBU =BBBj;B\E9Q 5m4硊?Q 9m4)BYiyu?Q Iu'@DI-"5#,7LjԌLA:?:ϡ?: ٱ:Ok>:HN? @}?*}?_T?@ֹ پ?^#? #?i:?I:S^;8YFByFTI HHi5Mb@Mb@Mb@1111 195kt?E?I +?Y5 >y5F>115-A 5ZA)5C@1Y5AbDMVDM8y]=%],=ٔ];Q-]>9aYa=e4EyaeYS=Em>iqQ 5}4u桊?Q 9}4u1)uBYj?Q E:y?Q I'@uDIuo:iu:u@4yɮB+AhhhhhiggjgrgӀBereZe:eBDAT read: Rx Time:01:20:17.0543 TRx dataTimestamp_ set to:1764897618.204579checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765046*eM)9@[j?[j?"[]>*[?额Bɢ<) =i)<顡it[i3@IIԙO @ @@05@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016247 ^A- I1 II OU >A(5#,ԌLA2Ј?24?2ٱ2fs>2H?@?? ?`̸`?`b? M?i2Ј?I2'L^;2ؑCY:By>ZIbDFVDF8yN<%NW=ٔN;Q-R>9PYP=R4EyPVqt=EV>bET4jER4rEs1Ez EzEz.Ex"Ez;*Ez]t:VEzـ4ZExa@a@a@a@1Q 5545H塊?Q 9=45)5BY9y=z?Q I='@5ȏDI5:i5:5'4yAɮM+AIhhhhhiggjgrgereZe:e*e 9@[["[*[ z?ɢ*<) =i)}<i᧼i%Uk.@!!IAII4"@ @@/@@zA@zA5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270716B>BBLIBBBBBBL;Bz\E!^AeV݅IiIO>Q "h.5#,&mԌLA^DAT read: 01:20:17.0543 LVL= 27360, 24289, 24306, 32755, AGC= 44, IDX= 259, 0.27,-0.229, 1.730, 2.059, 1.946, PHS=-2.074,-0.172, 0.068, RAW= 264.1, 20.7, CAL= 265.9, 27.8, ROT= 244.1, -27.8 bYgot valid direction response: 01:20:17.0543 LVL= 27360, 24289, 24306, 32755, AGC= 44, IDX= 259, 0.27,-0.229, 1.730, 2.059, 1.946, PHS=-2.074,-0.172, 0.068, RAW= 264.1, 20.7, CAL= 265.9, 27.8, ROT= 244.1, -27.8 fPDAT read: Bearing 336.4, -40.9 (Local) f~Local bearing/azimuth received: Bearing 336.4, -40.9 (Local) nDAT read: Range 11 to 50 : 6.3 m (Round-trip 8.4 ms) speed -0.4 m/s nR#Rx 1: Read range and direction messages.r`direction in FSK: [-0.386386,-0.795732,0.466387]rFpublishing direction and range infoy@B>_ؿpjv]jBG?YB@@BjB^B^ @)B,IBjiB 0BC=BS@B>B@ BUl>)BT@IBUl@@B??LUG? B @)BhIB'viBUl@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.=M?=?=ٱ=(v>=H +?|??EN?@<,a?c? ?i=M?I=/$^;9YMByUYI1iMb@Mb@Mb@ 9tV?Cl?Mb?Y>yd;>@=@A A)ZAY=AbDVD8yܺ%=ٔs;Q->9Y=4Ey.=E>E  E E +E "E V:*E ~:VE  [4ZE BE 9_ؿpjv]jBG?*jB'v2jBUlZjB69<@>+ؐQM?JjBFT[ ?W3?jBu jBa@iBJr?iB*njBBj@jB>jBBrjB~@zjBѱ@Ym addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "iu+^*iu+^ Added new target pos. range: 6.293919 m, bearing: 320.945198 deg, lat: 36.779509 deg, lon: -121.859761 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iBNOT Ignoring new targets: 6.29 m.2iPowering the camera and arming the capture device at range: 6.30 m.jFinal approach. Armed for intercept at range: 6.30 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i ProNav pure pursuit: ac range: 6.293919 m, nav range: 5.359208 m, bearing: 318.379821 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 67.507500 deg, new cmd heading: 318.379821 deg. |HeadingCmd: 5.556776 target range: 6.293919 and range: 6.30 m.hѱ@hh:h33?hggjgrgBereZe:e@33@*e?[]?[]?"[]夼>*[]?mBɢu<)q u=i)_<顙i/穼i)@)33? (kpHeading = 0.700000I: (kiHeading = 0.001000Iѱ@I=&DAT read: user:8> EBDAT read: Tx time:01:20:18.4402 E$Ping request sent.E55#,ԌLAY€By^IbD-VD-8y=T<%=f=ٔ=Q-=>9AYA=E4EyAEEM>YaQ 5u4e}⡊?Q 94e׫)e BYyQ I'@e֏DIeD BA AE <B] >B] CB] SIB] BBY BY BY B] ;B] F\E<5#,ԌLAVɐ?V߮?VnҼٱVg>VH 9#?ugR? 4? ?R沿O[??Q,?iVɐ?IV];VّCY`y`iMb@Mb@Mb@ 9{Gz?|?5^?ˡE?Y>yR>'=@A A)AYԩbD!VD˰8ٔ>9Y=4Ey =E>Q 54Tߡ?Q 94)!BY>Q E:y?Q I'@܏DIb:i:f4yɮ B*** querying acoustic contact ***i i :i2izIgnoring new targets. Set target to previous: 6.29 m. 6.29 m."i%%Y*i%%Y5 ProNav pure pursuit: ac range: 6.293919 m, nav range: 5.651752 m, bearing: 315.884274 deg, approach rate: 0.421753 m/s, LOS rate: -3.037480 deg/s, cmd heading: 317.101149 deg, new cmd heading: 315.884274 deg. =|HeadingCmd: 5.513221 target range: 6.293919 and range: 6.30 m.h=Nl@h9h9h9h9g9gAjgArgEBeAreIZeI:eI*eM@a ?[>[>"[>*[H?Bɢgf<) =i)%1 B5#, ՌLA6gK?60?6(ٱ6^>6Hp?@ ~?W?$v?ǰ@9×?`!? 9hYh=j4EyhnX=En>pQ 5v4r6ܡ?Q 9v4r)r3BYxyz?Q Iz'@rDIr:ir):r4y|ɮ~*A|:i!2i!-zIgnoring new targets. Set target to previous: 6.29 m. 6.29 m."i-9*i-9= ProNav pure pursuit: ac range: 6.293919 m, nav range: 5.801366 m, bearing: 314.893408 deg, approach rate: 0.403192 m/s, LOS rate: -2.601259 deg/s, cmd heading: 315.884283 deg, new cmd heading: 314.893408 deg. E|HeadingCmd: 5.495927 target range: 6.293919 and range: 6.30 m.hMޯ@hIhQhQhYgagijgqrgqeqreqZey:ey*e}`L?[["[*[̝?颭Bɢ<) Ī=i)<顱iiأ&@Iޯ@I=,@9 @9@=0@9A^A=#IIO>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257343yԙ E  E E *E "E ;*E n:VE (N4ZE a @a @a @a @%I5#,^&ՌLA;ɰ;2?2?2Qٱ2X>2H cM? ?]u?N@?*??`H?i2?I2];2ؑCY8y>SIbDF?VDF8yN %NM=ٔR;Q-R>9PYP=V4EyTVC=EV>XQ 5^4Zء?Q 9^4Z)ZEBY`yb'?Q Ib'@ZDIZj;iZw;Z 4ydɮf*Ad:ix2ix~zIgnoring new targets. Set target to previous: 6.29 m. 6.29 m."i~P**i~P*  ProNav pure pursuit: ac range: 6.293919 m, nav range: 5.965471 m, bearing: 313.918577 deg, approach rate: 0.412424 m/s, LOS rate: -2.382411 deg/s, cmd heading: 314.893413 deg, new cmd heading: 313.918577 deg. |HeadingCmd: 5.478913 target range: 6.293919 and range: 6.30 m.hAS@hhhhggjgrge!re!Ze!:e)*e5`%?[["[*['?9ɢ=<)9 Et=iA)EBCBBBX =BBODB*;Bԡ^AM?΅AUxAzAUwAIIO>} ?} I? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761611 P5#,u9@ՌLA2'-?2c?2ٱ2T>2H@? D ?`ѐ?? >?d?N?i2'-?I2 ];0Y:By:VIiuMb@Mb@Mb@qqqq q9ul?&1?X9v?Yu>yuP>u9Y=4Ey3=E>Q 54ԡ?Q 94)WBY >Q E:yM?Q I'@DI ;i;w4yɮ*A:i2izIgnoring new targets. Set target to previous: 6.29 m. 6.29 m."i+*i+  ProNav pure pursuit: ac range: 6.293919 m, nav range: 6.143215 m, bearing: 313.018893 deg, approach rate: 0.407461 m/s, LOS rate: -2.002689 deg/s, cmd heading: 313.918581 deg, new cmd heading: 313.018893 deg. |HeadingCmd: 5.463210 target range: 6.293919 and range: 6.30 m.h Ү@hhhhggjgrgBereZe:e*eg@DzDE EE+E"EV:*Eą:VE [4ZEBE9[ >"[M>*[M?Bɢ"<) =i)g?<!i%Ei%]+@))I-Ү@I)1@ @@2@@@xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013548^A9 A (@I I O% >a MAV5#,X2H ?@)?@X??`]̦? '`?=O?i2.?I2];0Y:By:RIbDJiVDJ 8yV՟%ZY=ٔ^,;Q-^>9b8>Yb8>=f4EyfBDjF=Ej>pQ 5 4rϡ?Q 9 4r)rgBY y ?Q I'@rDIr;ir ;r4y% Bɮ%*A%E:ia2iiuzIgnoring new targets. Set target to previous: 6.29 m. 6.29 m."iu*iu  ProNav pure pursuit: ac range: 6.293919 m, nav range: 6.300621 m, bearing: 312.302759 deg, approach rate: 0.405256 m/s, LOS rate: -1.797641 deg/s, cmd heading: 313.018882 deg, new cmd heading: 312.302759 deg. |HeadingCmd: 5.450711 target range: 6.293919 and range: 6.30 m.h:l@hhhhggjgrgere-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265454Zea:ea*ee8@Bɢ<) =i)<iZi]/@YYIe:l@IaIi)mxAH4@ @@%/5@!E EE,E"E:*E]t:VEg4ZEa@a@a@a@Iq ^A  DDAT read: Rx Time:01:20:20.5797  TRx dataTimestamp_ set to:1764897621.734058 PDAT read: Bearing 10.6, -28.3 (Local)  ~Local bearing/azimuth received: Bearing 10.6, -28.3 (Local)  DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 = DAT read: 01:20:20.5797 LVL= 32752, 24865, 28466, 32755, AGC= 44, IDX= 184,-0.47, 2.471,-1.522,-2.292,-1.999, PHS=-1.710, 0.523,-0.336, RAW= 292.4, 15.4, CAL= 290.3, 22.4, ROT= 219.7, -22.4  Ygot valid direction response: 01:20:20.5797 LVL= 32752, 24865, 28466, 32755, AGC= 44, IDX= 184,-0.47, 2.471,-1.522,-2.292,-1.999, PHS=-1.710, 0.523,-0.336, RAW= 292.4, 15.4, CAL= 290.3, 22.4, ROT= 219.7, -22.4  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.711345,-0.590570,0.381070] Fpublishing direction and range infoA A B v>B CB LIB BB ] =B B NDB X;B i\EBCBCBʕCBBW =Ce6y   4Wjߟtc?Y @  !a 2o ) I Hڿi T? 1 N@ > T"@ +>) Bhu@I +Ⱦ iz̚輣E*I?Ohu? @@) ቾI si +Ⱦ } checking for new query: numPingsReceived=1, elapsed TxPingTime=2.603067A AI I O >\5#,\uՌLAm)?me?mٱmJU>mH?@G `d.?0?c?@^B? w?N?im)?Im];mۑCYȀByeI!i-Mb@Mb@Mb@)))) )9-/$?~jt?V-?Y-1>y-D>-<-@-ZA ))-CA)Y-(AbDuVDu+8ytp=%=ٔ39>Y>=4EyFDh=E>Q 54ɡ?Q 94)zBY=>Q E=:y=?Q I='@DI"U @ U >)U x@IU Q Q U ]wvj?%t ? U k=@)U IU ǖiU Q Q  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042885^A A*AII O?2e5#,ՌLAbNP?b5?bTSϻٱbXP>bH֫?@5;Q-%>9%>Y->=-5Ey-KD-&"=E5>QQ 5]4Ugġ?Q 9]4U0)UBYYye?Q Ie'@UDIU:iU:U+4yiɮm*A iik-ՌLAjwA"jwA:jC@Rj}1w/>ZT i@BjE'W {.MZ?*jǖ2jZj|+@04ϔA?Jj?&ag@QQ?j j[@iRm?i6W(joBj6#B?j*njBrj@zj]@m addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503089 s, deltaX: 0.300000 m, approachRate: 0.596316 m/s, rangeRepo size: 3 } Added new target pos. range: 8.091603 m, bearing: 309.806099 deg, lat: 36.779510 deg, lon: -121.859764 deg, deltaT: 3.276626 s, deltaX: 1.797685 m, approachRate: 0.548639 m/s, posRepo size: 3 :i}TStarting intercept timer at range: 8.10 m.2izIgnoring new targets. Set target to previous: 8.09 m. 6.29 m."i*i ProNav pure pursuit: ac range: 6.293919 m, nav range: 6.685156 m, bearing: 310.900405 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 311.506842 deg, new cmd heading: 310.900405 deg. checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273411|HeadingCmd: 5.426236 target range: 6.293919 and range: 8.10 m.h@hh!h!h!g!g!jg)rg)e)re)Ze):e5@33 @*e5?额Bɢb\<) =i)-;<顡ii-]=@I@I]9@a @a@mO0@mEu EuEqEq"Eu:*Eu~:VEqZEqa}@a}@a}@a}@A ^A  DDAT read: Rx Time:01:20:21.5799  TRx dataTimestamp_ set to:1764897622.741448 PDAT read: Bearing 14.0, -30.2 (Local)  ~Local bearing/azimuth received: Bearing 14.0, -30.2 (Local)  DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4  DAT read: 01:20:21.5799 LVL= 32752, 20369, 26610, 32755, AGC= 43, IDX= 506,-0.40, 2.441,-1.505,-2.252,-2.027, PHS=-1.713, 0.567,-0.269, RAW= 291.2, 14.1, CAL= 288.8, 21.1, ROT= 221.2, -21.1  Ygot valid direction response: 01:20:21.5799 LVL= 32752, 20369, 26610, 32755, AGC= 43, IDX= 506,-0.40, 2.441,-1.505,-2.252,-2.027, PHS=-1.713, 0.567,-0.269, RAW= 291.2, 14.1, CAL= 288.8, 21.1, ROT= 221.2, -21.1  R#Rx 3: Read range and direction messages. `direction in FSK: [-0.701968,-0.614527,0.359997] Fpublishing direction and range infoy  eضvEע3㿣z0 ?Y O g ) I Cۿi &? ^ @ d{> K@ )>) 0w@I ) B} r>By B} FIB} BB} ^ =By B} MDB} N;B} [\Eԙ A |:AI I) d9lTq?3v? I?@) A{I i ) O>sl5#,ՌLAchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.632806tEq?EW?E8VٱEJM>EHl?@0E@b?W?޲?Nj?N}?@[?iEq?IE];EؑCYByXI iMb@Mb@Mb@ 9X9v?&1?X9v?Y>yP><@CA A)AYAbDVDA8yEa<%E =ٔMy;Q-M>9M>YM>=M5EyMRDU<}checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777442EU>Q 544?Q 94:)BYZ>Q E:y?Q I'@ DI;i;H64yɮ*AiYi]sՌLAj]vA"j]vA:j]EԬ@Rj]֕6OASM@Bj]eضvEע3㿣z0 ?*j] 2j])Zj]g@[kU/f?Jj]sPR?Ez迮]~2?j] j]/@i]b?i]H8=#j]nBj]b?j]H8=#j]oBrj]@zj]FԬ@m addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.091522 m, bearing: 309.449451 deg, lat: 36.779514 deg, lon: -121.859770 deg, deltaT: 3.780927 s, deltaX: 1.797604 m, approachRate: 0.475440 m/s, posRepo size: 4 :iRStopped intercept timer at range: 8.10 m.2izIgnoring new targets. Set target to previous: 8.09 m. 6.29 m."i*i e ProNav pure pursuit: ac range: 6.293919 m, nav range: 6.920580 m, bearing: 310.280815 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 310.900403 deg, new cmd heading: 310.280815 deg. |HeadingCmd: 5.415422 target range: 6.293919 and range: 8.10 m.h#K@hhhhggjg)rg5Be9IreAZei:eq*eu`0F?E  E E *E "E :*E ]t:VE (N4ZE BE .5 I@@ 5 >)5 Y,s@I5 1 1 5 9O w#I?BU? 5 @C@)5 A I5 \i5 1 1  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.050108ԙ ^AAOAII!O-?xFH{?rSX?@x?ܭ?`m@$2? D ?@a?iF?IFI];FבCY^BybUIbDnVDnY8y9% 3=ٔ%;Q-%>9->Y->=-5Ey-XD5=E=>AQ 5U4E?Q 9]4E~)EBYYy]?Q I]'@EDIEb;iEc;EA>4yqɮu*AyiidՌLAjBA"jBA:j݌@RjdIܬQu9Xb+@Bj\?+x.3`?*j\2jZj+rʟ@W*PR[C@Jj$!?C,Ku?j" j@i YS?iC(jBjj6W(jrjlAzj+'@= addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503632 s, deltaX: 0.299999 m, approachRate: 0.595672 m/s, rangeRepo size: 4 m Added new target pos. range: 8.391208 m, bearing: 307.159528 deg, lat: 36.779514 deg, lon: -121.859772 deg, deltaT: 4.284559 s, deltaX: 2.097289 m, approachRate: 0.489499 m/s, posRepo size: 4 :iq2iquzIgnoring new targets. Set target to previous: 8.39 m. 6.29 m."iy*iychecking for new query: numPingsReceived=4, elapsed TxPingTime=4.281569 ProNav pure pursuit: ac range: 6.293919 m, nav range: 7.104268 m, bearing: 309.854011 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 310.280823 deg, new cmd heading: 309.854011 deg. |HeadingCmd: 5.407973 target range: 6.293919 and range: 8.40 m.h@hhhhggjgrgAeIreIZeI:eM @*eM`R`?额Bɢ<) =i)t8^.$Z?Yi i i m aKm bi i )m ,BM <AI BY BY BY BY BY BY BY B] 2;B] >\EIm ףпim |?m hm @Y m %>m ʘ@ m t;>)m W{n@Im t;i i m y"?Iz? m 7G@A _AI1 Ia O >}5#,@ՌLA)]XI]^#i]t;YYchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.643135㜩??f;ٱvE>Hl?'d`??@?e"ˬu`~?^g?i㜩?I];YByXIieMb@Mb@Mb@aaaa a9e ףp= ?Cl? rh?YeQ>yeO>eC =e@e-A epA)eAaYabDVDS8y;%=ٔg+9>Y>=5Ey`Du=E>Q 54q?Q 94y)BYQ>Q E;y-@Q I'@DI:i:G4yBɮ)A֦EiYi]ՌLAjY"jY:j]hQ@Rj]<Ƙ?HHy~@Bj]s8()Uq>8^.$Z?*j]^#2j]t;Zj]bˌ@Iʉ3@Jj]Qg?tM鿀A^?j]N j]f@i]/<4?i] (j])Bj] YS?jYj]Brj]Azj],r@}%=}4=}checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785737 addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504713 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.391202 m, bearing: 304.953189 deg, lat: 36.779512 deg, lon: -121.859772 deg, deltaT: 4.789272 s, deltaX: 2.097283 m, approachRate: 0.437913 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 8.39 m. 6.29 m."i*i ProNav pure pursuit: ac range: 6.293919 m, nav range: 7.315512 m, bearing: 309.462865 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 309.854018 deg, new cmd heading: 309.462865 deg. |HeadingCmd: 5.401146 target range: 6.293919 and range: 8.40 m.h0֬@hh h h g g jgrgereZe:e)*e5`b?mBɢmv'<)i m|=ii)u5 @ 5 f>)5 ۓk@I5 f1 1 5 Ϡ_X..=? 5 vG)5 \I5 ڋ&i5 f1 1  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.053484^A FӅԙA pjAII)O5?4ޅ5#,֌LAB?Bx?Bz<ٱBOE>BHo? g??@g)?w?`7? h?iB?IB ];BؑCY^ƀBy^cIIb=)b=bDfVDfG8y~%=%:=ٔ;Q->9 >Y >= 5Ey fD =E>ԑQ 54/?Q 94,u)BYy&@Q I'@DIQ Ygot valid direction response: 01:20:23.5804 LVL= 30752, 17057, 21474, 32371, AGC= 44, IDX= 511,-0.47, 1.432,-2.629, 2.594, 3.044, PHS=-1.510, 0.655,-0.494, RAW= 302.0, 14.3, CAL= 299.6, 20.6, ROT= 210.4, -20.6  R#Rx 7: Read range and direction messages. `direction in FSK: [-0.807364,-0.473678,0.351842] Fpublishing direction and range infoya e hu@>P޿\]㒄?Ya a e xe Be S e s~)e ,Ie Gie '?e e +@e r>e T@ e X>)e k@Ie Xa a e Z"zQۄﮖ?g? e F)e 5~Ie 'ie Xa a B o>B CB @IB BB B B B %;B .\E checking for new query: numPingsReceived=7, elapsed TxPingTime=5.5641105#,Ii2֌LAYByZIiMb@Mb@Mb@ 9d;O?:v?ˡE?Y>yT>'=@ A)AY3A =%=!bD%VD%Y8y$ͼ%=ٔQ->9>Y>=5EyoDE>Q 54?Q 94,p)BY>Q E;y*@Q I'@#DI:i:X4yɮ)Aii 0֌LAj"j:j@Rje/BDZ}^|X @Bjhu@>P޿\]㒄?*j'2jXZj-\@K<|S=ȓ@Jj=*:?#^鿊Q:\?j j@i$?iD.jdBj/<4?jC(j)BrjXAzj@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504576 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.890642 m, bearing: 302.753472 deg, lat: 36.779509 deg, lon: -121.859772 deg, deltaT: 5.797233 s, deltaX: 2.596724 m, approachRate: 0.447925 m/s, posRepo size: 4 :i2ichecking for new query: numPingsReceived=7, elapsed TxPingTime=5.793520zIgnoring new targets. Set target to previous: 8.89 m. 6.29 m."i*i ProNav pure pursuit: ac range: 6.293919 m, nav range: 7.710780 m, bearing: 308.862602 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 309.164442 deg, new cmd heading: 308.862602 deg. |HeadingCmd: 5.390669 target range: 6.293919 and range: 8.90 m.h]@hhhhggjg rg Be re Ze:e*e?eBɢ}ׯ<) P=i) N<顙iAi#2I]@IYEM  EM EM +EI "EM l;*EM Z:VEM [4ZEI BEM `Fu&@ u|>)uxl@Iu|žqqu:c>qt&_? uJH)uŒIu%iu|žqqchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.093262IIO ?15#,`U֌LAɰ2c?2H?2n]<ٱ2pD>2H%ȑh@e?? ?m? h?i2c?I29];2֑CYZŀBy^aIbDfVDf>8xy<%A=ٔ@P9Y=5EyvDG=E>Q 54W?Q 94Gl)BYy @Q I'@)DI;iT;=`4yBɮ*)AͦEiiȶP֌LAjA"jA:jG@Rjц9AKCc)3=/ @Bj9ٟJ`(߿*?*j%2j|žZj"KRl@Qd*TT@Jj|Q??ta迗]`{^?jX js@i-MO?i\)jBjj\)jdBrjm Azj@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503402 s, deltaX: 0.400001 m, approachRate: 0.794595 m/s, rangeRepo size: 4 E Added new target pos. range: 9.290222 m, bearing: 306.015387 deg, lat: 36.779509 deg, lon: -121.859772 deg, deltaT: 6.300635 s, deltaX: 2.996304 m, approachRate: 0.475556 m/s, posRepo size: 4 :ii2iiuzIgnoring new targets. Set target to previous: 9.29 m. 6.29 m."iq*iy ProNav pure pursuit: ac range: 6.293919 m, nav range: 7.879872 m, bearing: 308.671101 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 308.862602 deg, new cmd heading: 308.671101 deg. |HeadingCmd: 5.387327 target range: 6.293919 and range: 9.30 m.hd@hhhhggjgrgereZe:e"@*e`l?!-Bɢ5-<)5=ͼ 5t=i1)5<19i=i-Id@IEchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.297604}9@y @@@YE EE(E"E:*E|:VEc44ZEa@a@a@a@y ^A #I I O >J5#,}p֌LADDAT read: Rx Time:01:20:24.5808 TRx dataTimestamp_ set to:1764897625.765705PDAT read: Bearing 26.8, -25.1 (Local) ~Local bearing/azimuth received: Bearing 26.8, -25.1 (Local) &DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4 6DAT read: 01:20:24.5808 LVL= 29488, 18161, 20978, 31267, AGC= 50, IDX= 2,-0.46, 0.896, 3.113, 2.171, 2.511, PHS=-1.512, 0.648,-0.384, RAW= 298.5, 13.3, CAL= 295.8, 19.8, ROT= 214.2, -19.8 >Ygot valid direction response: 01:20:24.5808 LVL= 29488, 18161, 20978, 31267, AGC= 50, IDX= 2,-0.46, 0.896, 3.113, 2.171, 2.511, PHS=-1.512, 0.648,-0.384, RAW= 298.5, 13.3, CAL= 295.8, 19.8, ROT= 214.2, -19.8 >R#Rx 9: Read range and direction messages.B`direction in FSK: [-0.778184,-0.528853,0.338738]BFpublishing direction and range infoyD1]<?YA0sFQ #z)2I7iT%?ľ@,m>4@ ;>)Co@I;ﰾ2"v#鐙?ҼEl`? kG@)x mI4"i;ﰾRchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.566084AXAZ@AB^s>B^CB^FIB^BB\B\B\B^;B^\EhA?&?<ٱND>HaZfO?? \?p`b? h?iA?I];ّCỲBylI bDVDR8yr=%?=ٔC;Q->9 Y1=55Ey=|DE|=E >1Q 5u45?Q 9}45g)5 BYy@Q I'@5/DI5R>5#,֌LA2 #?2F?2Ml<ٱ2C>2H@nާ@{c@-??@?`D͒[N?i?i2 #?I2];0Y:ҀBy:rIi%Mb@Mb@Mb@!!!! !9%~jt?Cl?+?Y%>y%O>%=!! %A)%ZA!Y% AbDVD@8yA<%7=ٔ;Q->9YDDAT read: Rx Time:01:20:25.0810 TRx dataTimestamp_ set to:1764897626.269189PDAT read: Bearing 28.7, -29.8 (Local) ~Local bearing/azimuth received: Bearing 28.7, -29.8 (Local) DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 DAT read: 01:20:25.0810 LVL= 32752, 18673, 20882, 32563, AGC= 48, IDX= 500,-0.02, 2.961,-1.066,-1.889,-1.680, PHS=-1.540, 0.659,-0.253, RAW= 294.4, 11.8, CAL= 291.6, 17.1, ROT= 218.4, -17.1  Ygot valid direction response: 01:20:25.0810 LVL= 32752, 18673, 20882, 32563, AGC= 48, IDX= 500,-0.02, 2.961,-1.066,-1.889,-1.680, PHS=-1.540, 0.659,-0.253, RAW= 294.4, 11.8, CAL= 291.6, 17.1, ROT= 218.4, -17.1  T#Rx 10: Read range and direction messages.`direction in FSK: [-0.749049,-0.593689,0.294040]Fpublishing direction and range infoy$5zg?YAHQ 3)0Iſi9(?7l@BR>4ܢ@ Θ>)s@IΘS+ފ?" ?? B@=-5Ey-D5=E5>9Q 5E4=?Q 9E4=c)=BYEH>Q EE:yE@Q IE'@=4DI=:)A|SI1+iΘUchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.073307i=:=o4yYɮ](Aaiid:֌LAjA"jA:jL@Rj %?U? ƤX@Bj$5zg?*j1+2jΘZjӯ1X@kQ?Jjc0?ah3~F?j j@ih?ibjBj-MO?jjrjLAzjƪ@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503484 s, deltaX: 0.300000 m, approachRate: 0.595849 m/s, rangeRepo size: 4  Added new target pos. range: 9.789765 m, bearing: 313.254432 deg, lat: 36.779512 deg, lon: -121.859772 deg, deltaT: 7.308668 s, deltaX: 3.495847 m, approachRate: 0.478315 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 9.79 m. 6.29 m."i*i ProNav pure pursuit: ac range: 6.293919 m, nav range: 8.247072 m, bearing: 308.282785 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 308.486505 deg, new cmd heading: 308.282785 deg. |HeadingCmd: 5.380549 target range: 6.293919 and range: 9.80 m.hv-@hhhhggjgrgBereZe:e#@*e o?9ɢ=<)a eH=ia)e$V=!iqIuv-@Iq9@ @@/@A m checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305581^AE I I O= >vd5#, e֌LA6?6?67<ٱ6uHC>6H`a`L^`N?? r׬`0?政 A?i?i6?I6#];4ER ERER)EP"ER;*ERx:VERFA4ZEPaV@aV@aV@aV@YZ׀ByZxIbDEVDE28yU0<%]P=ٔe;Q-e>9aYi=m5EymDu8=Eu>yQ 54}?Q 94}`)}'BYy@Q I'@}:DI}`+;i}U";}kv4yɮj(AB*** querying acoustic contact ***ii:i2izIgnoring new targets. Set target to previous: 6.29 m. 6.29 m."i*i  ProNav pure pursuit: ac range: 6.293919 m, nav range: 8.408610 m, bearing: 308.122238 deg, approach rate: 0.426189 m/s, LOS rate: -0.415436 deg/s, cmd heading: 308.282774 deg, new cmd heading: 308.122238 deg. |HeadingCmd: 5.377748 target range: 6.293919 and range: 9.80 m.h@hhh!h!g!g!jg)rg)e)re1Ze1:e9*e=@A?)ɢ-Poi@ |>BMr>BIBMLIBMBBM\ =BIBIBM ;BM[EB CB CB œCB ^ =B ^ =C ŘJ5)Gt@I|@vw￟j?'vb? A@) TInFi|uchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.579012yUԱ 9@  @ @ /@ y } %=} checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809615 ^AMFӅIIO>5#,1֌LA Bwv>BqC^ꪸ?^&?rG^R <ٱ^6B>|^HO@? ?eŤ?lØ@?j?i^ꪸ?E EE(E"E:*E҆:VEc44ZEBE3y]V>]#=]@]A ]CA)YYY]A u%=u<bD}VD}R8y>=%=ٔ";Q->9Y=5EyD{]=E>Q 54su?Q 94Z)9BY>Q E:y@Q I'@ADI ;i;4yɮ(Aiiim8֌LAjm<A"jm<A:jmϰ@Rjmł=%@/7Ȩ@BjmC%٩߲L㿶-{#?*jmnF2jm|Zjm%Fl*@ 3;L?Jjm4?QN忟V3Q?jm8 jmS@imƣ?im_ jm̈́BjmzDrt?jm$jmdBrjm{Azjm2@  addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504384 s, deltaX: 0.099999 m, approachRate: 0.198261 m/s, rangeRepo size: 4  Added new target pos. range: 9.889667 m, bearing: 316.581309 deg, lat: 36.779516 deg, lon: -121.859770 deg, deltaT: 7.813052 s, deltaX: 3.595748 m, approachRate: 0.460223 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 9.89 m. 6.29 m."i%*i%5 ProNav pure pursuit: ac range: 6.293919 m, nav range: 8.646663 m, bearing: 307.920985 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 308.122237 deg, new cmd heading: 307.920985 deg. 5|HeadingCmd: 5.374235 target range: 6.293919 and range: 9.90 m.h=@h9h9h9h9g9g9jgArgBereZe:e#@*e\?Bɢ<) $ >i)2<AiۮiMXIIIM@IIEDDAT read: Rx Time:01:20:26.0812 MTRx dataTimestamp_ set to:1764897627.277238UPDAT read: Bearing 32.2, -27.5 (Local) ]~Local bearing/azimuth received: Bearing 32.2, -27.5 (Local) mDAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4 DAT read: 01:20:26.0812 LVL= 32752, 20817, 26610, 32755, AGC= 48, IDX= 502, 0.24, 1.530,-2.414, 2.926,-3.078, PHS=-1.573, 0.709,-0.323, RAW= 296.8, 12.0, CAL= 294.1, 17.2, ROT= 215.9, -17.2 Ygot valid direction response: 01:20:26.0812 LVL= 32752, 20817, 26610, 32755, AGC= 48, IDX= 502, 0.24, 1.530,-2.414, 2.926,-3.078, PHS=-1.573, 0.709,-0.323, RAW= 296.8, 12.0, CAL= 294.1, 17.2, ROT= 215.9, -17.2 T#Rx 12: Read range and direction messages.`direction in FSK: [-0.773815,-0.560149,0.295708]Fpublishing direction and range infoyIMH6:S --?YM!AIIMQQMg I)M0IMXɿiM5?MB`Må@MPwV>MA@ M`>)M)q@IM`IIMq̭Aᅥ4>?&? ME@)MUIM iM`IIchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.077842ieF˼ @  @ @ 4@ ԙ  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313320 ^AUIYIiE} E}EyEy"E}V:*E}:VEyZEya@a@a@a@O ?q5#,?q֌LAɰ8F|z?F_?F>0<ٱFSA>FH`0G;?? (฿Qڦ? He? @l?iF|z?IF'];FؑCYM܀ByM~IbDmVDm28y}z% =ٔjM;Q->9Y=5EyD<E>Q 540k?Q 94~U)KBYy@Q I'@IDID;i:4yߕBɮ(A˦Ei9i=D֌LAj=n!A"j=n!A:j=y@Rj=_]":<IG@Bj=H6:S --?*j= 2j=`Zj=Fˑ@4Rd@Q@Jj=\RV?[F7tJ?j= j=?@i=K.?i=|j=Bj=K.?j=bj=Brj=h#Azj=u@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503665 s, deltaX: 0.200001 m, approachRate: 0.397091 m/s, rangeRepo size: 4  Added new target pos. range: 10.089459 m, bearing: 314.189428 deg, lat: 36.779522 deg, lon: -121.859767 deg, deltaT: 8.316717 s, deltaX: 3.795541 m, approachRate: 0.456375 m/s, posRepo size: 4 :i 2i lNo longer in short final. Rolling out. Range: 10.10 m.NTransitioning guidance mode to: ROLLOUT i@hhh;hL?hggjg!rg!e!re!Ze!:e-@33$@*e-@3?B>0<) =i)W2<X7ii)L? (kpHeading = 0.800000I; (kiHeading = 0.004000II ԑDDAT read: Rx Time:01:20:26.5813 TRx dataTimestamp_ set to:1764897627.781210%PDAT read: Bearing 35.0, -26.0 (Local) %~Local bearing/azimuth received: Bearing 35.0, -26.0 (Local) =DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 ]DAT read: 01:20:26.5813 LVL= 32752, 19505, 26610, 32755, AGC= 49, IDX= 503,-0.02,-1.321, 1.004, 0.000, 0.313, PHS=-1.531, 0.736,-0.357, RAW= 298.8, 11.7, CAL= 296.2, 16.4, ROT= 213.8, -16.4 Bm<AmR=Buq>BqBuSIBuBBu] =BqBqBu;Bu[EYgot valid direction response: 01:20:26.5813 LVL= 32752, 19505, 26610, 32755, AGC= 49, IDX= 503,-0.02,-1.321, 1.004, 0.000, 0.313, PHS=-1.531, 0.736,-0.357, RAW= 298.8, 11.7, CAL= 296.2, 16.4, ROT= 213.8, -16.4 T#Rx 13: Read range and direction messages.`direction in FSK: [-0.797175,-0.533662,0.282341]Fpublishing direction and range infoye$#u:tIx?Y3#A1L )1Iÿijm@ C>) n@ICSC᭔?j3E? G@)kQIN#iCchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.585648q@q @q@u!5@q  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819863^A A IIO>5#,M׌LAE. E.E.)E,"E.~ ;*E.:VE.FA4ZE,BE. VG?>2-?>A<ٱ>B>>H`%`]9?`?O+?ћZ-?ui?i>G?I>-];>ۑCYJByJIiMb@Mb@Mb@ 9)\(?Cl?~jt?YG>yO>=@A )AY\AbD-VD-)8y=j<%E*=ٔE=;Q-E>9AYI=M5EyMDM<EM>QQ 54`?Q 94P)[BY>Q E:yW@Q I'@QDI:i :C4y)ɮ-'A11OE EAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqOEuEntering Midcourse tracking update period 60.000000 s sec at 10.100000 m (mode 5.000000 count ).qOuOuMuuAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1N}Resuming normal ranging with 1.000000 count pings 10.100000 m (mode 5.000000 count ).1NqNiiX֌LAj#A"j#A:jX@Rj> w(~ @Bje$#u:tIx?*jN#2jCZj-,@??IIE$@JjTܫU?)f[RfX?jI ja@i_?ijBjjjBrj"Azj8@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503972 s, deltaX: 0.099999 m, approachRate: 0.198423 m/s, rangeRepo size: 4 M Added new target pos. range: 10.189320 m, bearing: 312.856109 deg, lat: 36.779522 deg, lon: -121.859762 deg, deltaT: 0.503972 s, deltaX: 0.099860 m, approachRate: 0.198146 m/s, posRepo size: 4 MDNOT Ignoring new targets: 10.19 m.hIhQhYhYhaggjgrgBq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy= {@Uninitialize Buoyancy Component.reZe:e`ff$@*ed:? A<)  T=iƧ9)R27ii9IAIIDDAT read: Rx Time:01:20:27.0816 TRx dataTimestamp_ set to:1764897628.285084PDAT read: Bearing 37.5, -25.8 (Local) ~Local bearing/azimuth received: Bearing 37.5, -25.8 (Local) DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.5 DAT read: 01:20:27.0816 LVL= 32752, 21841, 26034, 32755, AGC= 49, IDX= 506,-0.22,-1.046, 1.275, 0.254, 0.561, PHS=-1.505, 0.758,-0.352, RAW= 299.4, 11.2, CAL= 296.8, 15.2, ROT= 213.2, -15.2 Ygot valid direction response: 01:20:27.0816 LVL= 32752, 21841, 26034, 32755, AGC= 49, IDX= 506,-0.22,-1.046, 1.275, 0.254, 0.561, PHS=-1.505, 0.758,-0.352, RAW= 299.4, 11.2, CAL= 296.8, 15.2, ROT= 213.2, -15.2 T#Rx 14: Read range and direction messages.`direction in FSK: [-0.807491,-0.528408,0.262189]Fpublishing direction and range infoyR.:ڶ;f$?Y3+AQUe )IףiJ B?X9m7@+H>å@ ԇ>)%n@Iԇr cblÄ ?3A6? \H@)hHI(#iԇ5checking for new query: numPingsReceived=14, elapsed TxPingTime=9.091187Q@Q @Y@]4@Y@e=@e= ^A A% zA% A! A! 9 E 4=A ] DDAT read: Rx Time:01:20:27.5817 e TRx dataTimestamp_ set to:1764897628.541354} PDAT read: Bearing 41.0, -24.5 (Local)  ~Local bearing/azimuth received: Bearing 41.0, -24.5 (Local)  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.341892AII!O->y,5#,5z&׌LAF$?F ?F5<ٱFD>FH (?д?ݿ?圿l?`)f?iF$?IF];FّCYBy%I ))bD5VD548yEr%E/=ٔM3;Q-M>9UYU=U5EyQU<E]>qbE:4jE>4rE8/E EE'E"E;*E1:VE'4ZEa@a@a@a@Q 54uW?Q 94u#K)ujBYy?@Q I'@uWDIu;iu;u4yѕBɮy'A¦EkN@OOj?qNNii>׌LAj+A"j+A:jî@Rj C!.ѿ8~k@BjR.:ڶ;f$?*j(#2jԇZj@\LU@saEǦ?JjFeo? L?C?jo j"@i?ifjBjh?jj̈́Brj%Azjz$@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503874 s, deltaX: 0.500000 m, approachRate: 0.992312 m/s, rangeRepo size: 4  Added new target pos. range: 10.688796 m, bearing: 312.916447 deg, lat: 36.779522 deg, lon: -121.859762 deg, deltaT: 0.503874 s, deltaX: 0.499476 m, approachRate: 0.991273 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.69 m.hhhhhggjgrgreZe:e`ff%@*e[E>"[EQ>*[E?@U5<)Y ]̴=i]9)Y]XJ3a]&8iyiIIu:@y @y@}F4@yDAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.5 BBBYIBBBBBB;B[EDAT read: 01:20:27.5817 LVL= 32752, 18177, 25554, 32755, AGC= 50, IDX= 507,-0.38,-2.391,-0.062,-1.157,-0.826, PHS=-1.463, 0.809,-0.374, RAW= 301.4, 10.5, CAL= 298.8, 13.5, ROT= 211.2, -13.5 -Ygot valid direction response: 01:20:27.5817 LVL= 32752, 18177, 25554, 32755, AGC= 50, IDX= 507,-0.38,-2.391,-0.062,-1.157,-0.826, PHS=-1.463, 0.809,-0.374, RAW= 301.4, 10.5, CAL= 298.8, 13.5, ROT= 211.2, -13.5 5T#Rx 15: Read range and direction messages.=`direction in FSK: [-0.831731,-0.503714,0.233445]=Fpublishing direction and range infoyJY*SܧZkl%E?Y,AGc )2ICiO?|aU@f;>@ :Fq>)k@I:Fq/Jmu) ~? G):I6&i:Fq]checking for new query: numPingsReceived=15, elapsed TxPingTime=9.594199ԑ ^A I I9 Ou > 5#,9@׌LA2?2?2D<ٱ23G>2H¿ ?&?@aլ?GE?za?i2?I2];0Y>By>IPMDDAT read: Rx Time:01:20:28.0819 ]TRx dataTimestamp_ set to:1764897629.046363PDAT read: Bearing 43.1, -22.4 (Local) ~Local bearing/azimuth received: Bearing 43.1, -22.4 (Local) checking for new query: numPingsReceived=15, elapsed TxPingTime=9.840773i-Mb@Mb@Mb@)))) )9-Gz?|?5^?L7A`?Y->y-M>-+=)-A -A)-pA)Y-3AbDEVDE78yM<%)=ٔ K:Q->9Y=5Ey=E>Q 54M?Q 94E)xBY"?Q E:y@Q I'@_DI:is:4y˕Bɮ('AEk9O=1PEjiNmNmiim2׌LAj,A"j,A:j@RjmnqR!ů@f׼\!<&@BjJY*SܧZkl%E?*j6&2j:FqZjp鴔J@ny 2Z?Jj`"?SDWV֧?j& jP@i?E EE)E"E&:*E:VEFA4ZEBEh;*[A@D<) =i 9)顽3]`8ii'FII9@ @@4@DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.5  DAT read: 01:20:28.0819 LVL= 32752, 18673, 24754, 32755, AGC= 49, IDX= 509, 0.40,-0.040, 2.286, 1.121, 1.496, PHS=-1.434, 0.835,-0.419, RAW= 303.5, 10.4, CAL= 301.0, 13.2, ROT= 209.0, -13.2  Ygot valid direction response: 01:20:28.0819 LVL= 32752, 18673, 24754, 32755, AGC= 49, IDX= 509, 0.40,-0.040, 2.286, 1.121, 1.496, PHS=-1.434, 0.835,-0.419, RAW= 303.5, 10.4, CAL= 301.0, 13.2, ROT= 209.0, -13.2  T#Rx 16: Read range and direction messages. `direction in FSK: [-0.851511,-0.472000,0.228351] Fpublishing direction and range infoyf`?>A5޿ :?Y1AH` )1IPiU?+־@9>0@ k>)ti@Ik}klຌ9"? ,E)+9I*(ik5 checking for new query: numPingsReceived=16, elapsed TxPingTime=10.089680! ^A FӅI I O >75#,#Z׌LAfH?f.?f <ٱfN>fHſ@?ࡍ?ÿ ԣ?@0|`?`6V?ifH?If];dYzByzIbD%VD%l8yEdp<%M}=ٔUFQ-] ?9aYa=e5EyamU=Em?iQ 5u4mE?Q 9}4mA)mBYyy}@Q I(@meDIm;im;m,4yɮ'A"k1PtCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1O Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcoursejNCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRMAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRiiR׌LAjj1A"jj1A:j8\@Rjm u>"9T`!A@Bjf`?>A5޿ :?*j*(2jkZjjCh@^,Ȱ eT?Jj <?zjoVgɈ?j jG@idR?i6cjKBj?jfjBrjc,AzjU @ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503800 s, deltaX: 0.300000 m, approachRate: 0.595475 m/s, rangeRepo size: 4  Added new target pos. range: 11.088383 m, bearing: 310.400299 deg, lat: 36.779520 deg, lon: -121.859764 deg, deltaT: 0.503800 s, deltaX: 0.299686 m, approachRate: 0.594852 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.09 m.hqhqhqhqhqgygyjgyrgyreZe:e@33&@*eR?[["[*[@ <) =i9)*3H8iig  I I UDDAT read: Rx Time:01:20:28.5820 mTRx dataTimestamp_ set to:1764897629.550010PDAT read: Bearing 45.3, -21.0 (Local) ~Local bearing/azimuth received: Bearing 45.3, -21.0 (Local) ԩDAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.5 Z#Rx 17: Read range message, but no direction.yYY]4AYchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.380886U&ּE EE*E"E;*EZ:VE(N4ZEa@a@a@a@@ @@4@@@zA A A AAB B B B B B B B ;B [E DAT read: 01:20:28.5820 LVL= 32752, 18545, 24818, 32755, AGC= 51, IDX= 510, 0.20,-0.438, 1.867, 0.661, 1.057, PHS=-1.393, 0.856,-0.440, RAW= 305.0, 10.0, CAL= 302.7, 12.4, ROT= 207.3, -12.4 % Ygot valid direction response: 01:20:28.5820 LVL= 32752, 18545, 24818, 32755, AGC= 51, IDX= 510, 0.20,-0.438, 1.867, 0.661, 1.057, PHS=-1.393, 0.856,-0.440, RAW= 305.0, 10.0, CAL= 302.7, 12.4, ROT= 207.3, -12.4 - Z#Rx 18: Read direction message, but no range.5 `direction in FSK: [-0.867888,-0.447950,0.214735]y  X{W7ܿh`r|? qH ` ) 3I Mi "[? Gᾩ X@ ¸2> A@ k]>) kg@I k] qrc h(yA^D? pC) 3I J*i k]M checking for new query: numPingsReceived=18, elapsed TxPingTime=10.594764^A} I I O >V5#,"v׌LA85Y?54??54<ٱ5lW>5H`jɿ?^?cǿ@0? M?]H?i5Y?I5α];5ؑCYByII<)a=i}Mb@Mb@Mb@yyyy y9}#~j?Cl?~jt?Y}>y}O>}=}@}-A }CA)}AyY}\AbDVD8ԙy%=ٔP7Q->9Y=5Eyw=E>Q 54o9?Q 9 42<)BY  >Q E :y  @Q I (@mDI:iM:4yɮ8'Ai!i%]3c׌LAj%4A"j%4A:j%e@Rj%6#ڐM95_Hd@Bj%X{W7ܿh`r|?*j%J*2j%k]Zj%)Z@I'!S?Jj%+7?.Ͳv9?j%  j%@i%$?i%cj%Bj%_?j%Jj%KBrj%0Azj%@ addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.258277 s, deltaX: 0.200000 m, approachRate: 0.774362 m/s, rangeRepo size: 4  Added new target pos. range: 11.288161 m, bearing: 310.465290 deg, lat: 36.779520 deg, lon: -121.859765 deg, deltaT: 0.258277 s, deltaX: 0.199779 m, approachRate: 0.773505 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.29 m.hhhhhggjg!rg%Bre!Ze!:e%&@*e- u?DDAT read: Rx Time:01:20:29.0823  TRx dataTimestamp_ set to:1764897630.053733%PDAT read: Bearing 52.3, -29.4 (Local) -~Local bearing/azimuth received: Bearing 52.3, -29.4 (Local) eDAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.5 uZ#Rx 19: Read range message, but no direction.yY3;A[] >[] >"[]f>*[]6 @mchecking for new query: numPingsReceived=19, elapsed TxPingTime=10.8853234<) T=i9)顕4Ԥ8iiݿIIyb]D] =D] R=Ei  Em Em +Ei "Ei *Em xv:VEm [4ZEi BEm DH5#,&׌LA4<ɰ4bH@ʿ(?vE?@Eɿֱ?nv?K?ib&P?Ib3];b֑CYByIbD-VD-r8y=,<%=H=ٔEQ-E>a9iYi=m5Eyiu=Eu>yQ 5}4}/?Q 94}7)}BYy @Q I(@}sDI};i};}4yƕBɮ&AEii]p׌LAj;A"j;A:j@Rj8mzb#=iZ?Bjiɻ\juxۤzꇴ?*j.k#2jlZj~m @nfN8 -QÿJjQ;Z ?s@4H64j jAi)?iXA jBj?jj?Brjl4Azjƭ@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503723 s, deltaX: 0.400000 m, approachRate: 0.794086 m/s, rangeRepo size: 4  Added new target pos. range: 11.687742 m, bearing: 316.050754 deg, lat: 36.779520 deg, lon: -121.859765 deg, deltaT: 0.503723 s, deltaX: 0.399581 m, approachRate: 0.793255 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.69 m.hhhhhgg!jg!rg!re!Ze):e-`ff'@*e-S?[["[*[ @<) ,=i19)l4&8ii Կ  I IԑuDDAT read: Rx Time:01:20:29.5824 TRx dataTimestamp_ set to:1764897630.557667PDAT read: Bearing 51.2, -24.1 (Local) ~Local bearing/azimuth received: Bearing 51.2, -24.1 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.5 Z#Rx 21: Read range message, but no direction.yyY}f>Aychecking for new query: numPingsReceived=21, elapsed TxPingTime=11.371993W9E  E E -E "E T;*E ?:VE t4ZE a @a @a @a @ 9%DAT read: 01:20:29.5824 LVL= 32752, 17201, 19266, 32755, AGC= 57, IDX= 2,-0.00,-0.501, 1.825, 0.667, 0.955, PHS=-1.353, 0.915,-0.332, RAW= 303.3, 7.9, CAL= 300.9, 8.2, ROT= 209.1, -8.2 -Ygot valid direction response: 01:20:29.5824 LVL= 32752, 17201, 19266, 32755, AGC= 57, IDX= 2,-0.00,-0.501, 1.825, 0.667, 0.955, PHS=-1.353, 0.915,-0.332, RAW= 303.3, 7.9, CAL= 300.9, 8.2, ROT= 209.1, -8.2 -Z#Rx 22: Read direction message, but no range.=9@9 @9@=/@9@A@E=5`direction in FSK: [-0.864839,-0.481363,0.142629]y  KQ¬뿚_޿x0A? 1C BK ) 9I /i q=j? e@ 0 > @Bup>BqBuSIBuBBqBqBqBu;Bu[Eԁ C>) $i@I C BգHW?!q? LbE)  I (i Cchecking for new query: numPingsReceived=22, elapsed TxPingTime=11.608561ԙ^AIIO ?95#,K׌LAB:>?Bu#?B-<ٱBqP>BH̿`Ӓ`r?*?'˿ ??פ?@S?iB:>?IB];BؑCYbހBybI ddiMMb@Mb@Mb@IIII I9M#~j?-?Mb?YIyM5^>M=Mp@MpA I)MAIYMAbDeVDe}8yuyټ%}=ٔ} Q-}>9yY=5Ey<E>ԉQ 54?Q 94f1)BY>Q E:y@Q I(@}DIM:iV:4yɮ@'AiiѰ׌LAj3>A"j3>A:jޮ@Rjj9ŏ$ ]>X/ ?BjKQ¬뿚_޿x0A?*j(2jCZjr6 @Y*+R!-_ݯ?DDAT read: Rx Time:01:20:30.0826 TRx dataTimestamp_ set to:1764897631.061489PDAT read: Bearing 53.4, -25.1 (Local) ~Local bearing/azimuth received: Bearing 53.4, -25.1 (Local) %DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.5 5Z#Rx 23: Read range message, but no direction.Jj!ݾ?(P翠A4&Ұ?j  jAi{ʣ?i1jmBjjjByY3CAchecking for new query: numPingsReceived=23, elapsed TxPingTime=11.878512rjj9AzjV@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 1.007756 s, deltaX: 0.500000 m, approachRate: 0.496152 m/s, rangeRepo size: 4  Added new target pos. range: 11.887534 m, bearing: 313.104141 deg, lat: 36.779520 deg, lon: -121.859765 deg, deltaT: 0.503934 s, deltaX: 0.199792 m, approachRate: 0.396464 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.89 m.hhhh9h9g9g9jgArgEBreAZeA:eE`ff(@*eMf?[m>[m>"[m>*[m @-<) u=iE9)顥.48iip¿IIԹE EE'E"E:*E:VE'4ZEBE6= ϩ@ = 5=)= NYj@I= 59 = :XW5W姿BN%? = F)= \I= g'i= 5 checking for new query: numPingsReceived=24, elapsed TxPingTime=12.108154 A^A}?΅IIO>5#,Q׌LAB?B?B&<ٱBCJ>BH7пcC? ? /Ͽ`?D`.?@&]?iB?IB ];BבCYNڀByN|IbDVVDVd8y^|%^1=ٔ^o?Q-b>9`Y`=b5Eydf^=Ef>hQ 5n4j?Q 9n4j,)jBYlynl@Q Ir(@jDIjS:ij:j4yvBɮv&AvEiiimp׌LAjmBA"jmBA:jm @Rjm1&,_$s ?Bjm-7R뿕)v߿UM7P2?*jmg'2jm5Zjm b:H!@&!dPJLZ?Jjm˼oD?ەh`[Ȧ?jm6  jmG AimJ룊?imQjmBjm{ʣ?jm1jmmBrjmnAAzjmԮ@5DNOT Ignoring new targets: 11.89 m.h1h1h1h9h9g9g9jg9rgAreAZeA:eA*eM ?[i[i"[i*[ml@}&<)y }W=i}e9)y顅p;48iidIIԡUDDAT read: Rx Time:01:20:30.5827 eTRx dataTimestamp_ set to:1764897631.5674819@ @@25@PDAT read: Bearing 55.3, -25.5 (Local) ~Local bearing/azimuth received: Bearing 55.3, -25.5 (Local) -DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.5 DAT read: 01:20:30.5827 LVL= 32752, 18753, 25362, 32755, AGC= 55, IDX= 501,-0.15,-2.661,-0.322,-1.463,-1.221, PHS=-1.337, 0.944,-0.285, RAW= 302.6, 6.9, CAL= 300.1, 6.3, ROT= 209.9, -6.3 Ygot valid direction response: 01:20:30.5827 LVL= 32752, 18753, 25362, 32755, AGC= 55, IDX= 501,-0.15,-2.661,-0.322,-1.463,-1.221, PHS=-1.337, 0.944,-0.285, RAW= 302.6, 6.9, CAL= 300.1, 6.3, ROT= 209.9, -6.3 T#Rx 25: Read range and direction messages.`direction in FSK: [-0.861662,-0.495477,0.109734]Fpublishing direction and range infoyY];ÈVl߿,=?Y]DAYY]AI]c Y)]7I]"i]q?]둾]@]Ϣ=]@ ]z0=)]uj@I]z0ὩYY]P)PDQSt+ξ? ]S2F)]^I]ϩ'i]z0ὩYYchecking for new query: numPingsReceived=25, elapsed TxPingTime=12.404033E EE*E"E;*E:VE(N4ZEa@a@a@a@^AIIOE> checking for new query: numPingsReceived=25, elapsed TxPingTime=12.597398B A 4=B q>B B LIB BB \ =B B B ;B [EBqBqBqBu] =Bu] =CuK5! Z5#,׌LA2k?2?2 %<ٱ2H>2H@ѿ@HJ@2?v?sп V? 􃙿A?`?i2k?I2 ];2ّCY>؀ByByIbDHVDHy-~%-E=ٔM9Q-M>9IYQ=U5EyQUZ=E]>YQ 5e4]H?Q 9e4]()]BYiymT@Q Im(@]DI]:i]:]4y}Bɮ}&AEiiQ׌LAjDA"jDA:jz@Rj\',%4"ZP+¹?Bj;ÈVl߿,=?*jϩ'2jz0Zj϶齩!@TR!mj?JjV?=ϨI90F?j jM Ai~?i jBjJ룊?jQjBrjFAzj]@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505992 s, deltaX: 0.100000 m, approachRate: 0.197632 m/s, rangeRepo size: 4  Added new target pos. range: 12.287148 m, bearing: 315.983780 deg, lat: 36.779528 deg, lon: -121.859761 deg, deltaT: 1.009814 s, deltaX: 0.399613 m, approachRate: 0.395730 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.29 m.hhhhhggjgrgreZe:e(@*e ?[)[)"[)*[-BT@= %<)9 =G=i=99)AE`I4E9iAimqqIqIqmDDAT read: Rx Time:01:20:31.0830 uTRx dataTimestamp_ set to:1764897632.070017PDAT read: Bearing 57.7, -25.3 (Local) ~Local bearing/azimuth received: Bearing 57.7, -25.3 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.5 Z#Rx 26: Read range message, but no direction.yiYmIAichecking for new query: numPingsReceived=26, elapsed TxPingTime=12.876844)@) @)@-0@)@1@1GeA9Y=>AE  E E -E "E V:*E ą:VE t4ZE BE 9X6#,a،LA6c?6h?6M<ٱ6 H>6Hѿ+`A?ີ?lMѿY?"I@?`?i6c?I6];6ؑCYNӀByRsIIV=)V4y5"[>5<5@5-A 5-A)11Y53AbDMVDM`8yUƼ%]G=ٔ]AQ-]>9aYa=e5Eyaem =Em>iQ 5u4mf?Q 9}4m$)mBY}>Q E}:y}@Q I}(@mDIm;im;m4yɮ&ADAT read: 01:20:31.0830 LVL= 32752, 19873, 27122, 32755, AGC= 57, IDX= 504,-0.34,-0.940, 1.414, 0.244, 0.483, PHS=-1.321, 0.976,-0.283, RAW= 303.2, 6.3, CAL= 300.8, 5.2, ROT= 209.2, -5.2 Ygot valid direction response: 01:20:31.0830 LVL= 32752, 19873, 27122, 32755, AGC= 57, IDX= 504,-0.34,-0.940, 1.414, 0.244, 0.483, PHS=-1.321, 0.976,-0.283, RAW= 303.2, 6.3, CAL= 300.8, 5.2, ROT= 209.2, -5.2 Z#Rx 27: Read direction message, but no range.`direction in FSK: [-0.869330,-0.485852,0.090633]yuv/Z1߿0L3?Mi )9Ii#y?`吾V@z0=@ ޹=)i@I޹YIᅩn8 {Z? E)KLIq(i޹-checking for new query: numPingsReceived=27, elapsed TxPingTime=13.119053ii){،LAjcIA"jcIA:j&m@RjF[% bv @?Bjuv/Z1߿0L3?*jq(2j޹Zj{N@"@(!T(?JjHC?^kLExjJb?j(  jAi)?i[* j2Bj~?jXA jBrjcIAzj%@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502536 s, deltaX: 0.300000 m, approachRate: 0.596973 m/s, rangeRepo size: 4  Added new target pos. range: 12.586834 m, bearing: 315.890176 deg, lat: 36.779529 deg, lon: -121.859760 deg, deltaT: 0.502536 s, deltaX: 0.299686 m, approachRate: 0.596348 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.59 m.hhhhhggjg1rg5Bre1Ze1:e5@33)@*e=`?[>[>"[>*[$@M<) =iJ9)b4V9iiJ >II @ @@#5@9} DDAT read: Rx Time:01:20:31.5830  TRx dataTimestamp_ set to:1764897632.574542 PDAT read: Bearing 59.4, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 59.4, -24.3 (Local)  DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.5  Z#Rx 28: Read range message, but no direction.y Y  checking for new query: numPingsReceived=28, elapsed TxPingTime=13.379021a ^A FӅI I O >0 6#,*،LAEF EFEF*ED"EF;*EF1:VEF(N4ZEDaJ@aJ@aJ@aJ@R??R$?RUз<ٱR2G>RHҿ``%?$?$ҿ?@ ?c?iR??IR];PY~΀By~mIbDVDH89yuǼ%uH=ٔ}MQ-}>9yYy=5Ey =E>Q 54K?Q 94 )BYy@Q I(@DIY;i;44yɮ&'A addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504525 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.59 m.hhhhhggjgrgreZe:e*e?[ [ "[ *[ @Uз<) %t=i%59)!%x4%9i!i-h))I)I1 99I9)9aBp>BB:IBBBBBB;B[EDAT read: 01:20:31.5830 LVL= 32752, 21121, 28370, 32755, AGC= 58, IDX= 504, 0.28, 0.817,-3.137, 1.950, 2.207, PHS=-1.288, 0.984,-0.302, RAW= 304.3, 6.2, CAL= 302.0, 5.0, ROT= 208.0, -5.0 Ygot valid direction response: 01:20:31.5830 LVL= 32752, 21121, 28370, 32755, AGC= 58, IDX= 504, 0.28, 0.817,-3.137, 1.950, 2.207, PHS=-1.288, 0.984,-0.302, RAW= 304.3, 6.2, CAL= 302.0, 5.0, ROT= 208.0, -5.0 Z#Rx 29: Read direction message, but no range.`direction in FSK: [-0.879588,-0.467685,0.087156]yba/%T$2ݿO?Rn ):I/ݤim{?@k=+@ ¸=)Vh@I¸Ⓒ`1X\BU? =1D)~ݽI)i¸checking for new query: numPingsReceived=29, elapsed TxPingTime=13.618882ԩ@ @@?5@^AS%}I I9 Oe >Թ } DDAT read: Rx Time:01:20:32.0833  TRx dataTimestamp_ set to:1764897633.076734 PDAT read: Bearing 62.4, -23.9 (Local)  ~Local bearing/azimuth received: Bearing 62.4, -23.9 (Local) Ii6#,WE،LA;ɰ6R?6?6 <ٱ6.D>6H@͍ӿ@'c?Qv?@ҿ5?@ە`^?Ih?i6R?I6];6ّC>DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4 NDAT read: 01:20:32.0833 LVL= 32752, 22705, 28066, 32755, AGC= 59, IDX= 507, 0.03, 2.220,-1.750,-2.975,-2.723, PHS=-1.238, 1.018,-0.296, RAW= 305.4, 5.3, CAL= 303.0, 3.4, ROT= 207.0, -3.4 RYgot valid direction response: 01:20:32.0833 LVL= 32752, 22705, 28066, 32755, AGC= 59, IDX= 507, 0.03, 2.220,-1.750,-2.975,-2.723, PHS=-1.238, 1.018,-0.296, RAW= 305.4, 5.3, CAL= 303.0, 3.4, ROT= 207.0, -3.4 VT#Rx 30: Read range and direction messages.Z`direction in FSK: [-0.889438,-0.453191,0.059306]ZFpublishing direction and range infoy | AEGvdMݿCg]?Y QA X m ) ;I vi M? P J@ q= %:@ s=) 8g@I s Q8_(8mJʱ? B) ӽI *i s Mchecking for new query: numPingsReceived=30, elapsed TxPingTime=13.919641YǀByeIiMb@Mb@Mb@ E EEE"E*E-:VEZEBE>CyZd><@(A ?A)lAY\AbDUVDU88y4ɼ%&=ٔ#Q->9Y=5Ey0<E>Q 54䠊?Q 94)BY>Q E:y@Q I(@DI>;i;4yBɮ,'AEi i 6D،LAj aQA"j aQA!:j @Rj ?c]eG'?Bj AEGvdMݿCg]?*j *2j sZj 4Y|"@d`N"?okJj zi}?[1<Ҙj 5 j Ai ?i j Bj ?j Qj rj \PAzj @ addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502192 s, deltaX: 0.500000 m, approachRate: 0.995635 m/s, rangeRepo size: 4  Added new target pos. range: 13.086292 m, bearing: 314.937140 deg, lat: 36.779529 deg, lon: -121.859761 deg, deltaT: 1.006717 s, deltaX: 0.499458 m, approachRate: 0.496126 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.09 m.hhhhhggjgrgBreZe:e@33*@*e ?[->[->"[-?*[-@] <)Y ]T=i]9)ae4eZ$9iaim,iiIiIqI}yA)}yAchecking for new query: numPingsReceived=30, elapsed TxPingTime=14.109658:@ @!@%4@!@)@-=Q^AsPII O>ԁ 6#,_،LA2?2q?2<<ٱ2vA>2H`'TԿ`V?V?@ӿ?9`p?@Sl?i2?I2];2ؑCYBByB]I DDDFAbDJVDJ.8yV %V=ٔVSyQ-Z?9XYX=Z5EyX^(=E^?`Q 5f4bzܠ?Q 9f4b)bBYdyjk@Q Ij(@bDIb:ib:b84ylɮn^'AlDNOT Ignoring new targets: 13.09 m.hhh h h g g jgrgreZe:e*e@?ԙ[["[*[k@e<<)iDDAT read: Rx Time:01:20:32.5833 TRx dataTimestamp_ set to:1764897633.580742PDAT read: Bearing 65.5, -24.0 (Local) ~Local bearing/azimuth received: Bearing 65.5, -24.0 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.5 m=i-9)15L45*9i1i=!99I9I9uDAT read: 01:20:32.5833 LVL= 32752, 23361, 29554, 32755, AGC= 60, IDX= 508,-0.23,-0.061, 2.275, 1.018, 1.253, PHS=-1.212, 1.067,-0.279, RAW= 306.0, 4.3, CAL= 303.6, 1.5, ROT= 206.4, -1.5 }Ygot valid direction response: 01:20:32.5833 LVL= 32752, 23361, 29554, 32755, AGC= 60, IDX= 508,-0.23,-0.061, 2.275, 1.018, 1.253, PHS=-1.212, 1.067,-0.279, RAW= 306.0, 4.3, CAL= 303.6, 1.5, ROT= 206.4, -1.5 T#Rx 31: Read range and direction messages.`direction in FSK: [-0.895405,-0.444483,0.026177]Fpublishing direction and range infoyY? (grܿP!Κ?Y3SAA[rs )<I"iu?َ@`=@ Pw<)f@IPwּ`~A;!H? cB)jI+iPwּchecking for new query: numPingsReceived=31, elapsed TxPingTime=14.403889E9@A @I@M/@IbE(N4jE-W4rE\00E  E E .E "E *E :VE ـ4ZE a@a@a%@a%@^A%_'I)IAOMR>- checking for new query: numPingsReceived=31, elapsed TxPingTime=14.613295B5 q>B1 B5 -IB5 BB5 ] =B1 B1 B5 w;B5 }[E 6#,y،LAF?F2?F&<ٱF<>FHտ@Fc?@!6?@Կ``?`sG{?us?iF?IFK];FבCYzByzSIbD^VD8y-%-B=ٔ5,Q-5>91Y1=55Ey9=j<E=>AQ 5e4EР?Q 9m4EQ)EBYqy}>@Q I}(@EDIEi;iE;E4yɮ'Aii*e،LAjRA"jRA:j.@Rj`Wv*'/0qS?BjY? (grܿP!Κ?*j+2jPwּZjY"@~˽Ss|"))bYJj߰?lhQn濅ۂ֣j j?Ai 裊?io jgBjj[* j2Brj-TAzj1J@uPExceeded connect timeout, disconnecting. addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504008 s, deltaX: 0.099999 m, approachRate: 0.198408 m/s, rangeRepo size: 4  Added new target pos. range: 13.186174 m, bearing: 315.453064 deg, lat: 36.779529 deg, lon: -121.859759 deg, deltaT: 0.504008 s, deltaX: 0.099882 m, approachRate: 0.198176 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.19 m.hhhhhggjgrgreZe:e`ff*@*e ?[9[9"[9*[=q>@&<) }=i9)4Y49i)ikaiIiIyDDAT read: Rx Time:01:20:33.0835 TRx dataTimestamp_ set to:1764897634.085012PDAT read: Bearing 66.5, -23.0 (Local) ~Local bearing/azimuth received: Bearing 66.5, -23.0 (Local) DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 DAT read: 01:20:33.0835 LVL= 32752, 22465, 30706, 32755, AGC= 60, IDX= 510, 0.25,-2.761,-0.473,-1.736,-1.481, PHS=-1.178, 1.052,-0.299, RAW= 307.0, 4.4, CAL= 304.6, 1.9, ROT= 205.4, -1.9 Ygot valid direction response: 01:20:33.0835 LVL= 32752, 22465, 30706, 32755, AGC= 60, IDX= 510, 0.25,-2.761,-0.473,-1.736,-1.481, PHS=-1.178, 1.052,-0.299, RAW= 307.0, 4.4, CAL= 304.6, 1.9, ROT= 205.4, -1.9 T#Rx 32: Read range and direction messages.`direction in FSK: [-0.902839,-0.428699,0.033155]Fpublishing direction and range infoyKD aoۿB3?YXAWw )IȖi?v@nF=@ =9@ @@@)oe@IQ; ^"V]\? GA)ڝI,i]checking for new query: numPingsReceived=32, elapsed TxPingTime=14.958348^A׽IE  E E *E "E ;*E :VE (N4ZE BE Ay $6#,n،LA:?:s?:Ϟ<ٱ:P9>:Hտ@?@?3տ?`s?px?i:?I:y];8YRByRWIrchecking for new query: numPingsReceived=32, elapsed TxPingTime=15.117403i=Mb@Mb@Mb@9999 99=/$?}?5^I??Y=1>y=Mb>=<=~@9 =A)=A9Y=AbDUfVDU 8y]?<%eG=ٔe-&Q-e>9iYi=m5Eyim<Eu>qQ 5}4uHŠ?Q 94u)uBYP>Q E:y@Q I(@uDIu ;iu,:u4yBɮY'Aiip،LAjWA"jWA:jv @RjŬY(RnF! Fȸ⶝?BjKD aoۿB3?*j,2jZjP-To!#@[P>"[?*[@Ϟ<) % >i%9)!%ɪ4-;9i)i5c\99I9IA9@ @ @ @ @@ԁ^A;ʏIIOI>ߝ=ߝ=ԱDDAT read: Rx Time:01:20:33.5836 TRx dataTimestamp_ set to:1764897634.594640PDAT read: Bearing 68.3, -23.6 (Local) ~Local bearing/azimuth received: Bearing 68.3, -23.6 (Local)  DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 - DAT read: 01:20:33.5836 LVL= 32752, 21809, 28610, 32755, AGC= 60, IDX= 511,-0.06, 1.366,-2.626, 2.400, 2.636, PHS=-1.169, 1.066,-0.281, RAW= 306.8, 4.0, CAL= 304.4, 1.0, ROT= 205.6, -1.0 5 Ygot valid direction response: 01:20:33.5836 LVL= 32752, 21809, 28610, 32755, AGC= 60, IDX= 511,-0.06, 1.366,-2.626, 2.400, 2.636, PHS=-1.169, 1.066,-0.281, RAW= 306.8, 4.0, CAL= 304.4, 1.0, ROT= 205.6, -1.0 = T#Rx 33: Read range and direction messages.= `direction in FSK: [-0.901695,-0.432020,0.017452]E Fpublishing direction and range infoy_¯×G7ۿW7) ߑ?Y3[A1Uo )Iˡir?;ߏuY@5=P@ 5<)Le@I5s9Z:ɱ? ;A)kIiw,i5] checking for new query: numPingsReceived=33, elapsed TxPingTime=15.395043 E%  E% E% )E! "E% ;*E% :VE% FA4ZE! a- @a- @a- @a- @*6#,K،LA2?2B?2,u<ٱ27>2HM^ֿ@?`?`տ? m ? {?i2?I2ظ];0Y>ByBFIIF<)FbDJiVDJ 8yr%rS=ٔrQ-r>9tYt=v5EytzZ<Ez>xQ 5%4zF?Q 9%4z")z*BY!y%<@Q I%(@zDIz:iz6:z4y1ɮ5'A1ii،LAjZA"jZA:je@Rj"9(N_Vc?Bj_¯×G7ۿW7) ߑ?*jiw,2j5Zj=%ם#@p #Ѵ\JjE%?lflEܱ:ͦje jAi=?i j~Bjj jBrjZAzjOM@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.509628 s, deltaX: 0.200000 m, approachRate: 0.392443 m/s, rangeRepo size: 4  Added new target pos. range: 13.685651 m, bearing: 315.839878 deg, lat: 36.779529 deg, lon: -121.859760 deg, deltaT: 0.509628 s, deltaX: 0.199790 m, approachRate: 0.392031 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.69 m.hhhhhggjgrgre!Ze!:e%`ff+@*e%f?[a[a"[a*[e+<@,u<) =ij9)顝շ4B9iicQIIԱchecking for new query: numPingsReceived=33, elapsed TxPingTime=15.621813BBB!IBBB\ =BBBx;B[Em9@i @i@m/@i^AES-мIIIaOm5> u nManaging dock network, ignoring radio surface power off DDAT read: Rx Time:01:20:34.0837  TRx dataTimestamp_ set to:1764897635.088635 DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4  Z#Rx 34: Read range message, but no direction.y Y \A  checking for new query: numPingsReceived=34, elapsed TxPingTime=15.8767601 16#,$،LA2P?2?2{<ٱ24>2Heֿ@p KF??iֿ?@K@ـ?`M?i2P?I2];2ّCYBByBAIiMb@Mb@Mb@ 9rh|?S?y&1?Y>y/]>`<@pA A)AY=AbDVDY8y % 9=ٔDQ-5>91Y1==5Ey9=<E=>AQ 5M4E?Q 9M4E )E7BYM>Q EU:yU@Q Iu(@EDIE;iEW;EQ 4y}Bɮ}V'A}E addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.493995 s, deltaX: 0.100000 m, approachRate: 0.202432 m/s, rangeRepo size: 4 DzDAAE EE*E"E:*E]t:VE(N4ZEBE#5[E>"[E.?*[Eq@u{<)q }#>i}X9)y}D4}fI9iyisKIIA@A @A@E0@A^AA<I)9IAOMS>checking for new query: numPingsReceived=34, elapsed TxPingTime=16.125460i 76#,،LAɰ :*?:M?:ӽ~<ٱ:#3>:Hp׿Z3??@ֿ@[?@f׏F??i:*?I:];8YbBybEIbD VD p8yEG<%MX=ٔUQ-]>9iYi=u5Eyq<E>Q 5=4k?Q 9E4J )CBYIuDDAT read: Rx Time:01:20:34.5838 uTRx dataTimestamp_ set to:1764897635.595255}PDAT read: Bearing 57.3, -29.7 (Local) ~Local bearing/azimuth received: Bearing 57.3, -29.7 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.5 DAT read: 01:20:34.5838 LVL= 32752, 23105, 27586, 32755, AGC= 60, IDX= 513,-0.03, 3.128,-0.545,-1.668,-1.426, PHS=-1.627, 0.926,-0.285, RAW= 298.3, 9.0, CAL= 295.8, 10.4, ROT= 214.2, -10.4 Ygot valid direction response: 01:20:34.5838 LVL= 32752, 23105, 27586, 32755, AGC= 60, IDX= 513,-0.03, 3.128,-0.545,-1.668,-1.426, PHS=-1.627, 0.926,-0.285, RAW= 298.3, 9.0, CAL= 295.8, 10.4, ROT= 214.2, -10.4 T#Rx 35: Read range and direction messages.`direction in FSK: [-0.813493,-0.552849,0.180519]Fpublishing direction and range infoyqu"X"0lE@?Yu`AqquAZuk q)qIuAпiuVm?u둾u&@u| >u4@ u9>)uCo@Iu9qquH(9-?@iQ? u*G@)u4 Iu4"iu9qqchecking for new query: numPingsReceived=35, elapsed TxPingTime=16.399260yUo@Q I (@DI^;=i;=4yɮ='Aiqiu،LAju_A"ju_A:juO@Rjuӵg&KZl9n2@Bju"X"0lE@?*ju4"2ju9Zju``N'@ƥKy?Jju(p<?nie^9)amZ4mP9iiiuKqqIyE EE.E"E&:*Eh:VEـ4ZEa@a@a@a@Iyԙ9@ @@/@@=@=^A*:=II O >B o>B B IB BB B B B ;B [E  checking for new query: numPingsReceived=35, elapsed TxPingTime=16.629490i>6#,،LAF ?F'?Fw<ٱFU0>FH׿Hj?@ ? nW׿@E?u ?@E?iF ?IF];FבCLYRByRII TTbDZVDZX8yv'<%vP=ٔv8Q-v>9xYx=z5Eyx~<E~>Q 5 4?Q 9 4)OBY y @Q I (@ŐDI:i:4yɮ"'ADNOT Ignoring new targets: 13.99 m.hhhhhggjgrgreZe :e!*e-9[?[["[*[@w<)! -0>i-9)1=}4=V9i9iq]QIIe%=e<mDDAT read: Rx Time:01:20:35.0840 uTRx dataTimestamp_ set to:1764897636.097461}PDAT read: Bearing 71.2, -23.5 (Local) ~Local bearing/azimuth received: Bearing 71.2, -23.5 (Local) DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 DAT read: 01:20:35.0840 LVL= 30560, 16113, 23458, 32755, AGC= 63, IDX= 3, 0.42, 1.855,-2.164, 2.858, 3.097, PHS=-1.140, 1.067,-0.283, RAW= 307.3, 3.7, CAL= 304.9, 0.6, ROT= 205.1, -0.6 Ygot valid direction response: 01:20:35.0840 LVL= 30560, 16113, 23458, 32755, AGC= 63, IDX= 3, 0.42, 1.855,-2.164, 2.858, 3.097, PHS=-1.140, 1.067,-0.283, RAW= 307.3, 3.7, CAL= 304.9, 0.6, ROT= 205.1, -0.6 T#Rx 36: Read range and direction messages.`direction in FSK: [-0.905519,-0.424176,0.010472]Fpublishing direction and range infoyquVCk+tPI%ۿ/;r?YudAqu`wu>u[ q)u?Iu둿iuu?u`吾u@u A=uI@ u+<)uRe@Iu+qquQ9o\|8kV_9Y(? uo@)uIuc-iu+qqEchecking for new query: numPingsReceived=36, elapsed TxPingTime=16.909342E EE,E"E:*Ez:VEg4ZEBEF8I I O >D6#,ٌLA28?2r?2~u<ٱ2nI->2H,ؿ u<`?? %?׿ɳ?``!?@?i28?I2!];2ّCY:By>PIVchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.133596piMb@Mb@Mb@ 9bX9?zG?Q?YE>y W>\=@A A)AYAbD-VD-18y="<%=D=ٔE Q-E>9AYA=E5EyIMW<EM>QQ 5]4Ur?Q 9]4U)U\BYe`>Q Ee:ye'@Q Ie(@UʐDIU ;iU;U 4ymBɮm&Aiii<ٌLAjdA"jdA:jJ@Rj@ )#W<z"y%?BjVCk+tPI%ۿ/;r?*jc-2j+ZjaYՋ$@e3sq#OUُJj ue?n*) "Wj j'Ai?iZ3j~Bj=?jo jgBrj"eAzj@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502206 s, deltaX: 0.300000 m, approachRate: 0.597365 m/s, rangeRepo size: 4 5 Added new target pos. range: 14.284992 m, bearing: 317.052177 deg, lat: 36.779529 deg, lon: -121.859759 deg, deltaT: 0.502206 s, deltaX: 0.299638 m, approachRate: 0.596643 m/s, posRepo size: 4 5DNOT Ignoring new targets: 14.28 m.h9h9h9h9h9g9g9jgArgEoBreAZeA:eM,@*eM1?[`>[`>"[wo?*['@~u<) \>i$9)5 ]9ii2[II%:@! @!@%+5@!^A.>I)9IO>]DDAT read: Rx Time:01:20:35.5841 eTRx dataTimestamp_ set to:1764897636.601125mPDAT read: Bearing 72.6, -24.2 (Local) m~Local bearing/azimuth received: Bearing 72.6, -24.2 (Local) }DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 DAT read: 01:20:35.5841 LVL= 32752, 24625, 28962, 32755, AGC= 58, IDX= 500,-0.06,-0.599, 1.703, 0.436, 0.650, PHS=-1.147, 1.097,-0.258, RAW= 306.8, 3.2, CAL= 304.5, -0.3, ROT= 205.5, 0.3 Ygot valid direction response: 01:20:35.5841 LVL= 32752, 24625, 28962, 32755, AGC= 58, IDX= 500,-0.06,-0.599, 1.703, 0.436, 0.650, PHS=-1.147, 1.097,-0.258, RAW= 306.8, 3.2, CAL= 304.5, -0.3, ROT= 205.5, 0.3 T#Rx 37: Read range and direction messages.bdirection in FSK: [-0.902573,-0.430505,-0.005236]Fpublishing direction and range infoyae2H`iؿ}2b??׿ ? O?@?i2D?I2];2ؑCY>ByB?IbDJVDJ-8yVH%VV=ٔVQ-V>9XYX=Z5EyX^n-<E^>pQ 5v4r?Q 9v4rB)riBYtyvn@Q Iv(@rϐDIr6:ir:r&4yxɮ;'A!Yiix&ٌLAj(fA"j(fA:jY@Rj?{)dFЗHBjB}CByByB}] =ByByB};B}[EB9B9B9B=\ =B=\ =C=c4checking for new query: numPingsReceived=37, elapsed TxPingTime=17.640253ԉE9@I @I@M/@Q@a@a^A.[>I1IIOUS>Ա  DDAT read: Rx Time:01:20:36.0843  TRx dataTimestamp_ set to:1764897637.109117 PDAT read: Bearing 72.6, -24.0 (Local)  ~Local bearing/azimuth received: Bearing 72.6, -24.0 (Local)  DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4  DAT read: 01:20:36.0843 LVL= 32752, 23313, 29426, 32755, AGC= 58, IDX= 502, 0.36, 1.299,-2.711, 2.317, 2.542, PHS=-1.141, 1.075,-0.269, RAW= 307.0, 3.5, CAL= 304.6, 0.2, ROT= 205.4, -0.2  Ygot valid direction response: 01:20:36.0843 LVL= 32752, 23313, 29426, 32755, AGC= 58, IDX= 502, 0.36, 1.299,-2.711, 2.317, 2.542, PHS=-1.141, 1.075,-0.269, RAW= 307.0, 3.5, CAL= 304.6, 0.2, ROT= 205.4, -0.2  T#Rx 38: Read range and direction messages. `direction in FSK: [-0.903330,-0.428932,0.003491] Fpublishing direction and range infoy  , sۿQC1ml?Y 3kA [ r ) I J i ? ^ v@ 5z= @ d;) oe@I d w0} d+/*M? ;A) ,z A M kCiR6#,mHٌLA:GDPf79hYj4AI,id-checking for new query: numPingsReceived=38, elapsed TxPingTime=17.954817ԹYByGII=)a=E EE+E"E*E:VE [4ZEBE>CyR>+=@ZA )CAYAbD-VD->8y}b<%}%=ٔ}Q-}>9Y=5EyE>Q 54ru?Q 94)yBY>Q E:y @Q I(@֐DI/;i;n/4yɮ'AiiFٌLAjjA"jjA:jV@Rj*)1J>?Bj, sۿQC1ml?*j,2jdZj9K2 %@ 4#3TB_Jj{Zp?堶u⫿jl j-Ai?iS:j,~Bj%R?jS:j~BrjiAzj?@u addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.507992 s, deltaX: 0.300000 m, approachRate: 0.590561 m/s, rangeRepo size: 4  Added new target pos. range: 14.684525 m, bearing: 317.523814 deg, lat: 36.779530 deg, lon: -121.859756 deg, deltaT: 0.507992 s, deltaX: 0.299638 m, approachRate: 0.589847 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.68 m.hhhhhggjgrgNBreZe:e`ff-@*e`?[>[>"[?*[ @I)Q UB>iUǩ9)QU>5Utj9iQi]hrYaIaIachecking for new query: numPingsReceived=38, elapsed TxPingTime=18.145369  $99 } 9@y  @y @} 0@y ^A} >I I O >X6#,rcٌLA=k?=?=H]q<ٱ=\'>=HҰؿ'v?ۄ?D8ؿ\?a+`?@"?i=k?I=];=֑CYMByUBIabDmVDm;8yu ļ%}b=ٔ}d$Q-}>9Y=5EyT<E>Q 54k?Q 94O)BYyb@DDAT read: Rx Time:01:20:36.5844 TRx dataTimestamp_ set to:1764897637.613206PDAT read: Bearing 73.2, -23.7 (Local) ~Local bearing/azimuth received: Bearing 73.2, -23.7 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.4 DAT read: 01:20:36.5844 LVL= 32752, 24881, 30482, 32755, AGC= 59, IDX= 503,-0.07,-1.948, 0.336,-0.939,-0.709, PHS=-1.137, 1.091,-0.273, RAW= 307.4, 3.3, CAL= 305.0, -0.1, ROT= 205.0, 0.1 Ygot valid direction response: 01:20:36.5844 LVL= 32752, 24881, 30482, 32755, AGC= 59, IDX= 503,-0.07,-1.948, 0.336,-0.939,-0.709, PHS=-1.137, 1.091,-0.273, RAW= 307.4, 3.3, CAL= 305.0, -0.1, ROT= 205.0, 0.1 T#Rx 39: Read range and direction messages.bdirection in FSK: [-0.906306,-0.422618,-0.001745]Fpublishing direction and range infoyG! KviH* ۿn p\YfnA1aw );I7i㥋?Ƌ>@k=X@ )d@I: zifkƟ/? @)i+mI"-i:Echecking for new query: numPingsReceived=39, elapsed TxPingTime=18.417307Q I}(@ېDIgٌLAj&nA"j&nA:j?@Rje Pb*%W))BjG! KviH* ۿn p\*j"-2j:Zj%@hv!$.TJjP?[dtaj ! j.Ai"?ij}Bj?jj,~BrjlAzj[@- addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504089 s, deltaX: 0.200000 m, approachRate: 0.396755 m/s, rangeRepo size: 4 } Added new target pos. range: 14.884314 m, bearing: 317.362677 deg, lat: 36.779531 deg, lon: -121.859756 deg, deltaT: 0.504089 s, deltaX: 0.199789 m, approachRate: 0.396337 m/s, posRepo size: 4 }DNOT Ignoring new targets: 14.88 m.hyhhhhggjgrgԉE EE)E"ET;*E:VEFA4ZEa@a@a@a@re!Ze!:e%-@*e% ?[A[A"[A*[Eb@H]q<) 9>iԩ9)顥u&56q9ii"uIIԹAA@ABBBBBBBBx;B|[Eu checking for new query: numPingsReceived=39, elapsed TxPingTime=18.652670 e :@a  @a @m 3@i !^AqIIO%?YYa6#,~ٌLA$ɰ&p;F?F?Fp<ٱF'>FHؿ 't?`??ؿ@qz? ?k?iF?IF];DYNByNFIrDDAT read: Rx Time:01:20:37.0846 rTRx dataTimestamp_ set to:1764897638.117154zPDAT read: Bearing 73.6, -24.2 (Local) z~Local bearing/azimuth received: Bearing 73.6, -24.2 (Local) DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 -DAT read: 01:20:37.0846 LVL= 32752, 24337, 29634, 32755, AGC= 58, IDX= 505, 0.37, 0.255, 2.549, 1.287, 1.498, PHS=-1.141, 1.096,-0.254, RAW= 306.8, 3.1, CAL= 304.5, -0.3, ROT= 205.5, 0.3 Ygot valid direction response: 01:20:37.0846 LVL= 32752, 24337, 29634, 32755, AGC= 58, IDX= 505, 0.37, 0.255, 2.549, 1.287, 1.498, PHS=-1.141, 1.096,-0.254, RAW= 306.8, 3.1, CAL= 304.5, -0.3, ROT= 205.5, 0.3 T#Rx 40: Read range and direction messages.bdirection in FSK: [-0.902573,-0.430505,-0.005236]Fpublishing direction and range infoypryJ><@C A )ZAY=AbDVDd8y<<%=ٔZQ->9Y=5Ey.:E>Q 5 4z[?Q 94))BY>Q E;y @Q I(@DI*:iv:X@4yɮ5&A1EM EMEM,EI"EM;*EM:VEMg4ZEIBEMAV$EvZ(Jjr.i>? en\Lwpjr" jr3AirZ?ir#$jr}Bjpjr#$jr}Brjr"qAzjrx\@  addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503948 s, deltaX: 0.300000 m, approachRate: 0.595300 m/s, rangeRepo size: 4  Added new target pos. range: 15.184002 m, bearing: 317.853936 deg, lat: 36.779531 deg, lon: -121.859757 deg, deltaT: 0.503948 s, deltaX: 0.299688 m, approachRate: 0.594681 m/s, posRepo size: 4 MDNOT Ignoring new targets: 15.18 m.hIhIhIhIhIgIgQjgQrgU\BreQZeY:e}`ff.@*e} E?[>[>"[_?*[/ @p<) #>i39)k25y9iinIIii߉I߉checking for new query: numPingsReceived=40, elapsed TxPingTime=19.1537559@ @@15@@>@>ԙ ^A >I I O > g6#,qٌLA>?>?>p<ٱ>%>>Hfؿ )`O?}? AؿVY???i>?I>];i9)%<5~9!ii%h))I)I)39:@ @@/@bE] [4jE]T\4rE]/E EE+E"E:*E|:VE [4ZEa@a@a@a@QBe o>Be CBe !IBe BBa Ba Ba y Be ;Be [E^A >I  checking for new query: numPingsReceived=41, elapsed TxPingTime=19.657448I O- > m6#,|`ٌLAF(?Fb?F6r<ٱF]!>FH@Qؿ 2 ?`?2ؿ?>@@??iF(?IFR];FؑCYRByRSIbDZVDZs8yb?*=%bJ=ٔf9Q-f>9dYd=j6EyhjVEj>lQ 5r4ndH?Q 9r4nC)nBYtyv@Q Iv(@nDIn:in :nL4yzBɮzZ&A5EQii §ٌLAjtA"jtA:jQ@RjNo+֎פ]PBju'm)쿤of_?ۿa|*j,2j;ZjA}&@X0$U`ӂJj`?zo䮿j$ j3Aig?ijj}BjjS:j}BrjuAzjj@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504065 s, deltaX: 0.100000 m, approachRate: 0.198388 m/s, rangeRepo size: 4  Added new target pos. range: 15.283931 m, bearing: 317.489264 deg, lat: 36.779531 deg, lon: -121.859756 deg, deltaT: 0.504065 s, deltaX: 0.099929 m, approachRate: 0.198246 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.28 m.hhhhhggjgrgreZe:e.@*e?[["[*[H@6r<) 9>i9){G5L9ii`CgIIE9ԡ9@ @@/@@@@@DDAT read: Rx Time:01:20:38.0848 TRx dataTimestamp_ set to:1764897639.125040PDAT read: Bearing 73.7, -24.2 (Local) ~Local bearing/azimuth received: Bearing 73.7, -24.2 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 DAT read: 01:20:38.0848 LVL= 32752, 24033, 31858, 32755, AGC= 58, IDX= 507, 0.41,-1.691, 0.613,-0.654,-0.446, PHS=-1.143, 1.104,-0.252, RAW= 306.8, 3.0, CAL= 304.5, -0.4, ROT= 205.5, 0.4 Ygot valid direction response: 01:20:38.0848 LVL= 32752, 24033, 31858, 32755, AGC= 58, IDX= 507, 0.41,-1.691, 0.613,-0.654,-0.446, PHS=-1.143, 1.104,-0.252, RAW= 306.8, 3.0, CAL= 304.5, -0.4, ROT= 205.5, 0.4 T#Rx 42: Read range and direction messages.bdirection in FSK: [-0.902563,-0.430501,-0.006981]Fpublishing direction and range infoyDjwsP9Rۿa|YxA]r| ):IMiO?%uY@@ )e@Iv\￙Q#Q%Ttת? sA)VI,ichecking for new query: numPingsReceived=42, elapsed TxPingTime=19.924934I I O >E  E E )E "E :*E ҆:VE FA4ZE BE 6yC><@ A)AYAbDVDe8yH%;=ٔQ->9Y=6EyE>checking for new query: numPingsReceived=42, elapsed TxPingTime=20.161524Q 54Q E:y@Q I(@DI ;i ;T4yɮ&AiiٌLAjwA"jwA:jG|@Rj-8+quT%P+BjDjwsP9Rۿa|*j,2jZjhXG&@X<Ӛ$*>BGJjbּ?duE;oJj$& j$7AiB?i$j}BjjjrjxAzjl@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503821 s, deltaX: 0.200000 m, approachRate: 0.396966 m/s, rangeRepo size: 4  Added new target pos. range: 15.483721 m, bearing: 317.786479 deg, lat: 36.779531 deg, lon: -121.859756 deg, deltaT: 0.503821 s, deltaX: 0.199790 m, approachRate: 0.396550 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.48 m.hhhhhggjgrgJBreZe:e/@*e)[>"[5c>*[ϓ@) L>i>9)顽T59iihIII>)E?S9]:@Y @Y@Y@YIiIyOZ>)  DDAT read: Rx Time:01:20:38.5849  TRx dataTimestamp_ set to:1764897639.629071 PDAT read: Bearing 73.3, -24.1 (Local)  ~Local bearing/azimuth received: Bearing 73.3, -24.1 (Local)  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 E DAT read: 01:20:38.5849 LVL= 32752, 20465, 32034, 32755, AGC= 58, IDX= 508,-0.01, 2.254,-1.726,-2.994,-2.774, PHS=-1.153, 1.093,-0.265, RAW= 306.9, 3.4, CAL= 304.5, -0.1, ROT= 205.5, 0.1 M Ygot valid direction response: 01:20:38.5849 LVL= 32752, 20465, 32034, 32755, AGC= 58, IDX= 508,-0.01, 2.254,-1.726,-2.994,-2.774, PHS=-1.153, 1.093,-0.265, RAW= 306.9, 3.4, CAL= 304.5, -0.1, ROT= 205.5, 0.1 U T#Rx 43: Read range and direction messages.] bdirection in FSK: [-0.902584,-0.430510,-0.001745]] Fpublishing direction and range infoy  8#RLz{ۿn p\Y yA O "} ) I i m?  g@ s= ) I : `ef|4]?? ]A) ?oI i : E checking for new query: numPingsReceived=43, elapsed TxPingTime=20.468954z6#,IٌLA2(?2 ?2z<ٱ2>2H\ؿ@$KW?5?@׿? S? L?i2(?I2J^;0Y>ByBNIER ERER(EP"ER:*ER]t:VERc44ZEPaV@aV@aV@aV@\bDHVDHyP<%W=ٔ):Q->9 Y = 6Ey  IE>Q 5=42?Q 9E43)BYAyEY@Q IE(@DI*;id:*[4yMxBɮM&AUEiiBٌLAjVyA"jVyA:jVa@Rj%!,y$c7ٛBj8#RLz{ۿn p\*j2j:Zj[ &@?v3$)4SJj,8?yVČ$HϝYj' j7Ai~?ibg<j5~BjB?jjjrj]zAzjj@U addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504031 s, deltaX: 0.100000 m, approachRate: 0.198401 m/s, rangeRepo size: 4 e Added new target pos. range: 15.583616 m, bearing: 317.598053 deg, lat: 36.779531 deg, lon: -121.859756 deg, deltaT: 0.504031 s, deltaX: 0.099895 m, approachRate: 0.198193 m/s, posRepo size: 4 eDNOT Ignoring new targets: 15.58 m.hahihihihigigijgrgreZe:e@33/@*e qs?[["[*[zY@ z<)) -6U>i59)15b559i1i=h99I9IAB A <BBB'IBBBBBB;B[EI)xAiIAchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.665800=9@A @A@A@AIQIiO}X>I 6#,ڌLA&DDAT read: Rx Time:01:20:39.0850 *TRx dataTimestamp_ set to:1764897640.133155.PDAT read: Bearing 72.7, -23.9 (Local) .~Local bearing/azimuth received: Bearing 72.7, -23.9 (Local) 6DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4 JDAT read: 01:20:39.0850 LVL= 32752, 27569, 32754, 32755, AGC= 59, IDX= 511,-0.42, 2.629,-1.364,-2.631,-2.398, PHS=-1.154, 1.079,-0.277, RAW= 307.0, 3.7, CAL= 304.6, 0.4, ROT= 205.4, -0.4 NYgot valid direction response: 01:20:39.0850 LVL= 32752, 27569, 32754, 32755, AGC= 59, IDX= 511,-0.42, 2.629,-1.364,-2.631,-2.398, PHS=-1.154, 1.079,-0.277, RAW= 307.0, 3.7, CAL= 304.6, 0.4, ROT= 205.4, -0.4 NT#Rx 44: Read range and direction messages.R`direction in FSK: [-0.903313,-0.428925,0.006981]RFpublishing direction and range infoy$&.jdsۿa|?Y&|A$$&k& $)&;I&Fi&?&ҍ&v@& A=&@ &;)&oe@I&仩$$&IC[=fw Q? &-A)&I&,i&仩$$fchecking for new query: numPingsReceived=44, elapsed TxPingTime=20.933670Q??I}<ٱ>H0ؿVt?:?׿@쫱?@6`o?Q?iQ?IC^;ّCYBySIiEMb@Mb@Mb@AAAA A9ERQ?RQ?{Gz?YE>yEB>Eף9Y=6EyE>Q 54IV%?Q 9M4~)BYU>Q EU:yUM@Q IU(@DI[/c<[Jj&;?RA/]+j&* j&9Ai&1?i&J3j&~Bj&g?j&J3j$rj&|Azj&X@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504084 s, deltaX: 0.200000 m, approachRate: 0.396759 m/s, rangeRepo size: 4  Added new target pos. range: 15.783401 m, bearing: 317.409899 deg, lat: 36.779530 deg, lon: -121.859756 deg, deltaT: 0.504084 s, deltaX: 0.199784 m, approachRate: 0.396331 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.78 m.hhhhhg!g!jg)rg-WBre)Ze):e5/@*e5@|?[U>[U>"[Q*[UM@mI}<)i mB>im9)qu}o5u9iqi}hyyIyIqchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.169514 9ԩ  9@  @! @! @! I1 IA OM > 6#,]!ڌLAɰ4<^e?^K?^~<ٱ^}>^Hؿ `h?@?Š׿m?@ӏ~?` ?i^e?I^K^;^ؑCYBy II)-AbDMVDMn8ԹyB%s=ٔJ9Q- ?91Y1=56Ey9=BE=?AQ 5M4E$?Q 9M4E)EBYIyM@Q IU(@EDIE;iET;Ei4yyɮ}&AyDNOT Ignoring new targets: 15.78 m.hhhhhggjgrg re)Ze9:e9*e=?]DDAT read: Rx Time:01:20:39.5851 ]TRx dataTimestamp_ set to:1764897640.637205mPDAT read: Bearing 72.0, -23.8 (Local) m~Local bearing/azimuth received: Bearing 72.0, -23.8 (Local) }DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 DAT read: 01:20:39.5851 LVL= 32752, 21553, 32738, 32755, AGC= 57, IDX= 511, 0.05,-2.777,-0.487,-1.753,-1.513, PHS=-1.162, 1.072,-0.284, RAW= 307.0, 3.9, CAL= 304.6, 0.9, ROT= 205.4, -0.9 Ygot valid direction response: 01:20:39.5851 LVL= 32752, 21553, 32738, 32755, AGC= 57, IDX= 511, 0.05,-2.777,-0.487,-1.753,-1.513, PHS=-1.162, 1.072,-0.284, RAW= 307.0, 3.9, CAL= 304.6, 0.9, ROT= 205.4, -0.9 T#Rx 45: Read range and direction messages.`direction in FSK: [-0.903224,-0.428882,0.015707]Fpublishing direction and range infoyY]bm5쿑Ҵrۿy&?Y]f~AYY]1T] Y)]9I]ji]L7?]shY]'g=Y ]<)YI]YY]wydn:bPр#S? ]2A)]@IYi]YYchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.437565[["[*[@ ~<) 22>i%09))-z5-9i)i5h99I9IA9@ @@.0@II OK>E EE)E"El;*E:VEFA4ZEa@a@a@a@B B B -IB BB \ =B B B ;B [E checking for new query: numPingsReceived=45, elapsed TxPingTime=21.673439A 76#,;ڌLA2?2?2/&<ٱ2%>2H׿Mj?@?l׿^?C?D?i2?I2m^;2בCY^By^ZIbDjVDjX8yv=%vT=ٔvJ9Q-v>9xYx=z6EyxzE~>Q 5 4?Q 9 4/)BYy@Q I(@DI:i:Np4yɮ%%A!ii(ڌLAj"~A"j"~A:j@RjS?,I7?y?Bjbm5쿑Ҵrۿy&?*j2jZj C'@hk=Λ%RlJjW6n?l;7q忍*j, j:AiV棊?iy]jlBj~?jbg<j5~BrjAzjc@m addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504050 s, deltaX: 0.099999 m, approachRate: 0.198392 m/s, rangeRepo size: 4 } Added new target pos. range: 15.883315 m, bearing: 317.110145 deg, lat: 36.779530 deg, lon: -121.859756 deg, deltaT: 0.504050 s, deltaX: 0.099915 m, approachRate: 0.198223 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.88 m.hhhhhggjgrgreZe:e/@*ey?[["[*[$@/&<) N>i9)5J9iihIIQ}9@ @@4@IIaOM0>ԑeDDAT read: Rx Time:01:20:40.0854 mTRx dataTimestamp_ set to:1764897641.141156uPDAT read: Bearing 71.9, -24.4 (Local) u~Local bearing/azimuth received: Bearing 71.9, -24.4 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 DAT read: 01:20:40.0854 LVL= 32752, 18929, 25970, 32755, AGC= 62, IDX= 2,-0.34,-3.075,-0.760,-2.021,-1.796, PHS=-1.177, 1.081,-0.269, RAW= 306.4, 3.7, CAL= 304.0, 0.5, ROT= 206.0, -0.5 Ygot valid direction response: 01:20:40.0854 LVL= 32752, 18929, 25970, 32755, AGC= 62, IDX= 2,-0.34,-3.075,-0.760,-2.021,-1.796, PHS=-1.177, 1.081,-0.269, RAW= 306.4, 3.7, CAL= 304.0, 0.5, ROT= 206.0, -0.5 T#Rx 46: Read range and direction messages.`direction in FSK: [-0.898760,-0.438354,0.008727]Fpublishing direction and range infoyim 쿥x ܿB7߁?Ym3AiimImre i)m>Im𧖿im5^?m^mD @m A=mɩ@ m5<)mf@Im5iim5ᅬ14; M? mA)mIm,im5iichecking for new query: numPingsReceived=46, elapsed TxPingTime=21.941240ԩE  E E E "E (;*E M:VE ZE BE y}D>yy}- A }-A)yyY}pAbDVDd8y%?=ٔQ->9Ychecking for new query: numPingsReceived=46, elapsed TxPingTime=22.178444=6EyE>Q 54S?Q 94-)BY>Q E;y@Q I(@ DIxk;iEo;w4y mBɮ%AEiiIڌLAjA"jA:jh@Rj Wr-'!!ҹaL?Bj 쿥x ܿB7߁?*j,2j5ZjtSr1(@*_ &1stJjsP$?c-)忈TNjo0 jAAiZ?it8j~Bjjj~BrjAzje@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503951 s, deltaX: 0.500000 m, approachRate: 0.992160 m/s, rangeRepo size: 4 Ա Added new target pos. range: 16.382792 m, bearing: 317.649703 deg, lat: 36.779530 deg, lon: -121.859756 deg, deltaT: 0.503951 s, deltaX: 0.499476 m, approachRate: 0.991121 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.38 m.hhhhhggjgrgRBreZe:e`ff0@*et?[>[>"[5s>*[ @ )   W>i m9)  F59iihII:@ @@#5@IIOB> u DDAT read: Rx Time:01:20:40.5854 } TRx dataTimestamp_ set to:1764897641.645128 PDAT read: Bearing 69.8, -23.4 (Local)  ~Local bearing/azimuth received: Bearing 69.8, -23.4 (Local)  DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4  DAT read: 01:20:40.5854 LVL= 32752, 25377, 32754, 32755, AGC= 57, IDX= 498, 0.11,-2.080, 0.196,-1.061,-0.797, PHS=-1.180, 1.039,-0.307, RAW= 307.0, 4.7, CAL= 304.6, 2.4, ROT= 205.4, -2.4  Ygot valid direction response: 01:20:40.5854 LVL= 32752, 25377, 32754, 32755, AGC= 57, IDX= 498, 0.11,-2.080, 0.196,-1.061,-0.797, PHS=-1.180, 1.039,-0.307, RAW= 307.0, 4.7, CAL= 304.6, 2.4, ROT= 205.4, -2.4  T#Rx 47: Read range and direction messages. `direction in FSK: [-0.902543,-0.428559,0.041876] Fpublishing direction and range infoyq u mסqqmۿ ۷p?Yq q q u !cu  q )u 9Iu = iu ?u /u v@u =u @ u +=)u oe@Iu +q q u  !!N*)!Vߴ? u 9A)u 2*Iu ,iu +q q  checking for new query: numPingsReceived=47, elapsed TxPingTime=22.4467629 I6#,WoڌLA2d?2?2n<ٱ2U>2H@\׿o?`?ֿ 'G? 4? ?i2d?I2Ħ^;2֑CEB EBEB*E@"EB:*EB:VEB(N4ZE@aF@aF@aF@aF@YNByNMIIV<)Vp=bDZVDZ]8yfI%fY=ٔj8Q-j>9hYh=n6Eyl~E>Q 5 4?Q 9 4)BYy#@Q I(@DI:i:m~4yAɮE%AAiiIiڌLAj"j:j@Rj):qF-}o ?Bjmסqqmۿ ۷p?*j,2j+Zj)'@A d&Jj6\?"BMVk{j%3 jX?Aip?i!; j|Bj1?jJ3j~Brj/AzjL@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.382792 m, bearing: 316.886258 deg, lat: 36.779530 deg, lon: -121.859756 deg, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 16.38 m.h!h!h!h!h!g!g)jg)rg)re)Ze1:eQ*eUb?[["[*[#@n<) D>i9)顭45(9iihIIAAAABBCBBB^ =BBB;B[EByByByB}] =B}] =C} 4checking for new query: numPingsReceived=47, elapsed TxPingTime=22.682779@ @@/@IIYOu6>9q 36#,9ڌLADDAT read: Rx Time:01:20:41.0857 TRx dataTimestamp_ set to:1764897642.149069PDAT read: Bearing 69.9, -24.3 (Local) ~Local bearing/azimuth received: Bearing 69.9, -24.3 (Local) &DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 ,:DAT read: 01:20:41.0857 LVL= 32752, 22449, 28306, 32755, AGC= 58, IDX= 501,-0.25, 3.041,-0.941,-2.185,-1.944, PHS=-1.196, 1.047,-0.286, RAW= 306.2, 4.5, CAL= 303.8, 1.9, ROT= 206.2, -1.9 >Ygot valid direction response: 01:20:41.0857 LVL= 32752, 22449, 28306, 32755, AGC= 58, IDX= 501,-0.25, 3.041,-0.941,-2.185,-1.944, PHS=-1.196, 1.047,-0.286, RAW= 306.2, 4.5, CAL= 303.8, 1.9, ROT= 206.2, -1.9 >T#Rx 48: Read range and direction messages.B`direction in FSK: [-0.896765,-0.441263,0.033155]BFpublishing direction and range infoy{oL "g=ܿB3?YfAWn ):Ii?n@|٠=@ =)Sf@Ih"¶4͟tv`? B)]ݠI+ibchecking for new query: numPingsReceived=48, elapsed TxPingTime=22.953684jG a}? b? 9<ٱ > H׿p={??ÿֿ@I?'r?q?i a}?I ^;) בC]>9aYe AYmBymQIԑDD<E EE,E"E ;*E1:VEg4ZEBE{TyF>@ A C@)YAbD-VD-V8y=M<%==ٔEmD9Q-e>9aYa=m6EyimyEm>qQ 5}4u?Q 9}4u)uBYv>Q E;yM@Q I(@uDIu;iu\;uu4yɮ%AiiYڌLAjBA"jBA:j}B@Rj @9.+&? 3?Bj{oL "g=ܿB3?*j+2jZj҃PG(@0=&dѿJjr~X?dH޻+G j5 jEAia?i2j(Bjjt8jlBrjAzjB@] addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503941 s, deltaX: 0.400000 m, approachRate: 0.793743 m/s, rangeRepo size: 4  Added new target pos. range: 16.782328 m, bearing: 317.382308 deg, lat: 36.779530 deg, lon: -121.859756 deg, deltaT: 0.503941 s, deltaX: 0.399536 m, approachRate: 0.792823 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.78 m.hhhhhggjgrgQBreZe:e0@*ep?[v>[v>"[Gt?*[M@9<)1 =L>i=$9)9=5=n9i9iEhAAIAII IIIU)UԹchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.185947 9@  @ @ 80@ I I O >]6#,ڌLA`??l{<ٱY>H ֿ@pW?@(?`ֿ@Ӱ?@@OD??i?I^;YybD VD t8yM:%Mp=ٔMz9Q-u?9qYq=u6Eyq}OE}?Q 54矊?Q 94)BYy @Q I(@DI;i;g4yhBɮ%AEDNOT Ignoring new targets: 16.78 m.hhhhh5DDAT read: Rx Time:01:20:41.5857 =TRx dataTimestamp_ set to:1764897642.653178EPDAT read: Bearing 67.8, -23.5 (Local) E~Local bearing/azimuth received: Bearing 67.8, -23.5 (Local) ]DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 ggjgrgreZe:e*e?DAT read: 01:20:41.5857 LVL= 32752, 27041, 32754, 32755, AGC= 58, IDX= 501, 0.15,-1.987, 0.277,-0.959,-0.682, PHS=-1.203, 1.004,-0.321, RAW= 306.6, 5.4, CAL= 304.3, 3.7, ROT= 205.7, -3.7 Ygot valid direction response: 01:20:41.5857 LVL= 32752, 27041, 32754, 32755, AGC= 58, IDX= 501, 0.15,-1.987, 0.277,-0.959,-0.682, PHS=-1.203, 1.004,-0.321, RAW= 306.6, 5.4, CAL= 304.3, 3.7, ROT= 205.7, -3.7 T#Rx 49: Read range and direction messages.%`direction in FSK: [-0.899199,-0.432755,0.064532]%Fpublishing direction and range infoy9=EU<&캬BۿP0?Y999=i= 9)9I=i=?=Z=<@===@ = A=)=e@I= A99=C[̤G-V3ǻΊY?[Y[Y =A)=ýI=Z,"[Y*[] @l{<) >M>iت9)顕5d9iihIi= A99checking for new query: numPingsReceived=49, elapsed TxPingTime=23.489250I}9@y @y@}/@yIE EEE"E=;*Ez:VEZEa@a@a@a@IOc>B B CB B B ] =B B B ;B [EA  checking for new query: numPingsReceived=49, elapsed TxPingTime=23.6897876#,ڌLAɰ;2~c?2H?2<ٱ23>2H`ֿDR?@?>ֿ?`a5??i2~c?I2;^;0Y>By>JI @@bDJVDJ8yb%bg=ٔfO9Q-f>9dYh=j6EyhjIEj>lQ 5r4n'ߟ?Q 9r4ny)nBYtyv@Q Iv(@n!DIn:in:n4yxɮz%A|iiimͩڌLAji"ji:jmrذ@Rjmq=Hl..BD yS?BjmEU<&캬BۿP0?*jmZ,2jm AZjmstf(@(狗 'DljW?Jjm|BC?2^N}?jmT8 jm3CAim;㣊?imjmABjmp?jm!; jm(BrjmچAzjm@M addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 16.782351 m, bearing: 316.640641 deg, lat: 36.779529 deg, lon: -121.859757 deg, deltaT: 0.504109 s, deltaX: 0.000023 m, approachRate: 0.000045 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 16.78 m.hYhahahahagagajgirgireiZei:ei*eu?[["[*[@M<)q uLA>iuƪ9)qu 5u(9iqi}hyyIyIa}:@ @@/@IIOE0>]DDAT read: Rx Time:01:20:42.0858 ]TRx dataTimestamp_ set to:1764897643.159907mPDAT read: Bearing 67.4, -24.1 (Local) m~Local bearing/azimuth received: Bearing 67.4, -24.1 (Local) }DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.4 DAT read: 01:20:42.0858 LVL= 32752, 21201, 30562, 32755, AGC= 58, IDX= 503,-0.22, 2.151,-1.839,-3.069,-2.803, PHS=-1.227, 1.009,-0.310, RAW= 305.9, 5.5, CAL= 303.6, 3.7, ROT= 206.4, -3.7 Ygot valid direction response: 01:20:42.0858 LVL= 32752, 21201, 30562, 32755, AGC= 58, IDX= 503,-0.22, 2.151,-1.839,-3.069,-2.803, PHS=-1.227, 1.009,-0.310, RAW= 305.9, 5.5, CAL= 303.6, 3.7, ROT= 206.4, -3.7 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.893845,-0.443708,0.064532]Fpublishing direction and range infoyY]XZ` 5eܿP0?Y]AYY]R]bw Y)YI]Vi]&?]R]ت@] =]@ Y)]f@IYYY]*W:CUO'AZo? ]GqB)]#ýI]+iYYYchecking for new query: numPingsReceived=50, elapsed TxPingTime=23.968929qD zD ?AE  E E E "E ;*E ]t:VE ZE BE D2HVֿZ??տ@?}5??i2I?I2h^;2ؑCYNByRPIiUMb@Mb@Mb@QQQQ Q9UʡE?Cl?{Gz?YU->yUO>QQU A U(A)U(AQYUAybDuVDu8checking for new query: numPingsReceived=50, elapsed TxPingTime=24.194067y"<%==ٔR9Q->9Y=6Eyw*E>Q 54ӟ?Q 94)BY>Q E;yi@Q I(@'DIU;ij[;"4yɮ%Aii;ڌLAjۇA"jۇA:j`@RjNv [.B#ˈ?BjXZ` 5eܿP0?*j+2jZjɗV(@9L!'p!t?JjZZem?h07忐 ?j9 jFAia룊?iaj:Bjjj|Brj?Azj{ @  addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.506729 s, deltaX: 0.200001 m, approachRate: 0.394690 m/s, rangeRepo size: 4  Added new target pos. range: 16.982141 m, bearing: 317.073783 deg, lat: 36.779529 deg, lon: -121.859757 deg, deltaT: 0.506729 s, deltaX: 0.199791 m, approachRate: 0.394276 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.98 m.h!h!h!h!h!g!g!jg)rg-;Bre)Ze1:e51@*e5 5?[}>[}>"[}/?*[}i@-<)) -u>i-+9))-F559i1i5h99I9I9Ա 9@  @ @@IIIiOd>] DDAT read: Rx Time:01:20:42.5858 ] TRx dataTimestamp_ set to:1764897643.661673m PDAT read: Bearing 66.0, -24.0 (Local) u ~Local bearing/azimuth received: Bearing 66.0, -24.0 (Local)  DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.4  DAT read: 01:20:42.5858 LVL= 32752, 23681, 30066, 32755, AGC= 57, IDX= 503, 0.16, 2.818,-1.195,-2.405,-2.127, PHS=-1.237, 0.977,-0.322, RAW= 305.7, 6.1, CAL= 303.4, 4.9, ROT= 206.6, -4.9  Ygot valid direction response: 01:20:42.5858 LVL= 32752, 23681, 30066, 32755, AGC= 57, IDX= 503, 0.16, 2.818,-1.195,-2.405,-2.127, PHS=-1.237, 0.977,-0.322, RAW= 305.7, 6.1, CAL= 303.4, 4.9, ROT= 206.6, -4.9  T#Rx 51: Read range and direction messages. `direction in FSK: [-0.890886,-0.446123,0.085417] Fpublishing direction and range infoyY ] h`# 2Fܿb$ݵ?YY Y Y ] \] ru Y )] 9I] Vi] z?] /ݤ] /@] ^ =] Us@ ] %=)] Af@I] %Y Y ] -''[\E.? ] B)] ٽI] tY+i] %Y Y  checking for new query: numPingsReceived=51, elapsed TxPingTime=24.467453 6#,ڌLAbEmFA4jEmKJ4rEm+/E6 E6E6)E4"E6 ;*E6:VE6FA4ZE4a:@a:@a:@a:@Bt:?B?BD<ٱBhB>BH`ֿ @fd??]տDo?c@7??iBt:?IB+^;B֑CY^BybLIbDnVDnb8yW^%E=ٔ9Q->9Y= 6Ey  A4E >AQ 5M4Eɟ?Q 9M4E)EBYQyU@Q Iu(@E,DIE;iEm;Eo4y}bBɮ}y%AiiXڌLAj"j:j$@Rjӿ B.daMBs5?Bjh`# 2Fܿb$ݵ?*jtY+2j%ZjP(@ 'V?BYBYBYB]\ =BYBYB]|;B][E Added new target pos. range: 16.982141 m, bearing: 317.172966 deg, lat: 36.779528 deg, lon: -121.859757 deg, deltaT: 0.501766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.98 m.hhhhhggjgrgrechecking for new query: numPingsReceived=51, elapsed TxPingTime=24.698353Ze :e *e  b?[1[1"[1*[5@ED<)A Ep>iE9)IM_5Mժ9iIiUhQQIQIQ9@ @@@IIO k>1a e DDAT read: Rx Time:01:20:43.0861 e TRx dataTimestamp_ set to:1764897644.165029m PDAT read: Bearing 65.9, -24.1 (Local) u ~Local bearing/azimuth received: Bearing 65.9, -24.1 (Local)  DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4  DAT read: 01:20:43.0861 LVL= 32752, 26049, 32754, 32755, AGC= 57, IDX= 506,-0.26, 1.974,-2.030, 3.040,-2.964, PHS=-1.243, 0.979,-0.323, RAW= 305.7, 6.1, CAL= 303.3, 4.9, ROT= 206.7, -4.9  Ygot valid direction response: 01:20:43.0861 LVL= 32752, 26049, 32754, 32755, AGC= 57, IDX= 506,-0.26, 1.974,-2.030, 3.040,-2.964, PHS=-1.243, 0.979,-0.323, RAW= 305.7, 6.1, CAL= 303.3, 4.9, ROT= 206.7, -4.9  T#Rx 52: Read range and direction messages. `direction in FSK: [-0.890106,-0.447677,0.085417] Fpublishing direction and range infoya e r9}{d>qܿb$ݵ?Ye 3Aa a e ee  a )a Ie ie z?e B`a a e e@ a )e f@Ia a a e 0e￯nF$Ir OQ? e B)e 2ڽIe <+ia a a  checking for new query: numPingsReceived=52, elapsed TxPingTime=24.9648556#,͏ یLA2?2'?2k\<ٱ2h>2Hտjw?? ?lտX?\ːC??i2?I2H^;2ّCY>By>HIIB<)B4yY><@Թl A A)AYA =%=bDVDM8y5w%5?=ٔ5r9Q-5>99Y9==6Ey9E3EE>AQ 5u4EG?Q 9u4E)E"BYu>Q Eu;yu@Q Iu(@E1DIE ;iE7:E̩4yVBɮ3%AEE EE+E"E:*Exv:VE [4ZEBE>qܿb$ݵ?*j <+2j Zj i)@4\>'p?Jj x~c?vkog ?j = j HKAi 3죊?i j Bj j j ABrj ؊Azj f @ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503356 s, deltaX: 0.400000 m, approachRate: 0.794665 m/s, rangeRepo size: 4  Added new target pos. range: 17.381821 m, bearing: 317.003729 deg, lat: 36.779528 deg, lon: -121.859757 deg, deltaT: 0.503356 s, deltaX: 0.399679 m, approachRate: 0.794029 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.38 m.hhhhhggjgrg0BreZe!:e%`ff1@*e%.S?[e>[e>"[eT?*[e$@uk\<)y }>i}9)顝`5;9iihII=checking for new query: numPingsReceived=52, elapsed TxPingTime=25.202433 9} 9@y  @y @} /@y I I O >9 6#,^%یLAR?R?R\<ٱR$>RH@տ 8r?!?v*տ(? _ː@4??iR?IR+Y^;RؑCYZByZLIbDfVDf58yn<%nd=ٔn# 4Q-n>9pYp=r6EypvEEv>xQ 5~4z?Q 9~4z)z+BY|y~@Q I(@z6DIz ;iz ;z4y ɮ %A 5DNOT Ignoring new targets: 17.38 m.h1h1h1h9h9g9g9jg9rgAreAZeA:eA*eEs?[a[a"[a*[e @\<) Q>ix9)5ڰ9iihI I DDAT read: Rx Time:01:20:43.5861 TRx dataTimestamp_ set to:1764897644.670655PDAT read: Bearing 64.9, -24.4 (Local) ~Local bearing/azimuth received: Bearing 64.9, -24.4 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 DAT read: 01:20:43.5861 LVL= 32752, 22561, 30258, 32755, AGC= 56, IDX= 506, 0.12, 2.150,-1.858,-3.051,-2.770, PHS=-1.262, 0.957,-0.325, RAW= 305.1, 6.6, CAL= 302.8, 5.8, ROT= 207.2, -5.8 UYgot valid direction response: 01:20:43.5861 LVL= 32752, 22561, 30258, 32755, AGC= 56, IDX= 506, 0.12, 2.150,-1.858,-3.051,-2.770, PHS=-1.262, 0.957,-0.325, RAW= 305.1, 6.6, CAL= 302.8, 5.8, ROT= 207.2, -5.8 UT#Rx 53: Read range and direction messages.]`direction in FSK: [-0.884863,-0.454758,0.101056]eFpublishing direction and range infoyQzP쿜Jݿ+hg޹?Y!X2v )8I7it?ffff@=@ 4Q=)qg@I4QϽ ]dž3j%[? UC)EbI*i4QϽchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.493015:@ @@?5@IIO>AE EE*E"E;*E:VE(N4ZEa @a @a @a @iBr>BB'IBBBBBBg;Bm[EM checking for new query: numPingsReceived=53, elapsed TxPingTime=25.705393ԙ 6#,4?یLA2y?2I^?2\<ٱ2>2HO=տ`W?.?JԿ\???i2y?I25l^;2ّCYRByR?IbDZVDZ<8yzU%zI=ٔzY(:Q-~>9|Y|=~6Ey<E> Q 54 ?Q 94 H) 6BYya@Q I(@ ;DI :i ? ; 04y%QBɮ%E%A!ii*یLAj"j:j@Rjq. ڨ:U?BjQzP쿜Jݿ+hg޹?*j*2j4QϽZj@Bn)@$c'0i9)59iihII9@ @@05@ԡDDAT read: Rx Time:01:20:44.0863 TRx dataTimestamp_ set to:1764897645.179735 PDAT read: Bearing 65.0, -24.9 (Local) ~Local bearing/azimuth received: Bearing 65.0, -24.9 (Local) -DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.4 UDAT read: 01:20:44.0863 LVL= 32752, 21009, 28034, 32755, AGC= 57, IDX= 509,-0.38, 1.682,-2.292, 2.793, 3.067, PHS=-1.282, 0.969,-0.317, RAW= 304.7, 6.5, CAL= 302.3, 5.6, ROT= 207.7, -5.6 ]Ygot valid direction response: 01:20:44.0863 LVL= 32752, 21009, 28034, 32755, AGC= 57, IDX= 509,-0.38, 1.682,-2.292, 2.793, 3.067, PHS=-1.282, 0.969,-0.317, RAW= 304.7, 6.5, CAL= 302.3, 5.6, ROT= 207.7, -5.6 ]T#Rx 54: Read range and direction messages.e`direction in FSK: [-0.881168,-0.462624,0.097583]eFpublishing direction and range infoyp342쿆֟ݿA_1?YARm )9Iibx?M5-@V=֨@ +=)h@I+ȽjsEX ޴? C)i6I*i+Ƚchecking for new query: numPingsReceived=54, elapsed TxPingTime=25.985714IIO`>E  E E ,E "E &:*E :VE g4ZE BE h;JH4Կ_A?@f:?vԿ?^4z?@?iJ?IJ;^^;JؑCYnBynGI pp%checking for new query: numPingsReceived=54, elapsed TxPingTime=26.213608iMb@Mb@Mb@ 9Zd;O?A`"?{Gz?Y~>yף<@- A -A)-AYAbDVD78y <%:=ٔ9Q->9 Y = 6Ey $E>Q 5%4q?Q 9%4m)@BY%_>Q E%;y%q@Q I%(@@DI:i:۾4y9ɮE%AIiiǀKیLAjsA"jsA:j8@Rjc#()/f\ K?Bjp342쿆֟ݿA_1?*j*2j+ȽZjFmN)@ ,' W?JjWu%?7%EȒI֧?j? jOAi[~壊?i2fjUBj[~壊?j2fjBrjLAzj8@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.509080 s, deltaX: 0.300001 m, approachRate: 0.589301 m/s, rangeRepo size: 4  Added new target pos. range: 17.681515 m, bearing: 317.312961 deg, lat: 36.779528 deg, lon: -121.859756 deg, deltaT: 0.509080 s, deltaX: 0.299688 m, approachRate: 0.588686 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.68 m.hhhhhggjgrg:BreIZeI:eU@31@*eU`~?[_>[_>"[!?*[q@<) k>iO9)L59ii5h11I1I1@ @@4@I)AIIOUT>DDAT read: Rx Time:01:20:44.5864 TRx dataTimestamp_ set to:1764897645.681544PDAT read: Bearing 64.6, -25.2 (Local) ~Local bearing/azimuth received: Bearing 64.6, -25.2 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 5 DAT read: 01:20:44.5864 LVL= 32752, 20097, 25282, 32755, AGC= 56, IDX= 509,-0.02, 0.860,-3.120, 1.982, 2.252, PHS=-1.290, 0.956,-0.314, RAW= 304.3, 6.7, CAL= 301.9, 6.0, ROT= 208.1, -6.0 E Ygot valid direction response: 01:20:44.5864 LVL= 32752, 20097, 25282, 32755, AGC= 56, IDX= 509,-0.02, 0.860,-3.120, 1.982, 2.252, PHS=-1.290, 0.956,-0.314, RAW= 304.3, 6.7, CAL= 301.9, 6.0, ROT= 208.1, -6.0 E T#Rx 55: Read range and direction messages.M `direction in FSK: [-0.877294,-0.468432,0.104528]M Fpublishing direction and range infoycze Nݿ4ޮ`º?Y3ANb )8Iijt?Ġ@|=ޜ@ Pw=)/sh@IPwֽzx)ܽ? ;D)pI)iPwֽi u checking for new query: numPingsReceived=55, elapsed TxPingTime=26.485437E%  E% E% )E! "E% :*E% xv:VE% FA4ZE! a- @a- @a- @a- @D$6#,rیLA 2O?24?2<ٱ2 >2H`ΰԿ@`H? F?`XԿ@i?`]$??i2O?I2!~^;2֑CY>ByBAIbDJVDJ/8yѼ%\=ٔL:Q- >9 Y = 6Ey NE>9Q 5E4=ԕ?Q 9E4=)=HBYAyE$@Q IE(@=EDI=:i=d:=j4yQɮU5%AQi i kkیLAj A"j A:j cR@Rj H_/zP.O ;k?Bj cze Nݿ4ޮ`º?*j )2j PwֽZj i;BS*@Q!(:GD6?Jj >?vrfú?j A j RAi D룊?i B Pj Bj j B Pj UBrj uAzj =@] addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.501809 s, deltaX: 0.199999 m, approachRate: 0.398556 m/s, rangeRepo size: 4 m Added new target pos. range: 17.881304 m, bearing: 317.493493 deg, lat: 36.779528 deg, lon: -121.859756 deg, deltaT: 0.501809 s, deltaX: 0.199789 m, approachRate: 0.398138 m/s, posRepo size: 4 mDNOT Ignoring new targets: 17.88 m.hihiAqAu@AByByB}!IB}BByByByB}f;ByhihhggjgrgreZe:e`f1@*eZ?[["[*[$@e<)a ea>im=9q)[59iihII5checking for new query: numPingsReceived=55, elapsed TxPingTime=26.7174979@ @@/@IIOF>ԙ  DDAT read: Rx Time:01:20:45.0866  TRx dataTimestamp_ set to:1764897646.188951 PDAT read: Bearing 62.8, -24.6 (Local)  ~Local bearing/azimuth received: Bearing 62.8, -24.6 (Local) % DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.4 M DAT read: 01:20:45.0866 LVL= 32752, 24353, 32210, 32755, AGC= 57, IDX= 511, 0.35, 3.133,-0.877,-2.046,-1.749, PHS=-1.299, 0.916,-0.342, RAW= 304.5, 7.6, CAL= 302.1, 7.7, ROT= 207.9, -7.7 U Ygot valid direction response: 01:20:45.0866 LVL= 32752, 24353, 32210, 32755, AGC= 57, IDX= 511, 0.35, 3.133,-0.877,-2.046,-1.749, PHS=-1.299, 0.916,-0.342, RAW= 304.5, 7.6, CAL= 302.1, 7.7, ROT= 207.9, -7.7 6#,ÌیLAF ?FB?F?<ٱF0>FHjԿ F?R?Կ/? }?/?iF ?IFx^;DPRT#Rx 56: Read range and direction messages.V`direction in FSK: [-0.875797,-0.463710,0.133986]VFpublishing direction and range infoy15.cRunݿL`u&?Y5A115!_5} 1)59I5Ei5~j?55@5>5w@ 5 >)59h@I5 115c@bb/}ٳљJ? 5 D)5XI5)i5 11fchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.009800Y9y9E EE(E"E;*E:VEc44ZEBEAyZ>C< )AYAbD5VD5>8yE%E+=ٔMQ:Q-M>9qYq=u6Eyqu E}>yQ 54}?Q 94})}RBYm>Q E;y}@Q I(@}KDI};i}F;}4yIBɮ$AEi1i5یLAj5rA"j5rA:j5f1@Rj5-i/B H|@Bj5.cRunݿL`u&?*j5)2j5 Zj5Lk*@u̍q(~>֐Q!?Jj5l?][m>"[;q?*[}@?<)! %L>i%9)!-?5-B9i)i-h11I1I1 99I9)9=checking for new query: numPingsReceived=56, elapsed TxPingTime=27.221514) :@  @ @ S4@ I I O= >56#,QیLA2]/?2?2W<ٱ24>2H,(Կ@s@-9?]?@ӿ?ꑿ? ?i2]/?I2Ҙ^;0Y>By>=IbDFVDFY8yN%N=ٔR0:Q-R ?9PYP=V6EyTVaEV?XQ 5^4Z?Q 9^4Zܿ)ZXBY`yb8@Q Ib(@ZODIZf;iZ/;Z;4ydɮf%AdzDNOT Ignoring new targets: 18.18 m.hxh|h||h|hggjgrg re Ze :e *e b?[)[)"[)*[-<8@EW<)A E*F>iEs9)AMy5M9iIiMhQQIQIQDDAT read: Rx Time:01:20:45.5867 TRx dataTimestamp_ set to:1764897646.689859PDAT read: Bearing 71.0, -29.4 (Local) ~Local bearing/azimuth received: Bearing 71.0, -29.4 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 DAT read: 01:20:45.5867 LVL= 32752, 21489, 26802, 32755, AGC= 56, IDX= 512,-0.18,-2.304,-0.146,-1.140,-1.045, PHS=-1.157, 0.944,-0.139, RAW= 301.0, 3.9, CAL= 298.7, -0.0, ROT= 211.3, 0.0 Ygot valid direction response: 01:20:45.5867 LVL= 32752, 21489, 26802, 32755, AGC= 56, IDX= 512,-0.18,-2.304,-0.146,-1.140,-1.045, PHS=-1.157, 0.944,-0.139, RAW= 301.0, 3.9, CAL= 298.7, -0.0, ROT= 211.3, 0.0 T#Rx 57: Read range and direction messages.bdirection in FSK: [-0.854459,-0.519519,-0.000000] Fpublishing direction and range infoylW뿳 YfASh )8Iiq?V0@'g=XӦ@ )=l@I;sD5>@{Yw? =G)֋Ix&i%checking for new query: numPingsReceived=57, elapsed TxPingTime=27.491068)%9@! @)@-/@)I9IIOU2>E EE*E"E:*E:VE(N4ZEa@a@a@a@QBBBIBBBBBBv;B}[EB9B9B9B=\ =B=\ =C=Ȼ5M checking for new query: numPingsReceived=57, elapsed TxPingTime=27.725422ԁ 6#,c|یLA2}?2?2!<ٱ2N{>2H@ӿ $,?`h?@ӿ?@F ??i2}?I2Bf^;0YBByB4IbDJVDJ\8y%C=ٔ%h9Q-->91Y1==6Ey9E'%EM>aaQ 5}4ev?Q 94e)eaBYy@Q I(@eTDIe!;iem;e4yɮI%Aii&یLAj?A"j?A:j;=@Rje“=/(;"BjlW뿳 *jx&2jZj$+@P%'_*`Jj[F)?I 4aCZeIqԉv|As 9v|AY<A:eL2@*e- ?DDAT read: Rx Time:01:20:46.0868 TRx dataTimestamp_ set to:1764897647.197814PDAT read: Bearing 63.1, -27.5 (Local) ~Local bearing/azimuth received: Bearing 63.1, -27.5 (Local) [["[*[-@!<)DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.4 8>i9)o549iih I I DAT read: 01:20:46.0868 LVL= 32752, 20977, 29970, 32755, AGC= 56, IDX= 513, 0.12, 0.017, 2.495, 1.317, 1.575, PHS=-1.456, 0.965,-0.303, RAW= 301.6, 7.6, CAL= 299.1, 7.7, ROT= 210.9, -7.7 %Ygot valid direction response: 01:20:46.0868 LVL= 32752, 20977, 29970, 32755, AGC= 56, IDX= 513, 0.12, 0.017, 2.495, 1.317, 1.575, PHS=-1.456, 0.965,-0.303, RAW= 301.6, 7.6, CAL= 299.1, 7.7, ROT= 210.9, -7.7 -T#Rx 58: Read range and direction messages.-`direction in FSK: [-0.850328,-0.508911,0.133986]5Fpublishing direction and range infoyԱD'5ڱ*/HL`u&?YAQu )I5^i= w?"q@> @  >)ۓk@I r,6ӛ? NG)'>Iڋ&i ]checking for new query: numPingsReceived=58, elapsed TxPingTime=28.065672E EEE"E&:*Eg:VEZEBEh; ,H6#,)YیLA2$?2 ?2 <ٱ2>2Hӿ. 4? vr?`0Sӿ@(f?1`Q? ?i2$?I2W^;0Y>ByB;I^only read 3 of 4 data items for beam range. Device response is::RA, 74.65, 87.27, 80.11, 80.45 a^@a^ ab@ab ab@ab ab@ab bDfVDfX8yn;<checking for new query: numPingsReceived=58, elapsed TxPingTime=28.229504%N=ٔ LU9Q- >9 Y =6Ey E>9Q 5E4=l?Q 9E4=x)=jBQ AM+:YIQ EM:yM@Q IM(@=YDI=]:i=>=V4yUCBɮU$A}EԹiiیLAjؓA"jؓA:jr@Rjb2Pm/A^"!*@BjD'5ڱ*/HL`u&?*jڋ&2j Zj6#,@>u)'2?Jj!g%C?%a|'׷俆 up³?jq? j1`Ai: ?i6/jBjD룊?jjBrjAzja@5 addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.507955 s, deltaX: 0.200001 m, approachRate: 0.393737 m/s, rangeRepo size: 4 e Added new target pos. range: 18.480682 m, bearing: 319.505225 deg, lat: 36.779528 deg, lon: -121.859756 deg, deltaT: 0.507955 s, deltaX: 0.199791 m, approachRate: 0.393324 m/s, posRepo size: 4 mDNOT Ignoring new targets: 18.48 m.hihihihihigigjgrgreZe:e2@*ei5e9)9=5=9i9iEhAAIAII9@ @@/@IIaO>>DDAT read: Rx Time:01:20:46.5868 TRx dataTimestamp_ set to:1764897647.697192PDAT read: Bearing 63.9, -27.5 (Local) ~Local bearing/azimuth received: Bearing 63.9, -27.5 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.4 DAT read: 01:20:46.5868 LVL= 32752, 20913, 28770, 32755, AGC= 56, IDX= 514,-0.45,-2.338, 0.266,-0.985,-0.719, PHS=-1.517, 1.031,-0.310, RAW= 301.7, 7.3, CAL= 299.3, 7.0, ROT= 210.7, -7.0  Ygot valid direction response: 01:20:46.5868 LVL= 32752, 20913, 28770, 32755, AGC= 56, IDX= 514,-0.45,-2.338, 0.266,-0.985,-0.719, PHS=-1.517, 1.031,-0.310, RAW= 301.7, 7.3, CAL= 299.3, 7.0, ROT= 210.7, -7.0  T#Rx 59: Read range and direction messages. `direction in FSK: [-0.853443,-0.506737,0.121869] Fpublishing direction and range infoy$gODL17UM7P2?YQbp )I-¿i?RF@w> )@ 5=)Zk@I5Zf~O7C5Ӟ/? G)I &i5 checking for new query: numPingsReceived=59, elapsed TxPingTime=28.5190919 E  E E -E "E V:*E h:VE t4ZE a @a @a @a @q6#,2یLAɰ;J>?Jv?JĒ<ٱJ:>JHgӿ8 +G?}?ӿ@??XW??iJ>?IJd^;JՑCYbByb3IbDjVDj8yT% G=ٔ 9Q- >9Y=6Eyr+E>Q 5%4b?Q 9-4׷)rBQ A- :Y)Q E-:y-m@Q I-(@^DI:iL?4y1ɮ5"%A9ii˞یLAj"j:jo&@Rj]1_/-ͺ"_{ou@Bj$gODL17UM7P2?*j &2j5Zj0|I+@{-K5(gw\?Jj?l ](ð?jA j^Ai&?it5j Bj&?jz *j BrjAzjL@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.499378 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.480682 m, bearing: 318.976576 deg, lat: 36.779530 deg, lon: -121.859751 deg, deltaT: 0.499378 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.48 m.hhhhhggB!A!B-s>B)B-IB-BB)B)B-NDB-l;B-t[EjgrgreZe:e*e`b,?MĒ<)I U 7>iU9)QU}5U9iQi]hYYIYIachecking for new query: numPingsReceived=59, elapsed TxPingTime=28.7337769@ @@0@II O*>Aqԡ %= DDAT read: Rx Time:01:20:47.0871  TRx dataTimestamp_ set to:1764897648.206120 PDAT read: Bearing 62.3, -25.0 (Local) % ~Local bearing/azimuth received: Bearing 62.3, -25.0 (Local) (Z7#,^܌LAR1 ?Ri?Rw͔<ٱR*.>RH`["ӿCU??@ҿ?k ? ?iR1 ?IR{V^;RؑCrDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 -DAT read: 01:20:47.0871 LVL= 32752, 19233, 28594, 32755, AGC= 59, IDX= 4,-0.08, 1.844,-2.140, 2.983,-2.994, PHS=-1.344, 0.899,-0.350, RAW= 303.8, 8.2, CAL= 301.3, 8.9, ROT= 208.7, -8.9 Y=By=+IYgot valid direction response: 01:20:47.0871 LVL= 32752, 19233, 28594, 32755, AGC= 59, IDX= 4,-0.08, 1.844,-2.140, 2.983,-2.994, PHS=-1.344, 0.899,-0.350, RAW= 303.8, 8.2, CAL= 301.3, 8.9, ROT= 208.7, -8.9 T#Rx 60: Read range and direction messages.`direction in FSK: [-0.866585,-0.474441,0.154710]Fpublishing direction and range infoy=b?]޿j?YfA!Ko );I1i$f?33@C>G@ >)i@I(|؂KlOKJ? D)tqI)ichecking for new query: numPingsReceived=60, elapsed TxPingTime=29.089209D=D<E EE*E"E4;*Ev:VE(N4ZEBEy-Mb>-ף<-@- A ))-CA)Y-GAbDEVDEs8yQ%'=ٔ:Q->9Y=6EyE>Q 54uV?Q 94)}BQ AT:Y>Q E;yo @Q I(@dDI^;i0;4yɮE[%AIii1 ܌LAj>A"j>A:j @Rjj[F0!mA>@Bj=b?]޿j?*j)2jZj}V[S+@ŹHz)j ?JjҳG?yd忩YxVQ?jK jZAiգ?ijuBjjjBrj*Azj @ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508928 s, deltaX: 0.299999 m, approachRate: 0.589473 m/s, rangeRepo size: 4 = Added new target pos. range: 18.780418 m, bearing: 317.002025 deg, lat: 36.779530 deg, lon: -121.859751 deg, deltaT: 0.508928 s, deltaX: 0.299736 m, approachRate: 0.588956 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.78 m.hahahahahagagijgqrgu'BreqZey:e}2@ԡ*e]g?[>[>"[%?*[o @%w͔<)! %Ha>i%9)!-b5-t9i)i-h11I1I1%checking for new query: numPingsReceived=60, elapsed TxPingTime=29.2379449@ @@/@IIO> 7#,'܌LA2`~?2c?2s'<ٱ2>2Hҿ@ML?@)?ҿ[? 䒿Q?0?i2`~?I2.p^;2ՑCYBByB,IbDJVDJv8yfF;%f=ٔfp:Q-j?9hYh=j6Eyhn5^En?pQ 5v4rN?Q 9v4rD)rBYtyv* @Q Iv(@rhDIrS:ir:r4y~>Bɮ~'%A~E-DNOT Ignoring new targets: 18.78 m.h)h1h1h1h1g1g9jgArgAreAZeA:eI*eM`g?[I[I"[IDDAT read: Rx Time:01:20:47.5871 TRx dataTimestamp_ set to:1764897648.705204PDAT read: Bearing 61.6, -25.0 (Local) ~Local bearing/azimuth received: Bearing 61.6, -25.0 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 DAT read: 01:20:47.5871 LVL= 32752, 21009, 28306, 32755, AGC= 56, IDX= 500, 0.19, 2.830,-1.167,-2.314,-2.003, PHS=-1.348, 0.881,-0.355, RAW= 303.6, 8.6, CAL= 301.2, 9.6, ROT= 208.8, -9.6 Ygot valid direction response: 01:20:47.5871 LVL= 32752, 21009, 28306, 32755, AGC= 56, IDX= 500, 0.19, 2.830,-1.167,-2.314,-2.003, PHS=-1.348, 0.881,-0.355, RAW= 303.6, 8.6, CAL= 301.2, 9.6, ROT= 208.8, -9.6 T#Rx 61: Read range and direction messages.`direction in FSK: [-0.864035,-0.475007,0.166769]Fpublishing direction and range infoyZd},f؄f޿8_X?YRn )8IDi7a?µ@`>8@ +>)Z;i@I+gK;&ίh?  E)ܷI[(i+checking for new query: numPingsReceived=61, elapsed TxPingTime=29.506271*[M* @Us'<)Q Uc>iU9)QU6]n9iYi]haaIaIa!@! @!@-45@)I9IIOU2>bEM(N4jEMOS4rEM١/E EE+E"E:*E :VE [4ZEa@a@a@a@Bt>BBIB|BB[ =BBB^;Bg[E) i! I% A- checking for new query: numPingsReceived=61, elapsed TxPingTime=29.741657Kk7#,A܌LA@N?N?N><ٱNT\>NH`ҿW@[H??@nJҿ???iN?INZS^;N֑CYBy1II=<)9bDVDn8yv<%7=ٔ%9Q-%>9)Y)=-6Ey)5mE5>YQ 5e4]C?Q 9e4])]BYiym@Q Im)@]mDI]W:i]d:]4yɮ%Aii"-܌LAj"j:j@RjX=:0yz!qS @BjZd},f؄f޿8_X?*j[(2j+Zjt82(+@.Ŕ)cV@Jj0t#??}8In?jL jFYAi[?ijBjjjrj^Azj)@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.499084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.780466 m, bearing: 316.714152 deg, lat: 36.779530 deg, lon: -121.859751 deg, deltaT: 0.499084 s, deltaX: 0.000048 m, approachRate: 0.000096 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.78 m.hhhhhgg!jg!rg!re!Ze):e)*e- =?[I[I"[I*[M7@]><)a ek>ie9)ae6ex9iaimhqqIqIqԩ1@1 @9@=4@AIyDDAT read: Rx Time:01:20:48.0873 TRx dataTimestamp_ set to:1764897649.213411PDAT read: Bearing 61.0, -25.3 (Local) ~Local bearing/azimuth received: Bearing 61.0, -25.3 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.4 IO^>}DAT read: 01:20:48.0873 LVL= 32752, 20849, 27794, 32755, AGC= 56, IDX= 503,-0.36, 1.607,-2.376, 2.766, 3.077, PHS=-1.368, 0.876,-0.355, RAW= 303.2, 8.7, CAL= 300.8, 10.0, ROT= 209.2, -10.0 Ygot valid direction response: 01:20:48.0873 LVL= 32752, 20849, 27794, 32755, AGC= 56, IDX= 503,-0.36, 1.607,-2.376, 2.766, 3.077, PHS=-1.368, 0.876,-0.355, RAW= 303.2, 8.7, CAL= 300.8, 10.0, ROT= 209.2, -10.0 T#Rx 62: Read range and direction messages.`direction in FSK: [-0.859660,-0.480448,0.173648]Fpublishing direction and range infoynV1U4f޿ٖNs:?Y̘AqQl )IiA`?V@|>@ ¸2>)i@I¸2wl3←V}v? yE)QIq(i¸2checking for new query: numPingsReceived=62, elapsed TxPingTime=30.067339DzDAAE EEE"E ;*EM:VEZEBER2H4`ҿ vatK? ? ҿ@;r?B)&??i2s?I2I}^;0YBByB(Irchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.245432tiMb@Mb@Mb@ 9p= ף?A`"?~jt?Y>yY><@ A (A)AYAbDVDo8y%Q=ٔgm9Q->9Y=6Ey3*E>Q 54:?Q 94)BY >Q E;y&"@Q I)@qDI:i8:4y3Bɮ$AEiiM܌LAjA"jA:j`@Rj]g0rU"E" @BjnV1U4f޿ٖNs:?*jq(2j¸2ZjK,:+@PL")y&<@JjҠ'3?T忙[?jN jY]Aiȣ?ij9Bjգ?jjuBrj Azj2E@E addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.508207 s, deltaX: 0.300001 m, approachRate: 0.590313 m/s, rangeRepo size: 4 U Added new target pos. range: 19.080156 m, bearing: 316.926895 deg, lat: 36.779526 deg, lon: -121.859755 deg, deltaT: 0.508207 s, deltaX: 0.299690 m, approachRate: 0.589701 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 19.08 m.hYhYhYhYhYgagajgargeBreiZei:em3@*emc?[ >[ >"[/?*[&"@^L<) %>i%9)!% 6%Z9i!i-hQQIQIaE9@A @A@E/@AIQIiOu6>9DDAT read: Rx Time:01:20:48.5874 TRx dataTimestamp_ set to:1764897649.713086PDAT read: Bearing 60.4, -25.5 (Local) ~Local bearing/azimuth received: Bearing 60.4, -25.5 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 DAT read: 01:20:48.5874 LVL= 32752, 20273, 28370, 32755, AGC= 56, IDX= 503,-0.08, 1.362,-2.627, 2.527, 2.838, PHS=-1.373, 0.864,-0.355, RAW= 303.0, 9.0, CAL= 300.5, 10.4, ROT= 209.5, -10.4 Ygot valid direction response: 01:20:48.5874 LVL= 32752, 20273, 28370, 32755, AGC= 56, IDX= 503,-0.08, 1.362,-2.627, 2.527, 2.838, PHS=-1.373, 0.864,-0.355, RAW= 303.0, 9.0, CAL= 300.5, 10.4, ROT= 209.5, -10.4 T#Rx 63: Read range and direction messages.`direction in FSK: [-0.856057,-0.484334,0.180519]Fpublishing direction and range infoyۯd+S޿lE@?YA1On )Iwi/]?%:@| >ԧ@ 9>)j@I9|kfn3[@? E)I0(i9 checking for new query: numPingsReceived=63, elapsed TxPingTime=30.513329a E  E E )E "E :*E :VE FA4ZE a @a @a @a @7#,zu܌LAFFH8ҿ j g??ѿ`Y?W?@ܮ?iF9xYx=z6Eyx~<E~>Q 554&2?Q 954Ϭ)BAYAyE!@Q IM)@uDIu;i;34yYɮe$Aaii3m܌LAjpA"jpA:jB@RjkQk0aI ?" 3 @Bjۯd+S޿lE@?*j0(2j9ZjE+@e)X "@Jjh;T9?KM\}^lR?jvO j^Ai&l&ǣ?A9A=AABABABEIBEwBBABABABEc;BEm[Ei'j~Bjȣ?j'jBrjJAzj~@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.499675 s, deltaX: 0.100000 m, approachRate: 0.200131 m/s, rangeRepo size: 4  Added new target pos. range: 19.180052 m, bearing: 317.030984 deg, lat: 36.779525 deg, lon: -121.859755 deg, deltaT: 0.499675 s, deltaX: 0.099895 m, approachRate: 0.199921 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.18 m.hhhhhggjgrgreZe :e@333@*e?[Q[Q"[Q*[Uv!@eG<)a e>ie9)im6mq9iiihIIchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.749640iE9@A @A@A@AIQIiOqԩ  DDAT read: Rx Time:01:20:49.0875  TRx dataTimestamp_ set to:1764897650.221584 PDAT read: Bearing 60.1, -26.0 (Local)  ~Local bearing/azimuth received: Bearing 60.1, -26.0 (Local) #7#,\܌LAFR?F7?FR<ٱFPt>FH`ѿ`Zt}?`?ѿ7?@?`D?iFR?IF/^;FؑCRDAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.3 eDAT read: 01:20:49.0875 LVL= 32752, 20193, 30450, 32755, AGC= 56, IDX= 505, 0.12,-1.910, 0.390,-0.723,-0.424, PHS=-1.383, 0.859,-0.343, RAW= 302.4, 9.0, CAL= 299.9, 10.4, ROT= 210.1, -10.4 mYgot valid direction response: 01:20:49.0875 LVL= 32752, 20193, 30450, 32755, AGC= 56, IDX= 505, 0.12,-1.910, 0.390,-0.723,-0.424, PHS=-1.383, 0.859,-0.343, RAW= 302.4, 9.0, CAL= 299.9, 10.4, ROT= 210.1, -10.4 uT#Rx 64: Read range and direction messages.Yqyq yyԑ `direction in FSK: [-0.850938,-0.493272,0.180519] Fpublishing direction and range infoy8$*:tÑ߿lE@?YAE EE+E"E;*E:VE [4ZEBE@yqqu@u A u;@)uAqYupAbDVDyP%&=ٔ9Q->9Y=6Ey E>Q 54&?Q 94b)BY>Q E ;y"@Q I)@zDI[E>"[E# 3?*[EL"@UR<)Q U W>iU9)y}6}s9iyihIIchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.254200e 9  9@  @ @ 2@ I) I9 OE >)7#,܌LA2?2ڤ?2<ٱ28#>2H9ѿ~y? ?9ѿ@J?Г@?@?i2?I2|^;2ՑCY>By>'IbDJVDJh8yV\ܼ%V=ٔZe:Q-Z?9XY\=^6Ey\^vEb?dQ 5v4f ?Q 9~4f)fBYyD"@Q I)@f}DIfz;if;f!4y ɮ$ADNOT Ignoring new targets: 19.48 m.hhhmDDAT read: Rx Time:01:20:49.5875 mTRx dataTimestamp_ set to:1764897650.721145}PDAT read: Bearing 59.9, -26.9 (Local) }~Local bearing/azimuth received: Bearing 59.9, -26.9 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.3 DAT read: 01:20:49.5875 LVL= 32752, 20929, 27938, 32755, AGC= 55, IDX= 505, 0.35, 3.133,-0.835,-1.924,-1.645, PHS=-1.403, 0.855,-0.323, RAW= 301.4, 9.0, CAL= 298.9, 10.4, ROT= 211.1, -10.4 Ygot valid direction response: 01:20:49.5875 LVL= 32752, 20929, 27938, 32755, AGC= 55, IDX= 505, 0.35, 3.133,-0.835,-1.924,-1.645, PHS=-1.403, 0.855,-0.323, RAW= 301.4, 9.0, CAL= 298.9, 10.4, ROT= 211.1, -10.4 T#Rx 65: Read range and direction messages.`direction in FSK: [-0.842200,-0.508047,0.180519]Fpublishing direction and range infoyim |#M20ؿAlE@?YiiimQm"m i)m7ImimHZ?mB`maU@im@ i)m k@Iiiim^ڵ˙6!5VY? meuG)mImR&iiiichecking for new query: numPingsReceived=65, elapsed TxPingTime=31.521408hhggjgrgreZe:e *e Ny?[i[i"[i*[mD"@<) N>i9)t69iihII1E EEE"E~ ;*E:VEZEa@a@a@a@-9@) @)@-/@)I9IIOUT>BABABEIBErBBABABABEv;BE[EY checking for new query: numPingsReceived=65, elapsed TxPingTime=31.757301ԉ &07#,n܌LAeN?et?e<<ٱe >eH@п*ం?y?@п?`Nt??ieN?IeU^;eؑCYBy-IbD VD8y<%:=ٔ^:Q->9Y=6EypE>Q 546?Q 94)BYy!@Q I)@DIw;i;4yɮ$Aii='܌LAj"j:jK\@Rjg0"#_! @Bj |#M20ؿAlE@?*jR&2jZj&,@GOd*s@JjMn?Pl s?jP j9dAi@5ȣ?ijwBj@5ȣ?j'jwBrjuAzj,@E addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.499561 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.479763 m, bearing: 317.562791 deg, lat: 36.779525 deg, lon: -121.859755 deg, deltaT: 0.499561 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 19.48 m.hYhYhYhYhYgagajgargaireiZeq:eq*euo?[1[1"[1*[5,!@E<<)A MY>iMp9)IM6M9iIimhiiIiIq-:@) @1@1@1߉ߍR=DDAT read: Rx Time:01:20:50.0876 TRx dataTimestamp_ set to:1764897651.231424PDAT read: Bearing 59.4, -27.5 (Local) ~Local bearing/azimuth received: Bearing 59.4, -27.5 (Local) -DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 I]DAT read: 01:20:50.0876 LVL= 32752, 20593, 28482, 32755, AGC= 56, IDX= 507,-0.35, 1.131,-2.837, 2.379, 2.647, PHS=-1.414, 0.844,-0.313, RAW= 300.8, 9.1, CAL= 298.3, 10.6, ROT= 211.7, -10.6 eYgot valid direction response: 01:20:50.0876 LVL= 32752, 20593, 28482, 32755, AGC= 56, IDX= 507,-0.35, 1.131,-2.837, 2.379, 2.647, PHS=-1.414, 0.844,-0.313, RAW= 300.8, 9.1, CAL= 298.3, 10.6, ROT= 211.7, -10.6 eT#Rx 66: Read range and direction messages.IiO}{>`direction in FSK: [-0.836292,-0.516505,0.183951]Fpublishing direction and range infoyi?bP4 =η?YAqPBo )8IibX?A@">&@ q=>)xl@Iq=ȗYi0b-? F%H)%"I%iq=checking for new query: numPingsReceived=66, elapsed TxPingTime=32.084621E EEE"E:*E:VEZEBE6yP>9< A @)AYA 4==bDVD8y5~˻%=D=ٔ=Q-=>9AYA=E6EyAEEE>IQ 5U4M) ?Q 9]4M)MBY]g>Q E]%;y]!@Q I])@MDIM ;iM ;M%4ye(Bɮey$AmEii܌LAjoA"joA:jY@Rjvu6u0pwCT$9P @Bji?bP4 =η?*j%2jq=Zj"-@-䟢d*Li(@JjH/?6?(T*{2!??jCP jhAi#ף?i[jBjȣ?jj~BrjAzj/4@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.510279 s, deltaX: 0.200001 m, approachRate: 0.391944 m/s, rangeRepo size: 4  Added new target pos. range: 19.679556 m, bearing: 318.178659 deg, lat: 36.779525 deg, lon: -121.859755 deg, deltaT: 0.510279 s, deltaX: 0.199793 m, approachRate: 0.391537 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.68 m.hhhhhggjgrgBreZe:e@33@*e`e?[g>[g>"[?0?*[!@) >i9)Q6z9iihIIA9@ @@/@IIOf>DDAT read: Rx Time:01:20:50.5877 TRx dataTimestamp_ set to:1764897651.729065PDAT read: Bearing 60.0, -28.3 (Local) ~Local bearing/azimuth received: Bearing 60.0, -28.3 (Local) DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.3 DAT read: 01:20:50.5877 LVL= 32752, 19777, 27762, 32755, AGC= 53, IDX= 507,-0.19, 0.418, 2.743, 1.694, 1.935, PHS=-1.415, 0.854,-0.285, RAW= 300.1, 8.7, CAL= 297.7, 9.8, ROT= 212.3, -9.8 Ygot valid direction response: 01:20:50.5877 LVL= 32752, 19777, 27762, 32755, AGC= 53, IDX= 507,-0.19, 0.418, 2.743, 1.694, 1.935, PHS=-1.415, 0.854,-0.285, RAW= 300.1, 8.7, CAL= 297.7, 9.8, ROT= 212.3, -9.8 T#Rx 67: Read range and direction messages.`direction in FSK: [-0.832928,-0.526555,0.170209]Fpublishing direction and range infoyGX7ԉrl?YfAAMrl )5IiZ?둾@|>^D@ %/>)1$m@I%/ L→85b8C? UH)qI$i%/ checking for new query: numPingsReceived=67, elapsed TxPingTime=32.529217i E  E E E "E ;*E a:VE ZE a @a @a @a @<7#,܌LA 2?2?2Dݥ<ٱ2>2H@п` a?`D?`^п?K`??i2?I26^;2בCYbByf/IbDVD8ym`<%mX=ٔu;:Q-}>9Y=6Ey9CE>Q 54?Q 94Ѣ)BYy @Q I)@DI ;i ;+4BA4=BBBIBwBBZ =BBBj;Bt[EBBBB[ =B[ =C4y}+Bɮ}~$Aii܌LAji9)m!6i9iiIAchecking for new query: numPingsReceived=67, elapsed TxPingTime=32.765842ihII@ @@_0@II!O[>ԡ5 qGM {Aa 9 {AY A  DDAT read: Rx Time:01:20:51.0879  TRx dataTimestamp_ set to:1764897652.237730 PDAT read: Bearing 59.9, -29.0 (Local)  ~Local bearing/azimuth received: Bearing 59.9, -29.0 (Local) 5 DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.3 C7#,i݌LAXmDAT read: 01:20:51.0879 LVL= 32752, 19297, 25650, 32755, AGC= 55, IDX= 509,-0.07, 1.693,-2.271, 2.989,-3.072, PHS=-1.416, 0.846,-0.266, RAW= 299.5, 8.6, CAL= 297.0, 9.6, ROT= 213.0, -9.6 Ygot valid direction response: 01:20:51.0879 LVL= 32752, 19297, 25650, 32755, AGC= 55, IDX= 509,-0.07, 1.693,-2.271, 2.989,-3.072, PHS=-1.416, 0.846,-0.266, RAW= 299.5, 8.6, CAL= 297.0, 9.6, ROT= 213.0, -9.6 E EE,E"E:*E]t:VEg4ZEBEF8H@ +>)\m@I+ŎW￟,?yr? pH@)VIY3$ٱΑ>H@"пd??Ͽ O?+ ?¬?i?IaC^;֑CYyi+checking for new query: numPingsReceived=68, elapsed TxPingTime=33.158298iuMb@Mb@Mb@qqqq q9uv?&1?Zd;O?Yux>yquj9!Y!=%6Ey!-\E->1Q 5]45 ?Q 9]45)5BY]ߢ>Q E]&;y] @Q Ie)@5DI5;i5>;5l54yiɮiiii6݌LAchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.269367jA"jA:j@Rj/0}˝FÐ%=W @BjcK-vh3/8_X?*jY3$2j+Zjb'-@!'o*ߴ @Jj_?bwK?jyS jioAiT壊?i:jBj#ף?j:jwBrjAzjX@% addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.508665 s, deltaX: 0.300001 m, approachRate: 0.589781 m/s, rangeRepo size: 4 U Added new target pos. range: 20.079145 m, bearing: 318.545608 deg, lat: 36.779526 deg, lon: -121.859753 deg, deltaT: 0.508665 s, deltaX: 0.299688 m, approachRate: 0.589166 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 20.08 m.hYhYhYhYhYgYgajgargeBreaZei:em4@*e?[ߢ>[ߢ>"[c2?*[Җ @U`<)Q U{>iU%9)Y]&6]i9iYiehaaIaI I)! I !@! @!@-/@)IIDDAT read: Rx Time:01:20:51.5879 TRx dataTimestamp_ set to:1764897652.737181PDAT read: Bearing 60.0, -29.6 (Local) ~Local bearing/azimuth received: Bearing 60.0, -29.6 (Local) DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.3 DAT read: 01:20:51.5879 LVL= 32752, 18017, 23778, 32755, AGC= 54, IDX= 509, 0.03, 1.037,-2.923, 2.354, 2.557, PHS=-1.418, 0.847,-0.248, RAW= 298.9, 8.4, CAL= 296.5, 9.2, ROT= 213.5, -9.2 Ygot valid direction response: 01:20:51.5879 LVL= 32752, 18017, 23778, 32755, AGC= 54, IDX= 509, 0.03, 1.037,-2.923, 2.354, 2.557, PHS=-1.418, 0.847,-0.248, RAW= 298.9, 8.4, CAL= 296.5, 9.2, ROT= 213.5, -9.2 T#Rx 69: Read range and direction messages.`direction in FSK: [-0.823159,-0.544837,0.159881] Fpublishing direction and range infoy!8GQWo:NoČsv?YaF\ )6IiX?}@Q >ʘ@ l$>)W{n@Il$\+8\?q? G@) I^#il$%checking for new query: numPingsReceived=69, elapsed TxPingTime=33.537357O]?WK7#,0݌LAV;ɰV4<%%HϿ?y? Ͽ\'? e ?@p?i%9Y=6Ey3DE>Q 54A?Q 94P)BYyN @Q I)@DI[:ig:;4y ɮc$AQii-/݌LAj"j:j@Rjw@0љ|5% ! @Bj!8GQWo:NoČsv?*j^#2jl$Zj]*f} .@LI,[*zvWDz?JjTX?wv忷Ɂ;B?jR jOpAir$⣊?iY0jBj0Vۣ?j[jBrjŸAzjӱ@E EE*E"ET;*Ev:VE(N4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.499451 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.079145 m, bearing: 318.736370 deg, lat: 36.779527 deg, lon: -121.859752 deg, deltaT: 0.499451 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.08 m.hhhhhggjgrgreZe:e *e `%?[["[*[WN @+<) ͗>ie9)t+6I:iIiUhQYIYIYBu>BBBB[ =BBBH;BR[E9@ @@/0@!I)IAOMR>checking for new query: numPingsReceived=69, elapsed TxPingTime=33.773571qԙ R7#,>xJ݌LA2?2?2P<ٱ2>2H,Ͽ @?j?jοZ???i2?I2\^;0YNByR5IbDZVDZ8y 5<%Y=ٔ6:Q->9Y=6Ey%AE%>!Q 5-4%>鞊?Q 954%r)%BY1y5 @Q I5)@%DI%:i%6:%dB4y=&BɮE*$AAmDNOT Ignoring new targets: 20.08 m.hihihihihigigqjgqrgqyreqZey:e*ej?[["[*[ @P<) >i9)顽/6:iihIIDDAT read: Rx Time:01:20:52.0881 TRx dataTimestamp_ set to:1764897653.249997PDAT read: Bearing 60.2, -29.8 (Local) ~Local bearing/azimuth received: Bearing 60.2, -29.8 (Local) }9@y @@4@DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.3 IqIDAT read: 01:20:52.0881 LVL= 32752, 18033, 25506, 32755, AGC= 54, IDX= 511, 0.15, 1.961,-2.016,-3.007,-2.813, PHS=-1.407, 0.842,-0.238, RAW= 298.7, 8.3, CAL= 296.2, 8.9, ROT= 213.8, -8.9 Ygot valid direction response: 01:20:52.0881 LVL= 32752, 18033, 25506, 32755, AGC= 54, IDX= 511, 0.15, 1.961,-2.016,-3.007,-2.813, PHS=-1.407, 0.842,-0.238, RAW= 298.7, 8.3, CAL= 296.2, 8.9, ROT= 213.8, -8.9 ԡO >T#Rx 70: Read range and direction messages.`direction in FSK: [-0.820979,-0.549598,0.154710]Fpublishing direction and range infoyo`ZvEqQ6Nῥj?Y3AqFc )IiPW?FsXӦ@V>m@ >) n@IǤkC4Q4%?xR=u? G@)/.IN#ichecking for new query: numPingsReceived=70, elapsed TxPingTime=34.115112E EEE"E ;*E|:VEZEBEO~Hοq??1Ϳ@ӫ?|ߕ? ?i~s?I~EF^;~בCY By 8IiMb@Mb@Mb@ 9 +?Cl?S㥛?Yv>yO>/<@ A -@)AYA a=bD'VD8y#<%==ٔ|9Q->9Y=6Ey E>Q 5 4%?Q 9 4N)BY >Q E';y@Q I)@DIe ;iG ;I4yɮ$AiiO݌LAjA"jA:j@RjNy 0|f&8 @Bjo`ZvEqQ6Nῥj?*jN#2jZj'd.@tQ*MX?Jj vjj?Dӷ?j"W j!sAi[࣊?iWjnBj[࣊?jjBrj$Azj@m addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.512816 s, deltaX: 0.299999 m, approachRate: 0.585004 m/s, rangeRepo size: 4 } Added new target pos. range: 20.378851 m, bearing: 318.495787 deg, lat: 36.779527 deg, lon: -121.859752 deg, deltaT: 0.512816 s, deltaX: 0.299706 m, approachRate: 0.584431 m/s, posRepo size: 4 }DNOT Ignoring new targets: 20.38 m.hyhyhhhggjgrgBreZe:e`ff4@*e ?[>[>"[43?*[@H<) >iF9)=46:iihaIaIi@ @@4@II O*>eDDAT read: Rx Time:01:20:52.5881 mTRx dataTimestamp_ set to:1764897653.745301uPDAT read: Bearing 59.8, -30.1 (Local) }~Local bearing/azimuth received: Bearing 59.8, -30.1 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.3 DAT read: 01:20:52.5881 LVL= 32752, 19393, 24194, 32227, AGC= 53, IDX= 511, 0.29, 0.662, 2.960, 1.983, 2.171, PHS=-1.408, 0.834,-0.232, RAW= 298.4, 8.3, CAL= 295.9, 9.1, ROT= 214.1, -9.1 Ygot valid direction response: 01:20:52.5881 LVL= 32752, 19393, 24194, 32227, AGC= 53, IDX= 511, 0.29, 0.662, 2.960, 1.983, 2.171, PHS=-1.408, 0.834,-0.232, RAW= 298.4, 8.3, CAL= 295.9, 9.1, ROT= 214.1, -9.1 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.817638,-0.553583,0.158158]Fpublishing direction and range infoyimO_*:^@\~>?YiiimKm^ m})m5ImX9imU?mhmmr@imC@ m">)m&o@Im"iim○?s^? m?G@)m)Im"im"iichecking for new query: numPingsReceived=71, elapsed TxPingTime=34.545475)bE5 [4jE5U4rE5..E EEE"E;*Eą:VEZEa@a@a@a@A A @AB v>B CB IB BB B B B I;B S[EQ K^7#,.~݌LA2?2&x?2A<ٱ2y>2H}ο ??`VpͿ@c?w@h?@?i2?I2_a^;2֑CYNByR:Ibchecking for new query: numPingsReceived=71, elapsed TxPingTime=34.781208bDZLVDZޱ8yj<%j^=ٔn:Q-n>9!Y!=%6Ey!%:E->)Q 554-D؞?Q 9=4-p)-BYYy]w@Q I])@-DI-;i-2;-P4yaɮm $Aiiio݌LAj"j:j@RjX뜩0X&@9 @BjO_*:^@\~>?*j"2j"Zj-ok.@*4>|i]L9)Y]86]:iYiehII a@ @@4@IIOc>}=}<ԑDDAT read: Rx Time:01:20:53.0884 TRx dataTimestamp_ set to:1764897654.256822PDAT read: Bearing 59.2, -29.8 (Local) ~Local bearing/azimuth received: Bearing 59.2, -29.8 (Local) 5 DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.3 u DAT read: 01:20:53.0884 LVL= 32752, 15937, 20226, 32755, AGC= 56, IDX= 2,-0.43,-0.838, 1.443, 0.466, 0.665, PHS=-1.401, 0.823,-0.243, RAW= 298.6, 8.6, CAL= 296.2, 9.5, ROT= 213.8, -9.5 } Ygot valid direction response: 01:20:53.0884 LVL= 32752, 15937, 20226, 32755, AGC= 56, IDX= 2,-0.43,-0.838, 1.443, 0.466, 0.665, PHS=-1.401, 0.823,-0.243, RAW= 298.6, 8.6, CAL= 296.2, 9.5, ROT= 213.8, -9.5 } T#Rx 72: Read range and direction messages. `direction in FSK: [-0.819588,-0.548666,0.165048] Fpublishing direction and range infoyT:꿽άῩG ?Y3AA>O )8ISi!R?x Ŧ@`>m@ )>) n@I)}pIID_u9 3-?8? G@) IN#i) checking for new query: numPingsReceived=72, elapsed TxPingTime=35.116909Թ E  E E E "E %;*E :VE ZE BE KNHͿ= ?@@?̿u?@)?@1?iN ?INZ^;LYByJIi%Mb@Mb@Mb@!!!! !9%\(\?&1?X9v?Y%z>y%P>%9Y=7EyE>Q 54Ξ?Q 94!)BY>Q E%;y@Q I)@DI};i;oX4y!Bɮz#AEiio݌LAjA"jA:j@Rj1``q&#@ @BjT:꿽άῩG ?*jN#2j)Zj*6$.@&+wͦ:@Jj߭{??Zg?j] jawAi֦壊?i3jBjr$⣊?j:jrjAzjX@ addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.511521 s, deltaX: 0.500000 m, approachRate: 0.977477 m/s, rangeRepo size: 4  Added new target pos. range: 20.878365 m, bearing: 318.116926 deg, lat: 36.779527 deg, lon: -121.859753 deg, deltaT: 0.511521 s, deltaX: 0.499481 m, approachRate: 0.976463 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.88 m.hhhhhchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.285511ggjgrg'BreZe:e`f4@*e@p?[>[>"[ 1?*[@M㉰<)Q U>>iU9)QU=6U :iQi]hYIIm9 @  @ @% ?5@! I1 IA OM > DDAT read: Rx Time:01:20:53.5884  TRx dataTimestamp_ set to:1764897654.753082 PDAT read: Bearing 58.8, -29.6 (Local)  ~Local bearing/azimuth received: Bearing 58.8, -29.6 (Local)  DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.3  DAT read: 01:20:53.5884 LVL= 32752, 16561, 23138, 32755, AGC= 53, IDX= 498,-0.22,-2.266,-0.010,-0.978,-0.775, PHS=-1.389, 0.810,-0.247, RAW= 298.7, 8.7, CAL= 296.3, 9.9, ROT= 213.7, -9.9  Ygot valid direction response: 01:20:53.5884 LVL= 32752, 16561, 23138, 32755, AGC= 53, IDX= 498,-0.22,-2.266,-0.010,-0.978,-0.775, PHS=-1.389, 0.810,-0.247, RAW= 298.7, 8.7, CAL= 296.3, 9.9, ROT= 213.7, -9.9  T#Rx 73: Read range and direction messages. `direction in FSK: [-0.819566,-0.546582,0.171929] Fpublishing direction and range infoy   A9?}!?Y @ bZ ) 5I ʱi )\O? | XӦ@ |> 2|@ ;0>) n@I ;0 XZ`￯HhZ:?Aاæe? FG@) I .k#i ;0  checking for new query: numPingsReceived=73, elapsed TxPingTime=35.5538711 k7#,݌LA2?2|?2ɟ<ٱ2V>2H )Ϳfi?&? }}̿3?+?"?i2?I2q^;0Y>By9)Y)=-7Ey)-G4E5>1Q 5}45MǞ?Q 945N)5BYy@Q I)@5DI5%T+l i@Jj#?[2HXͫ:\d8?j^ j$vAiף?imjLBj[࣊?jWjrjLAzjj@= addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.496260 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 20.878365 m, bearing: 317.846690 deg, lat: 36.779527 deg, lon: -121.859753 deg, deltaT: 0.496260 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 20.88 m.E} E}E}+Ey"E}:*E}Ar:VE} [4ZEya@a@a@a@hQhhhhggjgrgreZe:e*e ۾?[["[*[@ɟ<) w>i9)dA6 :iihIIBw>BBIBBBZ =BBBE;BP[EƧ99E9@A @A@E/@AIQIaOuW>checking for new query: numPingsReceived=73, elapsed TxPingTime=35.789505i 2H̿ ?-?@ ̿ c?:??i2Z?I2^;0PYRByRAI TTXXbD^4VD^ȱ8yl %L=ٔ c8Q- >9 Y = 7Ey E>Q 5%4񾞊?Q 9%4>)#BY!y%G@Q I-)@DI`:iK:e4y1ɮ5#A1]DNOT Ignoring new targets: 20.88 m.hYhYhYhahagagajgargareiZei:ei*em{?[["[*[YG@XͰ<) c>i9)顭+E6 :iihII]DDAT read: Rx Time:01:20:54.0885 eTRx dataTimestamp_ set to:1764897655.260950uPDAT read: Bearing 58.3, -29.3 (Local) ~Local bearing/azimuth received: Bearing 58.3, -29.3 (Local) E9@I @I@U/@QDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.3 IIAO>DAT read: 01:20:54.0885 LVL= 32752, 17969, 22962, 32755, AGC= 53, IDX= 499,-0.03,-1.992, 0.244,-0.724,-0.510, PHS=-1.380, 0.799,-0.257, RAW= 299.0, 8.9, CAL= 296.5, 10.3, ROT= 213.5, -10.3  Ygot valid direction response: 01:20:54.0885 LVL= 32752, 17969, 22962, 32755, AGC= 53, IDX= 499,-0.03,-1.992, 0.244,-0.724,-0.510, PHS=-1.380, 0.799,-0.257, RAW= 299.0, 8.9, CAL= 296.5, 10.3, ROT= 213.5, -10.3  T#Rx 74: Read range and direction messages.`direction in FSK: [-0.820448,-0.543043,0.178802]Fpublishing direction and range infoyae6$/A7P`ῖ?YeAaae1FeY a)aIeףieDL?ee<@e>eʘ@ eX8>)eW{n@IeX8aaeO!?? eG@)erIe^#ieX8aaUchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.142666E EEE"E:*Ek:VEZEBEM-RHI̿?3?@,˿~?ҕ`. ?H?iR?IRX[^;RՑCYZByZIIxiEMb@Mb@Mb@AAAA A9E r?S?S㥛?YE>yE/]>E/9qYq=u7Eyq}bE}>Q 54?Q 94).BYq>Q E;y@Q I)@DI;i;l4yBɮ(#AyEiih݌LAjӧA"jӧA:jY6@Rjͮ7.61˧&vT@Bj6$/A7P`ῖ?*j^#2jX8Zj2DyH.@MrڝA,}c@Jjb/Z?B68.?j b jtAiʿ?iLjBjV٣?jmjBrjJAzj)@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.507868 s, deltaX: 0.100000 m, approachRate: 0.196902 m/s, rangeRepo size: 4  Added new target pos. range: 20.978354 m, bearing: 317.297406 deg, lat: 36.779526 deg, lon: -121.859756 deg, deltaT: 0.507868 s, deltaX: 0.099989 m, approachRate: 0.196880 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.98 m.hhhhhggjgrg;BreZe:e5@*e ?[5q>[5q>"[5O2?*[5@m<)i mk>iuԫ9)qu$I6uu:iqi}hyyIyI)EDDAT read: Rx Time:01:20:54.5885 MTRx dataTimestamp_ set to:1764897655.761233UPDAT read: Bearing 57.9, -28.8 (Local) ]~Local bearing/azimuth received: Bearing 57.9, -28.8 (Local) mDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.4 DAT read: 01:20:54.5885 LVL= 32752, 17713, 22242, 32755, AGC= 53, IDX= 499, 0.18,-1.771, 0.456,-0.522,-0.294, PHS=-1.375, 0.796,-0.272, RAW= 299.5, 9.1, CAL= 297.0, 10.7, ROT= 213.0, -10.7 Ygot valid direction response: 01:20:54.5885 LVL= 32752, 17713, 22242, 32755, AGC= 53, IDX= 499, 0.18,-1.771, 0.456,-0.522,-0.294, PHS=-1.375, 0.796,-0.272, RAW= 299.5, 9.1, CAL= 297.0, 10.7, ROT= 213.0, -10.7 T#Rx 75: Read range and direction messages.`direction in FSK: [-0.824088,-0.535169,0.185667]Fpublishing direction and range infoyIMmJ^g4 &K{?YIIIM1EMV I)IIMiMK?MCME@M">MH@ Mt;?>)M\m@IMt;?IIM,м)4u҂?~9? M\wH@)M{"IMY3$iMt;?IIchecking for new query: numPingsReceived=75, elapsed TxPingTime=36.562256:@ @@@IIOI>QEe  Ee Ea Ea "Ee V:*Ee :VEa ZEa am @am @am @am @y B <A <B x>B B !IB BB Y =B B B M;B Z[Eu!7#,uv݌LA2w@?2%?27j<ٱ2(>2H˿?9?85˿;5?ܬ?@?i2w@?I2l^;2בCRchecking for new query: numPingsReceived=75, elapsed TxPingTime=36.797302YVByVSIbD^sVD^8y'=% Q=ٔ Q- >9Y=7Ey,E>Q 5%4?Q 9-4ލ)9BY)y-H@Q I-)@DI/:i:s4y5Bɮ5"A9Yii ݌LAj"j:j+۰@RjaCI1h9t&J(@BjmJ^g4 &K{?*jY3$2jt;?Zj["E.@OIh,=?@Jju?]?jd j.rAi@?i@jBjף?j3jLBrj4AzjH@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.500283 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.978416 m, bearing: 316.659680 deg, lat: 36.779526 deg, lon: -121.859756 deg, deltaT: 0.500283 s, deltaX: 0.000063 m, approachRate: 0.000126 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.98 m.hhhhhggjgrgreZe:e*e`4?[["[*[[H@7j<) {>i\9)顭,M6:iihIIԉ9@ @@0@IIO>>Ա]DDAT read: Rx Time:01:20:55.0888 ]TRx dataTimestamp_ set to:1764897656.265134mPDAT read: Bearing 56.9, -28.4 (Local) m~Local bearing/azimuth received: Bearing 56.9, -28.4 (Local) }DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.4 DAT read: 01:20:55.0888 LVL= 32752, 17137, 21954, 32755, AGC= 51, IDX= 502,-0.41,-2.837,-0.646,-1.610,-1.372, PHS=-1.363, 0.771,-0.282, RAW= 299.6, 9.5, CAL= 297.1, 11.6, ROT= 212.9, -11.6  Ygot valid direction response: 01:20:55.0888 LVL= 32752, 17137, 21954, 32755, AGC= 51, IDX= 502,-0.41,-2.837,-0.646,-1.610,-1.372, PHS=-1.363, 0.771,-0.282, RAW= 299.6, 9.5, CAL= 297.1, 11.6, ROT= 212.9, -11.6  T#Rx 76: Read range and direction messages.= `direction in FSK: [-0.822471,-0.532080,0.201078]E Fpublishing direction and range infoyY]MMɗQ o?Y]AYY]B]U Y)]3I]vi]B`E?]Nb]T@])>]@ ]4QO>)]m@I]4QOYY]'cl`E[~?!"? ]H@)] )I]O$i]4QOYY checking for new query: numPingsReceived=76, elapsed TxPingTime=37.129295 E]  E] E] ,EY "E] :*E] &p:VE] g4ZEY BE] >2Hq˿ "+?@??ʿ?/c`'?a?i2&?I2CV^;0YFByFRIIJ=)JԡiMb@Mb@Mb@ 9NbX9?Cl??Y>y;_><@ -A)CAYAbD KVD ݱ8y=%E7=ٔE$Q-E>9AYI=M7EyIM,EM>QQ 5}4U4?Q 9}4Ue)UDBY>Q E;y@Q I)@UDIU;iU};U{4yɮ"AiqiuތLAjuҫA"juҫA:juð@Rju&V+:1 &ZaF@BjuMMɗQ o?*juO$2ju4QOZju[8{.@W38F-58~-@Jju2?ZO^v ?ju7j juvAiu&涣?ium juÆBjuʿ?juLjuBrjuAzjuf>@= addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503901 s, deltaX: 0.500000 m, approachRate: 0.992258 m/s, rangeRepo size: 4 M Added new target pos. range: 21.477901 m, bearing: 316.495403 deg, lat: 36.779524 deg, lon: -121.859756 deg, deltaT: 0.503901 s, deltaX: 0.499485 m, approachRate: 0.991236 m/s, posRepo size: 4 UDNOT Ignoring new targets: 21.48 m.hQhQhQhYhYgYgYjgYrge=BreaZea:ee5@*ee`H?checking for new query: numPingsReceived=76, elapsed TxPingTime=37.301441[>[>"[c$2?*[f@<) u>iH9)Q6:iih  I I @ @@)0@II)O5P>) U DDAT read: Rx Time:01:20:55.5888 U TRx dataTimestamp_ set to:1764897656.769155] PDAT read: Bearing 55.9, -28.4 (Local) e ~Local bearing/azimuth received: Bearing 55.9, -28.4 (Local) u DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.4  DAT read: 01:20:55.5888 LVL= 32752, 16529, 21426, 32755, AGC= 53, IDX= 502,-0.06, 1.790,-2.300, 3.024,-3.015, PHS=-1.377, 0.759,-0.289, RAW= 299.4, 9.8, CAL= 296.9, 12.2, ROT= 213.1, -12.2  Ygot valid direction response: 01:20:55.5888 LVL= 32752, 16529, 21426, 32755, AGC= 53, IDX= 502,-0.06, 1.790,-2.300, 3.024,-3.015, PHS=-1.377, 0.759,-0.289, RAW= 299.4, 9.8, CAL= 296.9, 12.2, ROT= 213.1, -12.2  T#Rx 77: Read range and direction messages. `direction in FSK: [-0.818800,-0.533769,0.211325] Fpublishing direction and range infoyQ U e 3$E῵\ ?YQ Q Q U @U S Q )U 5IU AiU MB?U U m7@U %/>U ѥ@ U ^ Z>)U n@IU ^ ZQ Q U ](lЅ?wZ? U ^H@)U /IU $iU ^ ZQ Q 5 checking for new query: numPingsReceived=77, elapsed TxPingTime=37.58237537#,-3ތLA2k?2P?2a<ٱ2r>2H@ ˿=?OE?@~hʿ? 2? ?i2k?I2s^;2֑CYBByBKIbDJdVDJ8ybe%bh=ٔfwQ-f>9dYd=j7EyhjhEj>Q 5%45?Q 9%4c)MBY!y-@Q I-)@DI|:i:4y1ɮ5"A1ii91ތLAj"j:jа@Rjh 1&c'@Bje 3$E῵\ ?*j$2j^ ZZjfd.@S:/- -, @Jjey?w )ό5?j~i jvAi5?i< j$Bj&涣?j@jBrjAzj@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 !5 Added new target pos. range: 21.477901 m, bearing: 316.587473 deg, lat: 36.779523 deg, lon: -121.859757 deg, deltaT: 0.504021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 21.48 m.hAhAhAhAhAgAgIjgIrgqreqZey:ey*e})?E  E E -E "E s:*E :VE t4ZE a@a@a@a@[Q[Q"[Q*[Uk@ea<)a mi>im>9)額T6:iihII I)B5y>B1B5'IB5BB1B1B1B5e;B5s[EBCBCBBZ =BZ =CzY5Achecking for new query: numPingsReceived=77, elapsed TxPingTime=37.805447ԑ 9@  @ @ /@ I1 IA OM > wv> kC G /{A E *9M /{AYM &Aԙ y *\? XA7#,)MތLA2?2?2<ٱ2[>2H Hʿ/`Z?J?@ ʿ?? H?L?i2?I2Y_^;2בCYLyPTVAAbDZ^VDZ8ٔbB]Q-f>9dYd=f7Eydj Ej>lQ 5-4n{?Q 954n/)nXBY1y5@Q I5)@nDIn&D! %f_>)!I%f_!!%dJ/ ?}'Gq ? %lH@)%N1I!i%f_!!u9@y @y@y@Ichecking for new query: numPingsReceived=78, elapsed TxPingTime=38.117184IO]>DazDe@AԡE EE,E"E;*E:VEg4ZEBED2H`XIʿv l?O?}ɿݨ?_?kS??i2?I2>^;2֑CYNByNRIi%Mb@Mb@Mb@!!!! !9%V-?V-?I +?Y%|>y%m>%99IYQ=U7EyQU޻E]>YQ 5e4]Ȉ?Q 9m4])]bBYmݭ>Q Em;ym !@Q Im)@]ƑDI]{:i]:]/4y} Bɮ}"A}xEiIiM~QތLAjM8A"jM8A:jM[@RjMJQ1U-8'k*@BjM +02K?*jI2jMf_ZjM\za/@ ۽- @JjMlpB?k}&y?jMm jMxAiM&Y?iMx% jMnBjM5?jM< jMÆBrjMAzjM۰@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504199 s, deltaX: 0.299999 m, approachRate: 0.595002 m/s, rangeRepo size: 4  Added new target pos. range: 21.777634 m, bearing: 316.283307 deg, lat: 36.779522 deg, lon: -121.859759 deg, deltaT: 0.504199 s, deltaX: 0.299732 m, approachRate: 0.594472 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.78 m.hhhhhggjgrg 3Bre Ze :e 5@*e?[Uݭ>[Uݭ>"[U? A?*[U !@e<)a e>i}9)\6U:iih  I I -DDAT read: Rx Time:01:20:56.5891 5TRx dataTimestamp_ set to:1764897657.778022EPDAT read: Bearing 54.6, -28.0 (Local) E~Local bearing/azimuth received: Bearing 54.6, -28.0 (Local) ]DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.4 DAT read: 01:20:56.5891 LVL= 32736, 18161, 22898, 32755, AGC= 53, IDX= 505,-0.21, 1.229,-2.865, 2.456, 2.718, PHS=-1.386, 0.745,-0.306, RAW= 299.5, 10.3, CAL= 297.0, 13.2, ROT= 213.0, -13.2 Ygot valid direction response: 01:20:56.5891 LVL= 32736, 18161, 22898, 32755, AGC= 53, IDX= 505,-0.21, 1.229,-2.865, 2.456, 2.718, PHS=-1.386, 0.745,-0.306, RAW= 299.5, 10.3, CAL= 297.0, 13.2, ROT= 213.0, -13.2 T#Rx 79: Read range and direction messages.9@ @@3@IIOB>`direction in FSK: [-0.816512,-0.530249,0.228351]Fpublishing direction and range infoy15 0^࿻ :?Y53A155F5rY 1)1I5shi5R>?55E@5X8>5H@ 5k>)5\m@I5k115[)=.|￯N ?0? 5!H@)57I5Y3$i5k11Uchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.600594E EEE"E;*E:VEZEa@a@a@a@! A% AAA% AAB) B) B) B) B) B) B) B- ;B- [E,7#,軀ތLA2A?20'?2)<ٱ2>2Hɿ a?`T? Lɿ@g?ܓ7@??i2A?I2XW^;2ԑCi@I@Fchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.813499`YbBybGIbDvVDv8y.%E=ٔnQ->9Y=7EyE> Q 5=4  ?Q 9E4 ͂) mBYIyM @Q IM)@ ʑDI ie9)`6|:i)i-h11I1I19@ @@/@IIOC>MDDAT read: Rx Time:01:20:57.0893 UTRx dataTimestamp_ set to:1764897658.283451ePDAT read: Bearing 54.7, -28.0 (Local) m~Local bearing/azimuth received: Bearing 54.7, -28.0 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.4 DAT read: 01:20:57.0893 LVL= 32752, 17393, 22130, 32755, AGC= 53, IDX= 507, 0.10,-2.224,-0.031,-0.999,-0.737, PHS=-1.385, 0.751,-0.306, RAW= 299.7, 10.2, CAL= 297.1, 13.0, ROT= 212.9, -13.0 Ygot valid direction response: 01:20:57.0893 LVL= 32752, 17393, 22130, 32755, AGC= 53, IDX= 507, 0.10,-2.224,-0.031,-0.999,-0.737, PHS=-1.385, 0.751,-0.306, RAW= 299.7, 10.2, CAL= 297.1, 13.0, ROT= 212.9, -13.0 T#Rx 80: Read range and direction messages.`direction in FSK: [-0.818101,-0.529253,0.224951]Fpublishing direction and range infoyQUS@-sx࿃:/2?YUAQUUCUrV Q)QIUGiUA@?QURb@UK6>U@ UVh>)Um@IUVhQQU~~lw?Ɂ9? UnH@)U6IUO$iUVhQQ% checking for new query: numPingsReceived=80, elapsed TxPingTime=39.094368Y E  E E +E "E ;*E :VE [4ZE BE >C2H ɿ k {\? 'Z? \ȿ? ?@4?/?i2?I2gB^;2בCYNByN=IiMb@Mb@Mb@ 9 +?Zd;O?y&1?Yv>y~j>`e<@ A -A)CAYA p=bDeVD8y$%C=ٔQ->9Y!=%7Ey!%E%>)Q 5U4-u?Q 9U4-)-vBY]]>Q E];y]H!@Q I])@-ΑDI-;i-\;-4yaɮe$#Aiiyi}$ތLAj}kA"j}kA:j}^@Rj}1B$2_y'K!@Bj}S@-sx࿃:/2?*j}O$2j}VhZj}z]/@E̓.H=C @Jj}FjK?%W> n?j}t j}zAi}#k?i} j}Bj}&Y?j}D j}nBrj}^Azj}@5 addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.505429 s, deltaX: 0.300001 m, approachRate: 0.593557 m/s, rangeRepo size: 4 E Added new target pos. range: 22.177246 m, bearing: 315.788962 deg, lat: 36.779521 deg, lon: -121.859760 deg, deltaT: 0.505429 s, deltaX: 0.299694 m, approachRate: 0.592950 m/s, posRepo size: 4 EDNOT Ignoring new targets: 22.18 m.hAhAhIhIhIgigijgqrgu,BreqZeq:e}@336@*e} n?checking for new query: numPingsReceived=80, elapsed TxPingTime=39.317471[]>[]>"[B?*[H!@n<) u>i 9)d6}:iIi]hYaIaI}9@y @y@y@yIIO_>qԡ M DDAT read: Rx Time:01:20:57.5894 M TRx dataTimestamp_ set to:1764897658.785134U PDAT read: Bearing 53.7, -27.8 (Local) ] ~Local bearing/azimuth received: Bearing 53.7, -27.8 (Local) m DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.4  DAT read: 01:20:57.5894 LVL= 32672, 17633, 21858, 32755, AGC= 51, IDX= 508,-0.50, 1.693,-2.404, 2.918,-3.093, PHS=-1.395, 0.734,-0.316, RAW= 299.6, 10.6, CAL= 297.0, 13.9, ROT= 213.0, -13.9  Ygot valid direction response: 01:20:57.5894 LVL= 32672, 17633, 21858, 32755, AGC= 51, IDX= 508,-0.50, 1.693,-2.404, 2.918,-3.093, PHS=-1.395, 0.734,-0.316, RAW= 299.6, 10.6, CAL= 297.0, 13.9, ROT= 213.0, -13.9  T#Rx 81: Read range and direction messages. `direction in FSK: [-0.814111,-0.528690,0.240228] Fpublishing direction and range infoyI M RQ3 *ŃY࿋ؼʿ?YM 3AI M M DM bU I )M 3IM \iM m;?M ʡM T@M q=>M H@ M Ulx>)M \m@IM UlxI I M [r8ts₩/+ ?gǑ? M H@)M C=IM Y3$iM UlxI I  checking for new query: numPingsReceived=81, elapsed TxPingTime=39.5852787#,TtތLA2Fz?2~_?2v<ٱ2=>2H\$ɿ^?^?ȿ? 0`0?m?i2Fz?I2T^;2ؑCYRByR:IbDZVDZ8ԁy1%N=ٔQ->bEqjEuT\4rEu§/E= E=E=(E9"E=;*E= n:VE=c44ZE9aM@aM@aM@aM@9Yq=u7Eyq}E}>Q 54ql?Q 94~)BYy!@Q I)@ӑDI:ie$<4yBɮ #AwEiyi}?ތLAj}A"j}A:j}pe@Rj}fc72dE9'6A@Bj}RQ3 *ŃY࿋ؼʿ?*j}Y3$2j}UlxZj}_@|/@9.:7@Jj}VҖ?'|o~?j}wu j}|Ai}l?i}B(j}Bj}l?jyj}Brj}Azj}@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.501683 s, deltaX: 0.199999 m, approachRate: 0.398656 m/s, rangeRepo size: 4  Added new target pos. range: 22.377041 m, bearing: 315.836260 deg, lat: 36.779520 deg, lon: -121.859760 deg, deltaT: 0.501683 s, deltaX: 0.199795 m, approachRate: 0.398249 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.38 m.hhhhhggjgrgreBBBIBBBBBB;B[EZe:e`ff6@*e?[1[1"[1*[5!@ev<)i mXq>im]9)imfh6m!:iqiuhqyIyIyԡ=9@9 @9@A@AIQIaOmV>checking for new query: numPingsReceived=81, elapsed TxPingTime=39.821556 fi7#,LOތLA2&?2]?2L<ٱ2J>2H`*ȿ o=m?c?0ȿJ?R钿@8?)?i2&?I2;^;2בCY^By^6IbDjVDj8y탼% Z=ٔ o>Q- >9Y=7EyE>!Q 5%4%\d?Q 9-4%|)%BY)y- @Q I-)@%בDI%>:i%:%D4y1ɮ=##A9eDNOT Ignoring new targets: 22.38 m.hahahahahagagijgirgireiZeq:eq*eu ?[["[*[ @L<) &k>i9)顭k6#:iihIII)zADDAT read: Rx Time:01:20:58.0894 TRx dataTimestamp_ set to:1764897659.289135PDAT read: Bearing 53.3, -27.7 (Local) ~Local bearing/azimuth received: Bearing 53.3, -27.7 (Local) %DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.4 DAT read: 01:20:58.0894 LVL= 31104, 17809, 22306, 32243, AGC= 51, IDX= 509,-0.13, 2.386,-1.713,-2.674,-2.398, PHS=-1.397, 0.730,-0.320, RAW= 299.6, 10.7, CAL= 297.0, 14.2, ROT= 213.0, -14.2 Ygot valid direction response: 01:20:58.0894 LVL= 31104, 17809, 22306, 32243, AGC= 51, IDX= 509,-0.13, 2.386,-1.713,-2.674,-2.398, PHS=-1.397, 0.730,-0.320, RAW= 299.6, 10.7, CAL= 297.0, 14.2, ROT= 213.0, -14.2 T#Rx 82: Read range and direction messages.`direction in FSK: [-0.813045,-0.527998,0.245307]Fpublishing direction and range infoyꃟw꿑x[/;f?YyE"W })IвiH:? ףt;?> }>)I}}p_R]~}?ú? ȗH@)?Ii}e9@a @i@m0@qIchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.112141I1Oe> E] E]E])EY"E] ;*E]:VE]FA4ZEYBE]R2H\ȿ?h?@ǿ?˺I??i2?I2p^;0YNByR3IimMb@Mb@Mb@iiii i9mq= ףp?q= ףp?:v?Ymk>ymk>mT9Y=7EyE>Q 54Z?Q 94z)BY>Q E#;yZ"@Q I)@ۑDIeA;iE9;4yɮ7#Ai1i50ތLAj1"j1:j58@Rj5˖^12Y$I'?@Bj5ꃟw꿑x[/;f?*j12j5}Zj5L!Rf/@ۚdы.TJN@Jj5Fs?"mR lQ?j5v j52{Ai5!wԅ?i5ڭ4j5ƈBj5#k?j5ڭ4j5Brj5±Azj5G@1M addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.377022 m, bearing: 315.524268 deg, lat: 36.779520 deg, lon: -121.859761 deg, deltaT: 0.504001 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 22.38 m.hahahahahagagajgirgmBreiZei:eq*eu e?[>[>"[I?*[Z"@ؕ<) >>i9)顭=p6-%:iihII-9@1 @1@50@1IAIQOaDDAT read: Rx Time:01:20:58.5894 TRx dataTimestamp_ set to:1764897659.793295PDAT read: Bearing 53.0, -27.8 (Local) %~Local bearing/azimuth received: Bearing 53.0, -27.8 (Local) 5DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.4 UDAT read: 01:20:58.5894 LVL= 31808, 18017, 22002, 32755, AGC= 53, IDX= 509, 0.10, 2.969,-1.122,-2.084,-1.807, PHS=-1.405, 0.730,-0.321, RAW= 299.5, 10.8, CAL= 296.9, 14.3, ROT= 213.1, -14.3 aeYgot valid direction response: 01:20:58.5894 LVL= 31808, 18017, 22002, 32755, AGC= 53, IDX= 509, 0.10, 2.969,-1.122,-2.084,-1.807, PHS=-1.405, 0.730,-0.321, RAW= 299.5, 10.8, CAL= 296.9, 14.3, ROT= 213.1, -14.3 mT#Rx 83: Read range and direction messages.m`direction in FSK: [-0.811763,-0.529181,0.246999]uFpublishing direction and range infoy \a[ ࿝⩝?Y@|aFU )5I ׳iZE@A>ѥ@ r>)n@Ir@> oᅮ?%~N? }H@)"@I$irchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.593983E] E]EYEY"E]D:*E]:VEYZEYae@ae@ae@ae@ԉB <A <B w>B B IB BB Z =B B B y;B [EԹ b{7#,ߌLA:DDAT read: Rx Time:01:20:59.0896 BTRx dataTimestamp_ set to:1764897660.046841Fchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.833961vAI?vx.?v<ٱv:>vH#ǿ@B?m?@zgǿ(?1`[V? &?ivAI?Iv?^;v֑CYByIbD%6VD%ʱ8yug%u>=ٔ}XQ-}>9yYy=7EyE>ԑQ 54BQ?Q 94x)BYy&"@Q I)@ߑDI(i-U9))5Jt65N':i1i=h99I9I99@ @@0@IIOK>PDAT read: Bearing 53.2, -27.7 (Local) %~Local bearing/azimuth received: Bearing 53.2, -27.7 (Local) 5DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.4 UDAT read: 01:20:59.0896 LVL= 32752, 17873, 21650, 32755, AGC= 53, IDX= 511, 0.33,-1.606, 0.592,-0.381,-0.101, PHS=-1.403, 0.738,-0.323, RAW= 299.7, 10.7, CAL= 297.2, 14.0, ROT= 212.8, -14.0 ]Ygot valid direction response: 01:20:59.0896 LVL= 32752, 17873, 21650, 32755, AGC= 53, IDX= 511, 0.33,-1.606, 0.592,-0.381,-0.101, PHS=-1.403, 0.738,-0.323, RAW= 299.7, 10.7, CAL= 297.2, 14.0, ROT= 212.8, -14.0 eT#Rx 84: Read range and direction messages.e`direction in FSK: [-0.815598,-0.525617,0.241922]mFpublishing direction and range infoyWM6aSO79K?YAET )Ii@ 5z>),m@I5zC%Hr 6t?_;_'w? H@)S>Il$i5zchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.095387DY D] <Ee  Ee Ee -Ea "Ee :*Ee :VEe t4ZEa BEe >2H@#ǿ% ?`s?}ƿ?~?g X? ?i2=?I2nQ^;2בCYNByN*IimMb@Mb@Mb@iiii i9m?v/?y&1?YmL>ymxi>m`e9Y=7EyZE> Q 54 H?Q 954 w) BY5r>Q E5.;y5&@Q I=)@ DI ;i ; 4yEBɮEH#AEvEiAiEߌLAjEiA"jEiA:jE&@RjE&ַ~2E}+'ku"@BjEWM6aSO79K?*jEl$2jE5zZjE!z6/@XL/\V7@JjE\W;?x2J$Go?jE| jE|AiEZٓx?iEjEBjE!wԅ?jE jEBrjEiAzjE8@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.502475 s, deltaX: 0.300001 m, approachRate: 0.597047 m/s, rangeRepo size: 4  Added new target pos. range: 22.676601 m, bearing: 314.925002 deg, lat: 36.779517 deg, lon: -121.859762 deg, deltaT: 0.502475 s, deltaX: 0.299692 m, approachRate: 0.596432 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.68 m.h h h h h1g1g9jgArgEBDDAT read: Rx Time:01:20:59.5897 TRx dataTimestamp_ set to:1764897660.551703PDAT read: Bearing 56.8, -33.5 (Local) ~Local bearing/azimuth received: Bearing 56.8, -33.5 (Local) checking for new query: numPingsReceived=84, elapsed TxPingTime=41.342144reAZe:e@36@*e` :?[r>[r>"['Y?*[!&@M<) >iҬ9)x6b):iiEhAAIAII@ @@70@II On>I - DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.3  DAT read: 01:20:59.5897 LVL= 31328, 18113, 22002, 32755, AGC= 53, IDX= 512,-0.39,-0.123, 2.436, 1.465, 1.600, PHS=-1.621, 0.881,-0.179, RAW= 295.0, 8.5, CAL= 292.5, 9.3, ROT= 217.5, -9.3  Ygot valid direction response: 01:20:59.5897 LVL= 31328, 18113, 22002, 32755, AGC= 53, IDX= 512,-0.39,-0.123, 2.436, 1.465, 1.600, PHS=-1.621, 0.881,-0.179, RAW= 295.0, 8.5, CAL= 292.5, 9.3, ROT= 217.5, -9.3  T#Rx 85: Read range and direction messages. `direction in FSK: [-0.782925,-0.600760,0.161604] Fpublishing direction and range infoy  kvr^ a(Sl9o?Y fA  `z F U  ) I |Ͽi 7a? K7 S¤@ > \@  6&>) (r@I 6&   =ІJr;?o?  ZoC@) I ,i 6&   checking for new query: numPingsReceived=85, elapsed TxPingTime=41.613781Q7#,5ߌLA0:b?:?G?:}r<ٱ:H>:H@ǿ A*`Ρ?Kx?ƿD? X? ?i:b?I:h^;:ؑCY]By]I qu<bD@VDӱ8y8%K=ٔo 9Q->9Y=7EyE>Q 54D@?Q 94mu)BYy%@Q I)@DI:i:4E EE(E"EO;*Ex:VEc44ZEa%@a%@a%@a%@y1ɮ=#A9iQiU/3ߌLAjU6A"jU6A:jUd@RjUBpJ1e]+6r @BjUkvr^ a(Sl9o?*jU,2jU6&ZjU 1@ - u@JjUS* ?3G忭Ϊ?jUo jUeAiUܣ?iUkZ&jUBjQjUڭ4jQrjUAzjUT@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504028 s, deltaX: 0.099998 m, approachRate: 0.198399 m/s, rangeRepo size: 4  Added new target pos. range: 22.776497 m, bearing: 318.717503 deg, lat: 36.779517 deg, lon: -121.859761 deg, deltaT: 0.504028 s, deltaX: 0.099895 m, approachRate: 0.198194 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.78 m.hhhhhggjgrgreZe :e 6@*e- ?Bux>BqBuIBuwBBu[ =BqBqBu;Bu[Eԉ[["[*[%@}r<) w>i9)^|6+:iihII:@ @@05@IIO>>DDAT read: Rx Time:01:21:00.0899 TRx dataTimestamp_ set to:1764897661.055601PDAT read: Bearing 50.8, -27.6 (Local) Թ~Local bearing/azimuth received: Bearing 50.8, -27.6 (Local) checking for new query: numPingsReceived=85, elapsed TxPingTime=41.847664 7#,ȗOߌLA6-?6d?6d<ٱ6&>6HƿD/]? ~?ƿH)?@U̒k?U?i6-?I6H^;6֑CY>ByB!IIB<)B<bDJIVDJ۱8\yb<%fZ=ٔf &:Q-f>9hYh=j7Eyhj/Ej>|Q 54~18?Q 94~s)~BY y %@Q I )@~DI~:i~:~}4yɮ#AMDNOT Ignoring new targets: 22.78 m.hIhIhIhIhIgIgQjgQrgQreQZeY:eY*e] c@ q>)&Bn@Iq; wOZ|M ?tG-? >H@)MI#iqEchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.102180[y[y"[y*[}x%@d<) 2{>i 9)页6,:iihII=9@A @I@M/@IIEE EEEE)EA"EE ;*EExv:VEEFA4ZEABEE{T DDAT read: Rx Time:01:21:00.5899  TRx dataTimestamp_ set to:1764897661.559805 PDAT read: Bearing 50.8, -27.3 (Local)  ~Local bearing/azimuth received: Bearing 50.8, -27.3 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.3  Z#Rx 87: Read range message, but no direction.y Y  checking for new query: numPingsReceived=87, elapsed TxPingTime=42.355709A 7#,.siߌLA:b?:G?:ч<ٱ:U>:H`ƿ3y;_>94<@ @)-@Y @bDTVD8y-%-6=ٔ-:Q-5>91Y1==7Ey9=s E=>AQ 5M4E/?Q 9M4Er)EBYMה>Q EM6;yUC%@Q IU)@EDIE ;iE ;EF4y]Bɮ]c#AYiicߌLAjA"jA:j@Rj,[-2Έ^( gI@Bj1鿃tψ.?*j#2jqZje/@ z/oVMY@Jjv#?_9W/fS?j joAiAWp?i[ה>"[?FY?*[EC%@ч<) >i F9) 額˂6.:iihIIIDAT read: 01:21:00.5899 LVL= 32752, 18145, 24882, 32755, AGC= 52, IDX= 498,-0.18, 2.906,-1.198,-2.158,-1.855, PHS=-1.420, 0.703,-0.347, RAW= 299.6, 11.6, CAL= 297.0, 15.9, ROT= 213.0, -15.9 -Ygot valid direction response: 01:21:00.5899 LVL= 32752, 18145, 24882, 32755, AGC= 52, IDX= 498,-0.18, 2.906,-1.198,-2.158,-1.855, PHS=-1.420, 0.703,-0.347, RAW= 299.6, 11.6, CAL= 297.0, 15.9, ROT= 213.0, -15.9 5Z#Rx 88: Read direction message, but no range.=`direction in FSK: [-0.806584,-0.523802,0.273959]yќȪGψ.?F2a )4Ii3?T@4QO>H@ )\m@Iu2YOsy?C+J? `H@)NIY3$iUchecking for new query: numPingsReceived=88, elapsed TxPingTime=42.606853]:@Y @Y@Y@YIiIO:>qE5 E5E5*E1"E5s:*E5:VE5(N4ZE1aE@aE@aE@aE@Am @AAm @ABu y>Bq Bu IBu rBBu Z =Bq Bq Bu ;Bu [EB1B1B1B1B1C5KX5ԡ 7#,-^ߌLA2DDAT read: Rx Time:01:21:01.0901 6TRx dataTimestamp_ set to:1764897662.065514BPDAT read: Bearing 50.3, -27.3 (Local) F~Local bearing/azimuth received: Bearing 50.3, -27.3 (Local) ZDAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.3 bZ#Rx 89: Read range message, but no direction.y4Y63A4nchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.864212qYMByMIbD]JVD]ܱ8ymK%D=ٔQ->9Y=7EyE>Q 5M4n&?Q 9U4eG}v|Ab#9v|AY !Aep)BYyQ I)@DI=i2<4yɮh#Ai4i6b1ߌLAj6A"j6A:j66ɯ@Rj6p>2?l}(S@Bj6ќȪGψ.?*j6Y3$2j4Zj6 P0@(-W;0R/٩@Jj6\?F^8Ph?j6ځ j6Ai6r?i6bUj6cBj6Zٓx?j6i9)顅6?1:iihII-9@1 @1@1@1IAIQO]w> DAT read: 01:21:01.0901 LVL= 32752, 18513, 25362, 32755, AGC= 52, IDX= 500,-0.17,-1.774, 0.417,-0.547,-0.240, PHS=-1.433, 0.702,-0.352, RAW= 299.6, 11.7, CAL= 297.0, 16.2, ROT= 213.0, -16.2 Ygot valid direction response: 01:21:01.0901 LVL= 32752, 18513, 25362, 32755, AGC= 52, IDX= 500,-0.17,-1.774, 0.417,-0.547,-0.240, PHS=-1.433, 0.702,-0.352, RAW= 299.6, 11.7, CAL= 297.0, 16.2, ROT= 213.0, -16.2 Z#Rx 90: Read direction message, but no range.%`direction in FSK: [-0.805370,-0.523013,0.278991]yr{z?QHc )IliF3?X9Q> Ð>)IÐhܡkUjH}?+? ;H@)QIiÐ=checking for new query: numPingsReceived=90, elapsed TxPingTime=43.106945 EU  EU EQ EQ "EU ;*EU Ar:VEQ ZEQ BEU D2Hſ>?J?@Ŀ`?= y?@?i20a?I2Y^;0Y@y@iMb@Mb@Mb@ 9/$?-?Q?Y&1>y5^>u< A -A)AYzAbDu"VDu8ٔB:Q->9Y=7EyE>Q 54?Q 94o)BYL>Q E?;y'@Q I)@DI:i:4yBɮ#AlEDNOT Ignoring new targets: 23.38 m.hhhhhggjgrgBreZe:e*e?[L>[L>"[e?*[!'@%[D<)) ->>i-.9))-6-2:i)i5h19I9I9uDDAT read: Rx Time:01:21:01.5901 TRx dataTimestamp_ set to:1764897662.568987PDAT read: Bearing 49.1, -27.7 (Local) ~Local bearing/azimuth received: Bearing 49.1, -27.7 (Local) :@ @@@II1OU>DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.2 mZ#Rx 91: Read range message, but no direction.yyYyyuchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.3859901% DAT read: 01:21:01.5901 LVL= 30080, 17233, 21106, 32755, AGC= 52, IDX= 500,-0.23,-2.688,-0.488,-1.436,-1.131, PHS=-1.455, 0.688,-0.349, RAW= 298.9, 12.0, CAL= 296.3, 17.0, ROT= 213.7, -17.0 - Ygot valid direction response: 01:21:01.5901 LVL= 30080, 17233, 21106, 32755, AGC= 52, IDX= 500,-0.23,-2.688,-0.488,-1.436,-1.131, PHS=-1.455, 0.688,-0.349, RAW= 298.9, 12.0, CAL= 296.3, 17.0, ROT= 213.7, -17.0 - Z#Rx 92: Read direction message, but no range.5 `direction in FSK: [-0.795602,-0.530600,0.292372]y  _Ƒu鿺au兗7?  u QC rR  ) I q=i 0? ! @ PwV> 2|@  >) n@I 闾  ٠iKᅲʝ?}Fp?  RG@) ayVI .k#i 闾U checking for new query: numPingsReceived=92, elapsed TxPingTime=43.610863Y 47#,cߌLAZY?Z?Z3<ٱZCM>ZHĿD??> Ŀ?Ɠ 4x? ?iZY?IZu=^;ZؑCYfByf$IbD#VD8yM@<%M<ٔUf:Q-U>9QYQ=]7EyY] !E]>aQ 54e?Q 94em)eBYy'@Q I)@eDIe$BBIBmBBY =BBB;B[["[*[҉'@E3<)A E>iEX9)IM6M4:iIiUhQQIQIYIezA)a@ @@@I IO%,>1UDDAT read: Rx Time:01:21:02.0902 ]TRx dataTimestamp_ set to:1764897663.072618uPDAT read: Bearing 48.7, -27.8 (Local) }~Local bearing/azimuth received: Bearing 48.7, -27.8 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.2 uDAT read: 01:21:02.0902 LVL= 31680, 18561, 22082, 32755, AGC= 52, IDX= 501,-0.29,-3.051,-0.838,-1.787,-1.479, PHS=-1.470, 0.686,-0.352, RAW= 298.8, 12.1, CAL= 296.1, 17.3, ROT= 213.9, -17.3 }Ygot valid direction response: 01:21:02.0902 LVL= 31680, 18561, 22082, 32755, AGC= 52, IDX= 501,-0.29,-3.051,-0.838,-1.787,-1.479, PHS=-1.470, 0.686,-0.352, RAW= 298.8, 12.1, CAL= 296.1, 17.3, ROT= 213.9, -17.3 }T#Rx 93: Read range and direction messages.`direction in FSK: [-0.792463,-0.532513,0.297375]Fpublishing direction and range infoyQUsX[鿉cX +0?YU̼AQU{UHUBV Q)QIU(iU/?UX9U@U@X>U_@ U#>)Un@IU#QQUJ7F G^*T q?-p{? UG@)U9XIU1#iU#QQchecking for new query: numPingsReceived=93, elapsed TxPingTime=43.904259aԑ A7#,3ߌLA2]?2B?2+<ٱ2k>2HĿ@I ??ÿr?P{??i2]?I2/^;2֑CY>ByB"IbDJVDJ8yf޻%fV=ٔfMb:Q-f>9hYh=j7Eyhj7*En>lQ 5r4nS?Q 9v4n:l)nBYtyvH'@Q Iv)@nDIn>:in:n4yzBɮz"A~kEiiƥߌLAjA"jA:j@Rj0׮2gaU)J2 @BjsX[鿉cX +0?*j1#2j#Zjpϲ)00@K ,<0@Jj ?<Ǜ L@?j jAiUwc?ipJjBjAWp?jjcBrjAzj@E addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503631 s, deltaX: 0.200001 m, approachRate: 0.397118 m/s, rangeRepo size: 4 U Added new target pos. range: 23.575836 m, bearing: 314.914515 deg, lat: 36.779515 deg, lon: -121.859764 deg, deltaT: 0.503631 s, deltaX: 0.199915 m, approachRate: 0.396947 m/s, posRepo size: 4 checking for new query: numPingsReceived=93, elapsed TxPingTime=44.105427DNOT Ignoring new targets: 23.58 m.hhhhhggjgrgreZe:e7@*e3?[)[)"[)*[-H'@]+<)Y ]>i]˭9)ae6e6:iaimhiiIiIiԑE EE+E"E&:*E|:VE [4ZEBEh; ] checking for new query: numPingsReceived=94, elapsed TxPingTime=44.387638 17#, ߌLAR?R?R<ٱRߏ>RHÿM`k??*ÿN?^c?`U?iR?IRNL^;RՑCYbByb+IIf=)f4yU(\>Uj9Y=7EyE>Q 54?Q 94j)BYj>Q EE;y&)@Q I)@DI ;i2 ;-4yɮ"A addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 23.58 m.hhhhhggjgrgBreZe:e*e M?[j>[j>"[_o?*[&)@<) >i9)69:iiMhIIIQIQ!DAT read: 01:21:02.5902 LVL= 32752, 16641, 22338, 32755, AGC= 51, IDX= 501,-0.35, 1.329,-2.729, 2.599, 2.908, PHS=-1.477, 0.692,-0.353, RAW= 298.8, 12.1, CAL= 296.1, 17.2, ROT= 213.9, -17.2 Ygot valid direction response: 01:21:02.5902 LVL= 32752, 16641, 22338, 32755, AGC= 51, IDX= 501,-0.35, 1.329,-2.729, 2.599, 2.908, PHS=-1.477, 0.692,-0.353, RAW= 298.8, 12.1, CAL= 296.1, 17.2, ROT= 213.9, -17.2 Z#Rx 95: Read direction message, but no range. `direction in FSK: [-0.792893,-0.532802,0.295708]yH{`_鿽O -?ABW )3IVi&1?j `>)I`]}HE6| ?ET? `G@)XIi`uchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.6313109@ @@0@IIO5O>bEǷG4jEǔK4rE/E EEE"E;*Exv:VEZEa%@a%@a%@a%@B A B {>B B B B B B B ;B [EA 8#,LAiI"DDAT read: Rx Time:01:21:03.0904 &TRx dataTimestamp_ set to:1764897664.081547<FPDAT read: Bearing 48.7, -28.2 (Local) J~Local bearing/azimuth received: Bearing 48.7, -28.2 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2 =DAT read: 01:21:03.0904 LVL= 31152, 16513, 22610, 32755, AGC= 50, IDX= 503,-0.49, 2.391,-1.661,-2.607,-2.309, PHS=-1.481, 0.694,-0.342, RAW= 298.4, 12.0, CAL= 295.8, 16.9, ROT= 214.2, -16.9 EYgot valid direction response: 01:21:03.0904 LVL= 31152, 16513, 22610, 32755, AGC= 50, IDX= 503,-0.49, 2.391,-1.661,-2.607,-2.309, PHS=-1.481, 0.694,-0.342, RAW= 298.4, 12.0, CAL= 295.8, 16.9, ROT= 214.2, -16.9 MT#Rx 96: Read range and direction messages.`direction in FSK: [-0.791362,-0.537809,0.290702]Fpublishing direction and range infoy "jR!05Tcݚ?Y"3A "y"@"RX )"2I"hi"1?""r@"PwV>"4@ ">)"Co@I" "*Kᅵw{a??-? "PG@)"2UI"4"i" checking for new query: numPingsReceived=96, elapsed TxPingTime=44.952805Y By ,IbDVDy8yms;%m.=ٔuQ-u>9qYy=}7Eyy}E}>Q 54?Q 94Bi)BYyQ I)@DI:iW:`4yɮ"Aԡi i"8LAj"A"j"A:j":@Rj"Ϙ92|T)^@@Bj"jR!05Tcݚ?*j"4"2j"Zj"Tm0@}ʞyw0ȕ@Jj"a ?濘Q\?j" j"lAi"X;3f?i"1`j"_Bj"X;3f?j"pJj"i%9))-96-;:i)i5h11I1IqU9checking for new query: numPingsReceived=96, elapsed TxPingTime=45.113518:@ @@/@II O> E5  E5 E1 E1 "E5 ;*E5 :VE1 ZE1 BE5 D@?>w?><ٱ>>>H¿`~U??@O¿0?0 ?զ?i>@?I>_^;>בCY^By^;IliMMb@Mb@Mb@IIII I9MQ?A`"??YM(>yMY>MQ 54 ?Q 94h)BY#>Q ED;y'@Q I)@DIp;iV;|4y!ɮ-/"A)DNOT Ignoring new targets: 23.88 m.hhhhhggjgrgBreZe:e*e;P?UDDAT read: Rx Time:01:21:03.5903 ]TRx dataTimestamp_ set to:1764897664.584338uPDAT read: Bearing 49.8, -28.4 (Local) }~Local bearing/azimuth received: Bearing 49.8, -28.4 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.2 Z#Rx 97: Read range message, but no direction.yQYUAQchecking for new query: numPingsReceived=97, elapsed TxPingTime=45.384796 []#>[]#>"[]/h?*[] '@<) >i9)顕6=:iihII19e 9@a  @a @e /@a i Iy I O > DAT read: 01:21:03.5903 LVL= 31904, 16097, 22610, 32755, AGC= 52, IDX= 502, 0.28,-2.967,-0.728,-1.682,-1.396, PHS=-1.469, 0.713,-0.329, RAW= 298.5, 11.5, CAL= 295.9, 15.8, ROT= 214.1, -15.8  Ygot valid direction response: 01:21:03.5903 LVL= 31904, 16097, 22610, 32755, AGC= 52, IDX= 502, 0.28,-2.967,-0.728,-1.682,-1.396, PHS=-1.469, 0.713,-0.329, RAW= 298.5, 11.5, CAL= 295.9, 15.8, ROT= 214.1, -15.8  Z#Rx 98: Read direction message, but no range. `direction in FSK: [-0.796774,-0.539457,0.272280]y  8- -鿿/;C ^ m? | > ) 4I 1i +6? r @ M> C@ 0>) &o@I 0 獨Y↑V~?tt? gG@) MI "i 05 checking for new query: numPingsReceived=98, elapsed TxPingTime=45.626850k 8#,ZJ8LA2;ɰ2p;9p?PU?F(<ٱp>H4¿X8,??@ @-?D`??ip?Ip]^;YByCIE EEE"Es:*EE:VEZEa@a@a@a@bDVD|8y <% A=ٔ9Q-5>9QYQ=U7EyQ] E]>aQ 5m4e?Q 9m4ef)e BYiym&@Q Iu)@e DB|>BCBIBwBBX =BBODB;B[EIe#i539)9=6=?:i9iEhAAIAiIiuDDAT read: Rx Time:01:21:04.0905 TRx dataTimestamp_ set to:1764897665.091040PDAT read: Bearing 51.3, -28.0 (Local) ~Local bearing/azimuth received: Bearing 51.3, -28.0 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.2 UDAT read: 01:21:04.0905 LVL= 32752, 13425, 22946, 32755, AGC= 52, IDX= 504, 0.07,-0.828, 1.440, 0.445, 0.736, PHS=-1.462, 0.749,-0.335, RAW= 299.3, 11.0, CAL= 296.8, 14.7, ROT= 213.2, -14.7 }Ygot valid direction response: 01:21:04.0905 LVL= 32752, 13425, 22946, 32755, AGC= 52, IDX= 504, 0.07,-0.828, 1.440, 0.445, 0.736, PHS=-1.462, 0.749,-0.335, RAW= 299.3, 11.0, CAL= 296.8, 14.7, ROT= 213.2, -14.7 }T#Rx 99: Read range and direction messages.`direction in FSK: [-0.809375,-0.529640,0.253758]Fpublishing direction and range infoyy}fN=?Y}Ay}}q4}Y y)yI}"i}w??ԡ}} )@} D>}å@ }G\>)}%n@I}G\yy}3UPj￞=F]?P? }WH@)}XCI}(#i}G\yychecking for new query: numPingsReceived=99, elapsed TxPingTime=45.922520PExceeded connect timeout, disconnecting.Q @  @ @ 0@ I I O > U8#,j/RLA2?2?2<ٱ2>2H`f\ 2? ?+`?{rA??i2?I2J^;2֑CY>By>6IbDFVDFt8ybSj%bb=ٔf9Q-f>9dYd=f7Eyhj&Ej>lQ 5r4nJ蝊?Q 9r4nCe)nBYtyv&@Q Iv)@nDIn:in:n4yxɮz'"AxiiELAjͿA"jͿA:j@checking for new query: numPingsReceived=99, elapsed TxPingTime=46.121464ԡRj_Bg3Ԋ.e)JZU@BjfN=?*j(#2jG\ZjƹKF0@A_B1hA@Jj E[?nЬE Վ']?j jAi}U,?iI+j‰Bjh`?jjrjAzj+@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.506702 s, deltaX: 0.299999 m, approachRate: 0.592062 m/s, rangeRepo size: 4  Added new target pos. range: 23.975533 m, bearing: 312.829817 deg, lat: 36.779514 deg, lon: -121.859766 deg, deltaT: 0.506702 s, deltaX: 0.299692 m, approachRate: 0.591456 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.98 m.hhhhhggjgrgreZe:e8@*e?[9[9"[9*[=&@]<)Y ]>ieG9)ae/6mA:iiiuhqqIyIE EE(E"E;*EAr:VEc44ZEBE7Nm DDAT read: Rx Time:01:21:04.5905 u TRx dataTimestamp_ set to:1764897665.592834 PDAT read: Bearing 51.7, -28.2 (Local)  ~Local bearing/azimuth received: Bearing 51.7, -28.2 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.3 % DAT read: 01:21:04.5905 LVL= 32160, 13713, 22002, 32755, AGC= 52, IDX= 504,-0.06,-1.873, 0.398,-0.597,-0.313, PHS=-1.458, 0.757,-0.328, RAW= 299.3, 10.7, CAL= 296.8, 14.2, ROT= 213.2, -14.2 - Ygot valid direction response: 01:21:04.5905 LVL= 32160, 13713, 22002, 32755, AGC= 52, IDX= 504,-0.06,-1.873, 0.398,-0.597,-0.313, PHS=-1.458, 0.757,-0.328, RAW= 299.3, 10.7, CAL= 296.8, 14.2, ROT= 213.2, -14.2 5 V#Rx 100: Read range and direction messages.= `direction in FSK: [-0.811197,-0.530833,0.245307]= Fpublishing direction and range infoyi m L To/;f?Yi i m }m 5m U i )i Im im A?m 茶i m t;?>i m }>)i Im }i i m Vo9]?d? m OH@)m C?Ii im }i i U checking for new query: numPingsReceived=100, elapsed TxPingTime=46.407444 98#,lLA:S?:q?:<ٱ:}>:HS a`&?Ʋ?m@?鞕? n?i:S?I:eN^;:בCY By NIi%Mb@Mb@Mb@!!!! !9%Gz?A`"?:v?Y%p=>y!%<%@% A !)%A!Y%\@ ]%=]=bDeVDez8yc=%1=ٔ%9Q->9Y=7EyE>Q 54\ߝ?Q 94\c)BY>Q E;;y"@Q I)@DIq;i;4yɮ!AiieLAj"j:j@RjY&Nr3cdž8t)%D@BjL To/;f?*j2j}ZjVcm/@(\1  {@JjH?ϓE,T?j j$Ain"?i|,jrBj][5>"[5rZ?*[5{"@checking for new query: numPingsReceived=100, elapsed TxPingTime=46.625694<) ף>i09)6DD:i!iehaiIiIq zAzAE EE*E"E:*Exv:VE(N4ZEa@a@a@a@IAAAAB{>BCBIBBBBBNDB;B[E 9I @I  @I @U {1@Q } DDAT read: Rx Time:01:21:05.0907  TRx dataTimestamp_ set to:1764897666.096744 PDAT read: Bearing 50.1, -29.1 (Local)  ~Local bearing/azimuth received: Bearing 50.1, -29.1 (Local)  DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3  DAT read: 01:21:05.0907 LVL= 30688, 15345, 21634, 32755, AGC= 54, IDX= 506,-0.09, 0.022, 2.287, 1.340, 1.605, PHS=-1.481, 0.728,-0.309, RAW= 298.0, 11.1, CAL= 295.4, 15.1, ROT= 214.6, -15.1  Ygot valid direction response: 01:21:05.0907 LVL= 30688, 15345, 21634, 32755, AGC= 54, IDX= 506,-0.09, 0.022, 2.287, 1.340, 1.605, PHS=-1.481, 0.728,-0.309, RAW= 298.0, 11.1, CAL= 295.4, 15.1, ROT= 214.6, -15.1  V#Rx 101: Read range and direction messages.IY I O >"8#,>ЈLA `direction in FSK: [-0.794716,-0.548238,0.260505] Fpublishing direction and range infoyIMMOn)QfJ0?YMfAIMwM;MT I)M6IMhiM5^:?M?5MBo@MaF>M@ MV>)Mo@IMVIIM~!aa p?7-? MF@)MNVFIMi"iMV*nManaging dock network, ignoring radio surface power offII:checking for new query: numPingsReceived=101, elapsed TxPingTime=46.937145hhM&?M ?MB<ٱM8>MH(Be@?@-?`p]dt?ק?]?iM&?IMI^;IY]ByeRIibDVDi8yu<%%==ٔ%8Q-->9)Y)=-7Ey)5E5>9Q 54=֝?Q 94=a)=*BYy"@Q I)@=DI=$i=9)9=6=F:i9iEhAAIAIIԙ1echecking for new query: numPingsReceived=101, elapsed TxPingTime=47.1311269@ @@/@II O%n>E  E E (E "E T;*E :VE c44ZE BE G~H hJ??`뿿B? •??i~*?I~;_^;~֑CY=ByEQIDDAT read: Rx Time:01:21:05.5907 TRx dataTimestamp_ set to:1764897666.600976PDAT read: Bearing 50.9, -29.2 (Local) ~Local bearing/azimuth received: Bearing 50.9, -29.2 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3 %DAT read: 01:21:05.5907 LVL= 32752, 16849, 23826, 32755, AGC= 54, IDX= 506,-0.02,-1.143, 1.125, 0.168, 0.428, PHS=-1.470, 0.742,-0.304, RAW= 298.2, 10.8, CAL= 295.6, 14.4, ROT= 214.4, -14.4 -Ygot valid direction response: 01:21:05.5907 LVL= 32752, 16849, 23826, 32755, AGC= 54, IDX= 506,-0.02,-1.143, 1.125, 0.168, 0.428, PHS=-1.470, 0.742,-0.304, RAW= 298.2, 10.8, CAL= 295.6, 14.4, ROT= 214.4, -14.4 5V#Rx 102: Read range and direction messages.5`direction in FSK: [-0.799191,-0.547217,0.248690]=Fpublishing direction and range infoy|cc;)"΂l?YA] )I(i=?㥛ۋ@A>@ >)|o@I2ykʢB}?y? G@)@I"iUchecking for new query: numPingsReceived=102, elapsed TxPingTime=47.401535iMb@Mb@Mb@ 9~jt?Q?:v?YD>y(\>@ )(AY@bDUVDUa89yE&%E =ٔMO9Q-M>9IYI=M7EyIUлEU>yQ 54}̝?Q 94}Z_)}8BY/>Q E7;y!@Q I)@}DI}:i}:}.4yBɮJ!AjEiidvLAj"j:j@Rj^}!f31˯M*""^%@Bj|cc;)"΂l?*j"2jZjqVte0@UV1@JjY? ҍ" rؿ?j j(Ai 2?if'jBj 2?jf'j‰BrjAzj@E addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 24.275169 m, bearing: 313.397233 deg, lat: 36.779509 deg, lon: -121.859771 deg, deltaT: 0.504232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 24.28 m.hqhqhqhyhygygyjgyrgBreZe:e*e q?[/>[/>"[oW?*[4!@<) >i9)6yI:iih  I Iiu checking for new query: numPingsReceived=102, elapsed TxPingTime=47.634563 9I yA) yAԙ q @q  @q @u 3@q I I O >.8#,LAE  E E &E"E ;*E :VE 4ZEa@a@a@a@:b?:G?:<ٱ:/X>:H+`:k??:? y` ?:?i:b?I:\1^;:בCBZw>BXBZ!IBZBBZ[ =BXBXBZ;BZ[EBqBqBqBuY =BuY =Cu5Y-By5\IAE@AbDMVDM8y]q=%]=ٔ].Q-]?9aYa=e7EyamEm?qQ 5}4uǝ?Q 9}4u!^)u@BYyy}j!@Q I})@uDIu6:iud:u34yɮ!ADNOT Ignoring new targets: 24.28 m.hhhhhggjgrgreZe:e*e@@L?[["[*[j!@<) Z>if9)6J:ii h  I II ?)#?aDDAT read: Rx Time:01:21:06.0908 TRx dataTimestamp_ set to:1764897667.102551PDAT read: Bearing 50.9, -29.3 (Local) ~Local bearing/azimuth received: Bearing 50.9, -29.3 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.3 DAT read: 01:21:06.0908 LVL= 32704, 16497, 21954, 32755, AGC= 54, IDX= 507, 0.09,-0.387, 1.890, 0.933, 1.191, PHS=-1.476, 0.745,-0.302, RAW= 298.1, 10.7, CAL= 295.5, 14.3, ROT= 214.5, -14.3 Ygot valid direction response: 01:21:06.0908 LVL= 32704, 16497, 21954, 32755, AGC= 54, IDX= 507, 0.09,-0.387, 1.890, 0.933, 1.191, PHS=-1.476, 0.745,-0.302, RAW= 298.1, 10.7, CAL= 295.5, 14.3, ROT= 214.5, -14.3 V#Rx 103: Read range and direction messages.`direction in FSK: [-0.798591,-0.548857,0.246999]Fpublishing direction and range infoy)3鿏T;῝⩝?YAq@U )IiR>?ԑ}@t;?> @ r>)Ko@Ir’i`k↑?8J? 'F@) @Ij"irchecking for new query: numPingsReceived=103, elapsed TxPingTime=47.935284 v>aC59aG/{AN9/{AYJA:@ @@%/@!I1IAOM>Թ 5 checking for new query: numPingsReceived=103, elapsed TxPingTime=48.138538o58#,}LAC?z?<ٱ>H $m@X1? )?@ ?]b`??iC?I F^;ԑCYĀByaI bDVDl8EE EEEE)EA"EE:*EE:VEEFA4ZEABEE>99Y9=e7EyauFEu>Q 54?Q 94[)NBYy@!@Q I)@"DI'@ 5z>)|o@I5zgdpxb?u2ڈ? G@)Z=I"i5zchecking for new query: numPingsReceived=104, elapsed TxPingTime=48.405464[![!"[!*[%#@!@U<)Q ]U>i]9)Y]6]8N:iYiehaaIaI) Q  Ƨ9 @  @ @ .5@ II)O=><8#,LA2?2?2`<ٱ2d>2Hn`?F??@#?6K? ?i2?I2%^;2בCY:By:\Ichecking for new query: numPingsReceived=104, elapsed TxPingTime=48.641891AiMb@Mb@Mb@ 9J +?-?y&1?YH>y5^>`< );@Y\@bDVD8y5%5H=ٔ5ֹQ-5>99Y9==7Ey9EƻEE>IQ 5M4M?Q 9U4M-Z)MYBYUf>Q EU4;yU @Q IU)@M%DIM#:iM:M.C4yaɮe!AaiiwLAj"j:j®@Rjg33[S*C@Bjy{|4679K?*j"2j5zZj J`g0@ե1^2@JjDdr?V翐{?j. j;Ai!rN?i!\*jYBj()?jjBrjqAzj@- addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.502641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.474684 m, bearing: 312.907806 deg, lat: 36.779508 deg, lon: -121.859772 deg, deltaT: 0.502641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 24.47 m.hahahahahagagajgirgmBreiZeq:eq*eu H?[f>[f>"[SV?*[A @`<) ף>i9);6O:iihIIEe EeEaEa"Ee:*Ee n:VEaZEaam@am@qam@a}@BABv>BB4IBBBBBB;B[Eԩè9DDAT read: Rx Time:01:21:07.0911 TRx dataTimestamp_ set to:1764897668.110998PDAT read: Bearing 51.1, -29.0 (Local) ~Local bearing/azimuth received: Bearing 51.1, -29.0 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.4 - DAT read: 01:21:07.0911 LVL= 32752, 15937, 25682, 32755, AGC= 53, IDX= 510,-0.30, 2.957,-1.074,-2.032,-1.773, PHS=-1.451, 0.745,-0.302, RAW= 298.5, 10.6, CAL= 295.9, 14.0, ROT= 214.1, -14.0 E Ygot valid direction response: 01:21:07.0911 LVL= 32752, 15937, 25682, 32755, AGC= 53, IDX= 510,-0.30, 2.957,-1.074,-2.032,-1.773, PHS=-1.451, 0.745,-0.302, RAW= 298.5, 10.6, CAL= 295.9, 14.0, ROT= 214.1, -14.0 E V#Rx 105: Read range and direction messages.U `direction in FSK: [-0.803463,-0.543986,0.241922]U Fpublishing direction and range infoy%Th79K?Y3AA>Rd )5I^iR>?@C@ )&o@IsW qJ2?_T? XG@)=I"i checking for new query: numPingsReceived=105, elapsed TxPingTime=48.9185455 9@1  @1 @5 /@9 IA IY Om > iC8#,@PLA2b{?2`?2<ٱ2>2H`'tp=S??w>?T ?`å?i2b{?I2^;0YB€ByB^IbDJVDJ8ybi<%bg=ٔbCQ-b>9dYd=f7EydjûEj>hQ 5~4j ?Q 94jXQ =tI)jcBYy @Q I*@j(DIj;ij;j_I4y۔Bɮ AiEiiLAjA"jA:j@RjL4LL3O^r+l; @Bj%Th79K?*j"2jZjX-n0@i}$9)y}6}Q:iyihII yA=checking for new query: numPingsReceived=105, elapsed TxPingTime=49.146328E EE*E"E:*E:VE(N4ZEBEa2EaJE ;a:E ;aԉը9I @I  @I @I @Q I I O >ԙ  DDAT read: Rx Time:01:21:07.5911  TRx dataTimestamp_ set to:1764897668.613078 PDAT read: Bearing 50.7, -29.1 (Local)  ~Local bearing/azimuth received: Bearing 50.7, -29.1 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.4 - DAT read: 01:21:07.5911 LVL= 32752, 15553, 26898, 32755, AGC= 50, IDX= 510, 0.13, 0.694, 2.947, 1.994, 2.252, PHS=-1.456, 0.740,-0.303, RAW= 298.3, 10.7, CAL= 295.7, 14.2, ROT= 214.3, -14.2 5 Ygot valid direction response: 01:21:07.5911 LVL= 32752, 15553, 26898, 32755, AGC= 50, IDX= 510, 0.13, 0.694, 2.947, 1.994, 2.252, PHS=-1.456, 0.740,-0.303, RAW= 298.3, 10.7, CAL= 295.7, 14.2, ROT= 214.3, -14.2 5 V#Rx 106: Read range and direction messages.= `direction in FSK: [-0.800857,-0.546308,0.245307]E Fpublishing direction and range infoy  b(r0鿚GZ{/;f?Y < i ) 2I 5^i p=? " &@ t;?> i&@ }>) `o@I } EGm[BA?='?lI8#,*(LAB5?B?Bߥ<ٱB>BH` rKR?@??@a?@?iB5?IB#^;BՑC )6G@)T?I"i}Nchecking for new query: numPingsReceived=106, elapsed TxPingTime=49.431911YyI%=)=qiMb@Mb@Mb@ 9"~?v/?Zd;O?YS>yxi>j<@ A )(AYbD]VD]8y `%#=ٔ׹Q->9Y=7EyDE>Q 54?Q 947V)pBY>Q E+;yi @Q I*@-DI;i ;R4yɮ Aii<'LAj"j:j@Rj3c/-+8hGh@Bjb(r0鿚GZ{/;f?*j"2j}Zj^0)0@FR2GC߆@JjRÍN?ьl-tgD?j" jAi Kw?i40jBj ?j!\*jrj Azj@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.502080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.874241 m, bearing: 312.592694 deg, lat: 36.779507 deg, lon: -121.859773 deg, deltaT: 0.502080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.87 m.hhhhhg!g!jg!rg-Bre)Ze):e)*e-@]?[m>[m>"[m7iU?*[mEi @ԡߥ<) ף>i^9)顭6T:iihIIEchecking for new query: numPingsReceived=106, elapsed TxPingTime=49.650398% 91 bE FA4jE ʏB4rE ַ/E  E E )E "E :*E z:VE FA4ZE a @a @a @a @B x>B B :IB BB Z =B B B ;B [E @  @ @ @ I I O >S{P8#,BBLA^?^:?^3<ٱ^>^H@i`tG?? r:?@sN? ?i^?I^^;^֑CY=By=VIbD}VD}8y%n=ٔKNQ- ?91Y1=57Ey1=E=>AQ 5M4Ej?Q 9M4ET)EyBYIyMI @Q IM*@E1DIES:iE;ELX4yYɮ] AYDNOT Ignoring new targets: 24.87 m.hhhhhggjgDDAT read: Rx Time:01:21:08.0914 TRx dataTimestamp_ set to:1764897669.117200PDAT read: Bearing 38.9, -32.9 (Local) ~Local bearing/azimuth received: Bearing 38.9, -32.9 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.4 DAT read: 01:21:08.0914 LVL= 32752, 15249, 21938, 32755, AGC= 49, IDX= 513,-0.37, 2.532,-1.939,-2.459,-2.289, PHS=-1.360, 0.395,-0.215, RAW= 290.0, 15.1, CAL= 288.0, 22.2, ROT= 222.0, -22.2 Ygot valid direction response: 01:21:08.0914 LVL= 32752, 15249, 21938, 32755, AGC= 49, IDX= 513,-0.37, 2.532,-1.939,-2.459,-2.289, PHS=-1.360, 0.395,-0.215, RAW= 290.0, 15.1, CAL= 288.0, 22.2, ROT= 222.0, -22.2 V#Rx 107: Read range and direction messages.`direction in FSK: [-0.688056,-0.619528,0.377841]Fpublishing direction and range infoy1濐-g|.?YA;U )1I{iq=>(\p@V>|٠@ a>)w@IaƾEqujl]Vk?!? {=@)\.I%iaƾ%checking for new query: numPingsReceived=107, elapsed TxPingTime=49.918766rgreIZeQ:eU@339@*eUw?[["[*[I @3<) >i/9)6UV:iihIIѩ99@A @A@EE1@AIQIaOmV>) U checking for new query: numPingsReceived=107, elapsed TxPingTime=50.154457V8#,[LA20?2g?2z<ٱ2w>2H@yw8?@?`컿SR?@:"`H?F?i20?I2I^;2בCPYRƀByRdIXZAAbD^#VD^8yvg=%vZ=ٔ~^\Q->9 Y=7EyE>!Q 5-4%ە?Q 9-4%R)%BY)y5( @Q I5*@%4DI%y:i% :%^4EE EEEE&EA"EE:*EE]t:VEE4ZEABEE#5ieǮ9)im6mX:iiiuhqqIqIyDDAT read: Rx Time:01:21:08.5914 TRx dataTimestamp_ set to:1764897669.621221PDAT read: Bearing 37.9, -30.5 (Local) ~Local bearing/azimuth received: Bearing 37.9, -30.5 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.4 DAT read: 01:21:08.5914 LVL= 32752, 18721, 22818, 32755, AGC= 49, IDX= 513,-0.11, 1.862,-2.396,-3.038,-2.755, PHS=-1.564, 0.404,-0.327, RAW= 291.6, 17.0, CAL= 290.0, 23.9, ROT= 220.0, -23.9 Ygot valid direction response: 01:21:08.5914 LVL= 32752, 18721, 22818, 32755, AGC= 49, IDX= 513,-0.11, 1.862,-2.396,-3.038,-2.755, PHS=-1.564, 0.404,-0.327, RAW= 291.6, 17.0, CAL= 290.0, 23.9, ROT= 220.0, -23.9 V#Rx 108: Read range and direction messages.`direction in FSK: [-0.700359,-0.587671,0.405142] Fpublishing direction and range infoyiڮWi)3?Y!I"Y )I'1ȿi>l4ܢ@>p@ >) u@IվIA?)M?[rFEPO ?p? ^?@).IaiվMchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.425980 % 9I) )) @  @ @ /@ I I O >\8#,uLAZtc?ZH?Z$<ٱZ>ZHIa`y=?`?@t]?rܓ@?C?iZtc?IZ7^;XYjBlyj[I ttchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.657467iMb@Mb@Mb@ 9J +?Zd;O?Q?YH>y~j>u<@ A )Y@bD VD8y%8=ٔQ->9Y!=%7Ey!% E%>)Q 554-ό?Q 954-P)-BY=>Q E=/;y="@Q I=*@-9DI-z ;i-~ ;-`f4yE֔BɮE AMhEiigLAj"j:j`2@Rjz11-9Qve$@BjiڮWi)3?*ja2jվZj;yLz1@Y:"(/0F^W @JjS_?iKn\ر ?jAy jAi<+v?ijNBjjjBrjAzj)@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.174068 m, bearing: 319.060095 deg, lat: 36.779507 deg, lon: -121.859773 deg, deltaT: 0.504021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.17 m.hhhhhggjgrg!BreZe:e*e@=?[>[>"[W\?*["@$<) >iq9)6[Z:iihII EU EUEU(EQ"EU;*EU:VEUc44ZEQa]@a]@a]@a]@BBBBBY =BBB;B[E!@! @!@!@!I1IAOU2>1iߩIߩDDAT read: Rx Time:01:21:09.0916 TRx dataTimestamp_ set to:1764897670.125377PDAT read: Bearing 47.9, -29.6 (Local) ~Local bearing/azimuth received: Bearing 47.9, -29.6 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.4 DAT read: 01:21:09.0916 LVL= 32752, 17825, 23090, 32755, AGC= 52, IDX= 3, 0.07, 1.426,-2.648, 2.738, 2.995, PHS=-1.467, 0.685,-0.301, RAW= 297.2, 11.6, CAL= 294.6, 16.3, ROT= 215.4, -16.3  Ygot valid direction response: 01:21:09.0916 LVL= 32752, 17825, 23090, 32755, AGC= 52, IDX= 3, 0.07, 1.426,-2.648, 2.738, 2.995, PHS=-1.467, 0.685,-0.301, RAW= 297.2, 11.6, CAL= 294.6, 16.3, ROT= 215.4, -16.3  V#Rx 109: Read range and direction messages. `direction in FSK: [-0.782364,-0.555997,0.280667] Fpublishing direction and range infoy{qn 鿥J'rwkq?YAE2Z )4Iƻi)\/?@4QO>"@ >)p@I?nOᅩ 81?:%? CE@)BOI!i- checking for new query: numPingsReceived=109, elapsed TxPingTime=50.925541i 'c8#,LA2?2?2T9<ٱ2>2H̻zL??̺}?܆`??i2?I2pD^;2֑CY>By>KIbDJVDJ8yr&%r`=ٔvjQ-v>9tYt=v7EytzOͻEz>Q 5%44?Q 9-4#O)BY)y-!@Q I-*@i9)26;\:iihI!I!:@ @@/@IIO>checking for new query: numPingsReceived=109, elapsed TxPingTime=51.161480iEm EmEm-Ei"Em:*Emx:VEmt4ZEiԑBEm3 o@ ޏ>) ~p@I ޏ #QQ9?L? YF@) YNI !i ޏ = checking for new query: numPingsReceived=110, elapsed TxPingTime=51.429192i8#, sLAJ?J?Jl<ٱJMO>JH|\?@g?!}?`Gm˷? r?iJ?IJW-^;JԑCYByOIԙimMb@Mb@Mb@iiii i9msh|?? +?ymv>mt9Y=8EyE>Q 54D{?Q 94gM)BY>Q E5;yk(@Q I%*@@DI:is:u4y)ɮ- AIiiBLAj"j:j@Rj- 3u'I,mwA@Bj+ja|%/?*j!2jޏZj_k{ 1@u,2 0@Jjfi?Fr c(IF˞?jc j^Ain?ij+jNBjjjrj6Azj@ addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.473780 m, bearing: 313.166041 deg, lat: 36.779507 deg, lon: -121.859773 deg, deltaT: 0.503690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.47 m.hhhhhggjgrgBreZe!:e!*e%?[e>[e>"[ew?*[eqk(@l<) Q>i<9)顝e6^:iihII}9@ @@@IIOb>checking for new query: numPingsReceived=110, elapsed TxPingTime=51.665512Em  Em Em ,Ei "Em V;*Em :VEm g4ZEi au @au @au @au @B B B 4IB BB Z =B B B ;B [E p8#,O\LA00mS?m?m<ٱm>mH`Ź@m?`?`̸@0?6#? ?imS?Im+^;m֑CYByEII=)<bDVD8yl#%^=ٔiQ->9Y=8EylE>Q 54s?Q 94 L)BYy(@Q I*@DDId:ip:\{4yɮ ADNOT Ignoring new targets: 25.47 m.hhhhhgg!jg!rg!re!Ze):e)*e-˜?[I[I"[I*[M^(@]<)a ḛ>ie>9)ae6eG`:iaDDAT read: Rx Time:01:21:10.0918 TRx dataTimestamp_ set to:1764897671.141188PDAT read: Bearing 47.0, -29.3 (Local) ~Local bearing/azimuth received: Bearing 47.0, -29.3 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.3 DAT read: 01:21:10.0918 LVL= 32752, 17617, 22946, 32755, AGC= 48, IDX= 502,-0.43, 0.601, 2.791, 1.902, 2.167, PHS=-1.464, 0.669,-0.309, RAW= 297.2, 11.9, CAL= 294.6, 17.0, ROT= 215.4, -17.0 Ygot valid direction response: 01:21:10.0918 LVL= 32752, 17617, 22946, 32755, AGC= 48, IDX= 502,-0.43, 0.601, 2.791, 1.902, 2.167, PHS=-1.464, 0.669,-0.309, RAW= 297.2, 11.9, CAL= 294.6, 17.0, ROT= 215.4, -17.0  V#Rx 111: Read range and direction messages.`direction in FSK: [-0.779511,-0.553969,0.292372]Fpublishing direction and range infoyDrf8兗7?YADY )IiC+??5@ȭT>"@ >)p@I闾7;Fg2?޳n? E@)TI!i闾-checking for new query: numPingsReceived=111, elapsed TxPingTime=51.941368iehiiIiIi9@ @@@II)O5.>Ie checking for new query: numPingsReceived=111, elapsed TxPingTime=52.177353q v8#,c(LAY~By~KIEE EEEE+EA"EE:*EE n:VEE [4ZEABEAae2EAaeJEE;ae:EE;aebDVD|8y}c<%}O=ٔ}Q->9Y=8EyE>Q 542k?Q 94J)BYyQ I*@GDI:is;B4yǔBɮ A^Eii9 LAjA"jA:jۮ@Rj??4?{,fWa'`@YBjDrf8兗7?*j!2j闾Zj. K1@^~2pA@Jj*-O?VHhXH{?j j^Ai$?i 1jBBjjjBBrjAzj0@M addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.512121 s, deltaX: 0.500000 m, approachRate: 0.976332 m/s, rangeRepo size: 4  Added new target pos. range: 25.973248 m, bearing: 313.081606 deg, lat: 36.779507 deg, lon: -121.859773 deg, deltaT: 0.512121 s, deltaX: 0.499468 m, approachRate: 0.975293 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.97 m.hhhhhggjgrgreZe:e:@*e@z?[["[*[1)1 5>i509)156=b:i9i=hAAIAIA MMIM)MԁDDAT read: Rx Time:01:21:10.5918 TRx dataTimestamp_ set to:1764897671.645350PDAT read: Bearing 46.1, -29.1 (Local) ~Local bearing/azimuth received: Bearing 46.1, -29.1 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.3 DAT read: 01:21:10.5918 LVL= 29984, 17137, 21538, 31475, AGC= 50, IDX= 502,-0.25,-0.914, 1.258, 0.379, 0.651, PHS=-1.463, 0.652,-0.316, RAW= 297.2, 12.3, CAL= 294.5, 17.8, ROT= 215.5, -17.8 Ygot valid direction response: 01:21:10.5918 LVL= 29984, 17137, 21538, 31475, AGC= 50, IDX= 502,-0.25,-0.914, 1.258, 0.379, 0.651, PHS=-1.463, 0.652,-0.316, RAW= 297.2, 12.3, CAL= 294.5, 17.8, ROT= 215.5, -17.8 %V#Rx 112: Read range and direction messages.-`direction in FSK: [-0.775143,-0.552904,0.305695]-Fpublishing direction and range infoyu:Vdќ?Y uB"T z)2ICiy&?ʡ[>z@ >)?p@IZy;V!k?v-? E@)[Ivh!iUchecking for new query: numPingsReceived=112, elapsed TxPingTime=52.447544ԩ @  @ @ /@ I I O > j}8#,g LA6?61?6P<ٱ6`>6HK གr?F?@v?钿 Y??i6?I6^;6ԑCY^By^HI-checking for new query: numPingsReceived=112, elapsed TxPingTime=52.682465iMb@Mb@Mb@ 9333333?q= ףp?I +?Y>yk>94< A @)(AY@bDVDu8yJ%C=ٔعQ->9Y=8EyFܻE>Q 5 4b?Q 9 4&I)BY>Q EA;y)@Q I*@KDI ;i;4yɮ AiijMLAj"j:j@Rj;" "4U<, t@Bju:Vdќ?*jvh!2jZj<$pA1@Dl23fz@Jj;XesB?O濞zPzo(?jb j Ai?i-jBj$?jj+jrj2Azj@m addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504162 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 25.973248 m, bearing: 313.126124 deg, lat: 36.779506 deg, lon: -121.859773 deg, deltaT: 0.504162 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.97 m.hhhhhggjg rg Bre Ze :e*e`$?[U>[U>"[US.~?*[UN)@eP<)a e>ie9)額6_d:iihIIE- E-E-)E)"E-V:*E-]t:VE-FA4ZE)a5@a5@a5@a=@BEz>BABE'IBEBBEY =BABABE;BE[EBBBBZ =BZ =C/]5@ @@ /@ I1IQOuX>DDAT read: Rx Time:01:21:11.0920 TRx dataTimestamp_ set to:1764897672.149067PDAT read: Bearing 46.8, -28.9 (Local) ~Local bearing/azimuth received: Bearing 46.8, -28.9 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.3 u G {A 9 {AY …A DAT read: 01:21:11.0920 LVL= 32752, 16513, 21122, 32755, AGC= 49, IDX= 504,-0.18, 0.672, 2.853, 1.957, 2.232, PHS=-1.458, 0.666,-0.319, RAW= 297.6, 12.0, CAL= 294.9, 17.2, ROT= 215.1, -17.2  Ygot valid direction response: 01:21:11.0920 LVL= 32752, 16513, 21122, 32755, AGC= 49, IDX= 504,-0.18, 0.672, 2.853, 1.957, 2.232, PHS=-1.458, 0.666,-0.319, RAW= 297.6, 12.0, CAL= 294.9, 17.2, ROT= 215.1, -17.2  V#Rx 113: Read range and direction messages. `direction in FSK: [-0.781561,-0.549290,0.295708] Fpublishing direction and range infoytȓ-?YfA@R )1Ii~*?S6@PwV>@ `>)Dp@I`ShD+5oI?W? ibF@)?WI!i` checking for new query: numPingsReceived=113, elapsed TxPingTime=53.0033041 8#, LA4<ɰ;2T?29?2/<ٱ2->2H@QI??@Uq?@咿??i2T?I2)7^;0YBByB:I DDbDJVDJ{8yV}%Va=ٔVB9Q-V>9XYX=Z8EyX^E^>Q 5 4E[?Q 9 4G)BYyx)@Q I*@NDI;i: 4y9ɮ=!A9i i P LAj /A"j /A:j y@Rj /)4pRw,=tk,@Bj tȓ-?*j !2j `Zj /2I1@nr2]@Jj ns ?rVr@ՀH?j  j HAi ln ?i M8j Bj n?j -j rj %Azj {@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503717 s, deltaX: 0.299999 m, approachRate: 0.595571 m/s, rangeRepo size: 4  Added new target pos. range: 26.273067 m, bearing: 312.486327 deg, lat: 36.779506 deg, lon: -121.859774 deg, deltaT: 0.503717 s, deltaX: 0.299820 m, approachRate: 0.595215 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjg rg re Ze :eL:@*e5?[["[*[ux)@/<) >i^9)(69f:iihII 5checking for new query: numPingsReceived=113, elapsed TxPingTime=53.185448@ @@/0@IIOF>9EE EEEE+EA"EE:*EEą:VEE [4ZEABEE>)E(p@IΘj-G?TO ? F@)%'VIp!iΘHZchecking for new query: numPingsReceived=114, elapsed TxPingTime=53.474960?T{?E<ٱ>H`0ζ ??yܵ@e? ?ߤ?i?II^;בCYByԉiMb@Mb@Mb@ 9Pn?v/?:v?Y>yxi>T<Q@l A @)$@Yp@bD% VD%8y5?W:%5=ٔ=H9Q-=>99YA=E8EyAe6Em>iQ 5u4mQ?Q 9}4miF)mBY}J>Q E}J;y}-@Q I}*@mSDIm:im:m4yɮ!Aii)LAj"j:jG@Rj<~4ÏX,UgX@Bjn 鿗5Y?*jp!2jΘZj7(%1@-3R /@Jj8d6??O(ͪT#͸?j j/Ai?i,z:joBj?j 1joBrjlAzj@M addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.273067 m, bearing: 312.049127 deg, lat: 36.779505 deg, lon: -121.859775 deg, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgBreZe:e*e?[J>[J>"[(?*[-@EE<)I M>iM9)IM6Mh:iIiUhQԹQIII)=checking for new query: numPingsReceived=114, elapsed TxPingTime=53.689453!@) @)@-/@)IAIO> B- {>B) B- IB- BB- X =B) B- ODB- Ƞ;B- [EEM  EM EI EI "EM ;*EM ]t:VEI ZEI BEM A<2EM A<JEM ;:EM ;N8#,DLA`3?? <ٱUX>H @`,?$?@>?`3?C?i3?I6^;YBy9IbD-7VD-˱8ym߆%m=ٔu':Q-u?9yYy=}8Eyy}E}?Q 54J?Q 94E)BYy,@Q I*@UDI ;i;{4yBɮ A]EDNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e*e ?[["[*[f,@  <)  >i9)!6j:iihII!DDAT read: Rx Time:01:21:12.0921 TRx dataTimestamp_ set to:1764897673.157195PDAT read: Bearing 46.3, -28.9 (Local) ~Local bearing/azimuth received: Bearing 46.3, -28.9 (Local) DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.2 ]DAT read: 01:21:12.0921 LVL= 32752, 16929, 23410, 32067, AGC= 50, IDX= 505,-0.36, 1.073,-3.046, 2.351, 2.626, PHS=-1.451, 0.656,-0.319, RAW= 297.5, 12.2, CAL= 294.8, 17.5, ROT= 215.2, -17.5 eYgot valid direction response: 01:21:12.0921 LVL= 32752, 16929, 23410, 32067, AGC= 50, IDX= 505,-0.36, 1.073,-3.046, 2.351, 2.626, PHS=-1.451, 0.656,-0.319, RAW= 297.5, 12.2, CAL= 294.8, 17.5, ROT= 215.2, -17.5 mV#Rx 115: Read range and direction messages.u`direction in FSK: [-0.779325,-0.549753,0.300706]uFpublishing direction and range infoy:a:)ῴ->?Y3A!Br[ C})2:@ @@/@IIO>I^i'?'@^ Z>@ a>)vap@Ia]@䛹?y? qOF@)}YI?!iachecking for new query: numPingsReceived=115, elapsed TxPingTime=53.986469E checking for new query: numPingsReceived=115, elapsed TxPingTime=54.193336I LC8#,uv^LAYnByn6IIr<)r<E~ E~E|E|"E~;*E~:VE|ZE|a @a @a @a @bDvOVDv8y]ke%]L=ٔeQ-e>9aYa=e8EyimEm>qQ 5}4uC?Q 94uZD)uBYyQ I*@uXDIu?*j?!2jaZj61@H T3@~QR_@Jj8$?2{(,?j? jAixSh?i8jьBjln ?jM8jBrjAzj@Am addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504127 s, deltaX: 0.100000 m, approachRate: 0.198363 m/s, rangeRepo size: 4 } Added new target pos. range: 26.373060 m, bearing: 312.124870 deg, lat: 36.779504 deg, lon: -121.859779 deg, deltaT: 0.504127 s, deltaX: 0.099993 m, approachRate: 0.198348 m/s, posRepo size: 4 }DNOT Ignoring new targets: 26.37 m.hyhyhyhyhggjgrgreZe:e`ff:@*e1?[1[1"[1*[1a)a e>ie9)im6ml:iiiuhqqIqIyDDAT read: Rx Time:01:21:12.5920 TRx dataTimestamp_ set to:1764897673.661902PDAT read: Bearing 47.1, -29.4 (Local) ~Local bearing/azimuth received: Bearing 47.1, -29.4 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.2  DAT read: 01:21:12.5920 LVL= 32752, 17073, 22898, 32755, AGC= 50, IDX= 504, 0.42, 2.140,-1.970,-2.855,-2.595, PHS=-1.446, 0.670,-0.304, RAW= 297.4, 11.7, CAL= 294.7, 16.6, ROT= 215.3, -16.6 5Ygot valid direction response: 01:21:12.5920 LVL= 32752, 17073, 22898, 32755, AGC= 50, IDX= 504, 0.42, 2.140,-1.970,-2.855,-2.595, PHS=-1.446, 0.670,-0.304, RAW= 297.4, 11.7, CAL= 294.7, 16.6, ROT= 215.3, -16.6 V#Rx 116: Read range and direction messages.`direction in FSK: [-0.782123,-0.553774,0.285688]Fpublishing direction and range infoy&~yWԷH?YfABrY )Ii+?㥛x@Q>o@ V>)~p@IV^#/Kqw?=? [!F@)#%RI!iVMchecking for new query: numPingsReceived=116, elapsed TxPingTime=54.499630q9@ @@:5@IIO>ԡ m8#,RxLA2rݷ?2?2<ٱ2+(>2HA^ @m??m'? sb@?`u?i2rݷ?I2O^;2ԑCY^By^JIchecking for new query: numPingsReceived=116, elapsed TxPingTime=54.697433iUMb@Mb@Mb@QQQQ Q9UZd;?$C?:v?YU=yUZ>QUh@U A U@)UAQYU@aabDm;VDmα8qy=%H=ٔm9Q->9Y=8EyһE>1Q 5=45.;?Q 9=45+C)5BY={>Q E=W;yEa,@Q IE*@5\DI5<:i5:54yIɮM AIii\jLAj/A"j/A:j[9@Rj4RJ-"O<@Bj&~yWԷH?*j!2jVZjf?!%1@#Vuڄ3U@JjR?^;6=翢$?j j.AiZ2ࢊ?i+39j Bj?j8jrjAzjw@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504707 s, deltaX: -0.100000 m, approachRate: -0.198136 m/s, rangeRepo size: 4  Added new target pos. range: 26.273163 m, bearing: 311.946960 deg, lat: 36.779502 deg, lon: -121.859779 deg, deltaT: 0.504707 s, deltaX: -0.099897 m, approachRate: -0.197931 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgBreZe:eL:@*eR?[{>[{>"[[{?*[ a,@<) p>i9)860n:iihII A@AABz>BBIBBBY =BBNDB;B[EbE [4jEüP4rE]%0E  E E *E "E ;*E k:VE (N4ZE BE >CJ\Qgd?Y3ABY )IXi*?@BR>"@ ;>)p@I;U7 I￧0?.)? E@)RI!i;} checking for new query: numPingsReceived=117, elapsed TxPingTime=54.975609 ~S8#,)%LAJ3?JK?J)<ٱJa+>JH ҏ ?[???@j?iJ3?IJp^;JՑCYbBybEIbDj4VDjȱ8yr%vU=ٔv9Q-v>9tYx=z8Eyxz ^Ez>|Q 54~4?Q 94~'B)~BY y  ,@Q I *@~_DI~:i~:~X4yɮ Aii稊LAjA"jA:j@RjZh34DSgD-$lnP@BjJ\Qgd?*j!2j;Zj\] %1@&33ɒ5V@Jj?Q3ML翠3V?j j(Ai@٢?i52;j'BjxSh?j+39joBrjAzjh@u addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504657 s, deltaX: 0.100000 m, approachRate: 0.198155 m/s, rangeRepo size: 4  Added new target pos. range: 26.372955 m, bearing: 311.761576 deg, lat: 36.779501 deg, lon: -121.859779 deg, deltaT: 0.504657 s, deltaX: 0.099792 m, approachRate: 0.197743 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.37 m.hhhhhggjgrgreZe:e`ff:@*e@?[y[y"[y*[}a ,@)<) >ic9)顕6%p:iihIIchecking for new query: numPingsReceived=117, elapsed TxPingTime=55.201515(9D!D%<E- E-E-'E)"E-:*E-:VE-'4ZE)a5@a=@a=@a=@9u:@q @y@W3@Iq I O >Y  DDAT read: Rx Time:01:21:13.5921  TRx dataTimestamp_ set to:1764897674.669853 PDAT read: Bearing 46.2, -29.4 (Local)  ~Local bearing/azimuth received: Bearing 46.2, -29.4 (Local)  DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.2 % DAT read: 01:21:13.5921 LVL= 32752, 17937, 24818, 32755, AGC= 50, IDX= 506, 0.04, 2.221,-1.900,-2.771,-2.510, PHS=-1.450, 0.656,-0.305, RAW= 297.1, 12.0, CAL= 294.4, 17.2, ROT= 215.6, -17.2 5 Ygot valid direction response: 01:21:13.5921 LVL= 32752, 17937, 24818, 32755, AGC= 50, IDX= 506, 0.04, 2.221,-1.900,-2.771,-2.510, PHS=-1.450, 0.656,-0.305, RAW= 297.1, 12.0, CAL= 294.4, 17.2, ROT= 215.6, -17.2 = V#Rx 118: Read range and direction messages.E `direction in FSK: [-0.776738,-0.556090,0.295708]E Fpublishing direction and range infoy  -6迍w;|-?Y F ` ) I i '? ( @;~8#,LAPwV>l@ `>)p@I` vB$:?j? E@)VIK!i`:;ɰ:4<Nchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.479820Զ?˹?<ٱZ>HCNX@?`'??`ʞ?`?@.?iԶ?Iw^;ӑCY-By)1i5Mb@Mb@Mb@1111 195:v?$C?I +?Y5=y159<5Q@5A 1)5@1Y5@bDMTVDM8y `% !=ٔe9Q->9Y=8EyBE>!Q 5U4%S+?Q 9U4%@)%BY]s>Q E]^;y]/@Q I]*@%bDI%#?j j,Ai\9Т?iG8jBjZ2ࢊ?jjrjAzjS@a addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503294 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.372955 m, bearing: 311.862151 deg, lat: 36.779500 deg, lon: -121.859779 deg, deltaT: 0.503294 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.37 m.hhhhhggjgrgBreZe:e*ex?[s>[s>"[+?*[/@<)9 =(>i=9)AE6Er:iAiMhIIIIII%checking for new query: numPingsReceived=118, elapsed TxPingTime=55.7057199@! @!@%/@!I1IAOM>ԉB x>B B B B Z =B B B ;B [EE-  E- E- -E) "E- &:*E- ~:VE- t4ZE) BE- h;NH4b?`? ߖ`Uf?`Y?`l?iNAo?IN(4^;LYjByjII r4=r<bDvIVDv۱8y~t<%~=ٔW8Q-?9Y=8Ey  f&E ?Q 54%?Q 94?@)BY!y%/@Q I%*@eDIB:i-:4y)ɮ-Z A)DNOT Ignoring new targets: 26.37 m.hhhhhggjgrgreZe:e*e?[["[*[/@I<) z>iq9)6&t:ii%h!!I)I)}DDAT read: Rx Time:01:21:14.0923 }TRx dataTimestamp_ set to:1764897675.173211PDAT read: Bearing 45.0, -29.2 (Local) ԉ~Local bearing/azimuth received: Bearing 45.0, -29.2 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.2 DAT read: 01:21:14.0923 LVL= 30960, 16193, 22738, 32755, AGC= 49, IDX= 508,-0.09, 1.640,-2.489, 2.929,-3.082, PHS=-1.459, 0.638,-0.316, RAW= 297.0, 12.5, CAL= 294.3, 18.2, ROT= 215.7, -18.2 Ygot valid direction response: 01:21:14.0923 LVL= 30960, 16193, 22738, 32755, AGC= 49, IDX= 508,-0.09, 1.640,-2.489, 2.929,-3.082, PHS=-1.459, 0.638,-0.316, RAW= 297.0, 12.5, CAL= 294.3, 18.2, ROT= 215.7, -18.2 V#Rx 119: Read range and direction messages.`direction in FSK: [-0.771457,-0.554348,0.312335]Fpublishing direction and range infoyy}x6ůGg7IK?Y}Ay}x}A?}X y)}1I}i}S#?}ʡ}H@}f_>}=^@ }>)}pp@I}yy}[z 4Th?Z[Ġ? }E@)}^I}E/!i}yychecking for new query: numPingsReceived=119, elapsed TxPingTime=55.998623:@ @@/@II O>Թ! % R=% checking for new query: numPingsReceived=119, elapsed TxPingTime=56.209770 8#,LA>?> ?>/<ٱ>d>>H@Ǔ??|@9?``??i>?I>K^;>ՑCYZByZEIbDbVDb8En EnEn+El"En:*En:VEn [4ZElar@ar@ar@ar@yvmv%vK=ٔz߃Q-z>9xY|=~8Ey|~R E~>Q 5 4?Q 9 4J?)BYy{/@Q I*@hDI;i;4yɮs AiiLAjaA"jaA:j2@Rjt04lRcZ-X @Bjx6ůGg7IK?*jE/!2jZj:1@`P3dj]@Jj|]E?h ,翄?j j׉Aiʆʢ?iP;jBj@٢?jjBrj{AzjV@ addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.503358 s, deltaX: 0.300001 m, approachRate: 0.596000 m/s, rangeRepo size: 4  Added new target pos. range: 26.672508 m, bearing: 311.736003 deg, lat: 36.779499 deg, lon: -121.859779 deg, deltaT: 0.503358 s, deltaX: 0.299553 m, approachRate: 0.595109 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.67 m.hhhhhggjgrgreZe:e@3:@*eó?[ [ "[ *[ /{/@]/<)y }a>i} 9)y顅6v:iihIIDDAT read: Rx Time:01:21:14.5923 TRx dataTimestamp_ set to:1764897675.678281PDAT read: Bearing 44.5, -29.1 (Local) ~Local bearing/azimuth received: Bearing 44.5, -29.1 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.2 DAT read: 01:21:14.5923 LVL= 30400, 16817, 22194, 32531, AGC= 50, IDX= 508,-0.18,-1.208, 0.951, 0.084, 0.361, PHS=-1.467, 0.635,-0.321, RAW= 297.0, 12.6, CAL= 294.3, 18.5, ROT= 215.7, -18.5 Ygot valid direction response: 01:21:14.5923 LVL= 30400, 16817, 22194, 32531, AGC= 50, IDX= 508,-0.18,-1.208, 0.951, 0.084, 0.361, PHS=-1.467, 0.635,-0.321, RAW= 297.0, 12.6, CAL= 294.3, 18.5, ROT= 215.7, -18.5 V#Rx 120: Read range and direction messages. `direction in FSK: [-0.770118,-0.553386,0.317305]Fpublishing direction and range infoyͳ)Τ5UVHs%N?YvAV )2Iƻi\"?Zz0a> MQ>)IMQ^/￈?D ?F? E@)]JaIiMQ59@1 @1@5/@9IIIYOeV>mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9 8#,LA 6ӎ?6 t?6<ٱ6b>6Hİ8`??@gh?3N??i6ӎ?I6)^;6בCYJByNWIn2Acoustic response timeoutiMb@Mb@Mb@ 9q= ףp?Q?Zd;O?Y=y(\>j< @)@Y@bDVD8y=% :=ٔ-}#8Q-->91Y1=58Ey1=E=>9Q 5E4=v?Q 9M4=>)=BYUz>Q EUX;yU,@Q IU*@=kDI=%;i=*$;=R4yiɮuAqiihLAj"j:jh@Rj|}4F2U7-@ 7 @Bjͳ)Τ5UVHs%N?*j2jMQZjdlCE(1@ NU3vTH@Jj2?ꐮ2翄<:?j jBAi F?i:jBj\9Т?j:jrjAzj3=@ addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.505070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 26.672508 m, bearing: 311.583605 deg, lat: 36.779498 deg, lon: -121.859780 deg, deltaT: 0.505070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 26.67 m.h1h1h1h1h1g1g1jg9rg=Bre9Ze9:eA*eES?ABm<Am<Buw>BqBuIBuBBqBqBqBu;Bu[EE EE)E"Es:*Ez:VEFA4ZEBEp0[z>"[g1?*[,@M<)Q U>i].9)顥6x:iihIIq:@ @@/@IIOj>DDAT read: Rx Time:01:21:15.0925 TRx dataTimestamp_ set to:1764897676.180954PDAT read: Bearing 45.2, -29.2 (Local) ~Local bearing/azimuth received: Bearing 45.2, -29.2 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.2 DAT read: 01:21:15.0925 LVL= 32752, 16225, 22482, 32755, AGC= 50, IDX= 510,-0.28,-0.750, 1.423, 0.546, 0.818, PHS=-1.467, 0.650,-0.316, RAW= 297.1, 12.3, CAL= 294.4, 17.9, ROT= 215.6, -17.9 Ygot valid direction response: 01:21:15.0925 LVL= 32752, 16225, 22482, 32755, AGC= 50, IDX= 510,-0.28,-0.750, 1.423, 0.546, 0.818, PHS=-1.467, 0.650,-0.316, RAW= 297.1, 12.3, CAL= 294.4, 17.9, ROT= 215.6, -17.9 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.773742,-0.553945,0.307357]Fpublishing direction and range infoy<~7-uY?YAa?W )Iiff&?ʡ@[>l@ >)p@IUA:~9f4?L~4J? E@)w\IK!i 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԡ ̡8#,mLA2x)?2?25`<ٱ2P>2H @0??)Ü?ซA??i2x)?I2^;2֑C9)Y)=-8Ey)=E=>IQ 5]4M?Q 9]4M=)M(BYYye,@Q Ie*@MnDIM=N;iMN;M4yuBɮuAu\Eii LAjA"jA:jwѭ@Rj4J.-_2) @Bj<~7-uY?*jK!2jZjLD1@,;0?3k@Jj"Sߡ|?b翈:VH?j j&Ai羢?iCjBjʆʢ?j52;jBrjzAzj4@- addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.502673 s, deltaX: 0.299999 m, approachRate: 0.596808 m/s, rangeRepo size: 4 E Added new target pos. range: 26.972128 m, bearing: 311.220337 deg, lat: 36.779497 deg, lon: -121.859780 deg, deltaT: 0.502673 s, deltaX: 0.299620 m, approachRate: 0.596053 m/s, posRepo size: 4 EDNOT Ignoring new targets: 26.97 m.hAhAhAhAhIgIgIjgIrgIreQZeq:eu;@*e} ?[["[*[,@5`<) >iر9)6[z:iihIIԱ2Acoustic response timeoutm9@i @i@m?5@iIyIO>E EEE"E&:*E?:VEZEa @a @a @a @  DDAT read: Rx Time:01:21:15.5924  TRx dataTimestamp_ set to:1764897676.685703 PDAT read: Bearing 46.1, -29.3 (Local)  ~Local bearing/azimuth received: Bearing 46.1, -29.3 (Local)  DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 - DAT read: 01:21:15.5924 LVL= 32752, 16433, 23906, 32755, AGC= 51, IDX= 510,-0.48,-1.370, 0.821,-0.071, 0.197, PHS=-1.465, 0.669,-0.312, RAW= 297.3, 12.0, CAL= 294.6, 17.0, ROT= 215.4, -17.0 5 Ygot valid direction response: 01:21:15.5924 LVL= 32752, 16433, 23906, 32755, AGC= 51, IDX= 510,-0.48,-1.370, 0.821,-0.071, 0.197, PHS=-1.465, 0.669,-0.312, RAW= 297.3, 12.0, CAL= 294.6, 17.0, ROT= 215.4, -17.0 5 R#Rx 1: Read range and direction messages.= `direction in FSK: [-0.779511,-0.553969,0.292372]= Fpublishing direction and range infoy  Drf8兗7?Y 3A 1@ b] ) 3I i C+? w , @ PwV> "@ >) p@I 闾 9\LE￁"H?ʤwƒ? F@) UI !8#,4K-LA2kʴ?2?2K_<ٱ2+>2H@yഘ?@?z`?K`?`F?i2kʴ?I23^;0Y^΀By^nIli闾r2Acoustic response timeoutrQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.i%Mb@Mb@Mb@!!!! !9%1Zd?A`"?Q?Y%"=y%Y>%<%h@! %@)!!Y%z@bD}VD}8y=%4=ٔ Q->9Y=8EyλE>Q 5 4?Q 9 4;)6BYMu>Q EU];yU-@Q IU*@qDI'[u>"[;?*[-@MK_<)Q U>iUʰ9)QU6U|:iQi]hII I)2Acoustic response timeout1Bu y>Bq Bu -IBu BBq Bq Bq Bu ;Bu [EB1B1B1B1B5Y =C5h5E  E E E "E :*E ą:VE ZE BE >ȳ8#,#GLA4<ɰ;>f?>K?>;<ٱ>>>H`ꬿSj? }?0v?@3'?`?i>f?I>^;i]ٲ9)Y]Y6e~:iaiehiiIiIi \CQG=v|AmDDAT read: Rx Time:01:21:16.0925 mTRx dataTimestamp_ set to:1764897677.190409PDAT read: Bearing 47.0, -29.7 (Local) ~Local bearing/azimuth received: Bearing 47.0, -29.7 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.3 DAT read: 01:21:16.0925 LVL= 32752, 17457, 22418, 32755, AGC= 51, IDX= 510, 0.29, 1.170,-2.904, 2.482, 2.736, PHS=-1.464, 0.688,-0.298, RAW= 297.2, 11.5, CAL= 294.6, 16.1, ROT= 215.4, -16.1 Ygot valid direction response: 01:21:16.0925 LVL= 32752, 17457, 22418, 32755, AGC= 51, IDX= 510, 0.29, 1.170,-2.904, 2.482, 2.736, PHS=-1.464, 0.688,-0.298, RAW= 297.2, 11.5, CAL= 294.6, 16.1, ROT= 215.4, -16.1 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.783158,-0.556561,0.277315]Fpublishing direction and range infoyim$.鿚:Y/?YmAiim1DmW@ @@/@II)]9]v|AYe^AOm= i)iImZdim 0?mum@mM>i mޏ>)iImޏiimRᅲUJ3?t@? mCE@)mMIiimޏii2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.iԑ 2Acoustic response timeout t8#, `LA2?2?2vu<ٱ2u>2H? ?`h?j_?ݤ?i2?I23^;2ՑCYBˀByBjIbDNVDNz8yVd<%VK=ٔV镺Q-Z>9XYX=Z8EyX^ĻE^>D`zDb?AEf EfEf*Ed"Ef;*Ef :VEf(N4ZEdaj@aj@aj@aj@tԙQ 54v\?Q 94v:)vLBYy-@Q I*@vwDIvi]9u@uȭT>u %@ uΘ>)ubq@IuΘqqu#\@￐`w?"Lo? u9E@)uUIu iuΘqq 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.)AE/6Ea:iAiMhIIIIIQ9@ @@5@I I)O=>! "8#,zLA2ų?2?2A<ٱ2`B>2H Eh=??qŨ?`g@? {?i2ų?I2W^;2֑CYN؀ByRyIb2Acoustic response timeouti5Mb@Mb@Mb@1111 195(\?Q?:v?Y5z>y5(\>5<15?A 5@)5@1Y53@bDMVDMY8y]@h=%]@=ٔ]%Q-e>9aYa=e8Eyam"Em>qQ 5}4u?Q 9}4u8)uXBY}p>Q E}K;y}P%@Q I*@uzDIu;iuv;u#4yɮAiihlLAj"j:jt@Rj#t4`."ҡBG@Bj qaUR?*j 2jΘZj]%=1@!3\@Jjs?оFQ d?j jAi_?i}CjόBjXM?jjόBrjAzj@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503469 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.972273 m, bearing: 310.954461 deg, lat: 36.779494 deg, lon: -121.859783 deg, deltaT: 0.503469 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.97 m.hhhhhggjgrgBreZe:e*e ?[p>[p>"[9z?*[zP%@A<) f>i9)N6:iihIIAAB%{>B!B%@IB%BB%Y =B!B%ODB%;B%[EE EEE"E:*Ez:VEZEBEF8Q}DDAT read: Rx Time:01:21:17.0927 }TRx dataTimestamp_ set to:1764897678.197037PDAT read: Bearing 43.5, -33.6 (Local) ~Local bearing/azimuth received: Bearing 43.5, -33.6 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.3 DAT read: 01:21:17.0927 LVL= 32752, 18689, 25138, 32755, AGC= 53, IDX= 512, 0.18, 0.096, 2.218, 1.511, 1.664, PHS=-1.466, 0.599,-0.198, RAW= 292.5, 11.8, CAL= 289.7, 17.2, ROT= 220.3, -17.2 Ygot valid direction response: 01:21:17.0927 LVL= 32752, 18689, 25138, 32755, AGC= 53, IDX= 512, 0.18, 0.096, 2.218, 1.511, 1.664, PHS=-1.466, 0.599,-0.198, RAW= 292.5, 11.8, CAL= 289.7, 17.2, ROT= 220.3, -17.2 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.728560,-0.617864,0.295708]Fpublishing direction and range infoyy}R^P翂2y-?Y}fAyy}I}2b y)}5I}㥻i}X?}J}\@}BR>}̡@ }`>)}v@I}`yy}9,)[?;'? }@@)}"RI} i}`yy 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.y ;8#,LA N?Nf?N>k<ٱNT>NH`oX@ ? ?§)?+푿?@ǥ?iN?IN^;LY~By~II<)p=bD VD J8y-=%N=ٔ%˚Q-%>9!Y!=-8Ey)-E->1Q 5=45y뜊?Q 9=45%7)5cBYAyE0%@Q IE*@5}DI5N:i5:54yMBɮMAM[EiiALAj-A"j-A:j@Rj13Q>0}%! @BjR^P翂2y-?*j 2j`Zj?]N2@{T2O~c@Jj1?Ü!q=zq?j jzAi?iC'jBjjjBrjAzjȭ@5 addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503159 s, deltaX: 0.299999 m, approachRate: 0.596231 m/s, rangeRepo size: 4 E Added new target pos. range: 27.272139 m, bearing: 314.920710 deg, lat: 36.779494 deg, lon: -121.859783 deg, deltaT: 0.503159 s, deltaX: 0.299866 m, approachRate: 0.595966 m/s, posRepo size: 4 MDNOT Ignoring new targets: 27.27 m.hIhIQhIhqhqgqgqjgyrgyreyZey:e}L;@*e?[["[*[;0%@>k<) >i9) 6:iihIIi%=2Acoustic response timeout9@ @@@II!O-->yE EE+E"E:*Ex:VE [4ZEa@a @a @a @Ա DDAT read: Rx Time:01:21:17.5927  TRx dataTimestamp_ set to:1764897678.704565 PDAT read: Bearing 41.3, -30.5 (Local)  ~Local bearing/azimuth received: Bearing 41.3, -30.5 (Local)  DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.3  DAT read: 01:21:17.5927 LVL= 32752, 19377, 24898, 32755, AGC= 52, IDX= 512, 0.29,-2.129,-0.211,-0.907,-0.691, PHS=-1.336, 0.525,-0.259, RAW= 294.8, 13.2, CAL= 292.0, 20.1, ROT= 218.0, -20.1  Ygot valid direction response: 01:21:17.5927 LVL= 32752, 19377, 24898, 32755, AGC= 52, IDX= 512, 0.29,-2.129,-0.211,-0.907,-0.691, PHS=-1.336, 0.525,-0.259, RAW= 294.8, 13.2, CAL= 292.0, 20.1, ROT= 218.0, -20.1  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.740016,-0.578164,0.343660] Fpublishing direction and range infoy  ͼU6翵ȦQ⿱"??Y K Ba ) 4I i ff? @ k> e@ >) "s@I X҇:2+?"? BC@) y&kI i  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B8#,KLA2=?2#?2<ٱ2Ƥ>2H@I0 8??1j?Zu@-?(?i2=?I2 ^;0YfByfIiMb@Mb@Mb@ 9333333?"~j?~jt?Y>ySc><Q@VA @)@Yz@!%@AbD-VD-O8y}<%}6=ٔQ->9Y=8Ey3E>ԱQ 54✊?Q 94u5)pBY>Q EE;y%@Q I*@DI[>"[Sz?*[%@<)  >i 29)  6 :i ihIIIA)EzA2Acoustic response timeout9@ @@/@II O l>B B CB SIB BB X =B B B ;B [E) bEu(N4jEu(N4rEu/E  E E E "E =;*E :VE ZE BE I.>2H@,Or?w?Ԩ? @3??i2?I2];0Y>݀ByBIbDJVDJk8yf,%fk=ٔf8Q-f?9hYh=j8Eyhj̻En?pQ 5r4rܜ?Q 9v4r24)ryBYtyv$@Q Iv*@rDIr2:ir:r4yxɮzA|%DNOT Ignoring new targets: 27.27 m.h!h!h!h!h!g!g)jg)rg)re)Ze1:e1*e5?[["[*[$@%g<)! %g>i%y9))-6-:i)i1I1EDDAT read: Rx Time:01:21:18.0929 ETRx dataTimestamp_ set to:1764897679.205449UPDAT read: Bearing 45.1, -29.9 (Local) U~Local bearing/azimuth received: Bearing 45.1, -29.9 (Local) eDAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed -0.3 DAT read: 01:21:18.0929 LVL= 22832, 14161, 19762, 25075, AGC= 54, IDX= 3,-0.43,-1.683, 0.554,-0.337,-0.077, PHS=-1.504, 0.676,-0.304, RAW= 296.7, 12.0, CAL= 294.0, 17.1, ROT= 216.0, -17.1 Ygot valid direction response: 01:21:18.0929 LVL= 22832, 14161, 19762, 25075, AGC= 54, IDX= 3,-0.43,-1.683, 0.554,-0.337,-0.077, PHS=-1.504, 0.676,-0.304, RAW= 296.7, 12.0, CAL= 294.0, 17.1, ROT= 216.0, -17.1 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.773253,-0.561801,0.294040]Fpublishing direction and range infoyAE{k|&WF?YEAAE0YEQ7E2M Ea)E6IEiEV-?E㥛Ec@EPwV>EY3@ EΘ>)E:Fq@IEΘAi5hIIAEe@2"?uq? ESVE@)EUIE{ iEΘAA2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.A:@ @@@IIO>i  2Acoustic response timeout+8#, FLA EZ EZEZ*EX"EZ:*EZz:VEZ(N4ZEXaj@aj@aj@aj@%?%R?%<ٱ%z>%HV?`$?4? ɤٖ?#r?@M?i%?I%u^;%בCYeByeI bDVD8y?<%:=ٔfQ->9aYa=m8EyiuDEu>Q 54Ӝ?Q 94}2)BYy$@Q I*@DI';i;4yɮlAiqiu&LAjuA"juA:juMZ@RjuQ5.N6 @Bju{k|&WF?*ju{ 2juΘZju+m1@qiq|4@>@JjuR :?$VGY-p#?ju julAiu ?iu!\MjuBju_?jqjuόBrjuAzjuѭ@U addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.500884 s, deltaX: 0.300001 m, approachRate: 0.598943 m/s, rangeRepo size: 4 q Added new target pos. range: 27.571869 m, bearing: 310.386891 deg, lat: 36.779493 deg, lon: -121.859783 deg, deltaT: 0.500884 s, deltaX: 0.299730 m, approachRate: 0.598403 m/s, posRepo size: 4 MDNOT Ignoring new targets: 27.57 m.hQhQhYhYhaggjgrgreZe:e;@*e`aO?MDDAT read: Rx Time:01:21:18.5930 UTRx dataTimestamp_ set to:1764897679.709160]PDAT read: Bearing 44.0, -30.6 (Local) ]~Local bearing/azimuth received: Bearing 44.0, -30.6 (Local) mDAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.3 DAT read: 01:21:18.5930 LVL= 32752, 17873, 25026, 32755, AGC= 51, IDX= 499,-0.19, 2.797,-1.256,-2.111,-1.868, PHS=-1.516, 0.657,-0.288, RAW= 295.7, 12.1, CAL= 292.9, 17.6, ROT= 217.1, -17.6 Ygot valid direction response: 01:21:18.5930 LVL= 32752, 17873, 25026, 32755, AGC= 51, IDX= 499,-0.19, 2.797,-1.256,-2.111,-1.868, PHS=-1.516, 0.657,-0.288, RAW= 295.7, 12.1, CAL= 292.9, 17.6, ROT= 217.1, -17.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.760249,-0.574972,0.302370]Fpublishing direction and range infoyQUmдS8^,f⿪-JZ?YUfAQUUEUa U)U3IUJ ¿iU'1(?UtUi&@U@X>U@ UnF>)Uǀr@IUnFQQUV2￿_C/IJ?6+?[["[*[$@<) >i9)7܄:i U=BD@)UXIUiUnFQQ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ihIIԡU99@ @@@II O- > OV8#,d"LAR2Acoustic response timeoutTYByIiMb@Mb@Mb@ 9(\?V-??Yz>ym><A @)@Y@ %=4=bDVD8yx=%K=ٔQ->9Y=8EyE>Q 54u̜?Q 94 1)BY>Q EA;y'@Q I*@DI:i:4yBɮAZEiibLAj,A"j,A:j@RjBF5 /"l @BjmдS8^,f⿪-JZ?*j2jnFZję(1@n0SNA4P^U@Jj-?X1Vt"/v?j  jyAiD?i,EjwBjD?jjBrjAzj@E addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503711 s, deltaX: 0.199999 m, approachRate: 0.397051 m/s, rangeRepo size: 4 U Added new target pos. range: 27.771664 m, bearing: 311.522227 deg, lat: 36.779495 deg, lon: -121.859783 deg, deltaT: 0.503711 s, deltaX: 0.199795 m, approachRate: 0.396646 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 27.77 m.hYhYhYhYhYgYgajgargeBreaZei:em;@*em?[>[>"[?*['@B<A<BBCB_IBÀBBBBBd;Bs[E)1 5)>i=F9)AE,7E:iAi]haaIaIqE EE)E"ED:*Ek:VEFA4ZEBE2]DDAT read: Rx Time:01:21:19.0932 ]TRx dataTimestamp_ set to:1764897680.213222mPDAT read: Bearing 44.0, -31.0 (Local) m~Local bearing/azimuth received: Bearing 44.0, -31.0 (Local) }DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.3 DAT read: 01:21:19.0932 LVL= 32752, 18321, 25810, 32755, AGC= 50, IDX= 501,-0.00,-2.450,-0.210,-1.057,-0.825, PHS=-1.523, 0.660,-0.276, RAW= 295.3, 12.0, CAL= 292.6, 17.4, ROT= 217.4, -17.4 Ygot valid direction response: 01:21:19.0932 LVL= 32752, 18321, 25810, 32755, AGC= 50, IDX= 501,-0.00,-2.450,-0.210,-1.057,-0.825, PHS=-1.523, 0.660,-0.276, RAW= 295.3, 12.0, CAL= 292.6, 17.4, ROT= 217.4, -17.4 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.758063,-0.579582,0.299041]Fpublishing direction and range infoyY](Oq B迴m0^⿶-{#?Y]AYY]G]d Y)]2I]¿i](?]O]7@]PwV>].k@ ]|>)]r@I]|YY]RwCr2t4?G{? ]DC@)]4VI]&Ii]|YY2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.! @9#, LA:@?:%?:4pr<ٱ:Vn>:HVI?@?9?M?@?i:@?I: ^;:֑CYNByNIbDVVDV8yr8ϼ%rZ=ٔr\Q-v>9tYt=v8Eytz(#Ez>|Q 5%4Ŝ?Q 9%4/)BY!y%&@Q I-*@DI:i[:P4y5Bɮ5A5QEiin LAjA"jA:j@RjL<RG5ho>E0& @Bj(Oq B迴m0^⿶-{#?*j&I2j|Zj1(2@nX+|4c!@Jj%P?GZ翺Kj2\?j jAAiA?iԑJjWBjA?j,EjWBrjAzju$@ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.504062 s, deltaX: 0.300001 m, approachRate: 0.595167 m/s, rangeRepo size: 4  Added new target pos. range: 28.071344 m, bearing: 311.552331 deg, lat: 36.779496 deg, lon: -121.859784 deg, deltaT: 0.504062 s, deltaX: 0.299681 m, approachRate: 0.594531 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.07 m.hhhhhggjgrgreZe!:e%<@*e%@?[a[a"[a*[e&@4pr<) L>iS9)7D:iihI)I)I5=)50>2Acoustic response timeout!-99@ @@95@IIOF>E EEE"EV:*Ez:VEZEa@a@a@a@qԡ iY I] Ae DDAT read: Rx Time:01:21:19.5932 m TRx dataTimestamp_ set to:1764897680.717359u PDAT read: Bearing 42.3, -32.1 (Local) u ~Local bearing/azimuth received: Bearing 42.3, -32.1 (Local)  DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.3  DAT read: 01:21:19.5932 LVL= 32752, 18193, 26338, 32755, AGC= 51, IDX= 501, 0.12,-2.288,-0.059,-0.854,-0.645, PHS=-1.541, 0.631,-0.254, RAW= 293.9, 12.3, CAL= 291.1, 18.3, ROT= 218.9, -18.3  Ygot valid direction response: 01:21:19.5932 LVL= 32752, 18193, 26338, 32755, AGC= 51, IDX= 501, 0.12,-2.288,-0.059,-0.854,-0.645, PHS=-1.541, 0.631,-0.254, RAW= 293.9, 12.3, CAL= 291.1, 18.3, ROT= 218.9, -18.3  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.738884,-0.596204,0.313992] Fpublishing direction and range infoya e ;{\v9s?Ya a a e Ge f a )e 3Ie }?ſie 7!?e J e %@e [>e @ e Ƈ>)e ~t@Ie Ƈa a e hu8;?e5? e ?B@)e Y[Ie 7ie Ƈa a  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.g 9#,/LAR ?R??RCi<ٱR[>RHsz`?`@?* )?4F?@ڥ?iR ?IR ^;PY=݀By=IIE4<)EyiMb@Mb@Mb@ 9S?Zd;O?Mb?Y>y~j><;@ )@Y@bDU\VDU8yeT%e(=ٔeQ-m>9Y=8EySgE>Q 54?Q 94-)BY>Q EA;yj%@Q I*@DI'[m>"[m|?*[mj%@}Ci<) G>i9)顅75:iihII2Acoustic response timeoutBBBlIB̀BBY =BBNDBh;Bv[E@ @@B1@IIO>E  E E +E "E ;*E :VE [4ZE BE (d2H%rn8??4@Z?"`? T?i2DZ?I2];0YBByBIF@ADbDJWVDJ8yr<%r~=ٔrԺQ-r ?9tYt=v8Eytz˻Ez ?xQ 54z?Q 94z,)zBYyJ%@Q I*@zDIz;iz3;zW+4y ɮADNOT Ignoring new targets: 28.07 m.hhhhhggjgrgreZe:e*eb?[["[*[J%@\a<) >i<9)[7:i i h I%DDAT read: Rx Time:01:21:20.0933 %TRx dataTimestamp_ set to:1764897681.221172-PDAT read: Bearing 42.4, -32.1 (Local) 5~Local bearing/azimuth received: Bearing 42.4, -32.1 (Local) EDAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.3 mDAT read: 01:21:20.0933 LVL= 32752, 17505, 26162, 32755, AGC= 50, IDX= 502, 0.28,-2.331,-0.095,-0.895,-0.685, PHS=-1.544, 0.635,-0.254, RAW= 293.9, 12.2, CAL= 291.1, 18.1, ROT= 218.9, -18.1 uYgot valid direction response: 01:21:20.0933 LVL= 32752, 17505, 26162, 32755, AGC= 50, IDX= 502, 0.28,-2.331,-0.095,-0.895,-0.685, PHS=-1.544, 0.635,-0.254, RAW= 293.9, 12.2, CAL= 291.1, 18.1, ROT= 218.9, -18.1 }R#Rx 1: Read range and direction messages.`direction in FSK: [-0.739732,-0.596889,0.310676]Fpublishing direction and range infoy!%[ M翱&V\?Y%A!!%aD%2f !)%2I%ˡſi%\"?!!%^ Z>!I %?>)!I%?!!%hg)(o?ǽ? %IB@)%sZI!i%?!!2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.m99@ @@/@I IO5.>1 < 2Acoustic response timeoutq Oz9#,cLA2?2Qf?25[<ٱ2ذ>2HX?`? "@?0w?@^?i2?I2^;0EB E@EB-E@"EB;*E@VEBt4ZE@aF@aF@aF@aF@YJ܀ByJ~IbDfXVDf8y%%%F=ٔ-OQ-->9)Y)=58Ey15E5>9Q 5E4=?Q 9E4=,+)=BYIyM'%@Q IM*@=DI=:i= :=24yUBɮU AUPEiQiU'NLAjU^A"jU^A:jU@RjU\;_4񨓧0^!@BjU[ M翱&V\?*jQ2jU?ZjUa!2@Xm"4ynU@JjU2m,` '?=7p8|@_ >?jU jUAiU΢?iUa<jUBjQjQjQrjUtAzjU?@ addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503813 s, deltaX: 0.100000 m, approachRate: 0.198487 m/s, rangeRepo size: 4  Added new target pos. range: 28.171177 m, bearing: 312.763370 deg, lat: 36.779496 deg, lon: -121.859784 deg, deltaT: 0.503813 s, deltaX: 0.099833 m, approachRate: 0.198154 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.17 m.hhhhhggjgrgreZe:e@33<@*e`#?[["[*[ '%@5[<) >i9) 7p:ii h  II zAyA9=&DAT read: user:9> MDAT read: 0 M8unknown deviceResponse_: 0 q MM(Communications Faulta M a M a U a U a U UDAT read: Ok U:unknown deviceResponse_: Ok ](DAT read: user:10> aeBDAT read: Tx time:01:21:21.0398 e$Ping request sent.mԑԹ p9#,j}LA;ɰp;2H?2;-?2R<ٱ22)>2Hnt ۠?? ʕ@?Q~? ޣ?i2H?I2^;0YBڀByB|Ii5Mb@Mb@Mb@1111 195S㥛?e;O?~jt?Y5$>y5t>5<5h@5VA 5@)11Y1bDMkVDM8y]w%]G=ٔeڲQ-e>9aYa=m8Eyim׊Em>qQ 5}4uS?Q 9}4u))uBY>Q EB;yA*@Q I*@uDIu ;iu;u94yɮADNOT Ignoring new targets: 28.17 m.hhhhhggjgrgBreZe:e*eRA[>[>"[?*[6A*@R<) G>i9) 7:ii h  I IԑAABBBBBBBBs;B[EB!B!B!B%Y =B!C%Y 5E EE+E"El;*E:VE [4ZEBEaF D%9#,ELA2!?2V?2RL<ٱ27>2H"n??`j✿@H?ޖ ??i2!?I2^;2ԑCY:πBy:nI B4=Ba=bDFNVDF8yNw%NX=ٔRuQ-R>9PYP=R8EyTVEV>XQ 5^4Z?Q 9^4Z()ZBY`yb&*@Q Ib*@ZDIZ;iZ;Z]@4ydɮfvAdzDNOT Ignoring new targets: 28.17 m.hxhxhxhxh|g|g|jgrgE Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Transitioning to midcourse guidance. Received last range of 28.200001 m 29955720.533333 min ago.E 1FreZe:e*e[["[*[&*@RL<) >i[9) 7Ɖ:iihII=69IA)ExAE EE*E"E ;*E:VE(N4ZEa@a@a@a@@ @@@IIO!a W+9#,LA2̰?2$?2;uG<ٱ2qo>2H ??嚿S??̤?i2̰?I2];2בCYNۀByR}Ii%Mb@Mb@Mb@!!!! !9%M?Gz?Mb?Y%n>y%p>%<%Q@! %@)%@!Y%3@bD=lVD=8yM_=%M?=ٔU^EQ-U>9QYQ=]8EyYeEe>iQ 54m@?Q 94m ')mBY>Q E@;yS'@Q I*@mDIm[>"[?*[S'@;uG<) f>i9)|7z:i i hIIQԁUH9Bz>BBfIBȀBBZ =BBB;B[E:@ @@@I& NClearing failed state for component DATq  I O >E  E E E "E ;*E :VE ZE BE 7N2H@Ś@ƣ ??p`? m?@?i2?I2t ^;2ԑC@Y^ԀBy^tIIb=)`bDfVDf8yn6%rR=ٔr%Q-r>9pYt=v8EytvEv>xQ 5~4z?Q 9~4z%)zBYy0'@Q I*@zDIz;iz;zN4y Bɮ A qL%%Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalD-5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E5 5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF55Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF5 5Uninitialize.qG5G5G55ZTransitioning guidance mode to: UNINITIALIZED i5?==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA==Initialize.AE EInitialize.q@EfAfEHBrfML?MNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@UAUU:Initialize WaypointComponent.]ZNavigating to waypoint: 36.779130,-121.859630reYZeY:ea*ea[["[*[0'@ɢ ?)/ fAi;b:)顝RE7iЧļIAi9Ա @  @ @ 0@IYIyO> 89#,(LAD0zD2AAE6 E6E6+E4"E6;*E6:VE6 [4ZE4a:@a:@a:@a:@:9?:?:?<ٱ:Τ>:Hv\p??#n@?7`? ȥ?i:9?I:1];8Y^πBybnIfAAfAAbDjVDj8yE;ü%ED=ٔE@ Q-M>9IYI=M8EyIUFEU>YQ 5e4]Q?Q 9e4]!$)]BYaym '@Q Im*@]DI] :i]p:]U4yqɮuGAqqPAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalPEntering Terminal tracking update period 2.000000 s sec at 28.200001 m (mode 0.000000 count ).PPffm5fgffrfq=zAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy= { (kpHeading = 0.400000I:  (kiHeading = 0.001000  >I [; [;I I5)5=i=QIIO k>qԡ <>9#,dLA2?2 ?2f=<ٱ2]>2H6w?? ?jV?=?i2?I2];2֑CY:ʀBy:hIi~Mb@Mb@Mb@|||| |9~V-?v/?:v?Y~=y~xi>~T<~$@~?A |)~@|Y~@bDVD8y%TԼ%%L=ٔ%Q-->9)Y)=-8Ey)5x»E5>9Q 5E4=}?Q 9E4=")=BYE%>Q EMO;yM+@Q IM*@=DI=/:i=8:=\4yQɮUrAQԙ:k@P1QB*** querying acoustic contact ***iifffgffrfereZe:e *e [M%>[M%>"[Mь?*[M+@B]<AYB]}>B]CB]YIB]BB]Y =BYB]ODB];B][E}ƀBɢ}K:)y }@駍 ;i]SzI&"; &";IbEjER4rE x/E} E}E})Ey"E}l;*E}x:VE}FA4ZEyBE}aF6H@ֺ?`?ő?n??i6?I6^;6ԑCYNրByRwI TTbDZ*VDZ8yb=%bQ=ٔfQ-f>9dYd=f8Eyhj@Ej>lQ 5r4n@v?Q 9r4n!)nBYtyv+@Q Iv*@nDIn:in:nc4yxɮz AxBk 1Q qQ fffgffrf!e!re!Ze!:e!*e)[I[I"[I*[M+@]Bɢe];)a e;=ia)e188aiimümJƽɧu3d>u6I I1 O] > L9#,Ad2LA2]X?2=?28<ٱ2>2H ;m M ?J?`?`_ ??i2]X?I2^;0Y:рBy:qIiMb@Mb@Mb@ 9/$?x&1?y&1?Y=yA`>`e<A @)Y bD-VD8y9ʼ%;=ٔŹQ->9Y=8Ey E>Q 54En?Q 94 )BYp>Q Ea;y 2@Q I*@DI ;iP ;jk4yBɮ AOEJkqQrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqP%Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalf)f)f)g)f1f1rf1e1re9Ze9:e9*e9Ա[p>[p>"[d.?*[J 2@ Bɢ M`;)  Q=i1)5~811i5ü=/(ƽɧ=>=رi E  E E )E "E V:*E n:VE FA4ZE BE 92H @ ?? @?f?@?i2?I29^;2ՑCY:׀By>xIbDFVDF8yN<%N`=ٔNQ-R>9PYP=R8EyPVoEV>XQ 5^4Zg?Q 9^4Z )ZBY\yb1@Q Ib*@ZDIZ];iZz;Zq4ydɮfAdftftftgxfxfxrfxexre|Ze|:e|*e|[["[*[1@颵Bɢ;) =i)X9iU{üZƽɧ>"i @Y9#,fLAD zD"@AE& E&E&*E$"E&;*E&:VE&(N4ZE$a*@a*@a*@a*@,>?>֒?>05<ٱ>(>>H 0/L` ??`o@? $?5?i>?I>^;>ԑCYJހByJIIN<)N4<bDVVDV8yZ=%ZH=ٔ^ٸQ-^>9`Y`=b8Ey`bVڻEf>dQ 5j4f@`?Q 9n4f5)fBYlyn1@Q In*@fDIf>;if};fx4ytɮvAtf f f g ffrfereZe:e*e[9[9"[9*[=1@MBɢM;)Q U=iQ)Uk9QQiUcü]:Žɧe>e ԙ ?_9#,{LA6)Z?6^??6?3<ٱ6>6H ?(?@j~`N?g# ?@U?i6)Z?I6Q8^;4PYR؀ByRyIi-Mb@Mb@Mb@)))) )9-ʡE?A`"?Mb?Y-=y-Y>-<-;@) -@)))Y)AE@AbDEVDE8yUм%UA=ٔ]HQ-]>9aYa=e8EyaeĻEe>iQ 5u4mX?Q 9u4m])m"BY}g>Q E}j;y}2@Q I}*@mDIm& ;imL ;mQ4yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eAAAAB>BBFIBBBBBB;B[E[}g>[}g>"[}w?*[}2@颍Bɢ;) P=i)9顱iIüŽɧ>|! 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Z?$? 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I1 IA OM >ԙ '9#,^LAB6|>B4B6IB6BB6Z =B4B6ODB6;B6[EB-CB)B)B-Y =B-Y =C-.5Bب?B/?BS*<ٱB>BHE? ??͡?`x? WJ? ?iBب?IBk!^;@YNByNIi%Mb@Mb@Mb@!!!! !9%i|?5?q= ףp?{Gz?Y%q>y%k>%ף<%Q@! %@)!!Y%@ 5%=5=bDVD8y<%;=ٔ"Q->9Y=9EyDSE>Q 5 4?Q 9 4 )BY >Q E  ;y $@Q I +@DI:i:4ysBɮABE5B*** querying acoustic contact ***i1i1fAfAfAgAfAfArfAeIreIZeI:eI*eIq}'Bɢ =) }>i)!{;顁i\Ǽۿɧ?駕 ޜ=it)Ir6 r6IE% E%E!E!"E%T;*E%Ǚ:VE!ZE!BE%G P9#,>LA:ި?:?:-%<ٱ: >:H.?#`{??-?`)Cw? r??i:ި?I:^;8YFByFIbDRVDR8yV%V^=ٔZ`Q-Z>9XYX=^9Ey^D^Z9E^>`Q 5f4b蛊?Q 9f4b)bBYhyj!@Q Ij+@bDIb%:ib>:b,4ylɮnApfffgffrf e re Ze :e *e=Bɢ=K"=)9 E>iA)Es;AAiEȼM?ɧM?M=iU/.QQIU'6 U'6IQ^A=IqAaIqIO>E- E-E-*E)"E- ;*E-^:VE-(N4ZE)a5@a5@a5@a5@) z9#,a8LA6?6"?6"<ٱ6|>6H`Š?`?2?bL?vv? f[S?@?i6?I6^;4YRByVIi-Mb@Mb@Mb@)))) )9-NbX9?q= ףp? rh?Y->y)-C<-;@-A -h@)-@)Y- @bDE VDE8yUh<%U@=ٔ]}Q-]>9aYa=e9EyeDe_:Ee>iQ 5u4m,ᛊ?Q 9u4m)mBY}S>Q E};y}@Q I}+@mDIm ;im;m4yɮAfffgffrfereZe:e*eBɢ8=) ?i);ijȼYyɧz?=i[2Is5 s5IQ=7ƙBm{>BiBmIBmBBiBiBiBm֠;Bm[Eԁ^A%^A5>A5?E5  E5 E1 E1 "E5 ;*E5 ?:VE1 ZE1 BE5 Dc9#,wfRLA@VR?V7?Vt<ٱV >VHN? BQ?`?l?`}3u?`I??iVR?IV=];VёCYfByfI5@A1bD5VD5y8yE%EK=ٔMɺQ-M>9M ?YU ?=U9EyUDUC;EU>YQ 5e4]ٛ?Q 9e4])]BYiym,@Q Im+@]DI]:i]d:]4yqɮuAyfffgffrfereZe:e*e Bɢ-'=) %?i)};iɼbɧ?\7=iD5INA5 NA5Ih׼^A~ԱAIIOE> D9 zD= @AEE  EE EE 'EA "EE %;*EE :VEE '4ZEA aU @aU @aU @aU @֎9#,HlLA6?6?6^ <ٱ6P>6HM?@M^??U?Eu??` ?i6?I6 ^;6ԑCYBBy@bDJVDJ~8yRM%RU=ٔRQ-V>9TYT=V9EyVDZ<EZ>\Q 5b4^қ?Q 9b4^)^BY`yf\@Q If+@^DI^l:i^W:^U4yhɮjAhlf|f|f|g|ffrfereZe:e *e 5Bɢ50=) 9?i)_;项iGʼۼɧ@=i6I4 4I G1^Ae #a Am yAzAi Be }>Ba Be IBe BBe Y =Ba Ba Be ;Be \EA I I O >P9#,6LAɰp;2f?2L?2J <ٱ2>2H?S??@"?.u?;p@N? x?i2f?I2^;2ґCYIXi Mb@Mb@Mb@     9 -?X9v? rh?Y 5>y s>  @ A Q@)  Y f@bDVD8yh%5=ٔQ->9Y=9EyD7<E>Q 54"ʛ?Q 94d)BY>Q E;yx @Q I+@DI ;i;74ymBɮAB*** querying acoustic contact ***iifffgffrfereZe:e*e%Bɢ%,=)! % ?i!)-j;))i-ٍ˼5 ỽɧ5 @5=i=699I=F4 =F4I9AAIIbEFA4jEC4rEg/Eu EuEu)Eq"Eu;*Eu]t:VEuFA4ZEqBEu@9#,LLA>)?>?>Z<ٱ>>>H?@??@4 ?v?6KM?d?i>)?I>%];>ԑCYFByFI LN%=bDR VDR8yZb%ZZ=ٔ^úQ-^>9\Y`=b9Eyb&Db <Eb>dQ 5j4f›?Q 9j4fN)fBYlyn @Q In+@fDIf^;if{;f4ypɮr0Atf f f g f f rf ereZe:e*eEBɢM|:=)I M ?iI)MT;IQiUz̼]ɧ]R@] =i]/5YYIe3 e3IaAIIO>IDD<E EE,E"E;*E:VEg4ZEa@a@a@a@ 79#,ںLA2?2?2#;ٱ2K>2Hۂ?@Q@?i?[?`y?j ??i2?I2^;2ӑCYBByBIi5Mb@Mb@Mb@1111 195'1Z?Zd;O?~jt?Y5Т>y5~j>5<5@5(A 5h@)5~@1Y5\@bDMVDM8y]= =%]@=ٔ] Q-e>9aYa=e9Eye.Dm1x<Em>qQ 5}4u ?Q 9}4u)uBY}>Q E;y @Q I+@u DIu;iu;u24yɮAfffgffrfereZe:e*eBɢX<=) ?i);iͼ 湽ɧp@+=iC3IC3 C3I A?A?A!I1IAOM>BBCBIBBBBBB;B \E1E EE)E"E~ ;*E:VEFA4ZEBE V2H b??~?`?uj?b)}?J~?`?i2?I2|];0Y:By>IbDFUVDF8yR;%RW=ٔRQ-R>9TYT=V9EyV6DV<EZ>XQ 5^4Z?Q 9b4Z)Z BY`ybz @Q Ib+@ZDIZ;iZ<;Z"4ydɮjAhfxfxfxgxfxfxrf|e|re|Ze:e*e颍Bɢ J=) ?i)J;顡iμ ׸ɧw(@駭Y>ie2I2 2I1IIO=aԉD zD ?AE  E E *E "E :*E ~:VE (N4ZE a @a @a @a @Թ 9#,LA>Uޭ?>?>;ٱ>s<>>Huv-@3??8q@wL?`}4? ?i>Uޭ?I>^;9pYp=r9Eyr>Dv<Ev>xQ 5z4z%?Q 9~4z)zBY!y% @Q I%+@zDIz=;iz;z*4y-_Bɮ-A-7EfififqgqfqfqrfqeqreZe:e*eBɢ`E=) ?i!)%a;!!i%{ϼ5飷ɧ562@Uّ>iUA2YYI]A2 ]A2IaԙIIO*>By Ay B ~>B B IB BB B B B ;B [E :#,jLA2?2I?2t;ٱ20>2H|@@?? A8? {@??i2?I2 ];2ՑCY:By:IiMMb@Mb@Mb@IIII I9MQ?i|?5?:v?YM>yMq>M9yYy=}9Ey}GD<E>Q 54̣?Q 94u)$BY%>Q E;y@ @Q I+@DI;i;m14yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢXwN=) [?i ) K<  i <мE] E]E])EY"E];*E]ą:VE]FA4ZEYBE]Di1I1 1IAzAI1IIOU=PExceeded connect timeout, disconnecting.I +:#,F"LA 2?2?2N;ٱ2 >2HpW/?@?B<@l?{ '??i2?I2^;2֑CYNByRI TTbDZVDZ8yb9%bV=ٔfHQ-f>9dYd=f9EyjNDj<Ej>lQ 5=4n2?Q 9=4n1)n/BY9y= @Q IE+@n!DIn;inw;n84yIɮM&AIfififigifqfqrfqeqreqZey:ey*ey颥Bɢ~T=) ?i)<顩iҼT0ɧE@駽Q>i11I11 11II9IIO]=iEm EmEm*Ei"EmD:*Emk:VEm(N4ZEiau@au@au@au@ԙ]DAT read: eVDAT read: Teledyne Benthos DAT-900 Series 4V:#,!2H֟ȓY??]`b?*zb?@A?i2%?I2^;2ԑCLYRByRIi-Mb@Mb@Mb@)))) )9-kt??~jt?Y- >y-ff>-<)-A -Q@)-Q@)Y) R=bD VD8yj%==ٔ Q->9Y=9EyWD <E>Q 54ѓ?Q 94Z);BY>Q E;y @Q I+@'DI8:i:?4yɮ[AfffgffrfereZe:e*e5oBɢ5R=)1 5B?i9)=q.<99i=/OӼEdzɧEP@E~&>iE0IIIM0 M0IIIIIO]=B)B)B-IB-BB)B)B)B-ݠ;B-[EBCBBBBCՄ4 AEWC҂G%N9!Y%}KAEu EuEu-Eq"Eu:*Eu:VEut4ZEqBEu>2H A ?@g?`jm%?`p{ /??i2G;?I2 ^;2ՑCYJByJIbDRVDR8yZ;%ZZ=ٔ^09Q-^>9\Y\=^9Eyb^Db<Eb>dQ 5j4fz?Q 9j4f )fEBYlynM @Q In+@f,DIf;ifa;f5F4yrYBɮr'Apxf f f g ffrfereZe:e*eE]BɢE1d=)I MB#?iI)M i]0YYI]0 ]0IaAu?Au?IIO=aq Eu  Eu Eu +Eq "Eu ;*Eu :VEu [4ZEq a} @a} @a} @a} @g:#,RoLAJ(c?J\H?Jc*;ٱJX*>JH ]ߨ2`?`"?/tO?=%|(??iJ(c?IJ#^;JӑCYRByRIIVp<)V;bD^VD^|8yf@%fJ=ٔf9Q-j>9hYh=j9EyjgDn<En>pQ 5v4rr?Q 9v4r})rPBYtyv @Q Iz+@r1DIru:ir:rJM4y|ɮ~GA|f1f1f1g1f9f9rfAeAreAZeI:eI*eIY额HBɢra=) Q&?i) (<顩iXռ5ɧ,d@駽6>i/I/ /IA!I9IYOm>ԉԱ A! A! B- >B) B- IB- BB) B) B) B- ;B- \EsO":#,LA2h?2x?2;ٱ2,>2H+P??웬?@||@5f??i2h?I2 ^;2ԑCYRByRIiMMb@Mb@Mb@IIII I9Mx&1? rh?I +?YM>yMl>M99Y=9EyoDj<E>Q 54{?Q 94g)]BY>Q E:ys @Q I+@7DI;i";T4yɮNAԹB*** querying acoustic contact ***iifffgffrfereZe:e*e 4BɢUg=) +?i)I1<ib/׼%Zɧ%o@%/?>i%z.!!I-z. -z.I)EE EEEE,EA"EE&:*EE:VEEg4ZEABEEh;9 y(:#,LA27ڵ?2l?2>;ٱ2G->2H[x ~??`Ұw?@u{S?W?i27ڵ?I2^;0YNByRIbDZVDZ`8ybp%bW=ٔb<,Q-b>9dYd=f9EyfwDj<Ej>lQ 5r4ns?Q 9r4n)nhBYpyr @Q Ir+@ni\.I\. \.IAzAxAII)O= >EI EMEM*EI"EI*EM:VEM(N4ZEIaU@aU@aU@aU@Yqԡ ӧ.:#,KxLAF,?F`?F%;ٱF/>FH`ѳp`?;?>?wz`?V?iF,?IF|];F֑CYRByRI TTi-Mb@Mb@Mb@)))) )9-p= ף?!rh?V-?Y->y-lg>-<)-A -h@)-h@)Y-f@bDEVDEU8yU<%UA=ٔUQ-U>9YYY=]9Ey]De<Ee>iQ 5m4mj?Q 94m)mvBY >Q E:yg @Q I+@mBDImiu0-qyI}0- }0-IyIIO=B}>BBxIB׀BBBBB;B\EԙbE(N4jEU4rEA/EM EMEIEI"EM:*EM]t:VEIZEIBEM66Hh$g? b? ʵ@?|z?%?i6b?I6a];6ԑCY^By^I f=f<bDjVDjb8yr=%rR=ٔrQ-v>9tYt=v9EyvDz<Ez>|Q 54~b?Q 94~)~BYy  @Q I +@~HDI~):i~:~i4yLBɮA-Ef1f1f1g1f9f9rf9e9reAZeA:eA*eAm~BɢuJ݇=)q u>?iq)uMi<'-I<'- <'-IIYIiO}=LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600) De AAzDe @AEm  Em Em )Ei "Em :*Em :VEm FA4ZEi au @au @au @au @;:#,$LA,:v?:?:;ٱ:3>:H  [@r1?R?`Wr?@y`??i:v?I:R^;:ґCYNBynIbDVDZ8y]4p%eC=ٔeɹQ-e>9iYi=m9EymDm<Eu>yQ 54}Y?Q 94})}BYy @Q I+@}NDI}:i}:}p4yɮAfffgffrfereZe:e*e-~BɢUP=)Q U,=?iQ)U#Xie,aaIe, m,Ii)Y7A ?A ?IyIO~>ԁ B <A <B ~>B B rIB ҀBB B B B ;B \EB:#, LA@06?6?6>T;ٱ66>6H@8л |O7y?`Y??}jyy](\>]C =]@]A ]~@)]Q@YY]@bDuVDuR8y<%H=ٔQ->9Y=9EyD<E>Q 54Q?Q 94)BY>Q E:y. @Q I+@TDI:ib:x4yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eE EE.E"E=;*E:VEـ4ZEBEIiE+AIIM+ M+IIUSԑA؟AIIOC>Թ H:#,$LA2g?2RL?2λ;ٱ2C8>2H`ef@B?@?@"#?yw?`z?i2g?I2gJ^;0YNByRITV@AbDZVDZt8`yfY'<%fW=ٔfJQ-f>9j"?Yj"?=j9EyjDn<En>pQ 5v4rI?Q 9v4rH)rBYtyv @Q Iv+@rYDIr:irl:r~4y~FBɮ~A~,Efffg!f!f!rf!e!re!Ze):e)*e)U~BɢU(/=) K?i)k<ivU༩ɧt@Js>iS+IS+ S+ID!D%4=E- E-E-(E)"E-;*E-&p:VE-c44ZE)a5@a5@a5@a5@= #!AIIO>A N:#,>LAbط?b ?b;ٱb":>bHT/6%?}?@B?u0?`Nx?ibط?IbfI^;bӑCYnBynIimMb@Mb@Mb@iiii i9mʡE?x&1?ymA`>mt=m@m?A i)mh@iYmf@bDVDf8y(=%>=ٔkQ->9Y=9EyD<E>Q 54??Q 94)BY>Q E:y @Q I+@`DI;i;84yɮSAfafafagafafarfaeireZe:e*e~Bɢ1=) }U?i)gx<iA⼩ dɧ՞@"~>i*I* *I!!!!AB>BBxIB׀BBX =BBB;B\EAzAvAiEM EMEIEI"EM ;*EM|:VEIZEIBEMLԙ U:#,nXLA2$?2 ?2;ٱ2;>2H` ( ?:? `C?@t`]? >v?i2$?I2`8^;2ՑCY^BybI ddbDjVDje8yr'%rV=ٔvQ-v>9tYt=v9EyvDz<Ez>|Q 54~6?Q 94~)~BYy ? @Q I +@~fDI~:i~:~4yɮAf1f1f1g9f9f9rf9e9reAZeA:eA*eAm~BɢuO=)q u5V?iqy)uiN)IN) N)IA II!O5 >ԡ*entering command mode EE  EA EE ,EA "EE ;*EA VEE g4ZEA aM @aM @aM @aM @\:#,mrLAFۜ?F?F;;ٱFV>>FH_ÿJI?`? ¿XȠ?`yGt@ħ?r?iFۜ?IFO^;FԑCYVByVI ^%=^4=bDbVDbN8yj%jK=ٔj,ԹQ-j>nDAT read: r&DAT read: user:1> r(setting verbose to 39Y=9EyD<E>Q 54-?Q 94:)BYy @Q I+@lDI;i;d4y@BɮA+EfqfqfqgqfyfyrfyeyreyZe:e*ew~Bɢ]=) X?i)R<i弩 ɧͪ@l>iGI)IGI) GI)I AyIIO%M>)&DAT read: user:1> TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440Am AAAm AABq Bq Bq Bq Bu Y =Bq Bq Bu ;Bu \EB)B)B)B)B)C-4Y e G8b:#,3lLA6?6?64;ٱ6ȶ@>6H@Ŀ v??TĿ`? so?Bo?i6?I6K];6ՑC8DYZB^"O9`YbKAyZIiMMb@Mb@Mb@IIII I9MX9v?x&1?l?YM>yIM=Mh@MVA Mh@)M;@IYM@bDeVDew8ya=%:=ٔےQ->9Y=9EyDE EE+E"E;*EM:VE [4ZEBE>CQ 5 45#?Q 9 4x)BYw?Q E:y[ @Q I+@sDI:i:4y!ɮA!=B*** querying acoustic contact ***i9i9fIfIfIgIfIfIrfQeQreQZeQ:eQ*eY颍b~Bɢo=) vg?i)3<顡i0缩ʛɧt@駵}>i(I( (IA?A?&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8IIO&>Qy &DAT read: user:3>  TDAT read: TxPower | 8 (Max)  .set transmit power to 8 6setting local address to 11ԩ =(i:#,shLA2?22?2ɘ;ٱ2#MB>2H`Vƿ`[?`/?ſ)?0sU$?l?i2?I2v];2ґCY>By>IIB=)Bp<bDJVDJ8y]=%]Q=ٔ]ݹQ-e>9aYa=e:EyeɛDmu<Em>qQ 54u?Q 94u)uBYy @Q I+@uzDIu[:iu:ug4y8BɮA"Efffgffrf!e!re!Ze):e)*e)q颥L~Bɢԩ=) Pp?i)Z<iI꼩|^ɧ@>iC'IC' C'I E EE-E"E:*E:VEt4ZEa@a@a@a@I IO-,>ԙ&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11\Setting time to: 1:21:42 And date to:12/5/2025 p:#,LAiC?(?IU;ٱB>H`Sǿ`?0o?@GkǿC?q9?k?iiC?I];ӑCYByIiMb@Mb@Mb@ 9+?x&1?kt?Yv>y 0=@ @)Y @bD VD8y%E=ٔ=]Q->9Y=:EyћD<E>Q 54w?Q 94)) BYx ?U&DAT read: user:5> ]NDAT read: Fri Dec 5, 2025 01:21:42 ]fLocal DAT time set to Fri Dec 5, 2025 01:21:42 e2Acoustic response timeoute6setting remote address to 8Q E:y @Q I+@DI6B B IB ܀BB B B B ݠ;B [EEŖɧE@E{i>iM'IIIM' M'IQIIO(>E EE*E"EV:*E$:VE(N4ZEBE9  TDAT read: RemoteAddr | 8  .set remote address to 8 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.(v:#,ALA02?2)?2h;ٱ2C>2H`ɿ@P?`[? ȿ?q`W?kj?i2?I2];2БCYBByBIbDJVDJ}8yz5 =%zZ=ٔz^8Q-z>9|Y|=:EyٛD =E> Q 54 ?Q 94 ) BYy @Q I+@ DI ;i ; 74y!ɮ%nA!fAfIfIgIfIfIrfI@M UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@UUpTransitioning to terminal guidance at range 28.200001 m @U1A]eYreYZeY:eY*ee&:6@颍"~BɢA=) z?i)<顑i,6Dɧ@駝a>if&If& f&IAzAxAII)O==ԉe&DAT read: user:7> mBDAT read: Tx time:01:21:42.6681 u$Ping request sent.u2H/&˿α?E? ʿ@?r#?.g?i2?I2];2ӑCYBByBI DDbDJVDJl8bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789dyjB%jL=ٔjC9Q-j>9lYl=r:EyrDr\=Er>tQ 5z4v?Q 9z4v)v-BYxy~i @Q I~+@vDIv8;iv;v44yɮAfffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e6@% ~Bɢ%D=)! %~?i))-N{<))i-S𼩧u4摽ɧuO@u`>i}%yyI}% }%III)O5=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502875B A <B >B B IB BB W =B B B ɠ;B [EA 9::#,n LA6=?6"?6p;ٱ6 H>6H̿B ? -?,̿@&s?@Nq ?d?i6=?I6~^;6ґCYNByRIi-Mb@Mb@Mb@)))) )9-'1Z?Q?Zd;O?Y-?y-(\>-j<=-~@-A -h@)-Q@)Y-f@ AE<bDMVDMR8yU\,%]B=ٔ]-չQ-]>9aYa=e:EyeDe=Em>iQ 5u4m{?Q 9}4m)m?BY}i?Q E}:y}$ @Q I}+@mDIm; ;im;m4yɮAqL~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEntering USBL mode with 120.000000 count pings at 28.200001 m (mode 0.000000 count ).L1MDAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFInitialize.FAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G Initialize.qGGqEgh7gh7FAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 64.488106 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*e 7@bEeT4jEe-W4rEeA0E EE-E"E ;*E~:VEt4ZEBERI I! O- >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006796jd:#,d'LA2?2?2T;ٱ2$J>2H$οzeA? ?Ϳ 1?@q?`?i2?I2_];2֑CY: By:IbDFVDFl8yJ5=%NW=ٔN0LQ-N>9PYP=R:EyRDV=EV>XQ 5^4ZN暊?Q 9^4Z)ZOBY\y^ @Q Ib+@ZDIZ;iZ;Z04yf-Bɮf Af Eje^@1MeqMemB*** querying acoustic contact ***iiimxyh"?hhhhggjgrgereZe:e*er7@Bɢ<)d A]zA]AeAeԩE EE(E"E%;*EB:VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913AI!I1O}z> YO:#,LALA%?%I?%3;ٱ%tK>%Hп]5S?@?_Ͽ`a?C>p C?^?i%?I%];%ӑCY]By]IIe=)eB?iMb@Mb@Mb@ 9&1??kt?Y?yff> 0=h@ A @)h@Y@bD$VD8y3%4=ٔaֹQ->9Y=:Ey%<E%>)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510935Q 5=4-ٚ?Q 9=4-)-cBYEP?Q EE:yE @Q IE+@-DI-:f;i-qe;-4yM%BɮU5AUEjaqMmMmhqhyhyhyhygygyjgrgBereZe:e*e7@[P?[P?"[>*[\ @颽Bɢ¦<) H9i)<ilBBBIBBBBBBϠ;B[Eic(IIΒ{I1IAOM2>1E EE'E"E;*E|:VE'4ZEBE@2Hi!ѿ 2`R??@п? e ?+V?i2?I2];2ՑCY>By>IDFAAbDFVDF8yN%Ne=ٔR uQ-R>9PYP=V:EyTV;=EV>XQ 5^4Z[Κ?Q 9^4Z")ZsBY`yb @Q Ib+@ZDIZL;iZ:ZS4yf Bɮf$AfEjpMrvCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLv vAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLh|h|h|h|h|g|g|jgrgereZe :e *e <8@[)[)"[)*[- @=Bɢ=<)A EӻiA)E[R:#,wLA2?2?2YD:ٱ2 ]>2H\&ҿ@C? ?ѿ u?"H j?A?i2?I2d];2ӑCY:By:IbDFVDF8yjU=%j3=ٔjQ-j>9lYl=n:Eyln=Er>pQ 5z4rr?Q 9z4rY)rBYxyz @Q Iz+@rDIr;ir;rI4y|ɮAh!h!h!h!h)g))g)jg1rg1e9re9Ze9:e9*e=88@[Y[Y"[Y*[] @qɢu]<)q uԉAE@AAABIBIBIBIBMX =BIBIBM;BM\EԱ H6:#,LAZ?ZL?Z*ٱZPf>ZHbӿ`Y?? ҿ sܰ? EP? ?@0?iZ?IZp];XYjByjIE EEE"E;*Ei:VEZEBEA=$@( A @)Y@bDBVDձ8y+%:=ٔQ->9Y=%:Ey)-=E->9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770971Q 5e4=9?Q 9e4=|~)=BYe!?Q Eu:yu@Q Iu+@=DI=;i=";=4yɮAhhhhhggjgrgBe re Ze :e*e`n89@[!?[!?"[͕>*[@ɢŧ<)  ;i)Ŧ<iCic7II yA zA BDAT read: Rx Time:01:21:45.1223  TRx dataTimestamp_ set to:1764897706.604500 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023835 ] @e zA@e zAA^AyIID<D<O?%:#,wLAE. E.E,E,"E.:*E.?:VE,ZE,a2@a2@a2@a2@B?B?Bd|ٱBi>BHԿ`r&s?9dYd=f:Eydf:=Ej>lQ 5r4n?Q 9r4nix)nBYpyr@Q Ir,@nǓDIn:in):na4yvBɮzAzEmB*** querying acoustic contact ***iiiiԑhhhhhggjgrgereZe:e*e9@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274907[["[*[@UBɢUታ<)Q Up m@ 9>) n@I 9 d}W>Z?/oJ? G@) e I N#i 9  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B >B CB B B B B B ;B *\EBBBBX =BX =C(5! ] Gi 9 Y A^A (I IO >::#,sgLAE EE/E"E;*E|:VEJ4ZEBE7NH@6տR@?}?AZտ@A?:s?{_?4?i=?I];ԑCY-By5I-&DAT read: user:8> 5BDAT read: Tx time:01:21:46.4681 5$Ping request sent.5=@ A )~@YbD5IVD5۱8yA%=ٔ켺Q->9Y=:Ey<E>Q 54?Q 94q)BY?Q E:y@Q I,@ғDI :iV:4yBɮAEiiLAjB"jB:jF@RjC>ts4E @Bjq_'vgNlE@?*jN#2j9Zj&T>@ v5S?Jj\-?DT⿰>!?j j,AiP-?il6 jʄBj΢?ja<jrjBzj@u addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "iq*i Added new target pos. range: 37.462498 m, bearing: 324.997402 deg, lat: 36.779498 deg, lon: -121.859781 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iDNOT Ignoring new targets: 37.46 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"i*i% ProNav pure pursuit: ac range: 37.462498 m, nav range: 36.973175 m, bearing: 312.655198 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 103.014170 deg, new cmd heading: 312.655198 deg. -HeadingCmd: 5.456862 target range: 37.462498 and range: 37.50 m.h-@h)h)h)h)i)g)g1jgQrgUBeYreYZeY:e]B@*e]?ԑ[?[?"[>>*[@Bɢ'Ǥ<) @i)ڦ<ii}AI@I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250938^A ?΅I I O >Y:#,iLA$$J?J+?JٱJ _>JHֿ`D2???ֿ@[? Rbv??Q>?iJ?IJ];JӑCYVByVIbD^VD^8yfwv%f=ٔf.)Q-j?9hYh=j:EyhnL=En?pQ 5v4r ?Q 9v4r4n)rBYtyv@Q Iz,@rؓDIr;ir;r4y~ Bɮ~A~ E:i!DNOT Ignoring new targets: 37.46 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"i1*i1  ProNav pure pursuit: ac range: 37.462498 m, nav range: 37.144379 m, bearing: 312.650588 deg, approach rate: 0.608311 m/s, LOS rate: -0.016304 deg/s, cmd heading: 312.655188 deg, new cmd heading: 312.650588 deg. HeadingCmd: 5.456782 target range: 37.462498 and range: 37.50 m.h@hhhhiggjgrgereZe:e*e 8ԑ !9:#,\!LAH-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756726ex?e]?ePٱeW>eH&׿ `?o?`"׿`V?tw??K?iex?Ie ];eԑCY}By}Ia%@a- a-@a- a-@a- a-@a- ))bD5VD58yE %E6=ٔMrQ-M>9IYI=U:EyQUJ=EU>YQ 5e4]w?Q 9e4]i)]BQ Ae+:YiQ Em:ym@Q Im,@]DBu<AqByByByByB}W =ByB}PDB}!;B}?\EI]:i]>]04yBɮA:iDNOT Ignoring new targets: 37.46 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"i*i䷝  ProNav pure pursuit: ac range: 37.462498 m, nav range: 37.406929 m, bearing: 312.649873 deg, approach rate: 0.577835 m/s, LOS rate: -0.001562 deg/s, cmd heading: 312.650598 deg, new cmd heading: 312.649873 deg. HeadingCmd: 5.456769 target range: 37.462498 and range: 37.50 m.h۝@hhhhiggjgrgereZe:e*e?Bɢ<)! %pi!)%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006993 !`:#,cLApvJ?vF/?vٱv)O>vHlؿ `0?`ɓ?R׿ Z? Ƞw? A? W?ivJ?Iv'];tYByI  bDVD8y%=%-_=ٔ-Q-->9)Y1=5:Ey15=E5>9Q 5E4=j?Q 9E4=e)=BQ AM :YIQ EMl:yM@Q IM,@=DI= :i=Q?=d4yUBɮUeA] E:iDNOT Ignoring new targets: 37.46 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"i\Z9*i\Z9 ProNav pure pursuit: ac range: 37.462498 m, nav range: 37.620735 m, bearing: 312.654232 deg, approach rate: 0.588630 m/s, LOS rate: 0.011932 deg/s, cmd heading: 312.649860 deg, new cmd heading: 312.654232 deg. HeadingCmd: 5.456846 target range: 37.462498 and range: 37.50 m.h{@hhhhiggjgrgereZe:e*e^?Bɢ=<) Ci)l<iiYDI{@I 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259155^A?΅9IAIQOew>E  E E ,E "E ;*E i:VE g4ZE a @a @a @a @a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510952$:#,>8LA9E!?E?EٱEPI>EHHFٿ >?e?`ؿw?@v??b?iE!?IE];E֑CYByIbD$VD8y Ȼ%A=ٔA:Q->9Y=:Ey1 =E>Q 54(\?Q 94``)BQ A9YQ E?:y@Q I,@DI#:i?T 4yɮpA B*** querying acoustic contact ***i i :i9=DNOT Ignoring new targets: 37.46 m.2i9EPowering the camera and arming the capture device at range: 37.50 m.iA"iE9*iE9] ProNav pure pursuit: ac range: 37.462498 m, nav range: 37.867889 m, bearing: 312.664896 deg, approach rate: 0.577963 m/s, LOS rate: 0.024775 deg/s, cmd heading: 312.654232 deg, new cmd heading: 312.664896 deg. eHeadingCmd: 5.457032 target range: 37.462498 and range: 37.50 m.he@hahahahaiigigijgirgieqreqZeq:ey*e}?颥BɢN<) Oi)V<顩iZEiBI@Ii^A}#I IO%o>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763048ԙBu>BqBuIBuBBqBqBqBu;Bu4\E vs:#,?RLAbEyjE}Y4rE}0ER ERER/EP"ER;*ERxv:VERJ4ZEPBER7NHڿ{? b7?ٿ?ct?`?f?i?I];ԑCY-By-Iԙaa aa aa aa iMb@Mb@Mb@ 9}?5^I?uV?ˡE?YM?yrh>'=;@A h@)h@Y@ p=bD VD8y%G=ٔo:Q->9Y=:EyN =E> Q 54 0N?Q 94 N\) "BQ AT:Y?Q E:y@Q I,@ DI h;i K ; 4y%Bɮ%zA- E:iIMDNOT Ignoring new targets: 37.46 m.2iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014930Powering the camera and arming the capture device at range: 37.50 m.i"i:*i: ProNav pure pursuit: ac range: 37.462498 m, nav range: 38.094006 m, bearing: 312.690542 deg, approach rate: 0.556402 m/s, LOS rate: 0.062731 deg/s, cmd heading: 312.664887 deg, new cmd heading: 312.690542 deg. HeadingCmd: 5.457479 target range: 37.462498 and range: 37.50 m.h@hh h h iggjgrggBereZe:e*e%@LI@[]?[]?"[]>*[]B@颵Bɢc<) ̼i)#)<项ii ?I@I &Changing to mode: 29@ @@/@e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270173^A FӅA %=A ! AU 0AIY Iq O >N:#,emoLALβ?L@%ٱOC>H ڿ@@;? ?uڿ{?!p?@D?@`k?iβ?I0];ӑCYByII>)=bD!VD8y<%6=ٔ ;Q->9>Y>=:EyD"<E>Q 5 4>?Q 9 4W)6BY y @Q I,@DI;iY;U4yɮiA:i9EDNOT Ignoring new targets: 37.46 m.2iAEU EUEU)EQ"EU:*EU~:VEUFA4ZEQa]@a]@a]@a]@]Powering the camera and arming the capture device at range: 37.50 m.iY"ie:*ie:u ProNav pure pursuit: ac range: 37.462498 m, nav range: 38.340443 m, bearing: 312.723345 deg, approach rate: 0.550328 m/s, LOS rate: 0.072785 deg/s, cmd heading: 312.690541 deg, new cmd heading: 312.723345 deg. }HeadingCmd: 5.458052 target range: 37.462498 and range: 37.50 m.h}]@hyhyhyhyiygygjgrgereZe:e*e@颽Bɢ@ϛ<) i)H<iLiE1:IIIM]@IIUDDAT read: Rx Time:01:21:48.6500 UTRx dataTimestamp_ set to:1764897709.882144ePDAT read: Bearing 82.5, -23.8 (Local) m~Local bearing/azimuth received: Bearing 82.5, -23.8 (Local) DAT read: Range 11 to 50 : 39.6 m (trip time 26.4 ms) speed -0.5 DAT read: 01:21:48.6500 LVL= 32752, 22625, 27922, 32755, AGC= 63, IDX= 201, 0.32, 0.335, 2.618, 1.425, 1.699, PHS=-1.263, 0.964,-0.319, RAW= 305.0, 6.4, CAL= 302.6, 5.5, ROT= 207.4, -5.5 7@ @@ 5@Ygot valid direction response: 01:21:48.6500 LVL= 32752, 22625, 27922, 32755, AGC= 63, IDX= 201, 0.32, 0.335, 2.618, 1.425, 1.699, PHS=-1.263, 0.964,-0.319, RAW= 305.0, 6.4, CAL= 302.6, 5.5, ROT= 207.4, -5.5 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.883728,-0.458081,0.095846]Fpublishing direction and range infoyQU&3Gۣ2QݿaVX?YUfBQQUaXUm U)U?IUiUv?USUX@U=U@ U =)Ug@IU ĽQQUb?ᅨ6`E4m? UsC)U_'IUt*iU ĽQQchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.566770^A#! A5 ,%AI  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773394I! O >U:#,*ʉLAA8A:@AB<B<B<B<B>V =B<B<B>;B>#\EVq?Vd+@V7ٱVA>XVH@4ۿ Sm?f?`^:ۿ5?Uf??m?iVq?IV];VԑCYbBybIiMMb@Mb@Mb@IIII I9M ףp= ?Q?l?YMQ>yM(\>M=Mh@MA MQ@)M$@IYM@bDeVDe8yA#=%F=ٔxD;Q->9>>Y>>=:EyD=E>Q 5 41?Q 9 4'T)FBY $?Q E :y @Q I,@DI&;i ;4yɮ'AiAiE uxLAjE>B"jE>B:jEʲ@RjERzApI:23qU@BjE&3Gۣ2QݿaVX?*jEt*2jE ĽZjE &?@[k7\?JjE4gn?@W4> kv?jE jEAiE4?iE돃jEeBjḘ ݢ?jE:jEWBrjExBzjEѮ@m addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 2.774306 s, deltaX: 2.099998 m, approachRate: 0.756945 m/s, rangeRepo size: 2  Added new target pos. range: 39.560654 m, bearing: 323.539224 deg, lat: 36.779499 deg, lon: -121.859780 deg, deltaT: 2.774306 s, deltaX: 2.098156 m, approachRate: 0.756281 m/s, posRepo size: 2 :iDNOT Ignoring new targets: 39.56 m.2iPowering the camera and arming the capture device at range: 39.60 m.i"i*i ProNav: ac range: 39.560654 m, nav range: 38.617653 m, bearing: 313.014124 deg, approach rate: 0.000000 m/s, LOS rate: 0.072785 deg/s, cmd heading: 312.723353 deg, new cmd heading: 312.783905 deg. i4; HeadingCmd: 5.459109 target range: 39.560654 and range: 39.60 m.h @hhhh9iAgIgIjgIrgMTBeQreQZeQ:eUC@*e]h?Bɢi<) <:i) <iMib3I@E% E%E%+E!"E%;*E%&p:VE% [4ZE!BE%As:#,2LA2'?2^@2ꤺٱ2]B>2Hvܿ$?c?ۿ??OT?|5? $l?i2'?I2];0Y:By:IbDF^VDF8yJݷ<%NT=ٔN;Q-N>9R>YR>=R:EyRDR<=ER>TQ 5Z4V'$?Q 9^4VP)VVBY\y^@Q I^,@V DIV:iV:VA&4ybBɮfAdxii˜LAjqB"jqB:j@RjAq1X @Bj^Fnwܿ5;?*j v+2j|٠ZjzYS?@wT7( ԿJj=?j$NЀjž jAi.?ijSBjP-?jjʄBrjbBzj@ addTargetRange:: Added new target pos. range: 39.900002 m, deltaT: 0.504738 s, deltaX: 0.300003 m, approachRate: 0.594374 m/s, rangeRepo size: 3 - Added new target pos. range: 39.860359 m, bearing: 323.253816 deg, lat: 36.779548 deg, lon: -121.859729 deg, deltaT: 0.504738 s, deltaX: 0.299706 m, approachRate: 0.593784 m/s, posRepo size: 3 :i--VStarting intercept timer at range: 39.90 m.5DNOT Ignoring new targets: 39.86 m.2i15Powering the camera and arming the capture device at range: 39.90 m.i1"i9*i9M ProNav: ac range: 39.860359 m, nav range: 39.845776 m, bearing: 323.239761 deg, approach rate: 0.000000 m/s, LOS rate: 0.072785 deg/s, cmd heading: 312.783896 deg, new cmd heading: 312.840030 deg. iIUHeadingCmd: 5.460089 target range: 39.860359 and range: 39.90 m.hU @hQhQhQhQiQgYgYjgYrgYeareaZea:ee@3C@*ee?checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274883-Bɢ5t0<)1 5:ԑ d:#,(LAV+?V.@Vۖ8ٱV2C>VHV9ݿ`?x?ܿ'?`R@?k?iV+?IV<^;VґCY~By~I bDhVD8yEK%EA=ٔE'G;Q-M>9M>YM>=M:EyMDU=EU>yyQ 54}?Q 94}L)}fBYy_@Q I,@}DI}d:i}:}-4yBɮAEii2LAj= B"j= B:jB*@RjyJAid&&2o5o@Bj?sKܿP0?*j*2j AZjTF@@2T7,q_wJj-z%?yLnj j7Bi}̤?iwtjP~Bj.?j돃jeBrjBzj@e addTargetRange:: Added new target pos. range: 40.099998 m, deltaT: 0.503694 s, deltaX: 0.199997 m, approachRate: 0.397060 m/s, rangeRepo size: 4  Added new target pos. range: 40.060158 m, bearing: 324.374815 deg, lat: 36.779548 deg, lon: -121.859727 deg, deltaT: 0.503694 s, deltaX: 0.199799 m, approachRate: 0.396667 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.06 m.2iPowering the camera and arming the capture device at range: 40.10 m.i"i*i ProNav: ac range: 40.060158 m, nav range: 39.962170 m, bearing: 323.470840 deg, approach rate: 0.000000 m/s, LOS rate: 0.072785 deg/s, cmd heading: 312.840040 deg, new cmd heading: 312.904724 deg. iHeadingCmd: 5.461218 target range: 40.060158 and range: 40.10 m.hL®@hhhhiggjgrgereZe:e D@*e |?Bɢ~֦<)  :i)BBIBBBBBB;B\E/@ @@/@E  E E 'E "E :*E ~:VE '4ZE BE 3Lz:#,g+LA;ɰp;2 ?2@2p:ٱ2$rA>2H@ݿ%?F? iݿ`o۶?Y ?@?n?i2 ?I2];2ԑCXYUByUIiMb@Mb@Mb@ 9Zd;?5^I ?{Gz?Y>yX>#=?A h@);@Y@bD}HVD}ڱ8y%=ٔB;Q->9Y=:Ey DN<E>Q 54?Q 94HH){BY}?Q E:y@Q I,@DI:i:64yBɮAMAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1N%Resuming normal ranging with 1.000000 count pings 40.099998 m (mode 1.000000 count ).1N-qN-ii(LAj!B"j!B:j˕@RjȫaB=BYc Dz1hG _?Bj9BNxۿNGY;?*jiw,2j޹Zjd3@@!$8:èJjoj?')ej jBi"g?igjxBj4?jjSBrj!Bzj@} addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 0.502546 s, deltaX: 0.400002 m, approachRate: 0.795950 m/s, rangeRepo size: 4  Added new target pos. range: 40.459820 m, bearing: 323.336418 deg, lat: 36.779549 deg, lon: -121.859727 deg, deltaT: 0.502546 s, deltaX: 0.399662 m, approachRate: 0.795274 m/s, posRepo size: 4 :iTStopped intercept timer at range: 40.50 m.DNOT Ignoring new targets: 40.46 m.2iZTarget missed at range: 40.50 m. Rolling out.NTransitioning guidance mode to: ROLLOUT i@hhhhhggjgrgWBereZe:e@D@*e?5B=p:)E E;iA)E P:#,LA2n=?2P@2E;ٱ2-!@>2H`޿@?@? %޿_?ͽh ?0p?i2n=?I2^;0Y>By>IbDF0VDFı8bDDAT read: Rx Time:01:21:50.6507 bTRx dataTimestamp_ set to:1764897711.897072fPDAT read: Bearing 93.8, -23.2 (Local) j~Local bearing/azimuth received: Bearing 93.8, -23.2 (Local) rDAT read: Range 11 to 50 : 40.7 m (trip time 27.1 ms) speed -0.5 DAT read: 01:21:50.6507 LVL= 32304, 26545, 27858, 32755, AGC= 59, IDX= 496,-0.03,-2.197, 0.060,-1.192,-0.982, PHS=-1.113, 1.087,-0.254, RAW= 307.2, 2.9, CAL= 304.9, -0.5, ROT= 205.1, 0.5  Ygot valid direction response: 01:21:50.6507 LVL= 32304, 26545, 27858, 32755, AGC= 59, IDX= 496,-0.03,-2.197, 0.060,-1.192,-0.982, PHS=-1.113, 1.087,-0.254, RAW= 307.2, 2.9, CAL= 304.9, -0.5, ROT= 205.1, 0.5 R#Rx 5: Read range and direction messages.bdirection in FSK: [-0.905534,-0.424183,-0.008727]Fpublishing direction and range infoy`b Ҡ"%yN%ۿB7߁Yb"B`b0~bgbl `)`Ibvib"?bJ b@b4QO=bI@ b5)bRe@Ib5<``b?mkv￵6: ]]V[? b[A)bRRIbc-ib5<``5checking for new query: numPingsReceived=5, elapsed TxPingTime=4.550723y>,=%W=ٔ1y;Q->9Y=:EyD=E>Q 54?Q 94D)BYy n@Q I ,@"DICO;#,GLA6+?6Q@6w;ٱ6<>6H`0Q??E߿Qظ?v:u? u?i6+?I6];4DDAT read: Rx Time:01:21:51.1509 TRx dataTimestamp_ set to:1764897712.401170PDAT read: Bearing 95.1, -22.5 (Local) ~Local bearing/azimuth received: Bearing 95.1, -22.5 (Local) DAT read: Range 11 to 50 : 41.0 m (trip time 27.3 ms) speed -0.6 DAT read: 01:21:51.1509 LVL= 24816, 20673, 22818, 28883, AGC= 63, IDX= 2,-0.14,-1.958, 0.316,-0.976,-0.747, PHS=-1.109, 1.108,-0.273, RAW= 308.1, 2.9, CAL= 305.7, -0.5, ROT= 204.3, 0.5 Ygot valid direction response: 01:21:51.1509 LVL= 24816, 20673, 22818, 28883, AGC= 63, IDX= 2,-0.14,-1.958, 0.316,-0.976,-0.747, PHS=-1.109, 1.108,-0.273, RAW= 308.1, 2.9, CAL= 305.7, -0.5, ROT= 204.3, 0.5 R#Rx 6: Read range and direction messages.bdirection in FSK: [-0.911369,-0.411499,-0.008727]Fpublishing direction and range infoyCNAh)>UڿB7߁Y$B`P"Y p)?Iiҍ?ƋT@/@ )4d@I#x?  @)rLI'-ichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.055439YUByUIAiMb@Mb@Mb@ 9x?A`"?ˡE?YK>yY>'=A Q@)$@Y@bD%VD%8y5Z4;%5=ٔ]b;Q-]>9]Y]=e:Eyae1=Ee>iQ 5u4m?Q 94m?)mBYq?Q E:y@Q I,@m,DIm;imy;mjH4yBɮ&AEkN@OOjNNiiŬLAj#B"j#B:jh@RjݺBw)0|1ֿBjCNAh)>UڿB7߁*j'-2jZjr^@@h7*[z@w;) f&?i[9)4Ȳ6ii%P!!I!I!U checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291748 '@  @ @ 0@ ԙ ^AE#IQIaOu> ;#,4LA6?6jF@6;ٱ6k?>6H1 g?f?6^չ?`px`? q?i6?DHDJ<EN ENEN,EL"END:*ENM:VENg4ZELaR@aR@aR@aR@I6%];6ՑCYZByZIbDbVDb~8yj=%n=ٔn:Q-n?9pYp=r:EyprP=Er?tQ 5z4vK֙?Q 9~4vP=)vBY|y~u @Q I~,@v1DIv:iv$:vM4yɮA kO1Pj!N%%Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRM%%Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR5DNOT Ignoring new targets: 40.96 m.h1h9h9h9h9g9g9jgArgAreAZeA:eA*eM P?[i[i"[i*[mu @};)y }C,?i}׵9)顅d56iiIIߍ%=ߍR=DDAT read: Rx Time:01:21:51.6510 TRx dataTimestamp_ set to:1764897712.905429PDAT read: Bearing 97.1, -22.9 (Local) ~Local bearing/azimuth received: Bearing 97.1, -22.9 (Local) DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.5 DAT read: 01:21:51.6510 LVL= 28480, 26289, 22706, 32755, AGC= 61, IDX= 499,-0.15, 2.327,-1.717,-2.972,-2.784, PHS=-1.070, 1.112,-0.232, RAW= 307.6, 2.0, CAL= 305.5, -1.4, ROT= 204.5, 1.4 Ygot valid direction response: 01:21:51.6510 LVL= 28480, 26289, 22706, 32755, AGC= 61, IDX= 499,-0.15, 2.327,-1.717,-2.972,-2.784, PHS=-1.070, 1.112,-0.232, RAW= 307.6, 2.0, CAL= 305.5, -1.4, ROT= 204.5, 1.4 R#Rx 7: Read range and direction messages.bdirection in FSK: [-0.909690,-0.414569,-0.024432]Fpublishing direction and range infoy8f-8Nڿ{JYf$B@ofX )=IiV?hm˫@5=@ +ȼ)md@I+<Uк?s\? <@)BI-i+<checking for new query: numPingsReceived=7, elapsed TxPingTime=5.560150y9$@ @@0@a U checking for new query: numPingsReceived=7, elapsed TxPingTime=5.797574B >B CB B B U =B B B ;B \E^Am ?΅I I O >h;#,KNLA YByIiMb@Mb@Mb@ 9v?5^I ?/$?Y>yX>,=?A );@YbDVDh8y<%/=ٔQ->9Y=:EyE>Q 54ř?Q 94w9)BY?Q E:y0 @Q I,@9DI~(;iT&;U4yۓBɮ_AE"k1PtCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1O Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourseii9LAj=$B"j=$B:j:@Rj_OB41+8 Bj8f-8Nڿ{J*j-2j+<ZjA&C@@u7R:XJj?"WHD$mj jBi' 5ʤ?itjrrBj:Gä?j蟵j uBrj$Bzj@U addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 0.504259 s, deltaX: 0.099998 m, approachRate: 0.198308 m/s, rangeRepo size: 4 e Added new target pos. range: 41.059601 m, bearing: 324.976097 deg, lat: 36.779551 deg, lon: -121.859723 deg, deltaT: 0.504259 s, deltaX: 0.100212 m, approachRate: 0.198731 m/s, posRepo size: 4 mDNOT Ignoring new targets: 41.06 m.hihihiqhihqgqgyjgyrg}BreyZe:ěD@*e-?[?[?"[->*[0 @E EE%E"E:*EAr:VE 4ZEBE#5im>DDAT read: Rx Time:01:21:52.1513 TRx dataTimestamp_ set to:1764897713.409349PDAT read: Bearing 99.9, -20.6 (Local) ~Local bearing/azimuth received: Bearing 99.9, -20.6 (Local) DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.8 DAT read: 01:21:52.1513 LVL= 29936, 24385, 27458, 32755, AGC= 61, IDX= 502,-0.22,-2.753,-0.434,-1.820,-1.613, PHS=-1.038, 1.224,-0.251, RAW= 310.0, 0.7, CAL= 308.0, -2.6, ROT= 202.0, 2.6  Ygot valid direction response: 01:21:52.1513 LVL= 29936, 24385, 27458, 32755, AGC= 61, IDX= 502,-0.22,-2.753,-0.434,-1.820,-1.613, PHS=-1.038, 1.224,-0.251, RAW= 310.0, 0.7, CAL= 308.0, -2.6, ROT= 202.0, 2.6 R#Rx 8: Read range and direction messages.bdirection in FSK: [-0.926229,-0.374221,-0.045363]%Fpublishing direction and range infoyg)« |<׿99Yf&BtA_Bk )I/݄i?"@+H<@ 9)ܢa@I9=Ao#ƿ69*w?ԙ =)L=I|0i9=checking for new query: numPingsReceived=8, elapsed TxPingTime=6.084932!@ @@<1@ ^AE #II Ii Ou >;#,c+hLA2a?2# @2-d;ٱ2'YH>2HPR,kWg?@??qL "?`xc?i2a?I2];2ԑCLYfByfIbDnVDnL8yv<%zn=ٔzq;Q-z?iAIA checking for new query: numPingsReceived=8, elapsed TxPingTime=6.3001889Y=:Ey%=E%?)Q 554-?Q 9=4-6)-BYAyE!@Q IE,@-?DI-J;i-)K;-[4yQɮU:AQii2ZLAj<&B"j<&B:j@Rjb#?CL /r)Bjg)« |<׿99*j|02j9=Zj@@].V8YPJj73?Ia)̟3j jBip?i[ӶjoBjp?j[Ӷj%tBrj9%Bzj@ addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 0.503920 s, deltaX: 0.500000 m, approachRate: 0.992221 m/s, rangeRepo size: 4  Added new target pos. range: 41.559109 m, bearing: 323.901348 deg, lat: 36.779550 deg, lon: -121.859723 deg, deltaT: 0.503920 s, deltaX: 0.499508 m, approachRate: 0.991244 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.56 m.hhhhhggjgrgreZe:e D@*e K6?[)[)"[)*[-D!@-d;) (?iF9)W5S7iiK/II"9@ @@?5@DzD@AE EE)E"E:*E|:VEFA4ZEa@a@a@a@DDAT read: Rx Time:01:21:52.6514 TRx dataTimestamp_ set to:1764897713.913116PDAT read: Bearing 102.2, -19.8 (Local) ~Local bearing/azimuth received: Bearing 102.2, -19.8 (Local) DAT read: Range 11 to 50 : 41.7 m (trip time 27.8 ms) speed -0.6  DAT read: 01:21:52.6514 LVL= 27520, 23905, 23346, 32755, AGC= 60, IDX= 487,-0.34,-3.122,-0.775,-2.214,-2.016, PHS=-1.004, 1.286,-0.242, RAW= 310.9, -0.4, CAL= 309.2, -3.7, ROT= 200.8, 3.7 % Ygot valid direction response: 01:21:52.6514 LVL= 27520, 23905, 23346, 32755, AGC= 60, IDX= 487,-0.34,-3.122,-0.775,-2.214,-2.016, PHS=-1.004, 1.286,-0.242, RAW= 310.9, -0.4, CAL= 309.2, -3.7, ROT= 200.8, 3.7 % R#Rx 9: Read range and direction messages.^A I I ! O5 > bdirection in FSK: [-0.932877,-0.354367,-0.064532] Fpublishing direction and range infoyVk!LnֿP0Y&Bka]2[ )<Ii?w@@  A)K`@I A=w.kbGFEȿg| 7<)l;I1i A= checking for new query: numPingsReceived=9, elapsed TxPingTime=6.626542{ ;#,WLA2&?2 @2<ٱ26I>2H``-I?ѩ?`Nl? ?pa?i2&?I2Z];2ґCYBByBIbDJVDJJ8yf%fM=ٔf3:Q-f>9hYh=j:Eyhjn=En>pQ 5r4r?Q 9v4r3)rBYtyv"@Q Iv,@rEDIr`:ir:rb4yzՓBɮ~(A|~Eii~pzLAj&B"j&B:jo@Rj]?nnCdPp-征BjVk!LnֿP0*j12j A=Zj s@@SQд8V>^JjUL,t?;mY֪òj jBi?i{jQmBjjjrrBrj &Bzj@M addTargetRange:: Added new target pos. range: 41.700001 m, deltaT: 0.503767 s, deltaX: 0.100002 m, approachRate: 0.198509 m/s, rangeRepo size: 4 ] Added new target pos. range: 41.659012 m, bearing: 323.291943 deg, lat: 36.779550 deg, lon: -121.859723 deg, deltaT: 0.503767 s, deltaX: 0.099903 m, approachRate: 0.198312 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 41.66 m.hYhahahahagagajgirgireiZei:emD@*eu@%?[ [ "[ *[ ""@E<)A E&?iE9)AE5E7iIiMIQIqIqyy)=checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805901BBBIBBBBBBڠ;B[EY?@ @@0@bEeɷG4jEe#E4rEeɐ'0E  E E +E "E :*E :VE [4ZE BE +l9';#, MLAF?F @F5<ٱFW3H>FH>q?h??Fm?`c?iF?IF ^;FԑCYrByrIi-Mb@Mb@Mb@)))) )9-RQ?MbX? rh?Y-?y-J>-C =-;@-VA -~@)-$@)Y-@bDVD98y%#=ٔ:Q->9Y=:Ey4<E>Q 5%4?Q 9%4h/)BY%S ?Q E%:y%w!@Q I%,@NDIC;i;k4y5͓Bɮ5+A5EaiiyLAj'B"j'B:j보@Rj:CMg,۝&HBjP )SտGU*j¸22j¸2=Zj@@#8E VJjG,?ϋr⿧>͹jm jOBi?i̻j$qBjjj$qBrj)'Bzj@ addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 0.503905 s, deltaX: 0.299999 m, approachRate: 0.595349 m/s, rangeRepo size: 4  Added new target pos. range: 41.958767 m, bearing: 323.547115 deg, lat: 36.779550 deg, lon: -121.859723 deg, deltaT: 0.503905 s, deltaX: 0.299755 m, approachRate: 0.594864 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.96 m.hhhhhg!g!jg!rg%Bre!Ze):e-E@*e-q?[mS ?[mS ?"[m>*[mHw!@5<) #?iC9)顥5u7iiBIIchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.308262u@q @q@uo0@qԑԹ ^AY Ia Iy O >E  E E E "E :*E VE ZE a @a @a @a @[\-;#, LA2)?2 @23<ٱ2G>2HcrRу?@l%?{ `p?sX?ke?i2)?I2m];2ӑCY:By:II><)>4=bDFhVDF 8yNһ%Nt=PٔR:Q-R?9TYT=V:EyTV@4=EZ?XQ 5^4Z2?Q 9b4Z,)ZBY`ybe"@Q Ib,@ZTDIZ;iZ;ZPq4yfƓBɮfAjEzDNOT Ignoring new targets: 41.96 m.hxh|h|h|h|g|gjgrgreZe:e *e  ?[)[)"[)*[-e"@eDDAT read: Rx Time:01:21:53.6517 mTRx dataTimestamp_ set to:1764897714.921183uPDAT read: Bearing 104.6, -18.4 (Local) u~Local bearing/azimuth received: Bearing 104.6, -18.4 (Local) DAT read: Range 11 to 50 : 42.2 m (trip time 28.1 ms) speed -0.5 DAT read: 01:21:53.6517 LVL= 26736, 25329, 24498, 32755, AGC= 63, IDX= 507,-0.39, 2.964,-1.114,-2.510,-2.296, PHS=-0.921, 1.227,-0.257, RAW= 312.4, -0.5, CAL= 310.7, -3.7, ROT= 199.3, 3.7 Ygot valid direction response: 01:21:53.6517 LVL= 26736, 25329, 24498, 32755, AGC= 63, IDX= 507,-0.39, 2.964,-1.114,-2.510,-2.296, PHS=-0.921, 1.227,-0.257, RAW= 312.4, -0.5, CAL= 310.7, -3.7, ROT= 199.3, 3.7 T#Rx 11: Read range and direction messages.bdirection in FSK: [-0.941834,-0.329826,-0.064532]Fpublishing direction and range infoyimP k#y77vտP0Ym(Bimphmbm_ m)m?ImkimV?mm!z@m5m@ m A)mȞ^@Im A=iim=xA?U+˿` m-;)mB B B B T =B B B Ԡ;B [E^A FӅ! I) I9 OM >VH4;#,^LAZ:?Z6 @Z't <ٱZWC>ZH@ u??Aj ك?oD? k?iZ:?IZ ];XYb ByfIxiUMb@Mb@Mb@QQQQ Q9U?MbX?y&1?YU?yQU`9Y=:Ey=E>Q 54z?Q 94c)) BY ?Q E:y#@Q I,@\DI:iM:x4yɮAiiLAj(B"j(B:j@RjmC&\+ BjP k#y77vտP0*j32j A=ZjOҴ@@br8 Jj! ?ºԨ⿸ z ޽j jBiWE?i*rjnnBjWE?jjoBrjh(Bzjݴ@Eu EuEu*Eq"EuD:*Eu&p:VEu(N4ZEqBEu2*[U#@'t <) #?iֱ9)額757iik߿II!uDDAT read: Rx Time:01:21:54.1520 uTRx dataTimestamp_ set to:1764897715.426252PDAT read: Bearing 106.6, -17.4 (Local) ~Local bearing/azimuth received: Bearing 106.6, -17.4 (Local) DAT read: Range 11 to 50 : 42.6 m (trip time 28.4 ms) speed -0.4 DAT read: 01:21:54.1520 LVL= 31712, 24817, 28738, 32755, AGC= 66, IDX= 510,-0.39,-2.518,-0.339,-1.751,-1.535, PHS=-0.881, 1.241,-0.260, RAW= 313.5, -1.1, CAL= 311.8, -4.3, ROT= 198.2, 4.3 Ygot valid direction response: 01:21:54.1520 LVL= 31712, 24817, 28738, 32755, AGC= 66, IDX= 510,-0.39,-2.518,-0.339,-1.751,-1.535, PHS=-0.881, 1.241,-0.260, RAW= 313.5, -1.1, CAL= 311.8, -4.3, ROT= 198.2, 4.3 T#Rx 12: Read range and direction messages.bdirection in FSK: [-0.947298,-0.311456,-0.074979]Fpublishing direction and range infoyquE CP}qӿ]1Yuf*Bqu{u`uBp q)uBIu7aiuٞ?uuh@unFuX$@ u`)u;d]@Iu`=qquloNyh;Ϳ+' u:)u3Ay  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315170q:;#,LAF+l?F @F#<ٱFb@>FH5- 3`;c?`? ?c ?so?iF+l?IF];FՑCYNByNIbDVAVDV8y^L<%bW=ٔb9Q-b>9`Yd=f:Eydf~=Ef>hQ 5n4jol?Q 9n4j&)jBYpyr$@Q Ir,@jbDIjB:ij:j4yvBɮvAvEiiGLAj;*B"j;*B:jg@Rj" ](D[* BjE CP}qӿ]1*jz42j`=Zj&kA@=l8Jj]7?y,⿎, Uj jBi._?iJnjImBj._?jjnnBrj%)Bzjݴ@= addTargetRange:: Added new target pos. range: 42.599998 m, deltaT: 0.505069 s, deltaX: 0.399998 m, approachRate: 0.791966 m/s, rangeRepo size: 4 M Added new target pos. range: 42.558273 m, bearing: 323.928207 deg, lat: 36.779549 deg, lon: -121.859723 deg, deltaT: 0.505069 s, deltaX: 0.399609 m, approachRate: 0.791196 m/s, posRepo size: 4 MDNOT Ignoring new targets: 42.56 m.hIhIhQhQQhYgYgYjgYrgareaZea:eeLE@*eek?[ [ "[ *[ X$@e#<)a e%?i9)額58iiԿIIԁ&@! @!@%@5@!E EE'E"E:*E҆:VE'4ZEa@a@a@a@u4=u%=}DDAT read: Rx Time:01:21:54.6522 TRx dataTimestamp_ set to:1764897715.929285PDAT read: Bearing 108.2, -15.3 (Local) ~Local bearing/azimuth received: Bearing 108.2, -15.3 (Local) DAT read: Range 11 to 50 : 42.9 m (trip time 28.6 ms) speed -0.4 ԩDAT read: 01:21:54.6522 LVL= 32752, 25329, 32754, 32755, AGC= 65, IDX= 511,-0.37, 1.453,-2.655, 2.147, 2.406, PHS=-0.850, 1.267,-0.303, RAW= 315.6, -1.2, CAL= 314.1, -4.4, ROT= 195.9, 4.4 Ygot valid direction response: 01:21:54.6522 LVL= 32752, 25329, 32754, 32755, AGC= 65, IDX= 511,-0.37, 1.453,-2.655, 2.147, 2.406, PHS=-0.850, 1.267,-0.303, RAW= 315.6, -1.2, CAL= 314.1, -4.4, ROT= 195.9, 4.4 T#Rx 13: Read range and direction messages.bdirection in FSK: [-0.958907,-0.273152,-0.076719]Fpublishing direction and range infoyy}w]^pP{ѿ.0ۣY}+By}}b} y)}AI}Yi}-?}"}C@}}2m@ }nF)}Z@I}nF=yy}-iA1ѿh­ }-7)}iq UA;#,LA2@2@2O#<ٱ2>>2H$@?HY? %c?i`c?`*r?i2@I2d];2ӑCYB ByBI DDbDJTVDJ8yjs%nI=ٔn7Q-n>9pYp=r:Eypv =Ev>tQ 5z4v\?Q 9~4v#)v!BY|y~%@Q I~,@viDIv;iv;v4y ɮ A iihyLAjn+B"jn+B:j@Rju&]dD? i'JM Bjw]^pP{ѿ.0ۣ*j-M72jnF=Zj )8@@#49y_Jj *1?BZ_FfQʽj jBiul[x?ivj&nBj?j̻j&nBrjL*Bzj@U addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 0.503033 s, deltaX: 0.300003 m, approachRate: 0.596388 m/s, rangeRepo size: 4 e Added new target pos. range: 42.857983 m, bearing: 322.441210 deg, lat: 36.779548 deg, lon: -121.859725 deg, deltaT: 0.503033 s, deltaX: 0.299709 m, approachRate: 0.595805 m/s, posRepo size: 4 mDNOT Ignoring new targets: 42.86 m.hihihihihigqgqjgqrgqreyZey:e}@3sE@*e}@t?[["[*[%@O#<) #?ió9)Թ顽@5Z8iib˿IIchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.821459BM>u@y @y@}4@BIBIBIBIBIBMQDBM;BM\E^AFӅIIO>E EE)E"E:*E:VEFA4ZEBE. ӱ@ 0 >) V@I 0 ~3WłտzXH9n? S2) A I 2Hଜ?`8?v??X,@m?`2u?i2e@I2n^;0Y>ByBIiMb@Mb@Mb@ 9 +??:v?Y>yL><(A @)Y@bDVVD8y 6% 8=ٔQ-5>91Y9==:Ey9=<E=>AQ 5M4EK?Q 9M4Ev )E.BYu?Q Eu:yu'@Q Iu,@EpDIE;iEJ;Er4y}Bɮ}AiiݶLAj;,B"j;,B:j_@RjDN&!u!@BjN単 (Bc~ɿyjȗ?*j<2j0 Zj/,-@@yIs :yu@Jj:t?^oLUD!?j jaBi0E?ikjXBjjjnnBrj9+Bzj´@- addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.503751 s, deltaX: 0.199997 m, approachRate: 0.397015 m/s, rangeRepo size: 4 = Added new target pos. range: 43.058067 m, bearing: 321.168900 deg, lat: 36.779548 deg, lon: -121.859725 deg, deltaT: 0.503751 s, deltaX: 0.200085 m, approachRate: 0.397190 m/s, posRepo size: 4 =DNOT Ignoring new targets: 43.06 m.hAhAhAhAhAgAgAjgirgmJBreiZeq:eǔE@*eu@5?[?[?"[`>*[k'@qc!<) 0?i9)=6'8iiêII>i4>Achecking for new query: numPingsReceived=14, elapsed TxPingTime=9.323744]!@Y @Y@]V1@Yi^A I I O >E  E E (E "E ;*E ~:VE c44ZE a @a @a @a @ԩ M;#,R9LAEDDAT read: Rx Time:01:21:55.6524 ETRx dataTimestamp_ set to:1764897716.936565MDAT read: Range 11 to 50 : 43.2 m (trip time 28.8 ms) speed -0.4 UZ#Rx 15: Read range message, but no direction.yAYE,BA]checking for new query: numPingsReceived=15, elapsed TxPingTime=9.578322YeByeIbDu<VDu8y!7%T=ٔQ->9Y=:EyE>Q 54\=?Q 94)9BYyQ I,@wDIB:i:4yɮAq addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 0.503529 s, deltaX: 0.100002 m, approachRate: 0.198603 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 43.06 m.hhhhhggjgrgreZe:eE@*e?[["[*[ )  5/?i5\9)15 6578i1i=m99I9IA @ @@?5@Թ ! BI BI BM IBM BBM S =BI BI BM ;BM 7\EB CB CB B T =B T =C n:5 LC checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829302e QG ^A5 # M L9I YU IAy (\? XAI! IY Oe > T;#,MSLA^@^@^9<ٱ^M:>^HGz 7??`U7?`:?w?i^@I^^;\YfByjIIn%=)n9|Y=:Ey=E> Q 54 q.?Q 94 R) DBYy4)@Q I,@ }DI N:i [: 4y%Bɮ%A%EDNOT Ignoring new targets: 43.06 m.hhhhhggjgrgreZe:e*e?[["[*[4)@9<) -?iX9)6%F8i!i-Ux11I1I1IE=EM EMEM)EI"EM:*EML_:VEMFA4ZEIBEMx%Z;#,3lLA6-@6@6<ٱ6C9:>6H`A@2?@bU?$ei? n҃ &?x?i6-@I62];4YIbD~VD~8y5:%5H=ٔEIOQ-M>9QYY=e:Eyau<E}>Q 54A?Q 94)QBYy)@Q I,@DI{BYBYBYB]T =BYBYB];B]E\Echecking for new query: numPingsReceived=17, elapsed TxPingTime=10.848848^AI!IO ?c;#,BvLAO@@w<ٱ8>H?? - ?@w?qz?iO@I];YByI Ia@a a@a a@a a@a bDVD8y- Y<%-=ٔ5,Q-5>91Y1=5:Ey9=o<E=>AQ 5M4E|?Q 9M4E)EbBQ AM+:YQQ EU:yU*@Q IU,@EDIE:iEg?E׫4y]Bɮ]PAeEiAiE}LAjA"jA:jE @RjEy =EIYN"GpBjE t"N %a˿O*jE6;2jE¸=ZjE5A@!pd:`Fn JjEuj9?gb9X5G8ejE  jE BiE)Z?iE4jEmBjEv?jAjEnBrjE.BzjE9@ addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.504052 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.657391 m, bearing: 322.517357 deg, lat: 36.779543 deg, lon: -121.859733 deg, deltaT: 0.504052 s, deltaX: -0.000221 m, approachRate: -0.000439 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.66 m.hhhhhggjgrgreZe:e*e}?E EE.E"ED:*E:VEـ4ZEBE2F+yȿY=f0B99=9 9)=CI=:i=ʡ?=Ը=Dz@==/ @ =K)=U@I=K=99=Ʃ (ߓտxX =2)= =I=) k;#,ڬLAL%@@=<ٱ`7>HD9? ڏ?@CS?烿@?|?i%@IY];Y By IbDVD8y-%-:=ٔ59Q-5>91Y9==;Ey9=^=E=>AQ 5M4E*?Q 9M4EB)EoBQ AU :YQQ EU:yUX,@Q IU,@EDIEf:iEs?E4yYɮ]AYiYi]˅LAj]:0B"j]:0B:j]*:@Rj]gF+yȿ*j])<2j]K=Zj]=4iA@d, :dIJj]NRJ?oTHESȼj]@ j]I Bi]k?i]͆j]nBj]k?jYj]nBrj]7/Bzj]3@ addTargetRange:: Added new target pos. range: 44.099998 m, deltaT: 0.508164 s, deltaX: 0.399998 m, approachRate: 0.787143 m/s, rangeRepo size: 4  Added new target pos. range: 44.056995 m, bearing: 322.695562 deg, lat: 36.779542 deg, lon: -121.859733 deg, deltaT: 0.508164 s, deltaX: 0.399605 m, approachRate: 0.786370 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.06 m.hhhh9hAgAgAjgArgIreIZeI:eM F@*eM?}=<) '?i9)額96K8ii낿IIE EE,E"E:*E:VEg4ZEa@a@a@a@=DDAT read: Rx Time:01:21:57.6532 ETRx dataTimestamp_ set to:1764897718.966226UPDAT read: Bearing 114.6, -10.1 (Local) U~Local bearing/azimuth received: Bearing 114.6, -10.1 (Local) eDAT read: Range 11 to 50 : 44.3 m (trip time 29.5 ms) speed -0.4 DAT read: 01:21:57.6532 LVL= 32752, 29681, 32754, 32755, AGC= 68, IDX= 505,-0.41,-1.825, 0.160,-1.350,-0.990, PHS=-0.732, 1.195,-0.404, RAW= 320.8, -0.7, CAL= 319.4, -3.7, ROT= 190.6, 3.7 Ygot valid direction response: 01:21:57.6532 LVL= 32752, 29681, 32754, 32755, AGC= 68, IDX= 505,-0.41,-1.825, 0.160,-1.350,-0.990, PHS=-0.732, 1.195,-0.404, RAW= 320.8, -0.7, CAL= 319.4, -3.7, ROT= 190.6, 3.7 T#Rx 19: Read range and direction messages.bdirection in FSK: [-0.980887,-0.183568,-0.064532]Fpublishing direction and range infoy9=)lc]}(ǿP0Y=31B999=s9 9)=DI=Zd;i=?=ξ=$+@=+H=b@ = A)=T@I= A=99=,,Dֿ뇿 =1)=`?r;#,qVLAɰ4<Bz>BzCBzxIBz׀BBzS =BxBzRDBz;Uchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.857425BzF\EYByIbD VD8yM%U)=ٔQ->9Y=;EyE>Q 54ᘊ?Q 94O)}BQ A9YQ EW:yQ I,@DIA:i?4yBɮAEiiֽLAj1B"j1B:jN @Rj6HE ? \e 2Bj)lc]}(ǿP0*j8=2j A=Zj?GҦtA@- :AJj'f`>?YxFb/jq j BiTq_?iWQjrBjTq_?jjrj/Bzj8-@m addTargetRange:: Added new target pos. range: 44.299999 m, deltaT: 0.504935 s, deltaX: 0.200001 m, approachRate: 0.396092 m/s, rangeRepo size: 4  Added new target pos. range: 44.257732 m, bearing: 322.353839 deg, lat: 36.779541 deg, lon: -121.859733 deg, deltaT: 0.504935 s, deltaX: 0.200737 m, approachRate: 0.397550 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.26 m.hhhhhggjgrgreZe:e`f&F@*eU?)! %@$?i%k9)!%#E6%m8i!i-8k))I)I1bEƙT4jEƼP4rE]%0E EE+E"ED:*Ei:VE [4ZEBEa2EaJE;a:E;aDDAT read: Rx Time:01:21:58.1535 TRx dataTimestamp_ set to:1764897719.469173PDAT read: Bearing 116.4, -9.2 (Local) ~Local bearing/azimuth received: Bearing 116.4, -9.2 (Local)  DAT read: Range 11 to 50 : 44.7 m (trip time 29.8 ms) speed -0.6 ! 9  DAT read: 01:21:58.1535 LVL= 32752, 31537, 32754, 32755, AGC= 68, IDX= 507, 0.26, 0.482, 2.459, 0.923, 1.283, PHS=-0.699, 1.221,-0.404, RAW= 321.8, -1.3, CAL= 320.5, -4.4, ROT= 189.5, 4.4  Ygot valid direction response: 01:21:58.1535 LVL= 32752, 31537, 32754, 32755, AGC= 68, IDX= 507, 0.26, 0.482, 2.459, 0.923, 1.283, PHS=-0.699, 1.221,-0.404, RAW= 321.8, -1.3, CAL= 320.5, -4.4, ROT= 189.5, 4.4  T#Rx 20: Read range and direction messages.- bdirection in FSK: [-0.983379,-0.164561,-0.076719]- Fpublishing direction and range infoy[ԹwO8Wſ.0ۣY2B -@  @ @ 5@ 1{ )I2iI?@޹?@ nF)mS@InF=/ͯ}]׿ ,Pٗ 0)ξinF=} checking for new query: numPingsReceived=20, elapsed TxPingTime=12.191102I ^AFӅI)IAOU?]^z;#,5}LAEchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.358813YMByMIaa% a%a% a-a- a-a5 i5Mb@Mb@Mb@1111 1Y95Gz??Mb?Y5>y15<11 5$@)11Y5@bD VD8y?<%=ٔQ->9Y=;EyE>Q 5%4͘?Q 9%4q )BQ A-T:Y-?Q E-:y--@Q I-,@DIe]rĖh Bj[ԹwO8Wſ.0ۣ*jHs>2jnF=Zj0OA@s;|VJjp^?؆㿡aj jx BiV3?i^jpBjjjrj0Bzjs7@ addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 0.502947 s, deltaX: 0.400002 m, approachRate: 0.795315 m/s, rangeRepo size: 4  Added new target pos. range: 44.657352 m, bearing: 321.144590 deg, lat: 36.779541 deg, lon: -121.859733 deg, deltaT: 0.502947 s, deltaX: 0.399620 m, approachRate: 0.794557 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.66 m.hhhhhggjgrg+BreZe:eYF@*e\;?[?[?"[>*[-@) .?i"9)]Q68ii=XIIyE EE'E"E ;*E:VE'4ZEa@a@a@a@u$@y @y@}04@yDDAT read: Rx Time:01:21:58.6535 TRx dataTimestamp_ set to:1764897719.973120 PDAT read: Bearing 115.6, -8.2 (Local)  ~Local bearing/azimuth received: Bearing 115.6, -8.2 (Local)  DAT read: Range 11 to 50 : 44.7 m (trip time 29.8 ms) speed -0.2 = DAT read: 01:21:58.6535 LVL= 32752, 32049, 32754, 32755, AGC= 69, IDX= 508, 0.01,-1.395, 0.469,-1.001,-0.597, PHS=-0.697, 1.110,-0.449, RAW= 322.7, 0.4, CAL= 321.2, -2.6, ROT= 188.8, 2.6 E Ygot valid direction response: 01:21:58.6535 LVL= 32752, 32049, 32754, 32755, AGC= 69, IDX= 508, 0.01,-1.395, 0.469,-1.001,-0.597, PHS=-0.697, 1.110,-0.449, RAW= 322.7, 0.4, CAL= 321.2, -2.6, ROT= 188.8, 2.6 M T#Rx 21: Read range and direction messages.U bdirection in FSK: [-0.987211,-0.152828,-0.045363]U Fpublishing direction and range infoy[;N2 ÿ99Y1} )EIn2i{?T復:@;Ud@ 9)BR@I9=Vy%ǹؿ~? ̬/)~Is;?i9=u checking for new query: numPingsReceived=21, elapsed TxPingTime=12.627111ԩ ^A} I I I O >F;#,}ZLA@B'L@B>@B~(<ٱB4>BH2n ;??@ `?@`zx?V?iB'L@IB];BԑCYLyNIbDfVDf8yr%r=ٔr:Q-r?9tYt=v;Eytv=Ez?xQ 54z?Q 9%4z )zBY!y%H/@Q I%,@zDIz;iz\;z4y)ɮ-PA1i)i-GLAj)"j):j-<@Rj-= F9 zLf)4Bj-[;N2 ÿ99*j-s;?2j-9=Zj-_-%TA@_;Jj-$%xi?UY㿅q8Ncj- j- Bi-Ǿ(n?i-j-vBj)j-j-pBrj-1Bzj-P)@ addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 0.503947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 44.657352 m, bearing: 322.713962 deg, lat: 36.779541 deg, lon: -121.859735 deg, deltaT: 0.503947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.66 m.hhhhhggjgrgreZe:e*e%@:?[a[a"[a*[eH/@~(<) -?iٵ9)顝4[68ii?PIIԩB>BCBBBQ =BBB4;Bi\EUchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.863172Qu!@y @y@/@E  E E +E "E ;*E &p:VE [4ZE BE D DDAT read: Rx Time:01:21:59.1537  TRx dataTimestamp_ set to:1764897720.477116 PDAT read: Bearing 118.9, -7.6 (Local)  ~Local bearing/azimuth received: Bearing 118.9, -7.6 (Local) % DAT read: Range 11 to 50 : 45.0 m (trip time 30.0 ms) speed -0.4 M DAT read: 01:21:59.1537 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 510,-0.30,-2.739,-0.857,-2.366,-2.002, PHS=-0.635, 1.190,-0.408, RAW= 323.5, -1.7, CAL= 322.3, -4.8, ROT= 187.7, 4.8 U Ygot valid direction response: 01:21:59.1537 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 510,-0.30,-2.739,-0.857,-2.366,-2.002, PHS=-0.635, 1.190,-0.408, RAW= 323.5, -1.7, CAL= 322.3, -4.8, ROT= 187.7, 4.8 yp;#,3LAT#Rx 22: Read range and direction messages.bdirection in FSK: [-0.987508,-0.133516,-0.083678]Fpublishing direction and range infoy15wQ`gxU]kY54B1151 1)5DI5\"i5Q?5`о5.@55@ 5)5Q@I5=115 X-btٿ@/A 5.)5JHFv?˓?I N?`z݅@?`ł?iJ@IJ];JӑCYRByRIli-Mb@Mb@Mb@)))) )9-ʡE?MbX?I +?Y->y-J>-9<)-A -@)-$@)Y-@bDmƿVDmw8yf%1=ٔO:Q->9Y=;Ey<E>Q 54?Q 94)BY>Q E:y1@Q I,@DIQ:i:4yɮjAi1i5LAj53B"j53B:j5ij@Rj5PFZ2FJaV1|Bj5wQ`gxU]k*j5v@2j5=Zj5 A@[8;^mJj5yv?)L㿯QceVj5 j5 Bi5*G?i5$j5pBj1j5WQj1rj52Bzj5E&@ addTargetRange:: Added new target pos. range: 45.000000 m, deltaT: 0.503996 s, deltaX: 0.299999 m, approachRate: 0.595241 m/s, rangeRepo size: 4  Added new target pos. range: 44.957600 m, bearing: 321.869312 deg, lat: 36.779541 deg, lon: -121.859736 deg, deltaT: 0.503996 s, deltaX: 0.300247 m, approachRate: 0.595733 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.96 m.hhhhhggjgrg~BreZe:eF@*e 7? [%>[%>"[%>*[%1@U.<)Y ]Q8?i]_9)Y]g6] 8iYie^KII9]checking for new query: numPingsReceived=22, elapsed TxPingTime=13.367109U9% 0@!  @! @- /5@) a E  E E E "E ;*E x:VE ZE a @a @a @a @ԙ ^AMFӅIQIiOu>;#,8=LANDDAT read: Rx Time:01:21:59.6537 RTRx dataTimestamp_ set to:1764897720.981028VPDAT read: Bearing 117.8, -5.8 (Local) V~Local bearing/azimuth received: Bearing 117.8, -5.8 (Local) ^DAT read: Range 11 to 50 : 45.0 m (trip time 30.0 ms) speed -0.4 rDAT read: 01:21:59.6537 LVL= 32752, 31569, 32754, 32755, AGC= 70, IDX= 510, 0.10,-0.923, 0.906,-0.607,-0.162, PHS=-0.659, 1.113,-0.489, RAW= 325.0, 0.4, CAL= 323.7, -2.5, ROT= 186.3, 2.5 vYgot valid direction response: 01:21:59.6537 LVL= 32752, 31569, 32754, 32755, AGC= 70, IDX= 510, 0.10,-0.923, 0.906,-0.607,-0.162, PHS=-0.659, 1.113,-0.489, RAW= 325.0, 0.4, CAL= 323.7, -2.5, ROT= 186.3, 2.5 vT#Rx 23: Read range and direction messages.zbdirection in FSK: [-0.993015,-0.109630,-0.043619]zFpublishing direction and range infoyLN 4/GUYLLLNQ{L L)NFIN9(iNv?N5^N@N;Nɴ@ N¸2)N_P@IN¸2=LLNF쿪`7ۿR7}? Nn-)NzqINVBiN¸2=LLchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.634657YByIIbDɿVDz8y }=%'=ٔQ->9Y=;EyE>aQ 5m4e ?Q 9m4e)eBYqyqQ Iu,@eDIe:iep:es4y}BɮAEiLiN*>LAjL"jL:jNI8@RjN?i`RFMwܐY`BjN 4/GU*jNVB2jN¸2=ZjNqwMfkA@!`2R<i)]}JjNs=?fEzЎ(fk~RjN jN[ BiN?iNsjNxBjN*G?jN$jNrBrjN3BzjNг@M addTargetRange:: Added new target pos. range: 45.000000 m, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 44.957600 m, bearing: 320.891933 deg, lat: 36.779538 deg, lon: -121.859741 deg, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 44.96 m.hyhhhhggjgrgreZe:e*ez?[["[*[) BBBBR =BBB<;Bp\EiYIY}checking for new query: numPingsReceived=23, elapsed TxPingTime=13.876258ԩa !@  @ @ }0@ E  E E -E "E :*E k:VE t4ZE BE $56H%oɼ?[?`U@#? TU?Ё?i6X @I66];6ԑCNDDAT read: Rx Time:01:22:00.1540 RTRx dataTimestamp_ set to:1764897721.485230VPDAT read: Bearing 104.9, -6.7 (Local) V~Local bearing/azimuth received: Bearing 104.9, -6.7 (Local) ^DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.4 rDAT read: 01:22:00.1540 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 513,-0.25, 2.410,-2.158, 2.820,-2.885, PHS=-0.886, 0.773,-0.622, RAW= 321.5, 9.6, CAL= 320.2, 10.6, ROT= 189.8, -10.6 vYgot valid direction response: 01:22:00.1540 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 513,-0.25, 2.410,-2.158, 2.820,-2.885, PHS=-0.886, 0.773,-0.622, RAW= 321.5, 9.6, CAL= 320.2, 10.6, ROT= 189.8, -10.6 zT#Rx 24: Read range and direction messages.z`direction in FSK: [-0.968592,-0.167305,0.183951]~Fpublishing direction and range infoyPR-ڳ?jſ =η?YR6BPPRP P)RDIRbiRTE?Rd;R:@R+>R[ղ@ Rq=>)R6T@IRq=PPRB4]8/q׿?n>?YByI R91)R*IR>iRq=PP5checking for new query: numPingsReceived=24, elapsed TxPingTime=14.143007iMb@Mb@Mb@ 9333333?NbX9?~jt?Y>yE><Q@lA )@Y@bDMVDM8y%#=ٔ:Q->9Y=;Ey-=E>aQ 5m4e?Q 9u4el)eBYuM>Q Eu:yu2@Q Iu,@eDIe:ie/:eB4yBɮAiPiR_LAjR5B"jR5B:jR@RjRHq@FZCkCH @BjR-ڳ?jſ =η?*jR>2jRq=ZjRXTB@wy7#->Td@JjRZ,?,QH5]?jR jRBiR{J ?iR݃=xjRÏBjPjPjRvBrjR4BzjRݳ@m addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.504202 s, deltaX: 0.500000 m, approachRate: 0.991666 m/s, rangeRepo size: 4  Added new target pos. range: 45.457008 m, bearing: 327.846240 deg, lat: 36.779538 deg, lon: -121.859741 deg, deltaT: 0.504202 s, deltaX: 0.499409 m, approachRate: 0.990493 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.46 m.hhhhhggjgrg~BreZe:eF@*e"?[M>[M>"[m@>*[2@En8<)A ME?iMƴ9)IM~6M>8iIiutlRqqIqIyU9#@ @@_1@echecking for new query: numPingsReceived=24, elapsed TxPingTime=14.3778611 ^A FӅI I O >I ?;#,wLAYByIbD-ؿVD-8Ea EeEe(Ea"Ea*Eex:VEec44ZEaam@am@am@am@yu<%ug=ٔuQ-}>9yYy=};EyyE>Q 54~?Q 94)BYyQ I,@ƔDIH!;i3";;4yɮADNOT Ignoring new targets: 45.46 m.hhhhhggjgrgreZe:e*e"j?[["[*[) qG?i9)6H8ii%olR!!I!I))1DDAT read: Rx Time:01:22:00.6540 TRx dataTimestamp_ set to:1764897721.989842PDAT read: Bearing 116.6, -4.0 (Local) ~Local bearing/azimuth received: Bearing 116.6, -4.0 (Local) DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.4 DAT read: 01:22:00.6540 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 513, 0.15, 2.744,-1.899, 3.002,-2.791, PHS=-0.646, 0.937,-0.534, RAW= 326.4, 3.2, CAL= 324.9, 0.6, ROT= 185.1, -0.6 -Ygot valid direction response: 01:22:00.6540 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 513, 0.15, 2.744,-1.899, 3.002,-2.791, PHS=-0.646, 0.937,-0.534, RAW= 326.4, 3.2, CAL= 324.9, 0.6, ROT= 185.1, -0.6 5T#Rx 25: Read range and direction messages.=`direction in FSK: [-0.995986,-0.088890,0.010472]=Fpublishing direction and range infoy ᅯpx/;r?Y )IB`%i;o?9K@d=Yu@ +<):N@I+JGaR쿎I`ܿwi? +)eI{]Ci+uchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.652295!@ @@/@@@=Y^A g煾I I! O5 >ԁ m G} /{A B B B IB ܀BB B B B /;B c\EBmCBmCBmʔCBmR =BmR =Cmʴ5% Q9% /{AY% MA DDAT read: Rx Time:01:22:01.1542  TRx dataTimestamp_ set to:1764897722.245826 PDAT read: Bearing 119.8, -1.6 (Local)  ~Local bearing/azimuth received: Bearing 119.8, -1.6 (Local)  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.893127 );#,sLA@Q @tD@K<ٱ(E2>H@`E?]?!j`S?}n+??iQ @I2];БCYByII)<ԡiMb@Mb@Mb@ 9y&1?V-?Q?Y`>y|?>u<A )@YbDVD8yD=%(=ٔ# ;Q->9Y=;Ey =E >Q 54Cl?Q 94)BY>Q E:y2@Q I%,@ΔDI ;i7 ;4y-Bɮ-A-EiiYLAj5B"j5B:j0@Rj륷&F.)#jw?Bj ᅯpx/;r?*j{]C2j+ZjzL5B@15;G?JjY?E29%'P]<}?j jBEe EeEe-Ea"Ee:*Ee n:VEet4ZEaBEe3[>"[%u>*[d2@K<) E?i19)ԍ6J8ii}tlRyyIyIDAT read: Range 11 to 50 : 45.9 m (trip time 30.6 ms) speed -0.5 DAT read: 01:22:01.1542 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 4,-0.20,-1.868,-0.085,-1.683,-1.132, PHS=-0.634, 1.092,-0.595, RAW= 328.9, 1.6, CAL= 327.7, -1.2, ROT= 182.3, 1.2 Ygot valid direction response: 01:22:01.1542 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 4,-0.20,-1.868,-0.085,-1.683,-1.132, PHS=-0.634, 1.092,-0.595, RAW= 328.9, 1.6, CAL= 327.7, -1.2, ROT= 182.3, 1.2 T#Rx 26: Read range and direction messages.bdirection in FSK: [-0.998975,-0.040123,-0.020942]Fpublishing direction and range infoy@O_2qY7B )FIM"iƋ?QB@<@ )K@I<zȉA쿻up޿ױ+ ? q()YiI(~Fi<%checking for new query: numPingsReceived=26, elapsed TxPingTime=15.144655e ը9 @  @ @ 0@ ) DDAT read: Rx Time:01:22:01.6542 TRx dataTimestamp_ set to:1764897722.750877PDAT read: Bearing 121.3, -1.0 (Local) ~Local bearing/azimuth received: Bearing 121.3, -1.0 (Local) DAT read: Range 11 to 50 : 45.9 m (trip time 30.6 ms) speed -0.5 =Z#Rx 27: Read range message, but no direction.yYchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.413661^A5IAQIYOe ?[;#,ճLA$&@r_ @r@rQ<ٱr1>rH5 RǺ??@A@s?@u @? (?ir_ @Ir];rԑCY=By=IbDm߿VDm8y};%}3=ٔ2:Q->9Y=;Ey<E>Q 54Z?Q 94)BYy3@Q I,@ՔDI%;i&;4yɮ Aii^LAjm7B"jm7B:j$@RjZI`4FaZEp50Bj@O_2q*j(~F2j<Zjrn=A@=>Jj&4?#Rv>EfTVj jBi ?iSjWBj*G?j$jWBrj'7BzjO@u addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 0.761035 s, deltaX: 0.400002 m, approachRate: 0.525602 m/s, rangeRepo size: 4  Added new target pos. range: 45.856689 m, bearing: 320.750825 deg, lat: 36.779538 deg, lon: -121.859741 deg, deltaT: 0.761035 s, deltaX: 0.399624 m, approachRate: 0.525106 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.86 m.hhhhhggjgrgreZe:e@3F@*e`?[["[*[l3@UQ<)QEe EeEe*Ea"Ee:*Ee~:VEe(N4ZEaam@am@am@am@ }E?i}9)y}6C8iiylRIIDAT read: 01:22:01.6542 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500, 0.18,-1.057, 0.704,-0.896,-0.356, PHS=-0.600, 1.105,-0.584, RAW= 329.5, 0.9, CAL= 328.4, -1.9, ROT= 181.6, 1.9 Ygot valid direction response: 01:22:01.6542 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500, 0.18,-1.057, 0.704,-0.896,-0.356, PHS=-0.600, 1.105,-0.584, RAW= 329.5, 0.9, CAL= 328.4, -1.9, ROT= 181.6, 1.9 Z#Rx 28: Read direction message, but no range.bdirection in FSK: [-0.999061,-0.027906,-0.033155]yM￴|B3 )EIip? @<i@ )bJ@I= ޸뿔{NJ߿0Lِ? ()ІISFGi=checking for new query: numPingsReceived=28, elapsed TxPingTime=15.644756Ie9&@ @@/@y B >B B IB BB S =B B B 3;B g\Eԡ ^A FӅIA  DDAT read: Rx Time:01:22:02.1545  TRx dataTimestamp_ set to:1764897723.253941 PDAT read: Bearing 120.6, 0.5 (Local)  ~Local bearing/azimuth received: Bearing 120.6, 0.5 (Local) MDAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.2 IqO>u;#,FLA}DAT read: 01:22:02.1545 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 503,-0.23,-1.828,-0.133,-1.705,-1.117, PHS=-0.609, 1.029,-0.632, RAW= 330.7, 2.6, CAL= 329.5, -0.2, ROT= 180.5, 0.2 Ygot valid direction response: 01:22:02.1545 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 503,-0.23,-1.828,-0.133,-1.705,-1.117, PHS=-0.609, 1.029,-0.632, RAW= 330.7, 2.6, CAL= 329.5, -0.2, ROT= 180.5, 0.2 T#Rx 29: Read range and direction messages.bdirection in FSK: [-0.999956,-0.008727,-0.003491]Fpublishing direction and range infoyY] ^1J5߁QC1mlY]9BYYYY Y)]FI]mi]F?]!]@]9=] @ ]d)]՞I@I]d;YY]#>}tѲ"QrW=? ]`&)]9I]Hi]d;YYchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.993628 @X@zU<ٱd1>H`@@K?@?W?`+??i @I];БCY]By]IimMb@Mb@Mb@iiii i9mOn?/$?~jt?Ym>ym&1>m9Y=;Eyܙ<E>Q 54F?Q 94)BYO>Q E:y3@Q I,@ݔDI:iM:j4E  E E (E "E V:*E g:VE c44ZE BE 9wo=*?Jj]R@k?Qb ?j] j] Bi]5룊?i]3j]ցBj]?j]sj]Brj]7Bzj]y@u addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 0.503064 s, deltaX: 0.500000 m, approachRate: 0.993909 m/s, rangeRepo size: 4  Added new target pos. range: 46.356152 m, bearing: 319.743534 deg, lat: 36.779533 deg, lon: -121.859748 deg, deltaT: 0.503064 s, deltaX: 0.499462 m, approachRate: 0.992840 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.36 m.hhhhhggjgrgBreZe:e@33G@*eca?]checking for new query: numPingsReceived=29, elapsed TxPingTime=16.139006[uO>[uO>"[u>*[u3@zU<) E?il9)額26N8iivlRIIqԡ  9 ]>i >u @q  @q @u /@q @y @} yA 5DDAT read: Rx Time:01:22:02.6545 =TRx dataTimestamp_ set to:1764897723.757532PDAT read: Bearing 122.0, 0.9 (Local) ~Local bearing/azimuth received: Bearing 122.0, 0.9 (Local) DAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.4 Z#Rx 30: Read range message, but no direction.y1Y11checking for new query: numPingsReceived=30, elapsed TxPingTime=16.438747^A]IaIyO ?p;#,KVLA8nJF@n8@nT\<ٱn0>nHu Sa ?נ? 1?? ?inJF@In-];nՑCYzByzIbD ϿVD 8y=v;%=1=ٔE%:Q-E>9AYA=M;EyI<E>Q 545?Q 94)BYy)4@Q I,@DI:il:4yɮ^A addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 0.503591 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.36 m.h!h!h!h!h!gAgAjgIrgIreIZeI:eQ*eU^a?[["[*[I)4@T\<) E?iɶ9)68iislRIIE EE+E"E:*Ei:VE [4ZEa@a@a@a@ԡ]DAT read: 01:22:02.6545 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503, 0.11, 0.002, 1.670, 0.111, 0.684, PHS=-0.580, 1.031,-0.617, RAW= 331.1, 2.1, CAL= 330.0, -0.7, ROT= 180.0, 0.7 eYgot valid direction response: 01:22:02.6545 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503, 0.11, 0.002, 1.670, 0.111, 0.684, PHS=-0.580, 1.031,-0.617, RAW= 331.1, 2.1, CAL= 330.0, -0.7, ROT= 180.0, 0.7 eZ#Rx 31: Read direction message, but no range.mbdirection in FSK: [-0.999925,-0.000000,-0.012217]y15d$}cH]33wwI:1111 1)5DI5zi5?55@5Q =5N@ 5+H)5I@I5+H<15_ք `7k: l? 5K&)5oI5Ii5+H<Echecking for new query: numPingsReceived=31, elapsed TxPingTime=16.677284 @ @@/@ B A B! B! B% IB% BB% R =B! B! B% #;B% W\E^A  DDAT read: Rx Time:01:22:03.1547  TRx dataTimestamp_ set to:1764897724.261233) I %PDAT read: Bearing 124.1, 1.6 (Local) 5~Local bearing/azimuth received: Bearing 124.1, 1.6 (Local) I-DAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed -0.4 O}?8;#,!LAd~DAT read: 01:22:03.1547 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 505,-0.35,-0.888, 0.845,-0.811,-0.224, PHS=-0.562, 1.114,-0.630, RAW= 332.0, 0.9, CAL= 331.0, -1.9, ROT= 179.0, 1.9 MYgot valid direction response: 01:22:03.1547 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 505,-0.35,-0.888, 0.845,-0.811,-0.224, PHS=-0.562, 1.114,-0.630, RAW= 332.0, 0.9, CAL= 331.0, -1.9, ROT= 179.0, 1.9 MT#Rx 32: Read range and direction messages.U`direction in FSK: [-0.999298,0.017443,-0.033155]UFpublishing direction and range infoy  HoX?$ܑ?B3Y :B ) FI ;i ? G! }l@ < ݸ@ ) G@I =  ze$nՓ0ɗ? 2Y%) I G@i = checking for new query: numPingsReceived=32, elapsed TxPingTime=17.036406V@}@j<ٱj3/>H2>E?#?\t ?@???iV@I];ёCYByIbEE [4jEE™T4rEE¶C0E EE-E"E*EVEt4ZEBEN-y">j<VA )@Y@bDVD8yu<%u=ٔ}U:Q-}>9yYy=};Ey"=E>Q 54?Q 94)BY>Q E:yr3@Q I,@DI;i.;/4y|BɮAEi i LAj :B"j :Bchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.147200:j ΋@Rj OG, ?a Bj HoX?$ܑ?B3*j G@2j =Zj YA@iN.>>uJj _e?Gq俨<亗j t j HBi B;;գ?i 9pj ^Bj ?j Sj rj /:Bzj P@] addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.503701 s, deltaX: 0.299999 m, approachRate: 0.595590 m/s, rangeRepo size: 4  Added new target pos. range: 46.655941 m, bearing: 319.685577 deg, lat: 36.779532 deg, lon: -121.859752 deg, deltaT: 1.007292 s, deltaX: 0.299789 m, approachRate: 0.297619 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.66 m.hhhhhggjgrgBreZe:eYG@*et??[>[>"[Ł>*[r3@5j<)9 =\O?i=޴9)9=6=9i9iexlRaiIiIi uyAuzA)I  (9 - "@)  @1 @= h0@9 @y @y  DDAT read: Rx Time:01:22:03.6547  TRx dataTimestamp_ set to:1764897724.7680265 PDAT read: Bearing 123.4, 3.5 (Local) m ~Local bearing/azimuth received: Bearing 123.4, 3.5 (Local) ԁ  DAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed -0.4 mDAT read: 01:22:03.6547 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 505, 0.03, 0.901, 2.562, 0.928, 1.571, PHS=-0.568, 1.036,-0.687, RAW= 333.5, 2.6, CAL= 332.6, -0.2, ROT= 177.4, 0.2 uYgot valid direction response: 01:22:03.6547 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 505, 0.03, 0.901, 2.562, 0.928, 1.571, PHS=-0.568, 1.036,-0.687, RAW= 333.5, 2.6, CAL= 332.6, -0.2, ROT= 177.4, 0.2 T#Rx 33: Read range and direction messages.`direction in FSK: [-0.998964,0.045363,-0.003491]Fpublishing direction and range infoy  b\￲iD9?QC1mlY      ) I shi ? ;/ B@ 9= F¹@  d) _(F@I d;   ɡG꿁Z/ §?  }#) %>I _(F@i d;  checking for new query: numPingsReceived=33, elapsed TxPingTime=17.467262^AIԩIO ?C;#,8LAYz!ByzIIbD%VDϰ8y%/;%%:=ٔ%Q-->9)Y)=-;Ey)5E5>9Q 5E4=?Q 9E4=)=BYAyAQ IM,@=DI=;i=;=4yUwBɮUAQDiDm<Eu EuEu*Eq"Eu;*Eu:VEu(N4ZEqa}@a}@a}@a}@iiW'1LAj"j:jӱ@Rj&MGy@*ĿBjb\￲iD9?QC1ml*j_(F@2jd;Zj#pA@Ru> wS/?Jj\X'?OM5>/h?j j Bi K?i|%j܂Bj5룊?j3jrj;BzjF@ addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.506793 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 46.655941 m, bearing: 318.397561 deg, lat: 36.779528 deg, lon: -121.859762 deg, deltaT: 0.506793 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.66 m.hhhhhggjgrgreZe:e*e@Z?[["[*[ ) "P?i̷9)Q6 9iiulRII!checking for new query: numPingsReceived=33, elapsed TxPingTime=17.651121Q9 @ @@m0@q B] >B] CB] IB] BBY BY BY B] %;B] U\E DDAT read: Rx Time:01:22:04.1550  TRx dataTimestamp_ set to:1764897725.269636 PDAT read: Bearing 124.8, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 124.8, 3.5 (Local) m DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.8 ^A FӅI I O] >;#,VULArDAT read: 01:22:04.1550 LVL= 32752, 32241, 32754, 32755, AGC= 70, IDX= 508,-0.25,-0.258, 1.447,-0.235, 0.407, PHS=-0.563, 1.085,-0.686, RAW= 333.6, 1.9, CAL= 332.6, -0.9, ROT= 177.4, 0.9 vYgot valid direction response: 01:22:04.1550 LVL= 32752, 32241, 32754, 32755, AGC= 70, IDX= 508,-0.25,-0.258, 1.447,-0.235, 0.407, PHS=-0.563, 1.085,-0.686, RAW= 333.6, 1.9, CAL= 332.6, -0.9, ROT= 177.4, 0.9 -T#Rx 34: Read range and direction messages.5`direction in FSK: [-0.998847,0.045357,-0.015707]5Fpublishing direction and range infoyGgk9?y&Yfք0O῭\fR? #)+ Ii<checking for new query: numPingsReceived=34, elapsed TxPingTime=18.019032@@ u<ٱg.>HC +k?@?rI?@m??i@IȾ];ϑCY-By-IԡEm EmEm)Ei"Em:*Emz:VEmFA4ZEiBEiau2EiauJEm;a}:Em;a}iMb@Mb@Mb@ 9ˡE?l?y&1?Y>y>`e<h@A @)@Y@ 4=bDVDyt%=ٔ]:Q-]>9aYa=e;Eyae=Em>iQ 5u4mh?Q 9u4my)mBY>Q E:yb2@Q I,@mDIm&i?JjJN?`["h!C}?j jBi;?i!ujÁBjB;;գ?j9pjÁBrjQ[>"[>*[Sb2@U u<)Q UG?iu&9)quظ6u 9iqi}rlRyyII  69) @)  @) @- /@) 1  DDAT read: Rx Time:01:22:04.6550  TRx dataTimestamp_ set to:1764897725.774225 PDAT read: Bearing 126.4, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 126.4, 4.5 (Local) DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.6 EDAT read: 01:22:04.6550 LVL= 32752, 32497, 32754, 32755, AGC= 69, IDX= 492, 0.31, 0.876, 2.605, 0.860, 1.522, PHS=-0.544, 1.128,-0.705, RAW= 334.6, 1.4, CAL= 333.7, -1.4, ROT= 176.3, 1.4 MYgot valid direction response: 01:22:04.6550 LVL= 32752, 32497, 32754, 32755, AGC= 69, IDX= 492, 0.31, 0.876, 2.605, 0.860, 1.522, PHS=-0.544, 1.128,-0.705, RAW= 334.6, 1.4, CAL= 333.7, -1.4, ROT= 176.3, 1.4 MT#Rx 35: Read range and direction messages.U`direction in FSK: [-0.997618,0.064513,-0.024432]Y]Fpublishing direction and range infoy  v |¢;}ꃰ?{JY ~ ) EI C i Nb? z4 ;@ +< _@ +ȼ) D@I +< N zHY@b$>? nx") MǼI D@i +< checking for new query: numPingsReceived=35, elapsed TxPingTime=18.486935^AUIYIqO} ?C;#,fwLAɰBw@Bi@BA|<ٱBV->BHtn,9?`"b?@D ]?@ƚ?{?iBw@IB];BӑCYj&ByjIlnAbDrVDr8y]z=%]2=ٔ]:Q-]>9aYa=e;Eyae<Em>Q 54ꗊ?Q 94)BYy3@Q I,@DIN:i:*)4yqBɮWAߥE iiqLAj"j:j@RjkcxG$'I@1teBjv |¢;}ꃰ?{J*jD@2j+<ZjuUA@pۋ>`U+?JjU|?B4U忐dP߭a?j j Biy?i4eS!jZBj;?j!ujEI EMEM*EI"EI*EMP:VEM(N4ZEIaU@aU@aU@a]@rj=Bzjs@ addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.504589 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 47.055103 m, bearing: 318.830942 deg, lat: 36.779524 deg, lon: -121.859765 deg, deltaT: 0.504589 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.06 m.hhhhhggjgrgreZe:e*e `?[A[A"[A*[E3@]A|<)Y ]N?i]X9)y顝6B9iiwlRIIchecking for new query: numPingsReceived=35, elapsed TxPingTime=18.6591821a] "@Y  @Y @] /@Y A A @AB% >B% CB% IB% BB% S =B! B! B% $;B% X\Eԑ u DDAT read: Rx Time:01:22:05.1553 } TRx dataTimestamp_ set to:1764897726.2770445 PDAT read: Bearing 127.2, 5.1 (Local) 5 ~Local bearing/azimuth received: Bearing 127.2, 5.1 (Local) ^AE FӅIq I O >;#,~TLADAT read: Range 11 to 50 : 47.6 m (trip time 31.7 ms) speed -0.2 eDAT read: 01:22:05.1553 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 511, 0.03, 1.230, 2.917, 1.198, 1.856, PHS=-0.524, 1.106,-0.702, RAW= 335.1, 1.4, CAL= 334.3, -1.4, ROT= 175.7, 1.4 mYgot valid direction response: 01:22:05.1553 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 511, 0.03, 1.230, 2.917, 1.198, 1.856, PHS=-0.524, 1.106,-0.702, RAW= 335.1, 1.4, CAL= 334.3, -1.4, ROT= 175.7, 1.4 uT#Rx 36: Read range and direction messages.}`direction in FSK: [-0.996887,0.074956,-0.024432]}Fpublishing direction and range infoyIM?}`paY0?{JYMf>BIIMI I)MFIM$iMh?MF3M'@IMU@ I)M?BD@IIIIMB*/gK"*? M!)MFVɼIM?BD@iIIIchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.053370۴@s @<ٱd,>H ? ?Hj`?N`q? &?i۴@I];ґCYm BymIE EEE"E:*Exv:VEZEBE$5t<A @)Y@AAAAbD5VD5Ȱ8y% =ٔȆ:Q->9Y=;Eyl=E>Q 54ԗ?Q 94)BY4>Q E:y2@Q I,@ DI;i:k34yɮAiIiMLAjM8>B"jM8>B:jM\@RjM.GE< @Y BjM?}`paY0?{J*jM?BD@2jIZjM3\ B@ۮH>X&Y?JjM)2%iG?9ZO8)r?jM jMRBiM0?iM6jMBjM0?jM6jMBrjM7>BzjM\@Uchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.163116 addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 0.502819 s, deltaX: 0.500000 m, approachRate: 0.994394 m/s, rangeRepo size: 4  Added new target pos. range: 47.555172 m, bearing: 319.351912 deg, lat: 36.779522 deg, lon: -121.859768 deg, deltaT: 0.502819 s, deltaX: 0.500069 m, approachRate: 0.994530 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.56 m.hhhhhggjgrgKBreZe:eG@*e@+?[ 4>[ 4>"[ ]T>*[ 2@%<)! Ep=?iEǴ9)IM6M&9iIiUtlRQQIQIQ Y]yAaԑ  ~9 a>i > !@  @ @ }3@ @e =@e = -DDAT read: Rx Time:01:22:05.6554 ETRx dataTimestamp_ set to:1764897726.782234ePDAT read: Bearing 129.2, 8.3 (Local) m~Local bearing/azimuth received: Bearing 129.2, 8.3 (Local) DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed -0.4 DAT read: 01:22:05.6554 LVL= 32752, 28081, 32754, 32755, AGC= 69, IDX= 512,-0.08, 0.832, 2.694, 0.650, 1.451, PHS=-0.517, 1.288,-0.845, RAW= 338.2, 0.8, CAL= 337.6, -2.1, ROT= 172.4, 2.1 =Ygot valid direction response: 01:22:05.6554 LVL= 32752, 28081, 32754, 32755, AGC= 69, IDX= 512,-0.08, 0.832, 2.694, 0.650, 1.451, PHS=-0.517, 1.288,-0.845, RAW= 338.2, 0.8, CAL= 337.6, -2.1, ROT= 172.4, 2.1 =T#Rx 37: Read range and direction messages.E`direction in FSK: [-0.990550,0.132168,-0.036644]MFpublishing direction and range infoy15$?&Ɋ?(א¢Y5>B115m1 1)5EI5Zi5/ݤ?5QX5@5d<5)@ 5Q )5@@I5Q =115q`$鿳dߕ 'v? 5a)5KuWI5@@i5Q =11checking for new query: numPingsReceived=37, elapsed TxPingTime=19.465208^A#IIO?;#,9yYy=};EyyE>Q 54"ė?Q 94A)"BYyQ I-@DI;i ;;4ycBɮ)AեEE EE+E"ED:*Ee:VE [4ZEa@a@a@a@i i LAj >B"j >B:j rz@Rj ,4G1@U Bj $?&Ɋ?(א¢*j @@2j Q =Zj ! "A@YǾ@F95?Jj ;#.&?H\<`^?j ti j  Bi 3, ?i ;vBzj 0@ addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.505190 s, deltaX: 0.100002 m, approachRate: 0.197950 m/s, rangeRepo size: 4  Added new target pos. range: 47.655079 m, bearing: 315.983178 deg, lat: 36.779519 deg, lon: -121.859769 deg, deltaT: 0.505190 s, deltaX: 0.099907 m, approachRate: 0.197761 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.66 m.hhhhhggjgrgreZe:eG@*e@i?[["[*[checking for new query: numPingsReceived=37, elapsed TxPingTime=19.667110) }U WC QG {A 5 #@1  @1 @5 /5@9 M 9M {AYU bABy By B} IB} BB} R =By By B} ;B} M\EB!B!B%ʓCB!B!C%4i I  DDAT read: Rx Time:01:22:06.1557  TRx dataTimestamp_ set to:1764897727.286963M PDAT read: Bearing 127.6, 6.8 (Local) M ~Local bearing/azimuth received: Bearing 127.6, 6.8 (Local) ] DAT read: Range 11 to 50 : 48.2 m (trip time 32.1 ms) speed -0.4  DAT read: 01:22:06.1557 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 3,-0.36,-1.794,-0.175,-1.870,-1.169, PHS=-0.523, 1.039,-0.744, RAW= 336.5, 2.7, CAL= 335.8, -0.1, ROT= 174.2, 0.1  Ygot valid direction response: 01:22:06.1557 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 3,-0.36,-1.794,-0.175,-1.870,-1.169, PHS=-0.523, 1.039,-0.744, RAW= 336.5, 2.7, CAL= 335.8, -0.1, ROT= 174.2, 0.1  T#Rx 38: Read range and direction messages. `direction in FSK: [-0.994879,0.101056,-0.001745] Fpublishing direction and range infoy  ј *c޹?n p\Y @B  ) DI Ti ? v> @ A= ͋@ ) QB@I : 3B sR|/}? pB ) CI QB@i : Uchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.985554^AN؅I I!O->+;#,;LAFPExceeded connect timeout, disconnecting.2@2N!@2ݛ<ٱ2+>2H`1 0|'?_?`^ W?JӐ`_??i2@I2y];2ԑCYR,ByRIE EE,E"Es:*EVEg4ZEBEp0yO >;Q@A @)Y@ a=bD ͿVD ~8y]dJ=%]=ٔ]M:Q-]>9aYa=e;Eyae=Em>iQ 54m?Q 94m)m(BYk>Q E:y54@Q I-@mDIm&[Uk>"[Ue>*[U54@eݛ<)i G?i9)額6689iivlRIIIQ!@ @@5@q  DDAT read: Rx Time:01:22:06.6558 % TRx dataTimestamp_ set to:1764897727.790301^Ae Iq I O >L;#,5LA PDAT read: Bearing 129.5, 7.3 (Local)  ~Local bearing/azimuth received: Bearing 129.5, 7.3 (Local) DAT read: Range 11 to 50 : 48.3 m (trip time 32.2 ms) speed -0.4 fDAT read: 01:22:06.6558 LVL= 32752, 27585, 32754, 32755, AGC= 68, IDX= 499, 0.41,-2.706,-1.085,-2.802,-2.120, PHS=-0.484, 1.079,-0.726, RAW= 337.1, 1.6, CAL= 336.4, -1.3, ROT= 173.6, 1.3 jYgot valid direction response: 01:22:06.6558 LVL= 32752, 27585, 32754, 32755, AGC= 68, IDX= 499, 0.41,-2.706,-1.085,-2.802,-2.120, PHS=-0.484, 1.079,-0.726, RAW= 337.1, 1.6, CAL= 336.4, -1.3, ROT= 173.6, 1.3 jT#Rx 39: Read range and direction messages.n`direction in FSK: [-0.993512,0.111440,-0.022687]nFpublishing direction and range infoy  V?NGY;Y 3AB k ~ @~"@~ χ<) I i ? #9 E@ < @ ޹) A@I ޹< "J~H^`` ?q? R?``P?@z?i~ @I~ ];~БCYByIbDVD8y ׵%]=ٔ9Q->9Y=;Ey<E>Q 54?Q 94|)-BYy4@Q I-@ DI:i:K4yɮAi i KLAj AB"j AB:j '@Rj 筞Gg[@5*Bj V?NGY;9*j A@2j ޹<Zj Br3B@$ I?y?Jj 7H$?(o2BAo?j W j Bi lc?i l+j TBj lc?j &j rj @Bzj <@ addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 0.503338 s, deltaX: 0.099998 m, approachRate: 0.198671 m/s, rangeRepo size: 4  Added new target pos. range: 48.254559 m, bearing: 318.980804 deg, lat: 36.779520 deg, lon: -121.859771 deg, deltaT: 0.503338 s, deltaX: 0.099907 m, approachRate: 0.198489 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.25 m.hhhhhggjgrgreZe:e`f&H@*e?[9[9"[9*[=4@U χ<)Y ]F??i]߷9)Y]|6e>9iaislRE EE*EI"E:*Ek:VE(N4ZEa@a@a@a@I9ichecking for new query: numPingsReceived=39, elapsed TxPingTime=20.675846"@ @@3@@yA@ԑ ^A #I I O >q*<#,=G LA2/@2!#@2<ٱ2*>2H `@F?/?@9?!A?@!?i2/@I2];2ґCY:By:I@ @@bDFVDF8BA4=B->B)B)B)B-S =B)B)B-5;B-h\Ey Ӽ%5L=ٔE7Q-M>DDAT read: Rx Time:01:22:07.1557 TRx dataTimestamp_ set to:1764897728.293509PDAT read: Bearing 129.9, 7.7 (Local) ~Local bearing/azimuth received: Bearing 129.9, 7.7 (Local) DAT read: Range 11 to 50 : 48.2 m (trip time 32.1 ms) speed -0.4 9Y=;Ey<E>DAT read: 01:22:07.1557 LVL= 32752, 28017, 32754, 32755, AGC= 65, IDX= 501, 0.18, 3.037,-1.640, 2.931,-2.657, PHS=-0.487, 1.062,-0.739, RAW= 337.4, 2.0, CAL= 336.7, -0.9, ROT= 173.3, 0.9 %Ygot valid direction response: 01:22:07.1557 LVL= 32752, 28017, 32754, 32755, AGC= 65, IDX= 501, 0.18, 3.037,-1.640, 2.931,-2.657, PHS=-0.487, 1.062,-0.739, RAW= 337.4, 2.0, CAL= 336.7, -0.9, ROT= 173.3, 0.9 %T#Rx 40: Read range and direction messages. Q 5U4 ?Q 9U4 ) 1BYQy]o5@Q I]-@ &DI r#B@O}g?[ ׿^?JjӞ??ql3xĒSeؔ?j; jBiO?i$"j BjjjTBrjJABzjI@mnManaging dock network, ignoring radio surface power off addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 0.503208 s, deltaX: -0.099998 m, approachRate: -0.198722 m/s, rangeRepo size: 4  Added new target pos. range: 48.154446 m, bearing: 319.285342 deg, lat: 36.779520 deg, lon: -121.859771 deg, deltaT: 0.503208 s, deltaX: -0.100113 m, approachRate: -0.198949 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.15 m.hhhhhggjgrgreZe:eH@*e ?[Q[Q"[QE EEE"E*EAr:VEZEBEN-+ <#,,LA6@6#@6ܓ<ٱ6*>6Hࡴ %t@.?3?J`?H7??i6@I6];4YBByBIԑiuMb@Mb@Mb@qqqq q9uףp= ? rh?yuC >ut9Y=;Ey!<E%>!Q 5-4%|?Q 954%)%8BY5e>Q E5:y56@Q I5-@%.DI%;i%;%!\4yɮAԹiil 3LAjAB"jAB:jh@RjkxGG@w*BjpHG(Oᅯv:?GU*j@@2j¸2=ZjpB@@W?1)s&ͿJj"?YչI!XsXTsj jBi&.j?i&0-jBjO?jl+jrjMBBzj9@ addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 0.503941 s, deltaX: 0.099998 m, approachRate: 0.198433 m/s, rangeRepo size: 4 e Added new target pos. range: 48.254349 m, bearing: 318.675652 deg, lat: 36.779519 deg, lon: -121.859773 deg, deltaT: 0.503941 s, deltaX: 0.099903 m, approachRate: 0.198244 m/s, posRepo size: 4 eDNOT Ignoring new targets: 48.25 m.hihihihihigigijgrg~BreZe:e`f&H@*e G?[e>[e>"[$>*[B6@ܓ<)) 5\O?i5j9)15659O9i1i=ulR99I9IA 9D-%=D)E5 E5E5.E1"E5:*E5ga:VE5ـ4ZE1aE@aE@aE@aE@@ @@75@} checking for new query: numPingsReceived=41, elapsed TxPingTime=21.683130 ^A I I O ><#,GLAY ByIbD-VD-8y=ڽ%=w=ٔ=Q-E?9AYA=E;EyAMEM?QQ 5]4Uup?Q 9]4U)UBBIBBBBBB;;Bm\EԡDDAT read: Rx Time:01:22:08.1561 TRx dataTimestamp_ set to:1764897729.302075PDAT read: Bearing 132.0, 9.0 (Local) ~Local bearing/azimuth received: Bearing 132.0, 9.0 (Local) DAT read: Range 11 to 50 : 48.8 m (trip time 32.5 ms) speed -0.5 DAT read: 01:22:08.1561 LVL= 32752, 25265, 32754, 32755, AGC= 66, IDX= 505,-0.42, 1.195, 2.824, 1.040, 1.763, PHS=-0.466, 1.106,-0.768, RAW= 338.6, 1.5, CAL= 338.0, -1.4, ROT= 172.0, 1.4 Ygot valid direction response: 01:22:08.1561 LVL= 32752, 25265, 32754, 32755, AGC= 66, IDX= 505,-0.42, 1.195, 2.824, 1.040, 1.763, PHS=-0.466, 1.106,-0.768, RAW= 338.6, 1.5, CAL= 338.0, -1.4, ROT= 172.0, 1.4 T#Rx 42: Read range and direction messages.`direction in FSK: [-0.989972,0.139132,-0.024432]Fpublishing direction and range infoyCsµڭl?{J9Y3CBb )BIih?D$@Pw<ZƼ@ +ȼ)7 @@I+<mE(㿸z6? )ԼI7 @@i+<Echecking for new query: numPingsReceived=42, elapsed TxPingTime=21.965036#@ @@4@bE=(N4jE=U4rE=١/E  E E *E "E ;*E :VE (N4ZE BE L<#,aLA  checking for new query: numPingsReceived=42, elapsed TxPingTime=22.194540Y= By=IiMb@Mb@Mb@ 9ˡE?(\?~jth?Y>yz>D;Q@A )@Y @bDVDȰ8y-z;%-==ٔ)Q-5>91Y1=5;Ey19E=>AQ 5M4E_?Q 9M4E)E@BYM>Q EM:yM87@Q IU-@E9DIE:iE;Eji4y]RBɮ]7AYii2USLAjCB"jCB:j{ܱ@RjY !H7!@;Z'BjCsµڭl?{J*j7 @@2j+<ZjxZ>B@<,)@<_?Jj$i?7 r?jO jBi?f{b?i~6jBjjjBrjCBzjR@ addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.504625 s, deltaX: 0.500000 m, approachRate: 0.990835 m/s, rangeRepo size: 4  Added new target pos. range: 48.753712 m, bearing: 318.459344 deg, lat: 36.779519 deg, lon: -121.859773 deg, deltaT: 0.504625 s, deltaX: 0.499363 m, approachRate: 0.989572 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.75 m.hhhhhggjgrg~BreZe:e`ffH@*e|?[>[>"[回>*[87@) zT?i9) 3`4 [9i iwlRII m99DDAT read: Rx Time:01:22:08.6561 TRx dataTimestamp_ set to:1764897729.806033PDAT read: Bearing 133.5, 9.5 (Local) ~Local bearing/azimuth received: Bearing 133.5, 9.5 (Local) DAT read: Range 11 to 50 : 48.8 m (trip time 32.5 ms) speed -0.4 DAT read: 01:22:08.6561 LVL= 32752, 28865, 32754, 32755, AGC= 66, IDX= 505, 0.11, 2.003,-2.686, 1.830, 2.533, PHS=-0.428, 1.109,-0.747, RAW= 339.3, 0.8, CAL= 338.7, -2.1, ROT= 171.3, 2.1  Ygot valid direction response: 01:22:08.6561 LVL= 32752, 28865, 32754, 32755, AGC= 66, IDX= 505, 0.11, 2.003,-2.686, 1.830, 2.533, PHS=-0.428, 1.109,-0.747, RAW= 339.3, 0.8, CAL= 338.7, -2.1, ROT= 171.3, 2.1  T#Rx 43: Read range and direction messages. $@  @ @ 5@ 5 `direction in FSK: [-0.987830,0.151159,-0.036644]= Fpublishing direction and range infoyNM5v/Y?(א¢Yp )I"۾i?d;?8@d<p*@ Q ) X?@IQ =T>ZO]4̋? k8)i^I X?@iQ =U checking for new query: numPingsReceived=43, elapsed TxPingTime=22.467495Y ^A vI I OU >r<#,Pn}LA6 @6%@6H<ٱ6f*>6HO`4??$c$?H`3?Ѝ?i6 @I6=];6ёCD<zD<EB EBE@E@"EB;*EBi:VE@ZE@aJ@aJ@aJ@aJ@YNByNI V4=V<bDVVDV8y^)u%bR=ٔbbٺQ-b>9`Yd=f;Eydf߸=Ef>hQ 5r4jP?Q 9r4jU)jDBYpyry9@Q Iv-@j?DIjm(;ij);j8p4yxɮzAxii sLAj"j:j@Rj[xXH?rz@YuqBjNM5v/Y?(א¢*j X?@2jQ =Zj3LB@VGT?It?Jjbe?0U^6r?jj jBiǔ?iAAAAB >B B IB BB B B B @;B t\E DDAT read: Rx Time:01:22:09.1564  TRx dataTimestamp_ set to:1764897730.309076 PDAT read: Bearing 132.6, 10.5 (Local)  ~Local bearing/azimuth received: Bearing 132.6, 10.5 (Local) Թ  DAT read: Range 11 to 50 : 49.2 m (trip time 32.8 ms) speed -0.4  DAT read: 01:22:09.1564 LVL= 32752, 28609, 32754, 32755, AGC= 65, IDX= 508,-0.24, 1.036, 2.577, 0.849, 1.586, PHS=-0.448, 1.035,-0.782, RAW= 339.9, 2.4, CAL= 339.4, -0.5, ROT= 170.6, 0.5  Ygot valid direction response: 01:22:09.1564 LVL= 32752, 28609, 32754, 32755, AGC= 65, IDX= 508,-0.24, 1.036, 2.577, 0.849, 1.586, PHS=-0.448, 1.035,-0.782, RAW= 339.9, 2.4, CAL= 339.4, -0.5, ROT= 170.6, 0.5  T#Rx 44: Read range and direction messages. `direction in FSK: [-0.986535,0.163320,-0.008727] Fpublishing direction and range infoy  Q￈?B7߁Y DB o ) AI B`i z? '1H ֽ@ += @ 5) >@I 5< W迌5| 俞W1 ? q) z(I >@i 5< 5 checking for new query: numPingsReceived=44, elapsed TxPingTime=22.965319%<#,VFLAB@B&@B<ٱB)>BH`Os`9IO?@p? ?5?Ɏ?iB@IB];@Y]ByeIԙbDVD8yV&%.=ٔQ->9Y=;Eyf<E>Q 54i>?Q 94)IBYy:@Q I-@FDI%H<~~4 @7;sۿBjQ￈?B7߁E EEE"E:*E:VEZEBE$5@2j5<ZjRB@T?4Lx?Jj AЧf?i|俛RIWG?j  jBiPKޔ?i@%jNBjj@%jBrj3DBzj @- addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.503043 s, deltaX: 0.400002 m, approachRate: 0.795164 m/s, rangeRepo size: 4 = Added new target pos. range: 49.153587 m, bearing: 319.726354 deg, lat: 36.779518 deg, lon: -121.859770 deg, deltaT: 0.503043 s, deltaX: 0.399876 m, approachRate: 0.794913 m/s, posRepo size: 4 EDNOT Ignoring new targets: 49.15 m.hAhAhAhAhIgIgIjgIrgQreQZeQ:eUH@*eU`?[["[*[:@<) JM?i9)%5j9iiylRII checking for new query: numPingsReceived=44, elapsed TxPingTime=23.199804y@y @y@}/@y^A I I O >! r+<#,,LA`@ '@y<ٱG)>Ha`@]?6?+)"?2?`a?i`@I];ӑCYByIeDDAT read: Rx Time:01:22:09.6564 eTRx dataTimestamp_ set to:1764897730.813154mPDAT read: Bearing 132.6, 10.4 (Local) u~Local bearing/azimuth received: Bearing 132.6, 10.4 (Local) DAT read: Range 11 to 50 : 49.2 m (trip time 32.8 ms) speed -0.4 DAT read: 01:22:09.6564 LVL= 32752, 29105, 32754, 32755, AGC= 66, IDX= 508, 0.16, 1.768,-3.001, 1.596, 2.328, PHS=-0.458, 0.999,-0.776, RAW= 339.7, 2.9, CAL= 339.1, 0.1, ROT= 170.9, -0.1 Ygot valid direction response: 01:22:09.6564 LVL= 32752, 29105, 32754, 32755, AGC= 66, IDX= 508, 0.16, 1.768,-3.001, 1.596, 2.328, PHS=-0.458, 0.999,-0.776, RAW= 339.7, 2.9, CAL= 339.1, 0.1, ROT= 170.9, -0.1 T#Rx 45: Read range and direction messages.^direction in FSK: [-0.987412,0.158158,0.001745]Fpublishing direction and range infoyae[9ᅴʓ>?n p\?Yaaaeqa a)eBIe~iew?eFej@e4QO=ec@ e:)e>@Ie亩aae$[tͰf0? e)ekOIe>@ie亩aa-checking for new query: numPingsReceived=45, elapsed TxPingTime=23.477732i]Mb@Mb@Mb@YYYY Y9]|?5^?/$?~jtx?Y]>y]>];Y]A ]@)]@YY]@bDVD8y;%:=ٔ hQ->9Y=;Eyf<E>Q 5%4H.?Q 9-4 )NBY- >Q E-:y-]=@Q I--@MDI;iw;'4y5FBɮ=TA=ѥEiaie LAja"ja:jeg @RjeH%*vDH2I@KG?Bje[9ᅴʓ>?n p\?*je>@2jeZje>lGB@x,>.?n+@Jjei\b?9L^G5?jeq jeBiea?ie,je0BjajajarjeDBzje-@ addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.504078 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 49.153587 m, bearing: 320.584997 deg, lat: 36.779518 deg, lon: -121.859770 deg, deltaT: 0.504078 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.15 m.hhhhh9g9g9jgArgE~BreAZeA:eI*eM`sc?[ >[ >"[ >*[]=@y<)  W?i9)]5q9iivlRIIE EE'E"E:*EAr:VE'4ZEa@a@a@a@!@ @@@I = = checking for new query: numPingsReceived=45, elapsed TxPingTime=23.703337q ^A I I O >ҝ2<#,nLA>@>0'@>vSr<ٱ>2)>>Hrg߿ϱ??L +?`&J" ??i>@I>];>ґCYFByFILNAAbDRVDR8yZ%Z=ٔZºQ-^?9\Y\=b;Ey`b<Eb?dQ 5j4fh#?Q 9j4fq)fRBYhyj=@Q In-@fQDIfp:if[:f_4ytɮvAtDNOT Ignoring new targets: 49.15 m.hhhhhggjgrgre!Ze!:e!*e%"O?[A[A"[A*[E=@UvSr<)Y ]Q?i][9)Y]f5eu9iaieslRiiIiIiYBBBIBBBR =BBBU;B\E@ @ @ 0@ uDDAT read: Rx Time:01:22:10.1567 }TRx dataTimestamp_ set to:1764897731.317238PDAT read: Bearing 133.9, 11.2 (Local) ~Local bearing/azimuth received: Bearing 133.9, 11.2 (Local) DAT read: Range 11 to 50 : 49.7 m (trip time 33.1 ms) speed -0.4 DAT read: 01:22:10.1567 LVL= 32752, 26273, 32754, 32755, AGC= 64, IDX= 511,-0.39, 1.889,-2.879, 1.682, 2.427, PHS=-0.436, 1.022,-0.789, RAW= 340.6, 2.5, CAL= 340.1, -0.4, ROT= 169.9, 0.4 Ygot valid direction response: 01:22:10.1567 LVL= 32752, 26273, 32754, 32755, AGC= 64, IDX= 511,-0.39, 1.889,-2.879, 1.682, 2.427, PHS=-0.436, 1.022,-0.789, RAW= 340.6, 2.5, CAL= 340.1, -0.4, ROT= 169.9, 0.4 T#Rx 46: Read range and direction messages.`direction in FSK: [-0.984479,0.175362,-0.006981]Fpublishing direction and range infoyquUƨ~ڀr>Fr?a|YuFBqqufq q)u@Iud;߾iuЂ?uIu:@u¸2=u@ u)u=@Iu;qqu>iF迱d俥U ? uٷ)ua0Iu=@iu;qq checking for new query: numPingsReceived=46, elapsed TxPingTime=23.975260ԁ^AYIIO>ԩE  E E *E "E ;*E ՚:VE (N4ZE BE >C2H F߿@?I?@j=?(@? E?i2 @I22];0YBByBIi Mb@Mb@Mb@     9  rh?{Gz?{Gz?Y C>y #> #< ;@  ) @ Y bD8VD8yR<%;=ٔC3Q->9Y=;Ey<E>Q 54?Q 94)YBY5>Q E:y@@Q I-@WDIX ;im ;4yɮAiiMLAjFB"jFB:j@Rj[IpHi,P$j!@d˱a/ֿBjUƨ~ڀr>Fr?a|*j=@2j;Zj&b0C@E O?U?JjLȍQ?@aĐ?j jBiR ߩ?i1=jBjPKޔ?j[5>"[&>*[6@@hkm<)  W?i9)顥5i|9ii xlRII %%I%)%!iyI}ADDAT read: Rx Time:01:22:10.6567 TRx dataTimestamp_ set to:1764897731.821464PDAT read: Bearing 135.0, 12.0 (Local) ~Local bearing/azimuth received: Bearing 135.0, 12.0 (Local) DAT read: Range 11 to 50 : 49.7 m (trip time 33.1 ms) speed -0.4  DAT read: 01:22:10.6567 LVL= 32752, 27265, 32754, 32755, AGC= 64, IDX= 511,-0.10, 1.018, 2.514, 0.782, 1.533, PHS=-0.412, 1.026,-0.794, RAW= 341.5, 2.2, CAL= 341.0, -0.7, ROT= 169.0, 0.7 ]Ygot valid direction response: 01:22:10.6567 LVL= 32752, 27265, 32754, 32755, AGC= 64, IDX= 511,-0.10, 1.018, 2.514, 0.782, 1.533, PHS=-0.412, 1.026,-0.794, RAW= 341.5, 2.2, CAL= 341.0, -0.7, ROT= 169.0, 0.7 ]T#Rx 47: Read range and direction messages.m`direction in FSK: [-0.981554,0.190795,-0.012217]Fpublishing direction and range infoyhH`k?I:Y@ @@/@@=@=j )IҾiS?CKƺ@nF=Is@ +H)Z<@I+H<ȑ4翕{.\Zp? )NIZ<@i+H<% checking for new query: numPingsReceived=47, elapsed TxPingTime=24.513227I q E  E E 'E "E :*E Ar:VE '4ZE a @a @a @a @^A V݅I I O >@<#,LA6@6(@60sc<ٱ6(>6H ޿>g? z$?28? *n r??i6@I6];4YZByZII^<)^=bDb1VDbڰ8yj5%jN=ٔnPɺQ-n>9lYl=r;Eypr<Er>tQ 5z4v?Q 9z4v')v_BY|y~@@Q I~-@v\DIv;iv:v4y@BɮAХEi i ޒLAj "j :j @Rj _^Hix"@,+`iBj hH`k?I:*j Z<@2j +H<Zj 할B@᥺?Oi&?Jj Iw? : Yڠ?j  j Bi 脣?i 'j 2Bj j j rj rFBzj E߲@ addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 0.504226 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 49.653206 m, bearing: 319.908439 deg, lat: 36.779519 deg, lon: -121.859769 deg, deltaT: 0.504226 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.65 m.hhhh5checking for new query: numPingsReceived=47, elapsed TxPingTime=24.711128hg1g1jg9rg9re9Ze9:e9*eE 2?[[ԡ"[*[@@50sc<)1 5 T?i5v9)155=r9i9i}ulRII!@ @@/@҂G9Y^AB>BBIB܀BBS =BBBa;B\EBBBBS =BS =Cr4 ^A  DDAT read: Rx Time:01:22:11.1568  TRx dataTimestamp_ set to:1764897732.325142 PDAT read: Bearing 142.4, 15.9 (Local)  ~Local bearing/azimuth received: Bearing 142.4, 15.9 (Local)  DAT read: Range 11 to 50 : 49.8 m (trip time 33.2 ms) speed -0.3 - DAT read: 01:22:11.1568 LVL= 32752, 28321, 32754, 32755, AGC= 64, IDX= 512, 0.07, 0.018, 1.739,-0.523, 0.329, PHS=-0.209, 1.456,-0.896, RAW= 346.5, -3.4, CAL= 346.1, -6.4, ROT= 163.9, 6.4 5 Ygot valid direction response: 01:22:11.1568 LVL= 32752, 28321, 32754, 32755, AGC= 64, IDX= 512, 0.07, 0.018, 1.739,-0.523, 0.329, PHS=-0.209, 1.456,-0.896, RAW= 346.5, -3.4, CAL= 346.1, -6.4, ROT= 163.9, 6.4 = T#Rx 48: Read range and direction messages.E `direction in FSK: [-0.954791,0.275587,-0.111469]E Fpublishing direction and range infoy  -Ԧ5? -V:Y 3GB n ) I Vi 5^? B`e @ s xL@ ) 7@I = (x⣒+翖klQG ) ^r=I 7@i = ] checking for new query: numPingsReceived=48, elapsed TxPingTime=24.979275Ia I O >) (F<#,oLA @ )@ UZ<ٱ D(> H`$n޿'?? ,?U@??i @I ]; YuByuIE EE*E"E:*Ee:VE(N4ZEBE$5y+>t<$@A @)Y@  R=bDVD8y%;%% =ٔ-Q-->9)Y)=-;Ey15}r<E5>9Q 5E4=?Q 9E4=)=gBYe>Q Em:ymB@Q Im-@=cDI=;i=;=ޜ4yuBɮuAqi!i% LAj%GB"j%GB:j%@Rj% GzG4l+@_[ /Bj%-Ԧ5? -V:*j%7@2j%=Zj%!rcA@ߝrAfkXJj%9U^?Hl!PSj%  j% Bi%isf?i%^<j%{wBj!j%@%j!rj%GBzj%߲@ addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.503678 s, deltaX: 0.099998 m, approachRate: 0.198537 m/s, rangeRepo size: 4 5 Added new target pos. range: 49.753304 m, bearing: 314.424513 deg, lat: 36.779519 deg, lon: -121.859770 deg, deltaT: 0.503678 s, deltaX: 0.100098 m, approachRate: 0.198733 m/s, posRepo size: 4 5DNOT Ignoring new targets: 49.75 m.h1h1h1h1h9g9g9Mchecking for new query: numPingsReceived=48, elapsed TxPingTime=25.215137jg9rgec~BreaZea:ee`fH@*em`T?[>[>"[%>*[{B@UZ<) ^?i9)5Մ9iirlRII9@ @@/@i ^A #I I! O- >oRL<#,3LA VDDAT read: Rx Time:01:22:11.6569 ZTRx dataTimestamp_ set to:1764897732.829322^PDAT read: Bearing 119.0, 16.6 (Local) ^~Local bearing/azimuth received: Bearing 119.0, 16.6 (Local) fDAT read: Range 11 to 50 : 50.0 m (trip time 33.3 ms) speed -0.3 zDAT read: 01:22:11.6569 LVL= 32752, 31281, 32754, 32755, AGC= 67, IDX= 512, 0.21,-0.261, 1.249,-0.564, 0.562, PHS=-0.721, 0.732,-1.170, RAW= 343.1, 13.4, CAL= 343.4, 16.5, ROT= 166.6, -16.5 ~Ygot valid direction response: 01:22:11.6569 LVL= 32752, 31281, 32754, 32755, AGC= 67, IDX= 512, 0.21,-0.261, 1.249,-0.564, 0.562, PHS=-0.721, 0.732,-1.170, RAW= 343.1, 13.4, CAL= 343.4, 16.5, ROT= 166.6, -16.5 ~T#Rx 49: Read range and direction messages.^direction in FSK: [-0.932717,0.222204,0.284015] Fpublishing direction and range infoyTV37((1q?HN-?YVHBTTV1zT T)VCIVu8iVZd;?V•V@V|o>Vnʿ@ Vr>)V:@IVrTTV9mZ7?TQ@ơ? VM)V9oIV:@iVrTT%checking for new query: numPingsReceived=49, elapsed TxPingTime=25.483177-@-T})@-O<ٱ-'(>-H`.`޿? N?(`/?㉿b? &?i-@I-];)Y]By]IbDu0VDuٰ8y%~=ٔQ- ?9Y=;Eyӻ<E ?Q 54U疊?Q 94;)mBYy"C@Q I-@hDI6:i: 4yBɮAiTiV5LAjVGB"jVGB:jVc@RjVy2KGN@ 3&@Z_,@BjV37((1q?HN-?*jV:@2jVrZjV͔bB@\D‘=n9f0@JjV@?$ L1[?jV jVBiVN?iVajVBjV脣?jV1=jVBrjVFBzjV@i addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 0.504180 s, deltaX: 0.200001 m, approachRate: 0.396685 m/s, rangeRepo size: 4  Added new target pos. range: 49.953117 m, bearing: 321.194892 deg, lat: 36.779517 deg, lon: -121.859768 deg, deltaT: 0.504180 s, deltaX: 0.199814 m, approachRate: 0.396315 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.95 m.hhhhhggjgrgreZe:eI@*e?[9[9"[9*[="C@uO<)q u[?iu׷9)quC5};9iyi}wlRIII)zAE EEE"E:*EL_:VEZEa@a@a@a@@ @!@%0@!@-zA@-zAԙ]checking for new query: numPingsReceived=49, elapsed TxPingTime=25.719095 ^AE N؅IQ Ia Ou >1:S<#,LMLAJ@J)@JE<ٱJL(>PJH`J ϛݿ`ް??`:? ??iJ@IJs];JёCYByI 11bDeVDeȰ8y#=%L=BBCBrIBҀBBR =BBSDB_;B\Eٔ Q->9 Y =;Ey%R<E%>9Q 5U4=ٖ?Q 94=)=sBYyC@Q I-@=mDI=UfdY<#,dgLA2y@2k*@2 =<ٱ2'>2H kf2ݿ@?n{?G7?񣇿5??i2y@I2];2БCYbBybIiMMb@Mb@Mb@IIII I9MS㥛?w/?~jt?YYM$>yM&>MD9Y=;Ey<E>Q 54̖?Q 94|)zBY>Q E:ySC@Q I-@rDI}G;iF;4yBɮ0AϥEiiXULAj6HB"j6HB:jy@Rjئ{Hfɖ0$@]M+Bj1M]'c?NGY;*j;@2j޹<Zjȝ?rVC@]H?[0?Jj\Mع?$4-L俸ӋI?j jBim.?iO j:BjjO j2BrjHBzj @ addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 0.504208 s, deltaX: 0.099998 m, approachRate: 0.198328 m/s, rangeRepo size: 4  Added new target pos. range: 50.053131 m, bearing: 320.613474 deg, lat: 36.779517 deg, lon: -121.859769 deg, deltaT: 0.504208 s, deltaX: 0.100014 m, approachRate: 0.198358 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.05 m.hhhhhggjgrgv~BreZe:e I@*e,^?[>[>"[E>*[!SC@ =<) ^?i-9)156=9i9i}ylRԙIIDDAT read: Rx Time:01:22:12.6571 TRx dataTimestamp_ set to:1764897733.837337PDAT read: Bearing 137.1, 13.6 (Local) ~Local bearing/azimuth received: Bearing 137.1, 13.6 (Local) DAT read: Range 11 to 50 : 50.1 m (trip time 33.4 ms) speed -0.2  DAT read: 01:22:12.6571 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.39, 1.196, 2.637, 0.909, 1.693, PHS=-0.394, 0.990,-0.827, RAW= 343.2, 2.9, CAL= 342.7, -0.0, ROT= 167.3, 0.0 Ygot valid direction response: 01:22:12.6571 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.39, 1.196, 2.637, 0.909, 1.693, PHS=-0.394, 0.990,-0.827, RAW= 343.2, 2.9, CAL= 342.7, -0.0, ROT= 167.3, 0.0 T#Rx 51: Read range and direction messages.%`direction in FSK: [-0.975535,0.219846,-0.000000]%Fpublishing direction and range infoy4wD7ᅫ#?Y )BI^ɾip}?FS֭@4QO=Yf@ );:@I0M翕mxAukh? )}UKI;:@iEchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.491438A@A @I@M`0@IԹ ^A} I I O >E  E E +E "E :*E k:VE [4ZE a @a @a @a @AL`<#,?LAN@N+*@Nw0<ٱNL'>NH@@ܿ/z? ?&+??p?iN@IN2];NґCYnBynIbDxVDxy%T=ٔ^Q->9 Y = ;Ey  <E>Q 5%4?Q 9%4$)BY!y%C@Q I%-@wDI;ic;N4y1ɮ5`A1iiuLAj"j:j@Rj"AjH$s &@Bj4wD7ᅫ#?*j;:@2jZjO(ܧGC@[fC??_p@Jj39? UZY|௧?j j=BieLo?ix T"jBjeLo?jx T"jrjGBzj@ addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 0.503807 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 50.053131 m, bearing: 320.462068 deg, lat: 36.779515 deg, lon: -121.859769 deg, deltaT: 0.503807 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.05 m.hhhhhggjgrgreZe:e*e+?Թ[["[*[C@w0<) [?i9)#69iivlRIIchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.726976N>i>-!@) @)@-4@)@1@5=B>BCBBBS =BBRDBK;B\E^A?΅IIO> DDAT read: Rx Time:01:22:13.1573  TRx dataTimestamp_ set to:1764897734.341371 PDAT read: Bearing 138.9, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 138.9, 13.6 (Local)  DAT read: Range 11 to 50 : 50.4 m (trip time 33.6 ms) speed -0.3 5 DAT read: 01:22:13.1573 LVL= 32752, 27057, 32754, 32755, AGC= 64, IDX= 501,-0.20, 1.712,-3.069, 1.397, 2.193, PHS=-0.378, 1.067,-0.840, RAW= 343.4, 1.8, CAL= 342.9, -1.1, ROT= 167.1, 1.1 = Ygot valid direction response: 01:22:13.1573 LVL= 32752, 27057, 32754, 32755, AGC= 64, IDX= 501,-0.20, 1.712,-3.069, 1.397, 2.193, PHS=-0.378, 1.067,-0.840, RAW= 343.4, 1.8, CAL= 342.9, -1.1, ROT= 167.1, 1.1 = T#Rx 52: Read range and direction messages. `direction in FSK: [-0.974582,0.223209,-0.019197] Fpublishing direction and range infoy  HZ/?]~Y IB i ) @I 7i u? = W nʿ@ = @ nF) :@I nF< Z`:`#[>? ˍ) %I :@A i nF< e checking for new query: numPingsReceived=52, elapsed TxPingTime=27.0312949wf<#,LARi@Rs\+@R^^%<ٱR&>RH 5@\ܿ,O?` ?`6#???iRi@IR];PYByII=)y#>C<;@?A )Yf@bDVD8yG<%$=ٔAQ->9 Y = Q 54?Q 9%4)BY%\>Q E%;y%OE@Q I%-@~DI;iq;4yUBɮU#AUΥEiiٕLAjiIB"jiIB:j@RjOHqz&@ۦ̹BjHZ/?]~*j :@2jnF<Zjo''vOkC@5@h$b?JjRz?TXc-?j jZBi*_v?iG&jBjjjBrjHBzj @ addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.504034 s, deltaX: 0.300003 m, approachRate: 0.595204 m/s, rangeRepo size: 4  Added new target pos. range: 50.352608 m, bearing: 320.498797 deg, lat: 36.779515 deg, lon: -121.859769 deg, deltaT: 0.504034 s, deltaX: 0.299477 m, approachRate: 0.594160 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.35 m.hhhhhggjg-checking for new query: numPingsReceived=52, elapsed TxPingTime=27.231096Arg~BreAZeI:eM@33I@*eM@ X?[\>[\>"[>*[ OE@^^%<) Y?iO9)v36Ґ9iislRII} @y @y@}2@yiԙ ^A I I O >Rl<#,VLA2 @2+@2Ř<ٱ2g~&>2H`ۿ@N+? 8;?mQ4? ? ?i2 @I2j];2בCFDDAT read: Rx Time:01:22:13.6573 FTRx dataTimestamp_ set to:1764897734.844963NPDAT read: Bearing 139.6, 14.4 (Local) N~Local bearing/azimuth received: Bearing 139.6, 14.4 (Local) VDAT read: Range 11 to 50 : 50.4 m (trip time 33.6 ms) speed -0.3 fDAT read: 01:22:13.6573 LVL= 32752, 28721, 32754, 32755, AGC= 66, IDX= 501,-0.11, 0.612, 2.090, 0.269, 1.079, PHS=-0.364, 1.057,-0.854, RAW= 344.3, 1.9, CAL= 343.8, -1.0, ROT= 166.2, 1.0 jYgot valid direction response: 01:22:13.6573 LVL= 32752, 28721, 32754, 32755, AGC= 66, IDX= 501,-0.11, 0.612, 2.090, 0.269, 1.079, PHS=-0.364, 1.057,-0.854, RAW= 344.3, 1.9, CAL= 343.8, -1.0, ROT= 166.2, 1.0 nT#Rx 53: Read range and direction messages.r`direction in FSK: [-0.970986,0.238497,-0.017452]rFpublishing direction and range infoyDFQ$CK?W7) ߑYDDDF1pD D)FBIF5^iFK?FZFK@F=F@ F5)F9@IF5gFUY,b? F)FgIF9@iF59Y=Q 54!?Q 94)BYyE@Q I-@DI;i;T4yɮAiDiFLAjD"jD:jF<@RjF;#rHM0~(@qBjFQ$CK?W7) ߑ*jF9@2jF5<ZjFISIC@q)@ `ks?JjF_z ?vBLS(?jFM jFMBiFmT?iF|.jFBjDjDjFBrjFIBzjF@ addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.503592 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 50.352608 m, bearing: 320.038296 deg, lat: 36.779515 deg, lon: -121.859769 deg, deltaT: 0.503592 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.35 m.hhhhhggjgrgreZe:e*e?[9[9"[9*[=WE@mŘ<)i mZ?imU9)qu@6u9iqi}xlRyyIyIyԡDD<E EE+E"EO;*Eg:VE [4ZEa@a@a@a@=checking for new query: numPingsReceived=53, elapsed TxPingTime=27.735037u 9 @  @ @ <0@ ^A #B >B CIB B B R =B B SDB B;B {\EIqO>֝t<#,\LA2W@2PJ,@2 <ٱ2D&>2H` ۿ@D ??l`?0 ??i2W@I2 ];2ґCY:By>IbDFVDF8yNi=%NG=ٔNQ-N>9PYPT=VXQ 5^4Z?Q 9^4Zu)ZBY`yb>F@Q Ib-@ZDIZ;iZ;Z4ydɮfAhzDNOT Ignoring new targets: 50.35 m.hxh|h|h|h|g|g|jgrgreZe:e *e zo?[)[)"[)*[->F@= <)9 =`?i=9mDDAT read: Rx Time:01:22:14.1575 uTRx dataTimestamp_ set to:1764897735.349152}PDAT read: Bearing 140.2, 14.4 (Local) }~Local bearing/azimuth received: Bearing 140.2, 14.4 (Local) DAT read: Range 11 to 50 : 50.7 m (trip time 33.8 ms) speed -0.3 DAT read: 01:22:14.1575 LVL= 32752, 26337, 32754, 32755, AGC= 64, IDX= 503, 0.01, 2.642,-2.149, 2.289, 3.111, PHS=-0.367, 1.068,-0.866, RAW= 344.4, 1.9, CAL= 343.9, -1.0, ROT= 166.1, 1.0 Ygot valid direction response: 01:22:14.1575 LVL= 32752, 26337, 32754, 32755, AGC= 64, IDX= 503, 0.01, 2.642,-2.149, 2.289, 3.111, PHS=-0.367, 1.068,-0.866, RAW= 344.4, 1.9, CAL= 343.9, -1.0, ROT= 166.1, 1.0 T#Rx 54: Read range and direction messages.`direction in FSK: [-0.970569,0.240191,-0.017452]Fpublishing direction and range infoyqu ■IU?W7) ߑYuJBqqufq q)u@Ium绾iu9?u-]uhY@qu@ q)u9@Iqqqun5?_ m%U*? uz)u?Y Iu9@iqqqchecking for new query: numPingsReceived=54, elapsed TxPingTime=28.002960)9=2N6=C9i9iEulRAAIIIIe9iE EE,E"E:*EVEg4ZEBE.z<#,!LAF@Fe,@FF;ٱF*&>FHۿ`?cc? L?@?#?iF@IF];DYn BynI ttiMb@Mb@Mb@ 9p= ף?V-?/$?Y>yh><$@(A @)@Y@bDVD8y%=%%(=ٔ%xQ-->9)Y)=-9Q 5E4=胖?Q 9E4=)=BYE`>Q EE;yEB@Q IM-@=DI=T;i=7;=4yUBɮUPAUͥEiiXLAjJB"jJB:j(@Rjt<̶H* 'U(@wmIBj ■IU?W7) ߑ*j9@2jZjzuC@`@#>َ?JjC6?9俰1ԃĝ?j jBi[e`>"[e}>*[eB@DDAT read: Rx Time:01:22:14.6575 TRx dataTimestamp_ set to:1764897735.853260PDAT read: Bearing 141.3, 14.6 (Local) ~Local bearing/azimuth received: Bearing 141.3, 14.6 (Local) DAT read: Range 11 to 50 : 50.7 m (trip time 33.8 ms) speed -0.3 DAT read: 01:22:14.6575 LVL= 32752, 24001, 32754, 32755, AGC= 65, IDX= 503, 0.09, 2.603,-2.182, 2.230, 3.057, PHS=-0.352, 1.089,-0.870, RAW= 344.8, 1.5, CAL= 344.3, -1.4, ROT= 165.7, 1.4 Ygot valid direction response: 01:22:14.6575 LVL= 32752, 24001, 32754, 32755, AGC= 65, IDX= 503, 0.09, 2.603,-2.182, 2.230, 3.057, PHS=-0.352, 1.089,-0.870, RAW= 344.8, 1.5, CAL= 344.3, -1.4, ROT= 165.7, 1.4 T#Rx 55: Read range and direction messages.`direction in FSK: [-0.968726,0.246925,-0.024432]Fpublishing direction and range infoyN2@]@?{JY] )AIX9iZd?R^@Pw<K@ +ȼ)9@I+<$#'~`?  ) ۼI9@i+<checking for new query: numPingsReceived=55, elapsed TxPingTime=28.507204uF;) c?i9)[^6Q9i!i%rlR!)I)I)i E  E E (E "E :*E i:VE c44ZE a @a @a @a @ !@  @ @ 0@ Ա 5 checking for new query: numPingsReceived=55, elapsed TxPingTime=28.742929 ^AIIO><#,J] LA>L@>?-@>);ٱ>&>>H@:@ڿo???|s???i>L@I>];>ӑCYFByNI\^AAbDfVDf8yrÙ<%rE=ٔz Q-z>9xYx=~Q 5%4u?Q 9%4)BY)y-C@Q I--@DIS;i>i;H4y9ɮE0AAi)i-ЛLAj)"j):j- %@Rj-2vňH:D)@ Bj-N2@]@?{J*j-9@2j-+<B<A<B>BBIBBBBBBJ;B\EZj-}ҺC@_~@ٯ#&?Jj-qۚ^?EG=Or+h?j-# j-Bi-^?i-)&j-TBj-9)15,n65 9i1i]wlRYYIYIa DDAT read: Rx Time:01:22:15.1577  TRx dataTimestamp_ set to:1764897736.3578889EPDAT read: Bearing 141.6, 15.1 (Local) E~Local bearing/azimuth received: Bearing 141.6, 15.1 (Local) ]DAT read: Range 11 to 50 : 51.0 m (trip time 34.0 ms) speed -0.3 DAT read: 01:22:15.1577 LVL= 32752, 21057, 32754, 32755, AGC= 65, IDX= 505, 0.26,-2.335,-0.851,-2.725,-1.880, PHS=-0.353, 1.074,-0.889, RAW= 345.3, 1.9, CAL= 344.8, -1.0, ROT= 165.2, 1.0 Ygot valid direction response: 01:22:15.1577 LVL= 32752, 21057, 32754, 32755, AGC= 65, IDX= 505, 0.26,-2.335,-0.851,-2.725,-1.880, PHS=-0.353, 1.074,-0.889, RAW= 345.3, 1.9, CAL= 344.8, -1.0, ROT= 165.2, 1.0 T#Rx 56: Read range and direction messages.`direction in FSK: [-0.966676,0.255407,-0.017452]Fpublishing direction and range infoy  am_DX?W7) ߑY LB   AR  ) I jm@q @q@u?5@qi x? c @ = @ 5) 8@I 5<   k[};:dbopK? q) Cb I 8@i 5<  %checking for new query: numPingsReceived=56, elapsed TxPingTime=29.064983aEU  EU EU *EQ "EU :*EU ą:VEU (N4ZEQ BEU 6ԑ O<#,q!&LA2checking for new query: numPingsReceived=56, elapsed TxPingTime=29.246944:;@:ҵ-@:?];ٱ:+'>:HY;ڿ@?`?೸`@? y ?`?i:;@I:=];:БCYnBynIiMb@Mb@Mb@ 9E?Zd;?:v?Y>y=T<@ )Y@bDVD8yU1=%U6=ٔ]ӺQ-]>9aYa=eqQ 54f?Q 94)BYY>Q E;y@@Q I-@DI[;i;B4yBɮAiAiELAjEKB"jEKB:jE"@RjEXjp꒠HGE]*@@0tBjEam_DX?W7) ߑ*jE8@2jE5<ZjE/nRC@$C@|W?JjEd6?B9=Xp?jE jEBiE.a?iEnn*jE-BjE.a?jEG&jArjE^KBzjE3@ addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 0.504628 s, deltaX: 0.299999 m, approachRate: 0.594496 m/s, rangeRepo size: 4 % Added new target pos. range: 50.952415 m, bearing: 320.742047 deg, lat: 36.779514 deg, lon: -121.859771 deg, deltaT: 0.504628 s, deltaX: 0.299812 m, approachRate: 0.594125 m/s, posRepo size: 4 MDNOT Ignoring new targets: 50.95 m.hIhIhIhQhQgQgYjgrg~BreZe:eI@*e{?ԩ[Y>[Y>"[m>*[@@E?];)A Eff?iE9)AE}6E9iIiMtlRIQIQIQI)"@ @@1@@@EDDAT read: Rx Time:01:22:15.6578 ETRx dataTimestamp_ set to:1764897736.866248UPDAT read: Bearing 142.7, 15.6 (Local) U~Local bearing/azimuth received: Bearing 142.7, 15.6 (Local) eDAT read: Range 11 to 50 : 51.2 m (trip time 34.1 ms) speed -0.3 DAT read: 01:22:15.6578 LVL= 32752, 22849, 32754, 32755, AGC= 64, IDX= 506,-0.40, 1.539, 3.024, 1.121, 1.977, PHS=-0.336, 1.092,-0.900, RAW= 345.9, 1.6, CAL= 345.5, -1.3, ROT= 164.5, 1.3 Ygot valid direction response: 01:22:15.6578 LVL= 32752, 22849, 32754, 32755, AGC= 64, IDX= 506,-0.40, 1.539, 3.024, 1.121, 1.977, PHS=-0.336, 1.092,-0.900, RAW= 345.9, 1.6, CAL= 345.5, -1.3, ROT= 164.5, 1.3 T#Rx 57: Read range and direction messages.`direction in FSK: [-0.963382,0.267170,-0.022687]Fpublishing direction and range infoyAEt_YYN?NGY;YELBAAEAYA A)E@IE1iEƋ?EfffE/@E<E@ E޹)E7@IE޹.GʷY.M? E)EtIE7@iE޹<#,@LAE~ E~E|E|"E~:*E~:VE|ZE|a@a@a@a@Y5By5II=<)=p<bDEVDE8yuл;%Y=ٔQ->9Y=Q 54Y?Q 94[)BYyQ I-@DI%:i;4yɮAiiimp7LAjmLB"jmLB:jmM@RjmwHhB(U+@4cZwpBjmt_YYN?NGY;*jm7@2jm޹<Zjmt;vC@un@I  ?JjmI?7JXrd,͒?jmv jmBim՝>?im:jmۃBjm^?jmnn*jirjm LBzjmG,@ addTargetRange:: Added new target pos. range: 51.200001 m, deltaT: 0.508360 s, deltaX: 0.200001 m, approachRate: 0.393423 m/s, rangeRepo size: 4  Added new target pos. range: 51.152229 m, bearing: 320.003782 deg, lat: 36.779513 deg, lon: -121.859773 deg, deltaT: 0.508360 s, deltaX: 0.199814 m, approachRate: 0.393056 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.15 m.hhhhhggjg!rg!re!Ze!:e%I@*e-VA?[I[I"[I*[IY)Y ]f?i]C9)Ye6en9iaimylRiiIiIqߍ=߉checking for new query: numPingsReceived=57, elapsed TxPingTime=29.756592 @! @!@%/@! aeLCQG/{A)}d79/{AY3ABBBIBBBBBBN;B\EBeCBeCBaBeR =BeR =CeȜ4^A IQ Ii Ou >y = DDAT read: Rx Time:01:22:16.1580 E TRx dataTimestamp_ set to:1764897737.369159M PDAT read: Bearing 144.4, 15.8 (Local) M ~Local bearing/azimuth received: Bearing 144.4, 15.8 (Local) e DAT read: Range 11 to 50 : 51.5 m (trip time 34.3 ms) speed -0.4  DAT read: 01:22:16.1580 LVL= 32752, 22513, 32754, 32755, AGC= 62, IDX= 508,-0.10, 2.840,-1.967, 2.406,-3.044, PHS=-0.298, 1.121,-0.878, RAW= 346.4, 0.6, CAL= 345.9, -2.4, ROT= 164.1, 2.4  Ygot valid direction response: 01:22:16.1580 LVL= 32752, 22513, 32754, 32755, AGC= 62, IDX= 508,-0.10, 2.840,-1.967, 2.406,-3.044, PHS=-0.298, 1.121,-0.878, RAW= 346.4, 0.6, CAL= 345.9, -2.4, ROT= 164.1, 2.4  T#Rx 58: Read range and direction messages. `direction in FSK: [-0.960898,0.273719,-0.041876] Fpublishing direction and range infoyA E {Ǜ? ۷pYE NBA A E WA A )E >IE uiE |?E `E \w@E +HQYٿb|?? &x\?q ??i1 @I];ґCYmBymI %=%=bDVDŰ8y;%E=ٔ%HQ-%>91Y=ԑQ 54E EE,E"ET;*EAr:VEg4ZEBEGχ<#,tLA(23!@2l&/@2mig;ٱ2G&>2Hi@ؿ ?5?@Y`<=?)l@}??i23!@I2];0Y>.By>IiMb@Mb@Mb@ 9K7?zG?I +?YI>y =94<Q@;@ @)Y@bDVDɰ8y-M=%5N=ٔ5 Q-5>99Y9==ADDAT read: Rx Time:01:22:16.6580 TRx dataTimestamp_ set to:1764897737.872994PDAT read: Bearing 144.2, 15.4 (Local) ~Local bearing/azimuth received: Bearing 144.2, 15.4 (Local) DAT read: Range 11 to 50 : 51.5 m (trip time 34.3 ms) speed -0.3 DAT read: 01:22:16.6580 LVL= 32752, 26017, 32754, 32755, AGC= 61, IDX= 508, 0.16,-2.699,-1.175,-3.135,-2.262, PHS=-0.335, 1.133,-0.917, RAW= 346.0, 1.3, CAL= 345.5, -1.6, ROT= 164.5, 1.6 Ygot valid direction response: 01:22:16.6580 LVL= 32752, 26017, 32754, 32755, AGC= 61, IDX= 508, 0.16,-2.699,-1.175,-3.135,-2.262, PHS=-0.335, 1.133,-0.917, RAW= 346.0, 1.3, CAL= 345.5, -1.6, ROT= 164.5, 1.6 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.963255,0.267134,-0.027922]Fpublishing direction and range infoyƔ+,?|p}Ye )=Ii%?j,>@޹<@ )7@I<N5#?:濆@4!? )SI7@i< checking for new query: numPingsReceived=59, elapsed TxPingTime=30.526413Q 5M4E>?Q 9M4E4)EBYMQ>Q EM;yM#?@Q IM-@EDIEi =iEZ =E4yYɮ] AYii"wLAj"j:jk@Rj4C._H"<:}+@iBjƔ+,?|p}*j7@2j<ZjeD@l/@̿?Jj'K~X?zy?j jx BiỞr?i.(j&BjjjTBrjAMBzjG@E addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.503835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 51.452000 m, bearing: 321.246666 deg, lat: 36.779513 deg, lon: -121.859773 deg, deltaT: 0.503835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 51.45 m.hYhYhYhYhYԁggjgrg~BreZe:e*e@?[Q>[Q>"[>*[#?@%mig;)! %c?i%9))-6-F9i)i5slR11I1Iy I)E EEE"E:*E:VEZEa@a@a@a@M checking for new query: numPingsReceived=59, elapsed TxPingTime=30.763807 @  @ @ @5@ ^A%BIBIBMIBMBBIBIBIBMK;BM\EIIO><#,kLA2D!@2ۥ/@2"/;ٱ2Ƅ%>2H Itؿ`?@V? ?Be ?/?i2D!@I2];2ӑCY:+By>I @@bDFVDF8yND%N.=ٔRQ-R>9PYP=RXQ 5^4Z-?Q 9^4Zu)ZBY\yb?@Q Ib-@ZDIZ/;iZ;Z4yf˒Bɮf Af˥EzDNOT Ignoring new targets: 51.45 m.hxh|h|h|h|g|g|jgrgreZe:e *e @?[)[)"[)*[-Y?@Q"/;) fb?i9)6֜9iixlRIIDDAT read: Rx Time:01:22:17.1582 %TRx dataTimestamp_ set to:1764897738.377145-PDAT read: Bearing 144.1, 16.4 (Local) -~Local bearing/azimuth received: Bearing 144.1, 16.4 (Local) =DAT read: Range 11 to 50 : 51.8 m (trip time 34.5 ms) speed -0.4 eDAT read: 01:22:17.1582 LVL= 32752, 21633, 32754, 32755, AGC= 63, IDX= 510,-0.33, 2.078,-2.724, 1.621, 2.519, PHS=-0.339, 1.085,-0.942, RAW= 346.8, 2.2, CAL= 346.4, -0.8, ROT= 163.6, 0.8 mYgot valid direction response: 01:22:17.1582 LVL= 32752, 21633, 32754, 32755, AGC= 63, IDX= 510,-0.33, 2.078,-2.724, 1.621, 2.519, PHS=-0.339, 1.085,-0.942, RAW= 346.8, 2.2, CAL= 346.4, -0.8, ROT= 163.6, 0.8 mT#Rx 60: Read range and direction messages.u`direction in FSK: [-0.959221,0.282314,-0.013962]uFpublishing direction and range infoy=D9Zm?4Y3OBT )?IhiH?&q@nF=\w@ d)36@Id<7ܧAQS翂C{? C)]I36@id<checking for new query: numPingsReceived=60, elapsed TxPingTime=31.034973%!@) @)@-/@)ԁEU EUEU)EQ"EUs:*EUz:VEUFA4ZEQBEUp0 checking for new query: numPingsReceived=60, elapsed TxPingTime=31.266991 .ݪ<#,LAJ6"@J(0@J:ٱJO#%>JH@׿ "`?`G?h8@?|y\?`?iJ6"@IJ]];JБCYZ1By~IԹiMb@Mb@Mb@ 9J +?/$?I +?Y>y=$@A @)Y@bDVD8y<%*=ٔQ->9Y=aQ 5m4e?Q 9m4e)eBYuV>Q Eu;yu8=@Q Iu-@eDIeL ;iea;e 4yyɮ} AyiQiU%#LAjUOB"jUOB:jU}~@RjUOVHn8-@/YDBjU=D9Zm?4*jU36@2jUd<ZjUd#4D@#@@*?JjUk )? Ҁk Bj?jU jU!BiU&k?iU{(jUBjU.a?jQjUۃBrjUNBzjUri@ addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.504151 s, deltaX: 0.299999 m, approachRate: 0.595058 m/s, rangeRepo size: 4  Added new target pos. range: 51.751717 m, bearing: 321.382928 deg, lat: 36.779514 deg, lon: -121.859773 deg, deltaT: 0.504151 s, deltaX: 0.299717 m, approachRate: 0.594498 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.75 m.hhhhhggajgirgm~BreiZei:em`fI@*euó?[V>[V>"[(X>*[8=@:) (\?i9)6P9iiulRII-DDAT read: Rx Time:01:22:17.6582 5TRx dataTimestamp_ set to:1764897738.881208=PDAT read: Bearing 145.1, 17.1 (Local) =~Local bearing/azimuth received: Bearing 145.1, 17.1 (Local) MDAT read: Range 11 to 50 : 51.8 m (trip time 34.5 ms) speed -0.4 uDAT read: 01:22:17.6582 LVL= 30656, 22497, 32754, 32755, AGC= 65, IDX= 510, 0.08, 2.082,-2.738, 1.594, 2.498, PHS=-0.315, 1.091,-0.948, RAW= 347.7, 1.9, CAL= 347.2, -1.1, ROT= 162.8, 1.1 }Ygot valid direction response: 01:22:17.6582 LVL= 30656, 22497, 32754, 32755, AGC= 65, IDX= 510, 0.08, 2.082,-2.738, 1.594, 2.498, PHS=-0.315, 1.091,-0.948, RAW= 347.7, 1.9, CAL= 347.2, -1.1, ROT= 162.8, 1.1 T#Rx 61: Read range and direction messages.`direction in FSK: [-0.955102,0.295653,-0.019197]Fpublishing direction and range infoy)-2O?]~Y))-w-W) ))-AI-Gi-㥋?-!r-<1@-=-@ -nF)-o5@I-nF<))-ݸb[53E6? -)-E I-o5@i-nF<))checking for new query: numPingsReceived=61, elapsed TxPingTime=31.5352975$@1 @1@5q4@9@A@E=DE =DE <EM  EM EM +EI "EM D:*EM :VEM [4ZEI aU @aU @aU @aU @9 ^A} FӅI I O >ñ<#,fLA2Q"@20@2gU:ٱ2%>2Hh`׿ LQ?-?N(?J s? -?i2Q"@I2];0Bchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.770845Y^/By^IbDjVDj8yb%n=ٔ%K0Q-%?9!Y!=%ԙ }<#,5LAbEu [4jEuU4rEuA/E~ E~E|E|"E~s:*E~:VE|ZE|BE|a52E|a=JE~o;aM:E~o;aMQY]4By]IIe<)e;iMb@Mb@Mb@ 9Cl?ˡE?y=t<;@(A @)Y@bDUVDU8yeϨ<%e)=ٔeQ-m>uchecking for new query: numPingsReceived=62, elapsed TxPingTime=32.2751509iYy=}Q 54?Q 94)BY>Q E;y=@Q I-@DI ;i;4yɒBɮ AʥE addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 0.504108 s, deltaX: 0.299999 m, approachRate: 0.595109 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 51.75 m.hhhhhggjgrg~BreZe:e J@*e2?[>[>"[L>*[/=@) %ff?i%Y9)!%6%9i)i5wlR11I9I9ԁ@ @@@Ա^A% #I1 IA OM >- DDAT read: Rx Time:01:22:18.6584 - TRx dataTimestamp_ set to:1764897739.889013= PDAT read: Bearing 172.0, 17.4 (Local) = ~Local bearing/azimuth received: Bearing 172.0, 17.4 (Local) M DAT read: Range 11 to 50 : 52.2 m (trip time 34.8 ms) speed -0.4 m DAT read: 01:22:18.6584 LVL= 32752, 20113, 32754, 32755, AGC= 65, IDX= 513, 0.19,-1.020,-0.078,-1.490,-1.331, PHS= 0.413, 1.298,-0.202, RAW= 354.1, -22.2, CAL= 354.1, -24.8, ROT= 155.9, 24.8 u Ygot valid direction response: 01:22:18.6584 LVL= 32752, 20113, 32754, 32755, AGC= 65, IDX= 513, 0.19,-1.020,-0.078,-1.490,-1.331, PHS= 0.413, 1.298,-0.202, RAW= 354.1, -22.2, CAL= 354.1, -24.8, ROT= 155.9, 24.8 } T#Rx 63: Read range and direction messages. `direction in FSK: [-0.828650,0.370673,-0.419452] Fpublishing direction and range infoy) - LMDI?KsMڿY- PB) - - N) ) )) I- t>i- $?- N- J@- aƾ- J@ - kݾ)- X$.@I- k>) ) - BcbRU&R3ؿ - ( )- >I- X$.@i- k>) )  checking for new query: numPingsReceived=63, elapsed TxPingTime=32.542824 <#,~LAY~8By~I = =bD)VDҰ8y<%q=ٔQ-?9Y=Zj}F @?@KBbcq2Jj}u,؁s?O"濻رֿj}O j}Ai}wje?i}Onj}8Bjyjyj}&Brj}JPBzj}bb@ addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.503697 s, deltaX: 0.100002 m, approachRate: 0.198537 m/s, rangeRepo size: 4 M Added new target pos. range: 52.151348 m, bearing: 310.529719 deg, lat: 36.779512 deg, lon: -121.859775 deg, deltaT: 1.007805 s, deltaX: 0.399632 m, approachRate: 0.396537 m/s, posRepo size: 4 UDNOT Ignoring new targets: 52.15 m.hQhQhQhQhQgQgYjgYrgYreYZea:eeJ@*ee ?[["[*[) Gh?i9)B6ѝ9iitlRID zD @AE EE,E"E;*E]t:VEg4ZEa@a@a@a@I!!@ @@@checking for new query: numPingsReceived=63, elapsed TxPingTime=32.7794611 ^A FӅI9 Ia O >BY BY B] IB] #BBY BY BY B] k;B] \E<#,LA Fo $@F1@FٱF8&>FH)BֿC??@@S?`V\??ē?iFo $@IF3^;DYPyPbDZVDZǰ8ybD:%bW=ٔbڻQ-f>9dYd=flQ 5r4ns镊?Q 9r4n)nBYpyr\>@Q Iv-@nɕDIna;in+;nc%4yzƒBɮzo Ax-DNOT Ignoring new targets: 52.15 m.h1h1h9hAhAgAgIjgIrgIreIZeQ:eQ*eU ?[q[q"[q*[u\>@) ch?iͻ9)額׾69iiylRIIDDAT read: Rx Time:01:22:19.1587  TRx dataTimestamp_ set to:1764897740.393420PDAT read: Bearing 147.6, 17.8 (Local) ~Local bearing/azimuth received: Bearing 147.6, 17.8 (Local) 5DAT read: Range 11 to 50 : 52.7 m (trip time 35.1 ms) speed -0.4 eDAT read: 01:22:19.1587 LVL= 26848, 18801, 30834, 32595, AGC= 67, IDX= 4,-0.10, 0.705, 2.160, 0.173, 1.091, PHS=-0.284, 1.114,-0.962, RAW= 348.7, 1.5, CAL= 348.2, -1.6, ROT= 161.8, 1.6 mYgot valid direction response: 01:22:19.1587 LVL= 26848, 18801, 30834, 32595, AGC= 67, IDX= 4,-0.10, 0.705, 2.160, 0.173, 1.091, PHS=-0.284, 1.114,-0.962, RAW= 348.7, 1.5, CAL= 348.2, -1.6, ROT= 161.8, 1.6 mT#Rx 64: Read range and direction messages.u`direction in FSK: [-0.949602,0.312213,-0.027922]uFpublishing direction and range infoy  (#c^7)L?|p}Y RB  h qI rx S) CI shi ? Ev 6@ Pw< x@ ) {4@I <   ̵s忘u1这׈/? o) vмI {4@i <  checking for new query: numPingsReceived=64, elapsed TxPingTime=33.049686Q9ԁE= E=E=)E9"E=:*E=:e @a @i@m/@qVE=FA4ZE9BE=++<#,.LAɰ@$@/2@TOٱ $>H+&gտ@w7??w?i?>k? ?i$@I];Y/ByI iMb@Mb@Mb@ 91Zd?~jt?~jthY">y=D @)@YbDVDð8y%.=ٔWKQ->9Y=YQ 5e4]ו?Q 9m4])]BYm>Q Em:ym>@Q Im-@]ЕDI] ;i] ;]-4yqɮ} Ayi1i5-LAj5RB"j5RB:j5γ@Rj5H3205p0@rBj5(#c^7)L?|p}*j5{4@ԩ2j5<Zj5nQD@-Yg9@eէ2?Jj5蕱h1?f& Ez?j5 j5%Bi5|?i5 )j55Bj5&k?j5 )j55Brj5QBzj5@ addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 0.504407 s, deltaX: 0.500000 m, approachRate: 0.991263 m/s, rangeRepo size: 4  Added new target pos. range: 52.650955 m, bearing: 321.945707 deg, lat: 36.779515 deg, lon: -121.859772 deg, deltaT: 0.504407 s, deltaX: 0.499607 m, approachRate: 0.990484 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.65 m.hhhhhggjgrg~BreZe:eYJ@*e?[>[>"[3>*[S>@%TO)) -ff?i-V9))-6-9i)i5vlR19I9I9iI DDAT read: Rx Time:01:22:19.6587 TRx dataTimestamp_ set to:1764897740.897533PDAT read: Bearing 148.1, 17.7 (Local) %~Local bearing/azimuth received: Bearing 148.1, 17.7 (Local) 5DAT read: Range 11 to 50 : 52.7 m (trip time 35.1 ms) speed -0.4 UDAT read: 01:22:19.6587 LVL= 32752, 22737, 32754, 32755, AGC= 63, IDX= 500, 0.46, 0.306, 1.769,-0.230, 0.692, PHS=-0.283, 1.123,-0.966, RAW= 348.7, 1.4, CAL= 348.2, -1.6, ROT= 161.8, 1.6 eYgot valid direction response: 01:22:19.6587 LVL= 32752, 22737, 32754, 32755, AGC= 63, IDX= 500, 0.46, 0.306, 1.769,-0.230, 0.692, PHS=-0.283, 1.123,-0.966, RAW= 348.7, 1.4, CAL= 348.2, -1.6, ROT= 161.8, 1.6 eT#Rx 65: Read range and direction messages.m`direction in FSK: [-0.949602,0.312213,-0.027922]mFpublishing direction and range infoy(#c^7)L?|p}YX )?I`吾iw?Kw+< )I})忠9n6Y]? ݩ)żIichecking for new query: numPingsReceived=65, elapsed TxPingTime=33.551575@ @@@ E-  E- E- ,E) "E- =;*E- Ar:VE- g4ZE) a5 @a5 @a5 @a5 @^A= #IA Ia Om >\<#,KHLA6checking for new query: numPingsReceived=65, elapsed TxPingTime=33.787086pY~+ByIbDVD8y-%-h=ٔ-Q-5>91Y1=5BBIB)BBQ =BBBr;B\E91@ @@/@%DDAT read: Rx Time:01:22:20.1590 -TRx dataTimestamp_ set to:1764897741.4022325PDAT read: Bearing 148.8, 18.3 (Local) 5~Local bearing/azimuth received: Bearing 148.8, 18.3 (Local) EDAT read: Range 11 to 50 : 53.1 m (trip time 35.4 ms) speed -0.4 mDAT read: 01:22:20.1590 LVL= 32752, 25249, 32754, 32755, AGC= 63, IDX= 503, 0.07, 0.788, 2.224, 0.236, 1.157, PHS=-0.267, 1.112,-0.966, RAW= 349.3, 1.3, CAL= 348.9, -1.7, ROT= 161.1, 1.7 uYgot valid direction response: 01:22:20.1590 LVL= 32752, 25249, 32754, 32755, AGC= 63, IDX= 503, 0.07, 0.788, 2.224, 0.236, 1.157, PHS=-0.267, 1.112,-0.966, RAW= 349.3, 1.3, CAL= 348.9, -1.7, ROT= 161.1, 1.7 uT#Rx 66: Read range and direction messages.}`direction in FSK: [-0.945669,0.323775,-0.029666]Fpublishing direction and range infoy!%rVBb? `Y%fTB!!%b! !)!I%9i%V?!%@%޹<%@ %)%P3@I%<#E EE*E"E:*E:VE(N4ZEBEF8:E ,AdLAY%)By%Ichecking for new query: numPingsReceived=66, elapsed TxPingTime=34.291054iMb@Mb@Mb@ 9"~?p= ף?y&1|Y>y=`$@ )~@Y(@bDVD8y%&=ٔ Q- >9 Y=!Q 5-4%?Q 954%)%BY5>Q E=:y=<@Q I=-@%ەDI%_N;i%xL;%[<4yIɮM AIii+YLAj4TB"j4TB:ji@RjoTIw/-1@*\.BjrVBb? `*jP3@2j<Zjt$D@|풚@LWco?JjT(?vF俩 }ӓ?ԑj jo%BiW?i SX;j7BjW?jٮ/jrjSBzj@M addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.504699 s, deltaX: 0.399998 m, approachRate: 0.792547 m/s, rangeRepo size: 4 m Added new target pos. range: 53.050808 m, bearing: 321.238799 deg, lat: 36.779513 deg, lon: -121.859775 deg, deltaT: 0.504699 s, deltaX: 0.399853 m, approachRate: 0.792260 m/s, posRepo size: 4 mDNOT Ignoring new targets: 53.05 m.hhhhhggjgrg~BreZe:ěJ@*e)?[%>[%>"[%x>*[%<@) k?i9)6>9ii5xlR99IAIq ] DDAT read: Rx Time:01:22:20.6590 e TRx dataTimestamp_ set to:1764897741.906130m PDAT read: Bearing 149.3, 18.6 (Local) u ~Local bearing/azimuth received: Bearing 149.3, 18.6 (Local)  DAT read: Range 11 to 50 : 53.1 m (trip time 35.4 ms) speed -0.4  DAT read: 01:22:20.6590 LVL= 31920, 20753, 32754, 32755, AGC= 62, IDX= 504,-0.30,-2.159,-0.735,-2.720,-1.794, PHS=-0.263, 1.104,-0.970, RAW= 349.6, 1.4, CAL= 349.1, -1.6, ROT= 160.9, 1.6  Ygot valid direction response: 01:22:20.6590 LVL= 31920, 20753, 32754, 32755, AGC= 62, IDX= 504,-0.30,-2.159,-0.735,-2.720,-1.794, PHS=-0.263, 1.104,-0.970, RAW= 349.6, 1.4, CAL= 349.1, -1.6, ROT= 160.9, 1.6  T#Rx 67: Read range and direction messages. 9 `direction in FSK: [-0.944580,0.327090,-0.027922] Fpublishing direction and range infoya e ܃h:z ?|p}Ya a e |e Qa a )e >Ie 𧆾ie O?e Qxe @@e +*O&@>A4@>Pٱ>N$>>HR Կҙ?p?`c@+?*u?`9s?`?i>*O&@I>];9\Y`=bdQ 5n4f突?Q 9n4f)fBYlynD>@Q In-@fDIf:if:fD4yvBɮv AvȥEzchecking for new query: numPingsReceived=67, elapsed TxPingTime=34.795048ii yLAj"j:j<@RjR-I1֊7Z1@pxCBj܃h:z ?|p}*j3@2j<Zjb8D@DSH;@RÚ?Jj9%M?9`MJ?j j'Bix?i8&jABj #p?j )jrjTBzj_@E addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 53.050808 m, bearing: 322.262433 deg, lat: 36.779515 deg, lon: -121.859772 deg, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 53.05 m.hYhYhYhYhYgYgYjgargareaZea:ea*e?[)[)"[)*[-aD>@=P)9 =jj?i=9)9E6E9iAiMulRIQIQIYiEpG]{AyV^9{AYZAʰ9Bm>BiBmIBm#BBmR =BiBiBmh;Bm\EB9B9B9B9B9C=n4ԑ @ @@@DDAT read: Rx Time:01:22:21.1592 TRx dataTimestamp_ set to:1764897742.409019PDAT read: Bearing 149.7, 19.2 (Local) ~Local bearing/azimuth received: Bearing 149.7, 19.2 (Local) ԹDAT read: Range 11 to 50 : 53.4 m (trip time 35.6 ms) speed -0.4 DAT read: 01:22:21.1592 LVL= 32752, 21153, 32754, 32755, AGC= 62, IDX= 505, 0.12,-0.288, 1.121,-0.872, 0.070, PHS=-0.256, 1.096,-0.986, RAW= 350.2, 1.6, CAL= 349.8, -1.4, ROT= 160.2, 1.4 Ygot valid direction response: 01:22:21.1592 LVL= 32752, 21153, 32754, 32755, AGC= 62, IDX= 505, 0.12,-0.288, 1.121,-0.872, 0.070, PHS=-0.256, 1.096,-0.986, RAW= 350.2, 1.6, CAL= 349.8, -1.4, ROT= 160.2, 1.4  T#Rx 68: Read range and direction messages. `direction in FSK: [-0.940600,0.338637,-0.024432] Fpublishing direction and range infoyfd{9?{JYUBR )IoiI?j|@<|]@ +ȼ)2@I+<^]0x俹^膔CiV? ) I2@i+<% checking for new query: numPingsReceived=68, elapsed TxPingTime=35.063290^Au V݅I I O > <#,j¡LA6u&@6 4@6[Xٱ6$>6H@cӿX? ?>?v?>? (?i6u&@I6"];6ёCYFByJI XZ<bD^VD^8yfI%fJ=ٔjQ-j>9hYh=jpQ 5v4rЛ?Q 9v4rI)rBYtyz>@Q Iz-@rDIr:ir:rK4y|ɮ  A E EE*E"E:*Ez:VE(N4ZEBE6@[X) Se?iA9)69ichecking for new query: numPingsReceived=68, elapsed TxPingTime=35.299667i-rlR11I1I9 91) !@  @ @ /@  DDAT read: Rx Time:01:22:21.6592  TRx dataTimestamp_ set to:1764897742.913166 PDAT read: Bearing 150.5, 19.1 (Local)  ~Local bearing/azimuth received: Bearing 150.5, 19.1 (Local)  DAT read: Range 11 to 50 : 53.4 m (trip time 35.6 ms) speed -0.4 % DAT read: 01:22:21.6592 LVL= 32752, 23617, 32754, 32755, AGC= 62, IDX= 506,-0.33, 2.586,-2.299, 2.009, 2.936, PHS=-0.248, 1.093,-0.971, RAW= 350.2, 1.4, CAL= 349.7, -1.6, ROT= 160.3, 1.6 - Ygot valid direction response: 01:22:21.6592 LVL= 32752, 23617, 32754, 32755, AGC= 62, IDX= 506,-0.33, 2.586,-2.299, 2.009, 2.936, PHS=-0.248, 1.093,-0.971, RAW= 350.2, 1.4, CAL= 349.7, -1.6, ROT= 160.3, 1.6 - T#Rx 69: Read range and direction messages.i  `direction in FSK: [-0.941104,0.336964,-0.027922] Fpublishing direction and range infoy  g"lА?|p}Y A\ ) I }i m? ux +< 0O@ ) 3@I < + {Q,]#? %) I#ɼI 3@i < m checking for new query: numPingsReceived=69, elapsed TxPingTime=35.605217^A I I O ><#,5ѾLAY By Iԩi=Mb@Mb@Mb@9999 99=V-?+η?Mb`Y=h>y=v===@=;@ 9)99Y=@bDVD8y%=ٔQ->9Y=Q 54Ɖ?Q 94)BY>Q E:yB@Q I-@DI;i;T4yBɮ AEE  E E +E "E a:*E :VE  [4ZE a@a@a@a@iqiuPqLAjq"jq:ju7ݳ@RjuđIt$1@Bjug"lА?|p}*ju3@2ju<ZjuɾSE@MۦL g@.6?Jju 6H9?>JpJ?ju8 ju:(Biu(a?iuV.ju]BjunIp?juV.juABrjuUBzjub@u addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 53.350304 m, bearing: 322.045475 deg, lat: 36.779515 deg, lon: -121.859774 deg, deltaT: 0.504147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.35 m.hhhhhggjgrg}~BreZe:e*e`?[>[>"[d>*[\B@))1 5n?i59)1565W9i1i]wlRYYIYIachecking for new query: numPingsReceived=69, elapsed TxPingTime=35.803234 ر9B B B IB BB B B B b;B \E @  @ @ @ ) M DDAT read: Rx Time:01:22:22.1595 U TRx dataTimestamp_ set to:1764897743.417177] PDAT read: Bearing 150.5, 19.8 (Local) ] ~Local bearing/azimuth received: Bearing 150.5, 19.8 (Local) m DAT read: Range 11 to 50 : 53.9 m (trip time 35.9 ms) speed -0.3  DAT read: 01:22:22.1595 LVL= 32752, 21729, 32754, 32755, AGC= 61, IDX= 508,-0.03,-2.203,-0.827,-2.797,-1.850, PHS=-0.251, 1.068,-0.991, RAW= 350.8, 2.0, CAL= 350.4, -1.1, ROT= 159.6, 1.1  Ygot valid direction response: 01:22:22.1595 LVL= 32752, 21729, 32754, 32755, AGC= 61, IDX= 508,-0.03,-2.203,-0.827,-2.797,-1.850, PHS=-0.251, 1.068,-0.991, RAW= 350.8, 2.0, CAL= 350.4, -1.1, ROT= 159.6, 1.1  T#Rx 70: Read range and direction messages. `direction in FSK: [-0.937109,0.348508,-0.019197] Fpublishing direction and range infoyI M EY%KMM?]~^A #I I O ><#,mLA8YWBT )=Ii9?-}v@5=E@ nF)aF2@InF<ND81)zl? W)an IaF2@inF<bchecking for new query: numPingsReceived=70, elapsed TxPingTime=36.101093 '@5@ƻٱ{$>H ҿ B? B? "J?,x?@x? e?i '@I9];ӑCYU ByUI YYbDVD8y잽%A=ٔnQ->9Y=<E>Q 54z?Q 94W)BYyC@Q I-@DI:iK:\\4y)ɮ-h A)iiLAjfWB"jfWB:jy@RjLVG;I]2@ZBjEY%KMM?]~*jaF2@2jnF<Zj?::AE@ˁ@4?JjB?-KR2?Iٟ?j j *Bi8x?i:3jcBjjc0j]BrjVBzj6@ addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504011 s, deltaX: 0.500000 m, approachRate: 0.992042 m/s, rangeRepo size: 4  Added new target pos. range: 53.849766 m, bearing: 322.166175 deg, lat: 36.779515 deg, lon: -121.859775 deg, deltaT: 0.504011 s, deltaX: 0.499462 m, approachRate: 0.990975 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.85 m.h hhhhggjgrgreZe:eE@3J@*eM`^?[ԙ["[*[C@Eƻ)I Ue?E EE(E"E2:*EAr:VEc44ZEBE+*q<#,LAlYr ByrIiMb@Mb@Mb@ 9K7?|?5^?Y>y=$@(A );@Y@@AbD VDʰ8yO<%J=ٔQ->9Y=Q 54 m?Q 94)BY>Q E;yE@Q I-@DI<:i,:Gc4yBɮ6 AEDNOT Ignoring new targets: 53.85 m.hhhhhgg jg rg X~Bre Ze:e*e(^?[5>[5>"[5>*[5oE@A)I Mp?iM9)IMe6Mϔ9iIiUylRQYIYIYDDAT read: Rx Time:01:22:22.6595 TRx dataTimestamp_ set to:1764897743.922546PDAT read: Bearing 151.1, 20.5 (Local) ~Local bearing/azimuth received: Bearing 151.1, 20.5 (Local) DAT read: Range 11 to 50 : 53.9 m (trip time 35.9 ms) speed -0.3 UDAT read: 01:22:22.6595 LVL= 32544, 25137, 32754, 32755, AGC= 62, IDX= 508, 0.15,-1.719,-0.370,-2.331,-1.383, PHS=-0.234, 1.058,-0.992, RAW= 351.4, 1.9, CAL= 351.0, -1.1, ROT= 159.0, 1.1 ]Ygot valid direction response: 01:22:22.6595 LVL= 32544, 25137, 32754, 32755, AGC= 62, IDX= 508, 0.15,-1.719,-0.370,-2.331,-1.383, PHS=-0.234, 1.058,-0.992, RAW= 351.4, 1.9, CAL= 351.0, -1.1, ROT= 159.0, 1.1 ]T#Rx 71: Read range and direction messages.e`direction in FSK: [-0.933408,0.358302,-0.019197]mFpublishing direction and range infoym9o^ C{ 4' k?]~Y 1b )>Ioil?}?B@= @ )Κ1@I'UOY0$? F)vIΚ1@iMchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.613907@ @@/@9E EE,E"ET;*E1]:VEg4ZEa@a@a@a@^A I I) O5 >- checking for new query: numPingsReceived=71, elapsed TxPingTime=36.811020a =#,rLA9B>BBIBBBBBBt;B\EY  By IbD%&VD%ϰ8y]%]?=ٔYQ-]>9aYa=eqQ 5u4uh^?Q 9}4u)uBYyyyQ I}-@uDIu:iu:uj4yɮU Aii LAj"j:j@Rj[RW!IoK3@sfBjo^ C{ 4' k?]~*jΚ1@2jZjr 5IE@g3@LUX+?JjAz.?cH7t?j j(Bi+v??i~>jBjjjŃBrjWBzj5@ addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.505369 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 53.850334 m, bearing: 321.572934 deg, lat: 36.779515 deg, lon: -121.859775 deg, deltaT: 0.505369 s, deltaX: 0.000568 m, approachRate: 0.001125 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.85 m.hhhhhggjgrgreZe :e*e ?[Y[Y"[Y*[Y) n?i9)%7g9ii%vlR!!I!I)aDDAT read: Rx Time:01:22:23.1597 TRx dataTimestamp_ set to:1764897744.425213PDAT read: Bearing 151.4, 20.5 (Local) ~Local bearing/azimuth received: Bearing 151.4, 20.5 (Local) DAT read: Range 11 to 50 : 54.2 m (trip time 36.1 ms) speed -0.3 DAT read: 01:22:23.1597 LVL= 32752, 22705, 32754, 32755, AGC= 61, IDX= 510, 0.27, 0.121, 1.488,-0.504, 0.462, PHS=-0.240, 1.071,-1.010, RAW= 351.5, 2.0, CAL= 351.1, -1.0, ROT= 158.9, 1.0 Ygot valid direction response: 01:22:23.1597 LVL= 32752, 22705, 32754, 32755, AGC= 61, IDX= 510, 0.27, 0.121, 1.488,-0.504, 0.462, PHS=-0.240, 1.071,-1.010, RAW= 351.5, 2.0, CAL= 351.1, -1.0, ROT= 158.9, 1.0 T#Rx 72: Read range and direction messages.`direction in FSK: [-0.932811,0.359942,-0.017452]Fpublishing direction and range infoye]JJ ?W7) ߑYXBX )=Iui?GP@5=[@ 5)5~1@I5<A!K鿷`2ġ? )N/I5~1@i5<checking for new query: numPingsReceived=72, elapsed TxPingTime=37.078957ԑ- 9 @  @ @ /@ Թ bE=ʙT4jE=OS4rE=ʟ/E  E E (E "E :*E Z:VE c44ZE BE + =#,-LAr(@r6@r-λٱrn!>rH`~ѿ?`3?N ?`y?G? A?ir(@Ir];rԑCY-By5IIU<)U<i Mb@Mb@Mb@     9 K7?v/?Y I>y x=   $@ ~@) $@ Y =@ R=bD%VD%8y5ל%5%=ٔ=gQ-=>99Y9==IQ 5U4MM?Q 9U4M)MBY]v>Q E]:y]5H@Q I]-@MDIMs:iMZ:Mks4yeBɮee AmEii6LAjXB"jXB:j=@Rj *[AIOS}3@X=Bje]JJ ?W7) ߑ*j5~1@2j5<Zj7 uE@*]Y{@1[v>"[M}>*[5H@-λ) z?iP9)79ii slR  I IDDAT read: Rx Time:01:22:23.6597 TRx dataTimestamp_ set to:1764897744.929293PDAT read: Bearing 151.7, 20.6 (Local) ~Local bearing/azimuth received: Bearing 151.7, 20.6 (Local) DAT read: Range 11 to 50 : 54.2 m (trip time 36.1 ms) speed -0.2 DAT read: 01:22:23.6597 LVL= 32752, 22513, 32754, 32755, AGC= 60, IDX= 510, 0.33,-0.552, 0.810,-1.174,-0.208, PHS=-0.242, 1.063,-1.010, RAW= 351.5, 2.1, CAL= 351.1, -0.9, ROT= 158.9, 0.9 Ygot valid direction response: 01:22:23.6597 LVL= 32752, 22513, 32754, 32755, AGC= 60, IDX= 510, 0.33,-0.552, 0.810,-1.174,-0.208, PHS=-0.242, 1.063,-1.010, RAW= 351.5, 2.1, CAL= 351.1, -0.9, ROT= 158.9, 0.9 T#Rx 73: Read range and direction messages.`direction in FSK: [-0.932838,0.359953,-0.015707]Fpublishing direction and range infoyj+M2:v ?y&YW )<Iwib?Q = )I<Ol㿲>>]5#բ? )6Ii<checking for new query: numPingsReceived=73, elapsed TxPingTime=37.583031) E e9 @  @ @ @ D D %=E  E E ,E "E :*E i:VE g4ZE a @a @a @a @Q Mchecking for new query: numPingsReceived=73, elapsed TxPingTime=37.818970^AIIO >%=#,;4MLA4zAK)@z=7@z7r˻ٱz҅">zH@T 9Y=Q 54p=?Q 94)BYyH@Q I-@ DI:i:>{4yɮn Aiiy;LAj"j:jWn@Rj.wBAI|}3@7Bjj+M2:v ?y&*j2j<ZjxfE@BCBIBBBQ =BBTDBv;B\EI@I @I@U/@QDDAT read: Rx Time:01:22:24.1598 TRx dataTimestamp_ set to:1764897745.432766DAT read: Range 11 to 50 : 54.3 m (trip time 36.2 ms) speed -0.3 Z#Rx 74: Read range message, but no direction.yY3YBchecking for new query: numPingsReceived=74, elapsed TxPingTime=38.074524^A5 #IA IQ O] > E  E E )E "E :*E c:VE FA4ZE BE <<[G=#,fLAa2E]<ٱG#>H@п`ν?7?o_?'x? R?@?i)@I\];ґCYByI]checking for new query: numPingsReceived=74, elapsed TxPingTime=38.323662iuMb@Mb@Mb@qqqq q9u ףp= ??~jt?YuQ>yu>uD9Y= Q 54i.?Q 9%4 )BY-6>Q E5 ;y5EQ I5-@DI[6>"[>*[yL@>) Qx?i9)  7 َ9i i ulRII1E =9I  DDAT read: Rx Time:01:22:24.6598  TRx dataTimestamp_ set to:1764897745.937229% DAT read: Range 11 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 - Z#Rx 75: Read range message, but no direction.y Y 5 checking for new query: numPingsReceived=75, elapsed TxPingTime=38.580250a !@  @ @ d0@ ԉ ^A?΅IIO>C!=#,TLAE EE-E"E;*Ex:VEt4ZEa@a@a@a@: *@:7@:HUٱ:e#>:HK)пF??{@r?`w?|[??i: *@I:];8YFByFI HHbDRVDR8yZ<%ZS=ٔZ9Q-Z>9\Y\=^dQ 5j4f"?Q 9j4fCQ =jtI)fBYhyjIEQ Ij.@fDIf:if:f44ypɮrB Ap addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.504463 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.15 m.hhhhhggjg!rg!re!Ze!:e!*e-}?[I[I"[I*[M(L@]HU)Y ]z?i]9)ae7e9iaimrlRiiIiIqԹ߽%=߽<checking for new query: numPingsReceived=75, elapsed TxPingTime=38.82734399AAB>BCBIBBBP =B2DBB|;B\E@ @@/@!)u DDAT read: Rx Time:01:22:25.1599 u TRx dataTimestamp_ set to:1764897746.440718} DAT read: Range 11 to 50 : 54.5 m (trip time 36.3 ms) speed -0.3  Z#Rx 76: Read range message, but no direction.yq Yu ZBq  checking for new query: numPingsReceived=76, elapsed TxPingTime=39.082489A ^Ae Iq I O >Ɵ'=#,ULARi*@R3\8@R]ٱR">RH@4@п^?9?d? v?B??iRi*@IR];RԑCYZByZIbDfVDf8y~-%~I=ٔL+:Q->9Y=Q 5=4?Q 9=4)BY9y=DQ IE.@DI;i;_4yIɮMT AI addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503489 s, deltaX: 0.200001 m, approachRate: 0.397230 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.15 m.hhhhhggjgrgreZe:e@K@*e !?[)[)"[)1*[-4M@]) x?i9)顭7q9iiwlRIIIԹ M-=#,ҹLAJ*@J8@JͫٱJS!>JH3Ͽ7?-?"M?su? ?`?iJ*@IJV];JёCYv ByvIEDDAT read: Rx Time:01:22:25.6599 MTRx dataTimestamp_ set to:1764897746.945147UPDAT read: Bearing 143.6, 26.4 (Local) U~Local bearing/azimuth received: Bearing 143.6, 26.4 (Local) mDAT read: Range 11 to 50 : 54.5 m (trip time 36.3 ms) speed -0.3 DAT read: 01:22:25.6599 LVL= 32752, 23537, 32754, 32755, AGC= 60, IDX= 513, 0.43, 2.594,-2.423, 1.818, 3.057, PHS=-0.361, 0.848,-1.284, RAW= 355.6, 8.7, CAL= 355.6, 8.9, ROT= 154.4, -8.9 Ygot valid direction response: 01:22:25.6599 LVL= 32752, 23537, 32754, 32755, AGC= 60, IDX= 513, 0.43, 2.594,-2.423, 1.818, 3.057, PHS=-0.361, 0.848,-1.284, RAW= 355.6, 8.7, CAL= 355.6, 8.9, ROT= 154.4, -8.9 T#Rx 77: Read range and direction messages.^direction in FSK: [-0.890974,0.426884,0.154710]Fpublishing direction and range infoyIMw)R~܂Y-7R?j?YIIIM[I I)IIMԸiMY?MZM@M|>M@ M>)Miw,@IMIIMWpῨ[8w.3A? M )MIMiw,@iMII}checking for new query: numPingsReceived=77, elapsed TxPingTime=39.623104ԙi=Mb@Mb@Mb@9999 99=-?`"?Q?Y=?>y===u<=$@=@ =h@)99Y=@bDUVDU8yeQ=%e(=ٔe9Q-m>9Y=Q 54?Q 94)$BY>Q E ;yDQ I.@ DI;i-;4yBɮ AEiIiMJ}LAjMYB"jMYB:jMcz@RjMAHb$`">7@9& @BjMw)R~܂Y-7R?j?*jMiw,@2jMZjMD@Q 񺦚@n'@JjM1!Bh?Ƥѹ?jM jM&BiMiW?iMK9jM{BjIjM:3jMBrjM?[BzjM#d@ addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504429 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 54.450893 m, bearing: 321.354254 deg, lat: 36.779515 deg, lon: -121.859777 deg, deltaT: 2.015854 s, deltaX: 0.300835 m, approachRate: 0.149234 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.45 m.hhhhhggjgrg~Bre!Ze!:e!*e-h??[m>[m>"[m>*[m*M@}ͫ)y }?i}9)U79iitlRIIEm EmEm-Ei"Em:*Em|:VEmt4ZEiau@au@au@au@ checking for new query: numPingsReceived=77, elapsed TxPingTime=39.836586  G- l9I1 )5 xAA i Gy9 Y 6uA @  @ @ 52@  B >B CB B B B B B ;B \EBCBCB̔CBQ =BQ =C̫5I^AI)I9OM?u6=#,LA.DDAT read: Rx Time:01:22:26.1601 2TRx dataTimestamp_ set to:1764897747.4489636PDAT read: Bearing 154.6, 21.8 (Local) 6~Local bearing/azimuth received: Bearing 154.6, 21.8 (Local) >DAT read: Range 11 to 50 : 54.8 m (trip time 36.5 ms) speed -0.3 RDAT read: 01:22:26.1601 LVL= 25392, 18209, 32754, 32755, AGC= 63, IDX= 3, 0.46,-0.389, 0.945,-1.058,-0.078, PHS=-0.208, 1.068,-1.024, RAW= 352.7, 1.8, CAL= 352.3, -1.2, ROT= 157.7, 1.2 ZYgot valid direction response: 01:22:26.1601 LVL= 25392, 18209, 32754, 32755, AGC= 63, IDX= 3, 0.46,-0.389, 0.945,-1.058,-0.078, PHS=-0.208, 1.068,-1.024, RAW= 352.7, 1.8, CAL= 352.3, -1.2, ROT= 157.7, 1.2 ZT#Rx 78: Read range and direction messages.^`direction in FSK: [-0.925007,0.379373,-0.020942]^Fpublishing direction and range infoy028էEG?_2qY23[B020c2!G0 0)2?I2Ti29?2o2@2=2@ 2)2'0@I2<002 ^Zaov!Z?? 2w)2lI2'0@i2<00nchecking for new query: numPingsReceived=78, elapsed TxPingTime=40.102928v+@v9@v@ꥻٱvgf!>vH@FϿ 3m?@?`M?@Bt?@`?`Y?iv+@Iv];vґCYByII<)<bDVDg8y<%'=ٔ 9Q- >9 Y=Q 5%4?Q 9%4)))-BYiymDQ Im.@&DIC%ԩ 9<=#,rLA2kl+@2_9@2N塻ٱ2!>2H ο?[?K?`By>Ii Mb@Mb@Mb@     9 I +?q= ףp?/$?Y 9>y = < @ @ ) ;@ Y bD%VD%l8y-`.=%5Z=ٔ5O9Q-5>99Y9==AQ 5M4Eꔊ?Q 9U4E`)E5BYU>Q EU;yUOEQ IU.@E*DIE ;iEX ;E4yeBɮe AaDNOT Ignoring new targets: 54.75 m.hhhhhggjgrg4~BreZe:e*e@g?[]>[]>"[]>*[]tL@mN塻ԑ)i ?i|9)页#7݈9iivlRII}DDAT read: Rx Time:01:22:26.6601 TRx dataTimestamp_ set to:1764897747.954299PDAT read: Bearing 154.9, 22.1 (Local) ~Local bearing/azimuth received: Bearing 154.9, 22.1 (Local) DAT read: Range 11 to 50 : 54.8 m (trip time 36.5 ms) speed -0.3 DAT read: 01:22:26.6601 LVL= 31376, 22641, 32754, 32755, AGC= 62, IDX= 500,-0.47,-2.270,-0.964,-2.936,-1.963, PHS=-0.205, 1.044,-1.017, RAW= 353.0, 2.0, CAL= 352.6, -1.0, ROT= 157.4, 1.0 Ygot valid direction response: 01:22:26.6601 LVL= 31376, 22641, 32754, 32755, AGC= 62, IDX= 500,-0.47,-2.270,-0.964,-2.936,-1.963, PHS=-0.205, 1.044,-1.017, RAW= 353.0, 2.0, CAL= 352.6, -1.0, ROT= 157.4, 1.0 T#Rx 79: Read range and direction messages.`direction in FSK: [-0.923070,0.384237,-0.017452]Fpublishing direction and range infoyɉjV?W7) ߑYzqX )>IQiˡ?-'@5=@ 5)F/@I5<q<㿒3鿯`? S )JIF/@i5<Mchecking for new query: numPingsReceived=79, elapsed TxPingTime=40.619221e"@a @a@i@iԹE EE.E"ED:*Eh:VEـ4ZEa@a@a@a@^AIIO>- checking for new query: numPingsReceived=79, elapsed TxPingTime=40.843868 ܺC=#,LAu+@uG9@u;ٱuW!>uH`lͿx?b?ȴ]?wt?z?`n?iu+@Iuҧ];qY ByIbDܿVD8yX<%?=ٔ8Q->9Y=Q 54ݔ?Q 94)>BYyDQ I.@/DI%:i:`4yɮr Aii<LAj"j:j3մ@Rje|DI 5@FɯBjɉjV?W7) ߑ*jF/@2j5<Zje F@8jK)@c%[@Jj5ֆ?xhf?jO j0Bi!e?iY"jXBjj *jބBrj[Bzj@B<A4=BBBIBBBQ =BBB;B\E addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.505336 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 54.750511 m, bearing: 323.779904 deg, lat: 36.779515 deg, lon: -121.859773 deg, deltaT: 0.505336 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 54.75 m.hIhahihihigigijgqrgqreqZeq:eq*e}x?[["[*[6*M@;) o?i(9)'79iislRIIM?>iM!>!@ @@@DDAT read: Rx Time:01:22:27.1603 TRx dataTimestamp_ set to:1764897748.457720PDAT read: Bearing 155.3, 21.9 (Local) ~Local bearing/azimuth received: Bearing 155.3, 21.9 (Local) DAT read: Range 11 to 50 : 55.1 m (trip time 36.7 ms) speed -0.3 DAT read: 01:22:27.1603 LVL= 28864, 20785, 32754, 32755, AGC= 62, IDX= 502,-0.37,-1.468,-0.143,-2.133,-1.153, PHS=-0.212, 1.055,-1.024, RAW= 352.8, 2.0, CAL= 352.4, -1.0, ROT= 157.6, 1.0 Ygot valid direction response: 01:22:27.1603 LVL= 28864, 20785, 32754, 32755, AGC= 62, IDX= 502,-0.37,-1.468,-0.143,-2.133,-1.153, PHS=-0.212, 1.055,-1.024, RAW= 352.8, 2.0, CAL= 352.4, -1.0, ROT= 157.6, 1.0 T#Rx 80: Read range and direction messages.`direction in FSK: [-0.924405,0.381012,-0.017452]Fpublishing direction and range infoy]WN}Vb?W7) ߑYf\Bp1Q )IYi= ?oj @:@ )x 0@I/EU:dx Gh ? )_Ix 0@i}checking for new query: numPingsReceived=80, elapsed TxPingTime=41.128128A ^A I I O >E  E E *E "E :*E ga:VE (N4ZE BE F85H ! 1Ϳ`?@l? Vur? s?`x"?@?i5&,@I5 ];5ёCYeByeI iiQimMb@Mb@Mb@iiii i9mrh|?Mb? rh?Ym>ym=mC9Y=Q 54͔?Q 94)FBY*>Q E ;yHQ I.@5DI:i:4yBɮ~ AåEiiIKLAj3\B"j3\B:j!@Rjv*qIx9'4@J%VBj]WN}Vb?W7) ߑ*jx 0@2jZjtWF@Asj @Ҵ@Jj3?He/պ݊?j[ j2BiC삣?ijRBjjW2&jRBrj\Bzj!ߴ@M addTargetRange:: Added new target pos. range: 55.099998 m, deltaT: 0.503421 s, deltaX: 0.299999 m, approachRate: 0.595921 m/s, rangeRepo size: 4 U Added new target pos. range: 55.050140 m, bearing: 324.314481 deg, lat: 36.779515 deg, lon: -121.859771 deg, deltaT: 0.503421 s, deltaX: 0.299629 m, approachRate: 0.595186 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 55.05 m.hYhYhYhYhggjgrgA~BreZe:ěK@*eT?[-*>[-*>"[- a>*[-I@]؝)a ep}?ie(9)aeE,7e9iaimxlRiiIqIqy @ @@@ DDAT read: Rx Time:01:22:27.6603  TRx dataTimestamp_ set to:1764897748.961238 PDAT read: Bearing 156.1, 21.5 (Local) ԩ  ~Local bearing/azimuth received: Bearing 156.1, 21.5 (Local)  DAT read: Range 11 to 50 : 55.1 m (trip time 36.7 ms) speed -0.4  DAT read: 01:22:27.6603 LVL= 29968, 21521, 32754, 32755, AGC= 62, IDX= 502,-0.25,-2.489,-1.147, 3.134,-2.178, PHS=-0.209, 1.076,-1.015, RAW= 352.5, 1.6, CAL= 352.1, -1.4, ROT= 157.9, 1.4  Ygot valid direction response: 01:22:27.6603 LVL= 29968, 21521, 32754, 32755, AGC= 62, IDX= 502,-0.25,-2.489,-1.147, 3.134,-2.178, PHS=-0.209, 1.076,-1.015, RAW= 352.5, 1.6, CAL= 352.1, -1.4, ROT= 157.9, 1.4  T#Rx 81: Read range and direction messages. `direction in FSK: [-0.926252,0.376112,-0.024432] Fpublishing direction and range infoy  oTۣ7?{JY u T ) I Vi ^? 끿 @ < U@ +ȼ) A`0@I +< ||zsH]h4WR? t) I A`0@i +<  checking for new query: numPingsReceived=81, elapsed TxPingTime=41.615803^Au I I O >)P=#,CLAF,@Fz:@F=ٱF|">FH(, u̿@K?`*?W? r?@9??iF,@IF֭];FϑCY^By^IbDzVDz8y9<%=ٔ:Q-?9 Y = BBIBBBBBB;B]E@ @@@Թ e DDAT read: Rx Time:01:22:28.1606 e TRx dataTimestamp_ set to:1764897749.466167u PDAT read: Bearing 157.1, 21.4 (Local) u ~Local bearing/azimuth received: Bearing 157.1, 21.4 (Local)  DAT read: Range 11 to 50 : 55.5 m (trip time 37.0 ms) speed -0.3 ^A ?΅I I O >VXW=#,^LADAT read: 01:22:28.1606 LVL= 29216, 19233, 32754, 32755, AGC= 60, IDX= 504,-0.11,-0.603, 0.768,-1.281,-0.300, PHS=-0.201, 1.113,-1.025, RAW= 352.5, 1.2, CAL= 352.1, -1.8, ROT= 157.9, 1.8 Ygot valid direction response: 01:22:28.1606 LVL= 29216, 19233, 32754, 32755, AGC= 60, IDX= 504,-0.11,-0.603, 0.768,-1.281,-0.300, PHS=-0.201, 1.113,-1.025, RAW= 352.5, 1.2, CAL= 352.1, -1.8, ROT= 157.9, 1.8 T#Rx 82: Read range and direction messages.:`direction in FSK: [-0.926071,0.376039,-0.031411]:Fpublishing direction and range infoyM`yY?IzY^B r!K )<IMiv?33< )I=*o~jc^],? u)4Ii=jchecking for new query: numPingsReceived=82, elapsed TxPingTime=42.146362,@B:@%ٱ6n#>H6@˿`#? f3?o? `r?W?@Η?i,@IG];ёCY(ByIbD-VD-8y=1=%=?=ٔE9Q-E>9AYA=EQ 54?Q 94)SBYyGQ I.@>DI:i:4y ɮ  A ii]LAj]B"j]B:j@RjI>'4@GBjM`yY?Iz*j2j=ZjFտF@ňa?/S[?JjTTA?GV*F⿍k/?jS j5Biİ?ipjBjC삣?jjЄBrj\Bzj9@ addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 0.504929 s, deltaX: 0.400002 m, approachRate: 0.792194 m/s, rangeRepo size: 4  Added new target pos. range: 55.449982 m, bearing: 325.163404 deg, lat: 36.779517 deg, lon: -121.859767 deg, deltaT: 0.504929 s, deltaX: 0.399841 m, approachRate: 0.791876 m/s, posRepo size: 4 DNOT Ignoring new targets: 55.45 m.hhhhhAgAgAjgIrgIreIZeI:eUK@*eU?[["[*[@BJ@%) с?i`9)479iirlRIIabE% [4jE%Ğ]4rE%/E EE*E"El;*E:VE(N4ZEBEaF{]=#, xLA6Q-@6D;@6aٱ6,#>6HaBʿ?_?`L ?@r?O?!?i6Q-@I6ڲ];6БCYB0ByBIIFp<)F;PiMb@Mb@Mb@ 9X9v?sh|??~jt?Y>y=<@@ h@)Y@bD-VD-°8y="=%=K=ٔ==9Q-E>9AYA=EQQ 5]4U?Q 9]4U)UYBY]>Q E];yeHQ Ie.@UCDIU;iU;U4ymBɮm Am¥EDNOT Ignoring new targets: 55.45 m.hhhhhggjgrgL~BreZe:e*e@9&?[>[>"[Zm>*[0nI@a) ?ib9)779iiwlRIIDDAT read: Rx Time:01:22:28.6606 TRx dataTimestamp_ set to:1764897749.969151PDAT read: Bearing 158.1, 21.4 (Local) ~Local bearing/azimuth received: Bearing 158.1, 21.4 (Local) DAT read: Range 11 to 50 : 55.5 m (trip time 37.0 ms) speed -0.4  DAT read: 01:22:28.6606 LVL= 31728, 18817, 32754, 32755, AGC= 58, IDX= 504, 0.11,-0.583, 0.798,-1.270,-0.293, PHS=-0.188, 1.137,-1.021, RAW= 352.5, 0.8, CAL= 352.1, -2.2, ROT= 157.9, 2.2 Ygot valid direction response: 01:22:28.6606 LVL= 31728, 18817, 32754, 32755, AGC= 58, IDX= 504, 0.11,-0.583, 0.798,-1.270,-0.293, PHS=-0.188, 1.137,-1.021, RAW= 352.5, 0.8, CAL= 352.1, -2.2, ROT= 157.9, 2.2 T#Rx 83: Read range and direction messages.%`direction in FSK: [-0.925846,0.375947,-0.038388]%Fpublishing direction and range infoyD&?.Y{I ):I@i7?!d< nF)InF=w%_z*ɫb$ܡ? j)>]IinF=checking for new query: numPingsReceived=83, elapsed TxPingTime=42.644104 @ @@I2@DzDE EE'E"E:*Exv:VE'4ZEa@a@a@a@^A) I9 IQ Ou >) M checking for new query: numPingsReceived=83, elapsed TxPingTime=42.859131gd=#,GwLARO-@R;@R4ٱR">RH@^M@;'ʿ??@U?r?=? ޘ?iRO-@IR ];RΑCYn8ByrIxbD~VD~ư8y=% M=ٔ wQ- >9Y=Q 5%4?Q 9-4)`BY)y-HHQ I-.@GDI:i:4y1ɮ= A9ii~LAj"j:j@Rj2GI 4@Ig?aBjD&?.*j2jnF=ZjdF@#m* ?x N?JjA)z?gxE?j j7BiN㸣?iQj#BjK5?jpjBrj]Bzj?@ addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 0.502984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 55.449982 m, bearing: 325.846469 deg, lat: 36.779519 deg, lon: -121.859762 deg, deltaT: 0.502984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 55.45 m.hhhhhggjgrgreZe:e*e1?AA@AB>BCBIBBBO =BBB١;B$]E[["[*[aI@4) ~?i9)<79ii tlR II@ @@4@@@zA!DDAT read: Rx Time:01:22:29.1607 TRx dataTimestamp_ set to:1764897750.473133PDAT read: Bearing 158.1, 21.7 (Local) ~Local bearing/azimuth received: Bearing 158.1, 21.7 (Local) DAT read: Range 11 to 50 : 55.7 m (trip time 37.1 ms) speed -0.4 DAT read: 01:22:29.1607 LVL= 31584, 20081, 32754, 32755, AGC= 59, IDX= 505, 0.39,-1.134, 0.219,-1.820,-0.839, PHS=-0.193, 1.103,-1.025, RAW= 352.8, 1.3, CAL= 352.4, -1.7, ROT= 157.6, 1.7 Ygot valid direction response: 01:22:29.1607 LVL= 31584, 20081, 32754, 32755, AGC= 59, IDX= 505, 0.39,-1.134, 0.219,-1.820,-0.839, PHS=-0.193, 1.103,-1.025, RAW= 352.8, 1.3, CAL= 352.4, -1.7, ROT= 157.6, 1.7 T#Rx 84: Read range and direction messages.`direction in FSK: [-0.924139,0.380903,-0.029666]Fpublishing direction and range infoy78H`? `Y^B`{qN );IˡEi/?33j @޹<:@ )x 0@I<{ToW}鿪h? U)RJIx 0@i<checking for new query: numPingsReceived=84, elapsed TxPingTime=43.127357I^A?΅IIO>y E  E E E "E :*E g:VE ZE BE 6mH~Whɿ愢?R?q?@Âr?@+-??im<.@Im];mБCY!y)i Mb@Mb@Mb@     9 /$?X9v?MbP?Y 1>y }= : @ @ I@) `@ Y bD% VD%8y5"`:%5!=ٔ5K9Q-=>99Y9===Ey9EB<EE>IQ 5U4M?Q 9U4M)MdBYU>Q EU;y]E@Q I].@MNDIM ;iM ;M~4yeBɮel AeEyiiGLAj^B"j^B:j3@RjKѶIi{25@B/jBj78H`? `*jx 0@2j<Zj/' G@~} "?|U?Jj?r/῭5?j ji8Bi~?iL{j-Bjİ?jPj-BrjJ_Bzjŵ@ addTargetRange:: Added new target pos. range: 55.700001 m, deltaT: 0.503982 s, deltaX: 0.200001 m, approachRate: 0.396841 m/s, rangeRepo size: 4  Added new target pos. range: 55.649925 m, bearing: 325.969050 deg, lat: 36.779522 deg, lon: -121.859762 deg, deltaT: 0.503982 s, deltaX: 0.199944 m, approachRate: 0.396728 m/s, posRepo size: 4 DNOT Ignoring new targets: 55.65 m.hhhhhggjgrg\~BreZe:eK@*eEE?[>[>"[Z!>*[E@ ;) ?i9)顕@79iiylRIII)yA-@) @)@-1@)ԩDDAT read: Rx Time:01:22:29.6608 TRx dataTimestamp_ set to:1764897750.977198PDAT read: Bearing 158.9, 21.6 (Local) ~Local bearing/azimuth received: Bearing 158.9, 21.6 (Local) DAT read: Range 11 to 50 : 55.8 m (trip time 37.2 ms) speed -0.4 DAT read: 01:22:29.6608 LVL= 29904, 21681, 32754, 32755, AGC= 62, IDX= 506,-0.17, 1.630, 2.988, 0.943, 1.916, PHS=-0.184, 1.118,-1.016, RAW= 352.8, 0.9, CAL= 352.4, -2.1, ROT= 157.6, 2.1 Ygot valid direction response: 01:22:29.6608 LVL= 29904, 21681, 32754, 32755, AGC= 62, IDX= 506,-0.17, 1.630, 2.988, 0.943, 1.916, PHS=-0.184, 1.118,-1.016, RAW= 352.8, 0.9, CAL= 352.4, -2.1, ROT= 157.6, 2.1  T#Rx 85: Read range and direction messages. `direction in FSK: [-0.923925,0.380814,-0.036644] Fpublishing direction and range infoyXlːRC_?(א¢Y3_BtT )>Ijuq=#,LA2.@2s<@23ٱ2T ">2H@ga`ȿ%??`S?!qs?+??i2.@I2ʣ];2ёCYBBByBI DDbDJ1VDJڰ8yR^=%R=ٔVnPQ-V?9TYT=V=EyXZ<EZ?\Q 5b4^8?Q 9b4^{)^eBY`yf^F@Q If.@^QDI^`:i^:^|4yhɮj AhiiiLAj^B"j^B:j7@RjjG2I:5@^N*WBjXlːRC_?(א¢*j2jQ =Zjx,G@6ϰ'> jV?JjZԚ?rK4`BCBIB)BBQ =B3DBB;B-]Ez9A @A  @A @E 0@A @M =@M =9  DDAT read: Rx Time:01:22:30.1610  TRx dataTimestamp_ set to:1764897751.481076 PDAT read: Bearing 159.2, 22.2 (Local)  ~Local bearing/azimuth received: Bearing 159.2, 22.2 (Local)  DAT read: Range 11 to 50 : 56.1 m (trip time 37.4 ms) speed -0.4  DAT read: 01:22:30.1610 LVL= 31136, 18673, 32754, 32755, AGC= 59, IDX= 508, 0.04,-1.538,-0.233,-2.219,-1.262, PHS=-0.174, 1.075,-1.000, RAW= 353.3, 1.1, CAL= 352.9, -1.9, ROT= 157.1, 1.9  Ygot valid direction response: 01:22:30.1610 LVL= 31136, 18673, 32754, 32755, AGC= 59, IDX= 508, 0.04,-1.538,-0.233,-2.219,-1.262, PHS=-0.174, 1.075,-1.000, RAW= 353.3, 1.1, CAL= 352.9, -1.9, ROT= 157.1, 1.9  T#Rx 86: Read range and direction messages. `direction in FSK: [-0.920679,0.388910,-0.033155] Fpublishing direction and range infoy  \H3v2i?B3Y f`B y H ) ;I -2i ? Q@ nF< @ ) ~{/@I = (*F Sh=ץYarΓ?  ) rI ~{/@i = = checking for new query: numPingsReceived=86, elapsed TxPingTime=44.135105^A-FӅI9IIOU>x=#,)LAjC/@jA6=@j+ٱj">jHs *ǿ`K??@@U? ?u?C??ijC/@Ij];hYvNByv IbD%;VD%8yR;=%#=ٔgQ->9Y==Eya<E>Q 54ds?Q 94R)iBYy G@Q I.@XDI:i:O4yɮ  A iiLAj2`B"j2`B:jV@Rj׬/Is1G5@_xBj\H3v2i?B3*j~{/@2j=Zj"[G@,ڳ$>}?JjQV?;N ?j j:Bi)ӣ?iFjBj~?jL{jrj_Bzj&@E EE,E"E=;*E:VEg4ZEBEIv=#,LAi-Q =))Vchecking for new query: numPingsReceived=87, elapsed TxPingTime=44.690742=/@=C=@=ٱ=*">=H|&lƿi,??@1?.Qv?H? c?i=/@I=t];=ՑCYGByIiMb@Mb@Mb@ 9Cl?A`"?Mb`?Yd>yY=;@ ~@)I@Y@ -=-<bD51VD5ڰ8yEӼ%E=ٔEQ-E>9IYI=M=EyIU:<EU>YQ 5e4]Xc?Q 9e4]!)]lBYeY>Q Ee;yeF@Q Ie.@]^DI]:i]:]Q4yuBɮu AqE EE)E"E;*EVEFA4ZEa@a@a@a@i)i-LAj)"j):j-@Rj-"ʟaI5@AgBnBj-tsHub?(א¢*j)2j-Q =Zj-8fRpG@3> O?Jj-.d=C?;Z?j- j-;Bi-C ң?i-(~j-Bj-K2ƣ?j-"j-Brj-I`Bzj-U@ addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 0.504584 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 56.048870 m, bearing: 326.786187 deg, lat: 36.779524 deg, lon: -121.859754 deg, deltaT: 0.504584 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.05 m.hhhhhggjgrg ~BreZe:e*ey?[Y>[Y>"[B>*[F@ )5QGImchecking for new query: numPingsReceived=87, elapsed TxPingTime=44.878616i %?3T9YPAi}e9)M7|9ii xlRIIa!u 9B A B B B IB 8BB B B B ݡ;B #]EBBBɓCBBCu5 @  @ @ /@ A DDAT read: Rx Time:01:22:31.1612 TRx dataTimestamp_ set to:1764897752.489160PDAT read: Bearing 160.0, 21.9 (Local) ~Local bearing/azimuth received: Bearing 160.0, 21.9 (Local) %DAT read: Range 11 to 50 : 56.3 m (trip time 37.5 ms) speed -0.3 MDAT read: 01:22:31.1612 LVL= 31824, 19681, 32754, 32755, AGC= 62, IDX= 511,-0.30, 2.930,-2.004, 2.233,-3.063, PHS=-0.188, 1.104,-1.031, RAW= 353.1, 1.3, CAL= 352.7, -1.7, ROT= 157.3, 1.7 UYgot valid direction response: 01:22:31.1612 LVL= 31824, 19681, 32754, 32755, AGC= 62, IDX= 511,-0.30, 2.930,-2.004, 2.233,-3.063, PHS=-0.188, 1.104,-1.031, RAW= 353.1, 1.3, CAL= 352.7, -1.7, ROT= 157.3, 1.7 UT#Rx 88: Read range and direction messages.]`direction in FSK: [-0.922132,0.385736,-0.029666]eFpublishing direction and range infoy^+HBO? `Y3aBP|L )>I@iO?P5@޹<@ )/@IHſ`Ӡ?  ?`&!@z?Bw?`C??i 0@Iβ];)БCY=HBy9bDUVDU8y.;%(=ٔ'Q->9Y==EyP<E>Q 54/T?Q 94)oBY y G@Q I .@dDI%B%e?Jj "?4XX<ῄihh?j _ j y=Bi (5룊?i `j BBj C ң?j Fj Brj TaBzj Nq@ addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 0.503500 s, deltaX: 0.200001 m, approachRate: 0.397221 m/s, rangeRepo size: 4  Added new target pos. range: 56.248707 m, bearing: 327.397666 deg, lat: 36.779526 deg, lon: -121.859754 deg, deltaT: 0.503500 s, deltaX: 0.199837 m, approachRate: 0.396895 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.25 m.hhhhhggjg rg re1Ze9:e=`f&L@*eEt!?a]checking for new query: numPingsReceived=88, elapsed TxPingTime=45.382462[["[*[G@[¼) *?i9)R7x9ii%ulR!!I!I)I5=)50>ԁl9u @y  @y @} /@y ԩ i I ADDAT read: Rx Time:01:22:31.6613  TRx dataTimestamp_ set to:1764897752.996368PDAT read: Bearing 160.1, 22.7 (Local) ~Local bearing/azimuth received: Bearing 160.1, 22.7 (Local) ^AIIO>S=#,>\ALA6DAT read: Range 11 to 50 : 56.4 m (trip time 37.6 ms) speed -0.4 EDAT read: 01:22:31.6613 LVL= 26992, 20689, 32754, 32755, AGC= 62, IDX= 511,-0.08, 2.693,-2.266, 1.975, 2.982, PHS=-0.187, 1.080,-1.052, RAW= 353.8, 1.7, CAL= 353.4, -1.2, ROT= 156.6, 1.2 eYgot valid direction response: 01:22:31.6613 LVL= 26992, 20689, 32754, 32755, AGC= 62, IDX= 511,-0.08, 2.693,-2.266, 1.975, 2.982, PHS=-0.187, 1.080,-1.052, RAW= 353.8, 1.7, CAL= 353.4, -1.2, ROT= 156.6, 1.2 eT#Rx 89: Read range and direction messages.m`direction in FSK: [-0.917553,0.397061,-0.020942]mFpublishing direction and range infoy (\k< qi?_2qYaBpiP )I|?iq=?𧆿e@<4`@ ).@I<3*E鿘p}8? - )I.@i<checking for new query: numPingsReceived=89, elapsed TxPingTime=45.709881YGByi]Mb@Mb@Mb@YYYY Y9]i|?5?J +?{Gzt?Y]>y]H=]ף;]@]@ ]Q@)]Q@YY]@bDqVDqy%*=ٔQ->9Y==EyE>Q 54F?Q 94)sBYq>Q E;yF@Q I.@iDI ;i;34yBɮ AAii~?LAjdaB"jdaB:j @RjL+IJ_6@QZBj (\k< qi?_2q*j.@2j<Zj"G@>.o@Jj{?^ῑAͬ?j jm[q>"[J>*[:F@)  ׃?i 9)V7=Lv9i9i=rlRAAIAII5z9qDDAT read: Rx Time:01:22:32.1615 TRx dataTimestamp_ set to:1764897753.248562checking for new query: numPingsReceived=89, elapsed TxPingTime=45.890343@ @@/@ԙ BE >BA BE IBE =BBE R =BA BA BE ǡ;BE ]E^A #I I O >]v=#,[LA20@2l>@28лٱ2G">2HN!Ŀ`*??y1?z?@B??i20@I2˿];2ΑCY:DBy:I@DFAAbDFVDFǰ8yNy%Rp=ٔRQ-R?9TYT=V=EyTV;=EV?XQ 54Z=U@ ==)=A`0@I=99= t#$8%+ N? =Z)=I=A`0@i=99checking for new query: numPingsReceived=90, elapsed TxPingTime=46.176884Աi@i @i@m~4@iE EE.E"E:*Ex:VEـ4ZEBE. DDAT read: Rx Time:01:22:32.6615 ) E TRx dataTimestamp_ set to:1764897753.754750 DAT read: Range 11 to 50 : 56.7 m (trip time 37.8 ms) speed -0.4  Z#Rx 91: Read range message, but no direction.y Y   checking for new query: numPingsReceived=91, elapsed TxPingTime=46.420692 =#,btLAɰ:61@:(?@:Nݻٱ:ׂ">:H`MXÿj?5?9@?̩{?@o:?@ޘ?i:61@I:];:БCY^EBy\|iMMb@Mb@Mb@IIII I9MZd;?I +?MbpYM>yM94=MM@M@ M~@)M$@IYMG@bDe VDe8yuC;%u==ٔ}jQ-}>9yYy=}=Eyyl<E>Q 54^.?Q 94)wBYO>Q E ;yF@Q I.@rDI ;i;4yBɮ AEiIiMMpLAjMbB"jMbB:jM]|@RjMJ~×)5@sV@BjMNwֺpHx1?EO?*jMA`0@2jMZjM6H@H@} :c;6uj ;#@JjM%8f?ܻ :߿\H?jM# jMBBiM%?iM4jMBjM)ӣ?jM(~jMBBrjM^bBzjM@ addTargetRange:: Added new target pos. range: 56.700001 m, deltaT: 0.758382 s, deltaX: 0.299999 m, approachRate: 0.395578 m/s, rangeRepo size: 4  Added new target pos. range: 56.648109 m, bearing: 330.320542 deg, lat: 36.779526 deg, lon: -121.859751 deg, deltaT: 0.758382 s, deltaX: 0.299492 m, approachRate: 0.394909 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.65 m.hhhhhggjgrg~BreZe:eYL@*e`P?[5O>[5O>"[5y=*[5F@ENݻ)A EG?iM9)I^7q9iitlRII yAxA)Mchecking for new query: numPingsReceived=91, elapsed TxPingTime=46.639076Y-9 !@  @ @ /@ ԁ E  E E ,E "E ;*E v:VE g4ZE a @a @a @a @ DDAT read: Rx Time:01:22:33.1617 % TRx dataTimestamp_ set to:1764897754.256405= PDAT read: Bearing 160.9, 22.7 (Local) E ~Local bearing/azimuth received: Bearing 160.9, 22.7 (Local)  checking for new query: numPingsReceived=91, elapsed TxPingTime=46.901699Թ ^AYIIO>=#,LAr1@r?@rٱrp">rH=¿=?!? j@?@ \}?@BBIBBBBBBB;B\EbD]VD]8ys%'=ٔe]Q->9Y==Ey7<E>Q 54?Q 94n)xBYy G@Q I.@xDIK:i:S4y9ɮ AIDNOT Ignoring new targets: 56.65 m.hhhhhggjgrgreZe:e*e,?[![!"[!*[% G@])Y ]x~?i]9)Ye&c7epm9iaieylRiiIIaiIADAT read: Range 11 to 50 : 57.0 m (trip time 38.0 ms) speed -0.4 5DAT read: 01:22:33.1617 LVL= 25328, 16497, 30450, 25667, AGC= 63, IDX= 3, 0.35, 1.489, 2.785, 0.791, 1.792, PHS=-0.202, 1.037,-1.045, RAW= 353.8, 2.3, CAL= 353.4, -0.6, ROT= 156.6, 0.6 =Ygot valid direction response: 01:22:33.1617 LVL= 25328, 16497, 30450, 25667, AGC= 63, IDX= 3, 0.35, 1.489, 2.785, 0.791, 1.792, PHS=-0.202, 1.037,-1.045, RAW= 353.8, 2.3, CAL= 353.4, -0.6, ROT= 156.6, 0.6 ET#Rx 92: Read range and direction messages.M`direction in FSK: [-0.917704,0.397126,-0.010472]MFpublishing direction and range infoy] j?/;rYdBbq@v Cd)?INij?…e@l$=4`@ +).@I+<hb"#qt鿃"?  )'I.@i+<echecking for new query: numPingsReceived=92, elapsed TxPingTime=47.1555949ԑ @  @ @ /@ bE(N4jEL4rEDN0E  E E *E "E :*E z:VE (N4ZE BE F8yT=@@ I@)I@Y@ =%=bD%VD%8y5+<%5=ٔ=Q-=>99Y9=E=EyAeEe>iQ 5u4m ?Q 9u4m])m{BY}Ͽ>Q E} ;y}WH@Q I}.@mDImf:im:mC$4yBɮz AEiiΰLAjcB"jcB:jCݷ@RjKRJ[5%5@K/PqCBjP/|b?I:*jx 0@2j+H<ZjsrWpH@}) =XP@Jjw?ح8^*F?j jCBi#?io6jBj(5룊?j`jpBrjcBzjP@ addTargetRange:: Added new target pos. range: 57.000000 m, deltaT: 1.007879 s, deltaX: 0.299999 m, approachRate: 0.297654 m/s, rangeRepo size: 4 E Added new target pos. range: 56.947918 m, bearing: 329.207763 deg, lat: 36.779528 deg, lon: -121.859746 deg, deltaT: 1.007879 s, deltaX: 0.299809 m, approachRate: 0.297465 m/s, posRepo size: 4 EDNOT Ignoring new targets: 56.95 m.hAhAhIhIhIgIgIjgQrgUl~BreQZeQ:eUL@*e]?[Ͽ>[Ͽ>"[>*[WH@) ׃?in9)h7*i9iivlRIIchecking for new query: numPingsReceived=93, elapsed TxPingTime=47.647755 = 9II )M xA @  @ @ @ @ @ yAE  E E +E "E a:*E xv:VE [4ZE a @a @a @a @) = =9 ] DDAT read: Rx Time:01:22:34.1619 m TRx dataTimestamp_ set to:1764897755.266558 PDAT read: Bearing 162.4, 22.0 (Local)  ~Local bearing/azimuth received: Bearing 162.4, 22.0 (Local)  DAT read: Range 11 to 50 : 57.3 m (trip time 38.2 ms) speed -0.3  Z#Rx 94: Read range message, but no direction.ya Ye 3eBa  checking for new query: numPingsReceived=94, elapsed TxPingTime=47.923847^AI IO%>=#,LA652@6ˉ@@66@ٱ6!>6H. O4??@S?ǀ?`??i652@I6];6БCB9B9B=IB==BB9B9B9B=l;B=\EYm>BymIbDVD8y%5=ٔQ->9Y=M=EyIM=EU>YQ 5]4]>?Q 9e4]c)]}BYayeHQ I.@]DI]/E  E E E "E D:*E &p:VE ZE BE 2fH o]I?^?:Y?`s???if%2@If]];fΑCDDAT read: Rx Time:01:22:34.6619 TRx dataTimestamp_ set to:1764897755.811488PDAT read: Bearing 162.4, 22.4 (Local) ~Local bearing/azimuth received: Bearing 162.4, 22.4 (Local) DAT read: Range 11 to 50 : 57.3 m (trip time 38.2 ms) speed -0.3 DAT read: 01:22:34.6619 LVL= 32752, 21073, 32754, 32755, AGC= 59, IDX= 501, 0.01,-2.378,-1.070,-3.081,-2.081, PHS=-0.195, 1.055,-1.044, RAW= 353.7, 2.0, CAL= 353.3, -0.9, ROT= 156.7, 0.9 Ygot valid direction response: 01:22:34.6619 LVL= 32752, 21073, 32754, 32755, AGC= 59, IDX= 501, 0.01,-2.378,-1.070,-3.081,-2.081, PHS=-0.195, 1.055,-1.044, RAW= 353.7, 2.0, CAL= 353.3, -0.9, ROT= 156.7, 0.9 T#Rx 96: Read range and direction messages.`direction in FSK: [-0.918333,0.395497,-0.015707]Fpublishing direction and range infoyb,4O?y&YQR )IGi= ?ˡ@5=Q@ ) /@I< z g3? n )ڣI /@i<checking for new query: numPingsReceived=96, elapsed TxPingTime=48.465164Y CBy IiMb@Mb@Mb@ 9V-?Q?Y|>yu=@@ )3@YQ@bDeڿVDe8yu<%u'=ٔu/Q-}>9Y==Ey'<E>Q 54?Q 94)BY>Q E ;y5GQ I.@DI;i;44y Bɮ t A EiikLAjdB"jdB:j@Rj2LFIJ&Z*6@OOBjb,4O?y&*j /@2j<ZjLjOH@  =d&@Jj^?%拈;XFWݣ?jW j"EBiD'?imjBj#?jo6jBrjdBzj @ addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 0.544930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 57.247692 m, bearing: 329.489216 deg, lat: 36.779534 deg, lon: -121.859733 deg, deltaT: 1.048859 s, deltaX: 0.299774 m, approachRate: 0.285810 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.25 m.hhhhhggjgrg^~BreZe:e*e@?[=>[=>"[=">*[=J@ub )q u?iu/9)quq7}`9iyi}xlRII @  @ @ @  E checking for new query: numPingsReceived=96, elapsed TxPingTime=48.703110^A- N؅I9 II O] >H=#,8LA;ɰ;2V03@2"A@2ٱ2{!>2H޾ڜ?@?6]@?G;?)?l?i2V03@I2];2БCY>=By>IbDFVDF8yNY+%N=ٔR"Q-R ?9PYP=R=EyPV΅<EV%?XQ 5^4Z1擊?Q 9^4Z)ZBY\ybFQ Ib.@ZDIZ:iZ:Z~94ydɮf Adx~DNOT Ignoring new targets: 57.25 m.h|h|h|h|h|ggjgrgreZe :e *e ??[["[*[1K@) ?i9)nt7s^9iiulR9AIAEM EMEM,EI"EM:*EMą:VEMg4ZEIaU@aU@aU@aU@Ia@ @ @ 0@!@A@E=DDAT read: Rx Time:01:22:35.1621 TRx dataTimestamp_ set to:1764897756.317181PDAT read: Bearing 162.8, 23.4 (Local) ~Local bearing/azimuth received: Bearing 162.8, 23.4 (Local) DAT read: Range 11 to 50 : 57.6 m (trip time 38.4 ms) speed -0.3 DAT read: 01:22:35.1621 LVL= 30240, 21585, 32754, 32755, AGC= 61, IDX= 503, 0.15,-0.901, 0.369,-1.631,-0.621, PHS=-0.177, 1.035,-1.053, RAW= 354.7, 2.2, CAL= 354.3, -0.8, ROT= 155.7, 0.8 Ygot valid direction response: 01:22:35.1621 LVL= 30240, 21585, 32754, 32755, AGC= 61, IDX= 503, 0.15,-0.901, 0.369,-1.631,-0.621, PHS=-0.177, 1.035,-1.053, RAW= 354.7, 2.2, CAL= 354.3, -0.8, ROT= 155.7, 0.8 T#Rx 97: Read range and direction messages.`direction in FSK: [-0.911314,0.411474,-0.013962]Fpublishing direction and range infoyL|)D`fU?4YffB vQT )=I}?5iz?Ȇ@nF=@ d)'-@Id<]S{!TRl? f )#lI'-@id<}checking for new query: numPingsReceived=97, elapsed TxPingTime=48.984028B-<A-<B1B1B1B1B5Q =B1B1B5K;B5\EI^AFӅIIO>q +=#,D"LA2J3@2yA@2^ٱ2n!>2H) ̄?fE?xb?@9hYl=n=EylnT<En>pQ 5v4r*ٓ?Q 9v4r)rBYxyzFQ Iz.@rDIr:ir:r@4checking for new query: numPingsReceived=97, elapsed TxPingTime=49.207062y ɮ  A iiLLAj0fB"j0fB:jɷ@RjJ-?8Jg7@=<-BjL|)D`fU?4*j'-@2jd<ZjH@"1Ό=/I,@Jjl?Gn&e ?jf jHEBiAT?iJj#BjjjBrjeBzj @U addTargetRange:: Added new target pos. range: 57.599998 m, deltaT: 0.505693 s, deltaX: 0.299999 m, approachRate: 0.593244 m/s, rangeRepo size: 4 Ym Added new target pos. range: 57.547497 m, bearing: 329.072536 deg, lat: 36.779534 deg, lon: -121.859733 deg, deltaT: 0.505693 s, deltaX: 0.299805 m, approachRate: 0.592859 m/s, posRepo size: 4 uDNOT Ignoring new targets: 57.55 m.hqhqhqhqhqgqgyjgyrgyreZe:eL@*e !?[["[*[ڈK@^) X?i9)顽x7Z9iirlRII5!@1 @1@5@5@1ԉEA EEEE-EA"EA*EE n:VEEt4ZEABEE+߽4=߽a=DDAT read: Rx Time:01:22:35.6621 - TRx dataTimestamp_ set to:1764897756.826506= PDAT read: Bearing 163.0, 23.3 (Local) = ~Local bearing/azimuth received: Bearing 163.0, 23.3 (Local) U DAT read: Range 11 to 50 : 57.6 m (trip time 38.4 ms) speed -0.3  DAT read: 01:22:35.6621 LVL= 29104, 23601, 32754, 32755, AGC= 60, IDX= 503, 0.30,-2.021,-0.731,-2.758,-1.729, PHS=-0.190, 1.043,-1.073, RAW= 354.6, 2.4, CAL= 354.2, -0.6, ROT= 155.8, 0.6  Ygot valid direction response: 01:22:35.6621 LVL= 29104, 23601, 32754, 32755, AGC= 60, IDX= 503, 0.30,-2.021,-0.731,-2.758,-1.729, PHS=-0.190, 1.043,-1.073, RAW= 354.6, 2.4, CAL= 354.2, -0.6, ROT= 155.8, 0.6  T#Rx 98: Read range and direction messages.e `direction in FSK: [-0.912070,0.409901,-0.010472]e Fpublishing direction and range infoye//f];?/;rYq1\ )<I\Bi?X @+=@ +).@I+<ɥQ⿠ &ձG? x" )f,I.@i+< checking for new query: numPingsReceived=98, elapsed TxPingTime=49.517918 [V=#,"y}=<@ ;@)$@Y@bDVD8Թy%<=ٔQ->9Y==EyE>Q 54̓?Q 94)BY >Q E;yEQ I.@DI:i:=H4yBɮy Aiiy4LAj"j:jNܷ@Rjha>JUanD7@aIHBje//f];?/;r*j.@2j+<ZjEOH@3|fo=1Y@Jjr"Yu?cZ'^࿶e]?j{ jEBi, ?i%2jBjjj#Brj1fBzj"@M addTargetRange:: Added new target pos. range: 57.599998 m, deltaT: 0.509325 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 57.547497 m, bearing: 329.201079 deg, lat: 36.779534 deg, lon: -121.859733 deg, deltaT: 0.509325 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 57.55 m.hahahahahagagajgirgmC~BreiZei:eq*euN?[ >[ >"[:1>*[8L@) ?i9)顭 }7:V9iiwlRII I)checking for new query: numPingsReceived=98, elapsed TxPingTime=49.7112245@1 @1@50@1@9@=zAEm EmEm,Ei"Em ;*Emc:VEmg4ZEiau@au@au@au@ GC- GI y - zt9) Y5 }pAA  DDAT read: Rx Time:01:22:36.1623  TRx dataTimestamp_ set to:1764897757.325171 PDAT read: Bearing 163.6, 23.6 (Local)  ~Local bearing/azimuth received: Bearing 163.6, 23.6 (Local)  DAT read: Range 11 to 50 : 57.9 m (trip time 38.6 ms) speed -0.3  DAT read: 01:22:36.1623 LVL= 28720, 21137, 32754, 32755, AGC= 60, IDX= 505, 0.47,-1.316,-0.028,-2.071,-1.034, PHS=-0.180, 1.050,-1.081, RAW= 354.9, 2.3, CAL= 354.5, -0.6, ROT= 155.5, 0.6 % Ygot valid direction response: 01:22:36.1623 LVL= 28720, 21137, 32754, 32755, AGC= 60, IDX= 505, 0.47,-1.316,-0.028,-2.071,-1.034, PHS=-0.180, 1.050,-1.081, RAW= 354.9, 2.3, CAL= 354.5, -0.6, ROT= 155.5, 0.6 % T#Rx 99: Read range and direction messages.- `direction in FSK: [-0.909911,0.414671,-0.010472]- Fpublishing direction and range infoy  C]7–?/;rY gB ^A= FӅIA IQ Oe >&E=#,VLA0pR )IQ8iff?5^6@l$=z@ )-@I aއba)UǞ?  )$I-@i2checking for new query: numPingsReceived=99, elapsed TxPingTime=49.996727BlBlBnIBn8BBlBlBlBnR;Bn\EBBBBR =BR =C4}44@}z'B@}I-ٱ}!>}H QϺ?c? Gl ?@?o%?n?i}44@I}X];}БCY=ByII<)< bD VD8yC\%D=ٔ9Q->9!Y!=E=EyAM<EM>QQ 5]4UM?Q 9]4U7)UBYYy]9EQ I].@UDIU:iU:UO4yBɮ AEiiTLAjcgB"jcgB:j@Rj1_QJ%N-7@RJgbBjC]7–?/;r*j-@2jZj` gH@I~Q=X@Jjj(?7D@1?j j0GBin#?i_j{Bjj_jrj%gBzj@ addTargetRange:: Added new target pos. range: 57.900002 m, deltaT: 0.498665 s, deltaX: 0.300003 m, approachRate: 0.601612 m/s, rangeRepo size: 4  Added new target pos. range: 57.847095 m, bearing: 329.512230 deg, lat: 36.779534 deg, lon: -121.859736 deg, deltaT: 0.498665 s, deltaX: 0.299599 m, approachRate: 0.600802 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.85 m.hhhhhggjgrgreZe:e@3L@*em?[["[*[kL@%I-)! %?i-9))-ɀ7-.Q9i)i5tlR11I1IY1 @ @@@5@i I checking for new query: numPingsReceived=99, elapsed TxPingTime=50.215385a^A I1 II Oe >E  E E +E "E :*E g:VE [4ZE BE 3MHasbʛ? :?p`??'?@H?iM4@IMd];MґCY]9By]IiMb@Mb@Mb@ 9~jt?v/?Y>yxi=@@ Q@)@Y @bD(VDѰ8y}%=ٔ⚺Q->9Y= =Ey  $<E >Q 5=4?Q 9E4r)BYE>Q EE;yEPFQ IE.@DI4;i:X4yMBɮU AUEiiVuLAj"j:jN@Rj;[J}7@_7oBjF=j|)&2QտU?I:*j'-@2j+H<ZjJ-I@m9N<e@JjmH ?g@߿Ami2ť?j. j4HBidf'?iVj$Bjn#?jj$BrjgBzj@ addTargetRange:: Added new target pos. range: 57.900002 m, deltaT: 0.508255 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 57.847095 m, bearing: 329.999774 deg, lat: 36.779534 deg, lon: -121.859736 deg, deltaT: 0.508255 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 57.85 m.hqhqhqhqhqgqgqjgyrg} ~BreyZey:e*e?[>[>"[>*[K@s7) =?iؿ9)F7K9iiylRII)Iq)uzAI  @  @ @ 0@ @ =@ =- checking for new query: numPingsReceived=100, elapsed TxPingTime=50.720230q E EEE"E:*Eą:VEZEa@a@a@a@^AAIQIaOm>_=#,R'LA64@6^B@6Cٱ6v(">6HD?`d?tL?@qs?`/??i64@I6];6ϑCYB;ByBIbDJLVDJ8yRӂ<%V=ٔZ3!Q-^?9dYd=j=Eyhr/<Ev?QQ 54?Q 94)BYyEQ I.@DIJBBBBBBBE;B\E@ @@85@ԩ^A I I O% >] PExceeded connect timeout, disconnecting.  checking for new query: numPingsReceived=101, elapsed TxPingTime=51.223091=#,LA>_25@>$C@>4Mٱ>^">>H@] ն@ ?{?.x h?@?5??i>_25@I>];>ӑCYF.ByFI HHbDRYVDR8yZ}%ZJ=ٔZɺQ-Z>9\Y\=^=Ey\bL<Eb>dQ 5j4f3?Q 9j4f)fBYhyjEQ Ij.@fDIf:if:fe4ypɮr! ApiiRLAjhB"jhB:j)~@RjlkoJ%H%v48@IٿBjYGZk-?a|*j^-@2j;Zj@;I@Lw9 k=#,&LAY6ByIiMb@Mb@Mb@ 9x&1?)\(?Mbp?Y>yGa=;@@ `@)@Y@bDVD.8y=%:=ٔQ->9checking for new query: numPingsReceived=102, elapsed TxPingTime=51.727108Y==EyE>Q 5}4?Q 94)BY>Q E ;yEQ I.@DI[->"[->*[-G-L@9)9 =?i=9)AE7E`<9iAiMxlRIIIIIQYiY@ @@@@@yAIE EE-E"E:*Ek:VEt4ZEa@a@a@a@q^AII O > DDAT read: Rx Time:01:22:38.1626  TRx dataTimestamp_ set to:1764897759.341119 PDAT read: Bearing 164.9, 23.0 (Local)  ~Local bearing/azimuth received: Bearing 164.9, 23.0 (Local)  DAT read: Range 11 to 50 : 58.5 m (trip time 39.0 ms) speed -0.3  DAT read: 01:22:38.1626 LVL= 26096, 23201, 32754, 32755, AGC= 59, IDX= 509,-0.06,-2.401,-1.096, 3.138,-2.101, PHS=-0.198, 1.050,-1.088, RAW= 354.5, 2.6, CAL= 354.1, -0.4, ROT= 155.9, 0.4  Ygot valid direction response: 01:22:38.1626 LVL= 26096, 23201, 32754, 32755, AGC= 59, IDX= 509,-0.06,-2.401,-1.096, 3.138,-2.101, PHS=-0.198, 1.050,-1.088, RAW= 354.5, 2.6, CAL= 354.1, -0.4, ROT= 155.9, 0.4  V#Rx 103: Read range and direction messages. `direction in FSK: [-0.912812,0.408321,-0.006981] Fpublishing direction and range infoy  ͉Q5!?a|Y jB e Z ) I Ji ff? C z@ 9= J@ ) X$.@I ; m⿚bU^oHL? 5 ) !7I X$.@i ;  checking for new query: numPingsReceived=103, elapsed TxPingTime=51.994873B >B B B B B B B B \Eԙ =#,LA635@6ɵC@6dٱ6u">6H@-@z?[a?[~'??`s8?`T?i635@I6<^;6БCY~.By~IbD VD +8y=I7%ET=ٔEmQ-E>9AYI=M=EyIM^<EM>QQ 5]4U|?Q 9e4U?)UBYayeaEQ Ie.@UDIU6;iU;U}s4yyɮ} AyiiLAjiB"jiB:j @RjJ}u7@/.7ڿBj͉Q5!?a|*jX$.@2j;ZjDŝI@n}O< ?\@Jj^ ?]i޿Q?j jLBicVY?i95jlBj*\(?jjlBrjhBzj@ addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 0.498295 s, deltaX: 0.299999 m, approachRate: 0.602051 m/s, rangeRepo size: 4  Added new target pos. range: 58.446922 m, bearing: 331.336270 deg, lat: 36.779535 deg, lon: -121.859729 deg, deltaT: 0.498295 s, deltaX: 0.299831 m, approachRate: 0.601715 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.45 m.hhhh9h9g9g9jg9rgAreAZeA:eE@M@*eE`?q[["[*[4L@d) w?iv9)769iimulRiqIqIqnManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=103, elapsed TxPingTime=52.231075ԡۺ9bE]|a4jE]ȣf4rE]?/E EE/E"E:*E:VEJ4ZEBEF85=#,KvLA:checking for new query: numPingsReceived=104, elapsed TxPingTime=52.550697 5m6@5C@5nٱ5AP">5H f? Ia? O?ߍ?@3? q?i5m6@I54^^;5ёCYEyY=@@ I@)Y@bDVD-8yX=%=ٔQ->9Y!=%=Ey!%;E%>)Q 554-k?Q 954-)-BY=q>Q E= ;y]fEQ I].@-DI-;i-;-|4yeBɮm AmEi i N`LAj "j :j @Rj  MavJeM# 8@g7DBj ũYh쿦_&?n p\*j c-@2j :Zj :mI@ {<}R@Jj ut?Rx \߿r(+?j  j oKBi w)?i Yj PBj w)?j Xj rj iBzj @ addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 0.508509 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 58.446922 m, bearing: 330.616179 deg, lat: 36.779535 deg, lon: -121.859729 deg, deltaT: 0.508509 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 58.45 m.h)h)h)h)h)g)g)jg19rg5~BreQZeq:eq*e}3?[q>[q>"[ >*[WL@n) ?i9)页7.9iirlRII zAzAchecking for new query: numPingsReceived=104, elapsed TxPingTime=52.735287a5 9E  E E *E "E *E :VE (N4ZE a @a @a @a @ "@  @ @ ~0@ @ @ = DDAT read: Rx Time:01:22:39.1628  TRx dataTimestamp_ set to:1764897760.349075 PDAT read: Bearing 165.5, 23.5 (Local)  ~Local bearing/azimuth received: Bearing 165.5, 23.5 (Local)  DAT read: Range 11 to 50 : 58.8 m (trip time 39.2 ms) speed -0.3 DAT read: 01:22:39.1628 LVL= 28352, 23025, 32754, 32755, AGC= 59, IDX= 511, 0.19,-1.167, 0.119,-1.930,-0.872, PHS=-0.193, 1.036,-1.102, RAW= 355.1, 2.8, CAL= 354.7, -0.1, ROT= 155.3, 0.1 Ygot valid direction response: 01:22:39.1628 LVL= 28352, 23025, 32754, 32755, AGC= 59, IDX= 511, 0.19,-1.167, 0.119,-1.930,-0.872, PHS=-0.193, 1.036,-1.102, RAW= 355.1, 2.8, CAL= 354.7, -0.1, ROT= 155.3, 0.1 %V#Rx 105: Read range and direction messages.%`direction in FSK: [-0.908507,0.417866,-0.001745]-Fpublishing direction and range infoy  L|޻R?n p\Y 3kB n Y ) ;I ˡEi ? V DS@ +H= @ ) x-@I -5Mә"]3꿻k]2? ܎ ) ǧII x-@i Echecking for new query: numPingsReceived=105, elapsed TxPingTime=53.003639B<A<B>BBBBBBBW;B\E^A5IAIQO]?>#,}LA Ȫ6@ ^D@ gٱ =!> H6 W찿`?@ű?@+?@,?@i ? ۙ?i Ȫ6@I .]; БCYU2ByUIԩbDpVD8y*%.=ٔ)Q->9Y==Ey-<E->1Q 5545\?Q 9=45)5BY9y=DQ I=.@5–DI52:i5:54yɮ Aii?WLAjjB"jjB:j2@Rj8J޸d8@4a?BjL|޻R?n p\*jx-@2jZj k9I@ ;X4@Jj%F8?ETuh޿PG?jL jqNBi.Y?ijBj2 4?jYjBrjjBzj@ addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 0.499447 s, deltaX: 0.299999 m, approachRate: 0.600663 m/s, rangeRepo size: 4 E Added new target pos. range: 58.747047 m, bearing: 331.594682 deg, lat: 36.779536 deg, lon: -121.859728 deg, deltaT: 0.499447 s, deltaX: 0.300125 m, approachRate: 0.600915 m/s, posRepo size: 4 MDNOT Ignoring new targets: 58.75 m.hIhIhIhIhIgIgQjgQrgQreQZeY:e]`ffM@*e]@?[["[*[8aM@g) ?i]9)u7&9iiwlRIIiIchecking for new query: numPingsReceived=105, elapsed TxPingTime=53.239403  @  @ @ /0@ E  E E ,E "E :*E k:VE g4ZE BE $5#,$c:LAV#Rx 106: Read range and direction messages.^direction in FSK: [-0.905547,0.424189,0.006981]Fpublishing direction and range infoy;Dq<=ﯹ%?a|?Y p!V )<IFiA?(~@d=DS@ ;)c-@I仩:m!⿕hN꿭1 Ь? % )2fIc-@i仩Bchecking for new query: numPingsReceived=106, elapsed TxPingTime=53.567287-L7@-D@-ʆٱ- >-H@b)M?jp??-ِ??`?i-L7@I-];-͑CY6ByIi5Mb@Mb@Mb@1111 195 ףp= ?:v?y&1|?Y5Q>y5T=5`;5@5@ 5`@)5@1Y5@ae@AbDm9VDm8y}b<%}=ٔ'Q->9Y==Ey<E>Q 54eK?Q 94E)BYD>Q E;yJDQ I.@ȖDI);i;4yBɮ AEii6LAj"j:j`/@Rj؏"T^JЦ^|8@рqG??Bj;Dq<=ﯹ%?a|?*jc-@2jZjPI@3&; ɭo @Jj ?F9j޿ ?jY jMNBix#E?i`jBjx#E?j95jBrjjBzjT)@ addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 0.508829 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 58.747047 m, bearing: 331.572569 deg, lat: 36.779538 deg, lon: -121.859721 deg, deltaT: 0.508829 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.75 m.hhhhhggjgrg}BreZe:e*e?[=D>[=D>"[=*>*[=M@Uʆ)Q U\?iU9)QU 7]9iYi}tlRIIchecking for new query: numPingsReceived=106, elapsed TxPingTime=53.743210]9@ @@0@ID D E  E E -E "E :*E e:VE t4ZE a @a @a @a @ԁ ^A5 FӅI9 IQ O] >>#,KTLA2S7@2}FE@2.ٱ24!>2Hs @?`@E?؍]??`?~?i2S7@I2];2ΑCY>@By>IbDFVDFİ8yNLj=%N=ٔR$Q-R?9PYP=R=EyPV{<EV?XQ 5^4ZB?Q 9b4Z)ZBY`ybCQ Ib.@Z̖DIZ:iZ:Z4yfBɮj$ Ah~DNOT Ignoring new targets: 58.75 m.h|h|h|h|h|g|g|jgrgreZe:e *e `;?[)=DDAT read: Rx Time:01:22:40.1630 =TRx dataTimestamp_ set to:1764897761.357216MPDAT read: Bearing 161.8, 25.0 (Local) M~Local bearing/azimuth received: Bearing 161.8, 25.0 (Local) ]DAT read: Range 11 to 50 : 59.1 m (trip time 39.4 ms) speed -0.3 DAT read: 01:22:40.1630 LVL= 26848, 20609, 32754, 32755, AGC= 59, IDX= 514,-0.39, 1.021, 2.395, 0.157, 1.413, PHS=-0.290, 1.027,-1.300, RAW= 355.7, 5.6, CAL= 355.5, 4.2, ROT= 154.5, -4.2 Ygot valid direction response: 01:22:40.1630 LVL= 26848, 20609, 32754, 32755, AGC= 59, IDX= 514,-0.39, 1.021, 2.395, 0.157, 1.413, PHS=-0.290, 1.027,-1.300, RAW= 355.7, 5.6, CAL= 355.5, 4.2, ROT= 154.5, -4.2 V#Rx 107: Read range and direction messages.^direction in FSK: [-0.900161,0.429355,0.073238]Fpublishing direction and range infoy9=4B5CB1B1B5P =B52DB1B5~;B5\E[)"[)I*[-)N@].)Y ]?i]9)Y]$7e9iaiylRII=!@9 @9@=5@9@A@EzAqԩchecking for new query: numPingsReceived=107, elapsed TxPingTime=54.247082^A} I I O > >#,c nLA27@2E@2ٱ2X!>2H``g?z??Q@?`? 9qY==EyY;<E>Q 5-44?Q 9U4)BYayeCQ Im.@іDI5u">#,PLAV7@VKE@V]ٱVa!>VH`x5`P? x?`? Ӓ???iV7@IV];VБCYf>ByfII%=)%=iMb@Mb@Mb@ 9I +?+?Mb?Y9>y=<@ ~@)Y @bDVD8y<%,=ٔÛQ->9Y==EyC!<E>Q 54q'?Q 94)BY_>Q E;y}EQ I.@֖DIt2;i1;4yBɮ% AEEu EuEu)Eq"Eus:*EuAr:VEuFA4ZEqa}@a}@a@a@G/{A)>9/{AY|:AiigwLAjlB"jlB:jlҹ@Rj kJ8@=|2xʿBj C8t 7}J?QC1ml*jx-@2jd;ZjLJ@fp1";R@Jjll"h?f.yOݿ7X|A?j jeRBi=Qw?igVŜjBjjjrj'lBzjU@ addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 0.508450 s, deltaX: 0.200001 m, approachRate: 0.393354 m/s, rangeRepo size: 4  Added new target pos. range: 59.246758 m, bearing: 332.712943 deg, lat: 36.779538 deg, lon: -121.859720 deg, deltaT: 0.508450 s, deltaX: 0.199821 m, approachRate: 0.393001 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.25 m.hhhhhggjgrg+~BreZe:e *e q?[M_>[M_>"[M=*[ML@}]) =?i9)顅79iislRIIEDDAT read: Rx Time:01:22:41.1633 MTRx dataTimestamp_ set to:1764897762.366539]PDAT read: Bearing 166.9, 23.6 (Local) ]~Local bearing/azimuth received: Bearing 166.9, 23.6 (Local) mDAT read: Range 11 to 50 : 59.6 m (trip time 39.7 ms) speed -0.3 ۺ9B>BCBIB=BBBBB;B\EBBBBQ =BQ =C95DAT read: 01:22:41.1633 LVL= 27296, 23313, 32754, 32755, AGC= 58, IDX= 500,-0.08, 2.815,-2.202, 2.058, 3.111, PHS=-0.194, 1.016,-1.097, RAW= 355.2, 3.0, CAL= 354.9, 0.1, ROT= 155.1, -0.1 Ygot valid direction response: 01:22:41.1633 LVL= 27296, 23313, 32754, 32755, AGC= 58, IDX= 500,-0.08, 2.815,-2.202, 2.058, 3.111, PHS=-0.194, 1.016,-1.097, RAW= 355.2, 3.0, CAL= 354.9, 0.1, ROT= 155.1, -0.1 V#Rx 109: Read range and direction messages.@  @ @ 4@ 5^direction in FSK: [-0.907043,0.421035,0.001745]5Fpublishing direction and range infoyIM/*U~f>=?n p\?YMfnBIMjM[I I)M:IMFiMJ ?MjMa@AMPwV=M6@ M:)M?-@IM亩IIM'<==8Cq? Me )MXXIM?-@iM亩II]checking for new query: numPingsReceived=109, elapsed TxPingTime=55.073483y ^A- I9 II OU >!(>#,_)LAFwC8@F 6F@FNmٱFP !>FHf [rO?q˦??`]m? ?n?iFwC8@IF];FΑCYnEBynIbDVD8y% =%%V=ٔ%0ɺQ-->9)Y)=E=EyAM^<EM>QQ 5]4U?Q 9]4UO)UBYYye'EQ Ie.@UږDIU:iUl:U>4yiɮm Aichecking for new query: numPingsReceived=109, elapsed TxPingTime=55.255089iyi}`uLAj}/nB"j}/nB:j}b@Rj}lfhK19@=?Bj}/*U~f>=?n p\?*j}?-@2j}Zj}\b . vJ@/M ;S'-h@Jj}b!p?nl(ݿ,nԩ?j} j}SBi}^?i}Zݜj}GBj}.Y?j}Mj}GBrj}lBzj}@ addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.500873 s, deltaX: 0.299999 m, approachRate: 0.598953 m/s, rangeRepo size: 4  Added new target pos. range: 59.546276 m, bearing: 332.859549 deg, lat: 36.779540 deg, lon: -121.859713 deg, deltaT: 0.500873 s, deltaX: 0.299519 m, approachRate: 0.597993 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.55 m.hhhhhggjgrgreZe):e-M@*e-=?I[i[i"[i*[mL@}Nm) ?i9)顥78iixlRII9E EE*E"E:*Exv:VE(N4ZEBEN-U DAT read: 01:22:41.6633 LVL= 27440, 22193, 32754, 32755, AGC= 58, IDX= 500,-0.01, 2.179,-2.855, 1.423, 2.488, PHS=-0.207, 0.985,-1.110, RAW= 355.4, 3.7, CAL= 355.1, 1.1, ROT= 154.9, -1.1 ] Ygot valid direction response: 01:22:41.6633 LVL= 27440, 22193, 32754, 32755, AGC= 58, IDX= 500,-0.01, 2.179,-2.855, 1.423, 2.488, PHS=-0.207, 0.985,-1.110, RAW= 355.4, 3.7, CAL= 355.1, 1.1, ROT= 154.9, -1.1 e V#Rx 110: Read range and direction messages.e ^direction in FSK: [-0.905402,0.424121,0.019197]m Fpublishing direction and range infoyq u PAB 1$?]~?Yq q u 0ku Vq q )q Iu Siu (|?u {u (~@u A=u DS@ u nF<)u c-@Iu nFq q u v) L꿳F0y? u )u 僽Iu c-@iu nFq q  checking for new query: numPingsReceived=110, elapsed TxPingTime=55.592934) .>#,LA28@2}F@2 ٱ2 >2H`"?⎤?%? ?? ?i28@I2];0Yb6BybIiMb@Mb@Mb@ 9tV?:v?{Gzt?Y>yT=ף;@v@ `@)@Yp@bD%VD%8y-%5;=ٔU›Q-U>9YYY=]=EyYe#<Ee>aQ 5m4e ?Q 9}4e)eBY}>Q E};y}iBQ I}.@eߖDIe@;ie?;e4yBɮV AiiLAj"j:ja@Rjġ+HJr=A9@~AIJ?BjPAB 1$?]~?*jc-@2jnFZj#zb{J@: @Jjqv?C_KܿՂP?jO jSBiB@6~?ijDBj=Qw?jZݜjBrjmBzjG@E addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.507735 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 59.546276 m, bearing: 333.062349 deg, lat: 36.779543 deg, lon: -121.859712 deg, deltaT: 0.507735 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 59.55 m.hqhyhyhyhygygyjgrg}BreZe:e*e`k?[>[>"[zu>*[ҵO@ ) ?i9)P78ii-ulR))I)I1I=&?)=?checking for new query: numPingsReceived=110, elapsed TxPingTime=55.759720Am9E EE-E"E:*E n:VEt4ZEa@a@a@a@q @  @ @ @5@ e DDAT read: Rx Time:01:22:42.1633 e TRx dataTimestamp_ set to:1764897763.373062m PDAT read: Bearing 165.9, 24.5 (Local) u ~Local bearing/azimuth received: Bearing 165.9, 24.5 (Local)  DAT read: Range 11 to 50 : 59.6 m (trip time 39.7 ms) speed -0.3 ԑ  DAT read: 01:22:42.1633 LVL= 29936, 24097, 32754, 32755, AGC= 59, IDX= 501, 0.06,-3.019,-1.788, 2.503,-2.705, PHS=-0.212, 0.962,-1.119, RAW= 355.8, 4.1, CAL= 355.5, 1.8, ROT= 154.5, -1.8  Ygot valid direction response: 01:22:42.1633 LVL= 29936, 24097, 32754, 32755, AGC= 59, IDX= 501, 0.06,-3.019,-1.788, 2.503,-2.705, PHS=-0.212, 0.962,-1.119, RAW= 355.8, 4.1, CAL= 355.5, 1.8, ROT= 154.5, -1.8  V#Rx 111: Read range and direction messages. ^direction in FSK: [-0.902140,0.430299,0.031411] Fpublishing direction and range infoya e T쿺w?Iz?Ya a e te !^a a )e ;Ie Yie Ev?e d;e Y@e C=e u@ e =)e ,@Ie a a e [0b꿏ln? e  )e Ie ,@ie a a  checking for new query: numPingsReceived=111, elapsed TxPingTime=56.028065BE >BA BA BA BE Q =BE 3DBA BE ;BE \E^AIIO>~6>#,LAR8@RF@R㣼ٱR; >RH"u L?`H?@?|?b??iR8@IR];RБCxY1ByI bD%ӿVD%8ym%1=ٔQ->9Y==Eyc<E>Q 54w?Q 940)BYy BQ I.@DI;i&;4yɮy Aii?LAj"j:jV@RjXJ^9@?BjT쿺w?Iz?*j,@2jZjrJ@'s{:x=@JjE~ܖUm?[ŽPܿjVA?j^ jSBick?i^HjBjjgVŜjDBrjEnBzj@ addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.498788 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 59.545944 m, bearing: 333.027065 deg, lat: 36.779543 deg, lon: -121.859712 deg, deltaT: 0.498788 s, deltaX: -0.000332 m, approachRate: -0.000665 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.55 m.hhhhhggjgrgreZe:e*e?[ [ "[ *[ O@㣼) ?iS9)顕Ġ78iirlRII)=checking for new query: numPingsReceived=111, elapsed TxPingTime=56.263134I9) @)  @1 @5 ?5@1 EU  EU EU )EQ "EU :*EU x:VEU FA4ZEQ BEU 6JN>>#,LA>DAT read: 01:22:42.6633 LVL= 25312, 19809, 32754, 32755, AGC= 58, IDX= 501, 0.11, 2.242,-2.803, 1.472, 2.550, PHS=-0.206, 0.975,-1.122, RAW= 355.8, 3.9, CAL= 355.5, 1.5, ROT= 154.5, -1.5 BYgot valid direction response: 01:22:42.6633 LVL= 25312, 19809, 32754, 32755, AGC= 58, IDX= 501, 0.11, 2.242,-2.803, 1.472, 2.550, PHS=-0.206, 0.975,-1.122, RAW= 355.8, 3.9, CAL= 355.5, 1.5, ROT= 154.5, -1.5 FV#Rx 112: Read range and direction messages.rV9@z^direction in FSK: [-0.902276,0.430364,0.026177]zFpublishing direction and range infoyq?P!Κ?YbaM ):IRiy?'g= Pw<)IPwּRIKi꿠\? ֳ )&IiPwּrG@r{iٱr- >rHMc/Ù?۟?3?@ ? ?`?irV9@IrA];r͑CY=;By=IMchecking for new query: numPingsReceived=112, elapsed TxPingTime=56.618397 i]Mb@Mb@Mb@YYYY Y9]m?J +?y&1|?Y]>y]H=]`;]@]@ ]I@)]@YY]@bDVD8y=%=ٔMQ->9Y==Ey<E>Q 54T?Q 94)BYk>Q E;y8BQ I.@DI};iO;4y ɮ ( A ii{gLAj"j:j@RjY2 J#\9@?Bjq?P!Κ?*j2jPwּZjx J@CW7:M=@Jj+d@~?ʏ0ܿnԾL?j jTBiPe?iГjBjj^HjrjnBzjP@ addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.508254 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 59.545944 m, bearing: 333.245919 deg, lat: 36.779543 deg, lon: -121.859710 deg, deltaT: 0.508254 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.55 m.hhhhhggjgrg~BreZe:e*e??1[Ek>[Ek>"[E$>*[EO@u{i)y }?i}9)y}R7}U8iyiwlRII yAyAchecking for new query: numPingsReceived=112, elapsed TxPingTime=56.767082a .9E  E E ,E "E :*E :VE g4ZE a @a @a @a @) ԉ @  @ @ /@  DDAT read: Rx Time:01:22:43.1635  TRx dataTimestamp_ set to:1764897764.381076 PDAT read: Bearing 167.1, 24.2 (Local)  ~Local bearing/azimuth received: Bearing 167.1, 24.2 (Local)  DAT read: Range 11 to 50 : 59.9 m (trip time 39.9 ms) speed -0.3  DAT read: 01:22:43.1635 LVL= 26240, 25841, 32754, 32755, AGC= 58, IDX= 503, 0.13,-2.874,-1.637, 2.650,-2.565, PHS=-0.206, 0.973,-1.112, RAW= 355.7, 3.9, CAL= 355.4, 1.4, ROT= 154.6, -1.4  Ygot valid direction response: 01:22:43.1635 LVL= 26240, 25841, 32754, 32755, AGC= 58, IDX= 503, 0.13,-2.874,-1.637, 2.650,-2.565, PHS=-0.206, 0.973,-1.112, RAW= 355.7, 3.9, CAL= 355.4, 1.4, ROT= 154.6, -1.4 V#Rx 113: Read range and direction messages. ^direction in FSK: [-0.903066,0.428807,0.024432] Fpublishing direction and range infoy  ~ 쿟ْq?{J?Y oB f d ) I i y? V @ (~@ +<) ,@I +ȼ S{Æ=^꿌Z€4? ) I ,@i +ȼ -checking for new query: numPingsReceived=113, elapsed TxPingTime=57.039597BE>BABEIBEBBBER =BABABE;BE\EԹ^AIIO?F>#,1?LAf9@fG@fOٱfM >fH@@'?D? ?@ ???if9@If۾];fϑCYAByII%%=)%=bD5VD58yE/<%E;=ٔExQ-M>9IYI=m=EyquO<Eu>yQ 54}䒊?Q 94}1)}BYyAQ I.@}DI}6:i}:}c4y~Bɮ AE i1i5cLAj5boB"j5boB:j5v{@Rj5;KKZ9@D&e?Bj5~ 쿟ْq?{J?*j5,@2j5+ȼZj5m;J@VC:K6@Jj5QN?x|ܿJO?j5 j5iVBi5龉?i5 j5щBj5B@6~?j5j5щBrj5UoBzj5^*@e addTargetRange:: Added new target pos. range: 59.900002 m, deltaT: 0.499760 s, deltaX: 0.300003 m, approachRate: 0.600294 m/s, rangeRepo size: 4  Added new target pos. range: 59.845875 m, bearing: 333.895230 deg, lat: 36.779544 deg, lon: -121.859710 deg, deltaT: 0.499760 s, deltaX: 0.299931 m, approachRate: 0.600149 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.85 m.hhhhhggjgrgreZe:e@3M@*e`(`?[ [ "[ *[ P@O) ?i%9)AE7E,8iAiMtlRIIIIIQ@ @@05@9echecking for new query: numPingsReceived=113, elapsed TxPingTime=57.271935a^AN؅I bE [4jE [4rE/E]  E] E] +EY "E] ;*E] ҆:VE] [4ZEY BE] >Cԑ M>#,6LA6:@6 H@6ٱ6>6H CĘ?@R??@??@?i6:@I6];6ΑCYR?ByRI XZ<fDDAT read: Rx Time:01:22:43.6635 fTRx dataTimestamp_ set to:1764897764.885067nPDAT read: Bearing 167.5, 23.9 (Local) n~Local bearing/azimuth received: Bearing 167.5, 23.9 (Local) vDAT read: Range 11 to 50 : 59.9 m (trip time 39.9 ms) speed -0.3 ]DAT read: 01:22:43.6635 LVL= 25424, 20337, 32754, 32755, AGC= 57, IDX= 503, 0.16, 2.745,-2.288, 1.988, 3.060, PHS=-0.213, 0.981,-1.115, RAW= 355.4, 3.9, CAL= 355.1, 1.4, ROT= 154.9, -1.4 uYgot valid direction response: 01:22:43.6635 LVL= 25424, 20337, 32754, 32755, AGC= 57, IDX= 503, 0.16, 2.745,-2.288, 1.988, 3.060, PHS=-0.213, 0.981,-1.115, RAW= 355.4, 3.9, CAL= 355.1, 1.4, ROT= 154.9, -1.4 V#Rx 114: Read range and direction messages.^direction in FSK: [-0.905298,0.424073,0.024432]Fpublishing direction and range infoydf,dV4)?$?{J?YddfPcfqObD^VD^8d d)f9IfZif"{?fRf(~@dye%m:=yٔQ->9Y==EyfDS@ d)fc-@Idddf`f!:8ASH_9!5? f- qD<E>Q 5 4ג?Q 9 4)fÉIfc-@id)BYy?AQ I.@DI=7;i7;L4dd%checking for new query: numPingsReceived=114, elapsed TxPingTime=57.600319y1ɮ5 A1idif8LAjd"jd:jf'Ѻ@RjfDK Ha9@D&e?Bjf,dV4)?$?{J?*jfc-@2jdZjf0 !?jf jfWBife`?if:0yjfBjdjfГjdrjfoBzjfG@ addTargetRange:: Added new target pos. range: 59.900002 m, deltaT: 0.503991 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 59.845875 m, bearing: 334.494565 deg, lat: 36.779544 deg, lon: -121.859708 deg, deltaT: 0.503991 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.85 m.hhhhhggjgrgreZe:e*e @*?[i[i"[i*[mFP@})y }?i}9)顅78iiylRIIԡA@A @A@E45@A}checking for new query: numPingsReceived=114, elapsed TxPingTime=57.775162^Ae Iq I O > Eu  Eu Eu ,Eq "Eu D:*Eu ]t:VEu g4ZEq a @a @a @a @A/T>#,*QLA5]:@5mPH@54巼ٱ5>5H`@⏘??x`?(?`?চ?i5]:@I5÷];1YMDByMIiMb@Mb@Mb@ 9i|?5?{Gz?~jtx?Y>y#=;@`@ )@Y@bDVD8yO<%L=ٔQ->9Y==Ey 61<E >Q 54t̒?Q 94 )BYݲ>Q E%;y%BQ I%.@DIi ;i ;4y-|Bɮ- A-EUDNOT Ignoring new targets: 59.85 m.hQhQhQhQhQgYgYyjgrg}BreZe:e*e`H2?[eݲ>[eݲ>"[e =*[ehO@DDAT read: Rx Time:01:22:44.1637 TRx dataTimestamp_ set to:1764897765.389397PDAT read: Bearing 167.8, 23.6 (Local) ~Local bearing/azimuth received: Bearing 167.8, 23.6 (Local) DAT read: Range 11 to 50 : 60.2 m (trip time 40.1 ms) speed -0.1 DAT read: 01:22:44.1637 LVL= 32144, 27169, 32754, 32755, AGC= 58, IDX= 505, 0.13,-2.034,-0.768,-2.788,-1.712, PHS=-0.220, 0.989,-1.120, RAW= 355.2, 3.9, CAL= 354.9, 1.4, ROT= 155.1, -1.4 Ygot valid direction response: 01:22:44.1637 LVL= 32144, 27169, 32754, 32755, AGC= 58, IDX= 505, 0.13,-2.034,-0.768,-2.788,-1.712, PHS=-0.220, 0.989,-1.120, RAW= 355.2, 3.9, CAL= 354.9, 1.4, ROT= 155.1, -1.4 V#Rx 115: Read range and direction messages.^direction in FSK: [-0.906773,0.420910,0.024432]Fpublishing direction and range infoyLfI> 0?{J?YpB}!j ):IGai/}?)\a@6@ )?-@IB>BCBIBGBBP =B2DBUDB;B\Eu4巼yL<^?N4'8J? 5q )qI?-@i=checking for new query: numPingsReceived=115, elapsed TxPingTime=58.051163)1 U?i]c9)Y]>7]8iYievlRaaIaIiIuxA)uxAԱ-@) @)@-4@)@1@5=^A I I) O5 >5 checking for new query: numPingsReceived=115, elapsed TxPingTime=58.279022 )PZ>#,AkLAJ:@J"H@JٱJ >JHCwp9a?k?U? q?@(?`:?iJ:@IJ];HY^?By^I ``bDjۿVDj8yۼ%]=ٔ }Q- >9 Y==Eyx1<E>9Q 5E4=?Q 9E4=e)=BYIyMuBQ IM/@=DI=:i=:=4yQɮu AqiiXLAjpB"jpB:j1@Rj1DKP9@p1?BjLfI> 0?{J?*j?-@2jZj5Nf:K@ .29w@Jj/ًl?=(ڿ*2f"?j jYBiSk?i+mjBj龉?j jrj1pBzj&@ addTargetRange:: Added new target pos. range: 60.200001 m, deltaT: 0.504330 s, deltaX: 0.299999 m, approachRate: 0.594847 m/s, rangeRepo size: 4 5 Added new target pos. range: 60.146160 m, bearing: 335.168845 deg, lat: 36.779545 deg, lon: -121.859703 deg, deltaT: 0.504330 s, deltaX: 0.300285 m, approachRate: 0.595414 m/s, posRepo size: 4 EDNOT Ignoring new targets: 60.15 m.hIhIhIhqhqgygE EEE"E:*E:VEZEBEF87a>#,LA:t:@: H@:ٱ: >:H`~3v?rp?1?@ ??H?i:t:@I:B@^;:ёCYF@ByFIiMb@Mb@Mb@ 9Gz?+?~jth?Y>y=D;@v@ `@)@Yp@!!bD-VD-8y=;%=G=ٔ=ҺQ-E>9AYA=E=EyAM<EM>QQ 5]4U?Q 9]4U)UBY]ű>Q E];y]HBQ Ie/@UDIU;iU;U4yiɮm Aii i WyLAj "j :j @Rj Et'K^;9@4CO:?Bj Hx~(4p?Iz?*j ,@2j Zj p0)K@3Fid9oBr@Jj '|?4ۿ%֠?j % j OYBi ė?i DErj zBj e`?j :0yj rj .pBzj @ addTargetRange:: Added new target pos. range: 60.200001 m, deltaT: 0.510526 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 60.146160 m, bearing: 334.948091 deg, lat: 36.779546 deg, lon: -121.859697 deg, deltaT: 0.510526 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.15 m.hhhhhggjgrg}BreZe:e*e?checking for new query: numPingsReceived=116, elapsed TxPingTime=58.783161[ű>[ű>"[Ԉ=*[O@) ?iA9)7$A8iixlRII  ==I=)=QDzDAAE  E E -E "E :*E :VE t4ZE a%@a%@a-@a-@ԁ@ @@5@ DDAT read: Rx Time:01:22:45.1638  TRx dataTimestamp_ set to:1764897766.397492 PDAT read: Bearing 167.8, 23.0 (Local)  ~Local bearing/azimuth received: Bearing 167.8, 23.0 (Local)  DAT read: Range 11 to 50 : 60.3 m (trip time 40.2 ms) speed -0.3  DAT read: 01:22:45.1638 LVL= 32432, 27825, 32754, 32755, AGC= 54, IDX= 506, 0.14,-2.502,-1.233, 3.055,-2.160, PHS=-0.240, 0.972,-1.112, RAW= 354.6, 4.2, CAL= 354.3, 2.0, ROT= 155.7, -2.0  Ygot valid direction response: 01:22:45.1638 LVL= 32432, 27825, 32754, 32755, AGC= 54, IDX= 506, 0.14,-2.502,-1.233, 3.055,-2.160, PHS=-0.240, 0.972,-1.112, RAW= 354.6, 4.2, CAL= 354.3, 2.0, ROT= 155.7, -2.0  V#Rx 117: Read range and direction messages. ^direction in FSK: [-0.910848,0.411264,0.034899] Fpublishing direction and range infoy  sɪ%f+4%R?Xޡ?Y 3qB ~ l ) 6I ui x? V @ Q = @ 5=) '-@I 5  Hzr꿃?A! A! B- >B) B) B) B) B) B) B- c;B- \E K ) rI '-@i 5 m checking for new query: numPingsReceived=117, elapsed TxPingTime=59.059105ԩ ^A I I O >g>#,LAB;@BeI@BiżٱB !>BH @/o?D]?`R> ?? ??iB;@IB1D^;BБCYJDByNIbDVVDV8Xy^<%bI=ٔb¯Q-b>9dYd=f>Eydf#<Ej>xQ 5~4z̩?Q 94z2)zBYyBQ I/@zDIz:iz):z4y zBɮ5 A5EiaiepLAjepB"jepB:jeӻ@RjeH}lpKy;G 8@[W @Bjesɪ%f+4%R?Xޡ?*je'-@2je5ZjetK@-B#8 z@JjeZ# 7?%/ҪٿXy[?je je\BieVĤ?ie$RjeBjeė?jeDErjarje\pBzje@ addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 0.497569 s, deltaX: 0.099998 m, approachRate: 0.200974 m/s, rangeRepo size: 4  Added new target pos. range: 60.246216 m, bearing: 336.304108 deg, lat: 36.779547 deg, lon: -121.859694 deg, deltaT: 0.497569 s, deltaX: 0.100056 m, approachRate: 0.201089 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.25 m.hhhhhggjgrgreZe:e`f&N@*e ?[A[A"[A*[EP@Uiż)Q U?i] 9)Y] 7]8iYieulRaaIaI!@! @!@%/@!@)@)checking for new query: numPingsReceived=117, elapsed TxPingTime=59.287125 ^AmE EE(E"E:*E]t:VEc44ZEBE<9 = DDAT read: Rx Time:01:22:45.6638 = TRx dataTimestamp_ set to:1764897766.901138E PDAT read: Bearing 168.0, 23.9 (Local) M ~Local bearing/azimuth received: Bearing 168.0, 23.9 (Local) m>#,'ٹLA&DAT read: Range 11 to 50 : 60.3 m (trip time 40.2 ms) speed -0.3 :DAT read: 01:22:45.6638 LVL= 23104, 19185, 32162, 32755, AGC= 57, IDX= 506, 0.16, 2.983,-2.061, 2.235,-2.968, PHS=-0.230, 0.953,-1.124, RAW= 355.4, 4.5, CAL= 355.2, 2.4, ROT= 154.8, -2.4  Ygot valid direction response: 01:22:45.6638 LVL= 23104, 19185, 32162, 32755, AGC= 57, IDX= 506, 0.16, 2.983,-2.061, 2.235,-2.968, PHS=-0.230, 0.953,-1.124, RAW= 355.4, 4.5, CAL= 355.2, 2.4, ROT= 154.8, -2.4 !UV#Rx 118: Read range and direction messages.m^direction in FSK: [-0.904033,0.425406,0.041876]Fpublishing direction and range infoyquĮ͂;9? ۷p?Yqqu@ZuJu} q)u9Iukius?u;ߏu(~@u|٠=ua@ u+=)u,@Iu+qqujr]Bǎ\ ? u+ )uגIu,@iu+qqchecking for new query: numPingsReceived=118, elapsed TxPingTime=59.627514eb;@eTI@eɼٱe| >eH vhY?%?2q #?5 ? N?ߘ?ieb;@Ie];eϑCYHByII<)y-'=-<)-~@ -;@)-@)Y-z@bDVDư8y~V<%=ٔONQ->9Y=>Ey;E>Q 54?Q 94)BYg>Q E;yxAQ I/@ DIq;i;4yɮ Aiqiu?LAjq"jq:ju#@Rju w;K 9@.@BjuĮ͂;9? ۷p?*ju,@2ju+ZjuH9[K@0[B8~N@Jju+t?DS:ڿߑ~?ju juZBiu[?iu5ajuBju[?ju+mjuzBrjupBzjuF@ addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 0.503646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 60.246216 m, bearing: 335.711427 deg, lat: 36.779547 deg, lon: -121.859692 deg, deltaT: 0.503646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.25 m.hhhhhggjgrg}BreZeq:eq*e}Q?checking for new query: numPingsReceived=118, elapsed TxPingTime=59.790993[g>[g>"[Z=*[P@ɼ) z?i9) 7 Ҷ7iIiUrlRQYIYIa   E @A  @A @E 4@A ԡ G {A E P9M {AYM AD =D =E  E E -E "E ;*E ҆:VE t4ZE a @a @a @a @ ^AMIQIiOu>qu>#,$LA>;@>GI@> L̼ٱ>>>H%f?Zٗ?ԛ`?ֈ???i>;@I>];>БCYFBByFIbDR#VDRͰ8yZ%Z=ٔZQ-Z?9\Y\=^>Ey\bj<Eb?`nDDAT read: Rx Time:01:22:46.1640 rTRx dataTimestamp_ set to:1764897767.405178vPDAT read: Bearing 168.7, 24.2 (Local) v~Local bearing/azimuth received: Bearing 168.7, 24.2 (Local) ~DAT read: Range 11 to 50 : 60.6 m (trip time 40.4 ms) speed -0.3 %DAT read: 01:22:46.1640 LV, 20065, 32754, 32755, AGC= 58, IDX= 508, 0.21,-2.250,-1.013,-3.013,-1.928, PHS=-0.220, 0.960,-1.129, RAW= 355.7, 4.3, CAL= 355.5, 2.2, ROT= 154.5, -2.2 %!unknown deviceResponse_: 01:22:46.1640 LV, 20065, 32754, 32755, AGC= 58, IDX= 508, 0.21,-2.250,-1.013,-3.013,-1.928, PHS=-0.220, 0.960,-1.129, RAW= 355.7, 4.3, CAL= 355.5, 2.2, ROT= 154.5, -2.2 q %%(Communications Faulta - a - a - a - a - B1B1B5IB5LBB1B1B1B5;B5a\EBCBCBBP =BCC5U\#Rx 119: Read range message, but no direction.ilInfrBl]checking for new query: numPingsReceived=119, elapsed TxPingTime=60.059746Q 5]4bŐ?Q 9e4b#)bBYaye/AQ Ie/@bDIbʥ {>#,|LAE EE*E"E:*Ez:VE(N4ZEBE>=H@:?i?N =ٔQ->9Y=>Ey(<E>Q 54m?Q 94)BYy@Q I/@DI6:i:4yxBɮ ADNOT Ignoring new targets: 60.25 m.hhhhhggjgrgE Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeETransitioning to midcourse guidance. Received last range of 60.299999 m 29955722.666667 min ago.E1FreZe:e*e[["[*[99Q@-ϼ)) -|?i-d9)15)756i1i=tlR99I9I9@ @@@@@^A)I1IAOU>A &ς>#,T LA2FB<@24J@2qӼٱ2]>2H/? M?`IN@m;? u?c??i2FB<@I2];2͑CY>HBy>I @@iMb@Mb@Mb@ 9(\?X9v?y<t<@h@ )@Y@bDVD8y-<%-P=ٔ5+Q-5>91Y1==>Ey9= I<E=>AQ 5M4E1y?Q 9M4E)EBYMܮ>Q EU;yUkBQ IU/@EDIE5[ܮ>"[6=*[ O@ qӼ)  3?i w9)7lضiiylRII!E5 E5E5-E1"E5D:*E5҆:VE5t4ZE1a=@a=@a=@a=@I@ @@/@yB9B9B=IB=QBB9B9B9B=;B=E\E^Ao셾II O >ԡ >#,%LA:<@:WJ@:f-ؼٱ:_>:H`^?G ? ,u?@??)?i:<@I:];:БC@YFDByFIbDR VDR8yV`%ZS=ٔZQ-Z>9\Y\=^>Ey\bT<Eb>`Q 5f4b"n?Q 9j4b`)bBYhyjBQ Ij/@bDIb:ib:b)4ynvBɮr ArEqLzzAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF Uninitialize.qG G G  ZTransitioning guidance mode to: UNINITIALIZED i ?  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D% %=E-  E- E) E) "E- ;*E- $:VE) ZE) a5 @a5 @a5 @a5 @Y B} >By B} !IB} `BBy By By B} `;B} \E7?#,uLA2jD@2>]R@2cٱ2F>2H 9 ?dO?@¿`E@?@%3?SR?M?i2jD@I2];0Y:CBy:Ii%Mb@Mb@Mb@!!!! !9%T㥛 ?:v?Y%?y%%T<%@%h@ %Q@)%~@!Y%@9bDE%VDEϰ8yU<%UO=ٔU8Q-U>9YYY=]>Ey]{De`<Ee>iQ 5u4m?Q 9u4m|)mBYu?Q Eu:y}@Q I}/@mDImi ;im~ ;m4yɮ AB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢo<) >i)8;itxɧ|@^J>i9I9 9I9iԑu!@q @q@u05@qA I I O >bE(N4jEOS4rEuf0E=  E= E= *E9 "E= ;*E= xv:VE= (N4ZE9 BE= D2H ?@Y?@ÿ`:?@?@jp??i2D@I2];0Y:BBy:IbDF?VDF8yJP^%JW=ٔNCQ-N>9PYP=R>EyRDR<EV>TQ 5Z4V?Q 9Z4V;)VBY\y^?Q I^/@VDIV#;iV;V4ybcBɮf AfEftftftgtftftrfxexrexZex:ex*e|%Bɢ%<)! -f>i))-+G;))i-5#uɧ5^@5S>ԙi5I I59Ul; @ @@/@AxAzAwAAI!IaO=> D?#,-LA6UgE@6YS@6#g&ٱ6U>6H`2 ??!yĿ-H?`mˤ?@k??i6UgE@I6گ];6БCYB99Y9=E>EyEDE<EE>IQ 5U4M?Q 9U4M )MBY]?Q E]:y]Z?Q I]/@MDIMi ;iM ;M 4yaɮe8 AifffgffrfereZe:e1*e9颅BɢY<) >i)#aX;顉iqɧL@駵]^>i^|I^| ^|IE EE)E"E:*E1:VEFA4ZEa@a@a@a@!B->B)B)B)B)B)B)B-f;B-\E4|EI @  @ @ 4@ y A I I O >J?#,-LABE@BS@B:,ٱBd >BHP?@? ]}ſ `? B???iBE@IB?];@YJ4ByJIbDV<VDV8y^(%^R=ٔ^'Q-^>9`Y`=b>EybDfW<Ef>hQ 5j4jߐ?Q 9n4j)jBYlyn>Q Ir/@jDIj;ij;j4yvbBɮvo AvEf f f g ffrfereZe:e*eEBɢE#<)I M>iI)Mxf;IIiMUBnɧU@]U i>i]zYYI]z ]zIaQ]U9aaaaԁE  E E ,E "E :*E xv:VE g4ZE BE N- Q?#,~FLABOtF@BfT@BFM3ٱB">BH x&?6?5ƿ`@3?g?(?`ӑ?iBOtF@IBo];BґCYJ=ByJIbDj5VDjݰ8yX$=%>=ٔcjQ->9Y=>EyD-<E>)Q 5m4-̐?Q 9m4-)-BYyN>Q I/@-DI-ƒ<Թi-<-4yaBɮ AEf1f1f1g1f9f9rf9e9re9ZeA:eA*eA颭Bɢ<) c>i)=z;id?iɧ@t>i3vI3v 3vI9@! @!@%/@!A-?A-?AiIyIO> E  E E )E "E :*E ą:VE FA4ZE a @a% @a% @a% @B! B! B% 'IB% fBB% O =B! B! B% e;B% \E9 W?#,<`LABG@BT@BU88ٱB9#>BHju=?;N?>ǿ/R? ?K??iBG@IBl];BΑCYNDByNIIP)R49QYQ=U>Ey]D]<E]>aQ 5m4eq?Q 9m4e)eBYu?Q Eu:yu>Q Iu/@eėDIe:ie:eG4yyɮ}AB*** querying acoustic contact ***iif!f!f!g!f!f!rf!e)re)Ze):e)*e)颽Bɢ<) ر>i)촅;i{Eeɧ@N>i@tI@t @tI1I5]?)5?? 9@ @@/@9IIO>i E  E E E "E ;*E :VE ZE BE 7NNH/[@u|?#?`ȿ@g#?? ^??iNqG@IN ];LYn?BynIbDz$VDzΰ8y|ż%O=ٔRDQ->9 Y = >Ey D<E>Q 5%4?Q 9%4)BY!y%>Q I%/@˗DI;i;)4y5`Bɮ5 A1fQfQfQgQfQfYrfYeYreYZea:ea*ea颍Bɢ<) :>i);顑i1eaɧg@駥>i qI q  qI9qI@I @I@M0@IIIOUu> u G ˼9 Y =Ad?#,rLA25H@2*(V@2rAٱ2%>2H`!LY??@zɿzT?|;?@??i25H@I2];2͑CYR=ByVI\iMb@Mb@Mb@ 9K?~jthQ?Y^?yDu<~@v@ I@)3@Y3@bDVD8y%>=ٔ5Q->9Y=>EyD<E>Q 54?Q 94?)BYj?Q E:yia)mH;iiim;yu]ɧu|@ut>iulmyyI}lm }lmIyDAAzD@AE EE*E"ED:*Ega:VE(N4ZEa@a@a@a@1!@ @@2@AzAxADAT read: VDAT read: Teledyne Benthos DAT-900 Series B>BBBBBBBX;B\EBCBCBēCBN =BN =C4IiIyO9>I : k?#,NLAɰp;6gH@6V@6JFٱ6&>6H;`? ?@$˿ 8?ƨ??@?i6gH@I6];6БCYN;ByRIbDZ VDZʰ8yb4f%b]=ٔb9dYd=f?EyfDj<Ej>lQ 5r4n`?Q 9r4no)nBYpyr;Q Ir/@nڗDIn;in;n#4yz_Bɮz AzEfffgffrf!e!re!Ze!:e!*e)U~Bɢ]#=)l >i)+5;iqXɧj@d">itjItj tjI xAxA9I @ @@5@IYIiOu6>E EE+E"E&:*E:VE [4ZEBEi;bH*,?І? N̿?G??`?ibbgI@Ibf];bΑCYr:ByrIbD HVD 8y='J%EB=ٔMQ-U>9aYa=m?EymĜDy<E>Q 54k?Q 94)BYQy]Y;Q I]/@DIi)ipfIpf pfIԡ9u!@q @y@}05@yII Om>D=D4=E EE*E"E:*Ek:VE(N4ZEa@a@a@a@B >B B B B B B B P;B \E .x?#,!LAY~IBy~IiMb@Mb@Mb@ 9K?:v~jt?YyT<h@ `@)I@Y@bDjVD8y=%D=ٔQ->9Y=?Ey͜DE>Q 54V?Q 94%)BY{?Q E:ywi)Ĵ;iNɧ+@U>i  c)1I5 c 5 cI9-9)@ @@3@A ?A ?IIO>Qy E  E E +E "E s:*E n:VE [4ZE BE p0jH``?b?:?οp$N? ^?t[?X?ijJ@Ij];jБCYvBByvIbD~VVD~8y 8% U=ٔbQ->9Y=?EyԜDfG=E>Q 54 C?Q 94)BYy;;Q I/@DI-:i:4ydBɮ AE:DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Dec 5 2025 01:22:58 fffgffrfereZe:e*e-hBɢ-=)) ->i))5l;11i5=&IɧE@E佣>YiM0`iiIm0` m0`IqI}Z?)}p?U9ԁ_>Ա@ @@'5@I I O > /?#,LAY~IBy~IiMb@Mb@Mb@ 9#~j?Mb/$?Y%?y<@ I@)3@YbDaVD8y-=%?=ٔQ->9Y=?EyݜDE>Q 54*-?Q 94)BY%?Q E:y:Q I/@DI:i:4ycBɮAEfffgffrfereZe):e1*e9u`BɢuA=)q }*>iy)};yyi}x Cɧ@駅l>i\I\ \ID@AzDE EE,E"E:*Ec:VEg4ZEa@a@a@a@eeB<A<B>BB.IBkBBN =BBBl;B\E!@ @@/@IIO]> 1 tX?#,)/LA:K@:Y@:Sٱ:]o.>:H ?t?\п`=`@R?6|??~?i:K@I:;];:ёCYFJByFIbDNjVDN8yVsf;%V^=ٔZQ-Z>9XY\=^?Ey^D^Ef=Eb>`Q 5f4b?Q 9j4b)bBYhyjV9Q Ij/@bDIb):ib:be&4ylɮrApfffgff rf e re Ze :e*e=ZBɢ=d{(=)A E>iA)E;AAiE'M^>ɧM@Un>iU,YQQIU,Y U,YIY9bEMřT4jEIrEM$Z/E EE+E"E;*EM:VE [4ZEBE?Ci HB?#,}yILA::L@:КZ@:]Tٱ:e,/>:H o?z~i?@Lѿ`|G???`?}?i::L@I:];:БCYFMByF IbDf[VDf8y~^<%~E=ٔ~aQ-~>9Y=?EyD<E > Q 54 ?Q 94 ^) BYy8Q I0@  DI z ;i  ; -4y-bBɮ-A-EfifqfygyffrfereZe:e*eQBɢ{!=ULDAT read: Features enabled [Bearing] ]DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP ]commRate: 600)a e>iai)ߡ;顉i Z7ɧ@駕->i\UI\U \UI &9ԑ1DDR=E EE-E"E:*E:VEt4ZEa@a@a@a@ @  @ @ @ II IY Be >Be CBe 4IBe pBBe P =Ba Ba Be ;Be \EO >Qj?#,KcLAPY UBy IiMb@Mb@Mb@ 9w/?:v~jt?Y&?yT<Q@h@ ;@)@Y@bD|VD8y=%?=ٔQ->9Y=?EyDE>Q 54쏊?Q 94/) BY'?Q E:y.9Q I0@DIS;i0;+54yɮaAUB*** querying acoustic contact ***iYiYfififigifqfqrfqeqreyZey:e*e]IBɢ]H1=)Y ]*?ia)e;aaie`! I1ɧ@駕'A>iYqQIYqQ YqQIJ9@ @!@%/@!IIOb>) E  E E )E "E :*E :VE FA4ZE BE N-2H?Z`Eҿ ?Q{?G?@z?i2N@I2];2ΑCY:^By:IbDFVDF!8yJ:<=%N_=ٔN9Q-N>9PYP=R?EyRDR{=EV>TQ 5Z4Vُ?Q 9^4V)VBY\y^7Q I^0@VDIV/;iV/;V;4y`ɮfAdftftftgtfxfxrfxexrexZe||:e*e-CBɢ-"2M=)) - ?i1)5<11i5"=,,ɧ=K@=i<>iEJ NAAIEJ N EJ NII5F9@ @@0@A?A1A؟AI)I9OER>Yԁ ]|?#,TLA6N@6*\@6Qٱ6r1>6Hr`?Qrjӿ`C ?7??@z?i6N@I6y];6͑CYBYByBIIF<)F4=i Mb@Mb@Mb@     9 Dl?S㥛Mb?Y O-?y /ݼ < $@ Q@ Q@) $@ Y G@bD%VD%78y5м%5A=ٔ5K:Q-5>9="?Y="?==?Ey=DE<EE>IQ 5U4Mv?Q 9U4M)MBYU-?Q EU:yU8Q IU0@YM$DIMx1;iM0;MB4yeaBɮmCAmEfffgffrfereZe:e*e1}:Bɢ6:=) I?i) <顁i\$$E EE+E"E:*Ei:VE [4ZEa@a@a@a@ɧX@駵 z>i JI J  JIIX?)=?X9IxA)xAB>BCB:IBuBBO =BBB};B\Eԉ!@! @!@%0@!Au.AIyIO~>Ա ?#,ZLA2O@2B]@2IOٱ23>2H4Sm?}k ,Կ X6??@N? w?i2O@I2];2БCYNbByN#IbDVVDV)8y^G=%^Q=ٔbd:Q-b>9b ?Yb ?=b?Eyb Df=Ef>hQ 5n4j?Q 9n4j)j'BYlyrJ7Q Ir0@j-DIj:ijp:jI4yv`BɮvAvEf f f gffrfereZe:e*eM3BɢMV=)I M?iI)Ui]zSFYaIezSF ezSFIaԱ9 @ @@5@E EE)E"E:*Ee:VEFA4ZEBE3 9 \?#,LA2zP@22m^@2֑Mٱ2*I5>2H2 .-?fԿ ^?w??u?i2zP@I2];0Y:]By:IbDFVDFP8yNR̼%NM=ٔNż:Q-R>9R"?YR"?=R?EyRDVp=EV>XQ 5^4ZU?Q 9^4Z)Z0BY\y^z6Q Ib0@Z5DIZD;iZa;ZP4ydɮfAdfffgffrfereZe:e*e! CupGw̿9YA)Bɢ%A=)! %?i!)E1iU]BQQIU]B ]]BIY*entering command mode-u9A!@ @@4@AzAwAqE EE+E"Ea:*Ega:VE [4ZEa@a@a@a@A) I1 IA OU >B >B B GIB BB N =B B WDB i;B \EBBBBO =BO =Cɱ5 DAT read:  &DAT read: user:1>  (setting verbose to 3ԙ /?#,fSQ@>E_@>2Jٱ>U7>>H*6?_۽տ@? N?K?`3s?i>fSQ@I>];>ΑCY^mBy^0IimMb@Mb@Mb@iiii i9mHzG?9Y=?EyD<E>Q 54v?Q 94);BY*?Q E:y6Q I0@?DI[;i[;xX4y ɮAiB*** querying acoustic contact ***iifffgffrfereZe:e*e颭!Bɢf=)@ %?i)"<顱i(0ɧM A{>i/>I/> />I 9V>i>ԙ= @9 @9@=5@9M&DAT read: user:1> UTDAT read: Verbose | 3 U set verbose to 3U6setting DatVerbose to 27440AIIO>E  E E E "E V:*E ]t:VE ZE BE 92H~Դ?@`ֿ`V[?ƨ??@p?i2)R@I2];2̑CYRjByR,IbDZVDZ8ybD%b\=ٔfY7;Q-f>9dYd=f?Eyf%Dj=Ej>lQ 5r4nk?Q 9r4n)nDBYpyv5Q Iv0@nGDIn;in :n^4yz_BɮzAzEfffg&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8ffrfereZe:e*e-Bɢ-o=)) -'?i1)5h*<1QiU)]lɧ]1A]>ie.:aaIe.: e.:IaU9 @  @ @ /@ AIIO%>] &DAT read: user:3> } TDAT read: TxPower | 8 (Max)  .set transmit power to 8 6setting local address to 11Ա ?#,rPLA2S@2q`@2Bٱ2Ǿ;>2H2|?@͗@dU׿1?xU?@~O?@m?i2S@I2];2ϑC9aYa=e?Eye.De=Em>iQ 5}4mmT?Q 9}4m=)mMBY}.0?Q E}:y}4Q I}0@mPDIm] ;im;mPf4yɮ1Af)f)f)g)f)f)rf)eQreQZeQ:eQ*eYE} E}E})Ey"E}s:*E}x:VE}FA4ZEya@a@a@a@颥Bɢq=) 3?i)=4<顩i<+nɧAP>iu6Iu6 u6IԩB>BCBSIBBBBBBB;B\E9&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11ZSetting time to: 1:23:8 And date to:12/5/2025y@ @@@A?A?AIIO > ] &DAT read: user:5> e NDAT read: Fri Dec 5, 2025 01:23:08 e fLocal DAT time set to Fri Dec 5, 2025 01:23:08 m 2Acoustic response timeoutm 6setting remote address to 8 ?#,2LAXT@b@l9ٱc>>Hi!?, ٿ | ?.??j?iT@IL];͑CYpBy4IbDVDu8y3%A=ٔ,;Q->9Y=?Ey7D=E>Q 54Y=?Q 94 )UBY!y% 3Q I-0@YDIr#<ij,WɧvA>iH32IH32 H32IE] E]E]-EY"E];*E]v:VE]t4ZEYBE]?C TDAT read: RemoteAddr | 8 .set remote address to 82Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.} Pay 9  @  @ @ /5@ a A} .AI I O >?#,]OLARDU@Rc@R95ٱRc@>RH9`+?ekٿ@ϡ@(?`V?@L?g?iRDU@IR2];RϑCi߅AI߅A&DAT read: user:7> BDAT read: Tx time:01:23:08.6966 $Ping request sent.9= ?Y= ?==?Ey=ADEo<EE>iQ 5m4m?Q 9u4m! )m\BYuY6?Q Eu:yuz3Q Iu0@meDIm:im:m w4yyɮAEfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 60.599998 m @1AereZe:e*e6@mBɢmto=)i mw@?ii)mdJi8,I8, 8,I9D=D=E EE,E"E:*ET:VEg4ZEa @a @a @a @uЉB>BB`IBBBBBB";B~\E @  @ @ 1@ E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246460I AY Iy I O >?#,8iLA 2oV@2d@20ٱ2'B>2H f?`ڿ n _.?`? ?e?i2oV@I2)];2͑CYBvByB<IbDNVDNm8yZn%Z=ٔ^!m;Q-^?9`Y`=b?EyfGDfaM=Ef?lQ 5r4n?Q 9v4n)n`BYtyv2Q Iz0@nlDInh-;in9;n|4y^BɮCA-B*** querying acoustic contact ***i)i)]PExceeded connect timeout, disconnecting.fffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e@!M6@颕Bɢܝ=) c??i)}R<顙i[/Wͼɧ"A駭<?iz)Iz) z)II9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496236q@ @@/@ԡ bE [4jEwX4rE/E  E E *E "E V:*E xv:VE (N4ZE BE 9= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748307?#, LA@NW@Ne@N*ٱNbqC>NH Ϝ?e`>ۿ]9`*?]?B? 9n"?Yn"?=r?EyrODr=Er>tQ 5z4v2?Q 9z4v)veBYxyz1Q I~0@vuDIv;ivY;v)4yeBɮAEqL~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalD%-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF--Initialize.F--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G5 5Initialize.qG5G5qE5g5h7g=h7F==Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G=EDReached init depth of 64.711044 m.jgArgEfBE$Terminal guidance.qEEGEMInitialize.MdInitializing internal variables to default values.MZTransitioning guidance mode to: UNINITIALIZED iIMDRollout timeout set to 300.00 sec.UVIIR filter is initialized with decay: 0.00.UbTransitioning guidance mode to: TERMINAL_GUIDANCE iU??UUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@] ]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA]]Uninitialize.A]A]]>Uninitialize WaypointComponent.eYreaZea:ea*ee6@颍lB*)  i)}R<顑iI9ԩ)@) @)@-/@)AyIIOi>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002757 ?#,LA2HX@2ݞf@2U%ٱ2D>2H`o?@i ~ܿf V(?`?p?`b?i2HX@I2 ];0YBByBHID\zD\Eb EbEb,E`"Eb:*Eb:VEbg4ZE`af@af@af@aj@liuMb@Mb@Mb@qqqq q9u-?&1Mbp?Yu?5?yuPu;u@u@ q)u@qYu@bDVDs8yb=%>=ٔI;Q->9Y=?EyXD=E>AAAAB>BCBfIBBBBBXDB;BZ\EQ 54q?Q 94)jBY5?Q E:y0Q I0@DI;i:4yɮ(AEhe@hhhhiggjgrg}Be!re!Ze!:e!*e%7@UBɢUER<)UMf U@9iY)]Z~R ?#,LA2ңY@2gg@24ٱ2F>2H 9h yA?[ݿ ?,?R? >?`?i2ңY@I2];0Y:By:IIbDFVDFa8yJ-;%N]=ٔNI;Q-N>9RYR=R?EyPV&=EV>XQ 5Z4Z̎?Q 9^4Z})ZnBY\y^/Q I^0@ZDIZ;iZ;Z%4ydɮfAdhthththxhxixgxgxjg|rg|e|re|Ze:e*e{7@[%5?[%5?"[%@*[%c@1ɢ5(U<)1 5;9i9)E%Richecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756343ԑ ?#,VLAFZ@Fuh@F>hٱF|N>FH/ ?/@1޿? ??`T?iFZ@IFI^;F͑CYRByRbIIbR>)b> pr<bD~VD~n8y-=%5A=ٔ=Q-E>9Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010995YQ=?Eyԙ| =E>Q 5m4?Q 94)sBYy,.Q I0@DIBCBlIBBBBBB;BT\E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260263 xr @  @ @ /@ ! I^AIIO>r?#,LA2[@2vi@2ٱ2קU>2H8f?b߿A ?Ew?~?@H?i2[@I2,^;2БCY>By>mIiMb@Mb@Mb@ 9^I +?T㥛 ~jthYX9?yD@~@ $@);@Y@bD5VD5t8yE6=%M%=ٔM:Q-M>9IYQ=U?EyQU<EU>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512593Q 54]j?Q 94])]vBY :?Q E :y  .Q I 0@]DI]; O@#,p LA6t\@6`gj@61ٱ6X>6H`v?%ڲ@8߿`"?$? ?D?i6t\@I6"P^;6͑CY^BybdIbDjVDj[8y%O=ٔ&;Q->9Y!=%?Ey!%f=E%>)Q 554-~?Q 954-!)-xBY9y=-Q I=0@-DI-7;i-;-4yEdBɮElAMEhihihihihiiqgqgqjgqrgqeyreyZey:ey*e`8@[["[*[2e@颱ɢU}<) C=i)T<项iU3iLlII91199҂G 3Կ9Y5A BDAT read: Rx Time:01:23:11.1949 TRx dataTimestamp_ set to:1764897792.317300Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027902m#@q @q@u0@q@}xA@}xAI Em  Em Em +Ei "Em V:*Em Ar:VEm [4ZEi au @au @au @au @B! A% <B5 >B1 B5 rIB5 BB1 B1 B1 B5 ;B5 [\EBCBCBBN =BN =C 4y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269008^A I I O >5@#,$LAVg]@VYk@V(ٱVYW>VH`,?@ӳaS@SD?@*?i?E?iVg]@IVU^;VΑCYbBybjI ddiMb@Mb@Mb@ 9v?#~jMbY8?y㥽@@ @)Q@Y@bDVDk8yE<%E1=ٔMQ;Q-M>9IYI=U?EyQU=EU>YQ 5e4]i?Q 9e4]m%)YYm:?Q Em:ym-Q Im0@]DI] ;i]& ;]4yqɮuBAuEhhhhhiggjgrg$~BereZe:e*e`A9@[:?[:?"[|@*[d@~Bɢ<)! %p=i!)-U<))i-0 4i5A99IAII9%@ @@3@DAT read: 01:23:11.1949 LVL= 20080, 19857, 22882, 21251, AGC= 59, IDX= 112,-0.16,-0.320,-0.108,-1.670,-0.586, PHS= 0.368, 0.523,-1.128, RAW= 25.1, 3.0, CAL= 25.3, 1.4, ROT= 124.7, -1.4 Ygot valid direction response: 01:23:11.1949 LVL= 20080, 19857, 22882, 21251, AGC= 59, IDX= 112,-0.16,-0.320,-0.108,-1.670,-0.586, PHS= 0.368, 0.523,-1.128, RAW= 25.1, 3.0, CAL= 25.3, 1.4, ROT= 124.7, -1.4 PDAT read: Bearing 194.7, 53.1 (Local) ~Local bearing/azimuth received: Bearing 194.7, 53.1 (Local) DAT read: Range 11 to 50 : 70.5 m (Round-trip 94.1 ms) speed -0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.569109,0.821899,0.024432]Fpublishing direction and range infoyimhO%6{L?{J?YmBimpNmMmbY mS)m;Imj>imT?mNbmK>mPwV=m=> m+<)mJ @Im+ȼiimu)ºb! ? mӿ)m YImJ @im+ȼii T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! ^A N؅I I O >@#,@l>LA:W^@:bJl@:(&ٱ:U,U>:HBk?@`ɑZ??p?J?i:W^@I:#^;:ϑCYDyFkIEV EVETET"EV:*EV n:VETZETBEV '9)Y)=-?Ey)- %=E5>1Q 5=45U?Q 9E45j()1YAyE,Q IE0@5DI5;i5;5}4yIɮU@AQiiO<4LAjB"jB:jX`@RjWD] D1aL@RZ?BjhO%6{L?{J?*jJ @2j+ȼZjU6^?O@G.:<(@JjFK.i?oLTؿʾ@^?j> jBixe?ij;BjjjBrj\Bzj'@ addTargetRange:: Added new target pos. range: 70.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "i*i Added new target pos. range: 70.441254 m, bearing: 337.286536 deg, lat: 36.779547 deg, lon: -121.859692 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iDNOT Ignoring new targets: 70.44 m."i*i ProNav pure pursuit: ac range: 70.441254 m, nav range: 71.181114 m, bearing: 341.929287 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 205.604335 deg, new cmd heading: 341.929287 deg. HeadingCmd: 5.967792 target range: 70.441254 and range: 70.50 m.h'@hhhhiggjgrgereZe:eQ@*eV?[ [ "[ *[  BDAT read: Tx time:01:23:12.4966 $Ping request sent.ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251335@#,KXLALVN_@VXAm@VtٱV׎O>VH!@?촿 #@[@?-?,? IT?iVN_@IV\^;V͑CYnByraIieMb@Mb@Mb@aaaa a9eOn?#~jy&1|Ye8?yae`e@e@ e@)e3@aYe@bD}VD}d8yo%C=ٔ;Q->9Y=?Ey=E>Q 54>?Q 94+)Y9?Q E:y+Q I0@ØDI:i8:̽4yɮA:iDNOT Ignoring new targets: 70.44 m."i;*i; ProNav pure pursuit: ac range: 70.441254 m, nav range: 71.398621 m, bearing: 342.099408 deg, approach rate: 0.524366 m/s, LOS rate: 0.408879 deg/s, cmd heading: 341.929297 deg, new cmd heading: 342.099408 deg. HeadingCmd: 5.970761 target range: 70.441254 and range: 70.50 m.hy@hh h h i g g jgrg ~BereZe:e*e@4:?[=9?[=9?"[=`{@*[=(^f@IɢM=<)Q <=i)V<ib5iFIy@IE EE*E"E:*Ek:VE(N4ZEa@a@a@a@BU>BQBQBQBQBQBQBU,;BU\E*@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501404^A ! I I O >@#,'.rLA|i9I9=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752954YAyE`IIM4=)M4<bD]VD]e8yF%E=ٔQ->9Y=?EyE>Q 54(?Q 94q/)YyQ I0@̘DI:i: 4y ɮ A E%B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 70.44 m."i=;*i=;M ProNav pure pursuit: ac range: 70.441254 m, nav range: 71.614883 m, bearing: 342.267054 deg, approach rate: 0.521697 m/s, LOS rate: 0.403197 deg/s, cmd heading: 342.099396 deg, new cmd heading: 342.267054 deg. UHeadingCmd: 5.973687 target range: 70.441254 and range: 70.50 m.hUr(@hQhQhQhQiYgYgYjgYrgYeareaZea:ea*ee?[["[*[额|Bɢ+<) ?=i)[W<顡i< 6i ʒIr(@I9IwA)!}-@y @@@E EE'E"E%;*Eh:VE'4ZEBEKԁ q"@#,LA=:a@=O-o@=_ٱ=4CA>=Hz2??`J? <?`=k?i=:a@I=];9YUByUmIYbDVD8yAW=%O=ٔ ;Q->9Y=?Ey1=E>Q 54|?Q 943)wBYy)Q I0@՘DI@;i;4y jBɮ ^A E:iIUDNOT Ignoring new targets: 70.44 m."i]];*i]];m ProNav pure pursuit: ac range: 70.441254 m, nav range: 71.817223 m, bearing: 342.432022 deg, approach rate: 0.497601 m/s, LOS rate: 0.404552 deg/s, cmd heading: 342.267063 deg, new cmd heading: 342.432022 deg. mHeadingCmd: 5.976566 target range: 70.441254 and range: 70.50 m.hm@@hihqhqhqiqgqgyjgyrgyeyreyZe:e*e@?[["[*[Bh@u{Bɢu<)q u̍=iy)}XBM CBI BI BI BI BI BM J;BM \E ^A9 I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508824y)@#,ڥLAԹYEByMoIa@a a@a a@a a@a bDUVDUa8ye;%e%=ٔmQ-m>9qYq=u?EyquE}>Q 54?Q 94h7)Q A+:YQ Em:yQ I0@DIctt0@#,qLA Y9y=pI AAbDUVDUf8y?#;%l=ٔQ-?9Y=?EyE?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012913Q 54%半?Q 94:)Q A :YQ E@:yQ I0@DIB.;iW?4ymBɮbAE:iDNOT Ignoring new targets: 70.44 m."i+;*i+; ProNav pure pursuit: ac range: 70.441254 m, nav range: 72.245354 m, bearing: 342.776478 deg, approach rate: 0.528189 m/s, LOS rate: 0.421691 deg/s, cmd heading: 342.634664 deg, new cmd heading: 342.776478 deg. HeadingCmd: 5.982578 target range: 70.441254 and range: 70.50 m.hHq@hhhhiggjg!rg!e!re)Ze):e)*e5G@EyBɢE8<)A E=iA)MZiE>4@ @@@a] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264838^A5 ԑ A އAI I O >-6@#,>vLA>E#d@>r@>Uɼٱ>B<>>H@?^`A!A!Ț?`*? d? s?i>E#d@I>];>ΑCYFByFIaa% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%n?:vMbpY%V.?y%Խ%%@%3@ %@)%@!Y%f@bD=VD=e8yMW=%MI=ٔM"9Ud ?YUd ?=U?EyU_D]H=E]>aQ 5m4ezЍ?Q 9m4e=)euBQ AuT:Yu\0?Q Eu:yu)Q Iu0@eDIe3;ie2;e4yɮA:iDNOT Ignoring new targets: 70.44 m.D-=D-=E= E=E=,E9"E=:*E= n:VE=g4ZE9aE@aE@aE@aE@"i-~;*iE~;u ProNav pure pursuit: ac range: 70.441254 m, nav range: 72.440895 m, bearing: 342.933507 deg, approach rate: 0.483578 m/s, LOS rate: 0.387287 deg/s, cmd heading: 342.776486 deg, new cmd heading: 342.933507 deg. }HeadingCmd: 5.985319 target range: 70.441254 and range: 70.50 m.h}@hyhyhyhyiyggBBByIBBBM =BBBu;B\Ejgrg~BereZe:e*eպ@xBɢ<<) (=i)hR\<!i%ۙ8i-T))I5@I1%09Qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517108 7@ @@@i^A ?΅ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768846A- AI9 II OU ><@#,SLABe@Bs@B>zٱB&>>BH@Y@K?$-{??0?`p?iBe@IB];BБCY|yIbDVD8y%;%-L=ٔ-QE;Q-->95 ?Y5 ?=5?Ey5fD5=E=>9Q 5E4=5?Q 9M4=A)=tBYIyM(Q IM0@q=DI=;i=O;=4yyɮAEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 70.44 m."i;*i; ProNav pure pursuit: ac range: 70.441254 m, nav range: 72.631760 m, bearing: 343.090247 deg, approach rate: 0.469246 m/s, LOS rate: 0.384336 deg/s, cmd heading: 342.933498 deg, new cmd heading: 343.090247 deg. HeadingCmd: 5.988054 target range: 70.441254 and range: 70.50 m.h$@hhhhiggjgrgereZe:e*e m@wBɢ<) 4>i)g]9ԡ39@ @@0@@%=@%=E] E]E]+EY"E];*E]h:VE] [4ZEYBE]DiuBDAT read: Rx Time:01:23:14.9972 uTRx dataTimestamp_ set to:1764897796.092755}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022113^A%  AU 2AI I O >9C@#,}=LA2|f@2t@2(dٱ2k@>2HY ?]@ևv? ̖? ? m?i2|f@I2^;2͑CY>By>IIB4>)B<bDFVDF8yN( %NS=ٔR;;Q-R>9R?YR?=R?EyRmDV>!=EV>XQ 5^4Z?Q 9^4ZE)ZrBY\yb'Q Ib0@ZDIZ:iZ:Z4yflBɮfAfE:ixzDNOT Ignoring new targets: 70.44 m."i~v;*i~v; ProNav pure pursuit: ac range: 70.441254 m, nav range: 72.814156 m, bearing: 343.243458 deg, approach rate: 0.480937 m/s, LOS rate: 0.402973 deg/s, cmd heading: 343.090237 deg, new cmd heading: 343.243458 deg. HeadingCmd: 5.990728 target range: 70.441254 and range: 70.50 m.h @hhhhiggjgrgereZe!:e!*e% @UuBɢUͬ<)Q U=iY)]sO_BCBIBBBBBYDB;B]EEu EuEu,Eq"Eu2:*Euxv:VEug4ZEqBEu+*<2Eu,*<JEu;:Eu; DAT read: 01:23:14.9972 LVL= 22880, 29217, 32754, 32755, AGC= 55, IDX= 456,-0.34, 2.555, 2.460, 1.013, 2.102, PHS= 0.555, 0.403,-1.133, RAW= 34.7, 2.2, CAL= 35.0, 0.5, ROT= 115.0, -0.5  Ygot valid direction response: 01:23:14.9972 LVL= 22880, 29217, 32754, 32755, AGC= 55, IDX= 456,-0.34, 2.555, 2.460, 1.013, 2.102, PHS= 0.555, 0.403,-1.133, RAW= 34.7, 2.2, CAL= 35.0, 0.5, ROT= 115.0, -0.5  PDAT read: Bearing 210.5, 62.6 (Local)  ~Local bearing/azimuth received: Bearing 210.5, 62.6 (Local)  DAT read: Range 11 to 50 : 72.3 m (Round-trip 96.4 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.422602,0.906273,0.008727] Fpublishing direction and range infoyq u  n=B ۿ<0?B7߁?Yu Bq u `Yu !ru  u )u 7Iu {?iu V>u %u ?Թ u nF=u a? u 5<)u t@Iu 5q q u dXҴ?(cZ׍t? u 򡾿)u iIu t@iu 5q q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A% ܏AI1 IA OM >?J@#,*LA=g@=z u@=ٱ=`C>=H i?xL3w?薕?L?)i?i=g@I="];=ΑCYByIԁiMb@Mb@Mb@ 9@5^I ?)\(:vYb0?yGὙT@ @)Y@bDVDh8y%%-=ٔ-;Q-->95?Y5?=5?Ey5wD5<E5>AQ 5E4Ez?Q 9M4EI)EmBYM2?Q EM:yM&Q IM0@EDIE:iEE:E4yQɮ]Aaii!&LAj{B"j{B:j@Rjj>"^P@fu`,?Bj n=B ۿ<0?B7߁?*jt@2j5Zj) P@cAi >:|(@JjT*?#Lڿr?je jBiʢ?i'@`jBjė?jDErjBrj$Bzjɹ@ addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 3.779627 s, deltaX: 1.800003 m, approachRate: 0.476238 m/s, rangeRepo size: 2 = Added new target pos. range: 72.241394 m, bearing: 335.024397 deg, lat: 36.779547 deg, lon: -121.859694 deg, deltaT: 3.779627 s, deltaX: 1.800140 m, approachRate: 0.476275 m/s, posRepo size: 2 :i9EDNOT Ignoring new targets: 72.24 m."iE*iAu ProNav: ac range: 72.241394 m, nav range: 73.070595 m, bearing: 343.283589 deg, approach rate: 0.000000 m/s, LOS rate: 0.402973 deg/s, cmd heading: 343.243452 deg, new cmd heading: 343.674774 deg. iu_8<}HeadingCmd: 5.998256 target range: 72.241394 and range: 72.30 m.h}@hyhhhggjgrg}BereZeԱ:e@3R@*e%?&DAT read: user:9> BDAT read: Tx time:01:23:16.2966 $Ping request sent.TR@#,ILA 27h@2 v@2Fٱ2fF>2Hh e?OĮ@Jgb? h?`? e?i27h@I2$^;2͑CY>By>IbDFVDFs8yN<%NW=ٔRDG;Q-R>9PYP=R?EyV~DV6(=EV>XQ 5^4Zy{?Q 9^4ZM)ZiBY`yb%Q Ib0@ZDIZl:iZ:Zz4ydɮfAd:iquDNOT Ignoring new targets: 72.24 m."iu0;*i}0; ProNav: ac range: 72.241394 m, nav range: 73.246986 m, bearing: 343.438199 deg, approach rate: 0.464301 m/s, LOS rate: 0.405987 deg/s, cmd heading: 343.674765 deg, new cmd heading: 343.983237 deg. i9<HeadingCmd: 6.003640 target range: 72.241394 and range: 72.30 m.h@hhhhggjgrgereZe:e*e?rBɢr3<) =i)5b<i";i/b&I@I 9AYaGm9yAMA%9yAY4A9@ @@~0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503382qԡ ^A #E  E E E "E s:*E :VE ZE a @a @a @a @B B B IB BB L =B B B ¡;B .]EB}CB}CByB}M =B}M =C}JC5A AI I) O5 >yX@#,~cLA@YBy|I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756385ieMb@Mb@Mb@aaaa a9e> ףp=?p= ףZd;OYe1?yeeje@e@ e@)e3@aYe\@bD}VD}h8yQ%/=ٔQ->9??Y??=?EyDE>Q 54c?Q 94Q)aBY5?Q E:yI'Q I0@"DI ;iG ;4yqBɮ6AE:iDNOT Ignoring new targets: 72.24 m."i;*i; ProNav: ac range: 72.241394 m, nav range: 73.472824 m, bearing: 343.625415 deg, approach rate: 0.501567 m/s, LOS rate: 0.414513 deg/s, cmd heading: 343.983244 deg, new cmd heading: 344.356519 deg. i=<HeadingCmd: 6.010155 target range: 72.241394 and range: 72.30 m.h1S@hhhhg g jg rg~BereZe:e*e`?]pBɢ]'°<)Y e=ia)eSdF^@#,k~LA(2j@2^x@2 䔼ٱ2I>2H@U ? W<`p@6%? >??_?i2j@I2d^;0Y>By>IbDJVDJe8yR=%Rd=ٔR;Q-R>9TYT=V?EyVDV=EZ> Q 54 P?Q 94 U) [BYyA%Q I0@ *DI ;i ;  4y!ɮ%A)EB*** querying acoustic contact ***iAiA:iIUDNOT Ignoring new targets: 72.24 m."i]w;*i]w;e ProNav: ac range: 72.241394 m, nav range: 73.646156 m, bearing: 343.777230 deg, approach rate: 0.469186 m/s, LOS rate: 0.409975 deg/s, cmd heading: 344.356527 deg, new cmd heading: 344.659440 deg. im;<}HeadingCmd: 6.015442 target range: 72.241394 and range: 72.30 m.h~@hhhhggjgrgereZe:e*e?E EE'E"E:*E&p:VE'4ZEBE.i)LIf<iA> A 0AI! I1 O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510878e@#,B\LA`YMByMIiMb@Mb@Mb@ 9V-?v/~jtY-?yx齙@`@ ~@)Yf@bDVDU8yԼ% )=ٔ Q- >9?Y?=@EyDE>Q 5%49?Q 9-4*Z)TBY-0?Q E-:y-*$Q I-0@5DI;i;O4y1ɮ5A9:iY]DNOT Ignoring new targets: 72.24 m."iev;*iev;u ProNav: ac range: 72.241394 m, nav range: 73.858032 m, bearing: 343.967641 deg, approach rate: 0.449691 m/s, LOS rate: 0.402971 deg/s, cmd heading: 344.659432 deg, new cmd heading: 345.039154 deg. iu^8<}HeadingCmd: 6.022069 target range: 72.241394 and range: 72.30 m.h}˴@hyhyhyhyggjgrg}BereZe:e*eck?颽mBɢ0<) r>i)Jh<iB B B B M =B B B ;B (]EU9@Q @Q@U5@Y%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763965!9 ^A} #A ڗAI I O >wGl@#,LA8YByII>)l>bD%VD%:8y==%=`=ٔ9Q-=>9E?YE?=E@EyEDAEM>IQ 5U4ME(?Q 9]4M])MNBYYyYQ I]0@M=DIMl:iMl:M4yepBɮeAmE:iDNOT Ignoring new targets: 72.24 m."ib;*ib; ProNav: ac range: 72.241394 m, nav range: 74.022530 m, bearing: 344.114218 deg, approach rate: 0.451124 m/s, LOS rate: 0.401087 deg/s, cmd heading: 345.039164 deg, new cmd heading: 345.331665 deg. i7<HeadingCmd: 6.027174 target range: 72.241394 and range: 72.30 m.h@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014818hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]`I@%kBɢ- <)) -($>i))-ej<)1i5O=i5a99I=@I9ԡ%9->i->9@ @@(2@EU EUEU.EQ"EU ;*EUą:VEUـ4ZEQBEUv.+s@#,VJLA2,m@2{@2-}ٱ2 HG>2H@bw2? `i 4>?g?@?fd?i2,m@I2];2ΑCYjByjIlbDvVDvh8y~uV%~O=ٔ;Q->9Y=@EyD =E >Q 54?Q 94a)HBYy%!Q I%0@EDI;i;4y)ɮ-A):iIUDNOT Ignoring new targets: 72.24 m."i]d;*i]d;m ProNav: ac range: 72.241394 m, nav range: 74.191353 m, bearing: 344.278683 deg, approach rate: 0.427059 m/s, LOS rate: 0.415085 deg/s, cmd heading: 345.331660 deg, new cmd heading: 345.659836 deg. im=i)*Cl<项i=iMbI @I9 9@  @ @ /@ )checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5192989^Am#AuvAzAuxABi Bi Bm IBm BBi Bi Bi Bm ;Bm ]Ey D %=D <E  E E 'E "E ;*E ]t:VE '4ZE BE A<2E A<JE ;:E ;A I I O >Vy@#,s,LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.77204374o@&}@Mdٱ1lJ>H ?XB`\{ ?`?"?@_?i74o@IS^;͑CY5B9y5IiMb@Mb@Mb@ 9V-?p= ףI +Yy9@ @)@Y@bD VD 8y% <%%9=ٔ-c;Q-->91Y1=5@Ey5D=`=E=>IQ 5U4M?Q 9]4Mf)M@BY]0?Q E]:y]v Q Ie0@MODIM1M;iML;MZ'4yiɮuAuE:iDNOT Ignoring new targets: 72.24 m."iP;*iP;5 ProNav: ac range: 72.241394 m, nav range: 74.380058 m, bearing: 344.464811 deg, approach rate: 0.421766 m/s, LOS rate: 0.414950 deg/s, cmd heading: 345.659837 deg, new cmd heading: 346.031142 deg. i5=<=HeadingCmd: 6.039383 target range: 72.241394 and range: 72.30 m.h=B@h9h9hAhAgAgAjgrg ~BereZe:e*eT @gBaɢ<)i m.>ii)mniu酾qyI}B@Iy]99@ @@/@ԑBDAT read: Rx Time:01:23:18.8002 TRx dataTimestamp_ set to:1764897799.872579checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023942 ^A A I I) O5 >Ȯ@#,LAɰbEE [4jEET4rEEf0E. E.E.+E,"E.:*E.:VE. [4ZE,a6@a6@a6@a6@>Ip@><~@>KWٱ>iK>>Hi9?`=-9?`v?68? ^?i>Ip@I>^;>̑CYJByJIbDRVDR8Xy^M7%^S=ٔ^;Q-b>9`Y`=b@EybDf3=Ef>hQ 5n4j"?Q 9n4jj)j8BYlyn`Q Ir0@jXDIj:ij:j.4yvoBɮvAtB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 72.24 m."i;*i ;- ProNav: ac range: 72.241394 m, nav range: 74.540504 m, bearing: 344.627302 deg, approach rate: 0.393999 m/s, LOS rate: 0.398163 deg/s, cmd heading: 346.031153 deg, new cmd heading: 346.355433 deg. iM+6<]HeadingCmd: 6.045043 target range: 72.241394 and range: 72.30 m.h]p@hYhYhYhYgYga}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275680jgrgereZe:e*e+C @eBɢ<) .>i)(q<))i->i5s11I5p@I1 99E!99@ @@/@ ^A ?΅9  DAT read: 01:23:18.8002 LVL= 21472, 23377, 32114, 32627, AGC= 58, IDX= 445, 0.36,-3.099, 3.024, 1.564, 2.657, PHS= 0.629, 0.411,-1.138, RAW= 36.5, 1.2, CAL= 37.0, -0.5, ROT= 113.0, 0.5  Ygot valid direction response: 01:23:18.8002 LVL= 21472, 23377, 32114, 32627, AGC= 58, IDX= 445, 0.36,-3.099, 3.024, 1.564, 2.657, PHS= 0.629, 0.411,-1.138, RAW= 36.5, 1.2, CAL= 37.0, -0.5, ROT= 113.0, 0.5  PDAT read: Bearing 224.2, 63.6 (Local)  ~Local bearing/azimuth received: Bearing 224.2, 63.6 (Local)  DAT read: Range 11 to 50 : 74.6 m (Round-trip 99.5 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.390716,0.920470,-0.008727] Fpublishing direction and range infoy) - =~ٿW}t?B7߁Y- 3B) - S- Q[- r} - s)- :I- %!?i- n>- - e#?- <- MQ%? - 5)- q?I- 5<) ) - ?tpA? - )- I- q?i- 5<) )  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I9 IY O >4@#,L7LAhYUāByUIBAB>BBIBBBBBB;B]EE- E)E)E)"E-D:*E)VE)ZE)BE-29Y=@EyDE>Q 554׌?Q 954p).BY=1?Q Ee:yeQ Ie0@cDI- MBDAT read: Tx time:01:23:20.0466 M$Ping request sent.Mi)*_t<i%?i%9`w))I-@Ia1U99@ @@@@=@p=Y ^A # checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251178ԉ A]AIaIqO?w@#,=LA:Hr@:@:~ Aٱ:I>:H`?@Z¿J^o? !? ?`?i:Hr@I:^;:ΑCYFÁByFIbDRDVDRױ8yZӻ%ZK=ٔZ_;Q-Z>9^c?Y^c?=^@Ey^ǝDb=Eb>dQ 5f4fČ?Q 9j4f>u)f&BYhyjQ Ij0@flDIf;if;f >4ypɮrAråE:i DNOT Ignoring new targets: 74.54 m."i <*i < ProNav: ac range: 74.539589 m, nav range: 73.633751 m, bearing: 341.277739 deg, approach rate: 0.407873 m/s, LOS rate: 0.501886 deg/s, cmd heading: 346.774988 deg, new cmd heading: 347.142521 deg. i%e<%HeadingCmd: 6.058780 target range: 74.539589 and range: 74.60 m.h%@h)h)h)h)g)g)1jg1rg9e9re9Ze9:e9*eE e?m`Bɢm<)q uD>iq)u#vԹ @#,/WLA2Ps@2@28ٱ2bI>2H@n1? \¿ΟLt?Q?@? Fa?i2Ps@I2(^;2͑CY:By>IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754563bDJ_VDJ8yR%VK=ٔVȥ:Q-V>9Z?YZ?=Z@EyZϝDZ{$=EZ>`Q 5f4b?Q 9f4by)bBYdyfQ Ij0@buDIb:ib:b'E4ylɮnAlԙ:iDNOT Ignoring new targets: 74.54 m."i;*i; ProNav: ac range: 74.539589 m, nav range: 73.779755 m, bearing: 341.462635 deg, approach rate: 0.345333 m/s, LOS rate: 0.436457 deg/s, cmd heading: 347.142534 deg, new cmd heading: 347.511589 deg. iG<HeadingCmd: 6.065221 target range: 74.539589 and range: 74.60 m.hK@hhhhgg!jg1rgQeareaZei:e*eEW?-]Bɢ-r<)) ->>i1)5wy<11i5a@i=1_99I=K@IAI P?) ^?P9I)B>BCBBBBBXDB;B]EE% E%E!E!"E% ;*E%xv:VE!ZE!BE%ZQᅜ@#,ntLAHY^ǁBy^IiEMb@Mb@Mb@AAAA A9ECl?㥛 ¿YE/?yEE̼AE`@ EI@)E3@AYEp@bD]qVD]8ym2*=%m+=ٔuQ-u>9uc?Y}c?=}@Ey}؝D}E}>Q 54?Q 94})BY3?Q E:yQ I0@DI ;i] ;M4yrBɮVA:iDNOT Ignoring new targets: 74.54 m."i<*i< ProNav: ac range: 74.539589 m, nav range: 73.960518 m, bearing: 341.681616 deg, approach rate: 0.393564 m/s, LOS rate: 0.475606 deg/s, cmd heading: 347.511583 deg, new cmd heading: 347.948464 deg. iY<HeadingCmd: 6.072846 target range: 74.539589 and range: 74.60 m.hT@hhhhggjgrg ~BereZe:e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258606*e `*(?颵[Bɢ<) X>i)r|<项i$BAi cWIT@I]9@Y @Y@]/0@YE EE%E"E:*E:VE 4ZEa@a@a@a@^AA 2? i? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5112289 Au .AIy I O >i@#,MLA2u@2Z@2[f'ٱ2SI>2H`?0¿ZO &@)P???`a?i2u@I2"];2ΑCYNȁByRIbDZtVDZ8yb;%bW=ٔb"6;Q-b>9f ?Yf ?=f@EyfDfY=Ej>hQ 5r4j?Q 9r4j)j BYpyr_Q Ir0@jDIjU;ij;j(T4yvqBɮzEAz¥E|BGA9YOA B*** querying acoustic contact ***i i :i1=DNOT Ignoring new targets: 74.54 m."i=;*i=;M ProNav: ac range: 74.539589 m, nav range: 74.097450 m, bearing: 341.858921 deg, approach rate: 0.332966 m/s, LOS rate: 0.430340 deg/s, cmd heading: 347.948469 deg, new cmd heading: 348.302419 deg. iMDi)\<iAiQI]@I 9)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763370e9@a @a@e0@iY^A FӅAA AE AABM >BI BM IBM ƁBBI BI BI BM ;BM ]EBCBBBBCʐ4ԁ E  E E (E "E :*E Ar:VE c44ZE BE .z@#, LA2fv@2A@2QKٱ2B J>2H(`+?^ÿz F?U?`?``?i2fv@I2JW^;0Y:́By>I@BAJchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014599iMb@Mb@Mb@ 9|?5^?QſX9vY2?y(v@ )I@Y@11bD=gVD=8yU<%UB=ٔ]ޙ:Q-]>9aYai=e@EymDu# =Eu>Q 5E4Gx?Q 9M4K)BYM8?Q EM:yMQ IM0@DIiA)E?A > AA II IY Om >~@#,jLA>w@>̂@>rٱ>K>>H[y?ÿ@`M`Gz?F? sH?=^?i>w@I>^;9\Y\=^@Ey^Db4=Eb>`Q 5f4bf?Q 9j4b)bBYhyjQ Ij0@bDIbU;ib@;bBb4yrpBɮrArE:i DNOT Ignoring new targets: 74.54 m."i <*i < ProNav: ac range: 74.539589 m, nav range: 74.394539 m, bearing: 342.241828 deg, approach rate: 0.392861 m/s, LOS rate: 0.513207 deg/s, cmd heading: 348.702686 deg, new cmd heading: 349.066678 deg. ij<%HeadingCmd: 6.092363 target range: 74.539589 and range: 74.60 m.h%@h!h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=`@eSBɢeZ =)i mxw>ii)m&= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770451 ꥶ@#,XLABx@B[@B ٱB%M>BHCM?[ĿTF`@???Z?iBx@IB];@YJсByJIbDVGVDVٱ8yf;%fI=ٔnN:Q-r>9tYx=z@EyzD-=E >!Q 54%T?Q 94%d)%BYygQ I0@%DI%BBBBN =BBB;BI]EZeI:ei*emԟ @E EE)E"E :*EVEFA4ZEBEU"i))-DŽ<))i5Ci=\P@#,ܺLA2y@2@2Rٱ2HN>2H/?cĿ Gf`5?EJ?`è?rY?i2y@I2c^;2БCY:ҁBy:II>>)>=TiMb@Mb@Mb@ 9ʡE?gfffffƿMbY-2?y33@I@ )h@Yp@bDYVD8y#;%!=ٔȰ:Q->9Y=@EyD=E>Q 54y>?Q 94˙)BY7?Q E:y.Q I0@DI2:i:>r4yrBɮAʥE:iDNOT Ignoring new targets: 74.54 m."i<*i<  ProNav: ac range: 74.539589 m, nav range: 74.718987 m, bearing: 342.679205 deg, approach rate: 0.393426 m/s, LOS rate: 0.528409 deg/s, cmd heading: 349.463296 deg, new cmd heading: 349.939504 deg. i q<HeadingCmd: 6.107596 target range: 74.539589 and range: 74.60 m.hnq@hhhhggjgrg ~Be!re!Ze!:e)*e- @UMBɢUM=)Q ]>>iY)]wM&M*?Ml$=M,? Md<)M?IMdIIM U?~UsڤyM? Mͦ)Mѿ$IM?iMdIIT****** received valid address query ******R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.^A#9 A I I) O5 >$@#,sLA> {@>@>$ٱ>7M>>H`zQe?_Ŀ ]?}?z?`[?i> {@I>];>ΑCYbցBybIbDjKVDjݱ8yrA<%rX=ٔv:Q-v>9tYt=v@Eyv DzC=Ez>|Q 54~.?Q 94~)~BYy Q I 0@~DI~:i~):~x4yqBɮAɥEii LAjyB"jyB:j@RjPw;ǽQ@>UQ?Bj+t׿uy ?ij]BjjjBrjBzj`}@e addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 3.778670 s, deltaX: 0.700005 m, approachRate: 0.185252 m/s, rangeRepo size: 4 u Added new target pos. range: 75.238022 m, bearing: 349.270583 deg, lat: 36.779523 deg, lon: -121.859742 deg, deltaT: 3.778670 s, deltaX: 0.698433 m, approachRate: 0.184836 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 75.24 m."i*i ProNav: ac range: 75.238022 m, nav range: 74.849884 m, bearing: 342.861061 deg, approach rate: 0.000000 m/s, LOS rate: 0.528409 deg/s, cmd heading: 349.939497 deg, new cmd heading: 350.344192 deg. iHeadingCmd: 6.114660 target range: 75.238022 and range: 75.30 m.hK@hhhhggjgrgereZe:e@3R@*e@?JBɢc=) C>i)2<iѦDi,IK@I(DAT read: user:11> BDAT read: Tx time:01:23:23.8466 $Ping request sent.BBIBˁBBBBB;Bn]E^AE-  E- E- *E) "E- :*E- :VE- (N4ZE) BE- N- @#,YO.LAn;|@n$@nԻٱnM>nH`?`Nſ@9Sq}9Y=@EyD &=E>Q 549?Q 94)BYx5?Q E:yQ I1@ÙDIo:i:܀4y1ɮ5A1uB*** querying acoustic contact ***iqiq:iDNOT Ignoring new targets: 75.24 m."i<*i< ProNav: ac range: 75.238022 m, nav range: 75.009293 m, bearing: 343.076158 deg, approach rate: 0.336334 m/s, LOS rate: 0.452865 deg/s, cmd heading: 350.344199 deg, new cmd heading: 350.773470 deg. i2O<HeadingCmd: 6.122152 target range: 75.238022 and range: 75.30 m.h@hhhhggjgrg^~BereZe:e*e ?GBɢd=) '>i)|b<irKEi$I@I ԩ9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504134]9@Y @Y@a@a@i@m=^A # bEjE-W4rEX0E5  E5 E5 /E1 "E5 :*E5 e:VE5 J4ZE1 aE @aE @aE @aE @I I O >4@#,@ILANchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888^i}@^#@^aٱ^yN>^H@O?@ٮſే`߿Lc?3w?i?Y?i^i}@I^,];^͑CYjByjI bD yVD 8y%%Z=ٔ%F:Q-%>9!Y)=-@Ey-D-I=E->1Q 5=45P ?Q 9E45v)5BYAyE^Q IE1@5˙DI5u:i5`:5i4yMoBɮMuAiȥE:iDNOT Ignoring new targets: 75.24 m."iU<*iU<- ProNav: ac range: 75.238022 m, nav range: 75.136307 m, bearing: 343.253390 deg, approach rate: 0.339746 m/s, LOS rate: 0.473271 deg/s, cmd heading: 350.773463 deg, new cmd heading: 351.127323 deg. i-X<HeadingCmd: 6.128328 target range: 75.238022 and range: 75.30 m.hC@hhhhggjgrgereZe:e*e `Qf?uCBɢuz =)q u(z>iq)}9~@#,ZcLA2J~@2D@2Xyٱ21N>2H ߿`F?ƿ c.޿?$/u??Y?i2J~@I2 ^;2ΑCBB>B@B@B@B@B@B@BB;BB{]EY~́By~ID]=D]%=qE EE+E"E:*E:VE [4ZEBEx%9Y=@Ey$D!=E>Q 54Z?Q 94)BY=) c>i)<顑iUlFԙi TI:]@I9-9@) @1@1@1 % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511484^AU N؅I I O >@#,g}LA:@:߆@:2pٱ:(ZO>:H޿`َ?^ƿ 3ݿy?.q??X?i:@I:];8YFՁByFIbDLVDLyVF=%Vr=ٔVi=;Q-V?9XYX=Z@EyZ*D^g=E^?`Q 5f4bQ苊?Q 9f4b)bBYdyfaQ If1@bޙDIb>:ib):bc4ynpBɮnAnѥE:i|DNOT Ignoring new targets: 75.24 m."iF<*i F< ProNav: ac range: 75.238022 m, nav range: 75.401810 m, bearing: 343.651422 deg, approach rate: 0.341359 m/s, LOS rate: 0.522030 deg/s, cmd heading: 351.588687 deg, new cmd heading: 351.921927 deg. in<%HeadingCmd: 6.142196 target range: 75.238022 and range: 75.30 m.h%ߌ@h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=`}?e=Bɢe)=)a m;>ii)mbyY @#,FLA2@2x@2'Tٱ2N>2H}ݿ`?nƿ`qfܿ Nc?ࡕj?? hY?i2@I2];0Y:ցBy:IIV=)V>bDZRVDZ8yb;%bH=ٔf;Q-f>9dYd=j@Eyj2Dj;=Ej>lQ 5r4n׋?Q 9r4n)nBYtyv0Q Iv1@nDIn:in>:n4yxɮzAx:i%DNOT Ignoring new targets: 75.24 m."i%v<*i%v<5 ProNav: ac range: 75.238022 m, nav range: 75.530594 m, bearing: 343.856196 deg, approach rate: 0.316064 m/s, LOS rate: 0.501703 deg/s, cmd heading: 351.921918 deg, new cmd heading: 352.330761 deg. i5e<=HeadingCmd: 6.149332 target range: 75.238022 and range: 75.30 m.h=T@hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU/@}:Bɢ}+=) >i)+<顁inGi IT@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148439uE99@! @!@-0@)iBBBBBM =BBBB|]EDyzD}AAE EE+E"E;*Ez:VE [4ZEBE@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267218Թ w@#,y LA2 @2V@2 ٱ2HM>2H jܿ?ƿ`W6ۿ@.?`Sta??Z?i2 @I2];2̑CYbρBybIiMMb@Mb@Mb@IIII I9M/$?FxɿlYM,?yMKMM@I M~@)IIYMf@bDeDVDeױ8yu%u@=ٔ};+;Q-}>9yY=@Ey;D 5=E>Q 54Ƌ?Q 94W)sBY3?Q E:ydQ I1@DI~ ;i;4yoBɮAХE:iDNOT Ignoring new targets: 75.24 m."i<*i< ProNav: ac range: 75.238022 m, nav range: 75.660599 m, bearing: 344.059037 deg, approach rate: 0.304636 m/s, LOS rate: 0.474491 deg/s, cmd heading: 352.330773 deg, new cmd heading: 352.735749 deg. iY<HeadingCmd: 6.156400 target range: 75.238022 and range: 75.30 m.h;@hhhhggjgrg8~Bere Ze:e*e%ds@ԑu6Bɢu@!=)q u>iq)}! R@#,LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708746@6f@6Hvٱ6QN>6H FOۿ Z?)ǿzڿ@^?N??@Y?i6@I68];6ʑCY^ԁBy^IbDfpVDf8yn<%rT=ٔrJ;Q-r>9tYt=v@EyvCDv!L=Ev>xQ 5~4z?Q 94z)zdBYy)Q I1@zDIz#;iz;z4y ɮ A-B*** querying acoustic contact ***i)i):iDNOT Ignoring new targets: 75.24 m."i<*i<% ProNav: ac range: 75.238022 m, nav range: 75.774048 m, bearing: 344.243120 deg, approach rate: 0.279563 m/s, LOS rate: 0.452941 deg/s, cmd heading: 352.735749 deg, new cmd heading: 353.103358 deg. i%;O<-HeadingCmd: 6.162816 target range: 75.238022 and range: 75.30 m.h-5@h)h)h)h)g)g1jgQrgQeYreYZeY:eY*e] 3@颭3Bɢ&=) >i)•< CiHi= Ie/{AyG9/{AYA  I 5@I  wA!Y@Y @Y@]0@Y@e=@e=BDAT read: Rx Time:01:23:26.3539 TRx dataTimestamp_ set to:1764897807.432470checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023794I ^AM B B B B B B B B ;B ]EBECBABABEN =BEN =CE4 A ؟AI I O% >}/@#,ۆLAE: E:E:'E8"E::*E::VE:'4ZE8BE:$52E:$5rH@4ڿD?rǿ`1@9ٿ ?!?@W?irR@Irh];rΑCY}ӁBy}I iMMb@Mb@Mb@IIII I9MS?B`"ɿˡEYM/?yMNM'M@I Mh@)M@IYM@bDuVDu8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275567ԑy&%'=ٔR;Q->9"?Y"?=@EyMD =E>Q 54E?Q 94)PBY6?Q E:yQ I1@DI<;;is:;@4ymBɮA:i DNOT Ignoring new targets: 75.24 m."i<*i<% ProNav: ac range: 75.238022 m, nav range: 75.915703 m, bearing: 344.483180 deg, approach rate: 0.301482 m/s, LOS rate: 0.509961 deg/s, cmd heading: 353.103349 deg, new cmd heading: 353.582561 deg. i-Ri<-HeadingCmd: 6.171180 target range: 75.238022 and range: 75.30 m.h-Nz@h1h1h1h1g1g1jg9rg=i~Be9re9ZeA:eA*eEk @m/Bɢuif"=)q u>iq)uL(>= x= |Z?= 5<= FF\? = )= I?I= <9 9 = x Ӯ?"G'u~? = )= 퐼I= I?i= <9 9 E T****** received valid address query ****** I I! O5 >E R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode. A#,9LAB@B4@Bzޘ:ٱBUQ>BHٿ`:?ǿ@5oWؿ $?S?@U?iB@IB];B̑CYZҁByZIbD]yVD]8y߻%V=ٔL1;Q- >9 Y = @Ey TDI=E>IQ 5}4Mᖋ?Q 94M[)M?BYyQ I1@M DIMM+@Jj}+?w{ ʿYY?j}Ԁ j}Bi}Sx?i}yj}BjyE EE+E"El;*Exv:VE [4ZEa@a@a@a@jyj}ÚBrj} Bzj}r@ addTargetRange:: Added new target pos. range: 77.300003 m, deltaT: 3.780973 s, deltaX: 2.000000 m, approachRate: 0.528964 m/s, rangeRepo size: 4 5 Added new target pos. range: 77.236626 m, bearing: 347.764292 deg, lat: 36.779523 deg, lon: -121.859742 deg, deltaT: 3.780973 s, deltaX: 1.998604 m, approachRate: 0.528595 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 77.24 m."i=*i9m ProNav: ac range: 77.236626 m, nav range: 76.023399 m, bearing: 344.673039 deg, approach rate: 0.000000 m/s, LOS rate: 0.509961 deg/s, cmd heading: 353.582556 deg, new cmd heading: 354.022602 deg. iiuHeadingCmd: 6.178860 target range: 77.236626 and range: 77.30 m.hu9@hqhqhqhqgqgyjgyrgyeyreZe:e@3SS@*e/?*Bɢ&%=) `>i) S<  i uIiqսI9@I(DAT read: user:12> BDAT read: Tx time:01:23:27.6466 $Ping request sent. A#,ΊLA66$@6@6(*;ٱ6bS>6Hֿ`??ȿ4@dֿ@U$?EeB? Q?i66$@I6];6ˑCY>ρByBIbDJVDJ8yRo%RF=ٔRc;Q-R>9TYT=V@EyV]DZ=EZ>\Q 5b4^y?Q 9b4^u)^.BY`yb- Q Ib1@^DI^:i^:^4yjnBɮjAjإE:ix~DNOT Ignoring new targets: 77.24 m."i <*i < ProNav: ac range: 77.236626 m, nav range: 76.127441 m, bearing: 344.875446 deg, approach rate: 0.289201 m/s, LOS rate: 0.561853 deg/s, cmd heading: 354.022611 deg, new cmd heading: 354.426865 deg. i<HeadingCmd: 6.185916 target range: 77.236626 and range: 77.30 m.h@hhhhgg!jg!rg!e!re!Ze):e)*e-?ԩ='Bɢm0=)q u>iy)E<顩i5Ji5ǽI@II5P?)58?B>BBIBƁBBN =BBB0;B]E9IxA)E EE*E"E:*Ei:VE(N4ZEBE6) - A#,C7LA2A@2@2_N;ٱ2xU>2H<տq?#ɿ Eտ@->?i"? AN?i2A@I2];2͑CY:ցBy:IIR<)R ףp=ʿQ롿Y-+?y-Q-\)-@ -I@)-h@)Y-@bDEVDE8yM =%UA=ٔU:Q-U>9YYY=]@Ey]eDe7=Ee>aQ 5m4ey?Q 9u4e)eBYu3?Q Eu:yu Q Iu1@e DIe:ie:e4yyɮA:iDNOT Ignoring new targets: 77.24 m."i, <*i, < ProNav: ac range: 77.236626 m, nav range: 76.233009 m, bearing: 345.083584 deg, approach rate: 0.248972 m/s, LOS rate: 0.490192 deg/s, cmd heading: 354.426876 deg, new cmd heading: 354.842566 deg. iF`<HeadingCmd: 6.193171 target range: 77.236626 and range: 77.30 m.hu.@hhhhggjgrgQ~BereZe:e*e?#Bɢ3=) >i) ]ў<  i JiYiqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753902ԱIu.@Ic:9@9 @9@= 5@AE EE/E"E:*E~:VEJ4ZEa%@a%@a%@a%@ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006300^Ae FӅI I O >9 A#,QLA2Z@2#T@2d;ٱ2U>2H gԿ ?`HɿM !)Կ9dYd=f@EyfmDjHH=Ej>lQ 5-4nl?Q 9-4n)n BY)y5l Q I51@n)DIn:in):n?4y=lBɮ=A9UB*** querying acoustic contact ***iQiQ:iamDNOT Ignoring new targets: 77.24 m."im( <*im( <} ProNav: ac range: 77.236626 m, nav range: 76.325119 m, bearing: 345.273718 deg, approach rate: 0.232647 m/s, LOS rate: 0.479652 deg/s, cmd heading: 354.842561 deg, new cmd heading: 355.222364 deg. i}t[<HeadingCmd: 6.199800 target range: 77.236626 and range: 77.30 m.hd@hhhhggjgrgereZe:e*e`?Bɢc5=) <>i)-<iFKiŪId@Il:9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2575709^Aԙ B >B B B B B B B ?;B ]EII I O >E)  E- E- )E) "E) *E- &p:VE- FA4ZE) BE- <9Y=@EyvD%E%>)Q 5-4-]?Q 954-Z)-BY55?Q E5:y5 Q I=1@-3DI- ;i-;-4yAɮEAA:iamDNOT Ignoring new targets: 77.24 m."iuf<*iuf<} ProNav: ac range: 77.236626 m, nav range: 76.436401 m, bearing: 345.494904 deg, approach rate: 0.254436 m/s, LOS rate: 0.504983 deg/s, cmd heading: 355.222375 deg, new cmd heading: 355.664094 deg. i g<HeadingCmd: 6.207510 target range: 77.236626 and range: 77.30 m.h@hhhhggjgrgI~BereZe:e*e@b?Bɢm3=)i mm>ii)uDi>}9@y @y@}/@y@@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761630 ^A} #I I O >(!A#,܄LA\j@jދ@j;ٱjU>jHT>ҿy?@*ɿ`ѿ(U? Rp=? M?ij@Ijq^;jΑCY~ԁBy~I bD gVD 8y=<%[=ٔ%:Q-%>9!Y!=-@Ey-~D-=E->1Q 5=45pQ?Q 9=45#)5BYAyE Q IE1@5;DI5^;i5:54yM`BɮM`AME:iquDNOT Ignoring new targets: 77.24 m."i}<*i}< ProNav: ac range: 77.236626 m, nav range: 76.520645 m, bearing: 345.681345 deg, approach rate: 0.226088 m/s, LOS rate: 0.499808 deg/s, cmd heading: 355.664097 deg, new cmd heading: 356.036563 deg. id<HeadingCmd: 6.214010 target range: 77.236626 and range: 77.30 m.h,@hhhhggjgrgereZe:e*e@@BbE]T4jE](N4rE]d0E EE'E"E:*Ega:VE'4ZEa%@a-@a-@a-@ɢ,@=) t>i)<顑iaLiI,@Iz:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013832=9@A @A@A@A^A ?΅A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265689A I I O >P'A#,LA274@2-@2;ٱ2R#V>2Hѿ*?ɿп$*?@Uq? tM?i274@I2];2͑CY8y:IbDFyVDF8yN[%NS=ٔNs:Q-R>9PYP=R@EyRDVP=EV>XQ 5^4ZEE?Q 9^4Z9)ZBY9y=AQ I=1@ZDDIZBCBIBBBM =BBB;B]EI额Bɢg&6=) >i)M<顡iMiMI@IE- E-E-*E)"E-;*E-[:VE-(N4ZE)BE-@=.A#,LA2Ї@2:ʎ@2b;ٱ2FU>2HNϿR?cɿ`{Ͽ2?`(r?KN?i2Ї@I2];2ΑCY:فBy>Ijchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769682i=Mb@Mb@Mb@9999 99=(\?ɿMbY=.?y=L=@9=@ 9)=@9Y=@bDQVDQye<%e*=ٔmg8Q-m>9qYq=u@EyuDu6#=E}>yQ 54},7?Q 94})}BY5?Q E:yQ I1@}ODI}&;i}%;}4yɮ+A:iDNOT Ignoring new targets: 77.24 m."i<*i< ProNav: ac range: 77.236626 m, nav range: 76.694969 m, bearing: 346.119153 deg, approach rate: 0.197953 m/s, LOS rate: 0.528125 deg/s, cmd heading: 356.424734 deg, new cmd heading: 356.911158 deg. iq<HeadingCmd: 6.229275 target range: 77.236626 and range: 77.30 m.h8V@hhhhggjgrgv~BereZe:e*e {@%Bɢ%eK=)! >i);k<i Mi \ I8V@IIO?)e?! :I@Q @Q@Q@QQ@Y@]xAE EE&E"ET;*Ec:VE4ZEa@a@a@a@߅>߅%=BDAT read: Rx Time:01:23:30.1542 TRx dataTimestamp_ set to:1764897811.213170checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023342ԁ ^Am A ԩ I I O >Fd5A#,ILA2s@2il@2;ٱ2QU>2H 8;Ϳ xx?Dɿ`n' ̿`?s?M?i2s@I2^];2͑CYR߁ByRIIV=)V4<bD^kVD^8yf<%fL=ٔf:Q-j>9hYh=j@EyjDnJ=En>pQ 5v4r+?Q 9v4rw)rBYtyv]Q Iz1@rXDIrw;ir@;r4y~]Bɮ~A|B*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 77.24 m."i-h<*i5h<= ProNav: ac range: 77.236626 m, nav range: 76.766563 m, bearing: 346.322613 deg, approach rate: 0.179102 m/s, LOS rate: 0.508502 deg/s, cmd heading: 356.911153 deg, new cmd heading: 357.317684 deg. i=hi)&<顉i/Nio?IX@I:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274662@ @@/@)B>BBBBN =BBWDB;Bt]E^AFӅDA DE <Em  Em Em )Ei "Em ;*Em k:VEm FA4ZEi BEm A<ԩ a 2Em Ap;A#,:[LA@Y]܁By]IiMb@Mb@Mb@ 9L7A`?Eȿ~jtY+'?yF@ )Y\@bD{VD 8y-x"%-*=ٔMQ-U>9QYQ=U@EyUD]E]>aQ 5m4e?Q 9m4e )eBY.?Q E:yQ I1@ebDIe6;ie:;e,4yɮAԩiQiULAjUB"jUB:jUu@RjUNl4ٿpt]S@Vf BjUp+muUQZA?GU*jUn?2jU¸2=ZjU@B%ZR@ 1lO0)@JjU ;6?)F̿? ?jU jUBiU?iUjU]BjQjUjU]BrjU^BzjU@M addTargetRange:: Added new target pos. range: 77.599998 m, deltaT: 3.778873 s, deltaX: 0.299995 m, approachRate: 0.079388 m/s, rangeRepo size: 4 ] Added new target pos. range: 77.535065 m, bearing: 347.058114 deg, lat: 36.779523 deg, lon: -121.859734 deg, deltaT: 3.778873 s, deltaX: 0.298439 m, approachRate: 0.078976 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 77.54 m."ie*ia ProNav: ac range: 77.535065 m, nav range: 76.684967 m, bearing: 347.093504 deg, approach rate: 0.000000 m/s, LOS rate: 0.508502 deg/s, cmd heading: 357.317685 deg, new cmd heading: 357.826417 deg. iHeadingCmd: 6.245249 target range: 77.535065 and range: 77.60 m.h@hhhhggjgrgr~BereZe:e`ffS@*eX4?BɢVhC=) >i) BDAT read: Tx time:01:23:31.3466 $Ping request sent.QCA#, LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252408:ױ@:"@:`;ٱ:PX>:H\ȿ?Jvʿ(j ^ǿ$? s?I?i:ױ@I:];8YBׁByBIbDN~VDN 8yRּ%VW=ٔV19Q-V>9Z ?YZ ?=Z@EyZDZ=E^>\Q 5b4^?Q 9f4^)^BYdyf*Q If1@^jDI^ ;i^ ;^4yn_Bɮn@AnE:i|DNOT Ignoring new targets: 77.54 m."i<*i< ProNav: ac range: 77.535065 m, nav range: 76.745316 m, bearing: 347.278132 deg, approach rate: 0.167924 m/s, LOS rate: 0.513338 deg/s, cmd heading: 357.826425 deg, new cmd heading: 358.195386 deg. ij<HeadingCmd: 6.251689 target range: 77.535065 and range: 77.60 m.h @h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@M?݂G zA!AU9]zAY]AuBɢuW=)q u>iq)}rXOiI @I+:9@ @@/@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504219Թ^A AI Iy I B B B IB ƁBB B B B ;B {]EBCBCBBBC241 Oe >-IA#,=(LAE EE'E"E:*E:VE'4ZEBE$5=H`ſ? ɓʿ࿇N|ſ ן?t?jI?i=U@I=(];=ˑCY]܁ByeI iiiuMb@Mb@Mb@qqqq q9uMbX9?S˿~jtYu!?yu/]qu@u@ uh@)u@qYuG@bD>VDѱ8y<%,=ٔ?9Q->9Y=@EyDZ,=E>Q 54?Q 94_)sBYA+?Q E:ymQ I1@uDI/;i.; 4y^Bɮ AE:iDNOT Ignoring new targets: 77.54 m."ij<*iji))5<11i53Pi=9YI]N@IaU:9@ @@@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016361^A Q AE ؟AIQ Ia O} >QA#,DLAj@j.@jo;ٱjY>jH`woÿ@?hʿ4!ÿ@?s`?@H?ij@Ij D^;j͑CYz݁ByzIbD $VD 8yKX;%P=ٔ%Q-%>9%"?Y%"?=%@Ey%D-F=E->1Q 5=45?Q 9=45 )5bBY9yE4Q IE1@5}DI5;i5;54yIɮMAI:iquDNOT Ignoring new targets: 77.54 m."iuA <*i}A < ProNav: ac range: 77.535065 m, nav range: 76.891060 m, bearing: 347.693938 deg, approach rate: 0.162638 m/s, LOS rate: 0.479995 deg/s, cmd heading: 358.649709 deg, new cmd heading: 359.026184 deg. i[<HeadingCmd: 6.266189 target range: 77.535065 and range: 77.60 m.h@hhhhggjgrgereZe:e*e?MBɢM:|`=)Q Ui>iQ)uk1WA#,,^LA2@2@2ȣ;ٱ2BY>2H@d?`ʿ ; y? yt?xG?i2@I2^;0Y:ہBy:IbDFVDF8yJ%%NU=ٔN9Q-N>Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5204219TYT=V@EyVžDZK=EZ>\Q 5b4^?Q 9b4^&)^QBYdyfQ If1@^DI^z;i^:^4yhɮjAhvB*** querying acoustic contact ***ixix:i|DNOT Ignoring new targets: 77.54 m."i: <*i: < ProNav: ac range: 77.535065 m, nav range: 76.949577 m, bearing: 347.879023 deg, approach rate: 0.151842 m/s, LOS rate: 0.479893 deg/s, cmd heading: 359.026189 deg, new cmd heading: 359.396071 deg. i[<HeadingCmd: 6.272645 target range: 77.535065 and range: 77.60 m.h@hhhhggjgrgereZe:e*e ?Bɢc=) >i)%xBBIBˁBBBBB ;B]Ei@q @q@u0@yEE EEEE.EA"EE:*EE:VEEـ4ZEABEE+c]A#,)xLAY By II>)i>a@a a@a a@a a@a bDVDm8yG=%8=ٔQ->9Y=@Ey˞DE>Q 54ꊊ?Q 94-)>BQ A+:YQ E:yQ I1@DI:i>4y\BɮA:i DNOT Ignoring new targets: 77.54 m."i[ <*i[ <- ProNav: ac range: 77.535065 m, nav range: 77.017738 m, bearing: 348.091121 deg, approach rate: 0.154505 m/s, LOS rate: 0.480349 deg/s, cmd heading: 359.396085 deg, new cmd heading: 359.819896 deg. i-[<5HeadingCmd: 6.280042 target range: 77.535065 and range: 77.60 m.h5@h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE`@mBɢmi=)q uL>iq)uCdA#,"LA2(ڌ@2rӓ@2eG;ٱ2oV>2H@ )?kʿ@@ NJ?(z`?fL?i2(ڌ@I2];0Y9 Y = @Ey ӞD *=E>Q 54⊊?Q 9%43)-BQ A% :Y!Q E%P:y%Q I%1@DI ;iTR?9#4y-_Bɮ5A5E:iQ]DNOT Ignoring new targets: 77.54 m."i]; <*i]; i)N<项i,RivT;IvT;I wAyA:QM9@I @I@M4@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528355^A(Ա A A ?AB- >B) B) B) B- O =B) B) Aa I B- &;B- ]EI O >EE  EE EE ,EA "EE ;*EE i:VEE g4ZEA BEE ?C^H@=6?ʿR@J}?z|:?`K?i^=@I^];^ˑCYj܁ByjIa}a} a}a} a}a} a}a} i}Mb@Mb@Mb@yyyy y9}Mb?i|?5οMbY} ?y}q}@y}@ }~@)}@yY}=@bDVDk8yƼ%<ٔ:Q->9Y=AEyܞDC=E>Q 54ي?Q 94j:)BQ AT:Y+?Q E:yQ I1@DI:i" ;*4yɮA:iDNOT Ignoring new targets: 77.54 m."i <*i <checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780434 ProNav: ac range: 77.535065 m, nav range: 77.125809 m, bearing: 348.479864 deg, approach rate: 0.137659 m/s, LOS rate: 0.482380 deg/s, cmd heading: 0.185424 deg, new cmd heading: 0.596810 deg. i%\<%HeadingCmd: 0.010416 target range: 77.535065 and range: 77.60 m.h%*<h)h)h)h)g)g1jg1rg5~Be1re9Ze9:e9*e=XU@mBɢ9k=) p>i)\<i~Si*<I*VqA#,xLAB1'@B| @B;ٱBX>BH6=?ʿ`h調m?@~6?H?iB1'@IB ];BΑCYJByJI PPbDVVDV8y^/=|%~[=ٔX:Q->9Y= AEy D Y=E >Q 54Њ?Q 94@)BY!y%#Q I%1@DI;i;V14y)ɮ-A):iQUDNOT Ignoring new targets: 77.54 m."i]f <*i]f wA#,CuLA2Ҏ@21̕@2><ٱ2MY>2H B?@ ˿&V{? G?i2Ҏ@I2];2͑CY:فBy:IZDAT read: 01:23:33.8549 LVL= 15728, 21745, 25586, 27315, AGC= 54, IDX= 441, 0.31, 0.055,-1.205,-1.753,-0.899, PHS= 1.057,-0.260,-0.898, RAW= 71.4, 1.2, CAL= 70.9, -2.1, ROT= 79.1, 2.1 ^Ygot valid direction response: 01:23:33.8549 LVL= 15728, 21745, 25586, 27315, AGC= 54, IDX= 441, 0.31, 0.055,-1.205,-1.753,-0.899, PHS= 1.057,-0.260,-0.898, RAW= 71.4, 1.2, CAL= 70.9, -2.1, ROT= 79.1, 2.1 bPDAT read: Bearing 6.0, 71.5 (Local) b~Local bearing/azimuth received: Bearing 6.0, 71.5 (Local) fDAT read: Range 11 to 50 : 78.2 m (Round-trip 104.3 ms) speed -0.1 m/s jR#Rx 1: Read range and direction messages.n^direction in FSK: [0.188968,0.981299,-0.036644]nFpublishing direction and range infoy@B9)Y1=5AEy5D5Q=E5>9AQ 5M4EȊ?Q 9M4E@G)EBYIyMpQ IU1@EDIE:iE%:E84y=]Bɮ=A=Ei@iBxLAjBDB"jBDB:jB@RjB-@P+S@wCdBjB =BDAT read: Tx time:01:23:35.1464 E$Ping request sent.E{~A#,LAYׁByIiMb@Mb@Mb@ 9rh|?`"οZd;OY?ywj<@ h@)YbDVD8yW#%+=ٔQ->9Y=AEyDE>Q 54¾?Q 94N)BY,(?Q E:yQ I1@DI:i:@4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250880yɮ2AB*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 78.13 m."i<*i< ProNav: ac range: 78.134178 m, nav range: 77.281364 m, bearing: 349.088426 deg, approach rate: 0.144752 m/s, LOS rate: 0.540868 deg/s, cmd heading: 1.423463 deg, new cmd heading: 1.872845 deg. ivwA#,LA 6%@6b@6r<ٱ6U)Z>6H-?`F? < ˿AG?`FH@^V@2? wF?i6%@I6+];4Y>āBy>IIBp=)B F%=F%=bDJ'VDJ8yR%RZ=ٔV ;Q-V>9TYT=VAEyZDZ=EZ>\Q 5b4^ŷ?Q 9b4^T)^BYdyfwQ If1@^šDI^S:i^:^cG4yj`BɮjAjE:iq}DNOT Ignoring new targets: 78.13 m."i}<*i< ProNav: ac range: 78.134178 m, nav range: 77.319748 m, bearing: 349.266952 deg, approach rate: 0.098465 m/s, LOS rate: 0.457745 deg/s, cmd heading: 1.872845 deg, new cmd heading: 2.229713 deg. inQ<HeadingCmd: 0.038916 target range: 78.134178 and range: 78.20 m.h7f=hhhhggjgrgereZe:e*e?̀Bɢ=) >i) <idVi7f= I 7f=I) :Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754745y-hpB<A<BBBBBBBB&;B]E@ @@/@ԩ E]  E] E] 'EY "E] :*E] &p:VE] '4ZEY BEY a 2EY a JE] z;a :E] z;a } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007560^A # I! I9 OE >l&A#,2LABΐ@B\Ǘ@B<ٱB^[>BH@am? vA?)˿ ?᏿ 5?eD?iBΐ@IB];@YNȁByNIi%Mb@Mb@Mb@!!!! !9%rh|?V-ͿS㥫Y!y%m%/]!! %@)%@!Y%@bD=VD=8yM<%M3=ٔM.:Q-M>9QY=AEyD2=E>Q 54󯊊?Q 94r\)BYg'?Q E:yQ I1@̚DI:i:O4y^BɮAE:i9EDNOT Ignoring new targets: 78.13 m."iE <*iE A>%pG9]MAa69YAAII)O=?#A#,YWLAB!@BP@B$&<ٱBR\>BH o? #/?`@3˿O t? bᙿkĄs\?9B?iB!@IB];@YNƁByNIbDV3VDVDZ8y^W%b=ٔbs:Q-b>9dYd=fAEyfDf=Ef>lQ 5n4nO?Q 9r4n!e)nBYpyr]Q Ir1@nךDIn>:in:nX4ytɮvAx:iDNOT Ignoring new targets: 78.13 m."i <*i <- ProNav: ac range: 78.134178 m, nav range: 77.387154 m, bearing: 349.743594 deg, approach rate: 0.056326 m/s, LOS rate: 0.479291 deg/s, cmd heading: 2.677626 deg, new cmd heading: 3.182561 deg. i-I[<5HeadingCmd: 0.055546 target range: 78.134178 and range: 78.20 m.h5ac=h1h9h9h9g9g9jg9rgAeAreAZeA:eA*eMO?Q}Bɢ}"q=)y }?iy) ^<顁iWiac=Iac=I:ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763015ԩ@ @@/5@B>BBIBBBBBBB]EBBBBBCK4D =D E  E E ,E "E :*E VE g4ZE BE a 2E a JE `;a :E a;a ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015220A%.AI)I9OM>NA#,= uLA>=В@>ə@>{P4<ٱ>[>>H?"?˿ ?@O񉆿@?C?i>=В@I>];>ˑCYF΁ByFIiMb@Mb@Mb@ 9Q?`"οA`"Y(?ywY@ h@)@Y@bD-,VD-8y==%=)=ٔE>:Q-E>9E ?YE ?=MAEyMDM4=EM>QQ 5]4U{?Q 9]4Um)UpBYe(?Q Ee:yepQ Ie1@UDIUw:iU=:Uba4yiɮuAq:iDNOT Ignoring new targets: 78.13 m."i<*i< ProNav: ac range: 78.134178 m, nav range: 77.413452 m, bearing: 349.975388 deg, approach rate: 0.054298 m/s, LOS rate: 0.478416 deg/s, cmd heading: 3.182561 deg, new cmd heading: 3.645981 deg. i-Z<5HeadingCmd: 0.063634 target range: 78.134178 and range: 78.20 m.h5R=h1h1h1h1g9g9jg9rg=~BeAreAZeA:eA*eE (@颵Bɢ{=)  ?i)<项iXiR=IR=I)I5R?)5+?=:}9@y @y@}3@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267048!A ^AY A ؟AE  E E )E "E :*E x:VE FA4ZE a @a @a @a @I I O >KA#,ЎLA 2x@2q@2=<ٱ2P [>2H?@?`ʿFջ? u+?D?i2x@I2)];0YNByRIbDZWVDZ8ybl½%bS=ٔb:Q-b>9f"?Yf"?=fAEyf#DjzY=Ej>hQ 5r4jr?Q 9r4js)jZBYpyrQ Ir1@jDIj;ij;j#h4yzaBɮz0AzE B*** querying acoustic contact ***i i :ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519028DNOT Ignoring new targets: 78.13 m."i<*i< ProNav: ac range: 78.134178 m, nav range: 77.430260 m, bearing: 350.160684 deg, approach rate: 0.043456 m/s, LOS rate: 0.478973 deg/s, cmd heading: 3.645981 deg, new cmd heading: 4.016485 deg. i$[< HeadingCmd: 0.070101 target range: 78.134178 and range: 78.20 m.h =h h h h g gjgrgereZe:e*eW@MBɢM̈́=)I M?iI)U8B >B CB IB BB O =B B UDB +;B y]EA#,XLA: @:8@:`G<ٱ:L[>:H+?@?ʿWs?଩`#;? C?i: @I:^;:͑CYBByBIP ^=^=bDbVDb8yjD <%nI=ٔnx:Q-r>9tYt=vAEyv,DzUN=Ez>|Q 5 4~?Q 94~Uz)~CBY!y-1Q I-1@~DI~f;i~;~Go4yQɮ]"AaEu EuEu,Eq"Eu:*Eu]t:VEug4ZEqBEu308A#,iLAZw̔@Zś@ZbT<ٱZ:]>ZH?? ʿyX?b(h?`DA?iZw̔@IZ];Z̑CYbByfIiMMb@Mb@Mb@IIII I9M/$?Qοv/YM?yMuMxiM@MA I)IIYM@bDmVDm8y_;%*=ٔ :Q->9!Y!=-AEyU5D].=Ee>Q 54S?Q 9-4)%BY=(?Q EE:yEQ IM1@DIf A#,LA(DAT read: user:15> "BDAT read: Tx time:01:23:38.9464 "$Ping request sent.&91Y1=5AEy5?D=E=>9Q 5E4=?Q 9M4=)= BYIyIQ IU1@=DI= ;i=G;=4y]`Bɮ]A]Eii;rLAjBB"jBB:j@Rj֜ ;@]aR@YC@BjMXȜ?L? `?*jTњ?2jZj0P ѲR@(-0qf[y1@Jj`p?j'b/˿֊F^n?j  jBi"l,?ivy?jBj?jjBrjBzj@ addTargetRange:: Added new target pos. range: 78.699997 m, deltaT: 3.780442 s, deltaX: 0.500000 m, approachRate: 0.132260 m/s, rangeRepo size: 4  Added new target pos. range: 78.629723 m, bearing: 347.464839 deg, lat: 36.779521 deg, lon: -121.859734 deg, deltaT: 3.780442 s, deltaX: 0.495544 m, approachRate: 0.131081 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 78.63 m."i*i ProNav: ac range: 78.629723 m, nav range: 77.253143 m, bearing: 350.782689 deg, approach rate: 0.000000 m/s, LOS rate: 0.509096 deg/s, cmd heading: 4.887229 deg, new cmd heading: 5.305044 deg. iHeadingCmd: 0.092590 target range: 78.629723 and range: 78.70 m.h=hhhhggjgrgB>BCBIBBBU =B3DBSDB);Bk]EereZe :e ̬S@*e ?5Bɢ= Ȍ=)9 =E?i9)=F<99iE[iE=IIIM=IIAII)IE EE,E"Ea:*E|:VEg4ZE9@ @@ /@ @)@-=BE(ZA#,4LA2@2K@2>@g<ٱ2h _>2H?? ʿ`3b z?@Q|猿?`=?i2@I2q];2ˑCY:By:I <9iYi=uAEyuFDu=Eu>yQ 54}҉?Q 94}<)}BY,"?Q E:yQ I1@} DI}w:i}:}_4ycBɮhA E:iDNOT Ignoring new targets: 78.63 m."i~<*i~< ProNav: ac range: 78.629723 m, nav range: 77.261322 m, bearing: 350.959579 deg, approach rate: 0.021587 m/s, LOS rate: 0.466837 deg/s, cmd heading: 5.305044 deg, new cmd heading: 5.658781 deg. iU<HeadingCmd: 0.098764 target range: 78.629723 and range: 78.70 m.hD=hhhhggjgrg~BereZe:e*e? Bɢ%ZT=)! %B?i!)% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760282ԑ =A#,LA2ݾ@2(@2ays<ٱ2}]>2Hy?6? znʿ(@@o?Mخn`w?;@?i2ݾ@I2];2̑CYNByRIbDZVDZ8ybw<%bV=ٔb:Q-f>9f ?Yf ?=fAEyfNDj!Y=Ej>lQ 5r4nZ?Q 9r4nf)nBYpyrJ߿Q Iv1@nDInU;in:n 4yxɮzJAx B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 78.63 m."i<*i< ProNav: ac range: 78.629723 m, nav range: 77.265465 m, bearing: 351.136049 deg, approach rate: 0.010838 m/s, LOS rate: 0.461654 deg/s, cmd heading: 5.658781 deg, new cmd heading: 6.011697 deg. i8S<HeadingCmd: 0.104924 target range: 78.629723 and range: 78.70 m.hY=hhhhggjgrgereZe:e*e`?UBɢ]L=)Y ]I?iY)]'>]ieY=iiImY=IiqI}S?)}i?U :9@ @@/@ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010818BA<B>BCBrIBBBBBTDB ;BS]E^AI I! OM >E  E E *E "E a:*E :VE (N4 ZE BE a 2E a% JE ;a- :E ;a- kA#,e/LA~8e@~^@~J\<ٱ~B\>~H_?j?ʿ@@?4돿I?B?i~8e@I~x];~ΑCYByIiMb@Mb@Mb@ 9ʡE?Zd;Ͽ~jtY?y~D@ ~@)I@Yz@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262876bDVD8y Q%:=ٔ]:Q->9Y=AEyWDB==E>PExceeded connect timeout, disconnecting.Q 54҂?Q 94Q)BY?Q E:yLݿQ I1@DIG;iF;4y ɮ aA :i15DNOT Ignoring new targets: 78.63 m."i=;<*i=;i>q@q @q@}/@y@@tA! } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516426^A Q I I O >ՂA#,2HvB?`D?ɿ@|Y?DZ`G??#C?i2. @I2u];2ˑCY:By>IIBR>)B>bDFtVDF8yN ;%NY=ٔR:Q-R>9PYP=RAEyR^DV[\=EV>XQ 54Z-?Q 94ZC)ZBYyڿQ I1@Z$DIZV! % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020095ҫA#,^dLAZC@Z@Z)0<ٱZ([>ZHր??ɿ`x?]E.?C?iZC@IZ<];Z̑CYfByfIbDnkVDn8yv#+<%vE=ٔz{:Q-z>9|Y|=~AEy~gD~-G=E~>Q 5 4}?Q 9 4ҩ)BYy'ؿQ I1@,DIA;iM;4yɮDA!:iAEDNOT Ignoring new targets: 78.63 m."iM#<*iM#BCBlIBBBS =B2DBVDB;B?]EE~BɢE ]=)A Mf?iI)MR=iiiu_iTg=ITg=I vAi :EE EEEE*EA"EE;*EE&p:VEE(N4ZEABEE@A#,4-~LA6[@6gT@6<ٱ6 \>6H`? ? pɿ ?H=K?FB?i6[@I64];4LYRByRIi-Mb@Mb@Mb@)))) )9-/$?Mbп~jtY-&?y-))-A -h@)-~@)Y-p@bDE|VDE 8yU;%UD=ٔU;Q-U>9YYY=]AEy]oDeTM=Ee>iQ 5u4m{?Q 9u4m})mBYu6?Q Eu:yu^տQ I}1@m4DIm%;im&%;mѩ4ygBɮsAE:iDNOT Ignoring new targets: 78.63 m."i<*i< ProNav: ac range: 78.629723 m, nav range: 77.244873 m, bearing: 351.877482 deg, approach rate: -0.028864 m/s, LOS rate: 0.452896 deg/s, cmd heading: 7.117312 deg, new cmd heading: 7.494639 deg. i6O<HeadingCmd: 0.130806 target range: 78.629723 and range: 78.70 m.h >hhhhggjgyrg~BereZe:e*e`{-@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523655EwBɢE=)I  ?i)%=顑iU`i >I >I :9@ @@1@@ @ =E= E=E='E9"E=:*E=]t:VE='4ZE9aE@aE@aE@aE@ ҂G /{A A) - 9- /{AY- A^AE # checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774792I I O >pA#,LA4<ɰ4<|@@@<ٱ x\>H@f ?V?<ɿVbW?E'fW?`vA?i@I];ˑCYByIAAbD5wVD58yM%M.=ٔU:Q-U>9QYQ=]AEy]xD]4=E]>aQ 54ey?Q 94)e)ehBYQyUҿQ IU1@e=DIekhhhhggjgrgereZe:e*e9 @oBɢ=) "?i)=i+ai >I >IBDAT read: Rx Time:01:23:41.4556 TRx dataTimestamp_ set to:1764897822.569816checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029502-% :Y9@ @@+1@AAAAB>BCBfIBBBN =BBXDBʡ;B.]EBCBCBǕCBS =BR =CwQ6ԁ E]  E] E] *EY "E] ;*E] z:VE] (N4ZEY BE] 7N%QA#,ڷLA6U@6N@6c<ٱ6 2^>6H ?L?ȿ? V` :?[>?i6U@I6B];4YVByVIiuMb@Mb@Mb@qqqq q9uq= ףp?V-ϿI +Yu ?yu|u94quVA u~@)qqYuf@bDsVD8y<=%9=ٔ ;Q->9"?Y"?=AEyDǾ=E>ԱQ 54x?Q 94)PBY?Q E:yοQ I1@FDI:i(:4yɮ@A:iDNOT Ignoring new targets: 78.63 m."i;*i; ProNav: ac range: 78.629723 m, nav range: 77.202209 m, bearing: 352.282825 deg, approach rate: -0.055216 m/s, LOS rate: 0.440680 deg/s, cmd heading: 7.919736 deg, new cmd heading: 8.305530 deg. iI<HeadingCmd: 0.144959 target range: 78.629723 and range: 78.70 m.hp>hhhhggjgrgBereZe:e*e= @]hBɢe=)a e+?ia)e =aaimbimp>qqIup>IqIP?)Q?}R :mDAT read: 01:23:41.4556 LVL= 17808, 28401, 27858, 32675, AGC= 56, IDX= 448,-0.16, 1.038,-0.440,-0.473, 0.197, PHS= 0.943,-0.592,-0.713, RAW= 86.2, 4.6, CAL= 85.3, 1.6, ROT= 64.7, -1.6 }Ygot valid direction response: 01:23:41.4556 LVL= 17808, 28401, 27858, 32675, AGC= 56, IDX= 448,-0.16, 1.038,-0.440,-0.473, 0.197, PHS= 0.943,-0.592,-0.713, RAW= 86.2, 4.6, CAL= 85.3, 1.6, ROT= 64.7, -1.6 PDAT read: Bearing 58.9, 61.5 (Local) ~Local bearing/azimuth received: Bearing 58.9, 61.5 (Local) DAT read: Range 11 to 50 : 78.7 m (Round-trip 105.0 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.427191,0.903730,0.027922]Fpublishing direction and range infoy W?UwcG[?|p}?YEnl )8Ishq? @ @@_0@iP+6?l=⏾? <)?I伩\D?5.#m? )%I?i伩]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. ^A1 9 E}  E} E} (Ey "E} ;*E} 5:VE} c44ZEy a @a @a @a @I1 IA OM >eA#,˿LA>(DAT read: user:16> BBDAT read: Tx time:01:23:42.7464 B$Ping request sent.B=H`? Y?ȿ@T?}`?>?i=@@I=[];=͑CYMByMIbDemVDe8yE%>=ٔj:Q->9Y=AEyDCD=E>Q 54Zx?Q 94)8BYy˿Q I1@NDI;i\;R4yɮUAiQiU LAjUDB"jUDB:jUƙ@RjUcn @@Q@;@BjU W?UwcG[?|p}?*jU?2jUZjUG &S@hhhhg!g)jg)rg)e)re1Ze1:e1*e5`?}aBɢ}då=) -?i)^ =顡ibi%>I%>IA :I)59@9 @9@=2@9@A@EyAq=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252398BM >BM CBI BI BM M =BI BI BM ;BM ]E^A] FӅԡ I I O >]A#,LAE5 E5E5*E1"E5;*E5:VE5(N4ZE1BE5A]H??/ȿs`G)?&{4]?@?i]3@I]+];]ˑCYByII=)p;ԙiMb@Mb@Mb@ 9L7A`?X9vοY+?ysL@A @)@Y\@ <bDnVD8yڼ%=ٔ:Q->9Y=AEyD%=E>Q 54gx?Q 94R)BY ?Q E :y ȿQ I 1@WDI:i:L4yɮuAq:iDNOT Ignoring new targets: 78.63 m."i;*i; ProNav: ac range: 78.634590 m, nav range: 77.135574 m, bearing: 352.687592 deg, approach rate: -0.074990 m/s, LOS rate: 0.420815 deg/s, cmd heading: 8.680808 deg, new cmd heading: 9.112611 deg. i@<HeadingCmd: 0.159045 target range: 78.634590 and range: 78.70 m.h">hhhhggjgrg#Be re Ze :e *e ?}YBɢ}R0=) -?i)\=顁i ci">I">IO : @!  @! @% ?0@! = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755395^AE I I O >sB#,Ҋ LA,2UR@2K@2ƪ<ٱ2|Z>2H2?@?`6ǿ;0lY?sX'?@C?i2UR@I2];0Y>By>IbDFbVDF8yNR<%R=ٔR9Q-R?9TYT=VAEyVDVن=EV?XQ 5^4Zx?Q 9b4ZQ =btI)Z BY`yb2ƿQ Ib2@Z]DIZ:iXZ4yfkBɮjAjE:i|~DNOT Ignoring new targets: 78.63 m."i;*i; ProNav: ac range: 78.634590 m, nav range: 77.109184 m, bearing: 352.818296 deg, approach rate: -0.089125 m/s, LOS rate: 0.441568 deg/s, cmd heading: 9.112611 deg, new cmd heading: 9.374107 deg. iJ<HeadingCmd: 0.163609 target range: 78.634590 and range: 78.70 m.h '>hhhhgg!jg!rg!e!re)Ze):e)*e-?UBɢͨ=)  2?i)A=izdi '>I '>IIE EE-E"E;*E]t:VEt4ZEa@a@a@a@Iԁ@ @@/4@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006910Ա^A #Ia Iy O > kB#,\$LAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259975N@ND@N\<ٱN +]>NH[?`2Q?ǿ`w?=0@l???iN@IN ^;N̑CYZByZI\bDfIVDf۱8ynzq%nG=ٔr;I:Q-r>9pYp=rAEyrDvF=Ev>xQ 5~4zy?Q 9~4z))zBY|yÿQ I2@zdDIzA;iz;z4y gBɮ A %B*** querying acoustic contact ***i!i!:i1=DNOT Ignoring new targets: 78.63 m."i=p;*i=p;M ProNav: ac range: 78.634590 m, nav range: 77.070312 m, bearing: 352.990176 deg, approach rate: -0.094636 m/s, LOS rate: 0.418666 deg/s, cmd heading: 9.374107 deg, new cmd heading: 9.718037 deg. iM?hQhQhQhYgYgYjgYrgYeareaZea:ea*ee?颕OBɢ=) 3?i)=顙iSei->I->IBqAu<B}>ByByByB}L =ByByB};B}\E :]>i>%9@! @)@-/@)@1@5=E EE(E"E2:*Ee:VEc44ZEBE+*9 B#,->LA2D@2@2<ٱ2^>2H`f??`sǿ`?b@?>>?i2D@I2];2͑CY:By:I @@!i5Mb@Mb@Mb@1111 195x&1?Qο ףp= Y5?y5u5Q815lA 1)11Y5Q@bDM*VDM8y]H%eB=ٔeM:Q-e>9iYi=mAEymDm{I=Em>qQ 5}4ulz?Q 94u@)uBY?Q E:yÿQ I2@ulDIuO;iu2:uD4yfBɮA:iDNOT Ignoring new targets: 78.63 m."i;*i; ProNav: ac range: 78.634590 m, nav range: 77.032509 m, bearing: 353.160208 deg, approach rate: -0.090026 m/s, LOS rate: 0.405113 deg/s, cmd heading: 9.718037 deg, new cmd heading: 10.058264 deg. iY9<HeadingCmd: 0.175550 target range: 78.634590 and range: 78.70 m.hU3>hhhhggjgrgBBereZe:e*e ga?IBɢs1=) `6?i)7=i3fi%U3>!!I-U3>I)M :checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762997I@ @@@q^AbEyjE}I4rE}7/E EE)E"ED:*E:VEFA4ZEa @a @a @a @Iq I O >ԡ E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014688B#,) XLA2sK@2D@24<ٱ2`>2HѾ?`-?Sǿ;S`=?` f?:?i2sK@I2G];2ˑCY8y:IbDJVDJ8yf\%fT=ٔjf:Q-j>9hYh=jAEyjDn_=Er>tQ 5z4v{?Q 9z4v)vBYxyzQ Iz2@vsDIv:iv:v4yɮA:i!-DNOT Ignoring new targets: 78.63 m."i-;*i-;= ProNav: ac range: 78.634590 m, nav range: 76.993919 m, bearing: 353.315946 deg, approach rate: -0.100004 m/s, LOS rate: 0.403794 deg/s, cmd heading: 10.058264 deg, new cmd heading: 10.369892 deg. iE8hIhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]-@y颍CBɢ8=) 8?i)Z=顑i giU9>IU9>Io: 9@  @ @ @ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266813^A-#B>BCBBBM =BBWDB|;B\EAa Ii I O > D %=D R=E  E E *E "E ;*E :VE (N4ZE BE !oRHI?9qY=AEyD9=E>Q 54c}?Q 94~)BYy3Q I2@{DIS;iU; 4yɮA:iDNOT Ignoring new targets: 78.63 m."i%{;*i%{;U ProNav: ac range: 78.634590 m, nav range: 76.943504 m, bearing: 353.501191 deg, approach rate: -0.107705 m/s, LOS rate: 0.396011 deg/s, cmd heading: 10.369892 deg, new cmd heading: 10.740619 deg. iU/5<]HeadingCmd: 0.187459 target range: 78.634590 and range: 78.70 m.h]L?>hYhYhYhYgagajgargaeireiZe:e*e.@IL?>I:9@9 @9@9@A1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770760^Ae Am wAzAm yAy A I I O >2#B#,iLA@Bt@B@BN<ٱB]>BH@ ?K?fƿo@?5 u?>?iBt@IB];@YNByNIi%Mb@Mb@Mb@!!!! !9%x&1?v/Ϳ~jtY!y%xi%D%;@%VA %@)!!Y!bD=VD=8yE;%MP=ٔMm:Q-M>9QYQ=UAEyUşDUZ=E]>YiE EEE"E:*Ei:VEZEa@a@a@a@Q 54]?Q 94] )]BY ?Q E :y 鸿Q I 2@]DI]hhhhggjgrg>BereZe:e*e @6Bɢb=) >?i)=ihicvE>IcvE>IEBDAT read: Rx Time:01:23:45.2553 ETRx dataTimestamp_ set to:1764897826.348660Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024002ԙi@i @i@i@i^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278428A! I) I9 OM >)B#,CLAA,A.@AB2>B2CB2`IB2BB2N =B0B0B2;B0JH@JA@J<ٱJg]>JHR?@? ƿX`?^t?`@??iJH@IJ];J̑CYZByZ}IlbDnVDn8yu%u9=ٔ}(9Q-}>9Y=AEyΟD,>=E>Q 54?Q 94c)BYyKQ I2@DI:iW:4yɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 78.63 m."i_;*i_;  ProNav: ac range: 78.634590 m, nav range: 76.831619 m, bearing: 353.830956 deg, approach rate: -0.146120 m/s, LOS rate: 0.416801 deg/s, cmd heading: 11.048599 deg, new cmd heading: 11.400624 deg. i><HeadingCmd: 0.198978 target range: 78.634590 and range: 78.70 m.hK>hhhhggjg!rg!e!re!Ze!:e)*e-`)$ @]1Bɢ]iR=)Y ]p=?iY)].=aaieiieK>iiImK>IqM: D!zD%@AE= E=E=,E9"E=2:*E=1]:VE=g4ZE9BE=+*e}? eC>)eqR?IeCaaeElF*?(yӿT6 D? eZ)e IeqR?ieCaaeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.^A FӅa AQ IY Ii O} >0B#,YLAR@R@R X<ٱRO]>RH )?$v?:ſ@?` +q? e??iR@IR];PYfByjmI9iMb@Mb@Mb@ 9RQ?X9vο)\(Y?ysGaQ@A @)Y=@bDVD8yV~%G=ٔh9(DAT read: user:17> BDAT read: Tx time:01:23:46.5463 $Ping request sent.9Y=AEy֟DhK=E>Q 54?Q 94D)fBY?Q E:yQ I2@DI8:i;4yɮAAii<LAjݜB"jݜB:j@Rj*5lJ@ܱ/(oL@!6_&@Bj!ts?q3?x0A?*jqR?2jCZji0^R@qx'(0.{F5@Jj?{LSʿpwP?j) jBil봢?iKɮjyBjؿ|?jYDJ j5BrjBzj@E addTargetRange:: Added new target pos. range: 78.500000 m, deltaT: 3.781323 s, deltaX: -0.199997 m, approachRate: -0.052891 m/s, rangeRepo size: 4 U Added new target pos. range: 78.433403 m, bearing: 347.327770 deg, lat: 36.779516 deg, lon: -121.859760 deg, deltaT: 3.781323 s, deltaX: -0.201187 m, approachRate: -0.053205 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 78.43 m."i]*iau ProNav: ac range: 78.433403 m, nav range: 76.544991 m, bearing: 352.234965 deg, approach rate: 0.000000 m/s, LOS rate: 0.416801 deg/s, cmd heading: 11.400624 deg, new cmd heading: 11.744479 deg. iq}HeadingCmd: 0.204980 target range: 78.433403 and range: 78.50 m.h};Q>hyhyhyhggjgrgRBereZe :e S@*e?]+Bɢ]=)Y ]9?ia)e[!=aaieji;Q>I;Q>Iam :Iq)q@ @@/@@=@E EEE"El;*E]t:VEZEa%@a%@a%@a%@ 9=CԑG69 Y Am checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848^A]  A I I O >g7B#,YLA>@>@>鈷<ٱ>^>>HѶ??oſ`ޣ`@,? `D?4=?i>@I>:];9\Y\=^AEy^ޟDb^=Eb>dQ 5f4f?Q 9j4f)fPBYhyjkQ In2@fDIf;if;fr 4ypɮrpAp:i DNOT Ignoring new targets: 78.43 m."i ;*i;% ProNav: ac range: 78.433403 m, nav range: 76.480469 m, bearing: 352.385236 deg, approach rate: -0.171121 m/s, LOS rate: 0.398873 deg/s, cmd heading: 11.744479 deg, new cmd heading: 12.045270 deg. i%~6<%HeadingCmd: 0.210230 target range: 78.433403 and range: 78.50 m.h-nFW>h)h)h)h)g)1g)jg9rg9e9re9Ze9:eA*eE5?m&Bɢm[=)uq uU9?iq)u#=qqi}ki}nFW>yInFW>I):%9@! @!@%0@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502982iB->B-CB-GIB-BB-P =B)B-UDB-;B-5]EBCBCBŔCBM =BM =C5ԑ^AaD =D <E  E E (E "E a:*E :VE c44ZE BE (- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757074>=B#,ڎLAY}By}ZIԑiMb@Mb@Mb@ 9-?Zd;OͿMbY?>y~j@A )@YbDVD8y-4%-5=ٔ5Q-5>95 ?Y= ?==AEy=D=E=>AQ 5M4E?Q 9U4E)E7BYUr?Q EU:yUֳQ I]2@EDIEK(;iE&;EX4yaɮeAa:iDNOT Ignoring new targets: 78.43 m."i;*i; ProNav: ac range: 78.433403 m, nav range: 76.411308 m, bearing: 352.554452 deg, approach rate: -0.152872 m/s, LOS rate: 0.374373 deg/s, cmd heading: 12.045269 deg, new cmd heading: 12.384005 deg. iI+<HeadingCmd: 0.216142 target range: 78.433403 and range: 78.50 m.h=T]>hhhhggjgrg2BereZe:e*eZ? Bɢ?ѳ=) C7?i)E&=ili=T]>I=T]>IE:9@! @!@%^0@!}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006876^A FӅ) A1 I9 II O] >_)DB#,~t LA2@2@2ؚ<ٱ2^>2HQ?_?}Ŀ@m;?T¿2 ?y E>E<E<"E>:*E>:VE<ZE9 Y = AEy D =E>Q 5%4U?Q 9%4 )#BY!y%Q I%2@DI\:i:4y1ɮ5A1:iQ]DNOT Ignoring new targets: 78.43 m."i] ;*ie ;u ProNav: ac range: 78.433403 m, nav range: 76.348251 m, bearing: 352.689947 deg, approach rate: -0.172413 m/s, LOS rate: 0.370782 deg/s, cmd heading: 12.384005 deg, new cmd heading: 12.655216 deg. iu)hyhyhyhygygyjgrgereZe:e*eE?颵Bɢ=) 8?i)(=项ikmi-b>I-b>I:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258898!@! @!@%4@!^A-A1zA5wAQA} ؟A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511617I I O >q B <A QJB#,G+ LAV@@V@Vѻ<ٱVt$`>B^>B^CB^4IB^pBB^R =B^3DB^TDB^;B^L]EVHS?@ ?XkĿ~`:?`ÿy@?n:?iV@@IV];VˑCYnBynVIIr=)rC=bDvVDvY8yһ%K=ٔ/:Q->9 "?Y "?= AEy D P=E>Q 5%4X?Q 9%4,) BY!y%嫿Q I%2@DI:i:4y)ɮ5A52EMB*** querying acoustic contact ***iIiI:iDNOT Ignoring new targets: 78.43 m."i;;*i;; ProNav: ac range: 78.433403 m, nav range: 76.275192 m, bearing: 352.838307 deg, approach rate: -0.177408 m/s, LOS rate: 0.360604 deg/s, cmd heading: 12.655216 deg, new cmd heading: 12.952217 deg. i$<HeadingCmd: 0.226059 target range: 78.433403 and range: 78.50 m.h{g>hhhhggjgrgereZe:e*e?5Bɢ5A=)9 =:?i9)=j,+=99i=\niE{g>AIIM{g>QIi quxAM@:E EEE"E:*EM:VEZEBE>yy}94y}A }@)yyY}@bDVDo8yD1%=ٔQ->9Y=AEyDE>Q 54Ә?Q 94\)BYu ?Q E:y&Q I2@DIZ:i: (4yYɮe7Aaԩ:iDNOT Ignoring new targets: 78.43 m."i;*i; ProNav: ac range: 78.433403 m, nav range: 76.177032 m, bearing: 353.036142 deg, approach rate: -0.180767 m/s, LOS rate: 0.364794 deg/s, cmd heading: 12.952217 deg, new cmd heading: 13.348390 deg. i&<HeadingCmd: 0.232973 target range: 78.433403 and range: 78.50 m.hn>hhhhggjgrgBereZe:e*ef@ Bɢ =) |8?i)\.=i=zoin>I%n>I!E EE+E"E;*E]t:VE [4ZEa@a@a@a@:߽??߽=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268024Q@Q @Q@U1@Y ^A} ) A I I O >::YB#,f LA>ߥ@>ج@>_y<ٱ>M_>>HaW?7?ÿ@Ƚ?ÿ=?@;?i>ߥ@I>];9`Y`=fAEyf Df4=Ef>hQ 5n4j?Q 9n4j)jBYpyrQ Ir2@jDIju:ij:j.4ytɮv5At:iDNOT Ignoring new targets: 78.43 m."i;*i;- ProNav: ac range: 78.433403 m, nav range: 76.097382 m, bearing: 353.180207 deg, approach rate: -0.216236 m/s, LOS rate: 0.391516 deg/s, cmd heading: 13.348390 deg, new cmd heading: 13.636819 deg. i-!3<5HeadingCmd: 0.238007 target range: 78.433403 and range: 78.50 m.h56s>h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eEV@u Bɢuxy=)q u:?iy)})0=yyi}*\pi6s>I6s>Iԉa:B >B B !IB `BB S =B B B ;B R]EԱE EEE"E:*E:VEZEBE+ aB#, LA6/+@6z$@6,<ٱ6ܜ[>6HR? j?@`R¿`F?`Ŀd ;?` B?i6/+@I6_];6̑CY>vByB<I @@tiMMb@Mb@Mb@IIII I9M-?̿Zd;OYM?>yMffMj9yYy=}AEy}D`=E>Q 54hhhhggjg rg TBe re Ze :e*eL @颽BɢƓ=) B9?i)ǖ3=i rqiy>Iy>Ij:1@1 @1@5/5@9bEjEL4rEn/E- E-E-)E)"E-:*E-&p:VE-FA4ZE)a=@a=@a=@a=@Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275447^Au ?΅q A I I O >_AgB#,an LA2ѧ@2ʮ@2<ٱ2Z>2H?@+?V@h@2?-Ŀ C ?D?i2ѧ@I2];2ˑCY:rBy:6IbDFVDFj8yNNм%N[=ٔNZ:Q-R>9PYP=RBEyRDVL^=EV>XQ 5^4Z?Q 9^4Z))ZBY\y^?Q Ib2@ZʛDIZ;iZ;Z>4ydɮfAd:itzDNOT Ignoring new targets: 78.43 m."iz ;*i~ ;  ProNav: ac range: 78.433403 m, nav range: 75.905449 m, bearing: 353.487981 deg, approach rate: -0.227791 m/s, LOS rate: 0.356781 deg/s, cmd heading: 13.988206 deg, new cmd heading: 14.253152 deg. i <#< HeadingCmd: 0.248764 target range: 78.433403 and range: 78.50 m.h~>hhhhggYjgrgereZe:e*e e @Bɢ=) 69?i)15=顑i]ri~>I~>Iԉ:DAT read: 01:23:49.0545 LVL= 27888, 32753, 32754, 32755, AGC= 58, IDX= 438, 0.05,-2.229, 2.149, 3.066,-2.871, PHS= 0.744,-1.218,-0.390, RAW= 114.9, 10.2, CAL= 116.1, 11.4, ROT= 33.9, -11.4 Ygot valid direction response: 01:23:49.0545 LVL= 27888, 32753, 32754, 32755, AGC= 58, IDX= 438, 0.05,-2.229, 2.149, 3.066,-2.871, PHS= 0.744,-1.218,-0.390, RAW= 114.9, 10.2, CAL= 116.1, 11.4, ROT= 33.9, -11.4  PDAT read: Bearing 107.9, 33.5 (Local)  ~Local bearing/azimuth received: Bearing 107.9, 33.5 (Local) DAT read: Range 11 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.2 m/s %R#Rx 1: Read range and direction messages.-\direction in FSK: [0.813637,0.546741,0.197657]5Fpublishing direction and range infoy.P ?,~?g4L?YBl ):Iv>?im盿Ǿ3X@K6>X@ %K>)ww?I%KRC_?m0i? 귽)m5Iww?i%K]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.AAAA%9@! @!@% 5@!B>BCBIBQBBB2DBUDB;Bc]EԱ^A EQ  EU EU ,EQ "EQ *EU g:VEU g4ZEQ BEU F8 (DAT read: user:18>  BDAT read: Tx time:01:23:50.2963  $Ping request sent. mB#,ҹ LA|YjBy-IiMMb@Mb@Mb@IIII I9M/$?̿~jtYM>yIMMh@MA I)IIYM(@bD]VD][8ym%m'=ٔuQ-u>9} ?Y} ?=}BEy}%D}E}>Q 54?Q 940)BY?Q E:yuQ I2@қDI/x;iv;F4yfBɮAhhhhggjgrg'BereZe:eS@*e s?)eBɢ5=) 8?i)8=顙ilsi%>!!I%>I):I ) wA-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246832Y9@ @@$5@@@xAԁ ^A E  E E *E "E ;*E xv:VE (N4ZE a @a @a @a @Ա A)I1IAOU>uB#, LA>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497574Bw @B@B4U<ٱB$kZ>BH?/?@?`Lſ ɚ#?C?iBw @IB%];BɑCYV_ByVIIZ=)Z ^=\bDbVDbw8yj]%jD=ٔj;Q-n>9lYl=nBEyn-Dr=Er>tQ 5z4vQ?Q 9z4v55)vBYxy~hIhIhIhIgQgQjgYrgYeYreYZea:ea*ee%?颍BɢX=) 4?i):=顑iKti~>I~>IԉA@A @A@E/@AԱ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750195^Ae6ɅB >B CB IB GBB O =B B VDB ;B X]EAu ؟AI I O > e{B#,4 LA2Y˩@2İ@2q<ٱ2N^>2HP4??E? gWƿ2@?c9Z"?YZ"?=ZBEyZ5D^V=E^>`Q 5f4b?Q 9f4b:)bnBYdyfQ Ij2@bߛDIb>:ibK:bT4ylɮnAl:iDNOT Ignoring new targets: 77.93 m."i ;*i ; ProNav: ac range: 77.931389 m, nav range: 74.899506 m, bearing: 352.376360 deg, approach rate: -0.248418 m/s, LOS rate: 0.337072 deg/s, cmd heading: 14.897240 deg, new cmd heading: 15.165152 deg. Ee EeEaEa"Ee:*Eeg:VEaZEaBEe<hhhhggjgrgereZe:e*e <>?BɢY=)! %:?i!)%N{==!!i-v=ui-`>)1I5`>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004471:I@I @I@I@I!I ^A M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254285A I I O >"B#,| LA2 u@2Vn@2{e<ٱ2a>2H ?)? J`?`Iǿ@K`?@6?i2 u@I2];0YyEYEE@A E@)E@AYEp@bD] VD]8ٔmv:Q-m>9qYq=uBEyu>D}E=E}>Q 54Ê?Q 94\4yɮ:iDNOT Ignoring new targets: 77.93 m."i;*i; ProNav: ac range: 77.931389 m, nav range: 74.787354 m, bearing: 352.515283 deg, approach rate: -0.261480 m/s, LOS rate: 0.324383 deg/s, cmd heading: 15.165151 deg, new cmd heading: 15.443412 deg. ij<HeadingCmd: 0.269538 target range: 77.931389 and range: 78.00 m.h>hhhhggjgrgDBereZe:e*e?%Bɢ%G=)) -d19I=>I95k:QpGyAMA%9yAYXAEu EuEu)Eq"Eu:*EuAr:VEuFA4ZEqa@a@a@a@@ @@@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505723^A A >A ?ԩ A= .AIQ Ii O >LB#,X% LA2%@2@2<ٱ2c>2H??Sme?Ԛǿ|4?`:3?i2%@I2];2͑CY:iBy:,I@bDFVDF8yV@<%V<ٔZ_ ;Q-Z>9Z ?YZ ?=^BEy^FD^h=E^>`Q 5f4bʊ?Q 9f4bC)bFBYhyjLQ Ij2@bDIb:ib:bb4ylɮnAp:iDNOT Ignoring new targets: 77.93 m."i ݷ;*i ݷ; ProNav: ac range: 77.931389 m, nav range: 74.684814 m, bearing: 352.637117 deg, approach rate: -0.270209 m/s, LOS rate: 0.321495 deg/s, cmd heading: 15.443413 deg, new cmd heading: 15.687414 deg. i<HeadingCmd: 0.273797 target range: 77.931389 and range: 78.00 m.h />hhhhggjgrgereZe:e*ev@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757839 Bɢ +=) A?i)5lB=19i=wi= />AAIE />IAB<A<Bu>BqBuIBu=BBqBqBuWDBuϡ;Bu-]EBuCBuCBqBuR =BuQ =Cu5:Ա!@! @!@%/@)E} E}E}*Ey"E}s:*E}1]:VE}(N4ZEyBE}p0ZB#,2? LA2˫@26Ų@2<ٱ2~f>2H@Ɉ? G,?4 ?u<ȿ? -?i2˫@I2];2ˑCY:bBy>#IliMMb@Mb@Mb@IIII I9M$C?"~ʿL7A`堿YM>yMSM+IMl A M3@)MI@IYM@bDVDf8y %;=ٔt:Q->9"?Y"?=BEyOD>=E>Q 54-Ҋ?Q 94H)2BY>Q E:y?Q I2@DIҢ;i;j4yɮ &A =E:iIUDNOT Ignoring new targets: 77.93 m."i]M;*i]M;m ProNav: ac range: 77.931389 m, nav range: 74.574379 m, bearing: 352.769040 deg, approach rate: -0.247447 m/s, LOS rate: 0.296029 deg/s, cmd heading: 15.687415 deg, new cmd heading: 15.951648 deg. imphqhqhqhygygyjgyrg}BereZe:e*e@uBɢuH=)q u??iq)u E=yyi}xi}>I>IM2:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262360@ @@@1^A #i E  E E E "E D:*E ]t:VE ZE a @a @a @a @A5 .AIA IQ O] >B#,O"Y LA.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513843Bs@Bhl@BF*<ٱBKe>BH??ս3?`ȿ@$do?/?iBs@IB];@YR]ByRIbD^VD^m8yb׼%fY=ٔf8:Q-f>9j ?Yj ?=jBEyjVDn^=En>pQ 5r4r؊?Q 9v4rL)r BYtyvQ Iv2@rDIr:ir`:rq4y|ɮ~OA|B*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 77.93 m."i- ;*i- ;1= ProNav: ac range: 77.931389 m, nav range: 74.477425 m, bearing: 352.880529 deg, approach rate: -0.264429 m/s, LOS rate: 0.304468 deg/s, cmd heading: 15.951647 deg, new cmd heading: 16.174915 deg. iEM hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]Pp@颅Bɢ=) >?i)REG=顉ixiZ>IZ>I;:9@ @@0@@ @ zAiԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766342^A-Be >Be CBe IBe 8BBe M =Ba Ba Be ;Be ]EIY Iq O} >Թ w#B#,r LA2@2@2n;<ٱ2Kc>2H[?`2?N 64?@ɩȿ/F *? J3?i2@I2@];2̑CY:fBy:(I B%=B4=bDFVDFx8yN?=%NN=ٔfI ;Q-f>9hYh=jBEyj^DnkR=En>pQ 5v4r ?Q 9v4rQ)rBYtyvQ Iv2@rDIrS:ir:r x4y~dBɮ~A~FED9D=a=EE EEEE(EA"EE:*EE|:VEEc44ZEABEE$5>hhhhggjgrg e re Ze :e *e @]Bɢe=)a eE?ia)eI=aaimyim>>iqI>>IBDAT read: Rx Time:01:23:52.8035 TRx dataTimestamp_ set to:1764897833.911826checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023726:m9@q @q@u0@y^A FӅ- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270085A I I O >1 B#,*Č LA2@2ٺ@2'<ٱ2^a>2H!?A?l뺿 r`J?nȿҟ :?6?i2@I2];0Y8y8iEMb@Mb@Mb@AAAA A9En? ףp= ǿ~jtYEV>yEQ8EļE@EA A)E`@AYAbDVDv8ٔ:Q->9Y=BEygD.=E>!Q 5E4% 銊?Q 9M4%U)%BY]P>Q E]:yeȄQ Ie2@%DI%ghAhAhAhAgIgIjgIrgMBeQreQZeQ:eQ*eU@ @Bɢ.=) kH?i)ASM=i{iT>IT>IDAT read: 01:23:52.8035 LVL= 26224, 32753, 32754, 32755, AGC= 58, IDX= 427, 0.24,-1.565, 2.782,-2.461,-2.219, PHS= 0.756,-1.237,-0.286, RAW= 118.5, 8.9, CAL= 119.6, 10.0, ROT= 30.4, -10.0 Ygot valid direction response: 01:23:52.8035 LVL= 26224, 32753, 32754, 32755, AGC= 58, IDX= 427, 0.24,-1.565, 2.782,-2.461,-2.219, PHS= 0.756,-1.237,-0.286, RAW= 118.5, 8.9, CAL= 119.6, 10.0, ROT= 30.4, -10.0 PDAT read: Bearing 118.2, 29.6 (Local) ~Local bearing/azimuth received: Bearing 118.2, 29.6 (Local) DAT read: Range 11 to 50 : 77.2 m (Round-trip 103.0 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.849410,0.498346,0.173648]Fpublishing direction and range infoy.^.?Y.?ٖNs:?YfBpf )I7A?iVn]@>0@ ¸2>)?I¸2!0?PG+? ׼)YI?i¸2T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5R:I9)9Q9@ @@/@@=@=y ^A Iy I O >A֩B#,SB LAR(DAT read: user:19> VBDAT read: Tx time:01:23:54.0963 V$Ping request sent.VfH?@4?^ftd?ȿW>s?:?ifth@Ifܚ];dY~aBy"IbD%VD%8y=2%E<ٔEz:Q-E>9IYI=MBEA]AAA]@AyeoDmR=Em>qQ 54u?Q 94uY)uBYy8Q I2@u DIuT;iuU;uK4yeBɮAGEiqiui LAjuEB"juEB:ju@Rjuq>aP@DR8C@X=n*@Bju.^.?Y.?ٖNs:?*ju?2ju¸2ZjuoI}ށR@on#TI3@Jjuѻ!?P3dZ?B>BBIB3BBN =BBB;B\Eju juBiul@N?iuzh]juBjqjuzh]juBrjuBzju'@ addTargetRange:: Added new target pos. range: 77.199997 m, deltaT: 3.780760 s, deltaX: -0.800003 m, approachRate: -0.211598 m/s, rangeRepo size: 4  Added new target pos. range: 77.135216 m, bearing: 352.399147 deg, lat: 36.779508 deg, lon: -121.859794 deg, deltaT: 3.780760 s, deltaX: -0.796173 m, approachRate: -0.210585 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 77.14 m."i*i% ProNav: ac range: 77.135216 m, nav range: 74.280342 m, bearing: 352.357517 deg, approach rate: 0.000000 m/s, LOS rate: 0.251366 deg/s, cmd heading: 16.667554 deg, new cmd heading: 16.857311 deg. i!MHeadingCmd: 0.294216 target range: 77.135216 and range: 77.20 m.hMm>hIhIhIhIgQgQjgQrgQeYreYZeY:e]LS@*e]`.?Bɢ=) G?i)O=i6 |im>Im>IAd:E% E%E%+E!"E%D:*E%:VE% [4ZE!BE%21B#,U LAF@F @FD=ٱFFP^>FH>?@3? !"\?7ɿݧ?v;?iF@IF];FˑCYRSByRI TTi-Mb@Mb@Mb@)))) )9-Q?ʡEƿY-\>y--2q-̼-@) -I@)-@)Y-@@AbDVDv8y %D=ٔ:Q->9Y=BEyxD N=E>Q 54?Q 94])BY >Q E:ye{Q I2@DI:iI:4yɮA:iDNOT Ignoring new targets: 77.14 m."is;*is; ProNav: ac range: 77.135216 m, nav range: 74.161827 m, bearing: 352.461566 deg, approach rate: -0.315075 m/s, LOS rate: 0.277059 deg/s, cmd heading: 16.857312 deg, new cmd heading: 17.065742 deg. i;HeadingCmd: 0.297853 target range: 77.135216 and range: 77.20 m.h=>hhhh!g!g!jg!rg%Be)re)Ze):e1*e5ў?]Bɢ]<=)Y ebB?ia)ekQ=aaieO|im=>iiIu=>Iq-:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502125ԡ9@ @@(5@^A FӅbEjErO4rE/E-  E- E- ,E) "E- :*E- Ar:VE- g4ZE) a= @a= @a= @a= @Ii Iy O > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753673B#,~ LA2@2@254=ٱ2qa]>2H?2&?`϶ Z!?`Qɿ =q?9pYp=rBEyrDv a=Ev>xQ 5~4z?Q 94z a)zBYy!vQ I%2@zDIz`;iz;z4y)ɮ))eB*** querying acoustic contact ***iaia:iquDNOT Ignoring new targets: 77.14 m."i';*i'; ProNav: ac range: 77.135216 m, nav range: 74.051147 m, bearing: 352.555259 deg, approach rate: -0.286999 m/s, LOS rate: 0.243316 deg/s, cmd heading: 17.065742 deg, new cmd heading: 17.253408 deg. i;HeadingCmd: 0.301129 target range: 77.135216 and range: 77.20 m.h->hhhhggjgrgereZe:e*e?mBɢm=) MD?i)"}T=顙iq}i->I->Ir: i@i @i@m4@i@q@uwAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006433B>BBIB)BBM =BBB;B ]E1^Am Au xAzAq Y A I I O >E=  E= E= 'E9 "E= D:*E= z:VE= '4ZE9 BE9 aM 2E9 aM JE= ;aM :E= ;aM #B#, LA2a@2Z@2 =ٱ2w"]>2H 5?@ğ? `fx?ɿ\ei?=?i2a@I2];2ʑCY:KBy:IbDFVDF8yN"%R<ٔR:Q-R>9PYT=VBEyVDVP=EV>XQ 5^4Zq ?Q 9^4Zd)ZBY`ybpQ Ib2@ZDIZb;iZ<;Z4ydɮfAd:ixzDNOT Ignoring new targets: 77.14 m."i~";*i~";  ProNav: ac range: 77.135216 m, nav range: 73.932556 m, bearing: 352.652171 deg, approach rate: -0.305771 m/s, LOS rate: 0.250274 deg/s, cmd heading: 17.253408 deg, new cmd heading: 17.447541 deg. i ;HeadingCmd: 0.304517 target range: 77.135216 and range: 77.20 m.h>hhhhggjgrg!e!re!Ze!:e!*e-d?Bɢ=) B?i)V=i~5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260314AiM>IIIM>IQu{:%9@! @!@-/@)aԑ^Ai i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510880A I I O >5B#, LA2@2@2d =ٱ2W]>2H@?W??G?ɿ`z?;?i2@I2];2̑CY:IBy:IIZ=)Zp;i5Mb@Mb@Mb@1111 195MbX?Sſ:vY5>y5/5Լ5@5QA 1)5v@1Y5G@bDM_VDM8y]%]?=ٔe0:Q-e>9aYa=eBEymDmB=Em>qQ 5}4u?Q 9}4uh)uBY?>Q E:ylQ I2@u DIu ;iu; ;u4yfBɮAHE:iDNOT Ignoring new targets: 77.14 m."i;*i; ProNav: ac range: 77.135216 m, nav range: 73.804909 m, bearing: 352.753051 deg, approach rate: -0.297564 m/s, LOS rate: 0.235571 deg/s, cmd heading: 17.447541 deg, new cmd heading: 17.649648 deg. i;HeadingCmd: 0.308044 target range: 77.135216 and range: 77.20 m.h>hhhhggjgrgBereZe:e*e?ԑ额Bɢ=) B?i)uY=顡ihi>I>E EE+E"E:*E~:VE [4ZEa@a@a@a@I-:5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762428@ @@@^A # A5 ؟AII IY Om >-B#,* LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014084Br<Ar<Bv>BtBvIBvBBvN =BtBtBvҡ;Bv1]EYuDByuIbDaVD8yM%E=ٔQ->9"?Y"?=BEyDE>Q 54?Q 94;l)BYyQ I2@&DIA;i<;Ū4yɮ A:iDNOT Ignoring new targets: 77.14 m."iu;*iu;  ProNav: ac range: 77.135216 m, nav range: 73.681221 m, bearing: 352.851311 deg, approach rate: -0.297646 m/s, LOS rate: 0.236854 deg/s, cmd heading: 17.649648 deg, new cmd heading: 17.846497 deg. i ;HeadingCmd: 0.311480 target range: 77.135216 and range: 77.20 m.hSz>hhhhggjg!rg!e!re!Ze!:e)*e-@UBɢU=)Y ]B?iY)] \=YYi]|]ieSz>aaImSz>IiQ9@ @@@E EE*E"E*Ek:VE(N4ZEBE6A >1 AA IQ Ii O >@B#,'PD LAB7Y@BR@B=ٱB]>BHJ0??@d4޿ n?2Sʿ@=`+v?`;?iB7Y@IB];BˑCYJCByJIiMb@Mb@Mb@ 9S㥛?ףp= ÿI +Y$>y9@ A )@Y@bD5uVD58yEb%ER=ٔE;;Q-M>9IYI=MBEyMDU=EU>YQ 5e4]$?Q 9e4]io)]BYe>Q Ee:ye#[Q Im2@]+DI]:i]:]4yqɮu Aq:iDNOT Ignoring new targets: 77.14 m."iu;*iu; ProNav: ac range: 77.135216 m, nav range: 73.562172 m, bearing: 352.934551 deg, approach rate: -0.306596 m/s, LOS rate: 0.214721 deg/s, cmd heading: 17.846497 deg, new cmd heading: 18.013246 deg. i{;]HeadingCmd: 0.314390 target range: 77.135216 and range: 77.20 m.h]>hYhYhYhYgYgajgargeBeareiZei:ei*em@xBɢ=) C?i)D^=!!i%ڀi%>))I->I1Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517801 :@ @@@ԁ C5GM/{AeA9/{AYAy?AE  E E &E "E :*E e:VE 4ZE a% @a% @a- @a- @ԩ ^A FӅM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770199I) IA OM >5-B#,^ LA2@2@2=ٱ2PT^>2H~??a 7ݿ@?ʿ` )?q:?i2@I2];2ΑCY>>By>ID @@bDNVDN8yVݼ%VU=ٔV:Q-V>9XYX=ZBEyZD^3]=E^>\Q 5f4^}-?Q 9f4^}r)^BYdyfUQ If2@^0DI^:i^b;^B4yjbBɮn! AnQEzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 77.14 m."i 3p;*i 3p; ProNav: ac range: 77.135216 m, nav range: 73.442757 m, bearing: 353.014986 deg, approach rate: -0.311261 m/s, LOS rate: 0.209998 deg/s, cmd heading: 18.013246 deg, new cmd heading: 18.174377 deg. i(;%HeadingCmd: 0.317203 target range: 77.135216 and range: 77.20 m.h%eh>h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5(@-qBɢ5=)1 5B?i1)=a=YaieSNimeh>iqIueh>I}#:Ա9@ @@/@BDAT read: Rx Time:01:23:56.6021 TRx dataTimestamp_ set to:1764897837.689467checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023621B >B B IB BB B B B ;B R]EBECBECBEǓCBEN =BEM =CE%65^A # I I O >D% <D% <E-  E- E- )E) "E- V:*E- :VE- FA4ZE) BE- 9=ٱr`>rH 5?? *ۿ\?@˿QӢw?`5?ir@Ir];rˑC|Y=8By=IbDUYVDU8y}"߼%?=ٔ#:Q->9Y=BEyDA=E>Q 547?Q 94u)sBYyPQ I2@6DI;i:4ycBɮY AREchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273563:iaeDNOT Ignoring new targets: 77.14 m."imb;*imb; ProNav: ac range: 77.135216 m, nav range: 73.307098 m, bearing: 353.103055 deg, approach rate: -0.303938 m/s, LOS rate: 0.197681 deg/s, cmd heading: 18.174377 deg, new cmd heading: 18.350840 deg. i;HeadingCmd: 0.320283 target range: 77.135216 and range: 77.20 m.h>hhhhggjgrgereZe:e!*e-~ @1-iBɢ-|=)) 5A?i1)=d=99i=؁im>qqIu>Iy,:Yq@q @q@u/@q DAT read: 01:23:56.6021 LVL= 25936, 32753, 32754, 32755, AGC= 63, IDX= 429, 0.37, 0.481,-1.489,-0.142,-0.070, PHS= 0.653,-1.374,-0.116, RAW= 127.9, 9.5, CAL= 128.1, 10.7, ROT= 21.9, -10.7  Ygot valid direction response: 01:23:56.6021 LVL= 25936, 32753, 32754, 32755, AGC= 63, IDX= 429, 0.37, 0.481,-1.489,-0.142,-0.070, PHS= 0.653,-1.374,-0.116, RAW= 127.9, 9.5, CAL= 128.1, 10.7, ROT= 21.9, -10.7  PDAT read: Bearing 132.2, 21.1 (Local)  ~Local bearing/azimuth received: Bearing 132.2, 21.1 (Local)  DAT read: Range 11 to 50 : 76.2 m (Round-trip 101.6 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages.% \direction in FSK: [0.911704,0.366503,0.185667]% Fpublishing direction and range infoy  ϓh,?#"t? &K{?Y fB Pe ) ?I +'?i ;߯ h @ )> @ t;?>) E>I t;? wGB?Σɡj?c? >) h)I E>i t;? = T****** received valid address query ******= R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode. ^Au A} wAzA} yAI I O >B#, LA2Q@2J@2=ٱ2b>2H?/?@yڿ@C?t|˿?2?i2Q@I2];2ʑCY:/By:IxiMb@Mb@Mb@ 9Cl?'1ZĿI +Yd>y"@l A @)@Y@bDfVD8y"%<=ٔe:Q->9Y=BEyD(B=E>Q 54A?Q 94*y)dBY>Q E;yzRQ I2@;DIa#;i";[4yɮ AiQiUE LAjUEB"jUEB:jUY@RjU[)vZQ@+eo;@' 5E,@BjUϓh,?#"t? &K{?*jUE>2jUt;?ZjUqqR@QMKք$Q1@JjU#\y7?@ğN/ ?jUX jUBiU{v?iU9jUӣBjUl@N?jQjQrjU*BzjUG@EU EUEU*EQ"EU:*EUxv:VEU(N4ZEQa]@a]@a]@ae@m addTargetRange:: Added new target pos. range: 76.199997 m, deltaT: 3.779093 s, deltaX: -1.000000 m, approachRate: -0.264614 m/s, rangeRepo size: 4  Added new target pos. range: 76.136017 m, bearing: 354.331220 deg, lat: 36.779512 deg, lon: -121.859794 deg, deltaT: 3.779093 s, deltaX: -0.999199 m, approachRate: -0.264402 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 76.14 m."i*i ProNav: ac range: 76.136017 m, nav range: 73.582199 m, bearing: 353.227370 deg, approach rate: 0.000000 m/s, LOS rate: 0.197681 deg/s, cmd heading: 18.350840 deg, new cmd heading: 18.517580 deg. iHeadingCmd: 0.323193 target range: 76.136017 and range: 76.20 m.hy>hhhhggjg!rg!eAreIZeI:eM S@*eM@0?颕cBɢ=) >?i)if=顙iLiy>Iy>I)(DAT read: user:20> BDAT read: Tx time:01:23:57.8463 $Ping request sent.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250844¬B#,Ƭ LAB>BBIBBBO =BBB;B`]Ebq@b@b=ٱbEjb>bH@dT?\?@D{ٿ?Ɲ˿`:@R ?2?ibq@Ib];bˑCY~)By~II=)bDKVDݱ8y%%%V=ٔ-uX:Q-->9)Y1=5BEy5D5[=E5>9Q 5E4=PJ?Q 9E4=|)=VBYIyM@MQ IM2@=@DI=h:i=2:=4yQɮU AYY:iDNOT Ignoring new targets: 76.14 m."ic`;*ic`; ProNav: ac range: 76.136017 m, nav range: 73.465820 m, bearing: 353.301338 deg, approach rate: -0.308165 m/s, LOS rate: 0.196174 deg/s, cmd heading: 18.517580 deg, new cmd heading: 18.665750 deg. i;HeadingCmd: 0.325779 target range: 76.136017 and range: 76.20 m.h{̦>hhhhggjgrgereZe:e*e?^Bɢ'=) p=?i)h=ii{̦>I{̦>Ii@i @i@m/5@iԑEm EmEm)Ei"Ems:*Em:VEmFA4ZEiBEmp0 MB#,ß LA2@2Ӕ@2|=ٱ2}a>2Hh?;? Pؿ.?~˿lN {?4?i2@I23];2ʑCY:!By:Ii~Mb@Mb@Mb@|||| |9~|?5^?'1ZĿL7A`堿Y~>y|~+|~ A ~~@)||Y|bDGVDٱ8y}*%}E=ٔ}9Q->9Y=BEyʠD_C=E>Q 54?U?Q 94')EBY>Q E:y>Q I2@FDIa;i;D4ydBɮ ASEԹ:iDNOT Ignoring new targets: 76.14 m."i_;*i_; ProNav: ac range: 76.136017 m, nav range: 73.323082 m, bearing: 353.382371 deg, approach rate: -0.344197 m/s, LOS rate: 0.195783 deg/s, cmd heading: 18.665751 deg, new cmd heading: 18.828132 deg. i&;HeadingCmd: 0.328613 target range: 76.136017 and range: 76.20 m.h?>hhhhggjgrgBereZe :e *e  +M?5WBɢ==)9 =:?i9)=j=9AiE2iE?>IIIM?>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755024C:@ @@5@Eu EuEu&Eq"Eu:*Eu]t:VEu4ZEqa@a@a@a@^AAA>IQ Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067359 B#,| LA:<@:5@:M=ٱ:^>:H %?@?\%׿@?q˿|Wm?z9?i:<@I:];8YRByRIbDr>VDrѱ8y~\%S=ٔ :9Q- >9 Y = BEyҠDN=E>!Q 554%_?Q 9=4% )%4BY9yE9Q IE2@%KDI%x;i%m;%4yQɮ]Z AYB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 76.14 m."iP;*iP; ProNav: ac range: 76.136017 m, nav range: 73.186989 m, bearing: 353.456899 deg, approach rate: -0.332841 m/s, LOS rate: 0.182611 deg/s, cmd heading: 18.828132 deg, new cmd heading: 18.977465 deg. i;%HeadingCmd: 0.331219 target range: 76.136017 and range: 76.20 m.h%>h!h!h!h!g!g)jg)rg)e)re)Ze1:e1*e5`4?eQBɢe=)a eZ8?ia)mChm=iiimiu>qqIu>Iyu: @  @ @i4@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258765B%>B!B%IB%BB%M =B!B!B%;B%O]Ei^AA I! I9 E  E E ,E "E :*E xv:VE g4ZE BE 3pB#,U LAR@R1ڽ@R=ٱRb[>RH?@?Gտ`G?`3/˿]1?>?iR@IR%];ȒCYbBybI ddbDjRVDj8yr6%vK=ٔv8Q-v>9xYx=zBEyzڠDzM=Ez>|Q 54~j?Q 9 4~)~$BY y 4Q I 2@~QDI~:i~h:~4yɮ A:i9EDNOT Ignoring new targets: 76.14 m."iE`;*iE`;U ProNav: ac range: 76.136017 m, nav range: 73.045990 m, bearing: 353.531282 deg, approach rate: -0.371412 m/s, LOS rate: 0.196314 deg/s, cmd heading: 18.977465 deg, new cmd heading: 19.126518 deg. iU;]>]?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511170mHeadingCmd: 0.333821 target range: 76.136017 and range: 76.20 m.hm>hqhqhqhqgqgqjgyrgyeyreZe:e*eM?颭LBɢ(=) 5?i)ݟo=项ii>I>Iqu9@q @q@}/@yԡ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763413I I O > rC#,@1 LA2}@2w@2W=ٱ2Z>2H`i=??mԿ }?@ 0˿`P`?`7@?i2}@I2{];2ˑCYNByRIiUMb@Mb@Mb@QQQQ Q9UPn?V-¿YU>yUhU̼QU$ A U@)U@QYU @bDuFVDuر8y}<%A=ٔ,rQ->9Y=BEyD09=E>Q 54u?Q 94)BY>Q E;y+Q I2@VDI:iR:u4yeBɮ A:iDNOT Ignoring new targets: 76.14 m."i?;*i?; ProNav: ac range: 76.136017 m, nav range: 72.900948 m, bearing: 353.602065 deg, approach rate: -0.342543 m/s, LOS rate: 0.167498 deg/s, cmd heading: 19.126519 deg, new cmd heading: 19.268366 deg. iE;HeadingCmd: 0.336296 target range: 76.136017 and range: 76.20 m.h />hhhhggjgrgBereZe:e *e B@bEFA4jEh=4rE\00E= E=E='E9"E=:*E=k:VE='4ZE9aM@aM@aM@aM@UFBɢh=) S8?i)r=ii />I />Im:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015541E9@A @A@E/@A) ^Am V݅Ai zAm uAI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266690B! A% <B- >B- CB- IB- BB- O =B) B- VDB- ;B- 7]E C#, . LA Y= By=IbDMWVDM8ye%eL=ٔmQ-m>9iYi=uBEyuDuEu>Q 54€?Q 94i)BYyQ I2@[DI;i;4yɮ A:iDNOT Ignoring new targets: 76.14 m."ia@;*ia@; ProNav: ac range: 76.136017 m, nav range: 72.761765 m, bearing: 353.670303 deg, approach rate: -0.342397 m/s, LOS rate: 0.168190 deg/s, cmd heading: 19.268365 deg, new cmd heading: 19.405102 deg. i;HeadingCmd: 0.338683 target range: 76.136017 and range: 76.20 m.h g>h h h h g g jgrgereZe:e*e@E@BɢM,=)I M6?iI)M{t=IQiUi]g>YYI]g>IYiu:9@ @@@ EM EMEM*EI"EM:*EM$:VEM(N4ZEIBEM$5rC#,G LA2Ÿ@26@2F=ٱ2m`>2H?k?`[ҿ ?˿碿?6?i2Ÿ@I2T];2̑CY:By:ITIV!>)V%=i-Mb@Mb@Mb@)))) )9-Mb?Q~jtY->y-\--3@- A ))))Y) E=E<bDMVVDM8yU{4%]K=ٔemQ-e>9aYa=mBEymDm=Em>qQ 5}4u?Q 9}4uߌ)uBY >Q E;y Q I2@u`DIue;iu;u4yɮ A:iDNOT Ignoring new targets: 76.14 m."i^3;*i^3; ProNav: ac range: 76.136017 m, nav range: 72.623299 m, bearing: 353.732441 deg, approach rate: -0.348773 m/s, LOS rate: 0.156814 deg/s, cmd heading: 19.405102 deg, new cmd heading: 19.529615 deg. i~;HeadingCmd: 0.340856 target range: 76.136017 and range: 76.20 m.h>hhhhggjgrgBereZe:e*e@;Bɢ^%=) E3?i)v=项ii>I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770913:E9@A @A@A@AEU EUEU+EQ"EU&:*EU]t:VEU [4ZEQae@ae@ae@ae@^A I I O >!  BDAT read: Rx Time:01:24:00.3505  TRx dataTimestamp_ set to:1764897841.468533 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023805C#,a LAnk@nd@n'=ٱn1d>nH? 3?v]@ѿ`g?z̿@3E?@0?ink@In];nɑCYzByzI|bD BVD ձ8yE%MK=ٔMgQ-M>9IYQ=UBEyUD]M=E]>aQ 5m4eϖ?Q 9m4eK)eBYiym[Q Iu2@efDIe:ie:e4y}gBɮ}> A}TEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 76.14 m."ib-;*ib-; ProNav: ac range: 76.136017 m, nav range: 72.481392 m, bearing: 353.793374 deg, approach rate: -0.352332 m/s, LOS rate: 0.151584 deg/s, cmd heading: 19.529615 deg, new cmd heading: 19.651720 deg. i;HeadingCmd: 0.342987 target range: 76.136017 and range: 76.20 m.h>hhhhggjgrgereZe:e*e@+ @6Bɢq=) 2?i ) by=  i i>I>I :)9@ @@/@B>BCBrIBҀBBQ =BBUDB;BK]Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274864Q^AA>A?I I! O- >ԁ Ee  Ee Ee (Ea "Ee s:*Ee c:VEe c44ZEa BEe p0.H`?n?q̔7Ͽ`%,?G̿`襢@;?0?i.@I. ];.ǑCYBByBIbDJ VDJ8yz_ؼ%zP=ٔzĹQ-z>9|Y|=~BEy~D Q 54 ڡ?Q 94 ) BYy*Q I2@ kDI C:i P: a4y%cBɮ%J A%]EauDAT read: 01:24:00.3505 LVL= 21104, 32113, 26706, 32755, AGC= 64, IDX= 429, 0.22, 0.226,-1.734,-0.174,-0.366, PHS= 0.694,-1.322, 0.148, RAW= 134.8, 5.4, CAL= 135.0, 6.4, ROT= 15.0, -6.4 }Ygot valid direction response: 01:24:00.3505 LVL= 21104, 32113, 26706, 32755, AGC= 64, IDX= 429, 0.22, 0.226,-1.734,-0.174,-0.366, PHS= 0.694,-1.322, 0.148, RAW= 134.8, 5.4, CAL= 135.0, 6.4, ROT= 15.0, -6.4 PDAT read: Bearing 140.8, 13.4 (Local) ~Local bearing/azimuth received: Bearing 140.8, 13.4 (Local) DAT read: Range 11 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.959906,0.257206,0.111469]Fpublishing direction and range infoy9=H?sv? -V:?Y=B9=pR=q}=Rh 9)=@I=1?i=L7=P>=@===@ ==)= >I=佩99=q?.ἋL?fA? =r>)=´I= >i=佩99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9i=2~ LAj=ݕB"j=ݕB:j=fi@Rj=/Q5suQ@qE3@(^ @Bj=H?sv? -V:?*j= >2j=Zj=ˑR@2DV&#@Jj=[?D_ Bl댱?j=7 j=Bi=?i=Ij=Bj9j9j9rj=Bzj=@ addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.780104 s, deltaX: -1.199997 m, approachRate: -0.317451 m/s, rangeRepo size: 4  Added new target pos. range: 74.933418 m, bearing: 358.835782 deg, lat: 36.779512 deg, lon: -121.859794 deg, deltaT: 3.780104 s, deltaX: -1.202599 m, approachRate: -0.318139 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 74.93 m."i%*i!5 ProNav: ac range: 74.933418 m, nav range: 72.341721 m, bearing: 353.850734 deg, approach rate: 0.000000 m/s, LOS rate: 0.151584 deg/s, cmd heading: 19.651720 deg, new cmd heading: 19.777566 deg. i1=HeadingCmd: 0.345184 target range: 74.933418 and range: 75.00 m.h=黰>h9h9h9h9gAgAjgArgAeIreIZeI:eMR@*eMɡ?0BɢR.=) 0?ԑi)9{=顱iՌi黰>I黰>I!:q@y @y@}/@yԱiI(DAT read: user:21> BDAT read: Tx time:01:24:01.6463 $Ping request sent.AA I I O >S%C#,f LA(E^ E^E\E\"E^D:*E^&p:VE\ZE\ab@ab@ab@ab@YByI iMb@Mb@Mb@ 9I +?i|?5{GzY9>y#I@; A @)$AY@@AAAbDVD8yf%(=ٔ Q- >9 Y=BEy DE>Q 5%4?Q 9%4)BY-&>Q E-;y-Q I-2@pDI ;iG ;4y1ɮ5K A9:iY]DNOT Ignoring new targets: 74.93 m."ie;*ie;u ProNav: ac range: 74.933418 m, nav range: 72.181358 m, bearing: 353.912997 deg, approach rate: -0.347401 m/s, LOS rate: 0.135184 deg/s, cmd heading: 19.777566 deg, new cmd heading: 19.902369 deg. iufw;}HeadingCmd: 0.347362 target range: 74.933418 and range: 75.00 m.h}jٱ>hyhyhyhyggjgrgBereZe:e*e`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848e+Bɢm,h=)i m2?ii)m! ~=iqiu6iujٱ>yyI}jٱ>ԁIe:9@ @@/@Ա ^A #AY A] AABe >Be CBe fIBe ȀBBe R =Be 3DBe TDBe $;Be n]EB-CB-CB-ʔCB-O =B-O =C-5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502891A I I! O5 >+C#," LA2Jb@2[@2bl=ٱ21^>2HG??uʿ"?`˿,͘? :?i2Jb@I2̔];2ʑCY>By>IbDFVDF8yNa%Re=ٔRm*Q-R>9TYT=VBEyVDV=EV>XQ 5^4pZ+?Q 94ZΕ)ZBY!y%Q I%2@ZtDIZ:hhqhqhqhqgygyjgyrgereZe:e*eX?颵'BɢH=)? 6+?i)=项i iH>IH>I:E EE*E"EV:*E:VE(N4ZEBE9r2C#, LA2 @21@2HN=ٱ2v[>2H i?@_p?4z ȿ?|˿衿 4???i2 @I2Nj];2ˑCY>By>IiMb@Mb@Mb@ 9rh|?:vMbY>yԽQA @)@Y@bDVD8y-<<%-B=ٔ-Q-->91Y1=5BEy5D5F=E=>9AQ 5M4EJċ?Q 9M4E)EBYUX>Q EU ;yUWQ IU2@EzDIE4:iE=:Eu4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014507yɮ A:i1=DNOT Ignoring new targets: 74.93 m."i=:*iE:M ProNav: ac range: 74.933418 m, nav range: 71.910927 m, bearing: 353.998866 deg, approach rate: -0.347068 m/s, LOS rate: 0.101241 deg/s, cmd heading: 19.986677 deg, new cmd heading: 20.074430 deg. iMH9;eHeadingCmd: 0.350365 target range: 74.933418 and range: 75.00 m.hec>hahahahagagijgirgmBeireqZe:e*e ?-"Bɢ-4=)) m:.?ii)u"I=qqiu`ic>Ic>I wAiu:!@! @!@%)1@!E EE.E"E;*Eg:VEـ4ZEa@a@a@a@ԑU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266349^A FӅ AQ Ia Iq O >@#9C#,S LA2@2I@2 =ٱ2qZ>2H`?F? aiſX?p˿w.?A?i2@I2];0Y:By:II>=)>7? F=F%=bDF VDF8yNB%NP=ٔRQ-R>9PYT=VBEyV%DVHY=EV>XQ 5^4Zϋ?Q 9^4ZP)ZBY`yb޾Q Ib3@Z~DIZT ;iZ. ;ZS#4ydɮf AhvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 74.93 m."i~:*i: ProNav: ac range: 74.933418 m, nav range: 71.770020 m, bearing: 354.037423 deg, approach rate: -0.380530 m/s, LOS rate: 0.104330 deg/s, cmd heading: 20.074430 deg, new cmd heading: 20.151695 deg. i>;HeadingCmd: 0.351713 target range: 74.933418 and range: 75.00 m.h>hhhhggjg!rg!e!re)Ze):e)*e-?UBɢ]`j=)Y ]c.?iYa)eYD=aaieAim>iiIu>Iq5:B>BCB_IBÀBBBBSDB5;B}]Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.518497y@y @y@}4@yԑԹ^AD =D E  E E (E "E 2:*E :VE c44ZE BE +*% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770446??C#, LAve@v^@vY =ٱv[>vH@l?@0?^?¿? ˿Ms ??c??ive@Iv];v̑CYByIbD=VD=8yeK%m@=ٔuQ->9Y=BEy-DM=E>Q 549܋?Q 94)BYyӾQ I3@DI+;i;*4yfBɮ A_E:i]DNOT Ignoring new targets: 74.93 m."im6:*i6: ProNav: ac range: 74.933418 m, nav range: 71.615128 m, bearing: 354.077010 deg, approach rate: -0.358770 m/s, LOS rate: 0.091891 deg/s, cmd heading: 20.151695 deg, new cmd heading: 20.231039 deg. i+(;EHeadingCmd: 0.353098 target range: 74.933418 and range: 75.00 m.hEKɴ>hAhIhIhQgYgajgrgereZe:e*e<@UBɢU.=)Q U.?iQ)U=YYi]i]Kɴ>aaIeKɴ>Ie:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0224661m " @  @ @ 0@ Y E  E E ,E "E a:*E k:VE g4ZE a @a @a @a @ԑ^AA>A>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.275188A9IAIQOe?HC#,f$ LA(6Ҿ@6@6l=ٱ6I4^>6H? ?B?`'?˿ ?r;?i6Ҿ@I6w];6ʑCYBByBIi=Mb@Mb@Mb@9999 99=bX9?{GzY=E>y=ף==h@= A =3@)=3@9Y==@bDUVDU8ye<%e=ٔmQ-m>9qYq=uBEyu9Du9=E}>yQ 54}싊?Q 94})}BYѺ>Q E;yRQ I3@}DI};i}&;}44yɮ A:iDNOT Ignoring new targets: 74.93 m."iN:*iN: ProNav: ac range: 74.933418 m, nav range: 71.413803 m, bearing: 354.112718 deg, approach rate: -0.357106 m/s, LOS rate: 0.063518 deg/s, cmd heading: 20.231039 deg, new cmd heading: 20.302658 deg. i}:HeadingCmd: 0.354348 target range: 74.933418 and range: 75.00 m.h"m>hhhhggjgrgBereZe:e*eH@Bɢ%=)! %3?i!)%=!)i-i5"m>11I5"m>I1 L:ԉB<A<B>BBSIBBBT =BBB,;Bn]E}9@y @y@}/1@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527827Ա^A FӅ D zD E  E E 'E "E &:*E :VE '4ZE BE h;NC#,,> LA2m@2f@2@=ٱ2pa>2H@>??? > ?@̿=?"5?i2m@I2];0Y:݀By:IbDFVDFu8yN,ؽ%NY=ٔNQ-R>9R ?YR ?=RBEyRADVh=EV>XQ 5^4`Z?Q 9b4Z͝)ZBY`ybPQ Ib3@ZDIZ5;iZ6;ZN;4yjgBɮjS Aj`E:ix~DNOT Ignoring new targets: 74.93 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778525"ieÂ:*ieÂ: ProNav: ac range: 74.933418 m, nav range: 71.279495 m, bearing: 354.134232 deg, approach rate: -0.356193 m/s, LOS rate: 0.057161 deg/s, cmd heading: 20.302659 deg, new cmd heading: 20.345766 deg. i9:HeadingCmd: 0.355101 target range: 74.933418 and range: 75.00 m.hϵ>hhhhggjgrgereZe!:e!*e%@ Bɢ5=)9 =I*?iA)EG7=IiBiϵ>Iϵ>I!m^:iiiiBDAT read: Rx Time:01:24:04.1490 TRx dataTimestamp_ set to:1764897845.256523checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031459A 9@  @ @ /@ q bE}ͷG4jE}KJ4rE}(90E  E E )E "E :*E Ar:VE FA4ZE a@a@a@a@^A#}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284731ԡA5؟AIIIaOu?EIXC#,@b LAF1@F}@F=ٱF`>FH`?@ID??@L`(?@ ̿ޠ`?f7?iF1@IFQ ^;FɑCYNހByNIiMMb@Mb@Mb@IIII I9MK7A`?Q뱿~jth?YM>yM\MD;M~@M A M@)M$AIYM@bDe VDe8yu;%u=ٔu]Q-u>9}"?Y}"?=}BEy}MD=E>Q 54R?Q 946)BY>Q E;yQ I3@DI_:i:E4yɮE A:iDNOT Ignoring new targets: 74.93 m."i!M:*i!M: ProNav: ac range: 74.933418 m, nav range: 71.078262 m, bearing: 354.160982 deg, approach rate: -0.336318 m/s, LOS rate: 0.044835 deg/s, cmd heading: 20.345766 deg, new cmd heading: 20.399419 deg. i:HeadingCmd: 0.356037 target range: 74.933418 and range: 75.00 m.h|J>hhhhggjgrgBereZe:e*e` @- Bɢ-J>=)) -b,?i))5Ç=11i5i=|J>=&== I=|J>IA MwAMxAa: 9@  @ @ 0@ ԉB>BBFIBBBBBB;B1]EDAT read: 01:24:04.1490 LVL= 25296, 32753, 28898, 32755, AGC= 67, IDX= 429,-0.18,-3.042, 1.530,-2.931, 2.950, PHS= 0.394,-1.375, 0.358, RAW= 149.0, 7.2, CAL= 148.4, 7.7, ROT= 1.6, -7.7 Ygot valid direction response: 01:24:04.1490 LVL= 25296, 32753, 28898, 32755, AGC= 67, IDX= 429,-0.18,-3.042, 1.530,-2.931, 2.950, PHS= 0.394,-1.375, 0.358, RAW= 149.0, 7.2, CAL= 148.4, 7.7, ROT= 1.6, -7.7 PDAT read: Bearing 157.4, 0.9 (Local) ~Local bearing/azimuth received: Bearing 157.4, 0.9 (Local) DAT read: Range 11 to 50 : 73.8 m (Round-trip 98.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.990597,0.027670,0.133986]Fpublishing direction and range infoy?e }U?L`u&?YBbp )CI^>iK>Bo&@>%@  >) D D %=E  E E *E "E :*E |:VE (N4ZE BE +9AYI=MBEyMUDMEM>QQ 5]4U9?Q 9]4U#)UBYayaQ Ie3@UDIU;iU;UL4ymiBɮm Aiii+p LAjvB"jvB:j@RjzYiBR@K*h.R@o#@Bj?e }U?L`u&?*j<2j ZjfwKR@;8htZ@Jj1`M?op FE%5?j j\Bi )?i pj/Bj{v?j9jӣBrjBzjr@ addTargetRange:: Added new target pos. range: 73.800003 m, deltaT: 3.787980 s, deltaX: -1.199997 m, approachRate: -0.316791 m/s, rangeRepo size: 4  Added new target pos. range: 73.731003 m, bearing: 356.334821 deg, lat: 36.779518 deg, lon: -121.859779 deg, deltaT: 3.787980 s, deltaX: -1.202415 m, approachRate: -0.317429 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 73.73 m."i*i ProNav: ac range: 73.731003 m, nav range: 71.527687 m, bearing: 355.315479 deg, approach rate: 0.000000 m/s, LOS rate: 0.044835 deg/s, cmd heading: 20.399419 deg, new cmd heading: 20.435077 deg. iHeadingCmd: 0.356659 target range: 73.731003 and range: 73.80 m.h>hhhhgg -(DAT read: user:22> 5BDAT read: Tx time:01:24:05.3963 5$Ping request sent.=E7=EjIE>IIM :9@ @@<0@)^AA.AII O >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248618Y QeC#,O LA2|z@2s@2=ٱ2J%\>2H?Z?@??=@? a˿`J?>?i2|z@I2O];2ˑCY>̀By>jIi-Mb@Mb@Mb@)))) )9-I +?J +MbP?Y-9>y-H-:-@-A -3@)-A)Y-p@bDEVDE8yMJ?%UI=ٔUF:Q-U>9] ?Y] ?=]BEy]]D]=Ee>aQ 5m4eB?Q 9u4e)eBYu>Q Eu;yuQ Iu3@eDIe;ie/;eS4yɮ AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 73.73 m."i9*i9 ProNav: ac range: 73.731003 m, nav range: 71.383553 m, bearing: 355.323968 deg, approach rate: -0.356831 m/s, LOS rate: 0.021059 deg/s, cmd heading: 20.435077 deg, new cmd heading: 20.452090 deg. i):HeadingCmd: 0.356956 target range: 73.731003 and range: 73.80 m.h¶>hhhhggjgrg BereZe:e*e'? Bɢ ˫=)  $?i)=ii¶>I=L]I¶>I!E EE(E"Es:*Ex:VEc44ZEa@a@a@a@!9@ @@05@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502009Y^AA>A>ԙ A I! I9 OE >A @AA ?AB >B CB :IB BB B B RDB ;B \EwkC#, LABchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752406DRe,@R.;RB =ٱRwJ\>RH?iRe,@IR];ȒCYɀBygIbD-.VD-±8y=!T%=L=ٔ=::Q-E>9AYA=ECEyEeDMI^=EM>QQ 5]4U+?Q 9]4U8)UBYYyeQ Ie3@UDIUa;iUL;UZ4yiɮm Ai:iDNOT Ignoring new targets: 73.73 m."iG9*iG9 ProNav: ac range: 73.731003 m, nav range: 71.241783 m, bearing: 355.329866 deg, approach rate: -0.354631 m/s, LOS rate: 0.014784 deg/s, cmd heading: 20.452090 deg, new cmd heading: 20.463910 deg. ir9HeadingCmd: 0.357163 target range: 73.731003 and range: 73.80 m.h޶>hhhhggjgrgereZe:e*e]?Bɢ=) $?iQ)U]=QYi]}iE޶>MΠ=M3?OIM޶>IIX?)d?ԱM!:E EE)E"EV:*E:VEFA4ZEBE9 arC#, LA6d@6<6f=ٱ6u\>6H`? $?@ V?@ A?@J˿ ˡOd?'=?i6d@I6];6ˑCYNByN[IliUMb@Mb@Mb@QQQQ Q9Uw/?{Gz{Gzt?YU>yU#Uף;U~@UhA UI@)U;AQYU@bDmKVDmݱ8y}@%}F=ٔ}O:Q->9Y=CEymDN[=E>Q 54x6?Q 94)BY.>Q E!;yvȽQ I3@DI* ;i:a4yjBɮV AaE:iDNOT Ignoring new targets: 73.73 m."i8*i8 ProNav: ac range: 73.731003 m, nav range: 71.106392 m, bearing: 355.331653 deg, approach rate: -0.328073 m/s, LOS rate: 0.004337 deg/s, cmd heading: 20.463909 deg, new cmd heading: 20.467489 deg. i8HeadingCmd: 0.357225 target range: 73.731003 and range: 73.80 m.h4>hhhhggjgrgBereZe:e*e@c?5Bɢ5L$=)1 5?i1)5=99i=i=4>Ey˟=E=IE4>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256629W!:  Q]CGyA @  @ @ /@ 5MAu9uyAYu+A^AI^1A ؟AII!O5>E EEE"E:*Ek:VEZEa@a@a@a@Y E ?E \?M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510329xC#, LA2@2>=2=ٱ2)[>2H`? gϦ?`ʧ?@N??YʿD0`+? @?i2@I2];0Y>By>UIbDFXVDF8yNϼ%NZ=ٔR;Q-R>9R"?YR"?=VCEyVuDV{m=EV>XQ 5^4Z@?Q 9^4Zѡ)ZBY`ybQ Ib3@ZDIZu:iZ;Zh4ydɮf} Ad:ixzDNOT Ignoring new targets: 73.73 m."i~Ϸ*i~Ϸ  ProNav: ac range: 73.731003 m, nav range: 70.983276 m, bearing: 355.331123 deg, approach rate: -0.328207 m/s, LOS rate: -0.001414 deg/s, cmd heading: 20.467488 deg, new cmd heading: 20.466427 deg. i %HeadingCmd: 0.357207 target range: 73.731003 and range: 73.80 m.h>hhhhggjgrge!re!Ze!:e!*e%?d?9U~BɢUI=)  ?i)=iA}i>/̞=/&,I>I!:I@I @I@I@IqB>BCB'IBBBU =BBBw;B\EBUCBUCBUœCBUT =BUT =CUş5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760482ԙ^A- ]Aa Ii Iy O > E  E E *E "E :*E :VE (N4ZE BE #52H? @lv?X?z9?ʿ@?`]B?i2mB@I2լ];2ɑCY:By:QI n=na=bDpVDpyz%zE=ٔz:Q-~>9|Y|=~CEy}DR=E> Q 54 GL?Q 94 ) BYy`Q I3@ DI :i ; o4y!ɮ% A!:iiuDNOT Ignoring new targets: 73.73 m."i}I*i}Iԙ ProNav: ac range: 73.731003 m, nav range: 70.847099 m, bearing: 355.328187 deg, approach rate: -0.324457 m/s, LOS rate: -0.007010 deg/s, cmd heading: 20.466428 deg, new cmd heading: 20.460544 deg. iCMHeadingCmd: 0.357104 target range: 73.731003 and range: 73.80 m.hQֶ>hhhhggjgrgereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013454~Bɢ,=) ?iI)Ui=QQiUmi]Qֶ>]2=]rI]Qֶ>IaU&":9@ @ @ @^A qOAa Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264525 ,C#,LAb@b=b=ٱbW>bH%?`-T?@?0?Dʿ ? E?ib@Ib];b̑CYnBynGIi5Mb@Mb@Mb@1111 195Q? rhMbp?Y5>y5C 5;5@5A 5@)5A1Y5@bDMBVDMձ8y]j%e5=ٔe ;Q-e>9aYi=mCEymDmY==Em>qQ 5}4uX?Q 9}4u)uBYݩ>Q E ;y^kQ I3@uDIug:iup:uw4ylBɮ AbEE EE&E"E:*Ek:VE4ZEa@a@a@a@B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 73.73 m."i*i ProNav: ac range: 73.731003 m, nav range: 70.698181 m, bearing: 355.320067 deg, approach rate: -0.313302 m/s, LOS rate: -0.017117 deg/s, cmd heading: 20.460544 deg, new cmd heading: 20.444271 deg. iHeadingCmd: 0.356820 target range: 73.731003 and range: 73.80 m.h>hhhhggjgrgBereZe:e*e@~BɢV=) ?i)0/=i1i > *ʜ= I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518506)8":9@9 @9@=/@9^A h,QAa Ii Iy O >y B A 4=B >B B IB BB T =B B B _;B \ELŋC#,^1LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768546%d@%@=%g=ٱ%U>%H1?`ZG?.?@?%?ɿQ`e? H?i%d@I%C];%ˑCY5By=5IbDMiVDM8y]3%]]=ٔ]5;Q-e>9aYa=eCEyeDm>c=Em>qQ 5u4u3c?Q 9}4u )u}BYyy};Q I}3@uDIuq:iu:u!~4yɮYA:iDNOT Ignoring new targets: 73.73 m."i*i빝 ProNav: ac range: 73.731003 m, nav range: 70.575874 m, bearing: 355.311321 deg, approach rate: -0.358665 m/s, LOS rate: -0.025694 deg/s, cmd heading: 20.444271 deg, new cmd heading: 20.426747 deg. i<HeadingCmd: 0.356514 target range: 73.731003 and range: 73.80 m.h>hhhhgQgjgqrgyeyreyZey:ey*eࣾ@~BɢN~=) ?i)=i4i>&=gI>I ":I)xAԁE EE(E"E :*Ec:VEc44ZEBEU"%=BDAT read: Rx Time:01:24:07.8971 TRx dataTimestamp_ set to:1764897849.036746%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021762Ա^A l, A I I O% >OC#,LLA2_5@2>2:!=ٱ2r;R>2H`?`%5x?Yl???ɿ3?`M?i2_5@I2F];2ȑCY>By>1I @@iMb@Mb@Mb@ 9sh|??MbY>y@A v@)VAY @bDmVD8y-X%-@=ٔ-;Q-5>91Y1=5CEy5D=d<=E=>AQ 5M4Eo?Q 9M4E)EyBYMŪ>Q EU;yUs =Q IU3@EDIE ;iE ;E4yYɮ]pAY:iEDNOT Ignoring new targets: 73.73 m."iE *iE  ProNav: ac range: 73.731003 m, nav range: 70.435455 m, bearing: 355.297968 deg, approach rate: -0.315723 m/s, LOS rate: -0.030081 deg/s, cmd heading: 20.426746 deg, new cmd heading: 20.399989 deg. i5\HeadingCmd: 0.356047 target range: 73.731003 and range: 73.80 m.hK>hhhhggjgrgBechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272678reZe:e*eB @ ~Bɢ W=) ?i)=i iK>%:=%~TԽI%K>I!":9@ @@@^A_!E- E-E-+E)"E-D:*E-x:VE- [4ZE)9a=@aE@aE@aE@A I1 II Oe >} DAT read: 01:24:07.8971 LVL= 27472, 31313, 22178, 32755, AGC= 66, IDX= 427, 0.40, 0.304,-1.204, 0.787, 0.275, PHS= 0.132,-1.433, 0.468, RAW= 159.5, 9.5, CAL= 159.4, 10.2, ROT= 350.6, -10.2  Ygot valid direction response: 01:24:07.8971 LVL= 27472, 31313, 22178, 32755, AGC= 66, IDX= 427, 0.40, 0.304,-1.204, 0.787, 0.275, PHS= 0.132,-1.433, 0.468, RAW= 159.5, 9.5, CAL= 159.4, 10.2, ROT= 350.6, -10.2  PDAT read: Bearing 174.8, -9.5 (Local)  ~Local bearing/azimuth received: Bearing 174.8, -9.5 (Local)  DAT read: Range 11 to 50 : 72.5 m (Round-trip 96.7 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.970980,-0.160745,0.177085] Fpublishing direction and range infoyQ U jOD? GĿki?YU BQ U PkU QzU V Q )U BIU +>iU lU >U )2@U )>U / 2@ U K6>)U @IU K6Q Q U i_W?Ov? J@(? U 0?)U *IU 'iU K6Q Q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.i 6C#,^fLA2@2 >2f&=ٱ2$ L>2HO?`gk\??`i?Oȿ@ۤP?@=W?i2@I2,];0YbBybIbD~IVD~۱8y % M=ٔjm;Q->9Y=-CEy5D=#?=E=>AQ 5M4E]z?Q 9M4E)EuBYIyMY=Q IU3@EDIE :iE:E4y}mBɮ}A}cEii3bLAjܐB"jܐB:j@Rj~̑Q@ӰKtI'n)@BjjOD? GĿki?*j'2jK6ZjC*Q@MKxH vp@Jj/rI?X 4mQ"?jCZ jBi=+?i=ojYBj?j pjBrjBzj@q addTargetRange:: Added new target pos. range: 72.500000 m, deltaT: 3.779909 s, deltaX: -1.300003 m, approachRate: -0.343924 m/s, rangeRepo size: 4  Added new target pos. range: 72.430519 m, bearing: 357.287050 deg, lat: 36.779533 deg, lon: -121.859766 deg, deltaT: 3.779909 s, deltaX: -1.300484 m, approachRate: -0.344052 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 72.43 m."i*i ProNav: ac range: 72.430519 m, nav range: 71.857880 m, bearing: 356.308085 deg, approach rate: 0.000000 m/s, LOS rate: -0.030081 deg/s, cmd heading: 20.399989 deg, new cmd heading: 20.374868 deg. iHeadingCmd: 0.355609 target range: 72.430519 and range: 72.50 m.hR>hhhhg g jgIrgIeQreQZeQ:eU R@*eU)?颥~Bɢc=)  ?i)=顩i]iR>〚=ǏIR>IBu>BqBuIBumBBuU =BqBuQDBua;Bu\EP#:ԡiI(DAT read: user:23> BDAT read: Tx time:01:24:09.1962 $Ping request sent.D= =D= 4=EE  EE EE (EA "EE ~ ;*EE e:VEE c44ZEA BEE VjqP+=ٱjF>jHu?ÿ|??`g?ǿuh?^?ij_@Ij];jɑC%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248244Y=By=IbDMwVDM8yJ%B=ٔ0';Q->9 ?Y ?=CEyDZ-=E>Q 54?Q 94y)qBYyА=Q I3@ŜDII;i;ۓ4yɮA:iDNOT Ignoring new targets: 72.43 m."io3*io3 ProNav: ac range: 72.430519 m, nav range: 71.720337 m, bearing: 356.293144 deg, approach rate: -0.360352 m/s, LOS rate: -0.039219 deg/s, cmd heading: 20.374868 deg, new cmd heading: 20.344929 deg. i HeadingCmd: 0.355086 target range: 72.430519 and range: 72.50 m.h ͵>h h hhgQgQjgYrgYeYreYZea:ea*ee w?颭~Bɢ=)  ?i)Ւ=idi͵>=JǘI͵>I#:-9@) @1@50@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502931Q ^Ae w=Ai zAm wAA ؟AI I O >FC#,SLA "@>@>@l:>> 0=ٱ>A>>H@-q?۽ſY? ''??@|ƿ@E?f?i>@I>_];>ˑCYJByJIiMb@Mb@Mb@ 9ˡE?V-y&1|?Y>y`;@A I@)AY@bD5JVD5ܱ8yE/%EO=ٔM@;Q-M>9M"?YM"?=MCEyUDU/=EU>YQ 5e4]鐌?Q 9e4]*)]nBYm>Q Em!;ym'=Q Im3@]ɜDI]_:i]F:]4yuoBɮumAq:iDNOT Ignoring new targets: 72.43 m."i;*i; ProNav: ac range: 72.430519 m, nav range: 71.592262 m, bearing: 356.277014 deg, approach rate: -0.325605 m/s, LOS rate: -0.041080 deg/s, cmd heading: 20.344929 deg, new cmd heading: 20.312612 deg. i\bE:4jEh=4rE5/E EEE"E;*E~:VEZEa@a@a%@a%@HeadingCmd: 0.354522 target range: 72.430519 and range: 72.50 m.h烵>hhhhggjgrgBereZe:e*e?Q颕~Bɢ-=) ?i)f=顡iLא5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752394iM烵>MP=MtyIM烵>IQ%#:ԁ9@ @@0@^AuQڽA .Aԩ I I O >Aa Aa Bi Bi Bm IBm XBBi Bi Bi Bm d;Bm \E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004081qC#,81LA2m@2J>28o5=ٱ21W>>2HW? ǿ"9Z ?YZ ?=ZCEy^D^+=E^>`Q 5f4b?Q 9f4bΠ)blBYhyj=Q Ij3@b͜DIb:ib::bv4ylɮndAl~B*** querying acoustic contact ***i|i|:iDNOT Ignoring new targets: 72.43 m."iG*iG ProNav: ac range: 72.430519 m, nav range: 71.467529 m, bearing: 356.259597 deg, approach rate: -0.310947 m/s, LOS rate: -0.043497 deg/s, cmd heading: 20.312612 deg, new cmd heading: 20.277716 deg. i4HeadingCmd: 0.353913 target range: 72.430519 and range: 72.50 m.h4>hhhhggjgrgereZe:e*e!c?M~BɢUH=)Q ?i)=顙i>i4>ט=CI4>Ig$:ԱDzDE  E E ,E "E =;*E :VE g4ZE BE I YC#,V LA2@2@aZ>2K:=ٱ2;>2H@>?@ɿ? ?`?2ſvYYR?5n?i2@I2W];2ʑCYB{ByBIliMb@Mb@Mb@ 9sh|?? rhy&1|?Y>yC QA v@)VAY@bDeGVDeٱ8yuA%u>=ٔ}I;Q-}>9}"?Y}"?=CEyDL=E>Q 54?Q 94e)hBY>Q E;y==Q I3@ҜDI;i;4yɮA:iDNOT Ignoring new targets: 72.43 m."iT]*iT]  ProNav: ac range: 72.430519 m, nav range: 71.326447 m, bearing: 356.239642 deg, approach rate: -0.341353 m/s, LOS rate: -0.048375 deg/s, cmd heading: 20.277715 deg, new cmd heading: 20.237727 deg. i HeadingCmd: 0.353215 target range: 72.430519 and range: 72.50 m.hش>hhhhggjg!rg%Be!re!Ze):e)*e-?U~Bɢ]=)Y ]Z?iY)]`=aaie=ieش>mzc=m>?Imش>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508207my$: @ @@/@@=@=1E- E-E-)E)"E-V:*E-c:VE-FA4ZE)a=@a=@a=@a=@^AAA?U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761346a A I I O% >C#,LA2s!<2o:i>2E@=ٱ2:>2H#?`g\˿@y??@?Lſg 4?o?i2s!IbDFQVDF8yNy;%NX=ٔN^;Q-R>9PYP=RCEyRǡDV;=EV>XQ 5^4Z?Q 9^4Z)ZfBY\y^=Q I^3@Z֜DIZP:iZ\:Z4yfqBɮfAfdE:ixzDNOT Ignoring new targets: 72.43 m."ig*ig ProNav: ac range: 72.430519 m, nav range: 71.202644 m, bearing: 356.220572 deg, approach rate: -0.327293 m/s, LOS rate: -0.050503 deg/s, cmd heading: 20.237728 deg, new cmd heading: 20.199521 deg. iڸ%HeadingCmd: 0.352548 target range: 72.430519 and range: 72.50 m.h-1>h)1h1h1h1g9g9jgArgAeAreIZeI:eQ*eU@~BɢU=) ?i)p,=i% i-1>-^=-%vI-1>I1I5W?)5O?$:B >B B IB IBB T =B B B y;B \EY@ @@@^AuȄchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013636ԉIIO>} PExceeded connect timeout, disconnecting.Ա E  E E E "E :*E ]t:VE ZE BE $5R3E=ٱRPH;>RH?Ϳr?`??'ſ @@?` n?iR`ԙ9Y=CEyСDP<E>Q 54\?Q 94u)bBYy >Q I3@ۜDI;ie;K4yɮA!:iaeDNOT Ignoring new targets: 72.43 m."imt*imt ProNav: ac range: 72.430519 m, nav range: 71.058372 m, bearing: 356.196598 deg, approach rate: -0.321057 m/s, LOS rate: -0.053460 deg/s, cmd heading: 20.199521 deg, new cmd heading: 20.151475 deg. iúHeadingCmd: 0.351710 target range: 72.430519 and range: 72.50 m.hG>hhhhggjgrgereZe:e*e`@qɢuҼ=)q u?iq)}&2=yyi}iG>=LIG>I%:9@ @@/@^A}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517148GM zAe A 9 zAY AIQ Ia O} > ;C#,LA2=2X>2GI=ٱ2Oj=>2Hc?οѷ?`/?`Z?:ſ`X&?j?i2=I2];2ʑCY:nBy:Ii~Mb@Mb@Mb@|||| |9~tV?:v:v?Y~>y~Լ~T<~@~ A |)||Y~\@bDhVD8y%'%-Q=ٔ-&;Q-->91Y1=5CEy5ءD5 =E=>AQ 5E4EyɌ?Q 9M4E؞)E`BYMN>Q EM;yM2>Q IM3@EߜDIEw:iE_:E4yYɮ]AYE EE,E"E*Ei:VEg4ZEa@a@a@a@:iAEDNOT Ignoring new targets: 72.43 m."iMO*iuO ProNav: ac range: 72.430519 m, nav range: 70.928314 m, bearing: 356.170769 deg, approach rate: -0.325854 m/s, LOS rate: -0.064831 deg/s, cmd heading: 20.151474 deg, new cmd heading: 20.099722 deg. iKHeadingCmd: 0.350806 target range: 72.430519 and range: 72.50 m.h㜳>hhhhggjgrgBereZe:e*e@E~BɢM^=)I m>ii)m=iqiu'Ⓗiu㜳>}B=} I}㜳>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768876&:!@ @@/@!IB A <B >B B IB :BB U =B B B ;B \EBCBCBBU =BU =C4^AE I I O >Ա  BDAT read: Rx Time:01:24:11.6955  TRx dataTimestamp_ set to:1764897852.816496 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021162_C#,{5LA2rH=2>2M=ٱ2 A>2H@ ? Ͽ`Ը?:?>f? m{ſT`5? d?i2rH=I20];0Y:sBy>IbDFbVDF8yN<%^T=ٔb4;Q-b>9`Y`=bCEyfDf=Ef>hQ 5~4jԌ?Q 9~4j.)j^BY|yZ?>Q I3@jDIj;ij\;j4y rBɮ A eEMB*** querying acoustic contact ***iIiI:iQDNOT Ignoring new targets: 72.43 m."iǩ*iǩ ProNav: ac range: 72.430519 m, nav range: 70.796135 m, bearing: 356.143031 deg, approach rate: -0.352999 m/s, LOS rate: -0.074216 deg/s, cmd heading: 20.099722 deg, new cmd heading: 20.044142 deg. iHeadingCmd: 0.349836 target range: 72.430519 and range: 72.50 m.h>hhhhggjgrgereZe:e*e@ @IɢM؋=)Qq ug>iy)}=yyi}f@i>)=~I xA5nManaging dock network, ignoring radio surface power off%9@) @)@)@)ԡ^AE EE+E"ED:*E|:VE [4ZEBE2=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276238 5C#,RcOLARv=RV>RP=ٱRC>RH8?п`y??L?@yſU4?Ta?iRv=IR];RˑCYjnByjIiMb@Mb@Mb@ 9 ףp= ? rhyCt<@A @)AYQAbDLVDޱ8yȦ%7=ٔ:Q->9Y=CEyD<E>Q 54ጊ?Q 94A)Y>Q E;yc>Q I3@DI;:i:4y ɮ  A :i15DNOT Ignoring new targets: 72.43 m."i=pú*i=púM ProNav: ac range: 72.430519 m, nav range: 70.643494 m, bearing: 356.106139 deg, approach rate: -0.352725 m/s, LOS rate: -0.085434 deg/s, cmd heading: 20.044141 deg, new cmd heading: 19.970199 deg. iMZUHeadingCmd: 0.348546 target range: 72.430519 and range: 72.50 m.hUt>hQhQhQhYgYgYjgYrg]BeareaZea:ea*emf;@DAT read: 01:24:11.6955 LVL= 24864, 31473, 19522, 29539, AGC= 63, IDX= 426,-0.22, 0.168,-1.111, 0.988, 0.313, PHS=-0.043,-1.379, 0.631, RAW= 169.3, 9.0, CAL= 169.0, 9.6, ROT= 341.0, -9.6  Ygot valid direction response: 01:24:11.6955 LVL= 24864, 31473, 19522, 29539, AGC= 63, IDX= 426,-0.22, 0.168,-1.111, 0.988, 0.313, PHS=-0.043,-1.379, 0.631, RAW= 169.3, 9.0, CAL= 169.0, 9.6, ROT= 341.0, -9.6 PDAT read: Bearing 186.6, -19.7 (Local) ~Local bearing/azimuth received: Bearing 186.6, -19.7 (Local) DAT read: Range 11 to 50 : 71.3 m (Round-trip 95.1 ms) speed 0.3 m/s %R#Rx 1: Read range and direction messages.E^direction in FSK: [0.932278,-0.321009,0.166769]EFpublishing direction and range infoyi7?ahԿ8_X?YB azBL cs)?I 0i7!?$=@| >Z<@ +>)Is@I+WZƣ?D2Y?c;? Y[?)K Iɩi+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.m~BɢQ=) >i)G=顑iBit>!=I&:G>i>9@ @@/@^A?BɺIyIO>E EE*E"E:*Ex:VE(N4ZEa@a@a@a@A E (DAT read: user:24> M BDAT read: Tx time:01:24:13.0462 M $Ping request sent.M 2 -T=ٱ2~A>2H1?@ѿ*? &?@8? Aſ? b?i2d=I2];2ʑCYBiByBIbDR\VDR8yvO%z[=ٔz ;Q-~>9|Y=CEyD r<E >Q 5%4쌊?Q 9%4p)]BY)y-m>Q I53@DI;i;4yaɮeMAaiiTLAjvB"jvB:j@Rj}P@q6k]"'@Bji7?ahԿ8_X?*jɩ2j+ZjVDҽQ@iPKP@Jjy??jZz0{"?j jBiI?ij=Bj )?jj/BrjBzj<@E addTargetRange:: Added new target pos. range: 71.300003 m, deltaT: 3.784076 s, deltaX: -1.199997 m, approachRate: -0.317118 m/s, rangeRepo size: 4 U Added new target pos. range: 71.231400 m, bearing: 356.182757 deg, lat: 36.779535 deg, lon: -121.859765 deg, deltaT: 3.784076 s, deltaX: -1.199120 m, approachRate: -0.316886 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 71.23 m."i]*iYm ProNav: ac range: 71.231400 m, nav range: 70.755280 m, bearing: 356.162878 deg, approach rate: 0.000000 m/s, LOS rate: -0.085434 deg/s, cmd heading: 19.970199 deg, new cmd heading: 19.901114 deg. iiuHeadingCmd: 0.347340 target range: 71.231400 and range: 71.30 m.huֱ>hqhqhqhygygyjgyrgyereZe:e@3Q@*e?颱ɢ$=) s>i)%N=项i iֱ>p=TIQBBBIB0BBBBBi;B\E&:a@a @a@e/0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251165y^A NJκԱ E  E E )E "E D:*E xv:VE FA4ZE BE a 2E a JE ;a :E ;a A I1 IA OM >C#,LAD2=20ї>2V=ٱ2i=>2H?ѿ@h?`?+?)Ŀܪ ?h?i2=I2];2ɑCYLyL ``ddbDj_VDj8yrG%rK=ٔv{:Q-v>9tYt=zCEyzDzO<Ez>| checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503017Q 554~?Q 9=4~)~\BYyv>Q I3@~DI~=i~=~ 4ytBɮ]A:iaeDNOT Ignoring new targets: 71.23 m."imLǺ*imLǺ ProNav: ac range: 71.231400 m, nav range: 70.617744 m, bearing: 356.127382 deg, approach rate: -0.336900 m/s, LOS rate: -0.087120 deg/s, cmd heading: 19.901114 deg, new cmd heading: 19.829983 deg. ipHeadingCmd: 0.346098 target range: 71.231400 and range: 71.30 m.h3>hhhhggjgrgereZe:e*e@?9ɢ==)9 =7>i9)EO=AAiEneiM3>Ud=UN=IU3>IaԹu8':@ @@0@^AX<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754994A) I9 II OU > C#,죜LA|YfByIi5Mb@Mb@Mb@1111 195E?Mb?Y5>y55<53@1 5@EU EUEU+EQ"EU:*EU~:VEU [4ZEQa]@ae@ae@ae@)5A1Y5GAbDmcVDm8y}+%}4=ٔQ->9Y=CEyDE>Q 54?Q 946)[BY>Q E;y>Q I3@DIw:i:4yɮpA:iDNOT Ignoring new targets: 71.23 m."i *i  ProNav: ac range: 71.231400 m, nav range: 70.452881 m, bearing: 356.077439 deg, approach rate: -0.397069 m/s, LOS rate: -0.120567 deg/s, cmd heading: 19.829982 deg, new cmd heading: 19.729863 deg. i\HeadingCmd: 0.344351 target range: 71.231400 and range: 71.30 m.hN>hhhhggjgrgBereZe:e*e`^?1ɢ5=)1 5>i1)=0=99i=ƔiEN>E<=EO=IEN>II5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070381M':9@ @@/5@YA A @AB >B B IB %BB T =B B B ?;B q\E^A 7<A zA ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258916Aq I I O >"C#,3LA6=6V>6]=ٱ604>6H k?@ҿ 2?@?=?LÿDo?`t?i6=I6d];6̑CYF\ByJIbDReVDR8ybQ_%fe=ٔn;Q-n>9pYp=rCEyr DrP'=Ev>tQ 5~4v6?Q 9~4v)vZBY|y~>Q I~3@vDIv`:iv:v?4yvBɮ A fE-B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 71.23 m."i={*i={ ProNav: ac range: 71.231400 m, nav range: 70.322891 m, bearing: 356.036059 deg, approach rate: -0.360435 m/s, LOS rate: -0.114951 deg/s, cmd heading: 19.729864 deg, new cmd heading: 19.646950 deg. i_RHeadingCmd: 0.342904 target range: 71.231400 and range: 71.30 m.h>hhhhggjgrgereZe:e)*e-@G?颽~Bɢ8=) >i)=i i->-\!=-~M=I->I1':AE EE*E"Ea:*E:VE(N4ZEBE(ԑ C#,LAn=n>na=ٱn5+>nH`M?`Uqӿ@?I@?5? 0¿@2 D??in=In];nˑCYzXByzII~=)~4=qiMb@Mb@Mb@ 9Gz?/$?:v?Yp>y<<`@A )AYpAbDTVD8y%==ٔ;Q->9 ?Y ?=CEyD<E>Q 54?Q 94)\BY6>Q E;y>Q I3@DI;ia;4yɮAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865:iDNOT Ignoring new targets: 71.23 m."i *i  ProNav: ac range: 71.231400 m, nav range: 70.177940 m, bearing: 355.980944 deg, approach rate: -0.322420 m/s, LOS rate: -0.122848 deg/s, cmd heading: 19.646950 deg, new cmd heading: 19.536492 deg. i`HeadingCmd: 0.340976 target range: 71.231400 and range: 71.30 m.hl>hhhhggjg rg%Be!re!ZeI:eI*eM-b@频ɢ =) >i)zk=顙i@~il>=xu=Il>IԡY(:1@9 @9@=3@9bE (N4jE rO4rE ȧ/E- E-E-(E)"E-:*E-]t:VE-c44ZE)a5@a5@a5@a5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015527^A= d=AE >AE > AM ؟AIY Iq O >NC#,;LAVi=V,o>V~b=ٱV:%>VH`A?ӿ}?@݆??gP@L`?R?iVi=IV];VɑCY^JBy^IbDjEVDjر8yr+%rT=ٔr:Q-r>9v"?Yv"?=vCEyvDvA<Ez>xQ 54z*?Q 94z=)z]BYy:>Q I3@zDIz;iz8;z4y ɮ_A:i15DNOT Ignoring new targets: 71.23 m.ԙ"i *i  ProNav: ac range: 71.231400 m, nav range: 70.048706 m, bearing: 355.930950 deg, approach rate: -0.354274 m/s, LOS rate: -0.137300 deg/s, cmd heading: 19.536493 deg, new cmd heading: 19.436322 deg. iF{ HeadingCmd: 0.339228 target range: 71.231400 and range: 71.30 m.h E>h h hhggjgrgereZe!:e!*e%^@M~BɢM=)Q U>iQ)UP =QQi]Εi]E>]=e=IeE>IaB>BBIBBBBBB!;BQ\Eub(:@ @@/@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267813^A)=AII)O=>E  E E *E "E :*E x:VE (N4ZE BE F8J2Dc=ٱJQ!>JH`7?VԿ@N??? d ??Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519083iJ9=IJП];HYZOByZIbDfDVDfױ8yj*<%nM=ٔn49Q-n>9pYp=rCEyr"Dr<Ev>tQ 5z4v5?Q 9z4vϔ)v_BY|y~\>Q I~3@v DIvs;ivo;vy4yxBɮ EA gE:i)5DNOT Ignoring new targets: 71.23 m."i5*i5E ProNav: ac range: 71.231400 m, nav range: 69.915047 m, bearing: 355.878470 deg, approach rate: -0.334878 m/s, LOS rate: -0.131739 deg/s, cmd heading: 19.436323 deg, new cmd heading: 19.331161 deg. iEqMHeadingCmd: 0.337392 target range: 71.231400 and range: 71.30 m.hM>hIhIhIhQgQgQjgYrgYeYreYZeY:ea*ee_@颍~Bɢ7=) y>i)=顑i!i>s=|=I>I(:)@) @)@-/@)@5=@5=^Aw=III)O=r>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898qԙ QD#,̲LAV9a=Vm>Vd=ٱV%>VH@ -?wDԿ0?S?!?`()됬0??iV9a=IVO];VˑCYjy\=<@hA @)AYfAbDPVD8y%8=ٔF:Q->9Y!=%CEy%+D%<E%>)Q 554- C?Q 9=4-)-`BY=B>Q E=;y=>Q I=3@-DI- ;i- ;->4yAɮEAIq:ii}DNOT Ignoring new targets: 71.23 m."i}!,*i}!, ProNav: ac range: 71.231400 m, nav range: 69.761375 m, bearing: 355.811606 deg, approach rate: -0.345100 m/s, LOS rate: -0.150487 deg/s, cmd heading: 19.331160 deg, new cmd heading: 19.197138 deg. iHeadingCmd: 0.335053 target range: 71.231400 and range: 71.30 m.h>hhhhggjgrgBe!re!Ze!:e!*e% @BDAT read: Rx Time:01:24:15.5437 TRx dataTimestamp_ set to:1764897856.600687checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024129~Bɢ=)) -g>i))-p=))i-}i5>55===I=>I9):ԡy@y @y@@B <A R=B >B B xIB BB B B B ;B +\E^A e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275337 I I O > D#,g9LAB,=Bά>B;e=ٱB]>BH`%?vԿٹ?(??@㾿? ?iB,=IB];BʑCYJ5ByNIbDVQVDV8yn %nY=ٔr9Q-r>9pYp=rCEyr3Dv;Ev>Q 5%4N?Q 9-4_)aBY)y->Q I-3@DI;i; 4y9ɮ=AA]B*** querying acoustic contact ***iYiY:iamDNOT Ignoring new targets: 71.23 m."iu,*iu, ProNav: ac range: 71.231400 m, nav range: 69.629944 m, bearing: 355.753723 deg, approach rate: -0.342769 m/s, LOS rate: -0.151242 deg/s, cmd heading: 19.197138 deg, new cmd heading: 19.081154 deg. idHeadingCmd: 0.333029 target range: 71.231400 and range: 71.30 m.hƂ>hhhhggjgrgereZe:e*e @-~Bɢ-,D=)1 57>i1)5=11i5ʖi=Ƃ>===R=IEƂ>IAiiE EE%E"E:*E:VE 4ZEBE+PDAT read: Bearing 188.7, -27.2 (Local) ~Local bearing/azimuth received: Bearing 188.7, -27.2 (Local) DAT read: Range 11 to 50 : 69.9 m (Round-trip 93.3 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.900195,-0.423600,0.101056]Fpublishing direction and range infoyQU9Qe?dAۿ+hg޹?YŰBQUsUoUT U)U@IUҽiUL7UT?U%D@U=UEC@ U4Q=)U@IU4QϽQQU>,? A?忂? Ux?)UaIUz0iU4QϽQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. D#,@SLA v>CFGR/{A\v9v/{AYv+A(DAT read: user:25> BDAT read: Tx time:01:24:16.7462 $Ping request sent.y=@ A @)YAbD;VDα8yȼ%=ٔQ->9Y=CEy=DE>Q 54K^?Q 94#)bBY=>Q E=;y=>Q I=3@DI6ghhhhgg E EE)E"E:*E n:VEFA4ZEa@a@a@a%@jg)rg-Be1re1Ze1:e5yQ@*e=?颅~Bɢ1=) >i)ڠ=顑i@4iQ>=E=IQ>Im*:! m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251754 @  @ @ /@ @ @ xAI ^A%=IIB>BBeIBBBBBB;B\EBiBiBiBmT =BmT =CmΊ4O>D#,KrLAR=R>R։f=ٱRg >RH?\Կ ?@Tk?`?qUͬ@'X? Z?iR=TIR];RǑCY^By^IIb=)bp;bDjGVDjٱ8yn2%rc=ٔrh:Q-r>9pYt=vCEyvEDvgD<Ez>xQ 5~4zi?Q 94z)zcBYy>Q I3@zDIz:iz7;z`4yɮ!A:i1=DNOT Ignoring new targets: 69.83 m."i=O*i=OM ProNav: ac range: 69.832916 m, nav range: 69.341911 m, bearing: 355.617174 deg, approach rate: -0.393927 m/s, LOS rate: -0.180982 deg/s, cmd heading: 18.908288 deg, new cmd heading: 18.795659 deg. iMUHeadingCmd: 0.328046 target range: 69.832916 and range: 69.90 m.hU>hQhYhYhYgYgYjgargaeareaZei:ei*emM?颕~Bɢ=) >i)9=顙ini>==I>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503310*:=9@9 @9@=/@9^AX=IqIO:> E EE(E"ED:*E]t:VEc44ZEBE22ݯ>2GPe=ٱ2>2Hb? Կ`?`??3o??i2 >I2I];2ɑCY>By>IbDFQVDF8yNď;%NP=ٔRWGQ-R>9PYT=VCEyVMDVĊ;EV>XQ 5^4Zt?Q 9^4Z)ZdBY`yb>Q Ib3@Z$DIZ;iZ;Z="4yf~Bɮf(Af_E:ixzDNOT Ignoring new targets: 69.83 m."i~4*i~4 ProNav: ac range: 69.832916 m, nav range: 69.208031 m, bearing: 355.555213 deg, approach rate: -0.340778 m/s, LOS rate: -0.158021 deg/s, cmd heading: 18.795659 deg, new cmd heading: 18.671497 deg. iHeadingCmd: 0.325879 target range: 69.832916 and range: 69.90 m.h٦>hhhhggjgrgereZe:e*eB?E~BɢE 5=)A E>iA)M ġ=IIiM_i]٦>]&=]=I]٦>Ii*:Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0079269@ @@@q^A =ԡ E  E E 'E "E :*E n:VE '4ZE a @a @a @a @A5 .AIA IQ Oe > )D#,LA^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259022YByIqiMb@Mb@Mb@ 9Mb?Q?y\=t<@; A @);AYAAA@AbDiVD8yi3%8=ٔ]Q-]>9e ?Ye ?=eCEyeVDmEm>yQ 54}_?Q 94})yY>Q E ;y->Q I3@}*DI} Q;i}UX;}V*4yɮxA:iDNOT Ignoring new targets: 69.83 m."i.*i. ProNav: ac range: 69.832916 m, nav range: 69.052811 m, bearing: 355.483882 deg, approach rate: -0.331757 m/s, LOS rate: -0.152800 deg/s, cmd heading: 18.671497 deg, new cmd heading: 18.528515 deg. iҋHeadingCmd: 0.323384 target range: 69.832916 and range: 69.90 m.h>hhhhggjg!rg%Be!re!Ze):e)*e-`{?U~BɢUj=)Y ]>iY)][J=YYie1 i> := =I >I IN?)]?ԡ3+:AAAABBBFIBBBBBB;B+\Eu9@q @q@u0@q^AM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515907A} ؟AI I O > 3/D#,ÿLARI>R9>R?f=ٱRC=RH@ ?"տ ?`ݭ?H?@!)G??iRI>IR];RˑCYZBy^wIbDfaVDf8y?%X=ٔ 9Q- >9 "?Y "?=CEy]D;E>Q 5%4挍?Q 9%4t)Y)y->Q I-3@.DI:i2:04y1ɮ5A9UB*** querying acoustic contact ***iQiQ:iYeDNOT Ignoring new targets: 69.83 m."ie(4*ie(4E} E}E}*Ey"E}:*E}]t:VE}(N4ZEyBE}F8hhhhggjgrgereZe:e*e'?~Bɢ=) >i)G=iLiƒ>yK=!=Iƒ>I+:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763883e9@a @a@e05@a)^A=A I I O >Q } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0149746D#,LAY=By=fIiMb@Mb@Mb@ 9> ףp=?Q?y&1?Y>y<`e<@ A @)AYfAbDZVD8y}%==ٔQ->9Y1=ECEyEfDMEM>QQ 5]4U?Q 9]4U)UcBYe>Q Ee;ye/>Q Ie3@U4DIU:iU:UZ84ymBɮm<Am`E:iDNOT Ignoring new targets: 69.83 m."i8*i8 ProNav: ac range: 69.832916 m, nav range: 68.772469 m, bearing: 355.356073 deg, approach rate: -0.358665 m/s, LOS rate: -0.161429 deg/s, cmd heading: 18.416714 deg, new cmd heading: 18.272369 deg. iHeadingCmd: 0.318913 target range: 69.832916 and range: 69.90 m.hH>hhhhggjgrgWBe reZe:e*e,@e~Bɢm֭=)q uIw>iy)}!=yyi}iH>ve=r=IH>E EEE"ET;*Ez:VEZEa@a@a@a@IiI)wA6?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.26865059@1 @9@=2@9ԑ^A] = B B B 'IB BB B B B ;B I\EA .AI I O >C2^D>2hd=ٱ2Ļ=2H ?\'տ`ַ?5?@S?k=@׾?o?i2;_>I2r];0Y:By:UI B=B<bDFVVDF8yN߄%NI=ٔN"Q-R>9R ?YR ?=RCEyRnDVZ9EV>XQ 5^4Z?Q 9^4Z̈́)ZbBY\y^C>Q I^3@Z9DIZ;iZo;ZC?4ydɮfAdnchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5191831:iy}DNOT Ignoring new targets: 69.83 m."i5*i5 ProNav: ac range: 69.832916 m, nav range: 68.629456 m, bearing: 355.291504 deg, approach rate: -0.349984 m/s, LOS rate: -0.158345 deg/s, cmd heading: 18.272368 deg, new cmd heading: 18.142960 deg. i䐻HeadingCmd: 0.316654 target range: 69.832916 and range: 69.90 m.h >hhhhggjgrgereZe:e*e1w@=~Bɢ=@=)A EY>iA)E}=AAiEVژiM >U~=U=IU >IQ-J,:a9@ @@4@E= E=E=,E9"E=:*E=:VE=g4ZE9BE9aE2E9aEJE= iCD#,LA2W>2>2'~e=ٱ2=2H@? տ%ŷ?`?@?. `?@?i2W>I2n8];0Y>By>IIbDFlVDF8yNE%NK=ٔja9Q-j>9lYl=nCEynvDr Er>tQ 5z4v?Q 9z4v)vaBYxyz>Q I~3@v?DIv?;ivV;vnF4y%Bɮ%A!:iIMDNOT Ignoring new targets: 69.83 m."iUB*iUBe ProNav: ac range: 69.832916 m, nav range: 68.481117 m, bearing: 355.224358 deg, approach rate: -0.373925 m/s, LOS rate: -0.169625 deg/s, cmd heading: 18.142960 deg, new cmd heading: 18.008378 deg. ie7mHeadingCmd: 0.314305 target range: 69.832916 and range: 69.90 m.hm>hihihihigigqjgrgeԡreZe:e*e4 @ ~Bɢ5m=)9 E1C>iI)u ң=qyi}i>=`=I>IBDAT read: Rx Time:01:24:19.2420 TRx dataTimestamp_ set to:1764897860.380741checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024305,:%9@! @!@%t4@!bEȷG4jEȏB4rEI"0EU  EU EU )EQ "EU V:*EU ]t:VEU FA4ZEQ a] @a] @a] @a] @^AE :_=  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275542Au ؟AI I O >.JD#,[*LAFe}>FsS>Fe=ٱF=FH? տa?@ߒ??@˷꭬V?O?iFe}>IF];FɑCYVByVBIiuMb@Mb@Mb@qqqq q9u@5^I ?I +?y&1?Yub>yu949"?Y"?=CEyDME>Q 54?Q 94O)_BY>Q E;y>Q I3@DDI;iL;3N4yɮ3A:iDNOT Ignoring new targets: 69.83 m."i*i ProNav: ac range: 69.832916 m, nav range: 68.318108 m, bearing: 355.158220 deg, approach rate: -0.333015 m/s, LOS rate: -0.135437 deg/s, cmd heading: 18.008378 deg, new cmd heading: 17.875786 deg. iwBBBIBWBBBBB*;B[\EHeadingCmd: 0.311991 target range: 69.832916 and range: 69.90 m.hT>hhhhggjgrgPBereZe:e*e @mBɢm4=)q u4>iq)u(=qqiu`i}T>}﹖=}#$=I}T>Im,:uN>iu>@ @@4@5DAT read: 01:24:19.2420 LVL= 31584, 31985, 19922, 32755, AGC= 64, IDX= 423,-0.18, 2.982, 1.813,-2.141,-3.071, PHS=-0.128,-1.355, 0.886, RAW= 176.9, 6.2, CAL= 176.5, 5.4, ROT= 333.5, -5.4 EYgot valid direction response: 01:24:19.2420 LVL= 31584, 31985, 19922, 32755, AGC= 64, IDX= 423,-0.18, 2.982, 1.813,-2.141,-3.071, PHS=-0.128,-1.355, 0.886, RAW= 176.9, 6.2, CAL= 176.5, 5.4, ROT= 333.5, -5.4 EPDAT read: Bearing 189.2, -29.0 (Local) M~Local bearing/azimuth received: Bearing 189.2, -29.0 (Local) UDAT read: Range 11 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.890963,-0.444218,0.094108]Fpublishing direction and range infoyÂ?onܿ|ӄ{?YfB`{|M )Ioipb?eE@k='E@ =)B@IdSzed?L?oj0? o ~?)ݽIjiET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.^A =! D zD ?AE%  E% E% 'E! "E% :*E% :VE% '4ZE! BE% 6qQD#,6rFLA2>2>2^f=ٱ2(=2H5?)տ?=?g?r g̬@??i2>I2 ^;2ˑCY>By>3I@@bDFVDF8yno%nI=ٔn:Q-r>9r ?Yr ?=rCEyrDvJEv>xQ 5~4zύ?Q 9~4z)z]BY|y~>Q I3@zJDIzu:iz:zJU4y ɮ A (DAT read: user:26> BDAT read: Tx time:01:24:20.5962 %$Ping request sent.%@BjÂ?onܿ|ӄ{?*jj2jZj/[Q@ k6! XJj?!Vw Ф"V j  j-Biś9?ibj3}Bj]6?j pj=BrjBzjI@ addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.780810 s, deltaX: -1.200005 m, approachRate: -0.317394 m/s, rangeRepo size: 4  Added new target pos. range: 68.633629 m, bearing: 352.796170 deg, lat: 36.779536 deg, lon: -121.859766 deg, deltaT: 3.780810 s, deltaX: -1.199287 m, approachRate: -0.317204 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 68.63 m."iM*iI] ProNav: ac range: 68.633629 m, nav range: 68.305534 m, bearing: 355.028833 deg, approach rate: 0.000000 m/s, LOS rate: -0.135437 deg/s, cmd heading: 17.875787 deg, new cmd heading: 17.776033 deg. iYeHeadingCmd: 0.310250 target range: 68.633629 and range: 68.70 m.he!ٞ>hahahahaggjgrgereZe:e,Q@*e@=?BɢE=) >i ) d=  i Si!ٞ>Ԗ=f=I!ٞ>I%j-:Q@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251056^A D%=ԙ I I O >PWD#,C`LA;ɰ:=:<[>:f=ٱ:1=:H@ ? ^Կ|a?@u?]?`"N?I?i:=I:!_;:̑CYrvByvIimMb@Mb@Mb@iqiii i9mzG?y&1|?Mb?Ym >ym`;m9Y=CEyD"E>Q 54ݍ?Q 94~)\BY9>Q E:y>Q I3@PDIG:i:\4yBɮEAaEE EE)E"E:*Eg:VEFA4ZEa@a@a@a@B*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 68.63 m."i0*i0% ProNav: ac range: 68.633629 m, nav range: 68.142883 m, bearing: 354.964198 deg, approach rate: -0.387424 m/s, LOS rate: -0.154324 deg/s, cmd heading: 17.776033 deg, new cmd heading: 17.646455 deg. i%7-HeadingCmd: 0.307989 target range: 68.633629 and range: 68.70 m.h->h)h1h1h1g1g1jg9rg=MBe9re9Ze9:eA*eEB-?Bɢ B=)  =i )=iϙi>4==I>I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5031135s-:ԡ9@ @@/@B>BBIB%BBBBB:;Bk\E^A $= i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228I I O >]D#,MzLANO=N>Nf=ٱN=NH`b?5Կk@?(h??`nϬD?ͽ?iNO=INѼ_;NʑCYbBBybIbDj VDj8yrJ%rW=ٔvN9Q-v>9tYt=vCEyvDzEz>|Q 54~ꍊ?Q 94~|)~ZBYy )>Q I 3@~UDI~:i~::~fc4yɮA:i1=DNOT Ignoring new targets: 68.63 m."iE/*iE/U ProNav: ac range: 68.633629 m, nav range: 67.998718 m, bearing: 354.906740 deg, approach rate: -0.383308 m/s, LOS rate: -0.153095 deg/s, cmd heading: 17.646455 deg, new cmd heading: 17.531294 deg. iUUHeadingCmd: 0.305979 target range: 68.633629 and range: 68.70 m.h]A>hYhYhYhYgYgajgargaeareiZei:ei*em ?颕 Bɢ߬=) ^=i)9=顡iiA> ="=IA>I.:!9@ @@/@E EEE"E:*E n:VEZEBE+Y NdD#,LA6GByAZMA 9 yAYA9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259739YMPByMIuonly read 0 of 1 data item for BIT error. Device response is::TS,00061105131629,35.0, +0.0,1499.5, 0 au@au au@au au@a} a}@a} y}<bD$VD8y<%&=ٔQ->9Y=DEyDE>Q 54?Q 94z)YBQ A+:YQ E:yQ I3@[DIb:i>_j4yBɮAbE:iDNOT Ignoring new targets: 68.63 m."ig.*ig. ProNav: ac range: 68.633629 m, nav range: 67.811691 m, bearing: 354.831796 deg, approach rate: -0.379466 m/s, LOS rate: -0.152474 deg/s, cmd heading: 17.531294 deg, new cmd heading: 17.380995 deg. i HeadingCmd: 0.303356 target range: 68.633629 and range: 68.70 m.h lQ>h h h h ggjgrgereZe:e*e?MBɢM=)I M|=iI)UǤ=QQiU3i]lQ>]T4=]p=I]lQ>IYa.:@ @@/@E EE&E"E:*E5:VE4ZEa@a@a@a@ԉE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848^A :=Թ I I O >jD#,ʭLA2=2궭>2h=ٱ2H=2H ? Կ ޶?@D?`R?`2V??i2=I2ja;2ɑCY::By>IbDFVDF8yN%N=ٔRY:Q-R?9PYP=VDEyVDV@EV?XQ 5^4Z%?Q 9^4Zy)ZWBQ Ab :Y`Q Eb:yb>Q Ib3@Z_DIZ ;iZ M?Zm4ydɮfEAh:ixzDNOT Ignoring new targets: 68.63 m."i~R.*i~R.  ProNav: ac range: 68.633629 m, nav range: 67.695282 m, bearing: 354.785172 deg, approach rate: -0.379860 m/s, LOS rate: -0.152402 deg/s, cmd heading: 17.380994 deg, new cmd heading: 17.287586 deg. i tHeadingCmd: 0.301725 target range: 68.633629 and range: 68.70 m.h{>hhhhggjgrgereZe:e*evG?AA@ABBBIB~BBU =BBB7;Bg\EBYBYBYBYBYC]qJ4ԹBɢH=)  =i)դ=iYi{>P==I{>I .:@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764067 ^A ,=II IY Om >E  E E *E "E :*E B:VE (N4ZE BE 6Nvj=ٱNa=NH`"?CԿȶ?Y7??RݴJ@3?`!?iNf=IN+b;N̑CYn,BynIbDzVDz8checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015000y A% C=ٔo:Q->9Y=DEyDE>!Q 5-4%?Q 9-4%x)%VBQ A59Y1Q E5:y5>Q I54@%eDI%:i%?%q4y=BɮEAA:iaeDNOT Ignoring new targets: 68.63 m."im.*im.} ProNav: ac range: 68.633629 m, nav range: 67.536331 m, bearing: 354.721343 deg, approach rate: -0.379786 m/s, LOS rate: -0.152868 deg/s, cmd heading: 17.287586 deg, new cmd heading: 17.159628 deg. i}ዻHeadingCmd: 0.299492 target range: 68.633629 and range: 68.70 m.hW>hhhhggjgrgereZe:e*eK@Bɢ =) n=u1=IuW>IyU/:IY)]vA9@ @@0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267625^A^=AwAzAxAIQ Ia i Ou >wD#,0LA 6==6>6k=ٱ6r=6H <$?`-Կ@ү?@,??`gg Gr`??i6==I6b;6ɑCYNByRIaUaU aUaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9U$C?yUt9Y=DEyDѺE>Q 54.!?Q 94bv)Q AT:Ys>Q E:y>Q I4@kDI:i3:y4yɮAE EE(E"Es:*E:VEc44ZEa@a@a@a@B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 68.63 m."i1*i1  ProNav: ac range: 68.633629 m, nav range: 67.375267 m, bearing: 354.655918 deg, approach rate: -0.381853 m/s, LOS rate: -0.155483 deg/s, cmd heading: 17.159628 deg, new cmd heading: 17.028464 deg. i FHeadingCmd: 0.297203 target range: 68.633629 and range: 68.70 m.h*>hhhhggjgrgEBe!re!Ze!:e!*e%@UBɢUԣ=)Q UiQ)]Wۤ=YYi]rie*>e}=e{=Ie*>Iiq$/:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519248M9@Q @Q@U=5@QԙBBBIB~BBT =BBBBh\E^A I=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770870A ؟AI I O >&~D#,[LAJz=J>Jm=ٱJ&=PJH`j&?Կd? ??`mٳ`(&?[?iJz=IJCc;HYZByZIbDbVDbJ8yj<%jV=ٔj)k:Q-n>9n"?Yn"?=rDEyrDrEr>tQ 5z4v.?Q 9z4vt)vUBYxyz>Q I~4@vpDIv:iv2:v4yɮA:i)-DNOT Ignoring new targets: 68.63 m."i5l5*i5l5E ProNav: ac range: 68.633629 m, nav range: 67.228195 m, bearing: 354.595983 deg, approach rate: -0.388362 m/s, LOS rate: -0.158611 deg/s, cmd heading: 17.028464 deg, new cmd heading: 16.908333 deg. iE#MHeadingCmd: 0.295106 target range: 68.633629 and range: 68.70 m.hM%>hIhIhIhIgIgQjgQrgQeQreYZea:ea*em`@Bɢv=) @.i)UEڤ=YYi]͚ie%>e=e=Im%>IiU/:E EE)E"E:*Exv:VEFA4ZEBE.D#, 7LABK=B >Bn=ٱB=BH(?Կt?-? ?@ER ͭ י? ?iBK=IBc;BˑCYN ByNIbDVVDVu8y^%^L=ٔbh:Q-b>9`Y`=fDEyfȢDfEf>pAQ 5}4r;?Q 94rXs)pYy$>Q I4@ruDIrh9h9h9h9g9gAjgArgAeAreIZeI:eI*em~x @颽"Bɢ'=) i)Ϥ=iiZ>ޗ==IZ>Ii;0: R>i >@ @@5@ԙE EE'E"E:*E:VE'4ZEa@a@a@a@ DAT read: 01:24:23.0902 LVL= 24864, 27057, 14242, 31907, AGC= 60, IDX= 420, 0.25,-1.354,-2.535,-0.171,-1.109, PHS=-0.142,-1.381, 0.894, RAW= 177.1, 6.4, CAL= 176.7, 5.8, ROT= 333.3, -5.8  Ygot valid direction response: 01:24:23.0902 LVL= 24864, 27057, 14242, 31907, AGC= 60, IDX= 420, 0.25,-1.354,-2.535,-0.171,-1.109, PHS=-0.142,-1.381, 0.894, RAW= 177.1, 6.4, CAL= 176.7, 5.8, ROT= 333.3, -5.8  PDAT read: Bearing 189.4, -29.5 (Local)  ~Local bearing/azimuth received: Bearing 189.4, -29.5 (Local)  DAT read: Range 11 to 50 : 67.3 m (Round-trip 89.8 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.888798,-0.447019,0.101056] Fpublishing direction and range infoy9 =  Kq?a2ܿ+hg޹?Y= B9 = a^A t== i= 7 = |)= <I= shi= İ= /d?= E@= == 4`E@ = 4Q=)= [&@I= 4QϽ9 9 = NK?'}?ЦJ? = ~?)= I= i= 4QϽ9 9 % T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.A I I O >D#,n1LABu=B?>Bz p=ٱB=BHf*?Կa??!?C߲I|$? C?iBu=IBb;BȑCY^By^IBhAj<Bn>BlBnIBn~BBlBlBlBn4;Bng\EiMb@Mb@Mb@ 9n?Q??Y>yu<<; A A) AYpA <bDmVDmm8y}%}!=ٔ}W<:Q-}>9Y=DEyӢDE>Q 54sL?Q 94Xq)Y>Q E:y>Q I4@|DI:iF:4yɮLAiis*LAjxB"jxB:j0@RjbI M@-%>Q̒-@Bj Kq?a2ܿ+hg޹?*j2j4QϽZjV~ɦP@S8͍V"8?Jjb?%Jt%r?j j6Bi39?ibjBj39?j#[jBrjdBzj@U addTargetRange:: Added new target pos. range: 67.300003 m, deltaT: 3.781478 s, deltaX: -1.399994 m, approachRate: -0.370224 m/s, rangeRepo size: 4 a Added new target pos. range: 67.234848 m, bearing: 352.161934 deg, lat: 36.779537 deg, lon: -121.859793 deg, deltaT: 3.781478 s, deltaX: -1.398781 m, approachRate: -0.369903 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 67.23 m."i*i ProNav: ac range: 67.234848 m, nav range: 67.196526 m, bearing: 352.398815 deg, approach rate: 0.000000 m/s, LOS rate: -0.137205 deg/s, cmd heading: 16.781218 deg, new cmd heading: 16.654951 deg. iHeadingCmd: 0.290684 target range: 67.234848 and range: 67.30 m.hԔ>hhhhggjgrg)BereZe:e@3P@*e2?%(DAT read: user:27> -BDAT read: Tx time:01:24:24.3462 -$Ping request sent.-: =э=IԔ>ID0:ԙ-9@) @)@5 5@1E  E E )E "E ;*E M:VE FA4ZE BE @<^D#,y NLA2=22F>2 p=ٱ2t=2H,?@.Կ:?@? $?@~`?@?i2=I2a;0Y>~By>II@)BbDFVDFT8yN[%NX=ٔR7Q-R>9R ?YR ?=VDEyVڢDV4EV>XQ 5^4ZX?Q 9^4Zo)ZVBY`yb>Q Ib4@ZDIZ:iZ:Z=4yfBɮfAfZE:iquDNOT Ignoring new targets: 67.23 m."i}A*i}A ProNav: ac range: 67.234848 m, nav range: 67.058525 m, bearing: 352.334833 deg, approach rate: -0.364215 m/s, LOS rate: -0.169211 deg/s, cmd heading: 16.654950 deg, new cmd heading: 16.526723 deg. i֚HeadingCmd: 0.288446 target range: 67.234848 and range: 67.30 m.h)>hhhhggjgrgereZe:e*et?ԩ(Bɢ=) ti)㦤=i7i)>0= =I)>I0:9@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504879 ^A e=bEFA4jEA84rE x/E  E E E "E ;*E c:VE ZE a @a @a @a @A- ؟A1 I9 II Ou >iD#,>hLABaN=BW>Bq=ٱB~=BHk.?Կ^*??`'?@) Ua??iBaN=IB+`;B̑CY^~By^IU>U)@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755881iMb@Mb@Mb@ 97A`??S㥛?Y>y</<@QA ;A)$ AYAbDVDC8y5׼%52=ٔ5 :Q-5>9="?Y="?==DEy=D=1̺EE>AQ 5M4Eg?Q 9U4Em)EWBYUZ>Q EU:yU>Q IU4@EDIE;iE:ED4yYɮeAa}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 67.23 m."iT*iT ProNav: ac range: 67.234848 m, nav range: 66.890976 m, bearing: 352.252504 deg, approach rate: -0.377278 m/s, LOS rate: -0.185848 deg/s, cmd heading: 16.526724 deg, new cmd heading: 16.361653 deg. iHeadingCmd: 0.285565 target range: 67.234848 and range: 67.30 m.h5>hhhhggjgrgZBereZe:e*e?,Bɢ *=) ti)d=iUi5>Y==I5>I\1:B>BB~IBx~BBBBB-;Bc\E59@1 @1@5/@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855A ^A =i I I O >ȮD#,݂LA:*=:I>:Xq=ٱ:z=:Hm0?`}Կ??F*? 챿`j:(!?-?i:*=I:_;:ʑCYF~ByFIN@ALbDRVDR!8yV@ٽ%V_=ٔZ:Q-Z>9\Y\=^DEy^D^~ Eb>`Q 5f4bs?Q 9f4bml)`Yhyj>Q Ij4@bDIb ;ib;b4ynBɮrAr[E:iDNOT Ignoring new targets: 67.23 m."i wN*i wN ProNav: ac range: 67.234848 m, nav range: 66.757263 m, bearing: 352.186564 deg, approach rate: -0.365299 m/s, LOS rate: -0.180506 deg/s, cmd heading: 16.361653 deg, new cmd heading: 16.229510 deg. i,%HeadingCmd: 0.283258 target range: 67.234848 and range: 67.30 m.h%>>h!h!h)h)g)g)jg1rg1e1re1Ze1:e9*e=?e/Bɢe=)i mii)mKW=iiimiiu>>u=}s=I}>>IyDD%=E EE-E"E:*EAr:VEt4ZEBE3ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513623kڦD#,LA0ɰ08^@=^F>^e9s=ٱ^G=^Hz1?vԿ ,??+?6ݱb ? ,?i^@=I^s^;^ȑCYr~ByrIiMb@Mb@Mb@ 95^I ?y&1??Y>y`<<A A)YAbD VD :8yQ4%5=ٔ%_2:Q-%>9!Y)=-DEy-D-E->1Q 5=45҂?Q 9=45j)5XBYE>Q EE:yE">Q IE4@5DI5:i5;54yIɮMAQ:iquDNOT Ignoring new targets: 67.23 m."i}R*i}R ProNav: ac range: 67.234848 m, nav range: 66.592255 m, bearing: 352.103498 deg, approach rate: -0.365508 m/s, LOS rate: -0.184454 deg/s, cmd heading: 16.229510 deg, new cmd heading: 16.062966 deg. iɨHeadingCmd: 0.280352 target range: 67.234848 and range: 67.30 m.h@>hhhhggjgrgQBereZe:e*e?ԡ-4Bɢ-ב=)) 5i1)5 =11i5i]@>]Q=]=I]@>IaE EE+E"E&:*Exv:VE [4ZEa@a@a@a@51:9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763419 ^A =A1 A1 B= >B= CB= _IB= E~BB9 B9 B= RDB= 1;B= i\EIy I O >#D#,~LA2w=2>2Jt=ٱ2w=2H`3?`mԿ&?@?-?`.۷??i2w=I2];2ǑCY:~By>IbDFVDFc8yNC%Nh=ٔj->:Q-j>9lYll=rDEyrDrEr>tQ 5z4v?Q 9z4vh)tY|y~>Q I~4@vDIv;iv;vܲ4y ɮ 0A :i)5DNOT Ignoring new targets: 67.23 m."i5kS*i5kSE ProNav: ac range: 67.234848 m, nav range: 66.460594 m, bearing: 352.036957 deg, approach rate: -0.365004 m/s, LOS rate: -0.184837 deg/s, cmd heading: 16.062966 deg, new cmd heading: 15.929621 deg. iM"MHeadingCmd: 0.278024 target range: 67.234848 and range: 67.30 m.hM5Y>hQhQhQhQgQgQjgargieqreZe:e*e`@颵6Bɢ!=) $i)ף=项ii5Y>ژ==I5Y>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0152592:I)1@1 @1@5/@99DzD@AE EE*E"E;*E:VE(N4ZEBE>C- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804a D#,\LA6"=6p>6u=ٱ6=6H@4?:dԿ ?i? 0?w`Sb?@0?i6"=I6n];6ȑCYN~ByNI TTbDZVDZe8yb%bH=ٔb9Q-b>9dYd=fDEyfDjAԺEj>lQ 5r4n?Q 9r4nBg)nYBYpyr>Q Ir4@nDIn{;in:n4yzBɮzAz\E:iDNOT Ignoring new targets: 67.23 m."iT*i%T- ProNav: ac range: 67.234848 m, nav range: 66.313957 m, bearing: 351.962587 deg, approach rate: -0.365682 m/s, LOS rate: -0.185875 deg/s, cmd heading: 15.929622 deg, new cmd heading: 15.780552 deg. i-5HeadingCmd: 0.275423 target range: 67.234848 and range: 67.30 m.h51>h1AhIhQhYgagijgirgieireqZeq:eq*eu l@颥9Bɢ,׉=)  8i)싣=顩ii1> = = AECI1>G/{AAe%9m/{AYmAI wAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522777=9@9 @A@E/@Aԑ E  E E +E "E ;*E x:VE [4ZE a @a @a @a @^A #=I I O >D#,C8LAF=F} >Fu=ٱF=FH 7?!TԿ l ??3?F>Hk? ?iF=vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771499IF ];FˑCY~w~By~~IԙiMb@Mb@Mb@ 9n?L7A`?S㥛?Y>y+=/<;AA lA) AYAbDVDS8y%:=ٔ9Q->9Y=DEy D&E>Q 54N?Q 94Ze)ZBY >Q E:y>Q I4@DI:i:4y ɮ A -B*** querying acoustic contact ***i)i):iDNOT Ignoring new targets: 67.23 m."iM*iM ProNav: ac range: 67.234848 m, nav range: 66.155548 m, bearing: 351.879787 deg, approach rate: -0.343543 m/s, LOS rate: -0.179997 deg/s, cmd heading: 15.780553 deg, new cmd heading: 15.614558 deg. iHeadingCmd: 0.272525 target range: 67.234848 and range: 67.30 m.hu>hhhhggjgrgmBereZe:e*e@@==Bɢ=p=)9 =2Fi9)=(=AAiE imu>m_E=mk =Iuu>IqB>BBFIB~BBS =BBB;BV\EBBBBBC4- 3:9@ @@/@iߑIߕABDAT read: Rx Time:01:24:26.8382 TRx dataTimestamp_ set to:1764897867.940804checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024151^A =! A I I O >ZD#,LAR=Rdħ>RSu=ٱRF=RH <>?/ԿA޵?@?:?鰿ť s??iR=IR\;RɑCY^\~By^mIbDfEn EnEn(El"En:*EnAr:VEnc44ZElBEn.9Y=DEyD ˻E > Q 54 V?Q 94 c) [BYy>Q I4@ DI :i : 4y-Bɮ-&A-]E1:iQUDNOT Ignoring new targets: 67.23 m."i]b*i]bm ProNav: ac range: 67.234848 m, nav range: 66.011734 m, bearing: 351.804612 deg, approach rate: -0.378558 m/s, LOS rate: -0.198313 deg/s, cmd heading: 15.614559 deg, new cmd heading: 15.463881 deg. imwuHeadingCmd: 0.269896 target range: 67.234848 and range: 67.30 m.hu/>hqhqhqhqgygyjgyrgyereZe:e*e @颵@Bɢ=) di)ע=项i0i/>n===I/>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274769E03:M]>iM>a@ @@0@ԑ^A% +=Թ A I  DAT read: 01:24:26.8382 LVL= 32752, 32753, 21698, 32755, AGC= 64, IDX= 417, 0.43,-2.714, 2.410,-1.608,-2.462, PHS=-0.149,-1.366, 0.811, RAW= 176.1, 7.5, CAL= 175.8, 7.5, ROT= 334.2, -7.5 I1 OE >D#,wLAYgot valid direction response: 01:24:26.8382 LVL= 32752, 32753, 21698, 32755, AGC= 64, IDX= 417, 0.43,-2.714, 2.410,-1.608,-2.462, PHS=-0.149,-1.366, 0.811, RAW= 176.1, 7.5, CAL= 175.8, 7.5, ROT= 334.2, -7.5 PDAT read: Bearing 189.7, -28.5 (Local) 2~Local bearing/azimuth received: Bearing 189.7, -28.5 (Local) 6DAT read: Range 11 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.3 m/s 6R#Rx 1: Read range and direction messages.:^direction in FSK: [0.892616,-0.431508,0.130526]>Fpublishing direction and range infoy!%!qP?,֤ѝۿ /?Y%̃B!%%%T %)%@I%ui%ٮ%O?%D@% >%^D@ % >)% @I% !!%#~ѱ?ԐNU?6ty ? %Cz?)%pI% i% !!ZT****** received valid address query ******ZR****** received valid ping request ******ZQuerying Benthos address 50 with one ping in standard two-way mode.v=vQ>v͗u=ٱvΎ=vH @?@#Կiӵ? ?g=? ˰`Dr߶?t?iv=Iv/\;tY~I~ByaIԙi]Mb@Mb@Mb@YYYY Y9]y&1?Q? rh?Y]`>y]<]C<]VA]A Y)]; AYY]AAAbDdVD 8y%&=ٔ[ 9Q->9Y=DEyDE>E EE+E"Ea:*Ei:VE [4ZEa@a@a@a@Q 5 4Ȏ?Q 9 4ga)YBY >Q E:y>Q I4@DI;i;84yɮsAi!i%{LAj%B"j%B:j%@Rj%n8bM@h</!@Bj%!qP?,֤ѝۿ /?*j% 2j% Zj%L:NP@^(!^@Jj%*C?,ΰɭP?j%E  j%uBi%;^A?i%%Cj%Bj%ś9?j!j!rj%Bzj%n@ addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.779726 s, deltaX: -1.400002 m, approachRate: -0.370398 m/s, rangeRepo size: 4  Added new target pos. range: 65.837173 m, bearing: 352.507009 deg, lat: 36.779537 deg, lon: -121.859793 deg, deltaT: 3.779726 s, deltaX: -1.397675 m, approachRate: -0.369782 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 65.84 m."i-*i) ProNav: ac range: 65.837173 m, nav range: 65.823494 m, bearing: 351.706550 deg, approach rate: 0.000000 m/s, LOS rate: -0.198313 deg/s, cmd heading: 15.463881 deg, new cmd heading: 15.261211 deg. iHeadingCmd: 0.266358 target range: 65.837173 and range: 65.90 m.h `>hhhhggjgrgSBereZe:eyP@*e26?E(DAT read: user:28> MBDAT read: Tx time:01:24:28.1461 M$Ping request sent.M嵙=2=I `>I3: @  @ @ /@ B! A% 4=B- >B) B- 'IB- }BB) B) B) B- ;B- B\E ^AI AU >AU ? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250888yA.AIIO?D#,Z@LAɰp;Y-)~By-MIbD=VD=38yM̑%U;=ٔUQ-U>9] ?Y] ?=]DEy](D]E]>aQ 5m4e׎?Q 9u4ev_)eXBYqyqQ Iu4@eDIe;ie';e4y}Bɮ}A:iDNOT Ignoring new targets: 65.84 m."im*im ProNav: ac range: 65.837173 m, nav range: 65.656548 m, bearing: 351.620225 deg, approach rate: -0.401374 m/s, LOS rate: -0.208071 deg/s, cmd heading: 15.261211 deg, new cmd heading: 15.088123 deg. ieHeadingCmd: 0.263337 target range: 65.837173 and range: 65.90 m.h*Ԇ>hhahahagagijgirgieireqZeq:eq*eu`ty?=GBɢEr=)ET[ EiiA)E8ӡ=AAiM0iM*Ԇ>U=US>IU*Ԇ>IQE EE'E"E:*E|:VE'4ZEBE>D#,*T[LAihIhvchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758664-E=->-cs=ٱ- =-H GI?ӿO?O? F?|`g@rm??i-E=I-c\;-ȑCYE~ByE6IiMb@Mb@Mb@ 9%C?I +?y9<t<AA A)AY AbDVD.8y %,=ٔMQ->9"?Y"?=DEy1DE> Q 54 莊?Q 94 r]) VBY>Q E:y>Q I4@ DI L;i ; 4y!ɮ%A!:iIMDNOT Ignoring new targets: 65.84 m."iU\*iU\e ProNav: ac range: 65.837173 m, nav range: 65.471733 m, bearing: 351.528585 deg, approach rate: -0.388532 m/s, LOS rate: -0.193197 deg/s, cmd heading: 15.088124 deg, new cmd heading: 14.904326 deg. ieɰmHeadingCmd: 0.260130 target range: 65.837173 and range: 65.90 m.hm/>hihihihiggjgrg@BereZe:e*e@ ?EKBɢElm=)I mii)m&6=qqiuUiu/>})=}>I}/>Iy4: E5 E5E5)E1"E5;*E5x:VE5FA4ZE1a=@a=@a=@aE@@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008105I ^A >>BM >BI BM IBM }BBI BM 2DBI BM ;BM 4\EA .AI I O >~D#,xLA2+=2 y>2q=ٱ2޲=2HgO?Zӿ S?,? L? o#5J?@?i2+=I2M\;2ʑC}ByB0I DF<bDJVDJ!8yR¼%RV=ٔVBQ-V>9V ?YV ?=VDEyV9DZMŻEZ>\Q 5b4^?Q 9b4^[)^UBY`yfʻ>Q If4@^DI^:i^%:^4yjBɮjAj^EvB*** querying acoustic contact ***itit:iy}DNOT Ignoring new targets: 65.84 m."iT*iT ProNav: ac range: 65.837173 m, nav range: 65.323349 m, bearing: 351.454967 deg, approach rate: -0.372919 m/s, LOS rate: -0.185438 deg/s, cmd heading: 14.904327 deg, new cmd heading: 14.756756 deg. iHeadingCmd: 0.257554 target range: 65.837173 and range: 65.90 m.hރ>hhhhggjgrgereZe:e*e@?MBɢy`=) i)%=!!i%{i-ރ>-\=5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258871-b>IEރ>IQ }xA}sAIԩ@ @@2@E EE,E"E:*E]t:VEg4ZEBE+3cD#, gLA2Zz=2Xs>2n=ٱ2`5=2H T?@xӿ  ?@K ?`Q?Wԭ?}?i2Zz=I2\;2ɑCYR}ByRIbDZ\VDZ8yb%bI=ٔfQ-f>9f"?Yf"?=fDEyfADjEj>llQ 5r4nB?Q 9v4n!Z)nSBYtyvɺ>Q Iv4@nȝDIn:inh:n4yxɮ~HA|:i%DNOT Ignoring new targets: 65.84 m."i%Cf*i%Cf5 ProNav: ac range: 65.837173 m, nav range: 65.165047 m, bearing: 351.376354 deg, approach rate: -0.404399 m/s, LOS rate: -0.201312 deg/s, cmd heading: 14.756755 deg, new cmd heading: 14.599148 deg. i56=HeadingCmd: 0.254803 target range: 65.837173 and range: 65.90 m.h=u>hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU`'?PBɢU=) %ꖚ=%?'>I-u>II -M5:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767023YCI)I @I  @I @M /@I ԁ bE-ʙT4jE-rO4rE-0E  E E )E "E :*E :VE FA4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018560^A 4>Թ A.AIIO?5WD#,³LAA\A^AABb>BbCBbIBb}BB`B`BbSDBb;Bb,\ExY~}By~ IiMb@Mb@Mb@ 9MbX9? rh?yC<A )Y AbD,VDհ8y]%=ٔQ->9 ?Y ?=DEyLDE>Q 5 4?Q 9 4W)RBY %>Q E:yH>Q I4@ϝDID;i;4yBɮA_E:iAEDNOT Ignoring new targets: 65.84 m."iMwX*iMwX] ProNav: ac range: 65.837173 m, nav range: 64.948975 m, bearing: 351.271033 deg, approach rate: -0.386967 m/s, LOS rate: -0.189248 deg/s, cmd heading: 14.599149 deg, new cmd heading: 14.387808 deg. i],eHeadingCmd: 0.251115 target range: 65.837173 and range: 65.90 m.he>hahahahagagijgirgmBeqreqZeq:eq*eu@颥SBɢ ^=) M˾iA)E5=AIiMiM>U$=U>IU>IQI]:?)]?!E5:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268531I[E%  E% E% *E! "E% V:*E% k:VE% (N4ZE! BE% 9A؟AIIO ?>D#,.LAB}=Bt>B,e=ٱByD=BH@i?>ӿQ??!e?@¡ ??iB}=IBS\;BʑCYN}ByNIbDVVDV8y^%^=ٔb^Q-b>9b"?Yb"?=bDEybWDfyEf>hQ 5n4j)?Q 9n4jU)jPBYlyrL>Q Ir4@jםDIj:ij\:j4ytɮvA:i!%DNOT Ignoring new targets: 65.84 m."i-uU*i-uU= ProNav: ac range: 65.837173 m, nav range: 64.749763 m, bearing: 351.175001 deg, approach rate: -0.385936 m/s, LOS rate: -0.186618 deg/s, cmd heading: 14.387807 deg, new cmd heading: 14.195152 deg. i=ĪEHeadingCmd: 0.247752 target range: 65.837173 and range: 65.90 m.hE}>hAhAhAhAgIgIjgQrgQeQreQZeQ:eY*e] i@颅UBɢ,S=) վi)S=顉iϏi}>d$=cN>I}>Im5:iiiiechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773683ԁI9@ @@/@E EE+E"E:*E:VE [4ZEa@a@a@a@y  BDAT read: Rx Time:01:24:30.6365  TRx dataTimestamp_ set to:1764897871.724500 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027826^A >ԩ A .AI I O>D#,ӆLA2=2&>2 b=ٱ23=2HXq?`ӿ@ ?Dg?hl?@=׵??i2=I2\;0B>>B>CB>IB>Q}BB>P =B<B>TDB>;B>D\EYJ}ByJIieMb@Mb@Mb@aaaa a9ex&1?:v?I +?YeA>yeT9 ?Y ?=DEyaDĻE>Q 54:?Q 94T)Y>Q E:y>Q I4@ޝDI;iY; 4yBɮA`E:iDNOT Ignoring new targets: 65.84 m."iQ*iQ ProNav: ac range: 65.837173 m, nav range: 64.561424 m, bearing: 351.086290 deg, approach rate: -0.388441 m/s, LOS rate: -0.183495 deg/s, cmd heading: 14.195152 deg, new cmd heading: 14.017214 deg. i 觻HeadingCmd: 0.244647 target range: 65.837173 and range: 65.90 m.hz>hhhhggjgrg0BereZe!:e!*e% @XBɢeuE=) i)db=iiz>g=>Iez>IiEn6:]R>i]>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2758989@ @@@)^A =D D <E-  E- E- *E) "E- :*E- &p:VE- (N4ZE) BE- +} DAT read: 01:24:30.6365 LVL= 24928, 29297, 18514, 32755, AGC= 62, IDX= 431,-0.22,-2.873, 2.236,-1.755,-2.642, PHS=-0.129,-1.361, 0.843, RAW= 176.1, 6.8, CAL= 175.7, 6.4, ROT= 334.3, -6.4  Ygot valid direction response: 01:24:30.6365 LVL= 24928, 29297, 18514, 32755, AGC= 62, IDX= 431,-0.22,-2.873, 2.236,-1.755,-2.642, PHS=-0.129,-1.361, 0.843, RAW= 176.1, 6.8, CAL= 175.7, 6.4, ROT= 334.3, -6.4  PDAT read: Bearing 186.2, -28.5 (Local)  ~Local bearing/azimuth received: Bearing 186.2, -28.5 (Local)  DAT read: Range 11 to 50 : 64.6 m (Round-trip 86.2 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.895461,-0.430957,0.111469] Fpublishing direction and range infoyQ U 2;Z?î"̔ۿ -V:?YU 3BQ U `aU qrU RH Q )U >IU iU ?5U W?Q U =U ?BD@ U =)U U@IU 佩Q Q U xkL?E_?d? U wz?)U uIU ZiU 佩Q Q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E#,fLA2"Ѳ=2I>2i]=ٱ2~1=2H@y? Mҿ,?4?^t?`љȩU?v?i2"Ѳ=I2X\;2ɑCY:u}By:I B%=B<bDFVDF8y}n%}D=ٔ0Q->9"?Y"?=DEyiDE>ԱQ 54I?Q 94nR)Y y 8>Q I4@DI%hhhhggjgrg9eAreAZeA:eE`f&P@*eM`j?颭ZBɢ<=) i)s=顱i!qi[w>=Z>I[w>I6:=(DAT read: user:29> UBDAT read: Tx time:01:24:31.8961 ]$Ping request sent.eE  E E )E "E *E :VE FA4ZE a @a @a @a @A%.AI)I9OM>q E#,[-LA Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.247063Y~S}By~IiMb@Mb@Mb@ 9"~j?Q?:v?YS>yu<<A A)AY AbDVD8yЍ%,=ٔQ->9 ?Y ?=DEysDE>Q 54)Z?Q 94P)Y>Q E:y>Q I4@DI ;i;4yBɮAB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 64.54 m."i b*ib ProNav: ac range: 64.541489 m, nav range: 64.213348 m, bearing: 350.921359 deg, approach rate: -0.414421 m/s, LOS rate: -0.198254 deg/s, cmd heading: 13.852794 deg, new cmd heading: 13.676954 deg. i%i%HeadingCmd: 0.238708 target range: 64.541489 and range: 64.60 m.h%ot>h!h)h)h)g)g)jg1rg5 Be1re1Ze9:e9*e=l?[Bɢ;'=)  i ) a=  i fZiot>R=u>Iot>IA7:BA<B>BBIB}BBO =BBB.;B\EBCBCBÔCBS =BR =C5Y@Y @Y@Y@YqUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499966^A} >ԩ A ؟AI I O >E#,"GLA:=:z>:U=ٱ:n=@:H:?@9uҿ@??`T?Ͱ@??i:=I:;\;:ȑCYJ;}ByJIbDRVDR8yZ%Z\=ٔ^Q-^>9^"?Yb"?=bDEybzDbȞEb>dQ 5j4fVg?Q 9j4f=O)fQBYhynE>Q In4@fDIf:ifA;f, 4ypɮrArWE:i  DNOT Ignoring new targets: 64.54 m."i U*i U% ProNav: ac range: 64.541489 m, nav range: 64.067360 m, bearing: 350.852508 deg, approach rate: -0.394021 m/s, LOS rate: -0.186253 deg/s, cmd heading: 13.676954 deg, new cmd heading: 13.538937 deg. i%n-HeadingCmd: 0.236299 target range: 64.541489 and range: 64.60 m.h-`q>h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eE ?Ee EeEe,Ea"Ee:*EeAr:VEeg4ZEaBEe 'D=) \i)Cњ=顉iBi`q>(=0=I`q>IIM?)?7:߽>߽:?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752676-9@) @)@-n0@)^A> A! I) I9 O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006292E#,aLAp-=-9Ӗ>-Q=ٱ-z=-H@۔?e?ҿ`ϲ? ?` ?`s 1 I??i-=I-\;-ǑCYE8}ByEIiMb@Mb@Mb@ 9Q?yt<<A QA)AYz A@AbDVD8y%7=ٔQ->9Y=DEyDE> Q 54 w?Q 94 M) Y@>Q E:y>Q I4@ DI ;i ; '4y%Bɮ% A%XE:iAMDNOT Ignoring new targets: 64.54 m."iU4T*iU4T] ProNav: ac range: 64.541489 m, nav range: 63.886658 m, bearing: 350.770159 deg, approach rate: -0.405958 m/s, LOS rate: -0.185525 deg/s, cmd heading: 13.538938 deg, new cmd heading: 13.373774 deg. ieéeHeadingCmd: 0.233416 target range: 64.541489 and range: 64.60 m.heo>hihihihigigqjgqrgu$BeqreyZey:ey*e}l?颥^Bɢ9C!=) -W i))-ؙ=))i-,i5o>5I==/,>I=o>I9 %8:Eu EuEu+Eq"Eu:*Eu&p:VEu [4ZEqa}@a@a@a@@ @@`0@^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2557139A.AIIO>B >B CB IB |BB B B UDB ,;B \EY PE#,zLA4<ɰ;>=>۔>>M=ٱ>d=>H P?`ҿW?R?Ǖ?0௩`о? ?i>=I>\;>ɑCYF!}ByFIbDRVDR8yZ탽%Zb=ٔZd3Q-Z>9^ ?Y^ ?=^DEy^Db-Eb>dQ 5j4fބ?Q 9j4fLL)dYhyj>Q Ij4@fDIf :if:fH.4ypɮru Ap:i DNOT Ignoring new targets: 64.54 m."iS*i%SAM ProNav: ac range: 64.541489 m, nav range: 63.739326 m, bearing: 350.703266 deg, approach rate: -0.406318 m/s, LOS rate: -0.184908 deg/s, cmd heading: 13.373774 deg, new cmd heading: 13.239679 deg. iM3UHeadingCmd: 0.231076 target range: 64.541489 and range: 64.60 m.hU/l>hYhYhYhagagijgirgieqreqZeq:e*e?_Bɢ> =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506994)Q UiQ)]=YYi]ie/l>ex=e=Ie/l>Ii1i9@ @@/5@E} E}E}(Ey"E}:*E}k:VE}c44ZEyBE}.$E#,xLA2C=27>2I=ٱ2=2H`&?ѿG? ? ~?7??i2C=I2\;2ȑCYR}ByRIbDZԿVDZ8yb%bI=ٔfQ-f>9dYd=jDEyjDj0Ej>lQ 5r4nœ?Q 9r4nJ)lYtyvD>Q Iv4@nDInS:in>:nc54yzBɮz Ax:iDNOT Ignoring new targets: 64.54 m."i%S*i%S5 ProNav: ac range: 64.541489 m, nav range: 63.573822 m, bearing: 350.628313 deg, approach rate: -0.407496 m/s, LOS rate: -0.185026 deg/s, cmd heading: 13.239679 deg, new cmd heading: 13.089383 deg. i5N=HeadingCmd: 0.228453 target range: 64.541489 and range: 64.60 m.ԙhi>hhhhggjgrgereZe:e*eK@`Bɢc=) ni)=isii> =N=Ii>I wAwA8:I)wAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0137059@ @@5@^A a=E  E E E "E ;*E VE ZE a @a @a @a @) A} ؟AI I O >c+E#,ՑLABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263081>]=>+l>>9fF=ٱ>@=>H ?1ѿ???2ȱKʨd??i>]=I>̿\;>ǑCY^|By^IiMMb@Mb@Mb@IIII I9MQ?y&1|?~jt?YIyM`;M9}"?Y}"?=}DEy}DE>Q 54k?Q 94[I)PBY0>Q E:yj>Q I4@DI;i;<4yɮ#!AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 64.54 m."iuP*iuP ProNav: ac range: 64.541489 m, nav range: 63.399853 m, bearing: 350.550528 deg, approach rate: -0.407290 m/s, LOS rate: -0.182605 deg/s, cmd heading: 13.089383 deg, new cmd heading: 12.933388 deg. iHeadingCmd: 0.225730 target range: 64.541489 and range: 64.60 m.h%g>hhhhggjgrgBereZe:e*e`@ ɢ *=)  -i))5=11i5ߚi=%g>=ߜ==(8=I=%g>IAAA@AB>BCBkIB|BBBBB;BX\E-H9:!9@ @@=2@@@yA5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515003I^A s9=A zA y A I! I1 OE >1E#,FLA2D=2>2A=ٱ2=2H?@iѿ ?? ?r6@&??i2D=I2=\;0Y>|By>IbDFVDF8yN%RZ=ٔREQ-R>9TYT=VDEyVDVE~>Q 5 4?Q 94H)Yy>Q I4@ DI ;i;C4yBɮ!A%YE:iAEDNOT Ignoring new targets: 64.54 m.EU EUEU*EQ"EU:*EUz:VEU(N4ZEQBEUN-hhhhggjgrgereZe:e*eܧ@颽aBɢZ<) P i)q=iiߢd> =1=Iߢd>Ii?9:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7676069@9 @9@=/@Aԑ^Ae3=A I I O >iQ IQ ] BDAT read: Rx Time:01:24:34.3844 ] TRx dataTimestamp_ set to:1764897875.500855e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020375 8E#,LA2s=C>'"==ٱ:=H5?#9ѿ[? ?G?`&?@?i2s=I\;Y5|By=|IiMb@Mb@Mb@ 9w/?Mb?Mb?Y>y<<AQA l A)YAbD"VD̰8yɱ%+=ٔEQ->9Y=DEyDܻE>Q 5e4?Q 9m4mF)OBYm>Q Em:ym>Q Im4@DIGehhhhggjgrg'BereZe:e*e w @ɢ=) #i)%Ȕ=!!i-Qi5a>5@D=5X=I5a>I9bE(N4jEJJ4rE5/Eu EuEu(Eq"Eu:*EuZ:VEuc44ZEqa@a@a@a@9: i >@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272430! B >B B RIB |BB M =B B VDB ߠ;B :\E^A =Q A9 IQ Iq O >n>E#,nLA:2f=:[>:H7=ٱ:=:H`*?ѿ5?N? ?屿nHʵ??i:2f=I:\;:ɑCYF|ByFxILN@AbDR3VDR۰8yVq%Z]=ٔZmaQ-Z>9\Y\=^DEy^DbEb>`Q 5f4bЏ?Q 9j4b-E)bNBYhyjړ>Q Ij4@bDIb:ib:b5R4 DAT read: 01:24:34.3844 LVL= 27952, 28881, 18242, 32755, AGC= 60, IDX= 426,-0.34, 2.095, 0.928,-3.099, 2.294, PHS=-0.097,-1.321, 0.846, RAW= 175.7, 6.1, CAL= 175.3, 5.4, ROT= 334.7, -5.4 Ygot valid direction response: 01:24:34.3844 LVL= 27952, 28881, 18242, 32755, AGC= 60, IDX= 426,-0.34, 2.095, 0.928,-3.099, 2.294, PHS=-0.097,-1.321, 0.846, RAW= 175.7, 6.1, CAL= 175.3, 5.4, ROT= 334.7, -5.4 %PDAT read: Bearing 181.7, -27.7 (Local) %~Local bearing/azimuth received: Bearing 181.7, -27.7 (Local) -DAT read: Range 11 to 50 : 63.0 m (Round-trip 84.1 ms) speed 0.3 m/s 5R#Rx 1: Read range and direction messages.^direction in FSK: [0.900070,-0.425461,0.094108]Fpublishing direction and range infoyprgb`?%R_:ۿ|ӄ{?Yr|Bpr0mrprBG p)r<IrƽirruX?r?BD@r^ =rC@ r=)r@Irpprt u?D#J?bI3Z? rx?)r<۽Ir:iryBɮ!AZEppT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ipir>LAjr{B"jr{B:jr&@RjrR‚SL@A:kб@Bjrgb`?%R_:ۿ|ӄ{?*jr:2jrZjrc!O@<%p]-?JjrZ%?zLſ 7kw?jr, jrxBirs8?ir`!najrBjpjr`!najrBrjr{BzjrX@ addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 3.780128 s, deltaX: -1.599998 m, approachRate: -0.423266 m/s, rangeRepo size: 4  Added new target pos. range: 62.945007 m, bearing: 350.112385 deg, lat: 36.779537 deg, lon: -121.859796 deg, deltaT: 3.780128 s, deltaX: -1.596481 m, approachRate: -0.422335 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 62.95 m."i*i ProNav: ac range: 62.945007 m, nav range: 62.944008 m, bearing: 350.113752 deg, approach rate: 0.000000 m/s, LOS rate: -0.177400 deg/s, cmd heading: 12.622560 deg, new cmd heading: 12.477004 deg. i5HeadingCmd: 0.217765 target range: 62.945007 and range: 63.00 m.h5^>h1h9h9h9g9g9jgArgAeAreAZeA:eMO@*eM #.?颱ɢ<) $i)駓=项iԆi^>w=~=I^>I)_::)EM EMEM.EI"EMV:*EM|:VEMـ4ZEIBEM9 BDAT read: Tx time:01:24:35.6977 $Ping request sent.A >y A I I O >GFE#,@LAY^|By^`IbDfVDf8yrm%r==ٔrQ-r>9tYt=vDEyvDvEv>|Q 5~4~ߏ?Q 94~C)~MBYyQ I4@~DI~X:i~:~Y4y ɮ "A:i1=DNOT Ignoring new targets: 62.95 m."i=3o*i=3oM ProNav: ac range: 62.945007 m, nav range: 62.769699 m, bearing: 350.034634 deg, approach rate: -0.459458 m/s, LOS rate: -0.209125 deg/s, cmd heading: 12.477004 deg, new cmd heading: 12.318329 deg. iM\UHeadingCmd: 0.214995 target range: 62.945007 and range: 63.00 m.hU'\>hQhQhYhYgYgYjgYrgaeareaZea:ea*em`TR?Աɢ<) .i)=i2ci'\>4=O=I'\>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.254526uh::9@ @ @ @ E EE,E"E;*E:VEg4ZEa@a@a@a@^A] ɯ=% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5071909 A .AI I O >BLE#,m3LA2I=2Έ>2--=ٱ2P=2H`,? пf8?@ ?5?@@-޵??i2I=I2[\;0Y:|By>MIiMb@Mb@Mb@ 9K7A`?Mbp?Mb?Y>y;hA  A)AYAbD VD8y%/%-F=ٔ-»Q-->95 ?Y5 ?=5DEy5ţD5͉E5>9Q 5E4=/?Q 9M4=`B)=LBYM(>Q EM:yM>Q IM4@=%DI=:i=:=`4yQB=A4=B>BCB9IBh|BBN =BBB;BE\Eɮ#AB*** querying acoustic contact ***ii:i9UDNOT Ignoring new targets: 62.95 m."i]D*i]Dm ProNav: ac range: 62.945007 m, nav range: 62.599110 m, bearing: 349.959798 deg, approach rate: -0.390666 m/s, LOS rate: -0.171850 deg/s, cmd heading: 12.318329 deg, new cmd heading: 12.168249 deg. im@uHeadingCmd: 0.212376 target range: 62.945007 and range: 63.00 m.huyY>hqhqhyhygygyjgyrg BereZe:e*e ;?ɢX2<) +6i)[=i!@iyY>֝=ڍ=IyY>I ::I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758683i^A =ԙ E  E E 'E "E :*E k:VE '4ZE BE F8*SE#,xGMLA2D:=2hՆ>2)=ٱ2X=2H?@iaпo?W??ol!??i2D:=I2:\;0Y:|By:KI r=pbDvVDvð8y~ %~M=ٔ@Q->9"?Y"?=DEyͣD E >Q 54 ?Q 94A)Yy%>Q I%4@+DI:i;g4y-Bɮ-(#A):iIUDNOT Ignoring new targets: 62.95 m."iUu]*i]u]m ProNav: ac range: 62.945007 m, nav range: 62.434052 m, bearing: 349.887671 deg, approach rate: -0.441909 m/s, LOS rate: -0.193613 deg/s, cmd heading: 12.168248 deg, new cmd heading: 12.023615 deg. im*mHeadingCmd: 0.209852 target range: 62.945007 and range: 63.00 m.hu[V>hqhqhqhqgqgqjgyrgyeyreZe:e*e@ ?颩ɢ ɔ<) 7i)H=项ii[V>i=]=I[V>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.012999q:: i@q @q@u 0@q@}yA@}wAPGyAMA9yAYA^AE=AIzAMtAԡAIIOU> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262629 TYE#,!#gLA2T+=2V>2$=ٱ2;=2H?`S*п?`l?s?M@ܵ?h?i2T+=I29];2őCYb{|BybEIIf%=)f4yMDIMl AMA I)MAIYM3AbDeVDeǰ8y%B=ٔQ->9Y=DEy֣DF E>Q 54 ?Q 94?)KBY>Q E:y>Q I4@1DIZS;iNR;Ko4yɮK#A:i  DNOT Ignoring new targets: 62.95 m."i;*i;5 ProNav: ac range: 62.945007 m, nav range: 62.266430 m, bearing: 349.817615 deg, approach rate: -0.391814 m/s, LOS rate: -0.164198 deg/s, cmd heading: 12.023615 deg, new cmd heading: 11.883124 deg. E} E}E},Ey"E}V:*E}?:VE}g4ZEya@a@a@a@i@HeadingCmd: 0.207400 target range: 62.945007 and range: 63.00 m.h`T>hhhhggjgrgBereZe:e*eoY?e`Bɢm<) %9i)=顑iji`T>y2==I`T>Im;:??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515840@ @@0@ B>BCB IB?|BBL =BBWDBޠ;BG\EB]CB]CBYB]N =B]N =C]51 ^A =A I! I1 O= >1`E#,ЀLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766612:W=:+ >: =ٱ:9=:H@?%Ͽ"?0??,ɲ1?N?i:W=I:\;:ǑCYBt|ByFAIbDN"VDN̰8yV%V[=ٔV-6Q-V>9XYX=ZDEyZݣD^&E^>`Q 5f4bO?Q 9f4b>)`Ydyf{>Q Ij4@b6DIb:ib94;bu4yrBɮrz#Ar[E:i DNOT Ignoring new targets: 62.95 m."i G?*i G?} ProNav: ac range: 62.945007 m, nav range: 62.118874 m, bearing: 349.756225 deg, approach rate: -0.400999 m/s, LOS rate: -0.167229 deg/s, cmd heading: 11.883124 deg, new cmd heading: 11.760053 deg. iHeadingCmd: 0.205252 target range: 62.945007 and range: 63.00 m.h}-R>hhhhggjgrgereZe:e*e@˅@_BɢXy<) :i)ٍ=i%c֙i%}-R>-X=-=I=}-R>III?)h?A<:@ @@2@E EE+E"E;*Ex:VE [4ZEBEAMfE#,pLA2 =2>2=ٱ2C=2HM? eϿ ?`?? L!`|=??i2 =I2\;0Y:]|By:2IbDBVDB8Hyjg%jI=ٔn=Q-n>9lYl=nEEyrDrEr>tQ 5z4v(?Q 9~4v=)tYyw>Q I4@vhhhhggjgrgereZe:e*ez@ ɢɂ<) @i)ʞ=i`iO>%:=%w=I%O>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270897I!e<:@ @@05@@ =@ =E EE,E"E:*E:VEg4ZEa@a@a@a@^A =9 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522722AI IQ Ia Ou >lE#,LA2<2 j~>2=ٱ2e=2H ?@ο5?`Nt? ?xfHآa??i2y=`廙=D<=QA=ABU>BQBUIBU|BBUK =BQBQBU;BUX\E =$ A)99Y9bDuVDu8y,%>=ٔ5?Q->9Y=EEyD E>Q 548?Q 94<)JBY >Q E:yHl>Q I4@BDI;i[;h4yBɮ3$A\EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 62.95 m."iC*iC ProNav: ac range: 62.945007 m, nav range: 61.778854 m, bearing: 349.617252 deg, approach rate: -0.422363 m/s, LOS rate: -0.171116 deg/s, cmd heading: 11.626307 deg, new cmd heading: 11.481344 deg. iHeadingCmd: 0.200387 target range: 62.945007 and range: 63.00 m.hQ2M>hhhhggjg rg ~Be reZe:e*e@=^BɢEw<)A EDiA)MP=IIiMiUQ2M>U=Uu,=IUQ2M>IQE<:!@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774632I^AI=q A I I) O= >D zD E  E E E "E :*E &p:VE ZE BE 32r=ٱ2ɳ=2HG?zο@}???1<n? G?i23F|By>%IbDFVDFư8yN%N[=ٔRmQQ-R>9PYP=VEEyVDV,EV>XQ 5^4ZF?Q 9^4Z;)ZIBY`yb@h>Q Ib4@ZHDIZs;iZ+;Z4ydɮfB$AdY:iquDNOT Ignoring new targets: 62.95 m."i}7*i}7 ProNav: ac range: 62.945007 m, nav range: 61.623875 m, bearing: 349.554948 deg, approach rate: -0.398822 m/s, LOS rate: -0.160736 deg/s, cmd heading: 11.481344 deg, new cmd heading: 11.356422 deg. iHeadingCmd: 0.198207 target range: 62.945007 and range: 63.00 m.hJ>hhhhggjgrgereZe:e*eL8 @BDAT read: Rx Time:01:24:38.1839 TRx dataTimestamp_ set to:1764897879.284800checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027987\BɢW<)1 5Ei9)==99i=WfiEJ>Eў=E+=IEJ>II QUxAU<:ԉ@ @@/@Ա^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278765 A .AIA Ii O >1yE#,9LAY='|By=IԹE EE*E"E;*EAr:VE(N4ZEa@a@a@a@iEMb@Mb@Mb@AAAA A9Ejt? rh?YE>yEEC9u ?Yu ?=uEEy}D}E}>Q 54X?Q 944:)Y>Q E:yv>Q I4@ODIA:i1:4yBɮ$A]E:iDNOT Ignoring new targets: 62.95 m."iG*iG ProNav: ac range: 62.945007 m, nav range: 61.424770 m, bearing: 349.471219 deg, approach rate: -0.414413 m/s, LOS rate: -0.174838 deg/s, cmd heading: 11.356422 deg, new cmd heading: 11.188421 deg. iHeadingCmd: 0.195275 target range: 62.945007 and range: 63.00 m.h]G>hahahahagagajgirgm~BeireiZeq:eq*eu (@ DAT read: 01:24:38.1839 LVL= 24480, 27729, 19634, 32755, AGC= 62, IDX= 421, 0.19,-1.527,-2.753,-0.494,-1.363, PHS=-0.062,-1.345, 0.825, RAW= 174.0, 6.2, CAL= 173.5, 5.5, ROT= 336.5, -5.5 Ygot valid direction response: 01:24:38.1839 LVL= 24480, 27729, 19634, 32755, AGC= 62, IDX= 421, 0.19,-1.527,-2.753,-0.494,-1.363, PHS=-0.062,-1.345, 0.825, RAW= 174.0, 6.2, CAL= 173.5, 5.5, ROT= 336.5, -5.5 PDAT read: Bearing 178.3, -25.2 (Local) %~Local bearing/azimuth received: Bearing 178.3, -25.2 (Local) -DAT read: Range 11 to 50 : 61.5 m (Round-trip 82.1 ms) speed 0.0 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.912838,-0.396913,0.095846]=Fpublishing direction and range infoymZ]5? gٿaVX?YvB_QlL )>I}i(33S? \B@k=&A@  =)@I Ľ䙁?cO?f Q? 5q?)!޽IzѾi ĽUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.a额[Bɢ <) Li)o=顡i6>iG>G=I=IG>I9=:Be>BaBeIBe{BBeM =BaBaBe ;Bet\E@ @@3@@xA@yAԉԱ ^A = (DAT read: user:31>  BDAT read: Tx time:01:24:39.4477  $Ping request sent. QE#,̴LA,44Z]vZ=ٱZ68=ZH@?Ϳm?!??@}u?`?iZ]v9z"?Yz"?=zEEyzD~E~>Q 5 4f?Q 9 4+9)JBY y k>Q I 4@TDI:ib;~4yɮ$AiijLAjuB"juB:j05@Rj L@]Ћc8_@BjmZ]5? gٿaVX?*jzѾ2j ĽZj!h2N@vjX&o=p?Jj;os?.mFǿo?j2 jqBi-G?i|_j݁Bj;^A?j|_j݁Brj]uBzjK3@e addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 3.783959 s, deltaX: -1.500000 m, approachRate: -0.396410 m/s, rangeRepo size: 4 } Added new target pos. range: 61.448185 m, bearing: 349.518151 deg, lat: 36.779537 deg, lon: -121.859795 deg, deltaT: 3.783959 s, deltaX: -1.496822 m, approachRate: -0.395570 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 61.45 m."i*i ProNav: ac range: 61.448185 m, nav range: 61.341595 m, bearing: 349.504898 deg, approach rate: 0.000000 m/s, LOS rate: -0.174838 deg/s, cmd heading: 11.188421 deg, new cmd heading: 11.049153 deg. iHeadingCmd: 0.192844 target range: 61.448185 and range: 61.50 m.hxE>hhhhggjgrgereZe):e-N@*e-?uYBɢ}lH<)y }Niy)}A=yyiixE>&="=IxE>IDM%=DMC=EU EUEU+EQ"EU:*EU?:VEU [4ZEQBEU6pE#,z LAN1,N<ٱN=NH Z'?` ̿`~??`?`\@S??iN1,9r ?Yr ?=rEEyrDrR9Ev>tQ 5z4v)u?Q 9z4v#8)tY|y~wf>Q I~4@vZDIv;iv;v|4yBɮ %A %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502209:i9=DNOT Ignoring new targets: 61.45 m."iE<*iEhYhYhYhYgYgajgargaeareiZei:ei*em?额XBɢ1;) Wi)xӅ=顡ii+!C>iD=u=I+!C>II)a?=:59@9 @9@9@9^A-l9=bE|a4jE [4rEň0Eu EuEu)Eq"Eu:*Eug:VEuFA4ZEqa@a@a@a@AQIYIqO}z>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754094A B% <A% <B- >B) B- IB- {BB- L =B) B) B- (;B- \EvE#,6w:LA:}V;::4f>:<ٱ:9`=:HQ.?̿? e?`?`䳿@{`k"??i:}V;I:\;:ʑCYV|ByZIiMb@Mb@Mb@ 9S?~jth~jt?Y/>yD< AA  A)AYQAbDVD8y<% 8=ٔ ,Q- >9Y=EEyDE>Q 5%4?Q 9-47)LBY-g>Q E-:y-;[>Q I-4@`DI;i;B4y1ɮ=|%A9UB*** querying acoustic contact ***iQiQ:iYeDNOT Ignoring new targets: 61.45 m."im%5*im%5} ProNav: ac range: 61.448185 m, nav range: 61.003033 m, bearing: 349.369446 deg, approach rate: -0.399331 m/s, LOS rate: -0.158369 deg/s, cmd heading: 10.918067 deg, new cmd heading: 10.777498 deg. i}ꐻ}HeadingCmd: 0.188103 target range: 61.448185 and range: 61.50 m.h@>hhhhggjg rg ~Be re Ze:e*e?额UBɢg'<) :Ui)A=顡iOȘi@>h=^>=I@>I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0064239P>:I@I @I@M/@I@U=@U=aEe  Ee Ee -Ea "Ee &:*Ee |:VEe t4ZEa BEe i;)E#,YULAFA9;F b>F<ٱF=FH5?ܝ˿@ҧ?<????iFA9;IF];FȑCYN{ByRI TTbDZVDZ8ybHd%fU=ٔfjQ-j>9hYh=jEEyj!Dn,En>pQ 5v4r?Q 9v4r&6)rMBYtyvW>Q Iz4@reDIr:ir:r4y~Bɮ~%A~^E:i%DNOT Ignoring new targets: 61.45 m."i-'4*i-'45 ProNav: ac range: 61.448185 m, nav range: 60.849747 m, bearing: 349.309159 deg, approach rate: -0.399454 m/s, LOS rate: -0.157501 deg/s, cmd heading: 10.777498 deg, new cmd heading: 10.656620 deg. i==HeadingCmd: 0.185993 target range: 61.448185 and range: 61.50 m.h=t>>hAhAhAhAgAgIjgIrgIeIreIZeQ:eQ*eU W?SBɢh;)A EUiA)E1=AAiEiMt>>Mr=Ua=IUt>>IQ=>:@ @@/@i߁I߁checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510384!^A t=Q E  E E *E "E :*E e:VE (N4ZE a @a @a @a @A ؟AI I O >HE#,ToLA2@2 ^>2Z<ٱ2v=2H@/=?F%˿?`p?&?e`I⛿@??i2@I2"\;0Y:{By:I9i]Mb@Mb@Mb@YYYY Y9]m?I +Mb?Y]>y]94]9"?Y"?=EEy)DE>Q 54?Q 94*5)NBY>Q E:yB>Q I4@lDI :i:g4yҒBɮ&A:iDNOT Ignoring new targets: 61.45 m."i9*i9 ProNav: ac range: 61.448185 m, nav range: 60.665443 m, bearing: 349.240225 deg, approach rate: -0.433259 m/s, LOS rate: -0.162541 deg/s, cmd heading: 10.656620 deg, new cmd heading: 10.518334 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762303iHeadingCmd: 0.183580 target range: 61.448185 and range: 61.50 m.h H;>h h h h g g jgrgBereZe:e*e)@EQBɢM8;)I M}WiI)M}=IQiUk{iH;>=y=IH;>I xAwAB5>B1B5IB5{BB5M =B1B1B5m;B5\Eqa@a @a@e0@aԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014587^A I= A I I O% >~0E#,.LA2@2Z>2$0<ٱ2,=2H;D?ʿR?7 ?,?r7`?`??i2@I2F];0Y:{By:I B=B=bDFݿVDF8yN|%N[=ٔNSQ-R>9PYP=REEyR1DVD*EV>XQ 5^4Z?Q 9^4ZP4)XY\yb>>Q Ib4@ZqDIZ?;iZ ;Z4yfՒBɮf 'Af_E:ixzDNOT Ignoring new targets: 61.45 m."iz@9*i~@9  ProNav: ac range: 61.448185 m, nav range: 60.503159 m, bearing: 349.179846 deg, approach rate: -0.434137 m/s, LOS rate: -0.161958 deg/s, cmd heading: 10.518334 deg, new cmd heading: 10.397252 deg. i 3 HeadingCmd: 0.181466 target range: 61.448185 and range: 61.50 m.hK9>hhhhggjgrgere!Ze!:e!*e%E$@ԙ OBɢ 1;)  Yi)%=1i5Ti=K9>= ===IEK9>IAE EE)E"E&:*E&p:VEFA4ZEBEa2EaJEz;a:Ez;a5q?: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266069]9@Y @Y@]o0@Y@@ԩ}#G/{AA9/{AYAԩ^A A!= A I! I1 O= >OE#,rݢLA2 @2`U>2I<ٱ2=2HmK?.ʿ +s? )?3?@@aB}??i2 @I2u\;2ɑC>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518257YB{ByBIIF!>)F;bDNVDN8yRI%RK=ٔVW\Q-V>9TYX=ZEEyZ9DZ $E^>\Q 5b4^?Q 9b4^j3)^OBYdyf:>Q If5@^wDI^:i^:^4yhɮn'Al:iDNOT Ignoring new targets: 61.45 m."i/*i/ ProNav: ac range: 61.448185 m, nav range: 60.328064 m, bearing: 349.115082 deg, approach rate: -0.414065 m/s, LOS rate: -0.153600 deg/s, cmd heading: 10.397251 deg, new cmd heading: 10.267347 deg. iHeadingCmd: 0.179199 target range: 61.448185 and range: 61.50 m.h7>hhhhggjgrgereZe:e*e @颽LBɢ5;) Lbi)9|=i-i7>Kٟ=i=I7>IE EE(E"Es:*Ei:VEc44ZEa@a@a@a@@:9@ @@ 0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770748! A9 A= AABE >BA BE IBE {BBE L =BA BA BE ;BE ]EBCBCBʓCBL =BL =CvH5^A Vo=Q A.AI IO->y"E#,LA2@2Q>2@g<ٱ2o=2H@MR?Dɿ?` ?@9?k[̗@?`=?i2@I2G)];2ǑCQPExceeded connect timeout, disconnecting.Y{ByIBDAT read: Rx Time:01:24:41.9319 TRx dataTimestamp_ set to:1764897883.064608checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023239i5Mb@Mb@Mb@1111 195(\?Mbp:v?Y5>y55T<5 A5$A 5A)5hA1Y5AbDeVDeð8yx<%=ٔ&Q->9 ?Y ?=EEyDDE>Q 54֐?Q 942)Y.>Q E:yF>Q I5@DIF;iK;4yؒBɮ'A`E-B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 61.45 m."ieB*ieBu ProNav: ac range: 61.448185 m, nav range: 60.086105 m, bearing: 349.021825 deg, approach rate: -0.440034 m/s, LOS rate: -0.170282 deg/s, cmd heading: 10.267347 deg, new cmd heading: 10.080085 deg. iuћuHeadingCmd: 0.175931 target range: 61.448185 and range: 61.50 m.hu+'4>hyhyyhhggjgrgBereZe:e*e`K @5HBɢ;) `i)Oy=项i i+'4>==I+'4>IIR?)Z?E EE,E"E:*Ez:VEg4ZEBE3}E#,MLAf4@fM>fN<ٱfC=fH`X?}=ɿ˴????\I`%??if4@If];dYn{ByrIbDzVDz8yJ%G=ٔkQ->9 Y = EEy MDE>Q 5%4搊?Q 9%4$1)PBY!y%B>Q I-5@DI:i:4y1ɮ5'A1:iY]DNOT Ignoring new targets: 61.45 m."ie7B*ie7Bu ProNav: ac range: 61.448185 m, nav range: 59.908936 m, bearing: 348.953788 deg, approach rate: -0.440849 m/s, LOS rate: -0.169797 deg/s, cmd heading: 10.080085 deg, new cmd heading: 9.943608 deg. iu_}HeadingCmd: 0.173549 target range: 61.448185 and range: 61.50 m.h}1>hyhyhyhygygjgrgereZe:e*e !#@颵FBɢЭz) di)uv=ii1> ==I1>I DAT read: 01:24:41.9319 LVL= 28496, 27873, 17778, 32755, AGC= 60, IDX= 416,-0.09, 2.205, 0.971,-3.086, 2.346, PHS=-0.039,-1.330, 0.808, RAW= 173.2, 6.1, CAL= 172.6, 5.3, ROT= 337.4, -5.3 Ygot valid direction response: 01:24:41.9319 LVL= 28496, 27873, 17778, 32755, AGC= 60, IDX= 416,-0.09, 2.205, 0.971,-3.086, 2.346, PHS=-0.039,-1.330, 0.808, RAW= 173.2, 6.1, CAL= 172.6, 5.3, ROT= 337.4, -5.3 PDAT read: Bearing 174.5, -23.6 (Local) ~Local bearing/azimuth received: Bearing 174.5, -23.6 (Local) DAT read: Range 11 to 50 : 60.0 m (Round-trip 80.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.919263,-0.382652,0.092371]Fpublishing direction and range infoyɚj?_M_}ؿ{]U?YpBPolrE )<Iwiq=N?\wA@^ =@@ q=)p@Iq@:j(C?~w?CW? Ɉm?)ٽIɾiq5T****** received valid address query ******5R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@0@@@=IE5 E5E5+E1"E5s:*E5 n:VE5 [4ZE1a=@aE@aE@aE@i^Aߵ =ߵ < (DAT read: user:32>  BDAT read: Tx time:01:24:43.2961  $Ping request sent. ԑ B >B B IB {BB M =B B B ֡;B G]EUٽE#,3LAFi@F@^J>Fg<ٱF1=FH^?ȿ̢?@b ?E?F`̔`??iFi@IF];FƑCY^{By^I ``iMb@Mb@Mb@ 9ˡE?Q?Y>yu< AA "A)AY=AbDVD8y.%:=ٔ9YQ->9"?Y%"?=%EEy%UD%E%>)Q 554-?Q 954-"0)-QBY=>Q E=:y=tG>Q I=5@-DI-7;i-+;-4yEܒBɮE (AIi)i-bLAj-oB"j-oB:j-V@yRj-5GK@35]\6x*q&@Bj-ɚj?_M_}ؿ{]U?*j-ɾ2j-qZj-^ϜVM@lPӋ(2ȳ"h@Jj-dR?ABtɿkXַ?j-@ j-jBi-8xG?i-ҽlj-Bj-8xG?j)j-Brj-/oBzj-@5 addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 3.780758 s, deltaX: -1.500000 m, approachRate: -0.396746 m/s, rangeRepo size: 4 = Added new target pos. range: 59.949181 m, bearing: 348.400127 deg, lat: 36.779538 deg, lon: -121.859795 deg, deltaT: 3.780758 s, deltaX: -1.499004 m, approachRate: -0.396482 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 59.95 m.2iEEPowering the camera and arming the capture device at range: 60.00 m.iM"iu*iq ProNav: ac range: 59.949181 m, nav range: 59.796261 m, bearing: 348.895192 deg, approach rate: 0.000000 m/s, LOS rate: -0.169797 deg/s, cmd heading: 9.943608 deg, new cmd heading: 9.788078 deg. iHeadingCmd: 0.170834 target range: 59.949181 and range: 60.00 m.h).>hhhhiggjgrg BereZe:eN@*e ?mBBɢm.;)i mdii)ur=qqiui}).>}:(=}=I}).>InManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246912E!A: M&Changing to mode: 2ԡ9@ @@/0@EM  EM EM ,EI "EM :*EM :VEM g4ZEI BEI aU 2EI aU JEM ;a] :EM ;a] ^A $= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498037Am.AIqIO>pE#,|LA2I@2NF>2<ٱ2G]=2He?Wȿ۫? +?:K?Դ9#??i2I@I2"];2ȑCY>{By>I F%=DbDFVDF8LyR%R>=ٔR]Q-V>9V ?YV ?=VEEyV^DZjEZ>\Q 5b4^?Q 9b4^)/)^SBY`yb`C>Q If5@^DI^:i^:^4yjݒBɮj(AjWE:iq}DNOT Ignoring new targets: 59.95 m.2iy}Powering the camera and arming the capture device at range: 60.00 m.iy"iG=*iG= ProNav: ac range: 59.949181 m, nav range: 59.615902 m, bearing: 348.825012 deg, approach rate: -0.423997 m/s, LOS rate: -0.165480 deg/s, cmd heading: 9.788079 deg, new cmd heading: 9.647296 deg. ilHeadingCmd: 0.168377 target range: 59.949181 and range: 60.00 m.h k,>hhhhiggjgrgere Ze:e*eE?颵>Bɢ䔻) mi)o=项i[i k,>>= 1Q=I  k,>I}7@y @y@}z0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749945^A (S=! E=  E= E= +E9 "E= :*E= :VE= [4ZE9 aM @aM @aM @aM @A- ؟AI9 II O >E#,2LA2b.@2`B>2<ٱ2]=2Hj? ǿK?8?O? 0ݐC?@?i2b.@I2-];0Y>{By>Id checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002100iMb@Mb@Mb@ 9bX9?MbMbp?YE>y; A A) AYAbD-VD-8y=>{=%=>=ٔEQ-E>9E"?YM"?=MEEyMgDMEM>QQ 5]4U,?Q 9]4U:.)URBYeP>Q E:yE1>Q I5@UDIU)hqhqhqhyiyggjgrg~BereZe:e*e ?BAB>BBIB~{BBBBB;B]E=;Bɢ=@c)9 =1fiA)El=AAiEpiM)>MT=M^=IM)>IQ5A:^5@ @@2@@yA@xA!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254017^A- =A5 xAzA1 i AY Ii Iy O E#,MLA:@:A?>:pr<ٱ:pS=:Hp?`ǿF?`?RU?c M"?k?i:@I:L];:ǑCYF{ByFIIJ=)J>?bDRVDR8yVՋ%VP=ٔZQ-Z>9\Y\=^EEy^oD^Eb>`Q 5f4b'?Q 9f4bc-)bQBYhyn->Q In5@bDIb$;ib$;by4ypɮr(Ap~B*** querying acoustic contact ***ii:i  DNOT Ignoring new targets: 59.95 m.2iPowering the camera and arming the capture device at range: 60.00 m.i"i%H*i%H- ProNav: ac range: 59.949181 m, nav range: 59.246933 m, bearing: 348.688019 deg, approach rate: -0.472351 m/s, LOS rate: -0.175516 deg/s, cmd heading: 9.503383 deg, new cmd heading: 9.372455 deg. i55HeadingCmd: 0.163580 target range: 59.949181 and range: 60.00 m.h='>h9h9h9h9i9g9gAjgArgAeAreAZeI:eI*eM$?Eu EuEqEq"Eul;*Eu:VEqZEqBEuaFli)i=顙iHi'>e==I'>Im'B:03@ @@2@ 4> %=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511120Ay^A%==AQ Ia Iq O >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761979#EE#,fLAF@F;>F* V<ٱF I=FHv?@ǿ`&? T?Z?R`s@?@?iF@IFy(];FɑCYN}{ByNIVAAVAAbDZVDZ8yb%bJ=ٔfQ-f>9dYd=fEEyfwDj Ej>lQ 5r4n 8?Q 9v4n,)nPBYtyv)>Q Iv5@nDIn:in:n4yzBɮ~,)A|:iAEDNOT Ignoring new targets: 59.95 m.2iAEPowering the camera and arming the capture device at range: 60.00 m.iI"iM]<*iM]<] ProNav: ac range: 59.949181 m, nav range: 59.064766 m, bearing: 348.620794 deg, approach rate: -0.444889 m/s, LOS rate: -0.164683 deg/s, cmd heading: 9.372456 deg, new cmd heading: 9.237592 deg. ieeHeadingCmd: 0.161226 target range: 59.949181 and range: 60.00 m.he%>hahihihiiigigijgqrgqeqreqyZey:ey*e@3Bɢ zû) mi)5lf=99iE3&i]%>e{=H=I%>IIJ?)?bE [4jEY4rEַ/E EE,E"E*E&p:VEg4ZEa@a@a@a@BB:ԩD0@! @!@%4@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013965BBBIB_{BBBBBC;B]E^A S= Aq Iy I O >PE#,eSLAYj{ByjIi]Mb@Mb@Mb@YYYY Y9]/$?:vMb?Y]&>y]T]<] A]A ]A)]AYY]\AbDu VDu8yKR<%;=ٔQ->ԑ9Y=EEyDE>Q 54HI?Q 94+)YG>Q E:y >Q I5@DIH;ia;;4yɮ)A:iDNOT Ignoring new targets: 59.95 m.2iPowering the camera and arming the capture device at range: 60.00 m.i"i8*i8 ProNav: ac range: 59.949181 m, nav range: 58.870552 m, bearing: 348.551149 deg, approach rate: -0.447346 m/s, LOS rate: -0.160946 deg/s, cmd heading: 9.237592 deg, new cmd heading: 9.097843 deg. iF HeadingCmd: 0.158787 target range: 59.949181 and range: 60.00 m.h %">h h h h i ggjgrg&BereZe:e*eb+@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266054/Bɢ) >ki)yfc=ii%">=U=I%">IB:}-@y @y@}/@y@=@p=EU EUEU)EQ"EU2:*EUx:VEUFA4ZEQBEU+*7vE#,HLAf@f,5>f<ٱfHM=fH?Vƿ@pd?` ?b?Nx ??if@IfG];fȑCYvw{ByvI ||bDVD8y5F%=P=ٔ=JQ-=>9AYA=EEEyEDE8EE>IQ 5U4MX?Q 9U4M*)MQBYYy]>Q I]5@MDIM0;iM;M 4yeBɮe\)AeYE:iDNOT Ignoring new targets: 59.95 m.2iPowering the camera and arming the capture device at range: 60.00 m.i"i3*i3 ProNav: ac range: 59.949181 m, nav range: 58.697197 m, bearing: 348.489797 deg, approach rate: -0.442982 m/s, LOS rate: -0.157240 deg/s, cmd heading: 9.097844 deg, new cmd heading: 8.974776 deg. i⏻HeadingCmd: 0.156639 target range: 59.949181 and range: 60.00 m.hf >hhhhig1g1jg9rgQereZe:e*e@颅,Bɢ) mi)#-`=顉i!㖽if >=J=If >IYC:)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769913]@+@Y @Y@Y@YaEu  Eu Eu +Eq "Eu :*Eu Ar:VEu [4ZEq a @a @a @a @^A !=y A I I  BDAT read: Rx Time:01:24:45.7781  TRx dataTimestamp_ set to:1764897886.848754 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023230O >_E#,3LAv@v`1>v"d;ٱv=vHa?ſ??c!?d?@gY`o ?`?iv@Iv5];vƑCYW{By IA]AAAYBe>BeCBeIBeK{BBaBaBeXDBeZ;Be]EԑiMb@Mb@Mb@ 9I +?~jt{Gzt?Y9>yף; AA );AYA 5=5R=bD=VD=8yM[%M0=ٔMvQ-U>9QYQ=]EEy]De<޻Ee>yQ 54}Fk?Q 94}6*)yYn>Q E:y`>Q I5@}DI}Ɵ;i} ;};4yɮ)A:iDNOT Ignoring new targets: 59.95 m.2iPowering the camera and arming the capture device at range: 60.00 m.i"i -*i-- ProNav: ac range: 59.949181 m, nav range: 58.486629 m, bearing: 348.418185 deg, approach rate: -0.443444 m/s, LOS rate: -0.151353 deg/s, cmd heading: 8.974776 deg, new cmd heading: 8.831037 deg. i-=HeadingCmd: 0.154131 target range: 59.949181 and range: 60.00 m.hEn>hAhAhAhAiAgAgjgrg~BereZe:e*eD @(Bɢ)! E tiA)E\=IIiMXÖiUn>UN=U=IUn>IQ ]wAYEkC:(@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274429^A Ö=! E  E E (E "E &:*E ~:VE c44ZE BE i;uE#,?LA0u@`+>";ٱ=H?@>ſY?c?`l?`Et??iu@Iu ]; !%CY%Y{By-IDAT read: 01:24:45.7781 LVL= 30128, 32353, 22994, 32755, AGC= 57, IDX= 426,-0.42,-0.159,-1.393, 0.740,-0.058, PHS= 0.000,-1.291, 0.754, RAW= 171.4, 6.0, CAL= 170.8, 5.3, ROT= 339.2, -5.3 zA9zAYA5Ygot valid direction response: 01:24:45.7781 LVL= 30128, 32353, 22994, 32755, AGC= 57, IDX= 426,-0.42,-0.159,-1.393, 0.740,-0.058, PHS= 0.000,-1.291, 0.754, RAW= 171.4, 6.0, CAL= 170.8, 5.3, ROT= 339.2, -5.3 =PDAT read: Bearing 171.6, -21.0 (Local) =~Local bearing/azimuth received: Bearing 171.6, -21.0 (Local) EDAT read: Range 11 to 50 : 58.4 m (Round-trip 77.9 ms) speed 0.4 m/s bDuVDu8R#Rx 1: Read range and direction messages.y6;%0=ٔɻQ->9Y=EEyDePE>Q 54}?Q 94y))YyV>Q I5@DI#@ a)eq@IaaaeF}Mq?? s? e}e?)eUCؽIe޹iaaa%T****** received valid address query ******ԁiaR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ieTLAjehiB"jehiB:je2@Rje4Fd(K@C {4\ØY@BjeZ?I2ֿ{]U?*je޹2jaZjeL@v R' @JjeģM?P-ɿm}t?je: jeTdBie^G?ie+\je)Bje^G?jajarje"iBzje@u addTargetRange:: Added new target pos. range: 58.400002 m, deltaT: 3.785428 s, deltaX: -1.599998 m, approachRate: -0.422673 m/s, rangeRepo size: 4  Added new target pos. range: 58.351799 m, bearing: 348.455099 deg, lat: 36.779538 deg, lon: -121.859795 deg, deltaT: 3.785428 s, deltaX: -1.597382 m, approachRate: -0.421982 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 58.35 m.2iPowering the camera and arming the capture device at range: 58.40 m.i"i*i  ProNav: ac range: 58.351799 m, nav range: 58.283722 m, bearing: 348.349218 deg, approach rate: 0.000000 m/s, LOS rate: -0.151353 deg/s, cmd heading: 8.831037 deg, new cmd heading: 8.681339 deg. i]HeadingCmd: 0.151518 target range: 58.351799 and range: 58.40 m.h]'>hYhqhqhyiygygyjgrgereZe:e@33M@*e$a?#Bɢ@^) yri)X=ii'>Š=ʺ=I'>I ԱC:e?%@i @i@i@i@uxA@qi I  (DAT read: user:33>  BDAT read: Tx time:01:24:47.0460 % $Ping request sent.% %IE#,LA2n]@2(>2];ٱ2i=2H`Ӑ?QĿ`??@qp?`rk`B??i2n]@I2f>];2ȑCY:T{By>IIB=)B%=iMb@Mb@Mb@ 9X9v?y&1{Gzt?Y>y`e AA jA)AYAbDVD8y-;%-4=ٔ5q]Q-5>95 ?Y5 ?==EEy=D=׻E=>AQ 5M4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249063E?Q 94E()AY>Q E:y >Q I5@EǞDIEhhhhiggjgrg BereZe:e*e ]l?B>BB~IB7{BBL =BBBh;B]EBBBBM =BM =C5颥BɢO) ri){lU=顩iYiT>Ӡ=%=I%T>I)9zD: o"@  @ @ @ iE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501018ԑ ^A =A! I) I9 OM >OF#,gLA2B@2%>2i:ٱ2:w=2H,?+Ŀv? S?s?鶿6 XF?`?i2B@I2%];08YZ){ByZvI`b@AbDfVDf8ynŽ%n@=ٔnQ-r>9pYp=rEEyrDvEv>xQ 5~4z?Q 9~4z()zRBY|y~>Q I5@z͞DIz:iz:z(4y Bɮ *A [EDU=DU=EY E]E])EY"EY*E]e:VE]FA4ZEYBE]N-hhhhiggjgrgereZe:e*e {?uBɢu)q uy|iq)u9R=yyi}oi~B>D=%=I~B>ID:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757564@ @@@@%@%@%@% A ؟AI I O >} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009102| F#,u)LAB1@BP#>BRٱBI\=BH ?`5>Ŀ@?S?u?`7@? ?``?iB1@IBh ];BǑCYR.{ByRxIbD`VD`yj1.<%nI=pٔr}Q-v>9v"?Yv"?=zEEyzDzE~>Q 5 4ް?Q 94[')SBYyW>Q I5@ӞDI?;i;;/4y%Bɮ-*A):iaeDNOT Ignoring new targets: 58.35 m.2iamPowering the camera and arming the capture device at range: 58.40 m.ii"iu7*iu7 ProNav: ac range: 58.351799 m, nav range: 57.705647 m, bearing: 348.149145 deg, approach rate: -0.463040 m/s, LOS rate: -0.160577 deg/s, cmd heading: 8.407469 deg, new cmd heading: 8.279861 deg. i HeadingCmd: 0.144511 target range: 58.351799 and range: 58.40 m.h >h h h h i g gjg9rgAeAreIZeq:ey*e?=Bɢ=XX)9 =hzi9)EjN=AAEM EMEIEI"EM:*EMi:VEIZEIau@au@au@au@ilVi>&=g=I>I}E:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261598@ @@@AA>1B<A4=B>BCBwIB-{BBK =BBYDBd;BA .AI I) OE >q F#,NCLA2f@2 >2ߺٱ2)ӻ=2Ho?ÿ ډ?N?`>y?9[?q??i2f@I2];2ȑCY:4{By:|I <y`弙`; A ) AYbDVD8y-n<%-E=ٔ5=}Q-5>95 ?Y5 ?=5EEyyD<ʻE>Q 54C?Q 94&)TBY>Q E:yD=Q I5@ڞDIt:i|:?74yɮ*A:iDNOT Ignoring new targets: 58.35 m.2iPowering the camera and arming the capture device at range: 58.40 m.i"i O*i OiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513460- ProNav: ac range: 58.351799 m, nav range: 57.519047 m, bearing: 348.091393 deg, approach rate: -0.440110 m/s, LOS rate: -0.136655 deg/s, cmd heading: 8.279861 deg, new cmd heading: 8.163982 deg. i-z-HeadingCmd: 0.142488 target range: 58.351799 and range: 58.40 m.h5x>h1h1h1h1i1g9g9jg9rg=~BeAreAZeA:eA*eEY?uBɢuZ)q uxiy)}K=yyi}7ix>M=x=Ix>I%E:ԡ%@! @!@%/@!E] E]E]+EY"E]:*E]x:VE] [4ZEYBE]F8 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765088 F#,f2]LA: @:`>:@ٱ: =:H?ȷÿ@'?p?{?^h?`U?D?i: @I:\;8Y@y@ J%=J4=bDNܿVDN8yV%VS=ٔVOQ-Z>9Z"?YZ"?=^EEy^ŤD^E^>`Q 5f4bϑ?Q 9f4bu&)bUBYhyj=Q Ij5@bߞDIb{:ib:b=4ylɮn*Al:iDNOT Ignoring new targets: 58.35 m.2i Powering the camera and arming the capture device at range: 58.40 m.i "i *i% ProNav: ac range: 58.351799 m, nav range: 57.356499 m, bearing: 348.041083 deg, approach rate: -0.436293 m/s, LOS rate: -0.135420 deg/s, cmd heading: 8.163982 deg, new cmd heading: 8.063076 deg. i%w%HeadingCmd: 0.140727 target range: 58.351799 and range: 58.40 m.h->h)h)h)h)i)g)g1jg1rg1e9re9Ze9:e9*e=`#@mBɢm<)i m^wii)mH=qqiu.i}>}p=yI}>I5E:9@ @@_0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017883aAI!I1OER>ԑEe  Ea Ea Ea "Ee V:*Ea VEa ZEa am @au @au @au @Ա F#,wLA2N@2>2ٱ2=2H?[ÿ:I? :?{?@N߷KVt?`??i2N@I283];2ɑCY:){By:vIBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269181i Mb@Mb@Mb@     9 V-?Q~jtx?Y >y u ;  A  )  Y \AbD%ݿVD%8y-%5B=ٔ5靻Q-5>99Y9==EEy=ͤDE EE>IQ 5M4Mߑ?Q 9U4M%)MWBYU>Q EU:yU=Q IU5@MDIM=:iM;ME4yeBɮe+Ae\EB>BBqIB"{BBBBBa;B]E%B*** querying acoustic contact ***i!i!:iYeDNOT Ignoring new targets: 58.35 m.2iamPowering the camera and arming the capture device at range: 58.40 m.ԙiq"i!*i! ProNav: ac range: 58.351799 m, nav range: 57.171867 m, bearing: 347.977951 deg, approach rate: -0.412443 m/s, LOS rate: -0.141483 deg/s, cmd heading: 8.063076 deg, new cmd heading: 7.936406 deg. ivHeadingCmd: 0.138516 target range: 58.351799 and range: 58.40 m.h? >hhhhiggjgrg~BereZe!:e!*e%@额 Bɢlp) xi) E=顡i i? >I=3=I? >I3F:9@9 @9@E0@E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521100^A- Z5=A5 wAzA5 wA A1 IA IQ O] > $F#,ZLA2@2@%>2ֻٱ2=2H`?@sOÿ1?Q?@|?R@z?`X??i2@I2z];0Y: {By:dII>4>)>p<bDFVDF8yNE%NT=ٔNQ-N>9PYP=REEyRդDVEV>TQ 5^4V?Q 9^4VJ%)VXBY\y^=Q I^5@VDIV;iV;VK4ydɮfv+Ad:itE EE)E"E:*Ek:VEFA4ZEBEa%2Ea%JEּ;a-:Eּ;a-zDNOT Ignoring new targets: 58.35 m.2iquPowering the camera and arming the capture device at range: 58.40 m.ulFinal approach. Armed for intercept at range: 58.40 m.u\Transitioning guidance mode to: FINAL_APPROACH iu@"i}9*i}9 ProNav: ac range: 58.351799 m, nav range: 57.002415 m, bearing: 347.919994 deg, approach rate: -0.473162 m/s, LOS rate: -0.162314 deg/s, cmd heading: 7.936406 deg, new cmd heading: 7.820147 deg. iHeadingCmd: 0.136487 target range: 58.351799 and range: 58.40 m.hU >hh:h33?hggjgrgereZe:e*e@m@ BɢLռ) 4i)B=i%ꕽi%U >%=)-33? -(kpHeading = 0.700000I5: 5(kiHeading = 0.0010005=I5U >II = BDAT read: Rx Time:01:24:49.5258 = TRx dataTimestamp_ set to:1764897890.632529E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0261160*F#,jLAY{BykI@AbDҿVD8y <%5=ٔ%Q-%>9!Y)=-EEy-ޤD-E->1Q 5=45t?Q 9=45$)5ZBYAyAQ IE5@5DI5:i5:5S4yMBɮM`+AM]E:iyDNOT Ignoring new targets: 58.35 m.2i"i3-*i3- ProNav: ac range: 58.351799 m, nav range: 56.803368 m, bearing: 347.851448 deg, approach rate: -0.438179 m/s, LOS rate: -0.151425 deg/s, cmd heading: 7.820147 deg, new cmd heading: 7.682575 deg. iHeadingCmd: 0.134086 target range: 58.351799 and range: 58.40 m.h M >hhhhg!g)jg1rg9eAQreIbE(N4jEüP4rEÖ/EE EEEE-EA"EE;*EE:VEEt4ZEAa}@a}@a}@a}@Zea:e*e  @-Bɢ-\Sp)1 5zi1)53 >=11i5Vٕi=M >=đ=IM >I]F:ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277230A@AA@AB>BCBBBBBB_;B]E!@ @@0@@ xA@ yAԡ ^A= õ= }DAT read: 01:24:49.5258 LVL= 30256, 30801, 23890, 32755, AGC= 62, IDX= 419,-0.43,-2.536, 2.482,-1.708,-2.473, PHS= 0.039,-1.284, 0.720, RAW= 169.5, 6.0, CAL= 168.9, 5.3, ROT= 341.1, -5.3 Ygot valid direction response: 01:24:49.5258 LVL= 30256, 30801, 23890, 32755, AGC= 62, IDX= 419,-0.43,-2.536, 2.482,-1.708,-2.473, PHS= 0.039,-1.284, 0.720, RAW= 169.5, 6.0, CAL= 168.9, 5.3, ROT= 341.1, -5.3 PDAT read: Bearing 169.5, -18.2 (Local) ~Local bearing/azimuth received: Bearing 169.5, -18.2 (Local) DAT read: Range 11 to 50 : 56.7 m (Round-trip 75.6 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.942041,-0.322533,0.092371]AIIO>o2F#,7LAFpublishing direction and range infoyz}D2%?ʵ_Կ{]U?YbB0vQxR] )>Iw=iZQ8?TU=@<@ )@IF.Ө?5?hDtƺ? C]?)ֽIZ䨾iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y{ByiI Ii}Mb@Mb@Mb@yyyy y9}-?Mby}}t<E EE(E"E;*E:VEc44ZEBEA9YA=EEEyEDAEM>IQ 5U4M?Q 9]4M#)M]BY]h>Q E]:y]=Q I]5@MDIM;iM;M ^4yBɮ+AiiLAjbB"jbB:j @RjLFJ@g=E2 V9@Bjz}D2%?ʵ_Կ{]U?*jZ䨾2jZj)CAK@\$@Jjky7a?{ǿb ?D?j& j:^Bi{_?ih6j/BjjjBrjhQhQhQhygygyjgrg~BereZe:eYL@*e`h?~B(DAT read: user:34> BDAT read: Tx time:01:24:50.7960 $Ping request sent.= ==I=I=>IAqTG: @  @ @ /@ ԡ ^A =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250876A].AIiIyO ?:F#,PLA2@2 >2JHٱ2ʕ=2Hy?\¿f??@|?չ5 ?0?&?i2@I2];08Y>zBy>YIbDJVDJ8yR8x%VI=ٔ^ehQ-b>9f ?Yf ?=jEEyjDj&Ej>lQ 5r4nm$?Q 9r4nb#)n`BYtyv=Q Iv5@nDIng:in;n e4y|ɮ+A :i9EDNOT Ignoring new targets: 56.65 m.2iA"iE1$*iE1$ ProNav: ac range: 56.654812 m, nav range: 56.396233 m, bearing: 347.712835 deg, approach rate: -0.421960 m/s, LOS rate: -0.143550 deg/s, cmd heading: 7.499023 deg, new cmd heading: 7.388074 deg. i[MHeadingCmd: 0.128946 target range: 56.654812 and range: 56.70 m.hUz >hQhYhYhYggjgrgereZe:e)*e5k?E} E}E},Ey"E}&:*E} n:VE}g4ZEya@a@a@a@ԙ~Bɢ&) i)) 6=i%鷕i%z >%$=-<=I-z >I)G:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503578@ @@/@BBBkIB{BBBBBS;B]E ^A =A ؟AI I! ! O5 > BF#,TLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909J@J`>JٱJ-j=JH@T?`¿N-?kz?RÐ?`?`x?iJ@IJE];JǑCYRzByRUIi-Mb@Mb@Mb@)))) )9-S?~jtx~jtx?Y->y-Ļ-;- A) - A)))Y) E=E=bDEVDE8yU%]3=ٔ]Q-]>9]"?Ye"?=eEEyeDe!Em>iQ 5u4m4?Q 9}4m")mbBY}>Q E}:y}>Q I}5@mDIm(:im:ml4yBɮ+,A^EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 56.65 m.2i"i**i*M ProNav: ac range: 56.654812 m, nav range: 56.215080 m, bearing: 347.646391 deg, approach rate: -0.405148 m/s, LOS rate: -0.149081 deg/s, cmd heading: 7.388074 deg, new cmd heading: 7.254758 deg. iMjMHeadingCmd: 0.126619 target range: 56.654812 and range: 56.70 m.hU>hQhQhQhQgQgQjgYrg]~BeYreYZea:ei*em9?~Bɢټ) Ni)2=!i=ѦiE>E+)=Ex̽=IE>II UxAUxA}G:E EE*E"E:*E|:VE(N4ZEBEF8OHF#,/"LA 2@2>2ևٱ2=2H;?Į¿w h`2?{? ?`?@s?i2@I2e];2ȑCY>zBy>LIIB=)BL?bDJVDJ8yR%RS=ٔRQ-R>9TYT=VEEyVDV%EZ>\Q 5b4^XB?Q 9b4^(")^eBY`yb>Q Ib5@^ DI^:i^:^s4yhɮjd,Ah:i|~DNOT Ignoring new targets: 56.65 m.2i|"i)*i) ProNav: ac range: 56.654812 m, nav range: 56.059349 m, bearing: 347.589082 deg, approach rate: -0.401794 m/s, LOS rate: -0.148273 deg/s, cmd heading: 7.254758 deg, new cmd heading: 7.139820 deg. iHeadingCmd: 0.124613 target range: 56.654812 and range: 56.70 m.hK5=hhhhgg!jg!rg!e!re)Ze):e)*e-&?~Bɢm) i)v/=i9iK5=(-=>=IK5=ItH:-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258899A @ @@15@qE EE'E"E:*E:VE'4ZEa@a@a@a@^A}=ԡ !? x? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511442A1 I9 II O] >B >B B eIB {BB B B ZDB H;B ]EBeCBeCBaBeK =BeK =Ce4fuNF#,ʤ<LA@R@R0>R@ٱRS=RH@?@¿*tt?'|?@h`iݔ??!?iR@IRRe];PYZzByZSIieMb@Mb@Mb@aaaa a9e-?{GzMbP?Ye5>ye#e:aeA eA)e;AaYeQAbD}߿VD}8y<%==ٔݠQ->9Y=EEy DcȺE>Q 54R?Q 94!)gBYD>Q E:y=Q I5@DI:iF:C{4yBɮS,A_E:iDNOT Ignoring new targets: 56.65 m.2i"iq)*iq) ProNav: ac range: 56.654812 m, nav range: 55.882225 m, bearing: 347.525203 deg, approach rate: -0.409463 m/s, LOS rate: -0.148139 deg/s, cmd heading: 7.139820 deg, new cmd heading: 7.011657 deg. iHeadingCmd: 0.122377 target range: 56.654812 and range: 56.70 m.h=hhhhg g jg rg ~BereZe:e*e?E~BɢEd׼)A EKiA)ML9,=IIiMƉiU= 2={=I=Iԩ}H:E@A @A@E!5@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828^AM = Ay D zD AAE  E E ,E "E a:*E n:VE g4ZE BE (3]UF#,VLA2@2@>2Ȱٱ2f=2H?¿}j?D}?@kͺ?W???i2@I2Q];0Y:zBy:NIBAA@bDFVDF8yN3%N[=ٔR~Q-R>9PYP=REEyRDVQEV>XQ 5^4Z_?Q 9^4Z !)ZiBY`ybW=Q Ib5@ZDIZe ;iZ ;ZɁ4ydɮfq,Adl:ix~DNOT Ignoring new targets: 56.65 m.2i|"i)*i) ProNav: ac range: 56.654812 m, nav range: 55.729473 m, bearing: 347.469820 deg, approach rate: -0.408554 m/s, LOS rate: -0.148534 deg/s, cmd heading: 7.011657 deg, new cmd heading: 6.900589 deg. iꇻHeadingCmd: 0.120438 target range: 56.654812 and range: 56.70 m.h1=hhhhgg!jg!rg!e!re)Ze):e)*e-@@U~Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014807ɢj) %i)k()=i|i1=6==I1=II: i@i @i@m/@i1^A C=AA?U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266828a A I I O >,[F#,ZpLAY%zBy%HIAbDVD8y%9=ٔQ->9Y=EEyDE>EU EUEU'EQ"EU:*EUAr:VEU'4ZEQau@au@au@a}@Q 54o?Q 94l )kBYyQ I5@DI?=i/=4y!ɮ%,A!:iAMDNOT Ignoring new targets: 56.65 m.2iI"iU *iU e ProNav: ac range: 56.654812 m, nav range: 55.545277 m, bearing: 347.402606 deg, approach rate: -0.383870 m/s, LOS rate: -0.140541 deg/s, cmd heading: 6.900588 deg, new cmd heading: 6.765714 deg. iemHeadingCmd: 0.118084 target range: 56.654812 and range: 56.70 m.hm=hihihihigqgqjgqrgqeyreyZey:ey*e}@颭~Bɢļ) 〿i)3%=顱ixi=Y===I=IiI:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518893B}>B}CByByB}J =ByByB}P;B}]EY@Y @Y@e/@aԑ^A Ҟ= e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771156A .AI I O >bF#,QLA;ɰ26@2>2ۼٱ2-=2H@%?5j¿wZ-)?@?{?X?@?i26@I2Y];2ƑCY>zBy>PIiMb@Mb@Mb@ 9-?:vYyT A9A )YAbDVD8y-=%5K=ٔ5&4Q-5>9= ?Y= ?==EEy=%D=:E=>AQ 5M4ED~?Q 94E)EmBYN>Q E:y=Q I5@E"DIE=hF#,LA:*@:>:ٱ:=:H੪?`T¿`:`? x?A?`;ʹ??i:*@I:+p];8YFzByFLIbDRVDR8yV1%ZS=ٔZQ-Z>9Z"?Y^"?=^FEy^-D^k&Eb>`Q 5f4bR?Q 9j4bl)boBYhyj=Q Ij5@b'DIb :ib\:bJ4ylɮr,Ap:i DNOT Ignoring new targets: 56.65 m.2i "i 2*i 2 ProNav: ac range: 56.654812 m, nav range: 55.225094 m, bearing: 347.288046 deg, approach rate: -0.433318 m/s, LOS rate: -0.155715 deg/s, cmd heading: 6.649930 deg, new cmd heading: 6.535932 deg. i|%HeadingCmd: 0.114074 target range: 56.654812 and range: 56.70 m.h%b=h!h)h)h)g)g)jg1rg1e1re1Ze1:e1*e= @e~Bɢe)i m:~ii)mP=iiim0kiub=yuG=}>=I}b=IU%J:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275654@ @@/@ԩE EEE"E:*E:VEZEa@a@a@a@!^A==AMwAzAMzA DAT read: 01:24:53.2737 LVL= 29728, 32753, 22962, 32755, AGC= 60, IDX= 413, 0.32,-2.683, 2.289,-1.816,-2.636, PHS= 0.055,-1.313, 0.776, RAW= 169.9, 5.3, CAL= 169.2, 4.2, ROT= 340.8, -4.2  Ygot valid direction response: 01:24:53.2737 LVL= 29728, 32753, 22962, 32755, AGC= 60, IDX= 413, 0.32,-2.683, 2.289,-1.816,-2.636, PHS= 0.055,-1.313, 0.776, RAW= 169.9, 5.3, CAL= 169.2, 4.2, ROT= 340.8, -4.2 A AAA B >B CB B B B B B m;B ]E% PDAT read: Bearing 167.1, -17.4 (Local) % ~Local bearing/azimuth received: Bearing 167.1, -17.4 (Local) 9 E DAT read: Range 11 to 50 : 55.1 m (Round-trip 73.5 ms) speed 0.4 m/s M R#Rx 1: Read range and direction messages.U ^direction in FSK: [0.941840,-0.327984,0.073238]U Fpublishing direction and range infoyI M #? ٮԿ?YM f\BI M tM M Y I )M <IM Ga=iM bM F?M =@M q=M <@ M Q =)M V@IM Q I I M zH? [?㢷? M ^?)M *\IM iM Q I I m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.A} .AI I O >AoF#,7LAfK@fW>ffٱf\=fH?@.N¿M?? S+@l?D?@?ifK@IfH];dY=zBy=DIIE%>)E=ԙiEMb@Mb@Mb@AAAA A9EV-?{GzYE>yE̼E#E AEhA A)EjAAYEAbD}VD}8yg%*=ٔQ->9 ?Y ?=FEy7DE>Q 54?Q 94)pBY>Q E:y=Q I5@.DI%;i;4y Bɮ,AiiLAj9\B"j9\B:jڧ@Rj^I@Փ2 R!@Bj#? ٮԿ?*j2jQ ZjJ@ԇP ,%"@JjY I?! sdɿD±?j. jNWBihV?i->jBj-G?j+\j)Brj[Bzj@ addTargetRange:: Added new target pos. range: 55.099998 m, deltaT: 3.780828 s, deltaX: -1.600002 m, approachRate: -0.423188 m/s, rangeRepo size: 4  Added new target pos. range: 55.056507 m, bearing: 348.529647 deg, lat: 36.779538 deg, lon: -121.859794 deg, deltaT: 3.780828 s, deltaX: -1.598305 m, approachRate: -0.422739 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 55.06 m.2i"i*i ProNav: ac range: 55.056507 m, nav range: 54.988232 m, bearing: 347.328489 deg, approach rate: 0.000000 m/s, LOS rate: -0.155715 deg/s, cmd heading: 6.535932 deg, new cmd heading: 6.380761 deg. iHeadingCmd: 0.111365 target range: 55.056507 and range: 55.10 m.h|=hhhhg g jg rg ~BereZe:ěK@*e#?e~Bɢe.ü) 9i)=顉i}i|=O=E+=I|=Ii)I-A5(DAT read: user:35> =BDAT read: Tx time:01:24:54.5960 E$Ping request sent.E,vF#,LA2Z@2`>2ǔ ٱ2S=D2H?@*?¿@;"c?@~?QM౱?P??i2Z@I2h];2ȑCY^zBy^IIbDjVDj8yr<%rN=ٔvͻQ-v>9tYt=vFEyz>Dz*Ez>|Q 54~?Q 94~w)~qBY y =Q I 5@~4DI~;i~^;~4yɮ,A:i9=DNOT Ignoring new targets: 55.06 m.2i9"iE1*iE1U ProNav: ac range: 55.056507 m, nav range: 54.812965 m, bearing: 347.269777 deg, approach rate: -0.462352 m/s, LOS rate: -0.155377 deg/s, cmd heading: 6.380761 deg, new cmd heading: 6.262962 deg. iU-]HeadingCmd: 0.109309 target range: 55.056507 and range: 55.10 m.h]=hYhYhYhYgYgajgargaeireiZei:ei*emf?额~Bɢ) }i)=顡izi=U==I=I}J:Թ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501009^A=(S= Ai I I O >bEjEmF4rE 0E  E E +E "E V:*E ą:VE [4ZE aU @aU @aU @aU @}F#,LAl @ `@> }ٱ z= HY?`!=¿Pٖ? ?` h?R??i @I X]; ƑCY=zByEFIiMb@Mb@Mb@ 9MbX9?~jt~jthY>yDD9A )AYBAbD !%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753280VD ˰8y=%=6=ٔE6»Q-E>9IYI=MFEyUGDU_EE]>aQ 5u4e;?Q 9}4e)etBY}>Q E:y=Q I5@e;DIeMu;iel;e4B>BBkIB{BBK =BBB;B(^EyMBɮU,AUaE:iDNOT Ignoring new targets: 55.06 m.2i"i#*i# ProNav: ac range: 55.056507 m, nav range: 54.624798 m, bearing: 347.200898 deg, approach rate: -0.389850 m/s, LOS rate: -0.143195 deg/s, cmd heading: 6.262962 deg, new cmd heading: 6.124731 deg. iHeadingCmd: 0.106897 target range: 55.056507 and range: 55.10 m.h=hhhhggjgrg~Bere Ze):e)*e-3?~Bɢͼ) |i)G=i픕i=^==I=IIb?)?EK:1q@q @q@u/@q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004524a ^A =A >A >ԉ A ؟AII!O5>F#,LA2k@2>2l#ٱ2=2H2? 2¿ ??`M'y? XQ?`?i2k@I2H];2ɑCY:zBy:MIbDFVDF8En EnEn,El"En:*EnAr:VEng4ZElBEn>9~"?Y~"?=~FEy~PDyúE> Q 54 Β?Q 94 S) vBYy5=Q I5@ ADI Q;i M; ݵ4y%Bɮ%(,A!=B*** querying acoustic contact ***i9i9:iIMDNOT Ignoring new targets: 55.06 m.2iQ"iUV=*iUV=e ProNav: ac range: 55.056507 m, nav range: 54.449863 m, bearing: 347.136539 deg, approach rate: -0.448490 m/s, LOS rate: -0.165532 deg/s, cmd heading: 6.124731 deg, new cmd heading: 5.995599 deg. iexmHeadingCmd: 0.104643 target range: 55.056507 and range: 55.10 m.hm O=hihqhqhqgqgqjgyrgyeyreyZey:e*e$??颭~Bɢ) ?yi)%=项ii O=*e==I O=IԉNK:Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257259Y@Y @Y@]/@YԱ^A2=A .Ai I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510023I I1 OE > ( F#,M.LA>ۅ@> >>d/ٱ>Z=>H? '¿`e?? ? ??i>ۅ@I>d];>ȑCY^zBy^TIbDfVDf8yn)<%nL=ٔrFQ-r>9r ?Yr ?=vFEyvXDv޺Ev>xQ 5~4zݒ?Q 9~4z)zyBYy=Q I5@zFDIz;iz;zڼ4y Bɮ ,A bE:i15DNOT Ignoring new targets: 55.06 m.2i1"iE0*iE0U ProNav: ac range: 55.056507 m, nav range: 54.283443 m, bearing: 347.075036 deg, approach rate: -0.416434 m/s, LOS rate: -0.154370 deg/s, cmd heading: 5.995599 deg, new cmd heading: 5.872217 deg. iUAUHeadingCmd: 0.102490 target range: 55.056507 and range: 55.10 m.h]=hYhYhYhYgYgajgargaeareiZei:ei*em@!?额~Bɢ) Wui) =顡i諕i=l==I=IK:E EE+E"E:*E:VE [4ZEa-@a-@a5@a5@q@q @q@}0@ymchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762025B>BCBwIB-{BBJ =BB[DB;B=^E^A- ^=Q A] ؟AIa Iq O >F#,,)HLA2@2 >2JP:ٱ2m=2H`:?q,¿"`T? ~?`WG???i2@I2c];2ǑCY>zBy>WIi-Mb@Mb@Mb@)))) )9-%C?~jtMb`Y-Z>y--- A-5A -~A)-A)Y-A AAbDEVDE8yU<%UC=ٔ]CлQ-]>9e"?Ye"?=eFEyeaDeEe>iQ 5u4m8풊?Q 9u4mT)m}BY}>Q E}:y}=Q I}5@mLDIm;im;m/4yɮ+A:iDNOT Ignoring new targets: 55.06 m.2i"i+checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012650*i+ ProNav: ac range: 55.056507 m, nav range: 54.105934 m, bearing: 347.012287 deg, approach rate: -0.423072 m/s, LOS rate: -0.150047 deg/s, cmd heading: 5.872217 deg, new cmd heading: 5.746306 deg. iMHeadingCmd: 0.100292 target range: 55.056507 and range: 55.10 m.he=hhhhggjgrg~BereZe:e*e0@~Bɢ%^)! %Nsi!)%~ =!)i-ŕi-e=5'u=57=I5e=I1oL:Q@ @@o0@y CE EE)E"E:*Eg:VEFA4ZEBE6>F#,dbLA2@2`C >2Eٱ2=2H@Ȩ?P%¿٠?s?[,? /?@?i2@I2(s];0Y:zBy:MI@bDZVDZ8yf)%fT=ٔfQ߻Q-f>9hYh=jFEyjhDjEn>pQ 5v4r?Q 9v4r)rBYtyv=Q Iv5@rRDIr:ir8:r4yzBɮ~T,A~cE:i%DNOT Ignoring new targets: 55.06 m.2i!"i%e,*i-e,5 ProNav: ac range: 55.056507 m, nav range: 53.942684 m, bearing: 346.954290 deg, approach rate: -0.422965 m/s, LOS rate: -0.150719 deg/s, cmd heading: 5.746306 deg, new cmd heading: 5.629961 deg. i5ꉻ=HeadingCmd: 0.098261 target range: 55.056507 and range: 55.10 m.hE?==hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUC@}~Bɢ) }vi)y=顁iWٕi?=="}=N=I?==Iq)1@1 @9@=05@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517489Q^AML=E%  E% E% *E! "E% V:*E% c:VE% (N4ZE! aM @aM @aM @aM @ԉ A I II O >HF#,{LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769864B2>B2CB2IB2A{BB2I =B0B0B2ʢ;B2f^EB5CB5CB1B5J =B5J =C5R[5~x@~1 >~Qٱ~ =~H?¿iXr??ǚq1? ?^?i~x@I~i];~ƑCYzByXIQiMb@Mb@Mb@ 9%C?~jtxMbPYyĻ A )YAbDVD8y!=%;=ٔQ->9Y=FEyrDE>!Q 5%4%B ?Q 9-4%@)%BY-_>Q E-:y-r=Q I-5@%XDI%e;i%;%4y9ɮ= ,A9:iyDNOT Ignoring new targets: 55.06 m.2i"i9*i9 ProNav: ac range: 55.056507 m, nav range: 53.756367 m, bearing: 346.881458 deg, approach rate: -0.414403 m/s, LOS rate: -0.162551 deg/s, cmd heading: 5.629961 deg, new cmd heading: 5.483793 deg. iHeadingCmd: 0.095710 target range: 55.056507 and range: 55.10 m.h=hhhhggjgrg~BereZe:e*e@E~BɢE )i mqii)m=iiiuGiu=u9=}=I}=IyԁL:9@9 @9@=n3@9ԩBDAT read: Rx Time:01:24:57.0716 TRx dataTimestamp_ set to:1764897898.192641checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021700^A Sk= Ai Iy I O >7RF#,QLA2r@2 >2}^ٱ2@=2H@?¿"]?`?ռͫ?@R+??i2r@I2];2ȑCE> E>E>'E<"E>s:*E>&p:VE>'4ZE<BE>p0q0z;aF:E>z;aFYJ{ByJ`I|~AAbDVD8y]=%R=ٔ}Q->9Y=FEyyD%fٺE%>)Q 554-u?Q 954-)-BY1y='=Q I=5@-^DI-:i-:-_4yEBɮE+AAeB*** querying acoustic contact ***iaia:iiquDNOT Ignoring new targets: 55.06 m.2iq"i}:>*i}:> ProNav: ac range: 55.056507 m, nav range: 53.597023 m, bearing: 346.818864 deg, approach rate: -0.422115 m/s, LOS rate: -0.166310 deg/s, cmd heading: 5.483793 deg, new cmd heading: 5.358233 deg. i.HeadingCmd: 0.093519 target range: 55.056507 and range: 55.10 m.hʆ=hhhhggjgrgereZe:e*e @~Bɢ) li)3"=ii ʆ=j= M=Iʆ=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273495kM:ԡ@ @@4@^Az=A?A DAT read: 01:24:57.0716 LVL= 28400, 29041, 21202, 31091, AGC= 62, IDX= 424,-0.24,-1.369,-2.639,-0.466,-1.280, PHS= 0.014,-1.314, 0.771, RAW= 171.0, 5.8, CAL= 170.4, 5.0, ROT= 339.6, -5.0  Ygot valid direction response: 01:24:57.0716 LVL= 28400, 29041, 21202, 31091, AGC= 62, IDX= 424,-0.24,-1.369,-2.639,-0.466,-1.280, PHS= 0.014,-1.314, 0.771, RAW= 171.0, 5.8, CAL= 170.4, 5.0, ROT= 339.6, -5.0  PDAT read: Bearing 166.9, -17.0 (Local)  ~Local bearing/azimuth received: Bearing 166.9, -17.0 (Local)  DAT read: Range 11 to 50 : 53.5 m (Round-trip 71.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.933715,-0.347245,0.087156] Fpublishing direction and range infoy  .K&?AD9ֿO?Y VB n qq R sy) >I B`e@ ¸=) @I ¸ {9?\ɬ?_? c?) .нI Ki ¸  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.i Aq Iy I O >6xF#,\LABk@B >BjٱBc=BH?@N| ???``:M???iBk@IB];@Yb{BybaIbDnVDn8yM\;%MG=ٔM_Q-M>9QYQ=UFEyUD]8E]>aQ 5m4e)?Q 9m4e)eBYiymR=Q Im5@ecDIe:ie%:e4yɮ+Aii{LAjUB"jUB:j@Rj"3H@5=2 @Bj.K&?AD9ֿO?*jK2j¸Zju7aI@0]=%(uen@Jj2\V?^n1̿Rt?j)A j#OBi9|5?i6DWjBj^G?j6DWjBrjUBzj,@% addTargetRange:: Added new target pos. range: 53.500000 m, deltaT: 3.779222 s, deltaX: -1.599998 m, approachRate: -0.423367 m/s, rangeRepo size: 4 1U Added new target pos. range: 53.459141 m, bearing: 346.876734 deg, lat: 36.779538 deg, lon: -121.859792 deg, deltaT: 3.779222 s, deltaX: -1.597366 m, approachRate: -0.422671 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 53.46 m.2iY"ie*iau ProNav: ac range: 53.459141 m, nav range: 53.386387 m, bearing: 346.930228 deg, approach rate: 0.000000 m/s, LOS rate: -0.166310 deg/s, cmd heading: 5.358233 deg, new cmd heading: 5.216652 deg. iHeadingCmd: 0.091048 target range: 53.459141 and range: 53.50 m.h?w=hhhhggjgrgereZe:eJ@*e ?E~BɢEe>)I MskiI)<顁i0SE EE-E"E:*EAr:VEt4ZEa@a@a@a@i ?w=1==}=I?w=IIi}M:(DAT read: user:36>  BDAT read: Tx time:01:24:58.3460  $Ping request sent. B-CB-IB-U{BB)B)B-ZDB-;B-^E5 @9 @9@=4@9ԉ^A] ^1=Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251017A .AI I O >4F#,sLAtYv {ByvbIiMb@Mb@Mb@ 9ףp= ?{Gz~jth?Y>y#D; AA SA)"AYAbDVD8y:%-=ٔQ->9 ?Y ?=FEyDE>Q 54;?Q 94)BY>Q E:y=Q I5@jDI;i;4y Bɮ +A dE:i)5DNOT Ignoring new targets: 53.46 m.2i1"i=C9*i=C9M ProNav: ac range: 53.459141 m, nav range: 53.191227 m, bearing: 346.855880 deg, approach rate: -0.423604 m/s, LOS rate: -0.161968 deg/s, cmd heading: 5.216652 deg, new cmd heading: 5.067411 deg. iM5MHeadingCmd: 0.088443 target range: 53.459141 and range: 53.50 m.hU!=hQhQhQhQgQgQjgYrg]~BeYreaZea:ea*ee@y?颍~Bɢ) bji)b<顙iwi!=y==I!=I}N:@ @@/@D?AzD?AE% E%E%.E!"E%:*E%|:VE%ـ4ZE!BE%3TF#,"LA2\@2`>2{ٱ2=2H` ?yeS? p?0?@?3?i2\@I2];2ɑCY:{By:aI XZa=bD^VD^8yf&%f]=ٔjXuQ-j>9j"?Yj"?=jFEyjDnEn>pQ 5v4rkH?Q 9v4r )rBYtyz=Q Iz5@roDIr:ir:rH4y|ɮ~+A|:i!%DNOT Ignoring new targets: 53.46 m.2i!"i-3*i-3= ProNav: ac range: 53.459141 m, nav range: 53.041027 m, bearing: 346.798603 deg, approach rate: -0.409403 m/s, LOS rate: -0.156562 deg/s, cmd heading: 5.067411 deg, new cmd heading: 4.952534 deg. i=CEHeadingCmd: 0.086438 target range: 53.459141 and range: 53.50 m.hEk=hAhIhIhIgIgIjgQrgQeQreQZeQY:eQ*ee`˹?额~Bɢ) &ji)i<顩i驖ik==>=Ik=IN:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755024-@) @)@-/@)ԉԹE5 E5E5+E1"E5:*E5҆:VE5 [4ZE1aU@aU@aU@aU@^Aeu=AyzA}uA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006860B >B CB IB ~{BB K =B B YDB 7;B ^EA .AI I O > 26ٱ2=2He?@t??} ֿ?w? ?i2 W@I2];2ǑCY:{By:eIi~Mb@Mb@Mb@|||| |9~A`"?{GzMbp?Y~>y|~;|~9A ~$A)||Y|bDVDɰ8y%K<%%E=ٔ-һQ-->9- ?Y- ?=5FEy5D5ӺE5>ԹQ 54W?Q 94)BY(>Q E:y=Q I5@uDI!.;i-;4yBɮ+AeE:i  DNOT Ignoring new targets: 53.46 m.2i "i{-*i{-% ProNav: ac range: 53.459141 m, nav range: 52.869377 m, bearing: 346.733047 deg, approach rate: -0.395841 m/s, LOS rate: -0.151671 deg/s, cmd heading: 4.952534 deg, new cmd heading: 4.820995 deg. i%Ɋ-HeadingCmd: 0.084142 target range: 53.459141 and range: 53.50 m.h-R=h)h)h)h)g)g1jg1rg5~Be9re9Ze9:e9*e= I?m~Bɢm x)i mgii)uhF#,LAnQ@n@e>nٱn=nH?`3@?T?\3}??V?inQ@Inʣ];lYz{ByzoIbD VD8y'=%K=ٔQ->9%"?Y%"?=%FEy%D%9ӺE%>)=>=$?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511222Q 5E4-fe?Q 9E4-)-BYIyM=Q IM5@-zDI-t;i-u;-4yQɮU+AYuB*** querying acoustic contact ***iqiq:iDNOT Ignoring new targets: 53.46 m.2i"i/*i/ ProNav: ac range: 53.459141 m, nav range: 52.714825 m, bearing: 346.673757 deg, approach rate: -0.399218 m/s, LOS rate: -0.153599 deg/s, cmd heading: 4.820995 deg, new cmd heading: 4.702068 deg. iHeadingCmd: 0.082067 target range: 53.459141 and range: 53.50 m.h=hhhhggjgrgereZe:e*ez?E~BɢE )A EbiA)E);ԙ [F#,4LA2O@2>2ᙑٱ2z=2H`V?e`l??…O/?:P?`m?i2O@I2j];0Y:{By:kI@@bDFVDF8yN:%NR=ٔNQ-N>9PYP=RFEyRDVN^EV>XQ 5^4Z7s?Q 9^4Z)ZBY\y^=Q Ib5@ZDIZk:iZ:Zc4yfBɮf+AffE:ixzDNOT Ignoring new targets: 53.46 m.2ix"i~1*i~1  ProNav: ac range: 53.459141 m, nav range: 52.559406 m, bearing: 346.613824 deg, approach rate: -0.401425 m/s, LOS rate: -0.155256 deg/s, cmd heading: 4.702067 deg, new cmd heading: 4.581848 deg. i HeadingCmd: 0.079968 target range: 53.459141 and range: 53.50 m.hpƣ=hhhhggjgrgere!Ze!:e!*e%U@U~BɢU)Q UciQ)]B]CB]IB]{BB]M =BYBYB]L;B]^Eԑ^AU=A%?A%?ԹAQ IY Ii O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266918 xF#,NLAY~,{By~wI iMb@Mb@Mb@ 9S?Mbp?~jthY>y;D9 AA ~A)MAYfAbDVD8y&2=%;=ٔQ->9Y=FEyDE>Q 54?Q 94)BY>Q E:yb>Q I5@DI4:i; 4yɮ+A:iDNOT Ignoring new targets: 53.46 m.2i"i;*i; ProNav: ac range: 53.459141 m, nav range: 52.386196 m, bearing: 346.539101 deg, approach rate: -0.378973 m/s, LOS rate: -0.164030 deg/s, cmd heading: 4.581848 deg, new cmd heading: 4.431908 deg. iHeadingCmd: 0.077351 target range: 53.459141 and range: 53.50 m.hfj=hhhhggjgrg~BereZe:e*e@@ ~Bɢ ) \^i);<iyifj=mڡ=d=I%fj=I!-O:E EE+E"EV:*Exv:VE [4ZEBE9ҩF#,hLA2E@2 >2Wٱ2R=2H?@aiׯƤ?`߄?@D`O?@ʳ??i2E@I2Nj];2ȑCY:6{By:}IbDFVDF8yN<%N]=ٔNDQ-N>9PYP=RFEyRDVCEV>1Q 5=45?Q 9=45MQ =EtI)5BYAyE>>Q IE6@5DI5Q:;i5=;54yU Bɮ]}+AY:iDNOT Ignoring new targets: 53.46 m.2i"iL*iL ProNav: ac range: 53.459141 m, nav range: 52.232975 m, bearing: 346.472774 deg, approach rate: -0.412593 m/s, LOS rate: -0.179129 deg/s, cmd heading: 4.431907 deg, new cmd heading: 4.298865 deg. i飻HeadingCmd: 0.075029 target range: 53.459141 and range: 53.50 m.h=hhhhggjgrgereZe:e*e@~Bɢ})%M] %<[i!)%B) B- IB- {BB- L =B) B) B- o;B- _E] BDAT read: Rx Time:01:25:00.8196 e TRx dataTimestamp_ set to:1764897901.972510e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023877A I I O >NJF#,FLA02P>@2@>2ٱ23=2H ?`@ݼ?ೆ?`q㼿 }r?d?`?i2P>@I2?m];2ǑCY>.{By>yIiMb@Mb@Mb@ 9M?Mbp~jtxYn>yĻdA OA) AYbDVD8y- %-B=ٔ-Q-->91Y1=5FEy5ĥD5E=>AQ 5E4E]?Q 9M4E)EBYMv>Q EM;yM,=Q IM6@EDIE:iE:E4yQɮ+A:i)-DNOT Ignoring new targets: 53.46 m.2i)"i5-*i5-E ProNav: ac range: 53.459141 m, nav range: 52.077709 m, bearing: 346.408897 deg, approach rate: -0.368559 m/s, LOS rate: -0.152078 deg/s, cmd heading: 4.298865 deg, new cmd heading: 4.170731 deg. iE(MHeadingCmd: 0.072793 target range: 53.459141 and range: 53.50 m.hM}=hIhIhIhIgQgjgrg~BereZe:e*e`o @~Bɢ-ċ)1 5\i1)5H<11i=w5i=}=Ey=E =IE}=IAԉ`P:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275975@ @@%91@!Թ ^A =A xAzA wA E  E E +E "E ;*E x:VE [4ZE BE ?C?F#,vLA2r8@2<>2ٱ2=2H ?y~@[m?@͇?ͼ+?8??i2r8@I2Uu];2ȑCY::{By:II<)>=bDFVDF8HyN<%RQ=ٔRWQ-R>9R ?YV ?=VFEyV̥DVEV>XQ 5^4Zͫ?Q 9b4ZC)ZBY`yb=Q Ib6@ZDIZ(:iZ:Z 4ydɮfm+A%DAT read: 01:25:00.8196 LVL= 32160, 27633, 20082, 32755, AGC= 55, IDX= 419,-0.35,-1.966, 3.131,-1.033,-1.887, PHS= 0.023,-1.220, 0.810, RAW= 172.6, 4.4, CAL= 171.9, 2.8, ROT= 338.1, -2.8 -Ygot valid direction response: 01:25:00.8196 LVL= 32160, 27633, 20082, 32755, AGC= 55, IDX= 419,-0.35,-1.966, 3.131,-1.033,-1.887, PHS= 0.023,-1.220, 0.810, RAW= 172.6, 4.4, CAL= 171.9, 2.8, ROT= 338.1, -2.8 5PDAT read: Bearing 163.3, -17.2 (Local) 5~Local bearing/azimuth received: Bearing 163.3, -17.2 (Local) EDAT read: Range 11 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.3 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.926729,-0.372542,0.048850]UFpublishing direction and range infoyxzoOx§?K!v!׿s!D?YzPBxz}zkzrN z)z7Izj BDAT read: Tx time:01:25:02.1460 $Ping request sent.F#, LAJ.@J@ >J:jٱJ7=JH9!Y!=-FEB>BCBIB{BBBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252604BB;B_EBmCBmCBiBmL =BmK =Cmš5!ye֥DeEm>iQ 5u4m?Q 9}4m)mBYyy}C=Q I}6@mDIm:im:m*4y Bɮ%+AgEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 51.96 m.2i"iD*iD  ProNav: ac range: 51.958233 m, nav range: 51.722603 m, bearing: 346.261899 deg, approach rate: -0.412903 m/s, LOS rate: -0.171871 deg/s, cmd heading: 4.045483 deg, new cmd heading: 3.875071 deg. i EHeadingCmd: 0.067633 target range: 51.958233 and range: 52.00 m.h =hhhhggjgrgeAreAZeA:eA*eE?u~Bɢu )q uRiq)}5A%>E EE,E"Es:*E n:VEg4ZEBEp06lRٱ6=6Hೝ? s ʿ?`?@7@Ё?J?`$?i6@I6ـ];6ȑCYNB{ByNI^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754625qiMb@Mb@Mb@ 91Zd?~jtI +Y">yD94l AA SA) AYAbDVD8y9ۼ%=ٔ17Q->9Y=FEyD=E>Q 54Г?Q 94)BYK>Q E:y=Q I6@DI_:i:34yBɮx+AhE:iy}DNOT Ignoring new targets: 51.96 m.2iy"i3*i3 ProNav: ac range: 51.958233 m, nav range: 51.513035 m, bearing: 346.179574 deg, approach rate: -0.397007 m/s, LOS rate: -0.156591 deg/s, cmd heading: 3.875071 deg, new cmd heading: 3.709751 deg. iJHeadingCmd: 0.064747 target range: 51.958233 and range: 52.00 m.hE=hhhhggjgrgu~BereZe:e*eK?=~Bɢ=')A EUiA)H<i㌙iE===IE=IIN?)D?ԙQ:ux@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009966 ^AU =A I I O >V F#, LA E. E.E.'E,"E.:*E.ga:VE.'4ZE,aB@aB@aB@aB@B>BBIB{BBBBB;B_E-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260903]& @]=] ½ٱ]R`=]H )?4ʴc?? '7?5D??i]& @I]];]ƑCYN{ByIAiMb@Mb@Mb@ 95^I ? rh~jtY>yCDA A) AYbD VD8y<%=ٔQ->9Y=FEyD0CE>Q 547㓊?Q 94)BYS>Q E:y=Q I6@DI :it:7<4yɮH+A:iDNOT Ignoring new targets: 51.96 m.2i"i  2*i  2 ProNav: ac range: 51.958233 m, nav range: 51.304634 m, bearing: 346.100513 deg, approach rate: -0.408673 m/s, LOS rate: -0.155667 deg/s, cmd heading: 3.709751 deg, new cmd heading: 3.550989 deg. iq%HeadingCmd: 0.061976 target range: 51.958233 and range: 52.00 m.h%}=h!h!h!h!g!g)jg)rg-~Be)re)Ze1:e1*e50P?e~Bɢe~)a eRia)e3 LA2@2==2jȽٱ2=2H@? ?r?n#?w??i2@I2ן];2őCY:m{By:IbDFVDF8yJ5=%N)=ٔNӻQ-N>9R"?YR"?=RFEyRDR00EV>TQ 5Z4VN?Q 9^4V )VBYdyf=Q If6@VDIVl;iV=m;VD4yjBɮj*Ah:i%DNOT Ignoring new targets: 51.96 m.2i!"i-,*i-,Y ProNav: ac range: 51.958233 m, nav range: 51.111942 m, bearing: 346.027114 deg, approach rate: -0.395308 m/s, LOS rate: -0.151146 deg/s, cmd heading: 3.550989 deg, new cmd heading: 3.403638 deg. iNHeadingCmd: 0.059405 target range: 51.958233 and range: 52.00 m.hTRs=hhhhggjgrgereZe :e *e `@5~Bɢ=)9 =bIi9)=\ G#,S\:LAZ@Z@=ZGνٱZշ=ZH}? IP@??`q@ʶ?`? |?iZ@IZϖ];XEn EnEn)El"En&:*Eng:VEnFA4ZElav@av@av@av@Yr{ByI -%=-<bD5VD58yEhE<%E>=ٔEһQ-E>9IYI=MFEyMDUEU>YQ 5e4]?Q 9e4])]BYayeb=Q Im6@]DI];ԹB>BCBIB |BBBBZDB`;B^Ei]}0;]*L4yɮ*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269000B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 51.96 m.2i"i *i  ProNav: ac range: 51.958233 m, nav range: 50.940350 m, bearing: 345.961626 deg, approach rate: -0.349405 m/s, LOS rate: -0.133800 deg/s, cmd heading: 3.403638 deg, new cmd heading: 3.272220 deg. itHeadingCmd: 0.057111 target range: 51.958233 and range: 52.00 m.h=i=hhhhggjgrg e re Ze :e *e@]~Bɢ])Y ]YGiY)euaG#,VLA6\@6=6ٽٱ6=6H ?i7@巿@?x?`t@0?S?{By>I!i=Mb@Mb@Mb@9999 99=V-?Q롿y=\=t=A=$A =SA)=l A9Y=QAbDuVDuİ8y{<%5=ٔRQ->9Y=FEyDE>Q 54)?Q 94{)BY9>Q E;y =Q I6@DI/t;i"w;T4yBɮ*AiE:iIMDNOT Ignoring new targets: 51.96 m.2iQ"iU&*iU&e ProNav: ac range: 51.958233 m, nav range: 50.761909 m, bearing: 345.903901 deg, approach rate: -0.449115 m/s, LOS rate: -0.145799 deg/s, cmd heading: 3.272220 deg, new cmd heading: 3.156364 deg. ieiuHeadingCmd: 0.055089 target range: 51.958233 and range: 52.00 m.hua=hqhqhqhqgqgyjgyrg}a~BeyreZe:e*e@E EE(E"E;*Exv:VEc44ZEBE@KG#,wqLAxf@f=f0߽ٱf&=fH? R@`5?@?`׻??.?if@If՗];dY {By I 99bDE VDE8yu;<%uD=ٔ}ɻQ-}>9yYy=}FEyDcE>Q 54n!?Q 94V)BYy=Q I6@ŸDI\:i:Q[4yɮ*A:i)-DNOT Ignoring new targets: 51.96 m.2i)"i5*i5E ProNav: ac range: 51.958233 m, nav range: 50.599026 m, bearing: 345.851250 deg, approach rate: -0.391008 m/s, LOS rate: -0.126796 deg/s, cmd heading: 3.156364 deg, new cmd heading: 3.050724 deg. iE hmHeadingCmd: 0.053245 target range: 51.958233 and range: 52.00 m.hmZ=hihihihqgqgqjgqrgqeyreyZey:ey*e' @-~Bɢ5 )1 5Ai1)5C<11i=9i=Z==j=E=IZ=I)eS:bEFA4jEL4rE+0E EE)E"ED:*Ek:VEFA4ZEa%@a%@a%@a%@Y@Y @a@e/@aB>BBIB5|BBJ =BB[DB8;B^EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279506Qy ^A A! I) IA OM >N/#G#,[LA(6@6X=6ٱ6p=6H?3tq;?`?: ?@?`?i6@I6ɇ];4YV{ByVIi=Mb@Mb@Mb@9999 99=Dl?Mb{GztY=O>y==ף=A9 =$A)=QA9Y9IM@AbDU)VDUҰ8yen\=%e<=ٔewͻQ-m>9iYiDAT read: 01:25:04.6174 LVL= 31120, 32753, 22002, 32755, AGC= 62, IDX= 415,-0.49,-2.441, 2.616,-1.533,-2.353, PHS= 0.014,-1.270, 0.776, RAW= 171.6, 5.4, CAL= 171.0, 4.3, ROT= 339.0, -4.3 Ygot valid direction response: 01:25:04.6174 LVL= 31120, 32753, 22002, 32755, AGC= 62, IDX= 415,-0.49,-2.441, 2.616,-1.533,-2.353, PHS= 0.014,-1.270, 0.776, RAW= 171.6, 5.4, CAL= 171.0, 4.3, ROT= 339.0, -4.3 PDAT read: Bearing 162.7, -14.4 (Local) ~Local bearing/azimuth received: Bearing 162.7, -14.4 (Local) DAT read: Range 11 to 50 : 50.4 m (Round-trip 67.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.930952,-0.357359,0.074979]Fpublishing direction and range infoyqu\?pֿ]1?YuIBquyuuU q)u>IuB`eE>Q 540?Q 94,)BY>Q E;y =Q I6@ȟDIF:ip:.c4yBɮP*AjEԁiqiu`LAjuqIB"juqIB:ju8@Rju"qG@Ɔ=1H5@Bju\?pֿ]1?*juj2ju`ZjuvcܫH@klP)b~d@JjuRJ.?,oпzLme?juN ju@Biu>|?iu_w`fjuHBju9|5?jqjuBrjuHBzju@ addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 3.780039 s, deltaX: -1.599998 m, approachRate: -0.423276 m/s, rangeRepo size: 4  Added new target pos. range: 50.361179 m, bearing: 344.958223 deg, lat: 36.779536 deg, lon: -121.859792 deg, deltaT: 3.780039 s, deltaX: -1.597054 m, approachRate: -0.422497 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 50.36 m.2i!"i%*i!5 ProNav: ac range: 50.361179 m, nav range: 50.213440 m, bearing: 345.732976 deg, approach rate: 0.000000 m/s, LOS rate: -0.126796 deg/s, cmd heading: 3.050724 deg, new cmd heading: 2.925945 deg. i1=HeadingCmd: 0.051067 target range: 50.361179 and range: 50.40 m.h=,Q=hYhahahagagajgirgm}~BeireiZei:eu@33I@*eu`?~BɢÕ) :i)SՔ<iK䜽i,Q=z=0=I,Q=IHT:DD<E EE'E"EV:*E:VE'4ZEBE9 - BDAT read: Tx time:01:25:05.9459 5 $Ping request sent.5 k*G#,LABG@B@.=BZٱB;=BH@g?a`0 o'??`:?t?@?iBG@IB r];BǑCYJ{ByJIbDV޿VDV8yZ=%^5=ٔ^ŻQ-^>9`Y`=bFEyb"DfEf>hQ 5j4jR??Q 9n4j)jBYlyn7=Q In6@j͟DIja:ij:jj4ytɮv)At:i DNOT Ignoring new targets: 50.36 m.2i"i1'*i1' ProNav: ac range: 50.361179 m, nav range: 50.045639 m, bearing: 345.677408 deg, approach rate: -0.439918 m/s, LOS rate: -0.146170 deg/s, cmd heading: 2.925945 deg, new cmd heading: 2.814435 deg. iHeadingCmd: 0.049121 target range: 50.361179 and range: 50.40 m.hF3I=hhhhggjgrgereZe:e*e`~?M~BɢM =)I M1iQ)U ZB B 9IB h|BB B B ZDB ;B ^E- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505928@= =@= =a ^AԑAzAzAAIIO?Q3G#,gLA:@:@X=:ٱ:f=:H?y@g线?џ?@?@b?w?i:@I:/];8YF{ByFIIJ4=)J=i\I\^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755054`i-Mb@Mb@Mb@)))) )9-ʡE?X9vI +Y->y--94-QA-A -A)-A)Y-AbDEۿVDE8yUD;%U =ٔUMQ-U>9YYY=]FEy]-DeTEe>iQ 5u4mZT?Q 9u4m)mBYuU>Q Eu:yuY$=Q I}6@m՟DIm;im+;mt4yBɮ)AkEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 50.36 m.2i"i#*i# ProNav: ac range: 50.361179 m, nav range: 49.806355 m, bearing: 345.595217 deg, approach rate: -0.414203 m/s, LOS rate: -0.142956 deg/s, cmd heading: 2.814435 deg, new cmd heading: 2.649265 deg. iςHeadingCmd: 0.046238 target range: 50.361179 and range: 50.40 m.hyd==hhhhggjgrgn~BereZe:e*e+?颥~Bɢ) G0i)X<iLiyd===i=Iyd==I %#G=yAUMA}9}yAY}AuT:E EEE"Es:*E҆:VEZEBEp09pYp=rFEyr8DvEv>xQ 5~4zg?Q 9~4z)zBY|y~b=Q I~6@zݟDIz:iz:z6~4y ɮ )A :i15DNOT Ignoring new targets: 50.36 m.2i1"i="*i="E ProNav: ac range: 50.361179 m, nav range: 49.585087 m, bearing: 345.519630 deg, approach rate: -0.415069 m/s, LOS rate: -0.142425 deg/s, cmd heading: 2.649265 deg, new cmd heading: 2.497416 deg. iMSUHeadingCmd: 0.043588 target range: 50.361179 and range: 50.40 m.hUy2=hQhQhQhQgQgYjgYrgYeYreYZea:ea*eeA?颍~~Bɢּ) x"i)s<顙i!iy2=r===Iy2=IiU:E EE,E"E*EV:VEg4ZEa@a@a@a@1Bm>BmCBm_IBm|BBmL =BiBmYDBm;Bm^EB5CB1B1B1Ɲ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514138B1C55a@a @a@e5@aY ^A a=ԉ IIO> DG#,/LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762845R_@RT=R(ٱR?=RH@E?_5ļ. ?@U?6 v?9??iR_@IR>];PYZ |ByZIiEMb@Mb@Mb@AAAA A9E$C?y&1{GzYE>yE`弙E#EAEA A)E$AAYEAbD]VD]8ye9=%m$=ٔmQ-m>9qYq=uFEyuBD}E}>Q 54y?Q 94S)'BY>Q E:y{!=Q I6@DI/;i;4yBɮ(A:iDNOT Ignoring new targets: 50.36 m.2i"i##*i##U ProNav: ac range: 50.361179 m, nav range: 49.382656 m, bearing: 345.448977 deg, approach rate: -0.406977 m/s, LOS rate: -0.142626 deg/s, cmd heading: 2.497416 deg, new cmd heading: 2.355532 deg. i]uHeadingCmd: 0.041112 target range: 50.361179 and range: 50.40 m.hud(=hqhqhqhqgqgyjgyrg}~BeyreZe:e*e @|~Bɢ/) i){~<iid(=?=,=Id(=I V:I)wAAEe EeEe+Ea"Ee:*Ee&p:VEe [4ZEaBEe3@JG#,+LAJO@JH=JBٱJc=JH?T?c?@`?ϸ?@;?iJO@IJ]];JőCYV+|ByZI \\bDfVDfư8yj=%nT=ٔnQ-n>9pYp=rFEyrJDv\Ev>tQ 5z4v^?Q 9~4v))v0BY|y~H=Q I~6@vDIv:iv;v4yɮ B(A :i)5DNOT Ignoring new targets: 50.36 m.2i1"i5 #*i= #E ProNav: ac range: 50.361179 m, nav range: 49.225983 m, bearing: 345.394277 deg, approach rate: -0.407184 m/s, LOS rate: -0.142615 deg/s, cmd heading: 2.355532 deg, new cmd heading: 2.245783 deg. iEMHeadingCmd: 0.039196 target range: 50.361179 and range: 50.40 m.hMQ =hIhIhQhQgQԑgQjgrgereZe:e*e @ z~Bɢ ּ)  i )UwB A <B >B CB IB |BB I =B B B ;B ^E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521181! ,QG#,DLAV?@VO=VՐٱV3=VH?lBͽ ??`ϻF? ? z?iV?@IVNj];VǑCYbT|Byb-IiMMb@Mb@Mb@IIII I9M> ףp=?yMtMIMA MA)M AIYM=AbDeVDe8yu=%u@=ٔuNoQ-}>9yYy=}FEy}SDE>Q 54𕔊?Q 94):BY!>Q E;y|d=Q I6@DID;i: 4y Bɮ'AlE:iDNOT Ignoring new targets: 50.36 m.2i"i'*i' ProNav: ac range: 50.361179 m, nav range: 49.061108 m, bearing: 345.332439 deg, approach rate: -0.388130 m/s, LOS rate: -0.146061 deg/s, cmd heading: 2.245783 deg, new cmd heading: 2.121693 deg. iHeadingCmd: 0.037031 target range: 50.361179 and range: 50.40 m.hQ=hhhhggjgrg~BereZe:e*eI@-x~Bɢ-/)55׽ 5 i1)5wp<11i5Si=Q==Ԣ==q=IEQ=IAV:Q@Q @Y@Y@Y@e@e@e@e=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770690AI I O >Eu  Eu Eu *Eq "Eu ;*Eu x:VEu (N4ZEq BEu |T9dYd=fFEyf[DjEj>lQ 5r4n?Q 9r4n)nCBYpyrKY=Q Iv6@nDIn:inC:n4yxɮz'Ax B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 50.36 m.2i"i%&*i%&5 ProNav: ac range: 50.361179 m, nav range: 48.913509 m, bearing: 345.277231 deg, approach rate: -0.388025 m/s, LOS rate: -0.145578 deg/s, cmd heading: 2.121693 deg, new cmd heading: 2.010942 deg. i56=HeadingCmd: 0.035098 target range: 50.361179 and range: 50.40 m.h=u=h9h9h9hAgAgAjgArgAeIreIZeI:eI*eU@! @BDAT read: Rx Time:01:25:08.4154 TRx dataTimestamp_ set to:1764897909.532425checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0236635v~Bɢ=)9 =2i9)=xii@ @@/@ IIO>>ԹU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794 {]G#,ҊxLAE@E=E ٱE=EH@?Pr÷?@?l1?`? ?iE@IE];AY|ByLII>);bDVD8y =%7=ٔ-y^Q-->E= E=E=,E9"E=:*E=:VE=g4ZE9aM@aM@aM@aM@9IYI=UFEyUdDE>Q 54?Q 94p)NBYyO=Q I6@DI :i:֣4y#Bɮ'AmE:iDNOT Ignoring new targets: 50.36 m.2i"i *i  ProNav: ac range: 50.361179 m, nav range: 48.732437 m, bearing: 345.209568 deg, approach rate: -0.388136 m/s, LOS rate: -0.145576 deg/s, cmd heading: 2.010942 deg, new cmd heading: 1.875115 deg. i5%HeadingCmd: 0.032727 target range: 50.361179 and range: 50.40 m.h% =h!h!h!h!g)g)jg)rg1e1re1Ze1:e1*e=m @eu~Bɢe^铼)a eoia)m}|bBCBIB3}BBN =BBWDB;B^Em"W:DAT read: 01:25:08.4154 LVL= 30256, 31633, 23122, 32755, AGC= 59, IDX= 425, 0.24, 2.471, 1.227,-2.961, 2.550, PHS= 0.023,-1.278, 0.729, RAW= 170.3, 6.0, CAL= 169.7, 5.3, ROT= 340.3, -5.3 @ @@@]Ygot valid direction response: 01:25:08.4154 LVL= 30256, 31633, 23122, 32755, AGC= 59, IDX= 425, 0.24, 2.471, 1.227,-2.961, 2.550, PHS= 0.023,-1.278, 0.729, RAW= 170.3, 6.0, CAL= 169.7, 5.3, ROT= 340.3, -5.3 ePDAT read: Bearing 161.4, -11.8 (Local) m~Local bearing/azimuth received: Bearing 161.4, -11.8 (Local) uDAT read: Range 11 to 50 : 48.9 m (Round-trip 65.3 ms) speed 0.3 m/s uR#Rx 1: Read range and direction messages.IIOb>^direction in FSK: [0.937445,-0.335654,0.092371]Fpublishing direction and range infoy?=[{տ{]U?YCB0v{RZ );Ij@Pw==@ q=)3@Iq SU?z?֯Lbٺ? {`?)b0׽Iz iq]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.) iY I] A] (DAT read: user:39> e BDAT read: Tx time:01:25:09.7459 e $Ping request sent.e y-`e-- A-dA - A)-~A)Y- AbDeؿVDe8ym,=%B=ٔo Q->9Y=FEylDE>Q 54?Q 941)XBY|>Q E;yl=Q I6@DIm;i;4yɮ&Aii@mLAjoCB"joCB:jd@RjcXF@nNf0Dm @Bj?=[{տ{]U?*jz 2jqZjvAVQ/G@Y)aj9!@JjE_? oпfT?jH j~9BiJu?i}M.ZjBj%?j}M.ZjBrjABzj@ addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 3.782052 s, deltaX: -1.500000 m, approachRate: -0.396610 m/s, rangeRepo size: 4 5 Added new target pos. range: 48.858746 m, bearing: 344.861502 deg, lat: 36.779535 deg, lon: -121.859793 deg, deltaT: 3.782052 s, deltaX: -1.502434 m, approachRate: -0.397254 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 48.86 m.2i9"i=*i9  ProNav: ac range: 48.858746 m, nav range: 48.423698 m, bearing: 344.984238 deg, approach rate: 0.000000 m/s, LOS rate: -0.145576 deg/s, cmd heading: 1.875115 deg, new cmd heading: 1.746199 deg. i HeadingCmd: 0.030477 target range: 48.858746 and range: 48.90 m.h<hhhhggjgrg~BD%<D!EM EMEM*EI"EM :*EM n:VEM(N4ZEIBEMU"kG#,_~LA2m@2=2ٱ2o=2H]?0BDW۶?r?`?l??i2m@I2J];2ȑCY:|By:iIbDBVDB8Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502878yR=%RA=ٔRQ-V>9TYT=ZGEyZuDZ EZ>\Q 5b4^Δ?Q 9b4^)^cBY`ybne=Q If6@^DI^:i^:^;4yjBɮj&AjcE:i|~DNOT Ignoring new targets: 48.86 m.2i|"i<*i<  ProNav: ac range: 48.858746 m, nav range: 48.263798 m, bearing: 344.921724 deg, approach rate: -0.420452 m/s, LOS rate: -0.164922 deg/s, cmd heading: 1.746199 deg, new cmd heading: 1.620757 deg. i閻HeadingCmd: 0.028288 target range: 48.858746 and range: 48.90 m.hG<h!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5?]r~Bɢe)a e޾ia)e>VrG#,6<LA2A@2,=2Tٱ28 =2H@?ƕj?@j? W]z???@?i2A@I2/s];2őCY:|By>Ii~Mb@Mb@Mb@|||| |9~|?5^?Mbp~jtxY~>y~~Ļ~A~;A ~A)~A|Y~z AbDVD8y%=%-C=ٔ-aQ-->9)Y1=5GEy5}D5ZE5>9Q 5E4=ܔ?Q 9M4=)=mBYM>Q EM;yM=Q IM6@= DI=:i=:=4yU Bԙɮ%AdE:iDNOT Ignoring new targets: 48.86 m.2i"i%"/*i%"/5 ProNav: ac range: 48.858746 m, nav range: 48.106266 m, bearing: 344.854686 deg, approach rate: -0.358632 m/s, LOS rate: -0.153115 deg/s, cmd heading: 1.620757 deg, new cmd heading: 1.486243 deg. iU]HeadingCmd: 0.025940 target range: 48.858746 and range: 48.90 m.h]<hYhYhYhYgagajgarge~BeireiZei:ei*em`Fx?颽q~BɢO_) ˾i)UlP<inAi< =?=I9dYd=fGEyfDn9En>pQ 5r4r?Q 9v4r+)rzBYtyv=Q Iv6@rDIr":ir:r4y|ɮ~%A|B*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 48.86 m.2i!"i-?*i-?= ProNav: ac range: 48.858746 m, nav range: 47.913399 m, bearing: 344.772351 deg, approach rate: -0.390863 m/s, LOS rate: -0.167531 deg/s, cmd heading: 1.486243 deg, new cmd heading: 1.320910 deg. i=LEHeadingCmd: 0.023054 target range: 48.858746 and range: 48.90 m.hE<ܼ<hAhAhIhQgYgayjgyrgyeyreZe:e*ed?颵p~BɢqR) <̾i)1J<项i;i<ܼ<)=C+=I<ܼB B IB }BB B B B ;B ^E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765237 ^A% a=!I)IAOM>ؔG#, LA:@:J=: ٱ:5=:H@?̸ `p?*? G???i:@I:u];:őCYB|ByBIiMb@Mb@Mb@ 9?I +I +Y>y9494AA $A)AYbDVD8yٝ=%$=ٔl,Q->9Y=GEyDܝE>Q 54?Q 94)BY>Q E;yt=Q I6@DII:i:94y#Bɮ%AeE:i  DNOT Ignoring new targets: 48.86 m.2i "i/*i/% ProNav: ac range: 48.858746 m, nav range: 47.725487 m, bearing: 344.696198 deg, approach rate: -0.377398 m/s, LOS rate: -0.153547 deg/s, cmd heading: 1.320910 deg, new cmd heading: 1.168004 deg. i%-HeadingCmd: 0.020386 target range: 48.858746 and range: 48.90 m.h-<h)h)h)h)g)g1jg1rg5~Be1re9Ze9:e9*e=@ o~Bɢ *)  3i)D<iEi<:=]Y=I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266845G#,W$LA 2@2@=2_* ٱ2*=2H?_^@E5@??9ݺW?@(ݷ?u?i2@I2/];2ǑCYN}ByRIbDZVDZ8ybH=%b\=ٔbQ-f>9dYd=fGEyfDjEj>lQ 5r4n< ?Q 9r4n)nBYpyrm=Q Ir6@nDIn2:ins;n4yxɮz$Ax:iDNOT Ignoring new targets: 48.86 m.2i"i/*i/ ProNav: ac range: 48.858746 m, nav range: 47.585373 m, bearing: 344.639318 deg, approach rate: -0.377399 m/s, LOS rate: -0.153658 deg/s, cmd heading: 1.168004 deg, new cmd heading: 1.053910 deg. iHeadingCmd: 0.018394 target range: 48.858746 and range: 48.90 m.hk<hhhhggjgrgereZe:e*e`b@ɢS) i)%-?iAq@ @@0@ԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518847^A=IY Ii O > G#,n>LAE EE'E"E:*Ee:VE'4ZEa@a@a@a@PRO@R@0=R ٱRI=RH?@v귿tQ??l?Ƿ?`?iRO@IR];RȑCY^-}By^IbDfVDf8ynψ=%nI=ٔrdѺQ-r>9pYp=vGEyvDvEv>xQ 5~4z?Q 9~4zd)zBYyGf=Q I6@z DIz:izP:z4y %Bɮ w$A fEB9A9BE>BABE3IBE}BBEN =BABABE;BE^EBCBCBCBN =BM =C"6:iquDNOT Ignoring new targets: 48.86 m.2iq"i}K,*i}K, ProNav: ac range: 48.858746 m, nav range: 47.431664 m, bearing: 344.576885 deg, approach rate: -0.369658 m/s, LOS rate: -0.150633 deg/s, cmd heading: 1.053910 deg, new cmd heading: 0.928639 deg. i։HeadingCmd: 0.016208 target range: 48.858746 and range: 48.90 m.h>Ƅ<hhhhggjgrgereZe:e*eX@ɢl.)U#y UiQ)]u;ƄIe>ƄI I O >! M BDAT read: Rx Time:01:25:12.2134 M TRx dataTimestamp_ set to:1764897913.312552U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023882n͕G#,XVXLAV@V=VB ٱVն=VH?`x@e`9?`%?? Zz?@??iV@IVD^;VǑCYfN}ByjI|iMb@Mb@Mb@ 9(\? rhyCtA A dA)AY AbDӿVD8y=%;=ٔ2{Q->9Y=GEyDE>Q 54(?Q 943)BY>Q E:y%=Q I6@&DI:i1:}4yɮ#A:i9=DNOT Ignoring new targets: 48.86 m.2i9"iEW2*iEW2U ProNav: ac range: 48.858746 m, nav range: 47.259445 m, bearing: 344.510079 deg, approach rate: -0.400481 m/s, LOS rate: -0.155919 deg/s, cmd heading: 0.928639 deg, new cmd heading: 0.794540 deg. iU]HeadingCmd: 0.013867 target range: 48.858746 and range: 48.90 m.h]3c<hYhYhYhYgYgajgarge~BeareiZei:ei*em@8_ @颙ɢR) |i).7<顡i'i3c<c=M>I3cԁ G#,%rLAEDAT read: 01:25:12.2134 LVL= 30672, 29329, 24306, 32755, AGC= 62, IDX= 421, 0.48, 2.195, 0.936, 3.027, 2.263, PHS= 0.034,-1.282, 0.720, RAW= 169.7, 6.0, CAL= 169.1, 5.3, ROT= 340.9, -5.3 UYgot valid direction response: 01:25:12.2134 LVL= 30672, 29329, 24306, 32755, AGC= 62, IDX= 421, 0.48, 2.195, 0.936, 3.027, 2.263, PHS= 0.034,-1.282, 0.720, RAW= 169.7, 6.0, CAL= 169.1, 5.3, ROT= 340.9, -5.3 UPDAT read: Bearing 159.5, -10.8 (Local) ]~Local bearing/azimuth received: Bearing 159.5, -10.8 (Local) eDAT read: Range 11 to 50 : 47.4 m (Round-trip 63.3 ms) speed 0.2 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.940909,-0.325819,0.092371]uFpublishing direction and range infoy|~Sl?8Կ{]U?Y~=B|~w~r~^ |)~>I~C =i~~Q8?~=@|~<@ |)~d@I|||~@@?ӴAE?Dj? ~^?)~k&ؽI~꭪i|||T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡYW}ByI bDVD8y<%L=ٔQ->9Y=GEyDE>Q 54 6?Q 94)BYyQ I6@+DIe:i~:~4y(Bɮ#Ai|i~2tLAj~q=B"j~q=B:j~@Rj~;lbGF@,Y.yra@Bj~Sl?8Կ{]U?*j~꭪2j|Zj~K nF@ {x(0h}K!@Jj~I{dwO?6̎пന>?j~ D j~p3Bi~`F?i~NPj~Bj~>|?j|j~HBrj~;Bzj~O@ addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.777677 s, deltaX: -1.500000 m, approachRate: -0.397069 m/s, rangeRepo size: 4 % Added new target pos. range: 47.360355 m, bearing: 344.723019 deg, lat: 36.779531 deg, lon: -121.859793 deg, deltaT: 3.777677 s, deltaX: -1.498390 m, approachRate: -0.396643 m/s, posRepo size: 4 :i!MDNOT Ignoring new targets: 47.36 m.2iI"iM*iQ] ProNav: ac range: 47.360355 m, nav range: 46.765663 m, bearing: 344.333845 deg, approach rate: 0.000000 m/s, LOS rate: -0.155919 deg/s, cmd heading: 0.794540 deg, new cmd heading: 0.650066 deg. iYHeadingCmd: 0.011346 target range: 47.360355 and range: 47.40 m.h9<hhhhggjgrgereZe:e@3G@*e@y?aɢe@Wϻ)i m싾ii)m`3Iu9BIBMYIBM;~BBIBIBIBM;BMn^E@ @@n0@ ߵ=ߵ<(DAT read: user:40> BDAT read: Tx time:01:25:13.4459 $Ping request sent.= PExceeded connect timeout, disconnecting.A .AI I O>+G#,DLA,BA@B,=B ٱB=BH?>҂2?`?(?;?r??iBA@IBuY];@YNz}ByNIiMb@Mb@Mb@ 9B`"?I +y&1|Y>y9`QA A MA) AY AbDVD8y=%0=ٔrQ->9 ?Y ?=GEyDxE>Q 54E?Q 94 )BY/>Q E;yFI}<ԁI[:ԱE EE*E"E:*Ex:VE(N4ZEBE>9AIIO ?N(G#,LA2Hs@2.=2 ٱ2Rb=2H`?^ `mⳲ? ?EN?5?@ɏ?i2Hs@I2~];2ÑCY:g}By>IIB4=)Bl>bDFVDFð8yNY%N =ٔRi8Q-R>9PYP=RGEyRƦDVyEV>XQ 5^4ZW?Q 9^4Z )ZBY\yb_I ;I xA ԑ[: @ @@?0@ԹE EE'E"E:*Ez:VE'4ZEa%@a%@a%@a%@AA@AB>BCBxIBn~BBO =BBBآ;BL^Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.013815^A= v>Aq I I O > nManaging dock network, ignoring radio surface power off j G#,LA21f@2=2h ٱ2G=2H`?`NL?`? ?E??i21f@I2];2ȑCY:}By:Ii=Mb@Mb@Mb@9999 99=zG?y&1y&1Y= >y=`弙=`e=VA=A =;A)=@9Y=AbDUVDU8ye$=%e?=ٔm:Q-m>9iYi=mGEyuϦDuqtEu>yQ 54}*f?Q 94} )}BY>Q E:yI-PU;I15[:1111checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262447m@q @q@u/@q@}=@}=E5  E5 E5 *E1 "E5 :*E5 k:VE5 (N4ZE1 BE5 +A >A >AIIO>gG#,:LA>fT@>v=>M5 ٱ>=>H`m? `*7~??Ӻ x?`Y9? 9?i>fT@I>s];>ƑCYJ}ByJIPbDVVDVɰ8y^=%^.=ٔ^9Q-b>9`Y`=bGEybئDfnEf>hQ 5n4jv?Q 9n4j )jBYlyn;Q Ir6@jDDIj;ij ;j64yv.BɮvG"AvhE:iDNOT Ignoring new targets: 47.36 m.2i"i'*i'- ProNav: ac range: 47.360355 m, nav range: 46.029762 m, bearing: 344.061951 deg, approach rate: -0.402348 m/s, LOS rate: -0.146639 deg/s, cmd heading: 0.241880 deg, new cmd heading: 0.104112 deg. i-.5HeadingCmd: 0.001817 target range: 47.360355 and range: 47.40 m.h5+:h1h1h1h1g1g9jg9rg9eAreAZeA:eA*eE?uq~Bɢu)q u'iq)u&I+:I}+\:@ @@3@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767244^A5>bEjEOS4rEL0E  E E E "E :*E &p:VE ZE a @a @a @a @) BU >BQ BU IBU ~BBU N =BQ BQ BU Ǣ;BU 7^EA ؟AI I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018307eG#,LAFB@F=F| ٱFk=FH`R? %n3?o?hd? ?`?iFB@IF];FđCYj}ByjI x!x @A bDMVDMð8y6<%0=ٔ:Q->9"?Y"?=GEyD:E>Q 540?Q 94 )BYyG;Q I6@JDI:ii:W4yɮ2"A:i  DNOT Ignoring new targets: 47.36 m.2i "i'*i'- ProNav: ac range: 47.360355 m, nav range: 45.842567 m, bearing: 343.993963 deg, approach rate: -0.402566 m/s, LOS rate: -0.146806 deg/s, cmd heading: 0.104112 deg, new cmd heading: 359.967582 deg. i-U5HeadingCmd: 6.282619 target range: 47.360355 and range: 47.40 m.h58 @h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE @us~Bɢu)q u"iq)}|$I8 @II\:y@y @y@}0@yqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.273122^Ae v>ԡ A D %=D R=E  E E +E "E :*E x:VE [4ZE BE a 2E a JE ;a :E ;a I I O > G#,M!LAhYn}BynIiMb@Mb@Mb@ 9Q?ˡE{GzY\>y'#$AhA A)@YAbDVD8y^;%K=ٔQ->9Y = GEy D E>Q 54蔕?Q 9%4 )BY%{>Q E%;y%Q I%6@ODI_:i:]4y-1Bɮ5="A5iEMB*** querying acoustic contact ***iIiI:iY]DNOT Ignoring new targets: 47.36 m.2iY"ieb*iebuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526517} ProNav: ac range: 47.360355 m, nav range: 45.684715 m, bearing: 343.943676 deg, approach rate: -0.392135 m/s, LOS rate: -0.125355 deg/s, cmd heading: 359.967580 deg, new cmd heading: 359.866658 deg. i}jeHeadingCmd: 6.280858 target range: 47.360355 and range: 47.40 m.h@hhhh g g jg rg ~BereZe:e*e9j@颥t~Bɢ0W) *!i)!<顩iei>ԣ=q>I@I\:@ @@85@)^A !>A zA yA- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779555a A- .AI9 II OU > G#,J:LA2I&@2=2 ٱ2G=2H? zjT??@㺿T?}?`?i2I&@I2];2őCY: ~By::IbDBVDB8yJ>>%Nd=ٔN:Q-N>9N ?YR ?=RGEyRDR/ER>TQ 5Z4V?Q 9Z4V )VBY\y^ Q I^6@VTDIV :iV:V4y`ɮbb!A`1:iDNOT Ignoring new targets: 47.36 m.2i"i=*i= ProNav: ac range: 47.360355 m, nav range: 45.544170 m, bearing: 343.899249 deg, approach rate: -0.370135 m/s, LOS rate: -0.117361 deg/s, cmd heading: 359.866657 deg, new cmd heading: 359.777531 deg. iVHeadingCmd: 6.279303 target range: 47.360355 and range: 47.40 m.h @hhhhggjgrgereZe:e*eO @u~Bɢ];) ׽i)ձ <i5zi Nq~ e= >I @IE EE*E"ED:*EAr:VE(N4ZEa@a@a@a@ L]:Bm<AiBu>BuCBuIBu~BBuP =BqBuVDBu;Bu^Ea@ @@/@BDAT read: Rx Time:01:25:15.9116 TRx dataTimestamp_ set to:1764897917.100992checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031840ԑ^A >Թ A1 I9 II O] >G#,̳TLA:@:G=:! ٱ:8=:H`%?}0 di??J?c? L?i:@I:)^;:ƑCYF~ByF>IIJ>)J=zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284459iEMb@Mb@Mb@AAAA A9E@5^I ?/${GzYEb>yE,AAE A EA)E@AYE A mw>iԱMGezAz9zAY8AbD%VD%8y5<%!=ٔ:Q->9Y=GEyDvE>Q 54?Q 94+)BY>Q E;y?Q I-6@[DI;iu;&4y54Bɮ11:iy}DNOT Ignoring new targets: 47.36 m.2iy"i7*i7 ProNav: ac range: 47.360355 m, nav range: 45.342216 m, bearing: 343.836015 deg, approach rate: -0.406448 m/s, LOS rate: -0.127831 deg/s, cmd heading: 359.777537 deg, new cmd heading: 359.650505 deg. iiHeadingCmd: 6.277085 target range: 47.360355 and range: 47.40 m.h@hhhhggjgrg~BereZe:e*eZ @=w~Bɢ=L_;)9 =Ͻi9)=&Iu@Iy wAE EE+E"E:*Ek:VE [4ZEBEF8A ?A ?IA؟AI&LCommunications Fault in component: DATIO?G#,UvLA6@6m=6k ٱ6=6H ?@iP]i?$? F`0 ???i6@I6^;6đCYF9~ByJXIbDR VDR8yZ =%ZB=ٔ^L;Q-^>9^"?Y^"?=bGEybDb)Eb>hQ 5r4j?Q 9r4j\)jBԑYty.Q I6@j`DIj7I5-@I1=]:ԹEe EeEaEa"Ee2:*Ee n:VEaZEaau@au@au@au@Powering downiߵIߵ߽߽@ @@5@B>BBIBBBQ =BBB;B]EBCBCBBO =BO =C5^A !> A I I O >bG#,̷LAY P~ByfIԉiMb@Mb@Mb@ 9&1?MbMbY>y@@; A A)@YAbDVD8yF=%4=ٔQ->9Y=GEy DE>Q 54Е?Q 94) BYQ>Q E;y`Q I6@fDI;i;54y7Bɮw AjE:i1=DNOT Ignoring new targets: 47.36 m.2i9"i=*iEU ProNav: ac range: 47.360355 m, nav range: 44.996258 m, bearing: 343.731377 deg, approach rate: -0.429744 m/s, LOS rate: -0.127566 deg/s, cmd heading: 359.547633 deg, new cmd heading: 359.440412 deg. iUuiUHeadingCmd: 6.273418 target range: 47.360355 and range: 47.40 m.h]ؿ@hYhYhYhYgYgYjgarge~BEm mAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeEmuTransitioning to midcourse guidance. Received last range of 47.400002 m 29955724.800000 min ago.Eu1FueqreyZey:ey*ey颭{~Bɢ;) ,i)r<顱ii  =>Iؿ@Il^:ԹQ@Q @Y@]1@YE  E E *E "E :*E k:VE (N4ZE BE 6 A I I O >L G#,xLARG@R\[=RUٱR=RH`0?. A+??k`?@Kt?@?iRG@IRb2_;RÑCYbk~BybvIbDnVDn8yz=%z\=ٔ=D;Q-=>99YA=EGEyEDEU?EE>IQ 5U4Mݕ?Q 9U4M)MBYYy]AsQ I]6@MkDIM;iM;Mm<4yaɮe AaB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 47.36 m.2i"ib*ib ProNav: ac range: 47.360355 m, nav range: 44.844685 m, bearing: 343.687141 deg, approach rate: -0.398219 m/s, LOS rate: -0.116613 deg/s, cmd heading: 359.440399 deg, new cmd heading: 359.351627 deg. ijUHeadingCmd: 6.271869 target range: 47.360355 and range: 47.40 m.h'@hhhhggjgrgRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeereZe:e*e}~Bɢ7n<) 8i)P<iwidg9 w= +>I '@I ^:@ @@/@!Y^A >A .AE-  E- E) E) "E- :*E- e:VE) ZE) a5 @a5 @a5 @a5 @I9 &M NClearing failed state for component DATq M IQ A} AAAy B >B B IB MBB P =B B B o;B ]Eԙ O >G#, RLA:@:ET=:2ٱ:ۮ=:H?@;Ff@K?6?c>j?Y?@~?i:@I:_;:ȑCYb~BybIbDjVDj8yry=%rK=ٔv(;Q-v>9v ?Yv ?=vGEyzDz*Ez>|Q 54~.땊?Q 94~!)~BYy YzQ I 6@~pDI~:i~ :~NC4yɮAqL--Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalD55Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E5 5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF5=Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF= =Uninitialize.qG=G=G==ZTransitioning guidance mode to: UNINITIALIZED i=?EEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@E EAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAEEInitialize.AE EInitialize.q@MfIfMHBrfIUNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@UAU]:Initialize WaypointComponent.eZNavigating to waypoint: 36.779130,-121.859630eareaZea:ea*ei颕~Bɢ}<)  9i)P<顙i^IY^:M @Q @Q@U/@Y^AEط=ԁAqIyIO> 1G#,(-LAJֲ@J$N=JٱJo=JHর? W gο ? ?`A'@?R??iJֲ@IJr]`;HYV~ByVIi]Mb@Mb@Mb@YYYY Y9]5^I ?~jtMbY]>y]DY]@] A ] A)]@YY]AbDuVDu8y<%A=ٔ;Q->9Y=GEy%D&gE>Q 54E?Q 94k)$BY~>Q E:yzQ I6@vDI:i:J4yLBɮ AkEDzDAAE EE)E"E:*Ez:VEFA4ZEBEN-E R;iE+ M(kpHeading = 0.400000M!=IMp@ Mp@II5_:a@ @@@@=@=1 Y ^A =AE؟AIIIYOu?aG#,LA6Z@6G=6Aٱ6]=6H?VJSŨ?? )m?+ŷ??i6Z@I67`;4Y>~By>IIFC=)F4<bDJVDJ8yRB=%R+=ٔV);Q-V>9V"?YV"?=ZGEyZ/DZPEZ>\Q 5b4^D ?Q 9b4^)^.BYdyfjQ If6@^|DI^:i^:^S4yhɮjWAhfxfxfxgxf|f|rf|e|re|Ze:e*e)ɢ- Y<)1 5g=i1)54_<11i=r=Z+ͼɧET>E!ZB B !IB BB N =B B B F;B ]EE`:A @ @@@^Au=iAIIO >ԑ H#,J LA@^@^A=^ٱ^=^H?&ZT??R?0??i^@I^D`;^őCYj~ByjIi]Mb@Mb@Mb@YYYY Y9]zG?kt{GzY] >y] 0]#]@] A ]; A)]`@YY]AbDuVDuŰ8y+=%>=ٔU:Q->9Y=GEy8DE>Q 54z?Q 94)7BY9>Q E:yWQ I6@DI:i$:Z4yWBɮ(AuEfffgffrfereZe:e*e ~Bɢ뜀<) ´=i)<iu%y̼ɧ%>%?!-=I-N@ -N@I)m&`:qqqqԩDD4=E EE+E"E:*E~:VE [4ZEBEa2EaJE7;a:E7;a@ @@@^Am ~=A xAzA wA A I I O >{ H#,$2 LA2@29<=2ٱ2=2H?@@T??~0?@??i2@I2I3a;2đCY>By>IbDFVDF8yN֠=%NZ=ٔR6;Q-R>9PYP=RGEyR?DV2MEV>XQ 5^4Z'?Q 9^4Z9)Z>BY\yb0\Q Ib6@ZDIZ:iZ;Z a4ydɮfAdpvB*** querying acoustic contact ***ititfxfxf|g|ffrfereZe:e*e~Bɢ<) =i)*!<ih%2˼ɧ% ?%!%x]I%<@ %<@I)`: @ @@/@9bEjE(N4rEJv/E EE'E"EV:*Exv:VE'4ZEa@a @a @a @BA<B>BCBFIBBBQ =BBUDB ;Bf]E^Am = Powering up "Initializing DAT.a A I I O >,H#,WL LAR@R/6=R[ٱRTo=RH >?쾬 Dܾ 镦?@?X@?~?`?iR@IRa;RőCYBy IAbDVD8ye}|=%e1=ٔe;Q-m>9iYi=mGEyuIDuPEu>yQ 54}8?Q 94})}GBYy2bQ I7@}DI}*:i}z:}6i4yZBɮVAvEfffgffrfereZe:e*e-~Bɢ5<)1 5>i1)5/J#<11i=s={ʼɧE&$?E5R=iE>AEKIE@ E@IIIU@?)UT?`:i@ @@/@^AT=ԑAIIO>Թ D zD @AE  E E (E "E D:*E n:VE c44ZE BE 2y=j<==@9 =$ A)=3@9Y=3AbDUVDU8ye(n=%e\=ٔmic;Q-m>9iYi=uGEyuPDuEu>yQ 54}*E?Q 94})}OBYX>Q E:yQ I7@}DI}:i}:}o4yԙɮAfAfAfAgAfIfIrfIeQreQZeq:e*e%~Bɢ-۳<)) 5/>i1)5%<11i5n=>ɼɧ=??=Sy=i=w >AE=IEx@ Ex@IAMFa:IUxA)UxA @ @@0@^A=A?A ?IIO 0H#,= LA2ek@2k*=2ٱ2=2HǺ?`5 LKz"?`s?ʾ{?F??i2ek@I2$b;2ƑCY>XBy>IbDZVDZð8yb=%bU=ٔfM;Q-f>9dYd=fGEyjXDj8ZEj>lQ 5r4nR?Q 9r4n )nWBYtyvhQ Iv7@nDInC:in:nev4yz]BɮzAzwEfffgffrfe!re!Ze!:e!*e!M~BɢU4A<)Q US>iQ)U'ambѽIm~@ m~@IiB>BBrIBBBBBBС;B(]EE EE)E"E:*Ez:VEFA4ZEBEx%<2Ex%<JE;:E;a: @  @ @ 05@ ^A;!II)O]v>Qԁ 1 I &H#,u LAB!Ϳ9@YFAFi@F)=FrUٱF=FH ?! y?@? `6?t??iFi@IF7b;FǑCYR}ByRIieMb@Mb@Mb@aaaa a9eye#aev@eA e A)aaYeA u=qbD}VD}8y!=%>=ٔ!;Q->9Y=GEyaDE>Q 54a?Q 94L)_BY|>Q E:yYQ I7@DI(:i:}4yɮAfffgffrfereZe:e*e~Bɢ<) y>i)?[+ B,H#,l LAY~By~.IbDVDð8y%y=%%Q=ٔ%Q-%>9)Y)=-GEy-iD-E5>1Q 5u45(o?Q 9u45)5gBYyyyQ I}7@5DI5i!)-.<))i-oT5yļɧ=?=+a=i=9%?AE 0IE @ E @IIԱMfb: @ @@1@^A$?II)O=P>A@AABBBIB BBR =BBB;B\EBCE EE-E"E:*Ec:VEt4ZEBE.9yYy=GEyqD-<E>1Q 5M45Y~?Q 9u45)5oBYyy.FQ I7@5DI5 2iq)u=3 E  E E *E "E D:*E z:VE (N4ZE a @a @a @a @T9H#, # LA2d@2M=2jٱ2a=2H`X?@2y\@ۊ?? + wľ??]?i2d@I28Oa;2őCYRByROI TTli]Mb@Mb@Mb@YYYY Y9]V-?ly]]t]`@Y ] A)]@YY]AbD} VD}ʰ8y=%G=ٔ79Q->9Y=GEyzD3<E>Q 54?Q 94)vBYP>Q E;yWQ I7@DIO;i%L;$4yɮAfffg!f!f!rf!e)re)Ze):e1*e9}~Bɢ >=)h Ʀ>i)>7<ia <@H#,!LA2,@2d=2-ٱ2U>2H?@=`??ZҾ?;?|?i2,@I2{@a;2ƑCY>By>_IbDJ;VDJ8yN=%R[=ٔRRQ-R>9TYT=VGEyVDVv<EV>XQ 5^4Z?Q 9b4Z)Z}BY`ybQ Ib7@ZDIZ:iZ;Z4yfdBɮfAjxEfxfxfxgxfxfxrf|e|re|Ze|:e*e-{~Bɢ-v=)) -A>i1)5;r;<11i5tS½Be>BeCBeIBe?BBeP =BaBeVDBez;Be\EE EE+E"E:*EVE [4ZEBE+^AE AIIO5>! /fFH#, !LA:+!@:@=:ٱ:>:H@-?@ kCS3??`_ÿ? -L?n?i:+!@I: a;:ȑCYBByBjIi Mb@Mb@Mb@     9 V-?:vI +Y y Լ 94 @ h A h A) I@ Y GAbD%VD%ð8y5t'=%5A=ٔ5׺Q-=>99Y9=EGEyEDE<EE>IQ 5U4M?Q 9U4M)MBYU>Q E];y]k;Q I]7@MDIM;iM7;M4yaɮeDAafffgffrfereZe:e*e=y~BɢE=)A Eg>iA)E @ԁ \LH#,4!LA2[q@2@=26ٱ2>2H@r?b!ڭ?~?@ĿR? x?fb?i2[q@I2$`;2őCY>By>wIIB<)Ba=bDFVDF8yn:X=%nP=ٔrzTQ-r>9r ?Yr ?=rGEyrDv!<Ev>xQ 5~4z?Q 9~4z)zBY|yri)E<iĽ  uɧ}?*=i4?IX@ X@IQd:ԁBQAQB]>B]CB]IB]]BB]N =BYB]WDB]n;B]\EE EE*E"E2:*E~:VE(N4ZEBE+*:xSH#,~N!LA6@6ح=6ٱ6)>6H@D?@^?d?*ZƿͿ? V?YQ?i6@I6`;6đCYRByRIbDZVDZ8yba=%bL=ٔf䚻Q-f>9f"?Yf"?=fGEyjDj<Ej>lQ 5r4n^–?Q 9r4n)nBYtyviy)}qjLD zD ?AE  E E E "E :*E |:VE ZE a @a @a @a @|YH#,/ih!LA>;@>G=>ٱ>6>>H@?`FrJD@?D?00ȿ2? ?;@I>`;>ǑCYF#ByJIi=Mb@Mb@Mb@9999 99=M?V-y&1Y=n>y==`e=@= A =A)=@9Y=AbDeVDe8y.=%?=ٔ~Q->9Y=GEyDv<E > Q 554 і?Q 9=4 ) BY=>Q E=;y==Q I=7@ ȠDI \;i ; 4yEkBɮM?AIfififigifqfqrfqeqreyZey:ey*ey颥p~Bɢ|X;=)  >i)(R<顩iƽ ɧ3?駽C=i?I@ @IQd:yI @I  @I @M /@I ^A% .%A- ?A- >AQ Ia Iq O >!`H#,ӣ!LA8>в@>=>ٱ>4mB>>H@?@K׺ ?##?`/ɿs?@{?S)?i>в@I>!`;>ÑCYJ'ByJIbDPVDPyZ<%ZT=ٔZQ-^>9\Y\=^GEy^Db!=Eb>dBn>BlBnIBn|BBlBlBlBnt;Bn\EQ 5v4fqޖ?Q 9z4fw)fBYxyzaL=Q Iz7@f͠DIf';if;f 4y~jBɮAf!f!f!g!f!f!rf)e)re)Ze1:e1*e1bEjER4rEͰ/EU EUEU)EQ"EU:*EUAr:VEUFA4ZEQBEU6i)$W<顁iǽ߮ɧ@駕r=iب?I@ @IIP?)d?m.e:qqqqԩ@ @@F0@^A A I I O >fH#,5`!LA2?@2$>2eٱ2N>2H@s?@Mÿ!ks??`#˿?`r? ?i2?@I2`;2đCY>Ipi5Mb@Mb@Mb@1111 195HzG?:vy&1|Y5=>y5T5`53@5QA 5 A)5@1Y5AbDMVDM8yU=%]A=ٔ]̻Q-]>9aYa=eHEyeDmV&=Em>iQ 5u4me얊?Q 9}4m)mBY}a>Q E};y}6=Q I}7@mҠDIm;im;mr4yɮtAfffgffrfereZe:e*ej~Bɢ0H=) z?i)^<i ɽnɧ @'=i?Icd@ cd@I7e:i@i @i@m\2@iDu=Du<E} E}EyEy"E};*E}]t:VEyZEya@a@a@a@@@@@9Aa i Iq I O >lH#,=!LAJ@J@e>JS ٱJx\>JH@[?@.ƿ2@i? r?@Ϳ=?? ?iJ@IJa;JőCYZ?ByZIbDjVDj89y~j<%UP=ٔUQ-U>9YYY=]HEy]De>=Ee>iQ 5u4m?Q 9u4m)mBYqyu_=Q Iu7@mנDImi:ims;m4ynBɮzEB*** querying acoustic contact ***iifffgffrfereZe:e*eg~Bɢ N=) ?i)e<iZʽ;ɧ@(=i;?I@ @Ie:i@ @@/@AzAxAAABBB-IBBBBBBs;B\EAIIOn>E} E}E}&Ey"E}:*E}&p:VE}4ZEyBE}F82} ٱ2i>2H=?ȿZ? u?rϿ`U??j?i2@I2`;2ƑCYNLByRIIb<)bp<bDjVDjo8yr=%rK=ٔvQ-v>9tYt=zHEyzçDzhV=Ez>|Q 54~p?Q 94~)~BY y i>Q I 7@~ܠDI~:i~e:~P4ygBɮAqEԙfQfqfygyffrfereZe:e*e颽c~BɢHN=)  ? v>CiepGy)6n<顙ſ9YA!i%˽-ɧ-@-:=i-w?11I5cH@ 5cH@I1 aa@ @@4@A I I! 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Ay I Թ I O >d~H#,Ę8"LA6WG =6=>6.ٱ6t>6H ?ѿluByBIbDJVDJ8yR<%RK=ٔR+Q-V>9TYT=VHEyVDZ]=EZ>\Q 5b4^Y9?Q 9b4^ )^BY`yf>Q If7@^DI^-:i^d:^4yjnBɮjAhvB*** querying acoustic contact ***ititf|f|f|g|f|f|rfereZe:e*e 5S~Bɢ=) %?i)㤆<项i}нtɧqA@ >i=?Iz0@ z0@IB E @A @A@E0@ABA<B >B CB rIB ҀBB N =B B B ;B ]E9AIIOa>E EEE"E:*E n:VEZEBE3:+ٱ:Ki>:H.x?zҿ@&&?? tп:??B?i: 7b=I:a;8YRyByVIbD^*VD^Ӱ8yfE<%fH=ٔf{gQ-f>9hYh=jHEyjDn5P=En>pQ 5v4rE?Q 9v4r )rBYxyz>Q I~7@rDIr;ir;r4y!ɮ%A)fffgffrfereYZea:eq*eUN~BɢUt=)Y ])?iY)]kimm@iiqIذ@ ذ@Iԡ<M @I  @I @M /@I E  E E +E "E :*E :VE [4ZE a @a @a @a @ A I I O >H#,xGl"LAXYByII!)%iMb@Mb@Mb@ 9S㥛?V-?MbY$>y<@;A  A)~@YA ==bD3VD۰8yǥ=%;=ٔQ->9Y=HEyDE>Q 54/S?Q 94 )BY>Q E;y>Q I7@DIr;i;y4yqBɮ.AsEf!f)f1gffrfereZe:e*eJ~Bɢ=)  H3?i))-IJ<))i5ӽ5!ɧ=T@=o*>i=@99I=N;@ =N;@IAiiii @ @@/@! A .AI I O >B >B B IB BB B B B ;B \EuH#,"LA2<=2 >2OCٱ2!Z>2H ?`Gտ>`^?@m?Ͽ`5??&?i2<=I2sa;0Y:By>$IbDF'VDFа8ER EREPEP"ER:*ER҆:VEPZEPBERF89b ?Yb ?=bHEybDf=Ef>hQ 5n4j4^?Q 9n4j)j BYlyr>Q Ir7@jDIj;ijI;j4ytɮvAt|fffgffrfereZe:e*eF~Bɢ =) 8?i)b<iMս5ɧU ]@UV0>iU9 @YYI]@ ]@IY)@ @@5@AIAIaqO >ԁ 0H#,"LA6=6>6sٱ6~pW>6HY?Zֿ DZ?6?kϿ`-?n??i6=I6a;4YBByB+Ii Mb@Mb@Mb@     9 X9v?V-?~jtxY >y  Ļ ~@ hA l A) @ Y p@bD%2VD%ڰ8y5<%5C=ٔ=:Q-=>99Y9=EHEyEDE"S=EE>IQ 5U4Mj?Q 9U4M)MBYYU>Q E];y]T>Q Ie7@MDIM/;iM.;M> 4yiɮmAifffgffrfereZe:e*eA~Bɢ=) i O@I6@ 6@IqE EE*E"E:*E]t:VE(N4ZEa@a@a@a@ @ @@/@A>A?ԉA=؟AIAIQOeU>Ա UɭH#,ӹ"LA6;>62>6%ٱ6T>6H`ͣ?׿h4*?$?/AϿ@\ ??@?i6;>I6a;6ÑCY>By><I @@DFAAbDJ:VDJ8yRG=%RT=ٔV9;Q-V>9V"?YV"?=VHEyZ DZf=EZ>\Q 54^t?Q 94^j)^ BYy%p>Q I%7@^DI^ViT@Iձ@ ձ@IB>BCBIBBBO =BBVDB;B\EOf:bEEƷG4jEEKJ4rEE- 0E EE(E"E:*Ec:VEc44ZEBE.9 -H#,"LA2&>2H>2Eٱ2ZV>2Hd?@ ٿ{?@p?Ͽ!?/O??i2&>I2@}a;2őCY:By:>IbDFbVDF8yN;%NK=ٔR;Q-R>9PYP=RHEyRDV$b=EV>XQ 5^4Z?Q 9^4Z)Z+BY`yf>Q If7@Z DIZm;iZ{;Z4yxɮzgAxfffgffrfereZe:e*e!M6~Bɢma=)q uoF?iq)uT$i @I5@ 5@Ie:A@ @@%/@!AiqIyIO>E  E E *E "E :*E ~:VE (N4ZE a @a @a @a @ԙ oۺH#,ʉ"LAYnByr^IimMb@Mb@Mb@iiii i9mZd;O?X9v?{GztYmj>ym9Y=HEyDE> Q 54 r?Q 94 ) 8BY>Q E;y>Q I7@ DI P;i z;  4y!ɮ%A)fIfIfIgIfIfIrfIeQreQZeQ:eY*eYq颍1~Bɢ-=) T?i)n<顑iB۽Lɧ+@駝N>i@I1@ 1@II?))>.e:I)% @! @!@!@!ԡAqIyIO~>B >B CB IB )BB P =B B B ;B \E 5H#,d#LAEF EFEF)ED"EF:*EF:VEFFA4ZEDBEF+V>VƒٱVdT>VH`?ӌۿ@UF"?"? eϿ }@?@?@?iVMT>IV`;V‘CYǹBynjIIr4<)p v=v%=bDzZVDz8y(Z=%[=ٔ L9 Y =HEy&D$=E>!Q 5-4%{?Q 9-4%)%BBY)y-?Q I-7@%DI%:i%:%b'4y5xBɮ=cA9fYfYfYgYfafarfaeareaZei:ei*ei+~Bɢ黩=) [?i)<iܽ?ɧUm@U|U>iU_"@YYI].= @ ].= @IY5d:}7kG /{A ) U @Q  @Q @Q @Q e 09e /{AYm AA I I O >Q H#,H!#LAYbԀBybtIiEMb@Mb@Mb@AAAA A9E ףp= ?Q?{GztYEQ>yE\=AE`@E A EA)E@AYE@bDepVDe8y=%A=ٔQ->9Y=HEy.DE>Q 54~?Q 94)NBY4>Q E;y'?Q I7@DI;ie;.4yɮ$AfffgffrfereZe:e*e!%~Bɢ=) `?i)F <iD޽I0ɧ&@: ]>i$@I @  @I)E EEE"E:*E:VEZEa@a@a@a@b:DAT read: VDAT read: Teledyne Benthos DAT-900 Series ]#= @9 @A@A@AaAIIO>ԁ H#,';#LA,6,e>6>6, ٱ63R>6H*A? Zݿ^?̄?οq??@. ?i6,e>I6U`;6őCY>By>IbDFVDF)8yN=%R[=ٔR9PYT=VHEyV6DV0=EV>XQ 5^4Z?Q 9^4Z)ZXBY`yb?Q Ib7@Z DIZB:iZ:ZF54ydɮfAdrB*** querying acoustic contact ***ititfxfxfgffrfereZe:e*e  ~Bɢ X=)  g?i)欺<i߽5y"ɧ5]@5 c>i5%@99I=h?!@ =h?!@I9 AEyA-a:ԉBE>BABEIBEBBBABABABE;BE\EBCBCBŔCBO =BO =C؋5E EE*E"E&:*E n:VE(N4ZEBEi;i@ @@@ A .AI I O >kH#,ET#LA2Y>2*>2ٱ2S>2H?`1߿@ ? ,? ο?@P ?@ ?i2Y>I2mZ`;2đC\YbBybI hhtv@AbDzVDz88y a=% D=ٔ95 ?Y= ?=EHEyE>DU [=E]>aQ 5u4e?Q 9u4e)ecBY9yE?Q IE7@e%DIei5H%@19I=!@ =!@I9`:    D zD ?AE  E E %E "E :*E x:VE 4ZE a @a @a @a @) @)  @) @- /@) I Au ؟AI I O >MH#, jo#LAtY5By5IiMb@Mb@Mb@ 9?~jt?~jth?Yf>y=D;@ A lA)@Y@bD|VD8y=%8=ٔQ->9"?Y"?=HEyGDE> Q 54 \?Q 94 ) oBY>Q E";y]?Q I7@ )DI :i I: PD4y!ɮ%A!fAfIfIgIfIfIrfQeQreQZeQ:eQ*eY颅~BɢQ=) *}?i)<顉i⽩ɧ@駕_r>i#@IL"@ L"@I^:Q@Y @Y@];5@Y)IQIaOuy>Y B B B IB [BB R =B B UDB ;B \E0H#,o/#LAE EE+E"E:*Ez:VE [4ZEBE6%1?% ٱ%Q>%H?N6??!?*Ϳk???i%>I%`;%őCE:DAT read: MF Frequency Band MvDAT read: Directional Acoustic Transponder version 8.15.0 UBDAT read: Dec 5 2025 01:25:29 QY}By}IbDeVD 8yu =%}C=ٔ} =Q-}>9Y=HEyPD$>E>Q 54Iȗ?Q 94)yBYy,?Q I7@-DI;i;K4yɮ?AfffgffrfereZe:e*e ~Bɢ=)  s?i ) `<  i*佩:)ɧ@y>i]#@Ie"@ e"@I!I-=)-= L]:i@ @@5@AzAzAԙIIO > ZH#, #LAY!ByII <) y 0=;@A VA)Y@ =<bDyVD8yڍ=%W=ٔQ->9Y=HEyXDE>Q 54З?Q 94\)BY>Q E;y.?Q I7@2DI:i_:JR4yBɮAvEfffgffrfere!Ze!:e!*e!M~BɢU=)Q U?iQ)]xieeG#@aiImeG#@ meG#@IiE5 E5E5*E1"E5:*E5xv:VE5(N4ZE1aE@aE@aE@aE@M+\:@ @@/@IIIYOe4> ҄H#,y#LA2>2p)?2Gٱ2N>2H?`b?`?`?@DͿ(g??l?.)?i2>I2<`;2đCY:%By:IbDZVDZ;8yb<%b\=ٔb9dYd=fHEyf_Df?q=Ej>hQ 5n4jٗ?Q 9r4j.)jBYpyr/4?Q Ir7@j6DIj:ij;jX4ytɮvAx B*** querying acoustic contact ***i i fffgffrfere!Ze!:e!*e!M~BɢU=)Q U^?iQ)U2i#@I#@ #@IZ:m @i @i@i@iAAAAB>BB:IBuBBQ =BBVDB;B\EIIO (>!EE EEEE)EA"EE:*EE҆:VEEFA4ZEABEE3^ ? ?^yǽٱ^1N>^HL?p? ?`C ?K˿t?z?`f4?i^I>I^a;^őCYj4ByjIbDrVDrO8yz=%zG=ٔz=Q-~>9|Y|=~HEy~hD=E> Q 54 ᗊ?Q 94 ) BYy5??Q I7@ :DI 9;i ,; _4y=wBɮ=AEmEfafafagafifirfieireiZeq:eq*eq}Bɢ=) ٍ?i)܊<i7轩ɧ Ө@ >QLDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600iF$@)1I5F$@ =F$@IA eyAaE$Y:ԁ@ @@@A>A>I9IQO]U>ԩEU  EU EU *EQ "EU ;*EU :VEU (N4ZEQ a] @a] @a] @a] @ іH#,#LAF>Fw%?F#8ٱF3O>FHj?`@&Z?D;?@?^˿ ?B?j7?iF>IF_;FÑCY^VBybI ``iuMb@Mb@Mb@qqqq q9uX9v?i|?5?{Gz?Yu>yuq=u#%@=ٔk9Y=HEypDER=E>Q 54ꗊ?Q 94)BYN>Q E;yN?Q I7@?DI7:i:cg4yɮAfffgffrfereZe:e*e%}Bɢ-xp=)) -s?i))-ů<)1i5<齩=8 9ɧ=@=#>i=S$@99I=S$@ ES$@IAԱW:@ @@/@I)I9OM0> B >B B SIB BB O =B B B ;B ]E9 bE(N4jE#E4rE/E]  E] EY EY "E] :*E] n:VEY ZEY BE] .Bf+?BSٱBN>BH@?@9? ?UB?*tʿ`n?Q???iB8>IBB_;BƑCYNYByNIbDVVDVp8y^`r<%bW=ٔbw9dYd=fHEyfxDfj=Ef>hQ 5n4j??Q 9r4j3)jBYpyrT?Q Ir7@jCDIj;ij;jn4yv{BɮvAxfffgffrfereZe:e*e}Bɢ"=) ?i)y<i꽩K޺ɧޱ@;K>iR%@!!I%R%@ %R%@I! V: @ @@@!A.AI!I1O=r>Q XI#,$$LA6vt>61?6ٱ6$L>6H ٔ?[]`?\Y?a?@zɿ ?kG?}G?i6vt>I6%_;6ǑCYZpByZ4Ii=Mb@Mb@Mb@9999 99=sh|??y=t==<=@=A =@)99Y=@bDUVDUJ8ye=%e@=ٔev9m ?Ym ?=mHEymDZL=E>Q 54 ?Q 94.)BY5>Q E;y\d?Q I7@HDI;i;u4yɮYAf!f!f!g!f!f!rf)e)re)Ze1:e1*e1]}Bɢ]Ŵ=)a e?ia)eiu%@qqIu%@ u%@IyE EE)E"Ea:*EAr:VEFA4AZEaU@aU@aU@aU@UT:@ @@0@A!zA%xAyAm؟AIqIO}>ԙ I#,o>$LA@Y~tBy~9II%=)p;bDVD58y%{<%%O=ٔ%Q-%>9-"?Y-"?=-HEy-D-E5>1Q 5E45?Q 9E45)5BYAyAQ IE7@5LDI5Q;i52:5\|4yIɮU6AQmB*** querying acoustic contact ***iiiifqfyfygyfyfyrfyereZe:e*e颭}Bɢ&=) ?i)g=项i]i>P:ɧ@@>i-W&@I-W&@ -W&@I-S:ԩB5>B5CB5rIB5BB5Q =B53DB5TDB5;B5]E@ @@0@E% E%E%&E!"E%2:*E%:VE%4ZE!BE%+* I#,JX$LA F2GR{A\r$o9r{AYr=kA YByUIbDhVD 8y =%<=ٔ!Q-->9= ?Y= ?=EHEyEDQEU>iQ 5%4m?Q 9-4m)mBYQyYQ I]7@mQDIm9i&@I&@ &@IR:@ @@/0@YD zD @AE  E E (E "E ;*E &p:VE c44ZE a% @a% @a% @a- @A- ؟AI9 II O] >e DAT read: m &DAT read: user:1> m (setting verbose to 3ԉ I#,F%r$LA2N ?2JB?2Mٱ2K>2H4?@l?? ?ƿ@,?I?@S?i2N ?I2$_;2őCYNByR_Ii%Mb@Mb@Mb@!!!! !9%kt?~jt?Zd;O?Y% >y%=%j<%@%7A %v@)%@!Y%@bD=kVD=8yM,=%MX=ٔUw=Q-U>9U"?YU"?=UHEayUD]o(>Ee>qQ 54u?Q 94uT)uBY<>Q E;y?Q I7@uUDIuP];iuU\;u/4ԁyɮDAff!f!g!f1f1rf1e1re1Ze9:e9*e9e}BɢmP=)i m?ii)m =iqiuw2𽩧}_;ɧ}@}N>i} n'@yyI n'@  n'@I &DAT read: user:1> TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440]`P:aԱ@ @@t0@A?A?B- >B- CB- IB- BB- S =B) B- SDB- ;B- \EBCBCBBQ =BQ =C5A I I O > E%  E% E% )E! "E% 2:*E% n:VE% FA4ZE! BE! a- 2E! a- JE% ;a- :E% ;a- "I#,$LA23?2G?2NN.ٱ2[L>2H?@C,.?@?b?ſȥ? b?U?i23?I2cQ_;2ÑCYNByR{IbDZVDZ88ybw=%bT=ٔb9dYd=fHEyfDj8=Ej>lQ 5r4n\?Q 9r4n)nBYpyr?Q Ir7@nYDInI;in;nS4yzBɮzAznEfffgf%&DAT read: user:2> -TDAT read: DatVerbose | 27440 -.set DatVerbose to 27440-6setting transmit power to 8fԹrfereZe:e*ee}Bɢm>)i m?ii)m=qqi$񽩧Ώ;ɧv@ɑ>iq'@Iq'@ q'@I@O:e@a @i@m4@iAII OE>&DAT read: user:3> TDAT read: TxPower | 8 (Max)  .set transmit power to 8 6setting local address to 119 )I#,ܥ$LA6?6M?6gٱ6ckM>6H4?@ϧ???Ŀ@ ̡?`z}? V?i6?I6oI_;4YNByR}Ii%Mb@Mb@Mb@!!!! !9% rh?S㥻?Q?Y%>y%/=%<%@%A %I@)%@!Y%f@bD=wVD=8yM7;%MB=ٔU59QYY=]HEy]D]r[=Ee>aQ 5m4e?Q 9m4e)eBYuֵ>Q Eu;yu?Q Iu7@e^DIe:ie;e4yyɮAfffgffrfereZe:e*eDD%=E EEE"E;*E:VEZEa@a@a@a@}Bɢ>) ?i)rS=iG򽩧-;ɧE@E7>iEIf(@AIIMIf(@ MIf(@II-N:5&DAT read: user:4> =TDAT read: LocalAddr | 11 =.set local address to 11E\Setting time to: 1:25:38 And date to:12/5/2025I@ @@/@A1IAIYOe>iԱ  &DAT read: user:5>  NDAT read: Fri Dec 5, 2025 01:25:38  fLocal DAT time set to Fri Dec 5, 2025 01:25:38  2Acoustic response timeout 6setting remote address to 80/I#,$LA2?2|S?2;ݼٱ2M>2H?],|?c?? ÿI?Q?4X?i2?I2U_;2‘CY>By>IbDFhVDF 8yN"=%NW=ٔrС9tYt=vHEyvDzo=Ez>|Q 5 4~$?Q 94~)~BYAyEÎ?Q IM7@~bDI~p0)) -v?i))5=11i5S󽩧]r;ɧ]@]/[>i]p(@YYI]p(@ ep(@IaImp<)m4BCBIBBBT =BBRDB};B\E@ @@/@AzAyAԡE EE(E"E&:*Ec:VEc44ZEBEh; ETDAT read: RemoteAddr | 8 E.set remote address to 8M2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.Oew> 6I#,$LA2!?2TaY?2ٱ2pM>2H"?`߀???¿V?Ȁ?@Z?i2!?I2_;2ƑCYNByRIbDZRVDZ8yb[K=%bH=ٔbv9f ?Yf ?=fHEyfDjk=Ej>lQ 5r4n$?Q 9r4n)n BYpyr?Q Ir7@ngDIn;inQ;n4yzwBɮz AzeEfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 46.099998 m @1AereZe:e*e>5@&DAT read: user:7> BDAT read: Tx time:01:25:38.6585 $Ping request sent.)9 =$?i9)M=Iqiuc <ɧ@+>id)@I d)@ d)@IEK:y@y @y@y@yA؟AE EE)E"E;*Ez:VEFA4ZEa @a @a @a @I I! ) O5 >E =E a=M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246013Q D2Hɔ? ??L?)@+?@?Z?i2w'?I2^;2đCYNɁByNIiMb@Mb@Mb@ 9+?ʡE?~jt?Yv>y=<@A @)I@Yp@bDMVD8yX=%9=ٔ=9"?Y"?=HEy¨DT=E>Q 54)?Q 9 4^)BY  >Q E ;y q?Q I 7@lDIr;i;<4yvBɮg Af9f9f9g9f9fArfAbfE@1AEECompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@E EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeeIreIZeI:eQ*eUF6@}}Bɢ},>)y ??i)B"=顁i6pu<ɧ@駕>i)@I)@ )@I)%J:@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497923aAqIIO>ԁ B >B CB IB ˁBB V =B B B ;B \EE  E E E "E :*E :VE ZE BE <S-?> e?> ٱ>N>>H:?@{? O??`zx?ࠣ?Y?i>S-?I>>^;9\Y\=^HEy^ʨDb=Eb>dQ 5j4f\.?Q 9j4f)f!BYhyjT?Q Ij8@fqDIf:ifu:f4ypɮrK ApqLz~~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminalchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749911DAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFInitialize.FAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G Initialize.qGG%qE%g%h7g%h7F%-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G--DReached init depth of 64.901146 m.jg)rg5fB5$Terminal guidance.qE5G55Initialize.5dInitializing internal variables to default values.5ZTransitioning guidance mode to: UNINITIALIZED i1=DRollout timeout set to 300.00 sec.EVIIR filter is initialized with decay: 0.00.EbTransitioning guidance mode to: TERMINAL_GUIDANCE iE??EEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@E EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAEMUninitialize.AMAMM>Uninitialize WaypointComponent.eIreIZeI:eI*eUp6@́B ) i)<"=iI  }H:ԉ@ @@0@A?A>ԹAIIOj>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003820 TII#,"'%LA6r3?6j?6q:ٱ6[O>6H@gr?@?i? ? 2P?`X?i6r3?I6p^;6‘CYNˁByRI TT`i-Mb@Mb@Mb@)))) )9- r?Q?V-?Y->y-\>-<)-A -@)))Y-(@bDE7VDE߰8yUG%U@=ٔ]79aYa=eHEyeҨDeZ=Em>qQ 5}4u2?Q 94u)u-BY>Q E;yӟ?Q I8@uvDIuI;iuH;u4yzBɮu Ah e?hh;hL?higgjgrgBereZe:e*e7@E EE+E"E:*E:VE [4ZEa@a@a@a@ˁBɢ"=) X9i)n"=ii Z )@ ) L? 5(kpHeading = 0.800000I5; U(kiHeading = 0.004000U IU e?IUAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254514-BG: =&Changing to mode: 1@ @@0@AzAAAA A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5058122H@? Il?@"?߃?鼿`?AW?i28?I2|^;2ǑCY:ځBy:IbDFaVDF8yN=%NW=ٔR~9RYR=RHEyPV^u=EV>XQ 5^4Z6?Q 9^4Z˿)Z7BY9y=?Q I=8@Z{DIZϒ[>"[eܳ>*[?颱ɢf+=) `BCBBBU =BBB;B\E- @) @)@-05@)IAIIYOm>bEMFA4jEM?4rEM?/E EEE"E:*E:VEZEBEw%2H@;??mK?`W?웻@_8v?cN?i2??I2'^;2ȑCYNByRIbDZ!VDZ˰8yb=%bH=ٔb@9dYd=fHEydjq=Ej>hQ 5r4j:?Q 9r4j)jBBYpyr?Q Ir8@jDIjU;ij@;j4yxɮzo AxhhhhhyiggjgrgereZe:e*e`7@[["[*[?ɢ%h5=) =i )e#=i%i#@II!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0125115D:ԡU@"E EE(E"E:*Eą:VEc44ZEa@a@a@a@@ @@ 0@- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261889 ^A I) IA Oe >j]I#,=v%LA22E?2|?2<ٱ2P^>2H`5? %D?ષ?K?0?`c>?i22E?I2 5^;2ÑCYFByFIIJC>)J=di%Mb@Mb@Mb@!!!! !9%X9v?HzG?y&1?Y%>y%= >%`<%v@% A %@)%v@!Y%@bD=VD=8yMߢ%M3=ٔMK9QYQ=UHEyQUT=E]>YQ 5e4]f>?Q 9m4] )]NBYm>Q Em;ym=?Q Im8@]DI]; ;i]:]4yqɮ} AyhhhhhiggjgrgBereZe:e*e LO8@[>[>"[}>*[0=?ʁBɢ2=) g=i)m:#=iTiK@IIUB:5= uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513858@ @@$5@!Be>BaBeIBeƁBBeT =BaBaBe;Be\E^A I I O >I E  E E )E "E ;*E :VE FA4ZE BE @2H?``TN?@? 9?@l n?/7?i2Y%K?I2^;0Y:By:IbDFVDF8yNw`;%NX=ٔNm9PYP=VHEyTZYz=E^>dQ 5j4fUA?Q 9j4f5)fWBYlyn?Q In8@9fDIfojI#,%LAE EE(E "E:*Exv:VEc44ZE a@a@a@a@(>qP?>lP?>N<ٱ>ߜ_>>H]?ƽ o? {?&?-P蜿@ ?C:?i>qP?I>Y^;>‘CYZByZIi=Mb@Mb@Mb@9999 99=bX9?Pn?V-?Y=E>y=>=<=@=A =`@)=@9Y=@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269908bDVD8yS<%#=ٔu9Y=%IEy!%5=E%>)Q 554-D?Q 954-`)-cBY=o>Q E= ;y=?Q I=8@-DI-:i-b:-+4yErBɮM3 AM\Ehihihihihiiqgqgqjgqrg}.BeyreyZey:ey*e@09@[o>[o>"[=>*[2?uɁBɢu4=ԁ) 8=i)#=顙iHiH@II?:ԩ5 DAT read: Range 11 to 50 : 39.4 m (Round-trip 52.6 ms) speed 0.0 m/s = X#Rx 1: Read range message, but no direction.y! Y% B! E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode. 8&@  @ @ O0@ B >B B IB BB U =B B B ;B \EBCBCB̓C BU =BU =C>5^A=#IIO>rI#,%LA2BV?2?2w=ٱ2X>2HZ? 3d?` ? 2??0{𖠿a?D?i2BV?I2(^;2đCYI @@DDbDJ>VDJ8yRC%R<=ٔR9TYT=VIEyTV4G=EZ>E^ E^E^*E\"E^:*E^k:VE^(N4ZE\BE^3 BDAT read: Tx time:01:25:42.4585 $Ping request sent.:ԡ](@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252206^A ?΅I I  O >%yI#,^%LA2k[?2"?2ȝ=ٱ2iQ>2Hl?r ?@+!? 7?x䰿R>?nO?i2k[?I2'^;2őCYRByRIi}Mb@Mb@Mb@yyyy y9}ʡE?y}t>}<}@};A }I@)}@yY}@bDDVD8y{.%;=ٔ;Q->9Y=IEyM==E>Q 54I?Q 94)wBY>Q E;yS?Q I8@DIb;i;f4yɮ AL  Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEntering USBL mode with 120.000000 count pings at 39.400002 m (mode 1.000000 count ).L1Mhhhhhiggjgrg3Bere Ze:e*e?[U>[U>"[Ue>*[UHS?aɢe1=)i mJ=iiE EE,E"E;*E:VEg4ZEa@a@a@a@)$=iϼi #@  I I<:>i6?-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502917}+@y @y@}3@y@=@=1^A I I O% >Y I#,9&LA2%`?2F'?2=ٱ2L>2H K?$?}l?V+?@fIi?`V?i2%`?I2X^;2đCY:݁By:IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887bDJkVDJ8yR%V\=ٔVq;Q-V>9XYX=ZIEyXZF[=EZ>\Q 5b4^4J?Q 9f4^P)^BYdyf?Q If8@^DI^:i^|:^4yhɮj Alj^@1MqMhhhhhiggjgrgereZe:e*e -?[["[*[?ǁBɢT?1=) .=i)=$=ii@II1;:B5>B1B5IB5BB5T =B1B5SDB5f;B5\EU'-@Q @Q@U/@QiE EE'E"ED:*E:VE'4ZEBE2Թ 7I#,&LA2e?2?2C'=ٱ2tJ>2H )? ???驿 ᤿?Y?i2e?I2JB^;2‘CY:ށBy:IIB%=)Bl>bDFaVDF8yN;%NK=ٔR;Q-R>9PYP=VIEyTVNI=EV>XQ 5^4Z=K?Q 9b4Zg)ZBY`yb?Q Ib8@ZDIZ< ;iZ ;Z4ydɮj AhjtqMvMvhxh|h|h|h|i|g|gjgrgereZe :e *e (?[)[)"[)*[-m?颽ƁBɢh2=) ?=i)9c$=iie?II_::ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259430-/@1 @1@9@9^AI I! O= >E  E E *E "E ;*E ]t:VE (N4ZE a @a @a @a @E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791 tI#,K?4&LAY5By5IiMb@Mb@Mb@ 9i|?5?333333?:v?Y>y><A 3@)@Yp@bD\VD8yn=%4=ٔQ->9Y=IEyE> Q 54 =L?Q 94 ) BY>Q E ;y%?Q I8@ DI f:i : 4y!ɮ%0 A)jAMEECompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLE EAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLhQhQhQhQhQiQgYgYjgYrg])BeareaZea:ea*ee`c?[>[>"[>*[%?额ŁBɢd8=) 8=i)Ҫ$=顡iii֭?II}8: 52@  @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762796! ^AA B <A B >B CB yIB BB S =B B B ?;B x\EAu އAIy I O >II#,OM&LA>so?>2?>4=ٱ>NG>>H?KA? 9??`? -]?i>so?I>Ni^;>đCYJByJIER ERER)EP"ERs:*ERxv:VERFA4ZEPBERp09nd ?Ynd ?=nIEyn٨DrB=Er>tQ 5z4vL?Q 9z4vW)vBYxyz?Q Iz8@vDIvK:iv :v+ 4yɮ| A%B*** querying acoustic contact ***i!i%xh)h)h)h1h1i1g1g1jg9rg9e9re9ZeA:eA*eE7@māBɢm,6=)q uo=iq)u$=qqiui}?yII xAwA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019537U7:=PExceeded connect timeout, disconnecting.Yg4@ @@ 0@y^A5FӅA5G>A5>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271433Aa Iq I O >]wI#,Sg&LAFH? ?s?@?oUU?@]?iFt?IF ^;FÑCYj݁BynIi}Mb@Mb@Mb@yyyy y9}kt?'1Z?y&1?Y} >y}">}`<}@}~A }@)}@yY}@bDVDɰ8y%<=ٔ[;Q->9Y=IEyDm$=Em>qQ 5}4uoL?Q 9}4uё)uBY}>Q E} ;yv?Q I8@uDIu:iu:u4yɮ AhhhhhiggjgrgBereZe:e*e@ÁBɢ 3=)} T=i)%=iti?II E EE'E"E*E:VE'4ZEa@a@a@a@5:-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523991}07@y @y@}0@y^AE # Au 2AIy I O >[I#,|&LA2x?2/I?21>=ٱ2F>2H@? ?@3??@G>@w9?I]?i2x?I2z];2őCY:فBy>IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774957bDN'VDNа8|yհ% W=ٔ  ;Q- >9?Y?=IEyD\O=E>!Q 5%4%L?Q 9-4%?)%BY)y-?Q I-8@%DI%:i%6:%h4y5iBɮ5 A=REhahahahahaiagagijgirgieireqZeq:eq*eu`x@颥Bɢ3=) ;=i)/+%=顩i`i~+?9sII4:I)B>BBlIBBBT =BBB;B6\E)m9@i @i@m/5@ibEE:4jEEh=4rEE/E EEE"E:*E:VEZEBE$5I#,6\&LA2}?2|?2ʒ@=ٱ2G>2H?@H???. p? [?i2}?I2];2đCY:݁By:IbDF2VDFڰ8yN<%NR=ٔNw:Q-N>9PYP=RIEyRDVD=EV>XQ 5Z4ZK?Q 9^4Za)ZBY\y^,?Q I^8@ZDIZj;iZ;Z8!4ydɮf_ Adhththxhxhxixgxgxjg|Yrg|eyreyZey:e*e @Bɢ ^5=) g=i)[%=iiG%?MII 3:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281758u9@q @q@}4@}ԑ^AԱA܏AIIO >E  E E )E "E :*E g:VE FA4ZE a @a @a @a @ M DAT read: Range 11 to 50 : 39.8 m (Round-trip 53.1 ms) speed -0.2 m/s U X#Rx 1: Read range message, but no direction.yA YE 3BA U T****** received valid address query ******U R****** received valid ping request ******] Querying Benthos address 50 with 120 pings in terminal homing one-way mode.I#,?&LAYсByIԱi-Mb@Mb@Mb@)))) )9-Q?Q?V-?Y-µ>y-(>-<-@- A ))))Y-@bDE7VDE߰8yUV%]1=ٔ]Q-]>9e?Ye?=eIEyeDeEe>iQ 5u4mJ?Q 9}4m)mBY}>Q E};y}o?Q I}8@máDIm:im4:mH)4yɮ A addTargetRange:: Added new target pos. range: 39.799999 m, deltaT: 3.783698 s, deltaX: 0.399998 m, approachRate: 0.105716 m/s, rangeRepo size: 2 hhhhhggjgrgBereZe:e`fC@*e AF?Bɢ"/=) =i)|%=iǼiMR? ,I Iee1:&DAT read: user:9> BDAT read: Tx time:01:25:46.2585 $Ping request sent.B CB fIB BB S =B B TDB ޠ;B \E @  @ @ /0@ Y E  E E ,E "E :*E ]t:VE g4ZE BE >H@W?@?Bw?(?`?-W?izӅ?I6];őCYˁByIbD/VDذ8yX%=ٔÕ:Q->9Y=IEyD6=E>Q 54H?Q 94!)BYyi?Q I8@ʡDIu:i:24y!ɮ- AB*** querying acoustic contact ***iihhhhhggjgrgereZe:e*e@ ?uBɢ}1,=)y }@.I#,N&LA~$?~N ?~C=ٱ~G>~H@y=@A @)3@Y@bDVD8yt%%?=ٔK9Q->9Y=IEyD,=E>Q 54=G?Q 94{)BY>Q E;y?Q I8@ϡDI:i:8:4yɮ Ahhhhhggjg!rg%Be!re!Ze!:e)*e- ?Bɢl-=) II i .:ԑ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007008% 9@!  @! @% /@) ^A l,A >A >BE >BE CBE `IBE BBE P =BE 2DBE VDBE ;BE @\EBCBCBʔCBS =BS =Cʌ5Ii I O > iI#,M'LA2p?2U?2(E=ٱ2QC>2H!?41?:?`f?ȫu /=?b?i2p?I20];0Y>ǁBy>IbDFVDF8yN%N`=PٔRTd:Q-R>9TYT=VIEyVDZH=EZ>XQ 5b4ZE?Q 9b4Zw)ZBY`ybs?Q Ib8@ZԡDIZ;iZo;Z@4yhɮj Ahhxhxhxh|h|E! E%E%)E!"E!*E% n:VE%FA4ZE!BE%@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259199,:1@1 @1@54@1@==@==^A+IiIyO9>! M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511022I#,8('LA|?偨?KF=ٱ>>H Z?@]f?@&?Ka?04 Ө?i?i?I];‘CY%́By%Ii-Mb@Mb@Mb@)))) )9-~jt?x?X9v?Y->y-K7>-<)-A ))))Y-@bDE̿VDE}8yU<%U1=ٔUWU:Q-U>9YYY=]IEy]De=Ee>aQ 5u4eB?Q 9u4er)eBYu>Q Eu:yu?Q I}8@eڡDIe. ;iee ;eH4yɮ AhhhhhggjgrgBereZe:e*e ?eBɢm0=)i m0#=ii)m%=qqiuiuŅ?y} >IyIy)E= E=E9E9"E=:*E=&p:VE9ZE9aM@aM@aM@aM@e<+:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764363@ @@4@^A˺I1IIIO]v>y {I#,\B'LA6?6㍪?6H=ٱ69>6H.?@˄?`?n?.q?#? o?i6?I6];6đCYBŁByBIbDJٿVDJ8yR,%Rk=ٔR-:Q-V?9TYT=VIEyVDZG<=EZ?\Q 5b4^@?Q 9b4^o)^BY`yb?Q Ib8@^ߡDI^;i^;^N4yjaBɮj AjIEhxhxh|h|checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015171h|g g jg rg ereZe:e*e *@EBɢE.=)A E@BCBYIBBBN =BBWDB;B[\EԉE= E=E=*E9"E=T;*E=k:VE=(N4ZE9BE=Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268279 ]I#,['LA?~?ԱJ=ٱ6>HK?@?` +??r? T๲?`s?i?I)^;YByI p=bDVD8yߗ%6=ٔ:Q->9Y=IEy&Dn =E>YQ 5e4]=?Q 9e4]j)]BYaye?Q Ie8@]DI]):i]W:]V4yqɮul AqB*** querying acoustic contact ***iihhhhhggjgrgereZe:e*e`X@Bɢ%=) Ri)&=iwxiFq?II DDAT read: Rx Time:01:25:48.4418 TRx dataTimestamp_ set to:1764897949.569133PDAT read: Bearing 338.3, -67.0 (Local) ~Local bearing/azimuth received: Bearing 338.3, -67.0 (Local) -DAT read: Range 11 to 50 : 40.7 m (trip time 27.1 ms) speed -0.3 UDAT read: 01:25:48.4418 LVL= 28144, 16961, 15858, 27619, AGC= 56, IDX= 438, 0.48, 2.215,-2.543,-1.524,-2.384, PHS=-1.581,-0.114, 0.817, RAW= 247.4, 8.4, CAL= 246.5, 9.0, ROT= 263.5, -9.0 ]Ygot valid direction response: 01:25:48.4418 LVL= 28144, 16961, 15858, 27619, AGC= 56, IDX= 438, 0.48, 2.215,-2.543,-1.524,-2.384, PHS=-1.581,-0.114, 0.817, RAW= 247.4, 8.4, CAL= 246.5, 9.0, ROT= 263.5, -9.0 ]R#Rx 1: Read range and direction messages.e`direction in FSK: [-0.111809,-0.981339,0.156434]mFpublishing direction and range infoy   Y!g│p ?Y "B  m AB = k) 8I 5^ʿi x齉 &Q? ,@ Q > 쫉@ | >) *@I |   /4㿝‰})?DTa6? JA@) ԴI C׿i |  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.534861(:@! @!@-/@)^A8 A} ڗAI I O >D9 zD= @AEE  EA EE 'EA "EE :*EA VEE '4ZEA aM @aM @aM @aU @1  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771824I#, u'LAB)t?B\Y?BM=ٱBKl6>BHb|?@My? D?6??`_? *t?iB)t?IB];BőCYnBynIieMb@Mb@Mb@aaaa a9e rh?Gz?L7A`?YeC>yep=>e+=e@e A eI@)e@aYe @bDVD8yb=%Q=ٔo;Q->9?Y?=IEy.D=E>Q 54:?Q 94e)BY>Q E:y~?Q I8@DI* ;ir;g]4yɮ AiAiEld'LAjE"B"jE"B:jE-ž@RjE)V6/Ct *r@BjE Y!g│p ?*jEC׿2jE| ZjE@(IC@r$Ĵ)hJjE/%*[?hps:ԿFGjEM jENBiEcC?iE5jEBjAjAjArjE]"BzjE1t@ addTargetRange:: Added new target pos. range: 40.700001 m, deltaT: 2.773328 s, deltaX: 0.900002 m, approachRate: 0.324520 m/s, rangeRepo size: 3 "i\*i\ Added new target pos. range: 40.665539 m, bearing: 341.572772 deg, lat: 36.779531 deg, lon: -121.859793 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iDNOT Ignoring new targets: 40.67 m.2iPowering the camera and arming the capture device at range: 40.70 m.i"i*i ProNav pure pursuit: ac range: 40.665539 m, nav range: 40.591499 m, bearing: 332.053888 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 51.279124 deg, new cmd heading: 332.053888 deg. HeadingCmd: 5.795434 target range: 40.665539 and range: 40.70 m.h1t@hhhhig!g)jg9rgEBeireqZey:eYD@*e|$?AeBɢe,=)a e-9 -Y)-5I-I̿i--S?-@)-@ ))-8@I)))-6%O4?!W? -@)-~iI-\׿i)))checking for new query: numPingsReceived=2, elapsed TxPingTime=3.078926) @)  @) @) @) B B B SIB BB L =B B B ;B h\E^A h%ԙ A5 AI9 II O] >I#,T'LAB+?BN?BR=ٱB| 4>BH ?f;?`Y?`*??U@^?v?iB+?IBm];B‘CYNByNIbDVVDV8y^I%^Y=ٔ^N;Q-b>9bc?Ybc?=bIEyb5Dfo=Ef>hQ 5n4j7?Q 9n4ja)j BYlyn=?Q Ir8@jDIju:ij`:jc4ytɮv_ AtE~ E~E~)E|"E~V:*E~Ar:VE~FA4ZE|BE~9:I?II%:ԙ%?8@! @)@)@1^A5c<AE>AE>Ay I I O >% DDAT read: Rx Time:01:25:49.4419 - TRx dataTimestamp_ set to:1764897950.5773175 PDAT read: Bearing 342.5, -66.9 (Local) = ~Local bearing/azimuth received: Bearing 342.5, -66.9 (Local) M DAT read: Range 11 to 50 : 40.8 m (trip time 27.2 ms) speed -0.3  DAT read: 01:25:49.4419 LVL= 24640, 19249, 13410, 28915, AGC= 54, IDX= 504,-0.15,-0.577, 0.946, 1.921, 1.090, PHS=-1.565,-0.099, 0.787, RAW= 248.1, 8.6, CAL= 247.2, 9.1, ROT= 262.8, -9.1  Ygot valid direction response: 01:25:49.4419 LVL= 24640, 19249, 13410, 28915, AGC= 54, IDX= 504,-0.15,-0.577, 0.946, 1.921, 1.090, PHS=-1.565,-0.099, 0.787, RAW= 248.1, 8.6, CAL= 247.2, 9.1, ROT= 262.8, -9.1  R#Rx 3: Read range and direction messages. `direction in FSK: [-0.123756,-0.979628,0.158158] Fpublishing direction and range infoy) - nbuJY@\~>?Y) ) - @`- 1K- b4 - p)- 6I- Qȿi- ʽ- xI?- @- `>- @ - ">)- tƒ@I- ") ) - 4 㿦@`T?r%,? - @)- t+I- %ٿi- ") ) M checking for new query: numPingsReceived=3, elapsed TxPingTime=3.565185 I#,'LA~??Y=ٱh0>H@W?#/?j?C-?T?*2?{?i~?I];ÑCYByI iMb@Mb@Mb@ 9y@><~A )+@YbDۿVD8ym<%m&=ٔm/`;Q-u>9qYq=uIEyu?D}<E}>Q 543?Q 94[)BY>Q E:y?Q I8@DIY;i ;l4yɮN Aj?qNNE  E E E "E :*E k:VE ZE a@a@a@a@iYi]'LAjY"jY:j]2@Rj]'.αC|\%@Bj]nbuJY@\~>?*j]%ٿ2j]"Zj]xrlC@?](@ <ͿJj]n}?Sh+jӿ`Q6Mwj]E j]`Bi]?i] @j]ABj]cC?j]5j]ABrj]u#Bzj]^@ addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 0.502742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 40.765602 m, bearing: 342.340470 deg, lat: 36.779556 deg, lon: -121.859724 deg, deltaT: 0.502742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 3 :iTStopped intercept timer at range: 40.80 m.DNOT Ignoring new targets: 40.77 m.2iPowering the camera and arming the capture device at range: 40.80 m.i"i*i9checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779943 ProNav: ac range: 40.765602 m, nav range: 40.864635 m, bearing: 341.105498 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 332.053881 deg, new cmd heading: 332.053881 deg. iHeadingCmd: 5.795434 target range: 40.765602 and range: 40.80 m.hhhhhiggjgQrgUBeQreQZeY:eY*e]`e?颥BɢY+=) i>! E f5@I  @I @Q @Q ^Au "=I A I I O >0I#,%'LABDDAT read: Rx Time:01:25:49.9421 BTRx dataTimestamp_ set to:1764897951.081252JPDAT read: Bearing 345.9, -66.5 (Local) J~Local bearing/azimuth received: Bearing 345.9, -66.5 (Local) RDAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.3 fDAT read: 01:25:49.9421 LVL= 26032, 21441, 17282, 28067, AGC= 51, IDX= 506, 0.04, 1.639,-3.082,-2.142,-2.955, PHS=-1.587,-0.082, 0.769, RAW= 249.1, 8.7, CAL= 248.2, 9.3, ROT= 261.8, -9.3 jYgot valid direction response: 01:25:49.9421 LVL= 26032, 21441, 17282, 28067, AGC= 51, IDX= 506, 0.04, 1.639,-3.082,-2.142,-2.955, PHS=-1.587,-0.082, 0.769, RAW= 249.1, 8.7, CAL= 248.2, 9.3, ROT= 261.8, -9.3 jR#Rx 4: Read range and direction messages.n`direction in FSK: [-0.140755,-0.976766,0.161604]nFpublishing direction and range infoy@B ?¿W΁WAo?YBf$B@BeBSBC Bm)B3IB"˿iB什B/D?B@B|>B@ B6&>)By7@IB6&@@Bt{ڊ?<{? B;6@)B8tIBaۿiB6&@@checking for new query: numPingsReceived=4, elapsed TxPingTime=4.051674U?UӲ?U2a=ٱUN,>UH? $\?x?`??t?`?iU?IU];UőCYeByeIbDVD8yn;% ]=ٔ-;Q-->91Y1=5IEy5FD=k<E=>9Q 5E4=<0?Q 9m4=W)=BYiym4?Q Im8@=DI=;i=S;=$s4yyɮ}C AyjNNi@iB<3'LAjBB$B"jBB$B:jB@RjB_EEO=DA]@BjB ?¿W΁WAo?*jBaۿ2jB6&ZjB: O&C@QuUq)`i?JjBl?Xӿ@Ӂ!i?jBK jB-BiBvw ?iB'jBBjB?jB'j@rjB#BzjB@- addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 0.503935 s, deltaX: 0.299999 m, approachRate: 0.595313 m/s, rangeRepo size: 4 = Added new target pos. range: 41.065346 m, bearing: 341.953020 deg, lat: 36.779557 deg, lon: -121.859716 deg, deltaT: 0.503935 s, deltaX: 0.299744 m, approachRate: 0.594806 m/s, posRepo size: 4 :iAA-@AA)BM>BMCBMGIBMBBMN =BIBIBM;BIeDNOT Ignoring new targets: 41.07 m.2iamPowering the camera and arming the capture device at range: 41.10 m.ii"ii*ii} ProNav: ac range: 41.065346 m, nav range: 40.911381 m, bearing: 341.882922 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 332.053881 deg, new cmd heading: 332.053881 deg. iyHeadingCmd: 5.795434 target range: 41.065346 and range: 41.10 m.hhhhhiggjgrgereZe:ěD@*e`1?%Bɢ%5.=)) -0i5+^?11I1I9>#:bE=FA4jE=mF4rE=A/E EEE"E:*E]t:VEZEBE$5]checking for new query: numPingsReceived=4, elapsed TxPingTime=4.288587) I I O >|(I#,'LA YmBymIbD} VD}8yv%>=ٔQ->9Y=IEyNDE>Q 5 4s,?Q 94R)$BYyQ I8@DI:i:z4y^Bɮ7 AAeHEjqNu}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRM}}Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRDDAT read: Rx Time:01:25:50.4421 TRx dataTimestamp_ set to:1764897951.589205PDAT read: Bearing 346.9, -65.9 (Local) ~Local bearing/azimuth received: Bearing 346.9, -65.9 (Local) DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.4 DAT read: 01:25:50.4421 LVL= 26976, 17649, 15042, 27635, AGC= 52, IDX= 506, 0.24, 1.300, 2.852,-2.497, 2.999, PHS=-1.597,-0.102, 0.743, RAW= 249.1, 9.3, CAL= 248.5, 10.0, ROT= 261.5, -10.0 Ygot valid direction response: 01:25:50.4421 LVL= 26976, 17649, 15042, 27635, AGC= 52, IDX= 506, 0.24, 1.300, 2.852,-2.497, 2.999, PHS=-1.597,-0.102, 0.743, RAW= 249.1, 9.3, CAL= 248.5, 10.0, ROT= 261.5, -10.0 R#Rx 5: Read range and direction messages.`direction in FSK: [-0.145564,-0.973990,0.173648]Fpublishing direction and range infoy:֡¿k;*ٖNs:?Y`iD: k)4Ij̿i`н?5>?6&>Ɋ@ ¸2>) @I¸2-% ?eUc? 7@B*** querying acoustic contact ***ii5 addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 0.507953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :i55VStarting intercept timer at range: 41.10 m.=DNOT Ignoring new targets: 41.07 m.2i9)"'I ܿi¸2Echecking for new query: numPingsReceived=5, elapsed TxPingTime=4.559011]Powering the camera and arming the capture device at range: 41.10 m.iY"ie*ieu ProNav: ac range: 41.065346 m, nav range: 41.012653 m, bearing: 341.653784 deg, approach rate: 0.228958 m/s, LOS rate: -0.516759 deg/s, cmd heading: 332.053881 deg, new cmd heading: 331.596746 deg. iunlHeadingCmd: 5.787455 target range: 41.065346 and range: 41.10 m.h2@hhhhiggjgrgereZe:e*eĠ?%Bɢ-G-=)) -AyAzAyAԙ E  E E 'E "E *E z:VE '4ZE a @a @a @a @I I O >] checking for new query: numPingsReceived=5, elapsed TxPingTime=4.791713LI#,'LAɰ2?2h?2u=ٱ2f7(>2H`? ? ??u?` ? (?i2?I2x];2đCy]F>]<]3@]lA ]3@)]I@YY]\@bDVDy%:=ٔ=9Y=IEyWD<E>Q 5 4=(?Q 9 4HM),BY >Q E :y ?Q I 8@ DIP:iX:?4yuVBɮu0 Au?Eii'LAj"j:jHA@Rj\rM=C:8@Bj:֡¿k;*ٖNs:?*j ܿ2j¸2ZjQC@'b.[(`Bx@?Jjxrx?,Mӿ@iiIm@Iq }yA}xADDAT read: Rx Time:01:25:50.9424 TRx dataTimestamp_ set to:1764897952.093230PDAT read: Bearing 346.4, -66.4 (Local) ~Local bearing/azimuth received: Bearing 346.4, -66.4 (Local) DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.4 -DAT read: 01:25:50.9424 LVL= 22752, 16929, 16082, 23635, AGC= 50, IDX= 509,-0.32, 0.131, 1.670, 2.637, 1.833, PHS=-1.601,-0.119, 0.760, RAW= 248.4, 9.3, CAL= 247.9, 10.0, ROT= 262.1, -10.0 5:9eYgot valid direction response: 01:25:50.9424 LVL= 22752, 16929, 16082, 23635, AGC= 50, IDX= 509,-0.32, 0.131, 1.670, 2.637, 1.833, PHS=-1.601,-0.119, 0.760, RAW= 248.4, 9.3, CAL= 247.9, 10.0, ROT= 262.1, -10.0 eR#Rx 6: Read range and direction messages.m`direction in FSK: [-0.135356,-0.975461,0.173648]uFpublishing direction and range infoyZnZSP6ٖNs:?Yf&BX!B> S\)2I̿iF\B?@t@ )_b@IReZߛäT3?I? 2i@)&Iڿichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.069460.@ @@0@@zA@B5 >B1 B5 4IB5 pBB5 M =B1 B5 VDB5 ;B5 q\E^A g> I I O >4J#,n(LA2mט?2?2=ٱ2!>2H@"3?' +?@?D=?Ѥ?  ?`?i2mט?I2];2‘CEB EBEB,E@"EBV:*EB:VEBg4ZE@BEB9I|@I1: p+@  @ @ 0@ i AI A DDAT read: Rx Time:01:25:51.4424  TRx dataTimestamp_ set to:1764897952.598576 PDAT read: Bearing 348.4, -67.1 (Local)  ~Local bearing/azimuth received: Bearing 348.4, -67.1 (Local)  DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.4 ԁ ^A ;> DAT read: 01:25:51.4424 LVL= 26304, 20193, 17906, 28787, AGC= 51, IDX= 509,-0.02,-1.213, 0.344, 1.304, 0.487, PHS=-1.599,-0.098, 0.773, RAW= 248.7, 8.9, CAL= 248.0, 9.5, ROT= 262.0, -9.5  Ygot valid direction response: 01:25:51.4424 LVL= 26304, 20193, 17906, 28787, AGC= 51, IDX= 509,-0.02,-1.213, 0.344, 1.304, 0.487, PHS=-1.599,-0.098, 0.773, RAW= 248.7, 8.9, CAL= 248.0, 9.5, ROT= 262.0, -9.5  R#Rx 7: Read range and direction messages. `direction in FSK: [-0.137265,-0.976687,0.165048] Fpublishing direction and range infoy  OZWA←G ?Y f N E sp) 3I ̿i 9Ƚ TE? y@ > c@ )>) T@I ) \} :#?Ko? @) I #ڿi )  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.581864I I! O- >Xe J#,|+(LAIeژ?eF?eL=ٱeu%>eHO/?,3o ?"?B@?@E?@c ?`Γ?ieژ?Ie];eđCYBysIi Mb@Mb@Mb@     9 Q?RQ?S㥛?Y >y B> /< I@ A ) @ Y @bDeVDe8yuK1%u*=ٔu;Q-}>E EE)E"E:*Eg:VEFA4ZEa@a@a@a@9yY=IEygD39E>Q 54 ?Q 94UC)8BY>Q E:y?Q I8@DI;i0;=4yWBɮ A ԁiiO&(LAj"j:j@checking for new query: numPingsReceived=7, elapsed TxPingTime=5.799204RjZ\7{3/LD 5=p@BjOZWA←G ?*j#ڿ2j)Zj~7C@@٢&(q?JjV?=ҿxA f?j6A jBiY6?ijBjƿ ?jjdBrj%Bzj @ addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 0.505346 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 41.564190 m, bearing: 343.103322 deg, lat: 36.779559 deg, lon: -121.859708 deg, deltaT: 0.505346 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 41.56 m.2iPowering the camera and arming the capture device at range: 41.60 m.i"i*i ProNav: ac range: 41.564190 m, nav range: 41.256916 m, bearing: 341.977532 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 330.692078 deg, new cmd heading: 330.138992 deg. i HeadingCmd: 5.762012 target range: 41.564190 and range: 41.60 m.h hb@h h hIhIiQgQgQjgQrgUBeYreYZeY:eY*ee@j? Bɢ ã'=) ;i)&=i8i8+>!I%hb@I!ԡ-: (@  @ @ 1@  DDAT read: Rx Time:01:25:51.9426  TRx dataTimestamp_ set to:1764897953.101222 PDAT read: Bearing 352.8, -67.4 (Local)  ~Local bearing/azimuth received: Bearing 352.8, -67.4 (Local)  DAT read: Range 11 to 50 : 41.9 m (trip time 27.9 ms) speed -0.4  DAT read: 01:25:51.9426 LVL= 26208, 20241, 18930, 28291, AGC= 51, IDX= 511, 0.28, 0.621, 2.208, 3.112, 2.311, PHS=-1.588,-0.058, 0.756, RAW= 250.0, 8.7, CAL= 249.0, 9.1, ROT= 261.0, -9.1 % Ygot valid direction response: 01:25:51.9426 LVL= 26208, 20241, 18930, 28291, AGC= 51, IDX= 511, 0.28, 0.621, 2.208, 3.112, 2.311, PHS=-1.588,-0.058, 0.756, RAW= 250.0, 8.7, CAL= 249.0, 9.1, ROT= 261.0, -9.1 % R#Rx 8: Read range and direction messages.- `direction in FSK: [-0.154466,-0.975257,0.158158]- Fpublishing direction and range infoy  =`ÿ~f^N5@\~>?Y 'B `f O I n) I C˿i hm 7A? X@ |> ^@ ">) ő@I " $ץU俾cj;?*oP? 6@) I +ݿi " M checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067569^A]>Ae>Ae>IIO>J#,uJ(LABAB">B"CB"!IB"`BB"P =B B"UDB"?;B"\EB%CB%CB!B%N =B%N =C%35YBypIbD-ԿVD-8yw#%==ٔQ->9 Y = IEyoDE>Q 5%4?Q 9%4=)=BY!y!Q I-8@DII\:ie<ӗ4yɮ Aiyi}lzF(LAj}s'B"j}s'B:j}f@Rj}8AxiDh{@Bj}=`ÿ~f^N5@\~>?*j} +ݿ2j}"Zj}:l[C@m؛)X`?Jj}Ip?7zӿۅ(Ӗ?j}M j}JBi}8?i}vj}~Bj}Y6?j}vj}~Brj}T'Bzj}$ @] addTargetRange:: Added new target pos. range: 41.900002 m, deltaT: 0.502646 s, deltaX: 0.300003 m, approachRate: 0.596848 m/s, rangeRepo size: 4  Added new target pos. range: 41.862785 m, bearing: 342.084898 deg, lat: 36.779564 deg, lon: -121.859707 deg, deltaT: 0.502646 s, deltaX: 0.298595 m, approachRate: 0.594047 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 41.86 m.2iPowering the camera and arming the capture device at range: 41.90 m.i"i*i ProNav: ac range: 41.862785 m, nav range: 41.832325 m, bearing: 342.076101 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 330.138997 deg, new cmd heading: 329.645761 deg. iHeadingCmd: 5.753404 target range: 41.862785 and range: 41.90 m.h@hhhhiggE  E E E "E ;*E :VE ZE BE DYYI]@Iaԁchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.3031405d:I9)9/&@ @@/5@@>@>Ա ^A e DDAT read: Rx Time:01:25:52.4427 m TRx dataTimestamp_ set to:1764897953.607153u PDAT read: Bearing 320.2, -60.7 (Local) } ~Local bearing/azimuth received: Bearing 320.2, -60.7 (Local)  DAT read: Range 11 to 50 : 42.0 m (trip time 28.0 ms) speed -0.3  DAT read: 01:25:52.4427 LVL= 25712, 16545, 15730, 26067, AGC= 51, IDX= 512,-0.23, 0.367, 1.246, 2.523, 1.959, PHS=-1.490,-0.668, 0.519, RAW= 234.0, 18.3, CAL= 237.9, 21.4, ROT= 272.1, -21.4  Ygot valid direction response: 01:25:52.4427 LVL= 25712, 16545, 15730, 26067, AGC= 51, IDX= 512,-0.23, 0.367, 1.246, 2.523, 1.959, PHS=-1.490,-0.668, 0.519, RAW= 234.0, 18.3, CAL= 237.9, 21.4, ROT= 272.1, -21.4  R#Rx 9: Read range and direction messages. ^direction in FSK: [0.034118,-0.930431,0.364877] Fpublishing direction and range infoya e GLw?f1>8^.$Z?Ye (Ba e pde @e r= e e)a Ie Rie +e /?e @e Ƈ>e Qބ@ e t;>)e %@Ie t;a a e qeؿuxށ?P? e |?)e ţIe ^Ŀie t;a a  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.577144AI IO->קJ#,h(LA2J?2|?2Dŗ=ٱ2%=2H7?G8?z??Ъ?6`QM?@?i2J?I2J];2őCY>By>UIbDFVDF8hy=%E*=ٔ}Z~9Y=IEyyD!LE>QQ 54U?Q 94Uu7)UBBYy8?Q I8@U$DIUv8^.$Z?*j^Ŀ2jt;Zj[ 7D@z;իeK$@Jj~S ? ̯lV?jُ j!Bi g?i(fjBj8?jj݃Brja'Bzj5@ addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 0.505931 s, deltaX: 0.099998 m, approachRate: 0.197652 m/s, rangeRepo size: 4  Added new target pos. range: 41.962696 m, bearing: 353.656437 deg, lat: 36.779564 deg, lon: -121.859702 deg, deltaT: 0.505931 s, deltaX: 0.099911 m, approachRate: 0.197479 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 41.96 m.2iPowering the camera and arming the capture device at range: 42.00 m.i"i*i% ProNav: ac range: 41.962696 m, nav range: 41.844921 m, bearing: 342.360199 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 329.645748 deg, new cmd heading: 329.054581 deg. i)-HeadingCmd: 5.743086 target range: 41.962696 and range: 42.00 m.h-\Ƿ@h)h1h1h1i1g1D9zD=AAgYjgYrgaeareiZei:euE@*eM ?Eu EuEu+Eq"Eu:*Euga:VEu [4ZEqa}@a}@a}@a}@颍BɢP=)~ i)ql&=顑i,ig=I\Ƿ@Ichecking for new query: numPingsReceived=9, elapsed TxPingTime=6.807168): #@  @ @ 0@ i ^A) A- xAzA- zAԉ DDAT read: Rx Time:01:25:52.9428 TRx dataTimestamp_ set to:1764897954.110144PDAT read: Bearing 300.9, -47.7 (Local) ~Local bearing/azimuth received: Bearing 300.9, -47.7 (Local) =DAT read: Range 11 to 50 : 42.2 m (trip time 28.1 ms) speed -0.4 A9IAIQOe?"J#,ˆ(LAzDAT read: 01:25:52.9428 LVL= 23792, 14385, 15266, 24947, AGC= 49, IDX= 513, 0.07, 0.884, 1.380, 3.024, 2.587, PHS=-1.601,-1.162, 0.393, RAW= 222.1, 24.8, CAL= 223.7, 34.0, ROT= 286.3, -34.0 ~Ygot valid direction response: 01:25:52.9428 LVL= 23792, 14385, 15266, 24947, AGC= 49, IDX= 513, 0.07, 0.884, 1.380, 3.024, 2.587, PHS=-1.601,-1.162, 0.393, RAW= 222.1, 24.8, CAL= 223.7, 34.0, ROT= 286.3, -34.0 T#Rx 10: Read range and direction messages. ^direction in FSK: [0.232683,-0.795715,0.559193] Fpublishing direction and range infoy|Z?x~v鿒y?5 {?5<`?5ޟ=ٱ5=5H F?I ?r?` ?B?@B?ڱ?i5 {?I5];5đCYEByMRIB]>BYB]IB]GBB]Q =BYBYB]R;B]\EiY(B\18; sa)1I̿ijL7>x@k>y@ ?)l@I"uXȿpph?isW? ?)xݾIiIp<)p< checking for new query: numPingsReceived=10, elapsed TxPingTime=7.137374iMb@Mb@Mb@ 9x&1?Gz?Zd;O?YA>yp=>j<h@A @)Y@bDVD8yM-%M=ٔM;Q-M>9QYQ=UIEyUD]E]>yQ 54W?Q 940)DBY>Q E:y]?Q I8@,DI :i: 4yɮyAii (LAj(B"j(B:j+ >Rj#@8e~Q@SF7@Bj|Z?x~v鿒y?*j2jZjr^5OB@ۣ]K@.2@Jj 2Wd?S+!*Ͼ?DĈ ?j_@ jBic?i{[jBjjjBrj'Bzj&@ addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.502991 s, deltaX: 0.200001 m, approachRate: 0.397623 m/s, rangeRepo size: 4  Added new target pos. range: 42.162552 m, bearing: 7.724598 deg, lat: 36.779564 deg, lon: -121.859700 deg, deltaT: 0.502991 s, deltaX: 0.199856 m, approachRate: 0.397335 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 42.16 m.2i Powering the camera and arming the capture device at range: 42.20 m.i1"i9*i9E ProNav: ac range: 42.162552 m, nav range: 41.929157 m, bearing: 342.254320 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 329.054581 deg, new cmd heading: 328.432781 deg. iIEU EUEU)EQ"EU:*EU]t:VEUFA4ZEQBEU3Ɋ@ '>) @I'THUL #=Pt?mb[F? 5w@)SI ܿi'=checking for new query: numPingsReceived=11, elapsed TxPingTime=7.586238^AE>1A.AIIO ?!+J#,(LAJ ?|?=ٱ[=H?`A\? u\?@??@0`˻?4?iJ ?I];‘CYxBy>IIEE EEEAEA"EEV:*EEi:VEAZEAaM@aM@aM@aM@iMb@Mb@Mb@ 9'1Z?/$?~jt?Y>y&1><@3@ )@Y@bD VD8yZ%=ٔ2x9 ?Y ?=IEyD%checking for new query: numPingsReceived=11, elapsed TxPingTime=7.815139E%>)Q 554-?Q 954-)))Y]>Q E]:y]?Q I]8@-5DI-;i-%;-H4yeKBɮeAm5Eii9G(LAj )B"j )B:jFƾ@Rj߳ҦfUD:R 8@Bj˼zb¿999$vz?*j ܿ2j'ZjT4C@s*Ȣ h@Jj=F,G?9%A+ԿMVZ?jU jBi9?iQjBjjjBrj>(Bzj5@ addTargetRange:: Added new target pos. range: 42.299999 m, deltaT: 0.503578 s, deltaX: 0.099998 m, approachRate: 0.198576 m/s, rangeRepo size: 4 % Added new target pos. range: 42.262463 m, bearing: 341.580440 deg, lat: 36.779564 deg, lon: -121.859700 deg, deltaT: 0.503578 s, deltaX: 0.099911 m, approachRate: 0.198402 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 42.26 m.2i)-Powering the camera and arming the capture device at range: 42.30 m.i)"i1*iQe ProNav: ac range: 42.262463 m, nav range: 42.061131 m, bearing: 341.922676 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 328.432788 deg, new cmd heading: 327.764612 deg. iamHeadingCmd: 5.720572 target range: 42.262463 and range: 42.30 m.hm@hihihihiiiqggjgrgBereZe:e`f&E@*eQ*?Bɢ=)  Qi) &=idid-I@I![:ԡ@ @@/@ DDAT read: Rx Time:01:25:53.9431  TRx dataTimestamp_ set to:1764897955.117084 PDAT read: Bearing 353.9, -69.3 (Local)  ~Local bearing/azimuth received: Bearing 353.9, -69.3 (Local)  DAT read: Range 11 to 50 : 42.6 m (trip time 28.4 ms) speed -0.3  DAT read: 01:25:53.9431 LVL= 24240, 22369, 17906, 26803, AGC= 49, IDX= 500,-0.25, 2.116,-2.691,-1.744,-2.534, PHS=-1.532,-0.112, 0.746, RAW= 248.1, 9.0, CAL= 247.5, 9.7, ROT= 262.5, -9.7 % Ygot valid direction response: 01:25:53.9431 LVL= 24240, 22369, 17906, 26803, AGC= 49, IDX= 500,-0.25, 2.116,-2.691,-1.744,-2.534, PHS=-1.532,-0.112, 0.746, RAW= 248.1, 9.0, CAL= 247.5, 9.7, ROT= 262.5, -9.7 % T#Rx 12: Read range and direction messages.- `direction in FSK: [-0.128660,-0.977271,0.168489]5 Fpublishing direction and range infoy   kwERV?Y f*B ^ aW E h) 1I Ŀi B`彉 >? @ | > :@ -\->) @I -\- 4I݄㿱ě?#? @) !!I /ٿi -\- u checking for new query: numPingsReceived=12, elapsed TxPingTime=8.087386y ^Aa A A B >B CB IB .BB P =B B B L;B \EAAIIO?Z3J#,;(LAYzsByz8IbDVD8y-ż%->=ٔ5Q-5>95c?Y5c?==IEy=D=E=>AQ 5M4E ?Q 9M4E$)AYQyQQ IU8@E} c@ } 6&>)} T@I} 6&y y } qǬu??Л? } @)} !I} #ڿi} 6&y y  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.586742 ^Am >A.AIIQOe ?;J#, (LA<>@E EE+E"E&:*E:VE [4ZEa@a@a@a@è??J=ٱd7=H36?0?5?%X??@Rb?@W?iè?I\];ÑCYiBy,Ichecking for new query: numPingsReceived=13, elapsed TxPingTime=8.823150iMb@Mb@Mb@ 9}?5^I?I +?y94>t<@@ )YQ@bDVD8yK% =ٔy9  ?Y  ?= IEy D5E>Q 5%4?Q 9%4#)@BY%>Q E%:y%a?Q I-8@EDI:i4:4y1ɮ5A1ii(LAj"j:jN@Rj bh D[Ը`@BjdI|EڊREo?*j#ڿ2j6&ZjLD@ 3Rk+(~@Jj.*&x)?F YԿw?jZ[ jx BiKvx} @ } l$>)} E@I} l$y y } ` f$u?LV? } @)} dMI} S(ۿi} l$y y % checking for new query: numPingsReceived=14, elapsed TxPingTime=9.097110 $B >B CB IB BB B B WDB X;B \EԱ % .@!  @! @% 0@! bE%(N4jE%rO4rE%5/E EEE"E:*EZ:VEZEBE6%checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327059AIIO%?אFJ#,)LA~ʒ?~ί?~=ٱ~V=~H`t ?@%`?&?@8?@=?Ӻ`ܵ?̴?i~ʒ?I~a];|Y=JByEIbD VD8y%oƽ%%=ٔ%;Q-->9)Y)=-IEy-D593E5>9Q 5E4=?Q 9E4=})=c@ 6&>)T@I6&$㿻PM?,9˖? 6@)TI#ڿi6&checking for new query: numPingsReceived=15, elapsed TxPingTime=9.595501I9)9 '@  @ @ /@ D! D% <E  E E )E "E D:*E g:VE FA4ZE a @a @a @a @ checking for new query: numPingsReceived=15, elapsed TxPingTime=9.831707^A >A ؟AI9IaO ?NJ#,JB>)LADɰF4< ? M? =ٱ K= H -? @5???? r*X??5?i ?I ]; CYABy%IiMb@Mb@Mb@Ա 9S㥛?ʡE? rh?Y>y-2>C<3@3@ )$AY@bDVD8yE%=ٔ_9"?Y"?=IEyDӼE>Q 54?Q 94)7BY>Q E:y?Q I8@VDIw:i:24yCBɮA +Ei i H()LAj "j :j @Rj zOWzDj!@Bj dI|EڊREo?*j #ڿ2j 6&Zj ԋID@l<-Y5@Jj a<?)3I@ )>)C@I)ÛC?Ļm? ?Y@)I_ ڿi)uchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.101731}:BAB>BCBIBBBM =BBBT;B\E*@ @@/@ԁ^A >E!  E% E! E! "E! *E% :VE! ZE! BE% 2k,VJ#,Y)LA w>B݂GLXrP9pYrAyh?A ??=ٱr#=H?Yw)?f? ?`ɸ?` ?` ?i ?I];đCY7ByIbD%׿VD%8y5*%5+=ٔ=#9= ?Y= ?==IEy=ũDEtEE>IQ 5U4M?Q 9U4M)M1BYYy]?Q I]8@M^DIM:iM:M4yaɮeaAaiIiMgH)LAjMA,B"jMA,B:jM@RjMD -xb EZ׎*n@BjMBeXfH←G ?*jM_ ڿ2jM)ZjM%$D@,$7-TW+@JjM8? M;#տ>gG#ʄ?jMi jM !BiMLP@?iM|$jM͉BjMLP@?jM|$jMBrjMe+BzjM@ addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.504902 s, deltaX: 0.199997 m, approachRate: 0.396110 m/s, rangeRepo size: 4  Added new target pos. range: 43.063843 m, bearing: 340.065851 deg, lat: 36.779565 deg, lon: -121.859704 deg, deltaT: 0.504902 s, deltaX: 0.200466 m, approachRate: 0.397040 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 43.06 m.2i"i*i ProNav: ac range: 43.063843 m, nav range: 42.849342 m, bearing: 340.065943 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 325.229211 deg, new cmd heading: 324.691597 deg. iHeadingCmd: 5.666937 target range: 43.063843 and range: 43.10 m.hW@hhhhggjgrgereZe:ěE@*e?%}Bɢ%<)) - i))-R#=))i-Yi5_11I5W@I9O :@ @@/@DDAT read: Rx Time:01:25:56.4434 %TRx dataTimestamp_ set to:1764897957.6373145PDAT read: Bearing 356.9, -69.6 (Local) 5~Local bearing/azimuth received: Bearing 356.9, -69.6 (Local) UDAT read: Range 11 to 50 : 43.1 m (trip time 28.7 ms) speed -0.3 DAT read: 01:25:56.4434 LVL= 25072, 19441, 14610, 26163, AGC= 54, IDX= 503, 0.45, 1.760,-3.070,-2.126,-2.917, PHS=-1.504,-0.108, 0.747, RAW= 247.9, 8.8, CAL= 247.2, 9.4, ROT= 262.8, -9.4 Ygot valid direction response: 01:25:56.4434 LVL= 25072, 19441, 14610, 26163, AGC= 54, IDX= 503, 0.45, 1.760,-3.070,-2.126,-2.917, PHS=-1.504,-0.108, 0.747, RAW= 247.9, 8.8, CAL= 247.2, 9.4, ROT= 262.8, -9.4 T#Rx 17: Read range and direction messages. `direction in FSK: [-0.123650,-0.978793,0.163326]Fpublishing direction and range infoy?}>'ER$vz?YaK9 3f)6Ii/ݽd;??t@nF>@ '>)tƒ@I'[ulVm,?rq? @)nI%ٿi'checking for new query: numPingsReceived=17, elapsed TxPingTime=10.633640^A v>A- ?9 A- ?E5  E5 E1 E1 "E5 ;*E5 g:VE1 ZE1 a= @a= @a= @a= @A ؟AI I O >5]J#,4v)LAH~checking for new query: numPingsReceived=17, elapsed TxPingTime=10.838897Y~0By~IiMb@Mb@Mb@ 9-?ʡE?{Gz?Y5>yף<`@@ @)AY@bDϿVD8yE%MB=ٔMQ-M>9U"?YU"?=UIEyUͩDUE]>iQ 54m\?Q 94m)m-BY>Q E:y?Q I8@mdDIm];imp;m4yɮAiih)LAj"j:j$@RjLFEz?"@Bj?}>'ER$vz?*j%ٿ2j'ZjQ1D@l<,@Jjڭ;?cQտـڸ?je j!Bi4F?iE }jBjjj\Brj+Bzj̽@M addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.503012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 43.063843 m, bearing: 340.446115 deg, lat: 36.779565 deg, lon: -121.859704 deg, deltaT: 0.503012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 43.06 m.2i"i*i ProNav: ac range: 43.063843 m, nav range: 42.943981 m, bearing: 339.833740 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 324.691593 deg, new cmd heading: 324.140540 deg. iHeadingCmd: 5.657320 target range: 43.063843 and range: 43.10 m.h@hhhhggjgrgBereZe:e*e#?=xBɢE4<)A EiA)Ee#=AAiMFiM IQIU@Iu :}>i}> ,@  @ @ /@ @=@=DDAT read: Rx Time:01:25:56.9437 TRx dataTimestamp_ set to:1764897958.142565PDAT read: Bearing 356.0, -70.2 (Local) ~Local bearing/azimuth received: Bearing 356.0, -70.2 (Local) DAT read: Range 11 to 50 : 43.5 m (trip time 29.0 ms) speed -0.3  DAT read: 01:25:56.9437 LVL= 25152, 15985, 13842, 24851, AGC= 51, IDX= 506,-0.47, 2.480,-2.374,-1.402,-2.210, PHS=-1.491,-0.118, 0.764, RAW= 247.1, 8.6, CAL= 246.4, 9.3, ROT= 263.6, -9.3  Ygot valid direction response: 01:25:56.9437 LVL= 25152, 15985, 13842, 24851, AGC= 51, IDX= 506,-0.47, 2.480,-2.374,-1.402,-2.210, PHS=-1.491,-0.118, 0.764, RAW= 247.1, 8.6, CAL= 246.4, 9.3, ROT= 263.6, -9.3  T#Rx 18: Read range and direction messages.% `direction in FSK: [-0.110004,-0.980706,0.161604]% Fpublishing direction and range infoyM3)4$ao?Y.B@bq>6 a)3IپiC?@`>@ 6&>)8@I6&jj !_pB6?XcA`5? z @)2@I\׿i6& checking for new query: numPingsReceived=18, elapsed TxPingTime=11.122828 Bm >Bm CBm rIBm ҀBBi Bi Bm XDBm 3;Bm \EB9B9B9B=P =B=O =C=ʄ5^A- o>Q AYIqIO>eJ#,\)LAE EE+E"E;*E]t:VE [4ZEBE?CٱB=BH'y?'׺?`? ?@?U`o?4?iB#?IB];@YJ1ByJI LLPRAR@ARAAbD ԿVD 8yϠ;%:=ٔ49!Y!=%IEy%֩D-c E5>1Q 5=45 ?Q 9E45g)5(BYAyE@?Q IE8@5kDI52:i5N;54yiɮmAiii)LAj-B"j-B:j$@Rj{1 PE=<@BjM3)4$ao?*j\׿2j6&ZjP(`D@( },bLŠG@Jjm ?bQDNտfq?jg j#Biwc?i{{jՉBjHYF?jjBrjm,Bchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.343121zjڮ@ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.505251 s, deltaX: 0.400002 m, approachRate: 0.791689 m/s, rangeRepo size: 4 - Added new target pos. range: 43.463856 m, bearing: 340.452185 deg, lat: 36.779565 deg, lon: -121.859704 deg, deltaT: 0.505251 s, deltaX: 0.400013 m, approachRate: 0.791711 m/s, posRepo size: 4 :i)=DNOT Ignoring new targets: 43.46 m.2i9"ia*iau ProNav: ac range: 43.463856 m, nav range: 43.107105 m, bearing: 339.626136 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 324.140533 deg, new cmd heading: 323.672775 deg. iq}HeadingCmd: 5.649156 target range: 43.463856 and range: 43.50 m.h}Ŵ@hyhyhyhygygjgrgereZe:eE@*e@3?tBɢ<)a eii)m"=q9i=iEO"AAIEŴ@IIM :A DDAT read: Rx Time:01:25:57.4437  TRx dataTimestamp_ set to:1764897958.645075 PDAT read: Bearing 357.2, -70.5 (Local)  ~Local bearing/azimuth received: Bearing 357.2, -70.5 (Local)  DAT read: Range 11 to 50 : 43.5 m (trip time 29.0 ms) speed -0.2  DAT read: 01:25:57.4437 LVL= 26432, 17185, 14738, 26531, AGC= 51, IDX= 506,-0.45, 2.012,-2.847,-1.882,-2.698, PHS=-1.471,-0.103, 0.772, RAW= 247.2, 8.2, CAL= 246.3, 8.8, ROT= 263.7, -8.8  Ygot valid direction response: 01:25:57.4437 LVL= 26432, 17185, 14738, 26531, AGC= 51, IDX= 506,-0.45, 2.012,-2.847,-1.882,-2.698, PHS=-1.471,-0.103, 0.772, RAW= 247.2, 8.2, CAL= 246.3, 8.8, ROT= 263.7, -8.8  T#Rx 19: Read range and direction messages.% `direction in FSK: [-0.108442,-0.982260,0.152986]U Fpublishing direction and range infoy  »ud0n8C ?Y @g !C 9 g) I Ii ҽ ˡE? @ C> T@ nF>) #G@I nF gn])㿟)7?=+X? @) /CI "׿i nF  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.633185 aq M !@I  @I @I @I ԙE EE*E"E:*Ek:VE(N4ZEa@a@a@a@^AM>AQzAUxA-checking for new query: numPingsReceived=19, elapsed TxPingTime=11.847094A.AIIO?nJ#,R)LAe?e?e >ٱe=eH(2?`L?`???` Ѳ?r?ie?Ie];eőCYu'ByuIi%Mb@Mb@Mb@!!!! !9%S?kt?{Gz?Y%/>y% 0>!%@%$A %@)%A!Y%f@bD=ݿVD=8yMD%M<ٔUi9U ?YU ?=UJEyUD]ļE]>aQ 5m4e ?Q 9m4e[)eBYuJ>Q Eu:yu?Q Iu8@etDIeI:ie:e'4yyɮ}AiiH)LAj"j:j@@Rj)ynZ>XE%nm@Bj»ud0n8C ?*j"׿2jnFZjiCܭHD@I&.bƋiM@Jj_E,(?$ M@,ֿPI?jp jE"BiP?i]"ljNBj4F?j]"ljrj,Bzj@ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.502510 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.463856 m, bearing: 339.635920 deg, lat: 36.779565 deg, lon: -121.859701 deg, deltaT: 0.502510 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 43.46 m.2i"i*i ProNav: ac range: 43.463856 m, nav range: 43.163483 m, bearing: 339.582391 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 323.672775 deg, new cmd heading: 322.913595 deg. iHeadingCmd: 5.635905 target range: 43.463856 and range: 43.50 m.hVY@hhhhggjg rg Be re Ze :e*eq?颽nBɢ=) \ Hi)7>"=i3i#%IVY@I:DDAT read: Rx Time:01:25:57.9438 TRx dataTimestamp_ set to:1764897959.149307PDAT read: Bearing 356.5, -70.6 (Local) ~Local bearing/azimuth received: Bearing 356.5, -70.6 (Local) DAT read: Range 11 to 50 : 43.7 m (trip time 29.1 ms) speed -0.2 DAT read: 01:25:57.9438 LVL= 25168, 15601, 17362, 27635, AGC= 53, IDX= 508,-0.48,-2.573,-1.161,-0.178,-0.999, PHS=-1.472,-0.116, 0.777, RAW= 246.8, 8.3, CAL= 245.9, 9.0, ROT= 264.1, -9.0 %Ygot valid direction response: 01:25:57.9438 LVL= 25168, 15601, 17362, 27635, AGC= 53, IDX= 508,-0.48,-2.573,-1.161,-0.178,-0.999, PHS=-1.472,-0.116, 0.777, RAW= 246.8, 8.3, CAL= 245.9, 9.0, ROT= 264.1, -9.0 -T#Rx 20: Read range and direction messages.5`direction in FSK: [-0.101527,-0.982456,0.156434]5Fpublishing direction and range infoyܫGZHp│p ?Y.BPb<C k)5IjihyF?։@V>#V@ | >)S@I| H!"⿷-q\?#Bi? ۜ @)I>ֿi| checking for new query: numPingsReceived=20, elapsed TxPingTime=12.123376AaAe@ABiBiBmLIBmBBmL =BiBiBm(;Bm\EQLͽu -@q  @q @u (5@y @ @ zAi E  E E (E "E :*E :VE c44ZE BE N-ٱ2h=2H ͧ?5?j?k? ?¿n?ʗ?i2?I2];2đCY:By:IIB<)B<bDF׿VDF8yN:%R"=ٔRI9V"?YV"?=VJEyVDVyEV>X\Q 5b4^?Q 9b4^;)^BYdyf?Q If9@^|DI^:i^:^4yhɮjbAhiQiU?)LAjU.B"jU.B:jU%@RjU}JVpń rEƨqR@BjUܫGZHp│p ?*jU>ֿ2jU| ZjU )_D@'.9./[@JjU;?oXy&ֿ,7z?jUq jU"BiU>C]?iU1}jUBjU󠑚P?jU1}jUBrjUB-BzjUG@ addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.504232 s, deltaX: 0.200001 m, approachRate: 0.396644 m/s, rangeRepo size: 4  Added new target pos. range: 43.663727 m, bearing: 339.649161 deg, lat: 36.779566 deg, lon: -121.859699 deg, deltaT: 0.504232 s, deltaX: 0.199871 m, approachRate: 0.396387 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 43.66 m.2i"i*i ProNav: ac range: 43.663727 m, nav range: 43.315132 m, bearing: 339.580155 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 322.913585 deg, new cmd heading: 322.306792 deg. iHeadingCmd: 5.625315 target range: 43.663727 and range: 43.70 m.h@hhhhggjgrgereZe:eE@*e ?MiBɢMs<)I U $iQ)Ui!=QQiUi]8j(YYI]@I5DDAT read: Rx Time:01:25:58.4438 =TRx dataTimestamp_ set to:1764897959.654474MPDAT read: Bearing 356.1, -70.8 (Local) M~Local bearing/azimuth received: Bearing 356.1, -70.8 (Local) e:uDAT read: Range 11 to 50 : 43.7 m (trip time 29.1 ms) speed -0.3 -DAT read: 01:25:58.4438 LVL= 24688, 15617, 15954, 25651, AGC= 53, IDX= 508,-0.47,-3.080,-1.677,-0.675,-1.510, PHS=-1.468,-0.122, 0.791, RAW= 246.3, 8.2, CAL= 245.4, 8.8, ROT= 264.6, -8.8 mYgot valid direction response: 01:25:58.4438 LVL= 24688, 15617, 15954, 25651, AGC= 53, IDX= 508,-0.47,-3.080,-1.677,-0.675,-1.510, PHS=-1.468,-0.122, 0.791, RAW= 246.3, 8.2, CAL= 245.4, 8.8, ROT= 264.6, -8.8 mT#Rx 21: Read range and direction messages.`direction in FSK: [-0.093001,-0.983843,0.152986]Fpublishing direction and range infoy15!η#r{8C ?Y115p`5=5R> 53d)1I5m绿i5#5~J?5T@5C>5@ 5nF>)5Ǔ@I5nF115tI~?g$(/? 5\ @)5I5+ տi5nF11checking for new query: numPingsReceived=21, elapsed TxPingTime=12.662563 +9 E @A  @A @E /0@A Em  Em Em ,Ei "Em :*Em ga:VEm g4ZEi au @au @a} @a} @ checking for new query: numPingsReceived=21, elapsed TxPingTime=12.854983i ^AE>IYIqO} ?_ހJ#,*LA YByIiMb@Mb@Mb@ 9y&1?S?/$?Y`>y/><@ )AYQ@bDVDc8y% =ٔQ->9Y=JEyDE>Q 54?Q 94)BY>Q E:y)?Q I9@DI :i:4y ;Bɮ8A"EiAiE)LAjA"jA:jE @RjEJX05>0pdzE`|@@BjE!η#r{8C ?*jE+ տ2jEnFZjEݶWBpD@iT-˷ 2@JjE!`#?XXտ8> ?jEl jE#BiE}f?iEmjE-BjE>C]?jEE }jEBrjEF.BzjE򥇽@] addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.505167 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 43.663727 m, bearing: 340.110030 deg, lat: 36.779568 deg, lon: -121.859699 deg, deltaT: 0.505167 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 43.66 m.2iq"iq*iq ProNav: ac range: 43.663727 m, nav range: 43.568378 m, bearing: 339.351918 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 322.306791 deg, new cmd heading: 321.648366 deg. iHeadingCmd: 5.613823 target range: 43.663727 and range: 43.70 m.hp@hhhhggjgrgBereZe:e*e??cBɢ<) i) =iiU[+Ip@IAT:DDAT read: Rx Time:01:25:58.9441 TRx dataTimestamp_ set to:1764897960.181951PDAT read: Bearing 355.7, -70.9 (Local) ~Local bearing/azimuth received: Bearing 355.7, -70.9 (Local) DAT read: Range 11 to 50 : 44.0 m (trip time 29.3 ms) speed 0.0 DAT read: 01:25:58.9441 LVL= 26800, 16785, 16562, 26339, AGC= 53, IDX= 510,-0.38,-1.681,-0.276, 0.746,-0.102, PHS=-1.478,-0.129, 0.804, RAW= 246.0, 8.1, CAL= 245.1, 8.8, ROT= 264.9, -8.8 %Ygot valid direction response: 01:25:58.9441 LVL= 26800, 16785, 16562, 26339, AGC= 53, IDX= 510,-0.38,-1.681,-0.276, 0.746,-0.102, PHS=-1.478,-0.129, 0.804, RAW= 246.0, 8.1, CAL= 245.1, 8.8, ROT= 264.9, -8.8 %T#Rx 22: Read range and direction messages.5`direction in FSK: [-0.087848,-0.984316,0.152986]AAIIUFpublishing direction and range infoBBB-IBBBM =BBBB\Ey7]J8}kN8C ?Y0BhA@ f)I/iM?od@>@ )@IkЎ*?i?  @)PItԿichecking for new query: numPingsReceived=22, elapsed TxPingTime=13.165194qE-  E- E) E) "E- :*E- ?:VE) ZE) BE- $5IaIqO}?cJ#,"$*LA2?2?2>ٱ2=2H`*?A%?@c?j?~?@'ÿ`z?`-?i2?I2];2ÑCY: By:IbDBӿVDB8HyNV%N/=ٔRܑ9PYP=RJEyRDV EV>XQ 5^4Z3?Q 9^4Z)ZBY\y^+?Q Ib9@ZDIZ;:iZ:Z@4ydɮfAdii *LAj/B"j/B:j^@RjnEK73@Bj7]J8}kN8C ?*jtԿ2jZj ND@2$.ke4h@Jjp*<\?نwAֿ*y>?jt j$BiLo?i?uj_Bjwc?j{{j_Brj.Bzj0t@ addTargetRange:: Added new target pos. range: 44.000000 m, deltaT: 0.527477 s, deltaX: 0.299999 m, approachRate: 0.568744 m/s, rangeRepo size: 4  Added new target pos. range: 43.963440 m, bearing: 339.552802 deg, lat: 36.779568 deg, lon: -121.859698 deg, deltaT: 0.527477 s, deltaX: 0.299713 m, approachRate: 0.568201 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 43.96 m.2i"i*i- ProNav: ac range: 43.963440 m, nav range: 43.705120 m, bearing: 339.215838 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 321.648361 deg, new cmd heading: 321.079243 deg. i)5HeadingCmd: 5.603890 target range: 43.963440 and range: 44.00 m.h5S@h1h1h9h9g9g9jg9rgAeAreAZeA:eEF@*eM>?^Bɢ<) h&i)Y) =))i-i5J-11I=S@I9DDAT read: Rx Time:01:25:59.4441 TRx dataTimestamp_ set to:1764897960.690928PDAT read: Bearing 355.4, -71.7 (Local) ~Local bearing/azimuth received: Bearing 355.4, -71.7 (Local)  DAT read: Range 11 to 50 : 44.0 m (trip time 29.3 ms) speed -0.3 MDAT read: 01:25:59.4441 LVL= 32000, 20465, 14578, 31427, AGC= 52, IDX= 510,-0.24, 2.540,-2.353,-1.305,-2.180, PHS=-1.462,-0.129, 0.831, RAW= 245.4, 7.7, CAL= 244.3, 8.3, ROT= 265.7, -8.3 UYgot valid direction response: 01:25:59.4441 LVL= 32000, 20465, 14578, 31427, AGC= 52, IDX= 510,-0.24, 2.540,-2.353,-1.305,-2.180, PHS=-1.462,-0.129, 0.831, RAW= 245.4, 7.7, CAL= 244.3, 8.3, ROT= 265.7, -8.3 UT#Rx 23: Read range and direction messages.e:]`direction in FSK: [-0.074193,-0.986740,0.144356]Fpublishing direction and range infoy,YRק`'ЌCz?Y}O8 z)4I"ijT?@ >_q@ V>)e@IVjZK~ ?@j?  @)F IҿiVchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.669808"@ @@@0@E  E E )E "E :*E :VE FA4ZE a @a @a @a @^A >! I I O >e =e < checking for new query: numPingsReceived=23, elapsed TxPingTime=13.891315ǎJ#,*=*LA|M?M?MZ >ٱM=MH ΃?`pl?&8?\?`ډ?\ Ŀ@\?`?iM?IMD];MőCY ByI iMb@Mb@Mb@ 9gfffff?gfffff? rh?Y3>y33>C<@;A @)QAY@bDֿVD8yEɻ%E&=ٔMch9IYI=UJEyU DUaEU>YQ 5e4]?Q 9e4])]BYm?Q Em:ym?Q Im9@]DI];i] ;] 4yu8BɮutAu!Ei i *8,*LAj "j :j @Rj f # \Ehfb@Bj ,YRק`'ЌCz?*j ҿ2j VZj DQ݀D@ݵ.A@Jj K?dֿ׾ճA?j v j $Bi G:n?i 0qj Bj }f?j ?uj NBrj /Bzj r@ addTargetRange:: Added new target pos. range: 44.000000 m, deltaT: 0.508977 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.963440 m, bearing: 339.437909 deg, lat: 36.779569 deg, lon: -121.859695 deg, deltaT: 0.508977 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 43.96 m.2i"i*i ProNav: ac range: 43.963440 m, nav range: 43.763813 m, bearing: 339.205765 deg, approach rate: 0.000000 m/s, LOS rate: -0.583315 deg/s, cmd heading: 321.079243 deg, new cmd heading: 320.531287 deg. iHeadingCmd: 5.594326 target range: 43.963440 and range: 44.00 m.h@hhhh g g jg rgBereZe:e*e`mS?!MYBɢM<)I MiI)U=QQiUi]Y0YYI]@Ia:DDAT read: Rx Time:01:25:59.9442 TRx dataTimestamp_ set to:1764897961.189391PDAT read: Bearing 356.3, -71.0 (Local) ~Local bearing/azimuth received: Bearing 356.3, -71.0 (Local) DAT read: Range 11 to 50 : 44.1 m (trip time 29.4 ms) speed -0.4 DAT read: 01:25:59.9442 LVL= 29824, 19665, 14546, 30195, AGC= 55, IDX= 511,-0.09, 2.986,-1.896,-0.871,-1.730, PHS=-1.465,-0.121, 0.815, RAW= 245.9, 7.8, CAL= 244.9, 8.5, ROT= 265.1, -8.5 Ygot valid direction response: 01:25:59.9442 LVL= 29824, 19665, 14546, 30195, AGC= 55, IDX= 511,-0.09, 2.986,-1.896,-0.871,-1.730, PHS=-1.465,-0.121, 0.815, RAW= 245.9, 7.8, CAL= 244.9, 8.5, ROT= 265.1, -8.5 T#Rx 24: Read range and direction messages.`direction in FSK: [-0.084479,-0.985401,0.147809]%Fpublishing direction and range infoyĄf{jMh%)k?Yf0BtL8 u)7IiףP?#V@'g >(Lj@ >)M@Iz⿫H?i? N @)> I7Կi=checking for new query: numPingsReceived=24, elapsed TxPingTime=14.155985E$@A @A@E0@ABU>BUCBUIBUBBQBQBUWDBU8;BU\Eiԁ ^Aq I I O >bEFA4jEKJ4rEͰ/E  E E (E "E s:*E ą:VE c44ZE BE p06i)x=izi,M2I5Ʋ@I9U'@Q @Q@U2@YԱ DAT read: Range 11 to 50 : 44.1 m (trip time 29.4 ms) speed -0.3  DAT read: 01:26:00.4442 LVL= 27376, 17809, 17266, 27683, AGC= 52, IDX= 511, 0.09, 2.722,-2.163,-1.146,-2.013, PHS=-1.447,-0.106, 0.823, RAW= 246.0, 7.4, CAL= 244.8, 8.0, ROT= 265.2, -8.0  Ygot valid direction response: 01:26:00.4442 LVL= 27376, 17809, 17266, 27683, AGC= 52, IDX= 511, 0.09, 2.722,-2.163,-1.146,-2.013, PHS=-1.447,-0.106, 0.823, RAW= 246.0, 7.4, CAL= 244.8, 8.0, ROT= 265.2, -8.0  T#Rx 25: Read range and direction messages. `direction in FSK: [-0.082863,-0.986795,0.139173] Fpublishing direction and range infoy  s6HӓH@l?Y j E rC #l) 4I L7i ٽ !R? od@ A> ܸ@ 5>) @I 5 [쌤Mv-?@~ӑ? + @) I ӿi 5 = checking for new query: numPingsReceived=25, elapsed TxPingTime=14.657309 ^A} >I I O >՛J#,rq*LAɰE EEE"E:*E:VEZEa@a@a@a@YByIiMb@Mb@Mb@ 9-?V-?~jt?Y?>y|?><3@lA I@) AYf@bDVD8MDDAT read: Rx Time:01:26:00.9444 ]TRx dataTimestamp_ set to:1764897961.949157mchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.903040yGP<%=ٔQ->9Y=JEyDE>Q 54엊?Q 94)BY?Q E:yT?Q I9@DI$B] CB] IB] gBB] N =BY B] XDB] :;B] \Eq^A>A?A>AIIO?J#,L*LAHR_2?R?R*>ٱR1=RH ? 1?`5?@/?i?`;ſ)?c|?iR_2?IR];RđCY^By^II`)bp;bDfVDf8ynA%nJ=ٔr9pYp=vJEyv'DvfEv>E= E=E=,E9"E=;*E=xv:VE=g4ZE9BE=aiL7 I Y&@I %checking for new query: numPingsReceived=27, elapsed TxPingTime=15.4579359M @I @I@M/@I ] DAT read: 01:26:01.4445 LVL= 18160, 13377, 8866, 17715, AGC= 55, IDX= 2,-0.18,-0.121, 1.267, 2.345, 1.421, PHS=-1.440,-0.109, 0.880, RAW= 244.9, 6.7, CAL= 243.4, 7.3, ROT= 266.6, -7.3 e Ygot valid direction response: 01:26:01.4445 LVL= 18160, 13377, 8866, 17715, AGC= 55, IDX= 2,-0.18,-0.121, 1.267, 2.345, 1.421, PHS=-1.440,-0.109, 0.880, RAW= 244.9, 6.7, CAL= 243.4, 7.3, ROT= 266.6, -7.3 e Z#Rx 28: Read direction message, but no range.m `direction in FSK: [-0.058825,-0.990149,0.127065]y1 5 OIJ]: L)5 @I5 w1 5  `)V*uT?5`ҽ? 5 y @)5 "I5 Wпi5 w checking for new query: numPingsReceived=28, elapsed TxPingTime=15.664580^A >I AI!IIOu? ԬJ#,Oε*LArf*?r?rs->ٱra=rH,T?@Ke?M?BF?? ſ(?fw?irf*?Ir];D%=D<E EE'E"Ea:*EVE'4ZEa%@a%@a%@a%@QrőCYmBymIiMb@Mb@Mb@ 9X9v?NbX9?:v?Y>yE>T<@A `@)$ AYAAAbD VD 8y%=ٔR;Q-%>9!Y!=%JEy%2D-pE->1Q 5=45ꗊ?Q 9=45)5BY=J?Q E=:yE?Q IE9@5DI54:i5:5@4yIɮMpAIii*LAj@2B"j@2B:j@Rjx%ϸFk,C@BjOIJ]: L_q@ 0 >)e@I0 *eV?8.Qtl5?Z<d?? k= @)YIҿi0 checking for new query: numPingsReceived=29, elapsed TxPingTime=15.987248 DBɢ ~<) CiQ)U=QQiUwi]Y:YaIeı@Iam9ԩ  '@  @ @ /@ @ @ @ @  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.155170Aq Aq B} >By B} IB} NBB} M =By By B} B;B} \EB=CB=CB=˓CB=M =B=M =C= 5A- yAzA) A].AIaIqO?.RJ#,eQ*LA2ٱ2Չ=2Hc?`໲????ſ?s?i29f ?Yf ?=fJEyf;DjEj>lQ 5r4n闊?Q 9r4nH)nBYpyv?Q Iv9@nDIn:in:nH4E~ E~E~+E|"E~:*E~҆:VE~ [4ZE|BE~+  DAT read: 01:26:02.4447 LVL= 29408, 19201, 13842, 30995, AGC= 51, IDX= 501,-0.39,-0.470, 0.912, 1.962, 1.061, PHS=-1.429,-0.104, 0.857, RAW= 245.3, 6.9, CAL= 243.9, 7.4, ROT= 266.1, -7.4 % Ygot valid direction response: 01:26:02.4447 LVL= 29408, 19201, 13842, 30995, AGC= 51, IDX= 501,-0.39,-0.470, 0.912, 1.962, 1.061, PHS=-1.429,-0.104, 0.857, RAW= 245.3, 6.9, CAL= 243.9, 7.4, ROT= 266.1, -7.4 - Z#Rx 31: Read direction message, but no range.5 `direction in FSK: [-0.067449,-0.989375,0.128796]1 y  \eNDi;OZ_|? r K 6 y) 3I y鶿i Խ Zd[? Z@ Ϣ= .8@ A>) H@I A wV"Ht??? @) I Kѿi AM checking for new query: numPingsReceived=31, elapsed TxPingTime=16.669518wJ#,*LAF^?FC?F_3>ٱF=FH!%?`E???@!0?Nƿ@KT?q?iF^?IF]];FCY]ByePI bDVD8y|% 9=ٔ;Q->9%"?Y%"?=%JEy%ED-qxE->1Q 5e45d闊?Q 9m45)5BYy?Q I9@5¢DI5qD@ 'g >)2:@I'g U9yK-C?)O/?  @)qIVӿi'g checking for new query: numPingsReceived=32, elapsed TxPingTime=16.981625ԙ u z @  @ @ /@ 5checking for new query: numPingsReceived=32, elapsed TxPingTime=17.167147B]>B]CB]IB]0BB]L =BYBYB]S;B]\EI IO-?4MJ#, +LAYUByUHIiMb@Mb@Mb@ 9Mb?|?5^?y&1|?Y?yR>`;$A ~@)AYA  =bDVD8y%%%=ٔ%Q-->9)Y)=-JEy-OD5E5>9Q 5E4=]藊?Q 9E4=n)=BYEK ?Q EE:yEi?Q IM9@=ˢDI=;i=;=Z4yU(BɮUAUEii*LAj4B"j4B:j@RjMBB ڬoLF= l@Bji/YHWr%↑ M _?*jVӿ2j'g ZjDzD@K911jQ+m@JjE0SD?M&Qٿx 9?j j7%Bi?i~VjKBj*6}?j&~jrjq3Bzj-'@ addTargetRange:: Added new target pos. range: 45.200001 m, deltaT: 0.506206 s, deltaX: 0.299999 m, approachRate: 0.592643 m/s, rangeRepo size: 4  Added new target pos. range: 45.162971 m, bearing: 336.609963 deg, lat: 36.779571 deg, lon: -121.859699 deg, deltaT: 0.506206 s, deltaX: 0.300053 m, approachRate: 0.592748 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 45.16 m.2i"i*i ProNav: ac range: 45.162971 m, nav range: 44.860382 m, bearing: 336.886703 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 317.090002 deg, new cmd heading: 316.518013 deg. iHeadingCmd: 5.524282 target range: 45.162971 and range: 45.20 m.hư@hhhhggjgrgTBereZe:eF@*e@)?3Bɢ¨<) Ci)=EE EEEE+EA"EE:*EEc:VEE [4ZEABEEF8)+@I0 C$⿖\? 0Q?  @)I׏ӿi0 checking for new query: numPingsReceived=33, elapsed TxPingTime=17.515755I I O >I qJ#,++LANH}?N?NB<>ٱN؀=NH^?--?g?`]e?}? `fǿ ९?f?iNH}?INZ];N‘CYZByZ1IbDbԿVDb8checking for new query: numPingsReceived=33, elapsed TxPingTime=17.671181y%ѽ%%c=ٔ%R9)Y)=-JEy-WD-+lE5>Q 54痊?Q 94)BYy?Q I9@ҢDI:i:`4yɮVA)iiR+LAj"j:jN@RjyR JFa@BjhL(ƴż\yjȗ?*j׏ӿ2j0 ZjErD@"&r$2F@Jj8o?F;ѐڿy ?j j#Bi ]?i jBjj;jrj4Bzj@ addTargetRange:: Added new target pos. range: 45.200001 m, deltaT: 0.506144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 45.162971 m, bearing: 335.371644 deg, lat: 36.779571 deg, lon: -121.859701 deg, deltaT: 0.506144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 45.16 m.2i"i*i ProNav: ac range: 45.162971 m, nav range: 45.022388 m, bearing: 336.422297 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 316.518015 deg, new cmd heading: 316.019787 deg. iHeadingCmd: 5.515586 target range: 45.162971 and range: 45.20 m.h@hhhhggjgrge)re1Ze1:e9*e=h??aEu EuEu(Eq"Eu:*Eu:VEuc44ZEqa}@a}@a}@a}@-Bɢۡ<)w ؏i)=项i1igDI@I9C==ԑDDAT read: Rx Time:01:26:03.9450  TRx dataTimestamp_ set to:1764897964.977889% PDAT read: Bearing 356.3, -70.7 (Local) - ~Local bearing/azimuth received: Bearing 356.3, -70.7 (Local) m DAT read: Range 11 to 50 : 45.3 m (trip time 30.2 ms) speed -0.4  Z#Rx 34: Read range message, but no direction.yY35B checking for new query: numPingsReceived=34, elapsed TxPingTime=17.955463Ա ஜ0@ @@4@IIO%>pJ#,ҎK+LABZ{?B?B ?>ٱBc=BH??@!N??5-?.ǿ?b?iBZ{?IB];@YNByNIIR<)R%=i%Mb@Mb@Mb@!!!! !9%+?n?{Gzt?Y%v>y%V>%ף;%@%A %@)%A!Y%A5@A5@AbD=ϿVD=8yMoʽ%M =uDAT read: 01:26:03.9450 LVL= 27408, 18785, 14082, 30291, AGC= 51, IDX= 505,-0.12,-1.922,-0.555, 0.456,-0.402, PHS=-1.417,-0.107, 0.815, RAW= 245.7, 7.4, CAL= 244.5, 8.0, ROT= 265.5, -8.0 }Ygot valid direction response: 01:26:03.9450 LVL= 27408, 18785, 14082, 30291, AGC= 51, IDX= 505,-0.12,-1.922,-0.555, 0.456,-0.402, PHS=-1.417,-0.107, 0.815, RAW= 245.7, 7.4, CAL= 244.5, 8.0, ROT= 265.5, -8.0 Z#Rx 35: Read direction message, but no range.`direction in FSK: [-0.077696,-0.987215,0.139173]yQUq$㳿ѧDH@l?B>BCBxIBBBM =BBZDBk;B\EQUkUaIU7 USv)U3IUB`iU"۽UףP?U9@U A>U@ U5>)U~H@IU5QUy稈KSM?Baa? Uqq @)UMgIUsӿiU5checking for new query: numPingsReceived=35, elapsed TxPingTime=18.192892ٔM;Q-M>9QYQ=UJEyUbD]3gE]>aQ 5m4eM痊?Q 9m4e)e{BYu ?Q Eu:yu?Q Iu9@eڢDIe;ie;ei4yɮ%AiYi]>+LAj]5B"j]5B:j]1@Rj]x" ZWFN2@Bj]q$㳿ѧDH@l?*j]sӿ2j]5Zj]9itD@wM 28iQ@Jj]x?X<ڿ`/8?j]q j]#Bi]Β^?i]Tj]Bj] }?j]~Vj]KBrj]4Bzj] @ addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 0.504102 s, deltaX: 0.099998 m, approachRate: 0.198370 m/s, rangeRepo size: 4  Added new target pos. range: 45.264267 m, bearing: 335.170222 deg, lat: 36.779571 deg, lon: -121.859702 deg, deltaT: 0.504102 s, deltaX: 0.101295 m, approachRate: 0.200942 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 45.26 m.2i"iA*iAU ProNav: ac range: 45.264267 m, nav range: 45.167397 m, bearing: 336.025486 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 316.019794 deg, new cmd heading: 315.354428 deg. iQ]HeadingCmd: 5.503973 target range: 45.264267 and range: 45.30 m.h] @hYhYhYhagagajgirgm_BeireiZeq:eu`fF@*eu@VE?%'Bɢ%}Ӆ<)! %i))-͚=))i-i=tzG9AIE @IA9E EEE"E:*EAr:VEZEBEa2EaJEL;a:EL;au@y @y@/@5 DDAT read: Rx Time:01:26:04.4450 E TRx dataTimestamp_ set to:1764897965.482901i  PDAT read: Bearing 357.7, -70.5 (Local)  ~Local bearing/azimuth received: Bearing 357.7, -70.5 (Local)  DAT read: Range 11 to 50 : 45.3 m (trip time 30.2 ms) speed -0.4 I I O > DAT read: 01:26:04.4450 LVL= 26096, 16273, 12482, 26531, AGC= 51, IDX= 505, 0.18,-0.936, 0.448, 1.443, 0.580, PHS=-1.415,-0.087, 0.819, RAW= 246.2, 7.1, CAL= 244.8, 7.6, ROT= 265.2, -7.6  Ygot valid direction response: 01:26:04.4450 LVL= 26096, 16273, 12482, 26531, AGC= 51, IDX= 505, 0.18,-0.936, 0.448, 1.443, 0.580, PHS=-1.415,-0.087, 0.819, RAW= 246.2, 7.1, CAL= 244.8, 7.6, ROT= 265.2, -7.6  T#Rx 36: Read range and direction messages. `direction in FSK: [-0.082942,-0.987739,0.132256] Fpublishing direction and range infoy9 = UU;nlNN) ?Y9 9 = e= ?= 0 = g)9 I= i= -= Q?= @= == ܸ@ = >)= @I= 9 9 = vO/}_J?\毅? = c @)= I= ӿi= 9 9  checking for new query: numPingsReceived=36, elapsed TxPingTime=18.483337J#,SYe+LA@ YngByrIbDzǿVDzx8y% %-M=ٔ-Q-->9)Y1=5JEy5iD5E5>9Q 5E4=旊?Q 9E4=y)=mBYIyIQ IM9@=DI=.:i=:=Dp4yQɮUAiqiu^+LAjq"jq:ju@RjuV> ZFH *@BjuUU;nlNN) ?*juӿ2juZjuaSgD@ 433 =@Jju.R~?VnnJ&ۿ?҆?ju ju>#BiuWU?iuljuBjuΒ^?juTjqrjqzju@% addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 0.505012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 45.264267 m, bearing: 334.800817 deg, lat: 36.779568 deg, lon: -121.859709 deg, deltaT: 0.505012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i}VStarting intercept timer at range: 45.30 m.DNOT Ignoring new targets: 45.26 m.2i"i*i ProNav: ac range: 45.264267 m, nav range: 45.167618 m, bearing: 334.948631 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 315.354424 deg, new cmd heading: 314.913226 deg. iHeadingCmd: 5.496273 target range: 45.264267 and range: 45.30 m.hw@hhhhggjg rg e reZe:e*e ?i颵"Bɢ <) i)O=i߽isIIw@Iuchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.680014\9D zD @A E  E E *E "E *E :VE (N4ZE a @a @a @a @i @i  @q @q @q I I9 Om >M DDAT read: Rx Time:01:26:04.9453 MJ#,;+LATRx dataTimestamp_ set to:1764897965.986770&PDAT read: Bearing 356.3, -69.6 (Local) &~Local bearing/azimuth received: Bearing 356.3, -69.6 (Local) 2DAT read: Range 11 to 50 : 45.8 m (trip time 30.5 ms) speed -0.4 \rDAT read: 01:26:04.9453 LVL= 29408, 18273, 16018, 31027, AGC= 52, IDX= 508,-0.38,-1.435,-0.054, 0.929, 0.096, PHS=-1.429,-0.105, 0.788, RAW= 246.4, 7.8, CAL= 245.3, 8.4, ROT= 264.7, -8.4 vYgot valid direction response: 01:26:04.9453 LVL= 29408, 18273, 16018, 31027, AGC= 52, IDX= 508,-0.38,-1.435,-0.054, 0.929, 0.096, PHS=-1.429,-0.105, 0.788, RAW= 246.4, 7.8, CAL= 245.3, 8.4, ROT= 264.7, -8.4 vT#Rx 37: Read range and direction messages.5`direction in FSK: [-0.091379,-0.985043,0.146083]=Fpublishing direction and range infoyy} wd˾x/8ٲ?Y}37By}r}aG}> }3y)}4I}y鶿i}= ׽}^I?}@}'g >}Z@ }Q >)}֓@I}Q yy}7I⿽ns?Ey43P? }1 @)} I}Կi}Q yyUchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.981712w?ӗ?B>ٱ>|=H(?.wY^?S ?6?p?@5ȿ#?`\?iw?I{];CYSByIiMb@Mb@Mb@ 9Mb?B`"?MbpY?yN>A A @);AYpAbD-VD-8y=Y%E-=ٔE;Q-E>9AYi=mJEymsDmUEu>qQ 5}4u旊?Q 94uĖ)uXBY ?Q E:yn?Q I9@uDIu;iuG;ux4yɮAiyi}='+LAj}7B"j}7B:j}a@Rj}W|<—V )F<Ž@Bj} wd˾x/8ٲ?*j}Կ2j}Q Zj}hXiD@n{Y{N)4_y@Jj}KŽ?1ܿnXֹ?j}J j}J#Bi}YwV?i}Xj}Bj} ]?j}lj}Brj}25Bzj}ں@} addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.503869 s, deltaX: 0.500000 m, approachRate: 0.992321 m/s, rangeRepo size: 4  Added new target pos. range: 45.763870 m, bearing: 333.716512 deg, lat: 36.779568 deg, lon: -121.859710 deg, deltaT: 0.503869 s, deltaX: 0.499603 m, approachRate: 0.991534 m/s, posRepo size: 4 :iTStopped intercept timer at range: 45.80 m.DNOT Ignoring new targets: 45.76 m.2i"i*i- ProNav: ac range: 45.763870 m, nav range: 45.299557 m, bearing: 334.561289 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 314.913221 deg, new cmd heading: 314.313141 deg. i)5HeadingCmd: 5.485799 target range: 45.763870 and range: 45.80 m.h5@h1h1h1h1g1g9jg9rg=hBeareaZea:ee`fF@*ee?颵BɢL4<) Ⱦi)=项iu;޽i~!LI@I  9}checking for new query: numPingsReceived=37, elapsed TxPingTime=19.183096BBCB:IBBBJ =BBBr;B\EA @  @ @ /@ A >A ?bE=̙T4jE=(N4rE=/0E  E E -E "E :*E L_:VE t4ZE BE .9J#,K+LA>DDAT read: Rx Time:01:26:05.4453 FTRx dataTimestamp_ set to:1764897966.489515VPDAT read: Bearing 356.1, -69.1 (Local) Z~Local bearing/azimuth received: Bearing 356.1, -69.1 (Local) vDAT read: Range 11 to 50 : 45.8 m (trip time 30.5 ms) speed -0.4 UDAT read: 01:26:05.4453 LVL= 31168, 18881, 17330, 32755, AGC= 52, IDX= 508,-0.07,-2.608,-1.236,-0.279,-1.087, PHS=-1.419,-0.104, 0.765, RAW= 246.7, 8.0, CAL= 245.7, 8.6, ROT= 264.3, -8.6 ]Ygot valid direction response: 01:26:05.4453 LVL= 31168, 18881, 17330, 32755, AGC= 52, IDX= 508,-0.07,-2.608,-1.236,-0.279,-1.087, PHS=-1.419,-0.104, 0.765, RAW= 246.7, 8.0, CAL= 245.7, 8.6, ROT= 264.3, -8.6 ]T#Rx 38: Read range and direction messages.e`direction in FSK: [-0.098203,-0.983868,0.149535]mFpublishing direction and range info~v?p?D>ٱLz=H?`+aH?p ?f?`$z? Yȿ d?`V[?i~v?Ip];Y2ByIbD VD 8y@%6=ٔs';Q->9!Y!=%JEy%|Dy@BU#)A{S&r#?Y@@ByBIBC B)@IBˡiBԽB C?Bȉ@B5>B9@ B`>)B뜓@IB`@@B3'K9 f?%-[? Bg @)B6'IBտiB`@@Echecking for new query: numPingsReceived=38, elapsed TxPingTime=19.497379wE>Q 54旊?Q 94D)DBYy?Q I9@DI:i:4y%BɮAi@iB7T+LAj@"j@:jB'@RjB aINFd_@BjBU#)A{S&r#?*jBտ2jB`ZjBdW'DD@.i\47n@JjB#ŇeX?`ܿ4,?jBg jB&"BiB>?iBjBBjBYwV?jB jBBrjBX5BzjB@u addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.502745 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 45.764111 m, bearing: 332.976833 deg, lat: 36.779567 deg, lon: -121.859710 deg, deltaT: 0.502745 s, deltaX: 0.000240 m, approachRate: 0.000478 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 45.76 m.2i"i*iM ProNav: ac range: 45.764111 m, nav range: 45.336651 m, bearing: 334.213375 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 314.313148 deg, new cmd heading: 313.749816 deg. iIUHeadingCmd: 5.475967 target range: 45.764111 and range: 45.80 m.hU ;@hQhQhQhQgygyjgyrgyereZe:e*e`+?Bɢ;) i)Z=!i%ܽi-ӥN))I- ;@I19!@ @@/@checking for new query: numPingsReceived=38, elapsed TxPingTime=19.687645AA I) IA OM >i RbJ#,#+LAE  E E (E "E :*E :VE c44ZE a%@a%@a-@a-@(t?? E>ٱz|=Hgi?`MH?? ?r?`zȿ -?Y?i(t?I];đCQYByIu%=u%=DDAT read: Rx Time:01:26:05.9455 TRx dataTimestamp_ set to:1764897966.995049PDAT read: Bearing 356.2, -69.5 (Local) ~Local bearing/azimuth received: Bearing 356.2, -69.5 (Local) ]DAT read: Range 11 to 50 : 46.1 m (trip time 30.7 ms) speed -0.3 DAT read: 01:26:05.9455 LVL= 27888, 16593, 16562, 28787, AGC= 53, IDX= 510, 0.13,-0.591, 0.800, 1.778, 0.941, PHS=-1.430,-0.095, 0.793, RAW= 246.6, 7.6, CAL= 245.4, 8.2, ROT= 264.6, -8.2 Ygot valid direction response: 01:26:05.9455 LVL= 27888, 16593, 16562, 28787, AGC= 53, IDX= 510, 0.13,-0.591, 0.800, 1.778, 0.941, PHS=-1.430,-0.095, 0.793, RAW= 246.6, 7.6, CAL= 245.4, 8.2, ROT= 264.6, -8.2 T#Rx 39: Read range and direction messages.`direction in FSK: [-0.093146,-0.985384,0.142629]Fpublishing direction and range infoy)(mط&=Cx0A?Yf8Bl@@ sp)5I= i\½ K?9@>@ C>)Ǔ@ICiMb@Mb@Mb@ 9/$?Gz?~jtxY&>yp=>Ļ;Al A )AYA-/[⿓G:t?Ar? +p @) I+ տiC]checking for new query: numPingsReceived=39, elapsed TxPingTime=20.003321qbD-VD-ð8y%=ٔz;Q->9Y=JEyDsE>Q 54=痊?Q 94).BY?Q E:y?Q I9@DIb:i:q4yBɮAEii⮿+LAjA8B"jA8B:jٹ@RjU7k)nFEڸG@Bj)(mط&=Cx0A?*j+ տ2jCZj'c6aD@4 @Jj7P?,W&ݿ@{#?jا j #BiQ?iԉj"BjWU?jXj"Brj6Bzj@ addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 0.505534 s, deltaX: 0.299999 m, approachRate: 0.593430 m/s, rangeRepo size: 4  Added new target pos. range: 46.063873 m, bearing: 332.763355 deg, lat: 36.779567 deg, lon: -121.859717 deg, deltaT: 0.505534 s, deltaX: 0.299763 m, approachRate: 0.592963 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 46.06 m.2i"i*im ProNav: ac range: 46.063873 m, nav range: 45.737053 m, bearing: 333.148913 deg, approach rate: 0.000000 m/s, LOS rate: -0.623800 deg/s, cmd heading: 313.749821 deg, new cmd heading: 313.116365 deg. iiuHeadingCmd: 5.464911 target range: 46.063873 and range: 46.10 m.hu@hqhqhqhqgygyjgyrg}DBereZe:e G@*e|?5Bɢ5;)1 5i1)=:Y=99i=G۽ԡihzQI@I &9% checking for new query: numPingsReceived=39, elapsed TxPingTime=20.192104A) A- AAB5 >B1 B5 IB5 /BB5 M =B1 B1 B5 x;B5 \EE @A  @A @I @I A I I O >J#,z+LAV-r?V?VE>ٱVg}=VH@p? -?@N?f?`{i?ȿ@?X?iV-r?IV];TYbBybkIbDnVDn8yrR%r=ٔvJ;Q-v?9tYx=zJEyzDEؼEE?IQQ 54M痊?Q 94M)M!BYy?Q I9@MDIM7M @ M5>)Mh@IM5IIMvn?+@? Mg< @)M\RIM˭ԿiM5IIchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.464415i-@ڽi]RIﯮ@I9Աm!@i @i@m/@iA I I O >}J#,C+LAi@I@Fchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.695320Fp?F?FF>ٱF}=FHEP?@>L-? ?@Or? ;V?`۪ȿ?@W?iFp?IF^;F‘CYbBybOIbDj$VDjΰ8yAٽ% I=ٔ :Q- >9 Y=JEyD?E>!Q 5-4%*藊?Q 9-4%)%BY)y5?Q I59@%DI%:i%:%4y]Bɮ]AYii+LAԹj"j:jho@RjTC\,ɶFRZg@BjFp~IWH@l?*j˭Կ2j5Zj@D@a'55B@Jj6"?ݿQ&r?j! j"Bip=?isjBjQ?jjrj7Bzj9@] addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 0.502607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 46.064064 m, bearing: 332.020423 deg, lat: 36.779567 deg, lon: -121.859720 deg, deltaT: 0.502607 s, deltaX: 0.000191 m, approachRate: 0.000379 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 46.06 m.2i"i*i ProNav: ac range: 46.064064 m, nav range: 45.967655 m, bearing: 332.431772 deg, approach rate: 0.000000 m/s, LOS rate: -0.574921 deg/s, cmd heading: 312.776301 deg, new cmd heading: 312.306207 deg. iHeadingCmd: 5.450772 target range: 46.064064 and range: 46.10 m.hl@hhhhggjgrg e re Ze):e1*e5`c?}Bɢ})y }i);=顁iٽi UIl@I9E EE'E"E:*Ex:VE'4ZEa%@a%@a%@a%@,@ @@Q4@MDDAT read: Rx Time:01:26:06.9458 UTRx dataTimestamp_ set to:1764897967.999553]PDAT read: Bearing 342.0, -72.4 (Local) ]~Local bearing/azimuth received: Bearing 342.0, -72.4 (Local) uDAT read: Range 11 to 50 : 46.5 m (trip time 31.0 ms) speed -0.3 DAT read: 01:26:06.9458 LVL= 27072, 18801, 12786, 27859, AGC= 53, IDX= 513,-0.39, 1.144, 2.257,-2.936, 2.531, PHS=-1.285,-0.229, 0.773, RAW= 240.9, 8.4, CAL= 240.4, 9.5, ROT= 269.6, -9.5 Ygot valid direction response: 01:26:06.9458 LVL= 27072, 18801, 12786, 27859, AGC= 53, IDX= 513,-0.39, 1.144, 2.257,-2.936, 2.531, PHS=-1.285,-0.229, 0.773, RAW= 240.9, 8.4, CAL= 240.4, 9.5, ROT= 269.6, -9.5 T#Rx 41: Read range and direction messages.`direction in FSK: [-0.006886,-0.986262,0.165048]Fpublishing direction and range infoyQU/c4|ejt←G ?YU:BQUiUqIU1 Ul)QIUziU~jUTE?U@@UQ >UC@ U)>)U@IU)QQU8/ Q>w,?l? U@)UoIUɿiU)QQchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.965481A .AI I O% >9 K#,n,LA2'm?2Dޒ?2xG>ٱ2F|=2H`?f@W?h??"O? ȿ)?@U?i2'm?I2/];2ÑCYNByN>IiMb@Mb@Mb@ 9ʡE? ףp= ?MbY>yQ8>lA A 3@)AYAbD%VD%8yex%e6=ٔe3:Q-e>9m ?Ym ?=mJEymDu\Eu>yQ 54}闊?Q 94}z)}BYa?Q E:y?Q I9@} DI}:i}:}4yɮ'Aiyi}+LAj}9B"j}9B:j}@Rj}ZVyԿvs:FǬ@Bj}/c4|ejt←G ?*j}ɿ2j})Zj}^1E@9k2Z*Z7@Jj}~>10??.^ٿ̢x?j}Y j})Bi}ܥ?i}B,_j}tBjyjyj}tBrj}=8Bzj}|@= addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.501897 s, deltaX: 0.400002 m, approachRate: 0.796979 m/s, rangeRepo size: 4 Bu>BuCBuIBu~BBuI =BqBu\DBu;Bu]EB5CB5Cchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.199064B5ÔCB5L =B5K =C5p5 Added new target pos. range: 46.463757 m, bearing: 336.512475 deg, lat: 36.779567 deg, lon: -121.859720 deg, deltaT: 0.501897 s, deltaX: 0.399693 m, approachRate: 0.796364 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 46.46 m.2i"i*i ProNav: ac range: 46.463757 m, nav range: 46.060543 m, bearing: 332.181829 deg, approach rate: 0.000000 m/s, LOS rate: -0.574921 deg/s, cmd heading: 312.306220 deg, new cmd heading: 311.801303 deg. iHeadingCmd: 5.441959 target range: 46.463757 and range: 46.50 m.h$@hhhhgg jg rg >Be reZe:e@G@*e%?eBɢeH)) }i ) "0 =  i׽AiZWI$@I]C9*@ @@@5@iE EE+E"E&:*E:VE [4ZEBEi;M DDAT read: Rx Time:01:26:07.4458 M TRx dataTimestamp_ set to:1764897968.501162U PDAT read: Bearing 356.9, -69.3 (Local) ] ~Local bearing/azimuth received: Bearing 356.9, -69.3 (Local) m DAT read: Range 11 to 50 : 46.5 m (trip time 31.0 ms) speed -0.2  DAT read: 01:26:07.4458 LVL= 31472, 20945, 12466, 32627, AGC= 51, IDX= 513,-0.35,-0.198, 1.150, 2.049, 1.250, PHS=-1.347,-0.056, 0.754, RAW= 247.5, 7.1, CAL= 246.1, 7.5, ROT= 263.9, -7.5 ԙ  Ygot valid direction response: 01:26:07.4458 LVL= 31472, 20945, 12466, 32627, AGC= 51, IDX= 513,-0.35,-0.198, 1.150, 2.049, 1.250, PHS=-1.347,-0.056, 0.754, RAW= 247.5, 7.1, CAL= 246.1, 7.5, ROT= 263.9, -7.5  T#Rx 42: Read range and direction messages. `direction in FSK: [-0.105355,-0.985831,0.130526] Fpublishing direction and range infoyI M $ᅴ /?YI I M zM QM 0 M s)M 3IM jiM B`eM %A?M :@M =M r@ M >)M c@IM I I M i/WH'd.?_/8¿? M s@)M IM ֿiM I I  checking for new query: numPingsReceived=42, elapsed TxPingTime=21.467936+K#,E",LAk? ?:H>ٱpx=HQL? 7Hz?? s?tZ?@ȿt?`1T?ik?I];CYEeByEIqbDUѿVDU8y7%H=ٔR;Q->9"?Y"?=JEyDdE>Q 54ꗊ?Q 94\u)BYy?Q I9@DI:i;4yɮRAiyi}  ,LAj}9B"j}9B:j}X@Rj}ؔZIF'd~B@Bj}$ᅴ /?*j}ֿ2j} Zj}"" D@oR7s1 @Jj}fDP? ~gr߿+ S?j} j}m Bi}?i}٪j}Bj}>?j}ԉj}"Brj}7Bzj}I@ addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.501609 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 46.465271 m, bearing: 330.071102 deg, lat: 36.779565 deg, lon: -121.859721 deg, deltaT: 0.501609 s, deltaX: 0.001514 m, approachRate: 0.003019 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 46.47 m.2i"i*i ProNav: ac range: 46.465271 m, nav range: 45.971287 m, bearing: 331.757813 deg, approach rate: 0.000000 m/s, LOS rate: -0.574921 deg/s, cmd heading: 311.801305 deg, new cmd heading: 311.326799 deg. iHeadingCmd: 5.433678 target range: 46.465271 and range: 46.50 m.h-@h)h)h)h1g1g1jg9rg9e9reAZeA:ei*em?BɢL$) =#i) =ix.ֽiTyYI@Iԡ9checking for new query: numPingsReceived=42, elapsed TxPingTime=21.704220 @  @ @ #0@  E  E E E "E V:*E z:VE ZE aM @aM @aM @aM @A)I1uDDAT read: Rx Time:01:26:07.9458 uTRx dataTimestamp_ set to:1764897969.008674DAT read: Range 11 to 50 : 46.5 m (trip time 31.0 ms) speed -0.2 Z#Rx 43: Read range message, but no direction.yqYqqchecking for new query: numPingsReceived=43, elapsed TxPingTime=21.962738IO>`9K#,@,LADjCg?jp?j+J>ٱj Mu=jH@M?๘?@?y?E?'ɿ ?Q?ijCg?IjM];jđCYE9ByEI IIiMb@Mb@Mb@ 9zG?ףp= ?~jtx?Y >y>;A A v@)QAY AbD5VD58yE%E.=ٔEk;Q-E>9IYI=MJEyMDMXEU>QQ 5e4U뗊?Q 9e4Uo)UBYe<>Q Ee:ye ?Q Ie9@UDIU!;iU6;Uج4yuBɮuAuE addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.507512 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 46.47 m.2i"i*i ProNav: ac range: 46.465271 m, nav range: 46.051746 m, bearing: 331.521540 deg, approach rate: 0.178898 m/s, LOS rate: -0.524422 deg/s, cmd heading: 311.326798 deg, new cmd heading: 310.855088 deg. ioHeadingCmd: 5.425445 target range: 46.465271 and range: 46.50 m.h>@hhhhggjgrg6BereZe:e*eJ??Bɢ/M) c+i) 4=  i Խi[I>@IԱ9r(@ @@4@B%>B!B%RIB%1~BB%J =B!B%[DB%;B%*]Eechecking for new query: numPingsReceived=43, elapsed TxPingTime=22.207344A.AII O > $WK#,Z,LA4<ɰE2 E2E0E0"E2:*E2x:VE0ZE0BE23ٱB.s=BH ?@v?,??SE? Nɿǭ?+P?iBd?IB];B‘CYNByNIbDbVDb8!ym %u[=ٔ#Q;Q->9 ?Y ?=JEyDżE>9Q 5U4=B헊?Q 9}4=^k)=BYyٻ?Q I9@=DI=(Ɋ@ ȭT>) @IȭT} addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.500605 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :i}}VStarting intercept timer at range: 46.50 m.DNOT Ignoring new targets: 46.47 m.2i"i*iHO7yKVg?Q;7? E@)( ?I ܿiȭTchecking for new query: numPingsReceived=44, elapsed TxPingTime=22.483280 ProNav: ac range: 46.465271 m, nav range: 46.119450 m, bearing: 331.319989 deg, approach rate: 0.157746 m/s, LOS rate: -0.468914 deg/s, cmd heading: 310.855078 deg, new cmd heading: 310.452576 deg. iVHeadingCmd: 5.418420 target range: 46.465271 and range: 46.50 m.hc@hhhhggjgrgereZe:e*e|?=Bɢ=p)A ES5iA)E#=IAYi]*/ӽiuFa]qqIuc@Iye`9ym 0f checking for new query: numPingsReceived=44, elapsed TxPingTime=22.712061ԩ #@  @ @ 0@ A zA yAA5 ؟AI9 II O] >K#,Bv,LA2;b?2?2 M>ٱ2$k=2H[?T ??(?Y?@uɿ 3ʬ?O?i2;b?I2];08Y>~By>IbDFѿVDF8yN5%NG=ٔRG;Q-R>9R"?YR"?=RJEyVDVƼEV>XQ 5^4Z?Q 9^4Zf)ZBY`yb?Q Ib9@Z#DIZ~:iZ:Z4ydɮfAdi i `,LAj "j :j g@Rj @1͠{Fbٜ)#@Bj T¿Fa5d?*j  ܿ2j ȭTZj 8vC@QlN.9w] @Jj \K?hiWz0c~?j r j Bi _Y?i F5j ֏Bj p=?j sj rj 9Bzj `и@:iiDNOT Ignoring new targets: 46.47 m.2i"i*i ProNav: ac range: 46.465271 m, nav range: 46.184574 m, bearing: 331.123112 deg, approach rate: 0.175592 m/s, LOS rate: -0.530080 deg/s, cmd heading: 310.452588 deg, new cmd heading: 310.059396 deg. irHeadingCmd: 5.411557 target range: 46.465271 and range: 46.50 m.hz+@hhhhggjgrg!eIreQZeY:eaE EE*E"EV:*EVE(N4ZEa@a@a@a@*e ?ԩ颭Bɢx) 6i)6=顱DDAT read: Rx Time:01:26:08.9459 TRx dataTimestamp_ set to:1764897970.013259PDAT read: Bearing 351.5, -69.9 (Local) ~Local bearing/azimuth received: Bearing 351.5, -69.9 (Local)  DAT read: Range 11 to 50 : 46.8 m (trip time 31.2 ms) speed -0.1 -DAT read: 01:26:08.9459 LVL= 26928, 19281, 13490, 27171, AGC= 55, IDX= 3, 0.09,-0.424, 0.968, 1.989, 1.129, PHS=-1.451,-0.116, 0.816, RAW= 245.9, 7.7, CAL= 244.8, 8.3, ROT= 265.2, -8.3 5Ygot valid direction response: 01:26:08.9459 LVL= 26928, 19281, 13490, 27171, AGC= 55, IDX= 3, 0.09,-0.424, 0.968, 1.989, 1.129, PHS=-1.451,-0.116, 0.816, RAW= 245.9, 7.7, CAL= 244.8, 8.3, ROT= 265.2, -8.3 =T#Rx 45: Read range and direction messages.E`direction in FSK: [-0.082801,-0.986055,0.144356]EFpublishing direction and range infoy s2č'ЌCz?Y3;B0iQK4 #j)7I^ih`P?#V@ >ܸ@ V>)@IViѽi]#_YYIez+@IaBsF⿎и?6? D @)7IӿiVchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.991327599999 u @q  @q @u l0@q B5 >B1 B5 IB5 }BB5 I =B1 B5 \DB5 С;B5 d]E checking for new query: numPingsReceived=45, elapsed TxPingTime=23.2150971 A I I O >$K#,,LAY~ByII<);iMb@Mb@Mb@ 97A`?333333?Mb?Y>y><AA @)AY AbDVD8y訽%$=ٔQ->9Y=%JEy%ʪD%E%>IIQ 5U4M6?Q 9U4M`)MBY]>Q E]:y]Q?Q I]9@M*DIME:iM:M4yeBɮeAmEiaie<ـ,LAje;B"je;B:jeg@Rje%w?7rG|@Bje s2č'ЌCz?*jeӿ2jeVZjetӥD@J7.L!@Jje](i?ȁ. -?je/ je> Biekz !?ie9jeBjekz !?je9jeBrje:Bzjel@ addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.503980 s, deltaX: 0.299999 m, approachRate: 0.595260 m/s, rangeRepo size: 4  Added new target pos. range: 46.764980 m, bearing: 329.446539 deg, lat: 36.779561 deg, lon: -121.859734 deg, deltaT: 1.512097 s, deltaX: 0.299709 m, approachRate: 0.198208 m/s, posRepo size: 4 :iTStopped intercept timer at range: 46.80 m.DNOT Ignoring new targets: 46.76 m.2i"i*i ProNav: ac range: 46.764980 m, nav range: 46.519783 m, bearing: 329.446677 deg, approach rate: 0.000000 m/s, LOS rate: -0.530080 deg/s, cmd heading: 310.059388 deg, new cmd heading: 309.528249 deg. iHeadingCmd: 5.402287 target range: 46.764980 and range: 46.80 m.h߬@hhhhggjgrg&BereZe:e`ffG@*e&j?-Bɢ-vM)-"> -r>i1)5<11i5нi=a99I=߬@IAE EE-E"E:*Eą:VEt4ZEBEF8Y ]`>)YI]`YY]p⿎K?5x!? ]K @)]; IYi]`YYUchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.503523A)I1IAOU>ԡ *K#,hͭ,LA6<]?6?6'N>ٱ6b=6H`n?i .M??F? S?`ɿ`bū?L?i6<]?I6S];4Y>~ByBIbDJٿVDJ8y%X=ٔ Ϣ;Q- >9 Y =JEyѪD(YE>9Q 5E4=%?Q 9E4=\)=BYIyMٶ?Q IM9@=0DI=u:i=:=4yQɮUzAQchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.724327iiZ,LAj"j:j;m@Rj39 ?P Grm@Bj;.)|S&r#?*j2j`ZjgC@@N/W82wx@Jja>?hǧL6?j jhBiT?iBjBj?j٪jtBrj:Bzj%@Ա addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.507896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 46.764980 m, bearing: 328.424220 deg, lat: 36.779561 deg, lon: -121.859736 deg, deltaT: 0.507896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 46.80 m.DNOT Ignoring new targets: 46.76 m.2i"i *i = ProNav: ac range: 46.764980 m, nav range: 46.659157 m, bearing: 329.011116 deg, approach rate: 0.000000 m/s, LOS rate: -0.530080 deg/s, cmd heading: 309.528245 deg, new cmd heading: 309.098053 deg. i9=HeadingCmd: 5.394779 target range: 46.764980 and range: 46.80 m.hE@hAhAhAhAgAgAjgIrgereZe:e*ej,?ۀBɢŹ) Hi)<i>νi nc  I@I]9@ @@E EE/E"E;*Ex:VEJ4ZEa=@a=@a=@a=@@A}?Ay u DDAT read: Rx Time:01:26:09.9461 } TRx dataTimestamp_ set to:1764897971.025267 PDAT read: Bearing 350.6, -70.1 (Local)  ~Local bearing/azimuth received: Bearing 350.6, -70.1 (Local)  DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.1  DAT read: 01:26:09.9461 LVL= 30768, 20113, 13970, 31731, AGC= 53, IDX= 501,-0.27,-2.567,-1.179,-0.155,-1.021, PHS=-1.445,-0.114, 0.822, RAW= 245.7, 7.5, CAL= 244.6, 8.1, ROT= 265.4, -8.1  Ygot valid direction response: 01:26:09.9461 LVL= 30768, 20113, 13970, 31731, AGC= 53, IDX= 501,-0.27,-2.567,-1.179,-0.155,-1.021, PHS=-1.445,-0.114, 0.822, RAW= 245.7, 7.5, CAL= 244.6, 8.1, ROT= 265.4, -8.1  T#Rx 47: Read range and direction messages. `direction in FSK: [-0.079399,-0.986835,0.140901] Fpublishing direction and range infoyq u ^ySnP&:N ?Yu fu D@ u >)u 2:@Iu q q u LW⿗?Xo? u 9u @)u 5rIu Vӿiu q q  checking for new query: numPingsReceived=47, elapsed TxPingTime=23.993132A .AI I O- >9 1K#,\,LA2Z?2G?2O>ٱ2 ~f=2H? ? v?-?`)? ɿ@4?K?i2Z?I2x];2CYNz~ByNIiMb@Mb@Mb@ 9> ףp=?Dl?I +?Y>yO >94<;AhA @)AYQ AbDVD8yn\%<=ٔ:Q->9 ?Y ?=JEyڪDuE>!Q 5-4%?Q 9-4%W)%BY->Q E-:y5 ?Q IU9@%6DI%;i%%;%4yYɮ]AYii,LAjBB1B5IB5G}BB5J =B1B1B5;B5]E]ՀBɢeȼ)a eLi)\<顉iC̽i]eI8d@Ichecking for new query: numPingsReceived=47, elapsed TxPingTime=24.22883699u @q @y@}/@yi A bEm [4jEmwX4rEmɍH0E  E E +E "E :*E :VE [4ZE BE 67K#,M,LA=R=DDAT read: Rx Time:01:26:10.4460 TRx dataTimestamp_ set to:1764897971.529444PDAT read: Bearing 349.9, -70.5 (Local) "~Local bearing/azimuth received: Bearing 349.9, -70.5 (Local) *DAT read: Range 11 to 50 : 47.0 m (trip time 31.3 ms) speed -0.1 0>DAT read: 01:26:10.4460 LVL= 28192, 18705, 14786, 27779, AGC= 52, IDX= 500, 0.37,-1.863,-0.471, 0.573,-0.312, PHS=-1.449,-0.113, 0.841, RAW= 245.5, 7.3, CAL= 244.3, 7.9, ROT= 265.7, -7.9 BYgot valid direction response: 01:26:10.4460 LVL= 28192, 18705, 14786, 27779, AGC= 52, IDX= 500, 0.37,-1.863,-0.471, 0.573,-0.312, PHS=-1.449,-0.113, 0.841, RAW= 245.5, 7.3, CAL= 244.3, 7.9, ROT= 265.7, -7.9 FT#Rx 48: Read range and direction messages.F`direction in FSK: [-0.074267,-0.987721,0.137445]JFpublishing direction and range infoyO%'3iyjȗ?Y_q@ 0 >)e@I0 n⿥s#7?j>? / @)xNIҿi0 %checking for new query: numPingsReceived=48, elapsed TxPingTime=24.510632mWX?m?mP>ٱm}f=mH`y?Ľ`?{b?@? ? ɿ`y3?J?imWX?Im];mÑCY@~By\I bDVD8y8%M=ٔb;Q->9Y=JEyD|ļE>Q 54e?Q 94S)BYyձ?Q I9@;DI:i:k4yAɮEAAiii,LAj;B"j;B:jR@Rj+Ջ7O ӌ'1GCn@BjO%'3iyjȗ?*jҿ2j0 ZjQoC@i4D9M)@Jjdν?H m}dR?j jBib?iAj BjT?jAjrj ;Bzj@m addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 0.504177 s, deltaX: -0.099998 m, approachRate: -0.198340 m/s, rangeRepo size: 4 } Added new target pos. range: 46.964993 m, bearing: 327.669487 deg, lat: 36.779557 deg, lon: -121.859743 deg, deltaT: 0.504177 s, deltaX: -0.099762 m, approachRate: -0.197871 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 46.96 m.2i"i*iԉ ProNav: ac range: 46.964993 m, nav range: 46.782063 m, bearing: 327.692531 deg, approach rate: 0.000000 m/s, LOS rate: -0.530080 deg/s, cmd heading: 308.665756 deg, new cmd heading: 308.232480 deg. iHeadingCmd: 5.379672 target range: 46.964993 and range: 47.00 m.hE&@hhhhggjg rg e reZe:eG@*eO?uπBɢ}G)y }Wiy)eh<顁i0l˽iLgIE&@IO9Թchecking for new query: numPingsReceived=48, elapsed TxPingTime=24.732355 h = #@9  @A @E 3@A D zD  EE  EE EA EA "EE T;*EE ą:VEA ZEA a} @a @a @a @A ؟AI IO>r@K#,n-LA6;ɰ4jDDAT read: Rx Time:01:26:10.9462 jTRx dataTimestamp_ set to:1764897972.033181nPDAT read: Bearing 350.9, -71.7 (Local) r~Local bearing/azimuth received: Bearing 350.9, -71.7 (Local) zDAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.2 DAT read: 01:26:10.9462 LVL= 28912, 18897, 15058, 28659, AGC= 52, IDX= 502, 0.04,-0.246, 1.159, 2.241, 1.298, PHS=-1.443,-0.094, 0.898, RAW= 245.0, 6.3, CAL= 243.4, 6.9, ROT= 266.6, -6.9 %Ygot valid direction response: 01:26:10.9462 LVL= 28912, 18897, 15058, 28659, AGC= 52, IDX= 502, 0.04,-0.246, 1.159, 2.241, 1.298, PHS=-1.443,-0.094, 0.898, RAW= 245.0, 6.3, CAL= 243.4, 6.9, ROT= 266.6, -6.9 %T#Rx 49: Read range and direction messages.-`direction in FSK: [-0.058877,-0.991010,0.120137]-Fpublishing direction and range infoyhj +r%pvZrjƹI?Yj3=BhjpjIj: jo)hIj9ijjTe?juՈ@jz0=j@ jϢ=)j@IjϢhhj[yA⿥,O ? ||>? je @)jiIjWпijϢhhmchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.003183urU?uiƆ?uQ>ٱuf=uH?I!?@9?Z"?@?@ʿ:? H?iurU?Iu>];uCԁY1~ByRIiMb@Mb@Mb@ 9"~?HzG? rh?Y>y= >C<QAA @)AYp AbD-%VD-ϰ8yN%=ٔ;Q->9"?Y"?=JEyDƖE>Q 54h?Q 94M)rBY>Q E:y ?Q I9@CDIZ:i:4yBɮAEihij-LAjj=B"jj=B:jj@Rjjcq&CJ&B>BCBIB|BBBBBg;B^Echecking for new query: numPingsReceived=49, elapsed TxPingTime=25.236515"@ @@/@A I I! ! O5 >M8FK#,-LANW[S?Nܒ?NR>ٱN&a=f GNH0?on6?d?,c? ?@$!ʿ`;?XG?iNW[S?r/{AIN];E} E}EyEy"E};*E}:VEyZEyBE}A9Y=JEyD ͼE >1Q 5=45O?Q 9E45JI)5fBYAyE?Q IE9@5HDI52:i5>:54yiɮuAqB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 47.26 m.2i"i*iDDAT read: Rx Time:01:26:11.4462 TRx dataTimestamp_ set to:1764897972.537136 DAT read: Bear (Lange 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.2 unknown deviceResponse_: Bear (Lange 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.2 q (Communications Faulta  a  a  a  a  5DAT read: 01:26:11.4462 LVL= 31440, 19761, 11106, 30643, AGC= 50, IDX= 502,-0.26,-1.538,-0.139, 0.992,-0.013, PHS=-1.423,-0.081, 0.961, RAW= 244.2, 5.3, CAL= 242.2, 5.8, ROT= 267.8, -5.8 =Ygot valid direction response: 01:26:11.4462 LVL= 31440, 19761, 11106, 30643, AGC= 50, IDX= 502,-0.26,-1.538,-0.139, 0.992,-0.013, PHS=-1.423,-0.081, 0.961, RAW= 244.2, 5.3, CAL= 242.2, 5.8, ROT= 267.8, -5.8 EZ#Rx 50: Read direction message, but no range.M`direction in FSK: [-0.038191,-0.994147,0.101056]i :Ѝ(3+hg޹?z1Mb+ w)2I$iT㥽v?c@q=E@ 4Q=)W@I4QϽV,Ῑ^?? ծ @)dIͿi4QϽechecking for new query: numPingsReceived=50, elapsed TxPingTime=25.501587u ProNav: ac range: 47.264767 m, nav range: 46.978756 m, bearing: 327.415279 deg, approach rate: 0.153201 m/s, LOS rate: -0.503396 deg/s, cmd heading: 307.665461 deg, new cmd heading: 307.290959 deg. iuQf}HeadingCmd: 5.363239 target range: 47.264767 and range: 47.30 m.h}@hyhhhggjgrgereZe:e*e@RAĀBɢA)A EYiI)Mj4MK#,|b7-LA2OP?2X^?2nlS>ٱ2`=2Hg?F h?`?`?`?=ʿ`Se? F?i2OP?I2];0Y:}By:0II>=)>=BAABAAbDFVDF8yNBֽ%NW=ٔR;Q-R>9PYP=RJEyRDVʼEV>XQ 5^4ZN?Q 9^4Z"E)Z[BY\yb?Q Ib9@ZMDIZG:iXZ24ydɮf Ahh:ix~DNOT Ignoring new targets: 47.26 m.2i|"i~:*i: ProNav: ac range: 47.264767 m, nav range: 47.034164 m, bearing: 327.229745 deg, approach rate: 0.150807 m/s, LOS rate: -0.504378 deg/s, cmd heading: 307.290948 deg, new cmd heading: 306.920324 deg. ifHeadingCmd: 5.356770 target range: 47.264767 and range: 47.30 m.hj@hhhhggjg!rg!E% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE-5Transitioning to midcourse guidance. Received last range of 47.299999 m 29955724.800000 min ago.E51F5e1re1Ze1:e9*e9eBɢe#)e mai) <iƽiM)mQQI]j@IiD=D4=E EE-E"ET;*E:VEt4ZEa-@a-@a-@a5@MPowering downiUIU]]uʰ9u!@q @q@q@y)AIIO>Q B5 >B5 CB5 XIB5 |BB5 I =B1 B5 ]DB5 ;B5 ^^EBCtTK#,V)Q-LAB-CB-CB-J =B-J =C-e5XX1Y}By&Ii5Mb@Mb@Mb@1111 195S?M?~jt?Y5>y5n>5<5 A5$A 5@)5!A1Y53AbDMVDM8y]%]1=ٔeQ-e>9aYa=mJEymDmEm>qQ 5}4u?Q 9}4u?)uLBY>Q E:y?Q I9@uTDIu:iu:u=4yɮ A:iDNOT Ignoring new targets: 47.26 m.2i"it*it ProNav: ac range: 47.264767 m, nav range: 47.106647 m, bearing: 326.995614 deg, approach rate: 0.157718 m/s, LOS rate: -0.508667 deg/s, cmd heading: 306.920315 deg, new cmd heading: 306.452785 deg. ihHeadingCmd: 5.348610 target range: 47.264767 and range: 47.30 m.h'@hhhhggjgrgABRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeereZe:e*eBɢ) bi)%SԹ ٱB^=BH? ??+??`WʿC?D?iBK?IB];B‘CYR}ByRIbD\VD\yf%fh=ٔj;Q-j>9hYh=nJEyn DnaEn>pQ 5v4r ?Q 9v4r;)rABYtyzE  E E +E "E :*E ~:VE [4ZE a @a @a @a @! 'aK#,Մ-LA2vI?2몀?2=T>ٱ2]=2H? v`?o?`l?f?@haʿ@ ?vD?i2vI?I2)];2ÑCY:}By:I @@iMb@Mb@Mb@ 9'1Z?MbX9?y!>t<$ AA A) #AYAbDVD8y%%-E=ٔ-@:Q-->91Y1=5JEy5D5E5>9Q 5E4= ?Q 9M4=6)=3BYM>Q EM:yM?Q IM9@=_DI=:i=:=4yQɮ]!AYff"fgffrfereZe :e *e u}Bɢ}N<)y }iy)}! (kpHeading = 0.400000 >IK KI!B>BB-IBS|BBH =B1DBB;B^Em CIyA)Q@ @@/@I1 IA OM >y E  E E E "E T;*E :VE ZE BE GٱR֙`=RHp?พ`4?`G??I?@`ʿ`wu?`&D?iRU,G?IR];RCYZ}ByZIbDfVDf8yjȪ%nP=ٔnظQ-n>9pYp=rKEyrDvEv>tQ 5z4v1?Q 9~4v)2)v&BYyc?Q I9@veDIv;iv ;v 4y Bɮ "A f)f)f1g1f1f1rf1e1re9Ze9:e9*e9iɢm~"<)i mTii)uԹ -{mK#,H-LA2D?2#|?2lT>ٱ2pY=2HC?@w&'? ?4?`*.?PʿH?@E?i2D?I2E];2CY:}By:IbDFVDF8yJt.%NO=ٔNyQ-N>9hYl=nKEyn&Dn᷼Er>pQ 5v4r?Q 9z4r]-)rBYxyz>?Q Iz9@rkDIr:ir`:r4y~ Bɮ"AEB*** querying acoustic contact ***iif!f!f!g)f)f)rf)e)re1Ze1:e1*e1e}BɢeN<)a eXia)mu;iu cqqI}J }JIyE EEE"E*E:VEZEa@a@a@a@0@ @@5@ ^A >I! I1 OE >B >B CB IB |BB B B B ;B ^E9 dtK#,@m-LAYp}ByII <) y&>C< AA ;A)&AY AbD VD8y,%9=ٔQ->9Y=KEy/DE>Q 54,?Q 94() BY>Q E:y5?Q I9@qDI:i:*4yɮ"Af f f g ffrfereZe:e*eAɢM<)I MiI)M}>]\im>  @ @@/@@@@@E EE)E"E;*E:VEFA4ZEBEAazK#,F-LA@ 6@?6w?6ݯS>ٱ6R=6H?`X$E? T?b? ?Eʿ`㮩?` G?i6@?I6];6‘CY^L}By^IbDj%VDjϰ8yn_%rY=ٔrkQ-r>9tYt=vKEyv6DvIEz>xQ 54z?Q 94zk#)zBYyڧ?Q I9@zwDIz ;izB:z 4yɮ/#Af1f1f1g1f9f9rf9e9re9ZeA:eA*eA }Bɢ N_<)  zi ):,MI8,uK#,2.LA2=?2u?2[S>ٱ2 T=2H-?@jy?@Ԥ?@?? E@ʿ? G?i2=?I2~];2CY:>}By:IPi-Mb@Mb@Mb@)))) )9-ʡE?x&1?~jth?Y-->y-A>-D;-MA-OA -A)-7%A)Y-AbDEVDE8yUH%UC=ٔ]LٹQ-]>9] ?Ye ?=eKEye?De{Ee>iQ 5u4m ?Q 9u4m)mBY}f?Q E}:y} ?Q I}9@m~DIm ;im;m (4yɮh#AfffgffrfereZe:e*e}Bɢ5<) Bi)N<i_Xߩ!<ɧ>UcBBIB{BBBB^DB*;B^EAIIOH>!  PExceeded connect timeout, disconnecting.bEijEmU4rEmp/E  E E ,E "E ;*E ą:VE g4ZE BE @ٱ.T=.H 4?@?@ }? ?Co?1ʿa?`G?i.ό;?I.];.‘CY>}By>I @@bDJVDJ8ybs%fT=ٔfPQ-f>9hYh=jKEyjFDjEe>iQ 5u4m$?Q 9u4m)mBYqyu?Q I}9@mDIm#;im;m/4yɮU$AfffgffrfereZe:e*e}Bɢ˺N<) 9Ai)R<i"<ɧ>2q ^ɍK#,=9.LA2I9?2q?2ԞR>ٱ29f"?Yf"?=fKEyfODjEj>lQ 5r4n(?Q 9r4n)nBYpyv˩?Q Iv9@nDIn:in:n54yxɮzZ$Ax B*** querying acoustic contact ***i i fffgff!rf!e!re!Ze!:e)*e)y}BɢK<) Ai)<i(˹%#<ɧ%ս>%ݗ -j>I1DD<E EE+E"E*E:VE [4ZEa@a@a@a@ @ @@#0@ԩAYIaIqOZ> By Ay B &>B CB IB {BB B B B ?;B ^EK#,tS.LA:o6?:n?:êR>ٱ:/V=:H`?@w?@)? O?K?@%ʿrG?8H?i:o6?I:];:CYF|ByFsIiUMb@Mb@Mb@QQQQ Q9UGz?x&1?MbP?YUp>yQU:UAU A UOA)U'AQYUpAԹbDؿVD8y % 6=ٔ _8Q- >9Y=KEyXDꢼE>!Q 5-4%@-?Q 9-4% )%BY-?Q E-:y-?Q I-9@%DI%M:i%:%=4y=Bɮ=%A=EfYfYfYgafafarfaeareaZei:ei*ei颕}Bɢ <) *' {i))<顡ie9r%<ɧ>駭ѫpG{A)1@1 @1@50@1UWn9U{AYUtjAA]>A]>%nManaging dock network, ignoring radio surface power offE EE(E"E ;*E:VEc44ZEBEO9 _ۚK#,m.LA64?6l?6R>ٱ6bR=6H?M@g?@? ?$?`"ʿ਱?H?i64?I6];6CYB|ByFiIIFp<)Fp;bDNVDN8yVW)%Vf=ٔV3Q-Z>9Z ?YZ ?=ZKEyZ_D^dʼE^>`Q 5f4b1?Q 9f4b@ )bBYdyf?Q Ij9@bDIb:ibl:bC4ynBɮni%AnEf|f|fgffrfere Ze :e *e 5}Bɢ=lq;)9 =i9)E3MaԉDzDE EE,E"E;*E:VEg4ZEa@a@a@a@ áK#,0g.LA2R2?2hj?2VAR>ٱ2U`^=2HF?-b? ??n?ʿ$3?H?i2R2?I2&^;2‘CYR}|ByRFIiUMb@Mb@Mb@QQQQ Q9UI +?Cl?YU9>yUd;>UUAUA USA)U~(AQYU=AbDmVDm8y}z%}>=ٔ}9Y=KEygDE>Q 546?Q 94)BY?Q E:y¤?Q I9@DI ;i ;oK4yɮM&AfffgffrfereZe:e*e }Bɢ =};) &i)#[<iϵ̈(<ɧ%>%QB5CB5IB5U{BB1B1B1B5;B5C_EBCBCBBH =BH =CĬ4ԹA؟AIIO%M>E  E E E "E :*E :VE ZE BE 69E"?YE"?=EKEyEoDEEM>IQ 5U4MS;?Q 9U4M)M}BYYyYQ I]9@MDIM;iMD;MWR4yaɮm&AifffgffrfereZe:e*e}Bɢ8) i)<iz%F*<ɧL ?쿉I I} Li>)@ @@?2@A-yAzA-yAQ Aa Ii Iy O >zK#,.LA 6w1.?6e?6ٱ6W=6H@}?H}? ?`4,?3?rʿO?H?i6w1.?I6];4Y>6|By>I @@bDJοVDJ~8yR)%RT=ٔRT8Q-V>9TYT=VKEyVwDZ7EZ>\Q 5b4^)@?Q 9b4^Q =btI)^lBY`yf?Q If:@^DI^ ;i^T ;^Y4yhɮjj'AhzB*** querying acoustic contact ***ixixf|f|f|gffrfere Ze :e *e 5}Bɢ5+)9 =i9)=ɴԙ B5 $>B5 CB5 XIB5 zBB1 B1 B1 B5 ޣ;B5 _EK#,.LAɰ4ٱFO=FHm?dy15D15hA 5A)5+A1Y5(AbDMVDMk8y].%]?=ٔeCٹQ-e>9aYa=eKEyeDmEm>qQ 5}4ufE?Q 9}4u)uYBY}>Q E:y?Q I:@uDIu;iu;u`4yɮu(AfffgffrfereZe:e*e}Bɢ) i)ulA}?! 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P?iNc?IN];LYjyzByn Ii]Mb@Mb@Mb@YYYY Y9]> ףp=?Mb?~jthY]>y]>]D]SA]A ] A)]/AYY](AbDqVDqyн%C=ٔ"Q->9Y=KEyDļE>Q 54k?Q 94)BY>Q E:y?Q I:@ܣDI:ik:4yɮ/AfffgffrfereZe:e*e}Bɢ%)I MIiI)MdM<ɧeRA?e=ie>iiIm> m>IqBm+>BiBmqIBmyBBiBiBiBmq;Bm@`EBG/{A- f95 /{AY5 bAE @A  @I @M 0@I ! 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A) zA) E]  E] E] -EY "E] ;*E] :VE] t4ZEY BE] b L#,%0LA2` ?2l*C?2 WI>ٱ2y<=2HU?s!??`Q??rɿ@?Y?i2` ?I2];2CY:dyBy:^IbDFVDF8yN=½%N`=ٔN;Q-N>9PYP=RKEyRDVEV>XQ 5Z4Z)?Q 9^4Z)ZBY\y^?Q I^:@ZDIZ;iZf;Z4yf?Bɮfk4AfѥEftftftgtfxfxrfxexrexZex:e|*e|颅}BɢN}) ei)S<顉iuWYM<ɧ8?駽+=iIX XIQϼM @I @I@M/0@IA.AIIOb>) XL#,>0LA6|?6G@?6bH>ٱ66=6H??k? i?@?@|ȿ"_?[?i6|?I6'];6‘CYBDyByBKIID)F;bDNVDN8yV%VI=ٔV|Q-V>9Z ?YZ ?=ZKEyZDZE^>`Q 5b4b?Q 9f4b)bBYdyfB~?Q If:@bDIb:ib:b4yhɮn4AlzB*** querying acoustic contact ***ixixf|ffgffrfere Ze :e *e ]}BɢeBs)a eȇia)e>uԹ B 8>B CB IB xBB B B B ;B b`EL#,X0LA6 ?6fn=?6n G>ٱ60=6H/?<\@e?+? ?@/?eȿ˖?L^?i6 ?I6$ ^;6CPYVyByV4IiUMb@Mb@Mb@QQQQ Q9UMb?(\µ?Zd;O?YU>yU=Uj9Y=KEyDӼE>Q 54?Q 94/)uBY>Q E ;yu?Q I:@DI;i:4yɮ~5AfffgffrfereZe:e*e }}Bɢ xu)  i)e<顑i$R<ɧc/?駝O =iI IԱE- E-E-+E)"E-l;*E-$:VE- [4ZE)BE-aF A ؟AI I O >L#,Dr0LA2?2 :?22E>ٱ2]+=2Hj?,?? ?1?@Yȿ?`?i2?I2r^;2CYN yByR)IbDZVDZ8yb ?%bW=ٔbqQ-b>9f"?Yf"?=fKEyfDjEj>hQ 5]4jqE5 E5E5,E1"E5%;*E5:VE5g4ZE1aE@aE@aE@aE@ԩ "L#,a0LA &> '5? \A>ٱ Ѿ= H ? ̛?)n?`4s?@㺷?`ȿ{?@g?i &>I ^; ‘CY%xBy% I ))yi-Mb@Mb@Mb@)))) )9-x&?MbX9?I +?Y-7>y-ʡ=-9<-9A-#A -A)))Y-G!A U=U=bD]VD]b8yuŽ%u1=ٔ}Q-}>9yYy=KEy D6AE>Q 54ɲ?Q 94G)`BY>Q E;yg?Q I:@DI:i:04yDBɮ6AfffgfafarfaeareiZei:ei*ei颕q}Bɢ?~) Fi)UPF<顡ioB:>BBXIBwBBE =BB`DB;B`EޙV<ɧ@!?X=i7I7 7Iԡy@y @y@}3@AIIO> bE^n4jEʆs4rE0EE  EE EE +EA "EE ;*EE ՚:VEE [4ZEA BEE ]91Y1=5KEy5D5E5>9Q 5E4=[?Q 9M4=E)=WBYIyIQ IM:@=DI=:i=|:=4yU?BɮU6A]ȥEfff g f f rfereZe:e*e]l}Bɢ]< )a eia)mo89 0L#,C90LA6K>6.p2?6?>ٱ6Y~ =6H?`Xu?.?ª?ڶ?ǿߴ?j?i6K>I6^;6CYBxByBIbDZVDZ8yf>%fS=ٔf)Q-j>9hYh=jKEyjDn En>pQ 5v4r˜?Q 9v4r)rMBYxyzd?Q Iz:@rDIr:ir`:rZ4y|ɮ~6A|B*** querying acoustic contact ***iif!f!f!g!f)f)rf)e)re)Ze):e1*e1]g}Bɢ]i)a eaia)e>v*B CB 2IB |wBB J =B B aDB ;B `EA I I! O- >Թ 76L#,w0LA6?>6Z/?6=>ٱ6=6HQ?>?D?{?D? ^ǿ #?n?i6?>I6];6CYRxByRIIT)Vp; fw>jCU݂Gm{A]9{AYYAi%Mb@Mb@Mb@!!!! !9%K7?K??Y%I>y%^=%<%A%j$A %A)% 8A!Y% #A5AA5AAbD=VD=8yM%M4=ٔMQ-M>ԑ9QY=KEy%DkE>Q 54S̘?Q 94))CBY>Q E;yh?Q I:@DI;i;{4yɮ7Afffgffrfere Ze :e *e =a}Bɢ=)9 =i9)E G bJt*?JB8>ٱJb=JH(?@?r? F?Z? ƿ ^?`_v?iJRT>IJ];JCYRxByVIbD^,VD^հ8yf8`%ff=ٔfMYQ-j>9hYh=jKEyj,DnEn?pQ 5v4rӘ?Q 9v4rN)r;BYtyvtc?Q Iz:@r#DIr:irK:rw4y~DBɮ~8A~ɥEfffgffrfereZe:e*e[}Bɢn) i)~ <iӏ2]<ɧD?'nMCL#, 1LA M >M'?M}I5>ٱMh=MH?Ua?3?&y?`A?ƿ ?z?iM >IM<];MCYmsxBymIiEMb@Mb@Mb@AAAA A9EyE;=AEQ AE &A E;A)Ef6AAYE$AbD]8VD]8ym)%m2=ٔuϻQ-u>9qYq=uKEy}5D}?E}>Q 54ݘ?Q 94@)1BY>Q E:yi?Q I:@)DI& ;i~ ;y4yɮU8AfffgffrfereZe:e*eU}BɢzB) &i);i_BMc>BMCBMIBMIwBBMC =BIBMcDBM;BM`EBCBCBÕCBBG =C26i}_<ɧ>5sIL#,j'1LAPf>fX%?fmP2>ٱfL =fHy/?L?4?y?Rij?`B-ƿ G??if>If"];fCYr\xByrI tt xz<bDz*VDzӰ8yJ% e=ٔ 0Q- >9 Y=KEyQ 5%4嘊?Q 9-4))BY)y-f?Q I-:@.DIv:i:4y9ɮE8AAfqfqfqgqfqfyrfyeyreZe:e*eO}Bɢ) ]iQ)UL;YYi]wei`<ɧe>e") ~`PL#,A1LA ɰ"4<>.>>"?>|D/>ٱ>۸ =>H@b?`!? ??@Ѳ?`7ſ4? ?i>.>I>];9pYp=vKEyvEDv̼Ev>x|Q 54~?Q 94~)~ BYy@d?Q I :@~3DI~:i~:~ 4yɮe9A-B*** querying acoustic contact ***i)i)f9f9f9g9f9f9rfAeAreAZeA:eA*eIuH}Bɢu)q })iy)}-`;yyi};ъ b<ɧ%>駅IBA AE <BM u>BM CBM IBM wBBM B =BI BM eDBM ;BM `Eԡ VL#,dx[1LA6H>6j?6y+>ٱ6=6H??Ot?@ ?-?Uſ`۠?`?i6H>I6];6ÑCYJ%xByJIiMb@Mb@Mb@ 9+?rh|?Mb?Y>y=<"!A'A A) 8AYp%AbD5VD5Ű8y=˼%ED=ٔElQ-E>9IYII=MKEyMDE>Q 54?Q 94)BY>Q E:yCf?Q I:@:DI:iA:B4yIBɮ9Af f f gffrfereZe:e*eEA}BɢM󀧽)I MiI)MD9;QQiU]_c<ɧ]>]ԡ O\L#,e8u1LA6>6'H?6'>ٱ6~=6H$?`#L`x?2? ;? ??Ŀ@{?ҍ?i6>I6a];6‘CY^xBy^IIb<)b49tYt=vKEyzUDzEz>|Q 54~?Q 94~&)~ BY y c?Q I :@~?DI~2:i~:~4yBɮJ駅WԩDzDAAE EE.E"E:*EVEـ4ZEa@a@a@a@ LDAT read: Features enabled [Bearing] % DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP % commRate: 600 zcL#,%1LAtte>?$>ٱX =H?@D I];CYUwByUyIԩB>B CBIBvBB= =B0DBgDBͤ;B`EiMb@Mb@Mb@ 9{Gz?x&?I +?Y>y7 >94<"A~(A A)Yf&AbDVDȰ8yM%$=ٔ.Q->9 ?Y ?=KEy_DE>Q 54 ?Q 94l)BY>Q E:ye?Q I:@FDI4:i: 4yBɮ]HpA%?A)I1IAOU> E  E E E "E &:*E xv:VE ZE BE i;2y?2 >ٱ2*_ =2H)??`I2,];2CY wBy gIbD-VD-8y=)%E~=ٔE#Q-E ?9IYI=MLEyMeDUsEU ?aQ 5m4e?Q 9m4e`)eBYqyuc?Q Iu:@eKDIe7!;ie=7;e*&4yBɮa=AEfffgffrfereZe:e*e-}Bɢѽ),\2 Gi)ɛ:i+$ }Qf<ɧ > :W9q pL#,1LA 6>6 ?6`>ٱ6 =6H6X?E?`}?B?#۬?5ÿ +?`Ț?i6>I6];6CYNwByRUI TTbDZ VDZ8yb욽%bR=ٔf Q-f>9f"?Yf"?=fLEyfmDjYȼEj>lQ 5r4n?Q 9r4n†)nBYpyv%a?Q Iv:@nQDIn>:in>:n,4yxɮz=AxB*** querying acoustic contact ***iifffgffrfereZe:e*e%}Bɢý) "i)8i3g<ɧ g>8ԡB>B CBIBvBB< =BBhDBդ;BaE vL#,1LAɰ;6*߷>6?6W>ٱ6^N=6H?`=N@?@B?@?7?*ÿ@ԡ??i6*߷>I6];4YBwByB:IPi Mb@Mb@Mb@     9 ~jt?Dl?~jth?Y >y O > D; #A O)A SA) 77A Y &AbD%VD%8y5ս%5C=ٔ==Q-=>99YA=ELEyEvDEEE>IQ 5U4M})?Q 9U4M)MBY]>Q E:yc?Q I:@MWDIM Af)f)f)g)f)f)rf1e1reQZeQ:eY*eY额}Bɢ.8ý) i)顡i[Ȁg<ɧ^@>駭BDAT read: Rx Time:01:26:25.6542 TRx dataTimestamp_ set to:1764897991.7049408DAT read: $Error in header *Received a bad header! |L#,1LA6 >6P?6m>ٱ6 =6H?5?@? ?pg?`¿?`z?i6 >I6M];6ÑCYN_wByN IbDZVDZ8ybѽ%bR=ٔb=Q-b>9dYd=fLEyf~DfOƼEj>hQ 5n4j2?Q 9r4jf)jBYpyra?Q Ir:@j\DIj;ij;j ;4yvBɮz`?Axfffgf!f!rf!e!re!Ze!:e)*e)U}BɢU۽)] ]iY)] YYiev~e*h<ɧm>mM;im+iiIm+ m+Iq)}*: @ @@/@YE EE0E"ET;*E:VE4ZEa@a@a@a@Aa Iq I O >ԁ  BDAT read: Rx Time:01:26:27.6545  TRx dataTimestamp_ set to:1764897992.208429L#,m2LA*entering command modeY7>?">ٱl=H???6?p?@s¿U;? .?i7>I];CY9wBy II%=)B>BBIB}vBBBBB";BUaEiMb@Mb@Mb@ 97A`??MbPY>y>j$A*A A)Y((AbDVDɰ8y%-=ٔQ->9Y=LEyDE>Q 544>?Q 94Z{)BY>Q E:yY?Q I:@cDI4:i_:JC4yɮ?Af!f!fgffrfereZe:e*e }Bɢ½) i!)%j!!i-zE h<ɧE=E֦;iE"IIIM" M"IIy=?BɹpG !=DAT read: E&DAT read: user:1> E(setting verbose to 3"@ @@@=c99Y=8`AԱII O5 > E  E E 1E "E :*E :VE -4ZE BE 3rd ?r@>ٱrј=rH?`? z? q^??@ ¿@9@?c?irt>Ir];pYwByIbD.VDװ8y-%-j=ٔ5Q-5>91Y1==LEy=D=ټE=>AQ 5M4EF?Q 9M4E`x)EBYQyUSW?Q IU:@EhDIE:iE :EgI4yYɮ]@AYfyffgffrfereZe:e*eFDAT read: user:1>$Error in header *Received a bad headerԹ}Bɢ>)  i),i3wh<ɧ=yQ;iI IVchecking for verbose setting acknowledgmentA!@ @@/@A>A>M Vchecking for verbose setting acknowledgmentI I O >A L#,D2LA2m>2 ?2U >ٱ2=2H1?H P?`OH?\? Du?`b@H?9?i2m>I2r ^;0Y:vBy:IbDFVDF8yJ'%NU=ٔNQ-N>9PYP=RLEyRDRǼEV>TQ 5Z4V3P?Q 9Z4V"u)VBY\y^T?Q I:@VmDIV\dB CBdIB,vBB: =BBiDB;BaEB] CB] CBYB]< =B]= =C]A6ԙ ] Vchecking for verbose setting acknowledgment&L#,]2LA2Ο>2?2 >ٱ2#=2H`!\? %}9?Y?ī?) ?~'? Z?i2Ο>I2:];2CYNvByNI PPiUMb@Mb@Mb@QQQQ Q9U|?5^?A`"?~jtxYU>yU=UĻU;%AU *A UA)U 8AQYUz(A im=bDuVDu8yC%<=ٔQ->9Y=LEyD%E>Q 54#[?Q 94q)BY>Q E:yH?Q I:@sDI:i1:W4yɮdBAfffgffrfereZe:e*eq颅|Bɢ) pɿi)_顡i%q-h<ɧ-5_i5+F11I5+F 5+FI9!@ @@4@IAIQOe4>ԙE EEE"E:*E҆:VEZEBE32XO?2y>ٱ2[5=2Hi? Ί߿m??B?F? 6Z??i2 >I2x];2CYBsvByBIbDJVDJ8yR.%RZ=ٔR|Q-V>9TYT=VLEyVDZ˼EZ>\Q 5b4^d?Q 9b4^n)^BY`yboF?Q If:@^xDI^;i^h:^D^4yjBɮjCAjEfxfxfxgxf|f|rf|e|reZe:e*e-|Bɢ5n)1 5GϿi1)5%19i=mEsh<ɧEEwiEnAAIMn MnII @ @@/@AzAwA-Vchecking for verbose setting acknowledgmentIQIaOu=E EE,E"E&:*E|:VEg4ZEa@a@a@a@)  BDAT read: Rx Time:01:26:29.6547  TRx dataTimestamp_ set to:1764897994.231837 Vchecking for verbose setting acknowledgment4L#,n2LA@M>M+?MhG>ٱM|=MH@D?`߿y? ??n?@=Ϣ?6?iM>IM<];MCYMvByxIbDϿVD8B=>B=CB=,IB=uBB=9 =B9B=jDB=;B=LbEy%0=ٔQ->9Y=LEyDcE>Q 54p?Q 94=k)BYyC?Q I:@~DI:i:ff4yBɮCAEfffgffrfereZe:e*e|Bɢb ) ҿi)d:!iFj%g<ɧ%_%1i%W!!I%W -WI)ԉ#@ @@@IIIYOm5>EVchecking for verbose setting acknowledgment E  E E E "E :*E :VE ZE BE 6#>>9\?>zJ=ٱ>=>H?|޿? ???ɲ??i>#>I>];>‘CYJ#vByJ^IIN<)N\iMb@Mb@Mb@ 8DAT read: $Error in header *Received a bad header9MbX?ˡE?~jtxY>y=7%A+A 5A)8AYG)A@A@AbDVD8yڽ%U=ٔ Q->9Y=LEyD?μE> Vchecking for verbose setting acknowledgmentQ 5-4 z?Q 9-4 h) BY->Q E5;y5,5?Q I5:@ DI g;i ; &m4yAɮMDAIf f f)g)f1f1rf1e1re1Ze9:e9*e9颅|Bɢ) ֿi)J8顩if,g<ɧS駽_(iI IE @A @A@A@AA.AIIO>M Vchecking for verbose setting acknowledgmentQ FFL#,}X2LA@2(>2`>2j=ٱ2'@=2H``?ݿ j?? A?|?QD??i2(>I2x];2CYBuByBEIbDJVDJ8yRs%Ra=ٔVQ-V>9V ?YV ?=VLEyZDZܼEZ>\Q 5b4^փ?Q 9b4^%f)^wBYdyf2?Q If:@^DI^;i^6:^rs4yhɮj0EAhvB*** querying acoustic contact ***ititf|f|f|g|f|frfereZe:e *e Y颵|Bɢ)V< ۿi)\Kidcnf<ɧVi?I? ?IE EE.E"E:*E n:VEـ4ZEa@a@a@a@@ @@/@A>A>ԉBDAT read: Rx Time:01:26:30.6547 TRx dataTimestamp_ set to:1764897995.237088Vchecking for verbose setting acknowledgmentA؟AI)IIOuX>ԹA1A5@AB=>B=CB=IB=uuBB9B9B9B=\;B=bE ] Vchecking for verbose setting acknowledgmenttL#,$C2LA>>>T>>IX=ٱ>$ =>H,?`(_ݿ? Ij?@h?@?ٽꄡ?@J?i>>I>\];>‘CYFuByF,IiMb@Mb@Mb@ 9~jt?:v?Mb`Y>yT=&A,A  A)37AY)AbDEVDE8yU%U?=ٔ]1Q-e>9m"?Yu"?=uLEy}ȬDȼE>ԹQ 54T?Q 9M4c)mBYMg>Q EU;yU?Q IU:@DI8DAT read: $Error in header *Received a bad header MVchecking for verbose setting acknowledgment1 L#,2LA2>2B>2=ٱ2=2HX?@Eܿs? ???R??i2>I2 ];2CY^uBybI dd df<bDj VDj8yrsʽ%rR=ٔv~ Q-v>9v ?Yv ?=zLEyzЬDzEz>|Q 54~?Q 94~fa)~eBY y ?Q I :@~DI~:i~:~4yBɮFAf1f1f9g9f9f9rf9eAreAZeA:eA*eAu|Bɢu)q uiq)}uyyyi}$F]8d<ɧо駅 i|I| |I$@ @@'1@%Vchecking for verbose setting acknowledgmentAE؟AAIQIqO}7>qD?AzD?AE EE0E"Ea;*E:VE4ZEa@a@a@a@ BDAT read: Rx Time:01:26:31.6545  TRx dataTimestamp_ set to:1764897996.245307 Vchecking for verbose setting acknowledgmentԙ uL#,3LA;ɰRw>Ru>R =ٱR` "=RH?`"ܿ? IR];RCYv|uByzIbDB>BCBIBuBB8 =BBkDB;BcEiVD8y}e˽%}3=ٔ} Q->9"?Y"?=LEy٬D1E>Q 54饙?Q 94^)[BYyk?Q I:@DI:i:ĉ4yɮ ]GA f)f)f)g)f1f1rf1e1re1Ze9:e9*e9颅|BɢSp) 4i)%Ɗ顩iYgb<ɧ%駵GɼitIt tIԙVchecking for verbose setting acknowledgmente @  @ @ /@ A xAzA A .AI bEM4jEM4rEMˁ/E  E E /E "E ;*E VE J4ZE BE @L#,,3LABm>B>BK=ٱB"=BH ?ۿۼ??@? ?(8?Y?iBm>IB];BCYJ]uByJI8DAT read: $Error in header *Received a bad headeriMb@Mb@Mb@ 9\(\?{Gz?~jth?Y>yף<D;'Ad-A A)b6AY*AVchecking for verbose setting acknowledgmentbDοVD~8y-%-P=ٔ56Q-5>9U ?Y] ?=]LEy]D]׼E]>aQ 5m4ex?Q 9m4e\)eTBYu*>Q E;y?Q I:@eDIe2;ie;e4yBɮ HAEfffgffrfe reZe:e*ee|Bɢe1)a eia)e^iiim4Vz=`<ɧp駕ONiI I#2;!@! @)@-&1@)A)I9IIOU>- Vchecking for verbose setting acknowledgment1 EL#,ӣF3LAYDuByII%<)%R=-AA)bD5VD58yE%E[=ٔEQ-E>9IYI=MLEyMDMEU>YQ 5]4]f?Q 9e4]@[)]MBYayaQ Ie:@]DI]:i]u:]4yiɮujHAqB*** querying acoustic contact ***iifffgffrfereZe:e*eE} E}E}0Ey"E}V:*E}:VE}4ZEya@a@a@a@额|Bɢ ) i)N#顡iR[A^<ɧ%駭HziEIE EI1BDAT read: Rx Time:01:26:32.6545 TRx dataTimestamp_ set to:1764897997.253387Vchecking for verbose setting acknowledgmentaX<B>BBIBtBB7 =BBB;BkcEq@q @q@u?0@yԁ U w>U CA I I O > ݂G /{A! M #_9U /{AYU ZA= Vchecking for verbose setting acknowledgmentL#, |`3LA@06U>6<>6 =ٱ6>=6H?`Aڿ 8?@[? (?}?`8?X?i6U>I6];6CY>%uByBIiMb@Mb@Mb@ 9?y&1?~jtx?Y>y`e<;&A,A M A)5AYf*AbDVD8yv%?=ٔ nQ- >9 Y = LEy DKXE>!Q 5%4%ƙ?Q 9-4%]Y)%GBY-(>Q E- ;y-Z>Q I-:@%DI%V:i%:%4yqɮ}HAyfffgffrfereZe:e*e5|Bɢ57)1 =Vi9)=z99i=*OEƮ[<ɧE=EiMߕIIIMߕ mߕIqyyyyԉE EE.E"E;*E:VEـ4ZEBEa2EaJE;a:E;aԹ8DAT read: $Error in header *Received a bad headerVchecking for verbose setting acknowledgment@ @@1@A>A? A ؟AI I O% >L#,Vz3LA2J>2>2=ٱ2=2H`y#?ٿ5=?_?L?I2];2CYNuByRIbDZVDZ8`yfv%fa=ٔf4Q-f>9j"?Yj"?=jLEyjDnEn>pQ 5v4rЙ?Q 9v4rW)rABYtyv>Q Iv:@rDIr:ir:r4y~Bɮ~IAmEfffgffrfereZe:e*e|Bɢ %) i)TiL1EY<ɧR_~(iI IVchecking for verbose setting acknowledgmentm!@i @q@u/@qAIIOE>E EE-E"E:*E:VEt4ZEa@a@a@a@I  BDAT read: Rx Time:01:26:33.6545  TRx dataTimestamp_ set to:1764897998.260445 Vchecking for verbose setting acknowledgmentL#, 43LA!B>BCBWIBwtBB5 =BBmDB];BcEB]CB]CBYB]8 =B]8 =C]\5YtByI )) E9Y=LEyDE>Q 54ޙ?Q 94U):BYyQ I;@DIY;i;4yɮIAfffgffrfereZe:e*e|Bɢ) i)dȼiHU<ɧVm =i3I3 3I I @ @@@Vchecking for verbose setting acknowledgmentqIIO>Ա E  E E .E "E :*E |:VE ـ4ZE BE %5:>=ٱ=H`am?aؿl?~?2?`1 ?`9?i4>I];CYtBye8DAT read: $Error in header e*Received a bad headeryiMb@Mb@Mb@ 9~jt?{Gzt?{Gz?Y>yף;#<'Ah-A "!A)4AY*AVchecking for verbose setting acknowledgmentbDuVDu8y :%K=ٔ}Q->9Y=LEy DYE>Q 54陊?Q 940T)5BY>Q E ;y>Q I;@DII:i;#4yɮIAf1f9f9g9f9f9rf9e9reAZeA:eA*eA颭y|Bɢz&#) zi)LԼ顱iEWXR<ɧ4-Qi~I~ ~Iԩ%'@! @!@!@!II)O=r> Vchecking for verbose setting acknowledgment qL#,3LA2*>2>2,=ٱ2!=2H?@׿qз?`? ?It ?`?i2*>I2];2CY:tBy:IbDFVDF8yJ"Z%Np=ٔNCQ-j?9hYh=jLEyjDnEn?pQ 5v4r6?Q 9v4rR)r1BYxyz>Q Iz;@rDIr:irk:r"4y~Bɮ~tJA~EB*** querying acoustic contact ***iif!f!f)g)f)f)rf)e)re1Ze1:e1*e1ep|Bɢe_1)a eii)mD߼iiimBu \O<ɧuuB=ciuyyI} }IE] EYE]/EY"E]T;*EYVE]J4ZEYam@am@am@am@!@ @@0@IyIO=uBDAT read: Rx Time:01:26:34.6544 uTRx dataTimestamp_ set to:1764897999.268635uVchecking for verbose setting acknowledgmentAAAAB>BB>IBOtBB4 =BBnDB§;BEdE1Y  Vchecking for verbose setting acknowledgmentL#,3LAfł>fV>f٤=ٱf=fH ?7)׿ fŶ?I?0?{ \ǣ? W?ifł>If-];fCYntBynIIr<)ra=iMb@Mb@Mb@ 9(\?~jt?{Gz?Y>yD<~(A9.A "A)5AY+AAAbDVD8yF%8=ٔQ->9Y=LEyDE>Q 54r?Q 94Q)-BY>Q E;y>Q I;@DI;i;4yɮJAf)f)f)g)1f1f1rf1e9re9Ze9:e9*e9md|Bɢm )i mii)uqqiu^?}lJ<ɧ}}yi}.-yI.- .-I @ @@0@I!I1OE0>Ee EeEe,Ea"Ee:*Ee:VEeg4ZEaBEeG82͹>2=ٱ2=2H? 8ֿ?? o?@@e?R?i2q>I2];2CYNtByR{IbDZVDZ8ybD%b^=ٔb0Q-f>9dYd=fLEyf"DjUEj>lQ 5r4n ?Q 9r4nO)n)BYpyr>Q Iv;@näDIn;in;n:4yzBɮzJAzEfffgffrfe!re!Ze!:e!*e!UZ|BɢU<.)Q UiQ)|ie<F<ɧ̧Dm@AzDm@AE} E}E}/Ey"E};*E}z:VE}J4ZEya@a@a@a@ BDAT read: Rx Time:01:26:35.6543  TRx dataTimestamp_ set to:1764898000.276478 Vchecking for verbose setting acknowledgment M#,xz4LA2 >2l>2QE=ٱ2~=2H1?@տ?? ?/o??i2 >I2p];2CY^tBy^pIbDhVDhyv:%vH=ٔvtQ-v>9xYx=zLEyz*DB=>B9B=%IB=&tBB9B9B=mDB=;B={dE^ɼE>Q 54?Q 94M)%BYy5>Q I=;@ȤDIeQ E  E E .E "E V:*E :VE ـ4ZE BE 9&=>?>>i=ٱ>=>H#?`Oտ:?@m?&?&aɱ@xӢ?@?i>&=I>e];>‘CYNtByNrI PPi]Mb@Mb@Mb@YYYY Y9]x&?{Gz?:v?Y]7>y]ף<]T9Y=LEy3D ̼E>Q 54&?Q 94gL)"BY>Q E;y>Q I;@ͤDI:i:4yɮbKAfffgffrfereZe:e*eC|Bɢ{4) i)%O !!i%5- =<ɧ-¿-i-411I54 54I1ԉ!@ @@4@A.AI!&5LCommunications Fault in component: DATI1OEQ>uPowering downiyIyyyԱ 0M#,/I4LA.=.H>.T=ٱ.=.H@0.?ֻԿ ?`? U@?@F o簿ע? ?i.=I.k];.CYBtByBaI`bDJVDJ8yf%jW=ٔjQ-j>9n ?Yn ?=nLEyn:DrмEr>tQ 5v4v1?Q 9z4vJ)v BYxyz>Q Iz;@vҤDIvC:ivq:vp4y~ēBɮLAEB*** querying acoustic contact ***iif!f!f!g)f)f)rf)e)re1Ze1:e1*e18|Bɢh)1) i) L  i 3Ҽ7<ɧpϿpD9D==iMQqIu }IyEm EmEm1Ei"Ems:*Em:VEm-4ZEia}@a}@a}@a}@)@) @)@-/@)A=؟AIAIQO}X>B!A%<B=>B9B=IB=tBB=5 =B9B9B=<;B=dEԁԡ ZM#,W c4LA6v=6>66=ٱ6=6HJ? X Կ r3?@=?@mZ? '?@H?i6v=I6];6CYRztByRYIi-Mb@Mb@Mb@)))) )9-J +?L7A`?Mb?Y->y-+=-<- *A- /A -;%A)))Y-,AbDEVDE8yUB%UB=ٔ]CQ-]>9]"?Y]"?=eLEyeCDeżEe>iQ 5u4m>?Q 9u4m7Iy)mBY}t>Q E};y>Q I;@mפDIm0;im0;m4yɮ6LAfffgffrfereZe:e*e,|Bɢ+) 1i)i1/^1<ɧܿ駽$iI IM@I @I@M/@IԩbEـ4jEm4rE١/E EE.E"El;*E|:VEـ4ZEBEbF ԄM#,|4LA2C=2%>2t=ٱ2 V=2H@d?ӿ`R?? r?呿`j@?@?i2C=I2];2CYBtByB_IIF<)FbDJEVDJ8yR}<%RV=ٔVQ-V>9TYT=ZLEyZJDZϼEZ> Q 5 4 J?Q 94 G) BYy>Q I;@ ܤDI :i : 4y!ɮ% LA!fAfAfAgAfIfIrfIeIreIZeQ:eQ*eQ} |Bɢ}O 1) pi)顁i,A,<ɧ駕Ժi<I< <I- @1 @1@5/@1AI&NClearing failed state for component DATq IO>>1DQzDU?AE  E E ,E "E :*E k:VE g4ZE a @a @a @a @Y l%M#,4LARǮ=RF>Rph=ٱR-C=RH }?ҿ@῰?!?@ˉ? 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KM#,IL7LA6)@6u=6wٱ6t=6H;?fƋ`쳮?s?@.?`̢?s?i6)@I6'];4YNzsByRIbDZVDZ8yb=%b`=ٔbƻQ-f>9f ?Yf ?=fMEyfDjEj>lQ 5r5n쓛?Q 9r5n1)nBYpyr!Q Iv;@n]DIn;in;nJ5yzؓBɮzPAzEfffgffrfe!re!Ze!:e!*e%`RAUzBɢULR[)Q UiQ)]$YYi]@μeYpͻɧe]e{iet5iiImt5 mt5IiI)$@ @@2@A>A>!A؟AI)IIOUT>E EE-E"E:*E:VEt4ZEa@a@a@a@QBe >Be CBa Ba Be 8 =Ba Ba Be .;Be eEy HM#,&7LAV)G`l R9 Y *OA5K@5^I=59bٱ5=5H? { (?Z?+?@Z?@+?i5K@I5];1YksByIbDVD8y %<=ٔQ->9"?Y"?=MEyD ̼E>Q 55?Q 952)BY y ޼Q I ;@cDI;i;PN5yɮQAf9f9f9gAfAfArfAeAreAZeI:eI*eIa额zBɢ K) i)w顡ixɼɧj駭i<I< <Im @q @q@u/@yԁAIIO l>ԩE  E E .E "E *E |:VE ـ4ZE BE %5y5P5D5*A51A 59.A)59.A1Y5=.A AE4=bDMٿVDM8y]X=%]Q=ٔ]̻Q-e>9aYa=eMEye'Dm|Em>qQ 5}5u?Q 9}5uy2)uBY}>Q E};yQ I;@uhDIu ;iue ;uQ5yɮPAfffgffrfereZe:e*ezBɢS) i)>iļ ɧKi:NI:N :NIԱu"@q @q@q@qAIIOK> 9 sM#,P7LA;ɰ2@2<2Sٱ2=2H? Ŝඬ@r?? ?@V? ?i2@I2<];2CY:sBy>IbDFƿVDFw8yN<%NW=ٔR޻Q-R>9PYT=VMEyV/DVEV>XQ 5^5Z?Q 9^5Z2)ZBY`ybнQ Ib;@ZmDIZ;iZn;ZU5yfړBɮfPAfEvB*** querying acoustic contact ***ititfxfxfxgxfxf|E EE,E"E:*EAr:VEg4ZEa@a@a@a@rfereZe:e*ezBɢ /O)  i ) - i$=ɧ=i=t!i=99I= EIA!@ @@@AzAzABA<B >B CB B B 7 =B B B ;B eEBCBCBB8 =B8 =C75AIIO%M>9ԁ 0M#,jj7LA0F@Fby94+A /A),AYf.AbD׿VD8y ۻ% 5=ٔ #Q- >9Y=MEy8DE%>!Q 5-5%2˛?Q 9-5%d3)!Y5>Q E5;y5jQ I5;@%rDI%;i%;%Y5y9ɮEPAAfafafagafafirfieireiZeq:eq*eq额zBɢhhM) ޿i)3顡iw)5.ɧͰ駵pinIn nIԉE @A @I@I@IE EE-E"E;*E]t:VEt4ZEBE8NԹ WM#,7LA:\L@:4;:߼ٱ:=:H?p~ z? ?M@ߛ?4? ?i:\L@I:x];:CYBvsByBIIF=)F=HJAAbDN VDN8yVZ;%Vd=ٔZQ-Z>9XYX=ZMEyZ?D^;`E^>dQ 5f5f0כ?Q 9j5f3)fBYhyjQ Ij;@fwDIf:if:f#\5yrܓBɮrQApfffgf f rf e re Ze :e*e=pzBɢ=PbY)A E#߿iA)E7ªAAiEжM>?ɧMU7ᐾiUQQIU UIY@ @@0@IIO>DzD@AE EE.E"E:*Ee:VEـ4ZEa@a@a@a@A B >B CB IB sBB 8 =B B B &;B eEAM#,"o7LA2a@2@2^ٱ2<=2H\?fi?@[q?'9? 6?>?i2a@I2];2CYR}sByRIbD^VD^8yfr<%fH=ٔfQ-f>9hYh=jMEyjHDj׼En>pQ 5v5r䛊?Q 9v5rg4)pYtyvHQ Iv;@r|DIr:irk:r_5yxɮ~PA|f!f!f!g!f!f!rf!e)re)Ze):e)*e)]^zBɢ]P)Y ]7ܿia)eԡaaie&mRɧmm˔imA~qqIuA~ uA~Iq @ @@j0@A>AIqIO=IyE  E E 0E "E :*E 1:VE 4ZE BE %5yMmIIM0A I)IIYM=.AbDeVDe8yu%u@=yٔ}ŻQ->9Y=MEyPDMռE>Q 55N?Q 955)Y>Q E;y$ Q I;@DI;i<;lc5yޓBɮ'QAEfffgffrfereZe:e*e LzBɢ 0;O)  8ۿi )VicgɧKg i!I% %I!@ @@Y1@IaIqO}>ԩ SM#,_%7LA2G@2@@2+ ٱ2m=2H?`?1ڙ@?@zꢿ4?rX?@?i2G@I2];0Y>sBy>I @@bDJVDJ8yRj=%RY=ٔR5Q-R>9TYT=VMEyVXDVYټEZ>XQ 5^5Z?Q 9b5Z5)XY`ybQ*Q Ib;@ZDIZ;iZ;Zf5ydɮjPAhvB*** querying acoustic contact ***ititfxfxfxgxf|f|rf|e|reZe:e*e-BBIBsBBBBB];BeE1e DAT read: } VDAT read: Teledyne Benthos DAT-900 Series Y vM#,7LA$ɰ$b@b"@b!ٱbq=bH?`~?'@G1?䢿?剣?`?ib@Ib];bCYvsByvIi}Mb@Mb@Mb@yyyy y9}V-?Zd;~jtxY}h>y}y}Ļ}*A}/A y)yyY}-AbDVD8yr<%;=ٔ$Q->9Y=MEyaDļE>Q 55?Q 956)BY>Q E;y;Q I;@DI:ia:j5yɮPA1fffgffrfereZe:e*e(zBɢ-I)  ӿi )*Si32ɧW9iKIK %KI!Eu EuEu/Eq"Eul;*Eux:VEuJ4ZEqBEubFԉԱ hN#,-8LA2@2O@2ٱ2*=2H`?'?$֣c?#? ?\?i2@I2-];0Y:sBy>IbDFVDFȰ8yN&?%N\=ٔRQ-R>9PYP=VMEyVhDV%EV>XQ 55Z?Q 95Zo7)ZBY y ]FQ I ;@ZDIZ9ԹEu EuEu.Eq"Eu:*Eu|:VEuـ4ZEqa}@a}@a@a@B >B CB IB sBB 9 =B B lDB ;B fE BN#,A8LA2cB@2;@2t:ٱ2=2Hr??ꤿ8? j??j?i2cB@I2T];2CY:sBy:IIB<)B=bDF)VDFҰ8yN=%NK=ٔRՔQ-R>9PYP=RMEyRqDVۼEV>XQ 5^5Z)?Q 9b5ZS8)ZBY`yb}QQ Ib;@ZDIZU;iZ;ZKq5ydɮfPAhfxfxfxgxfxfxrfxe|re|Ze|:e*e颭zBɢOTO) Ϳi)h顱i𺛼ɧ`ipIp pI"@ @@/@A.AI!I1OMR>I bEـ4jEȂ4rE5/E  E E 0E "E &:*E ~:VE 4ZE BE j;ym}mm *Am0A i)m*AiYmp-AbDVD8y=%8=ٔQ->9 ?Y ?=MEyzDE>Q 558?Q 95Q9)BYR>Q E:y?SQ I;@DI;i;*u5yBɮnPAEf!f!f!g!f!f!rf)e)re)Ze):e)*e1]yBɢ]:L)Y eKɿia)e(aaie=muɧmmcimqyI} }IyQ- @) @)@-/@)A1A5>%:DAT read: MF Frequency Band -vDAT read: Directional Acoustic Transponder version 8.15.0 5BDAT read: Dec 5 2025 01:26:51 AM؟AyIIO^>ԩ N#,lS8LA6@6j@6-ٱ67i=6H:?Ka? D`@S?r졥? (??i6@I6b];4@YBsByBIbDJ(VDJѰ8yR2=%V_=ٔVQ-V>9Z"?YZ"?=ZMEyZDZaEZ>\Q 5b5^GE?Q 9f5^8:)^BYdyfgQ If;@^DI^P:i^\:^]x5yhɮj,PAlzB*** querying acoustic contact ***ixixfffgffrfe re Ze :e *e =yBɢ={S)9 =.ſiA)ExAAiEJM೼ɧMMoiMߧQQIUߧ UߧIQEe EeEe-Ea"Ee:*Ee|:VEet4ZEaam@am@am@am@@ @@/@ԩB]<A]<Bu>BqBuIBusBBu: =BqBqBu;Bu5fE 57x>1AIIO=>pGX9Y3UAyu|n?uojA N#,Qm8LA:\H@:A@:7J2ٱ:&=:H? 3?`\@d?~yG? ?P?i:\H@I:2];8Y^sBy^I ``liMb@Mb@Mb@ 9n?Q{GztY>yuף ) *AYG-A <bDVD8y%8=ٔ:Q->9Y=MEyD뾼E>Q 55T?Q 95W;)BY9>Q E:yJkQ I;@DI:i:>|5y Bɮ NPA f)f)fgffrfereZe:e*eyBɢ[/G)  -ÿi))-]ý))i55=ɧ==i=W99I=W =WIA Em EmEm.Ei"Em:*Em&p:VEmـ4ZEiBEmO-Y ̳!N#,#8LAɰY sBy IbD%VD%8y- <%-V=ٔ5Q-5>919Y9=EMEyEDEEM>IQ 5U5Ma?Q 9U5MO<)MBYYyYQ I]<@MDIM:iM+;M5yaɮe"PAifffgffrfereZe:e*e yBɢR) i)}ŽiKÊ%t̼ɧ%%i%))I- -I1I @ @@0@AyAzAyAqAIIO%M>DyzD}?AE EE0E"E:*E:VE4ZEa@a@a@a@LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600ԩBM >BI BM IBM sBBM 9 =BI BI BM ;BM ,fEB CB CB B 9 =B 9 =C ʏ,5 'N#, 8LA2@2;@2'Aٱ2> =2H`?"R?6ߩn?}"?1q?"?i2@I2H];0YNsByRIbDZڿVDZ8yb5=%bR=ٔbxQ-b>9dYd=fMEyfDj{\Ej>hQ 5r5jLo?Q 9r5ja=)jBYpyr_Q Ir<@jDIj ;ij;j5yxɮzOAxfffgffrfereZe!:e!*e!MyBɢM+O)Q U-iQ)UǽQQԙi冼zؼɧ0i(I( (I@ @@0@AI)I9OER>E  E E /E "E :*E ҆:VE J4ZE BE 399Y9=EMEyEDE&EE>IQ 5U5M}?Q 9U5M>)MBYU>Q E]:y]ۂQ I]<@MDIM?;iMv;M5yeBɮeOAm¥EfffgffrfereZe:e*e=yBɢE!H)A E#iA)EzʽIIiMXUPɧUAeh¾iex0iiImx0 mx0Iy @  @ @ p4@ !AyIIO^>Qy 4N#,B8LA2@20@2gJٱ2 =2H5?P?o*Ny?@@?dڢ?w?i2@I2];2CY:sBy>IbD^VD^8yf=%fQ=ٔfQQ-f>9hYh=jMEyjDn̼En>pQ 5v5r?Q 9v5r?)rBYtyvԇQ Iv<@rDIr:ir:r 5y|ɮ~OA|B*** querying acoustic contact ***iif!f!f!g!f!f!rf)e)re)Ze):e)*e1EE EEEE-EA"EE:*EE|:VEEt4ZEAaM@aM@aM@aM@}yBɢ}N)y }$iy)̽顁i}ɧh駍ƾitIt tIQ5"@1 @1@54@1A=>A=>AAB>BBIBtBB; =BBB;B@fEAԁIIO=>Ա ;N#,8LA2꡽@26@2lQٱ2Is=2H?X?`R?>8 3?@??i2꡽@I2];0Y:sBy:Ii-Mb@Mb@Mb@)))) )9-|?5^?i|?5{GzY->y-q-#)) ))-O)A)Y-,AbDEVDE8yU =%UB=ٔUEQ-]>9YYY=eMEyeDeoܼEe>iQ 5u5mN?Q 9u5m@)mBYu(>Q E}:y}Q I}<@m¥DIm;im;m5yBɮyOAåEfffgffrfereZe:e*eqyBɢG) կi)Ͻi\u!ɧX!˾itIt tIԱ!@ @@/@EU EUEQEQ"EU:*EU:VEQZEQBEU6 9 BN#,/k9LA29M@2F@2Yٱ2=2H(??S9 ÿj?`5;?Ӣ? ?i29M@I2];0YNtByRI TT V=V<bDZVDZ8ybR=%bT=ٔf똻Q-f>9dYd=jMEyjDjۼEj>lQ 5r5nE?Q 9r5n.B)nBYtyv放Q Iv<@nȥDIn:in:n5yxɮz(OAxfffgffrfe!re!Ze!:e!*e!^yBɢH) ᪿi) 6ѽiynCɧ{+Ͼi%!!I% %I)@ @@@IIOA>9DQzDU@AE] E]EYEY"E]:*E]~:VEYZEYae@am@am@am@ *entering command modei B >B CB 2IB :tBB B B B թ;B ZfE+HN#,E"9LAɰ; YtByIbD5VD5İ8y=l%EC=ٔEQ-E>9IYI=MMEyMîDMEM>QQ 5]5U]?Q 9e5UC)UBYayaQ Ie<@UͥDIU+;iUY;UŔ5ymBɮmQOAuĥEfffgffrfereZe:e*eJyBɢH) 8i)zdӽiUf]Q ɧ]9]Ӿi]aYaIea eaIaDAT read: &DAT read: user:1> (setting verbose to 3 @ @@@IYIO J>A Em  Em Em 2Ei "Em V:*Em i:VEm 4ZEi BEm 9  TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 27440`ZNN#,r3<9LA:@:S@:_`ٱ:'=:H}?c?ſ`d? @I?|?\?i:@I:];:CYNtByNIi%Mb@Mb@Mb@!!!! !9%:v?T㥛 y&1|Y%>y%%`%O)A%9.A %/A)%~(A!Y%,AbD=VD=8yMR?<%MI=ٔUfQ-U>9QYY=]MEy]ˮD]iME]>aQ 5m5eœ?Q 9m5eD)eBYus>Q Eu:yuQ Iu<@eӥDIe~ ;ie ;eT5yyɮ}>OAfffgffrfereZe:e*e6yBɢF)  i)ˎսiр_ɧ駭׾i^ I^ ^ IA@A @A@A@AIIIO#>&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8qԙ >UN#,?U9LAYrtByvIIz=)z=z@AxE% E%E%.E!"E%:*E%|:VE%ـ4ZE!a-@a-@a-@a-@bD~VD~8E&DAT read: user:3> MTDAT read: TxPower | 8 (Max) M.set transmit power to 8M6setting local address to 11ye<%mI=ٔuQ-u>y9yYy=MEyԮDE>Q 55Ϝ?Q 95TF)BYyQ I<@إDI;i;5yɮOAB*** querying acoustic contact ***iifffgffrfereZe:e*e "yBɢ E)  .i ).׽iX Gɧ 8:ܾi!!!I%! %!I!BA<B>BCBDIBYtBB: =BBBߩ;BffE@ @@@IQIaOm>ԡ&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11 ZSetting time to: 1:27:1 And date to:12/5/2025A h[N#,Qo9LA2@2@2^hٱ2g=2HB]??JįRȿh?`XJ?@?E?i2@I2];2CYB'tByB&Ii=Mb@Mb@Mb@9999 99=$C?Q뱿y&1Y=>y=\=`e9=h-A 9)99Y=+AbDU#VDUͰ8ye[=%eJ=ٔeQ-e>9iYi=mMEymܮDuq[Eu>yQ 55}ݜ?Q 95}G)}BY'>Q E:yʹQ I<@}ޥDI};i}i:}g5yBɮNAfffgffrfereZe:e*eyBɢ֕D) 휿i)ٽiGP{"ɧe բil! I l! l!I @ @@/@A>AI1IAM&DAT read: user:5> UNDAT read: Fri Dec 5, 2025 01:27:01 UfLocal DAT time set to Fri Dec 5, 2025 01:27:01 ]2Acoustic response timeout]6setting remote address to 8O>bEjE4rE/E EE0E"E:*Exv:VE4ZEBEO-  TDAT read: RemoteAddr | 8  .set remote address to 8 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.6PbN#,곉9LA2-@2y@2Kkٱ2>=2HL? c?j!@ɿX?@/ t?@ ??i2-@I2];2CYv,tByv)IbD VD 8y-U<%5N=ٔ5`Q-5>9iYi=mMEymDuμEu>Q 55H뜊?Q 95I)BYyQ I<@DI;i4;5yɮNAf)f)f)g)f)f)rf1e1reQZeQ:eY*e]`I@q颥xBɢ)A) i) ۽顩i$IMM*ɧ-駵i^"I^" ^"Ie!@i @i@m0@iԩAIIOg>]&DAT read: user:7> eBDAT read: Tx time:01:27:01.6679 e$Ping request sent.eB CB WIB wtBB ; =B B B ݩ;B bfEm BG /{A u Fk9u /{AYu fA MzhN#,玣9LA2rM@2F@2oٱ2.=2H:??aʿ oG?-@=ޭ??`?i2rM@I2|];2CYB:tByB1I DDbDJVDJ8yz7 =%zN=ٔ~ Q-~>9Y=NEyD ټE > Q 55 w?Q 95 (K) BYyRQ I<@ DI * ;i 7 ; W5y%Bɮ-NA-ťEfIfIfIgIfIfQrfQ@U UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@U]pTransitioning to terminal guidance at range 47.299999 m @]1A]eYreaZea:ea*eeHI@颍xBɢE) i)ݽ顙i"Ci01ɧ駥]i#I# #Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251171= @A @A@M05@YA.AIIOeV>) m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503009E  E E 2E "E :*E :VE 4ZE BE 6yD9.A 9.A)&AY3+AbDܿVD8y`<%?=ٔQ->9 ?Y ?=NEyDE>Q 55X?Q 95 M)BYE>Q E:yѾQ I<@DI;i;5yɮkNAfffgffrfbf @1A  Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangee re Ze:e*e@6I@xBɢ<) i) )߽IQiU;]f9ɧ]] i]I#YYI]I# ]I#Iai!@ @@25@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962ԡAU؟AIiIO}> uN#,C9LA2ʛ@2@2Oxٱ2|=2H?\?@$( ͿU ? Ȕ`/? ??i2ʛ@I2B];2CY:KtBy:<IbDFVDF8yJn<%N^=ٔNûPQ-R>9R"?YR"?=VNEyVDVpEV>XQ 5^5Z9?Q 9^5ZN)ZBY`ybܾQ Ib<@ZDIZ;iZ;ZL5yfBɮf[NAfƥE%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006970Ee EeEe,Ea"Ee;*Ee:VEeg4ZEaam@am@am@am@qLu~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalB*** querying acoustic contact ***iiDAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFInitialize.FAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G Initialize.qGGqEgh7gh7FAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 61.073559 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.e!re!Ze!:e!*e% >I@uKtBOx)  i)-߽顙÷iIA1A5AAB=>B=CB=jIB=tBB9B9B9B=ȩ;B=NfEBBCBB; =B; =CÍl4 @ @@4@A.AIIOn>!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982I {N#,6"9LA2CA@2:@2H]|ٱ2ɬ=2H ?S?q@?ο`9 ?S@?̡??i2CA@I2`];2CYNPtByN?IIR=)Pi-Mb@Mb@Mb@)))) )9-l?#~j{GzY->y-㥽-#-~(A) - /A)))Y)bDVD8yB<%:=ٔQ->9 ?Y ?=NEyD ϼE>Q 55 ?Q 95P) BY>Q E:y/޾Q I<@DIA:i:5yBɮNAϥEh@hh;hL?higgjgrg}BereZe :e *e  I@5PtBɢ=߽)9 =$i9)=>߽9EiE89iE#I)ML? M(kpHeading = 0.800000IM; M(kiHeading = 0.004000M >IU@IUA e&Changing to mode: 15checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511233E EE.E"E;*E|:VEـ4ZEBEA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762988N#, :LArX@r@r(ٱr=rH??4@!п`.? Y?#??irX@Ir];rCYttByUIbD VD8y%C=%-R=ٔ-QQ-->95Y5=5NEy1=ܼE=>AQ 5E5E?-?Q 9M5ER)E BYIyMQ IM<@EDIEe:iE:E5yYɮ]@NAYhyhyhyhhiggjgrgereZe:e*eEJ@[>Ա[>"[@*[ֺ@QtBɢڽ) t =i)߽imz6iu qqIyIy`@  @ @ /@ I!I9OE>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015014E} E}E},Ey"E}l;*E}:VE}g4ZEya@a@a@a@ B- >B) B- }IB- tBB- : =B) B) B- ;B- 2fE9 ȈN#,$:LA2@2ه@2ٱ2=2Hi?_? &`п?d` _?`E?4?i2@I2];2CY:tBy:jIbDFVDF8yJ=%NT=ٔNwQ-j>9hYh=jNEylnEn>pQ 5v5r9?Q 9v5rT)rBYxyz[Q Iz<@rDIr:irh:r5y~Bɮ~MA~ХEh!h!h!h!h!i!g)g)jg)rg)e)re1Ze1:e1*e5 mJJ@[Q[Q"[Q*[Uz@iɢmս)i m=ii)m~߽qqiu64iuIyyIyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269010IuE R=M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519256E  E E /E "E :*E &p:VE J4ZE BE >ԡ I I O >7N#,O>:LA27@2T0@2ٱ2/=2HT?T?l {ѿ?@c ???i27@I2-^;2CYNtByRmI TTiUMb@Mb@Mb@QQQQ Q9U~jt?(\µ{GzYU>yUQU'AU,A Q)U &AQYUf*A m9Y=NEy ͼE>Q 55G?Q 95V)BY>Q E:yQ I<@ DI;i4:5yɮMAhhhhhiggjgrg~BereZe:e*eJ@[ >[ >"[ |@*[ 1@RtBɢԔս)! %z=i!)%_߽!!i%2i-))I)I1q8<@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770990ԩ^A>IIO> 'ڕN#,X:LA4<ɰ4<2@2@2ٱ2ZC=2H2??@}xҿ`H?`F?c? (?i2@I2o^;2CY:tBy>hIbDFVDF8yN%NZ=ٔRv Q-R>9PYP=RNEyTVnӼEV>XQ 5^5Z3T?Q 9^5ZX)ZBY`ybjQ Ib<@ZDIZ;iZ;Z5yfBɮfMAfѥEhxhxhxhxhxixgxg|BDAT read: Rx Time:01:27:04.1318  TRx dataTimestamp_ set to:1764898025.416642 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024157jgrgereZe:e*e`mJ@EE EEEE,EA"EEV:*EE:VEEg4ZEAaM@aM@aM@aM@[Q[Q"[Q*[U7@StBɢIֽ) =i)#E߽i̩0iisIIBAB>BCBIBtBB< =BBkDBB,fE"!2#@ @@/@@zA@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276372I ^A 6Ʌ>I I1 O] > N#,r:LAN3@N@N2ٱNkS=NHD?`|?@ҿn? vZ?%\??iN3@IN/^;NCYZtByZ{IiEMb@Mb@Mb@AAAA A9EB`"?Zd;O{GzYE>yEjAE &AEh-A A)AAYE*AbDmVDm8y}K=%}<=ٔe:Q->9Y=NEy޸E>Q 55ha?Q 95:[)BY4>Q E;yQ I<@DI?;i;5yɮjMAB*** querying acoustic contact ***iihhhhhiggjgrg~BereZe:e*e@J@[-4>[-4>"[-@*[- s@9=TtBɢUҽ)Y ]\=iY)]߽Yaiem.ieG\ iiIiIiqqqq%DAT read: 01:27:04.1318 LVL= 32752, 32753, 27954, 32755, AGC= 59, IDX= 273,-0.30, 2.168, 1.326,-2.550, 2.843, PHS=-0.573,-1.473, 0.846, RAW= 187.4, 11.8, CAL= 187.3, 14.5, ROT= 322.7, -14.5 5Ygot valid direction response: 01:27:04.1318 LVL= 32752, 32753, 27954, 32755, AGC= 59, IDX= 273,-0.30, 2.168, 1.326,-2.550, 2.843, PHS=-0.573,-1.473, 0.846, RAW= 187.4, 11.8, CAL= 187.3, 14.5, ROT= 322.7, -14.5 E= E=E=/E9"E=:*E=Ar:VE=J4ZE9BE=+S7Q@ >):@I!*?_N!4?|g?? J}?)G{SIm&iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i%@ @@/@ԑ  &DAT read: user:8>  BDAT read: Tx time:01:27:05.4679  $Ping request sent. I I O >BN#,ͭ:LA2H@2A@2ꃽٱ2/p=2H`Er?k ?5 Cӿ`]~?j iz???i2H@I2gT^;2CYjtByjIIv=)vp;bD~VD~8yU<%UC=ٔ]:Q-]>9YYY=eNEyae Ee>Q 55dn?Q 95])BYyIQ I<@DI:iG:5yɮCMAiiHz:LAj2B"j2B:j@Rj8f!4A@G6:{K_&@Bj~p0?!⿁=9?*jm&2jZj68@8mA<  B'@Jj1q:?v3鿅6x?j jvAi,Y?iY jBjjAjrj%Bzj+@ addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "i*i Added new target pos. range: 44.680988 m, bearing: 303.941681 deg, lat: 36.779559 deg, lon: -121.859743 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iDNOT Ignoring new targets: 44.68 m.2iPowering the camera and arming the capture device at range: 44.70 m.lFinal approach. Armed for intercept at range: 44.70 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i  ProNav pure pursuit: ac range: 44.680988 m, nav range: 41.386787 m, bearing: 303.888414 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 346.607894 deg, new cmd heading: 303.888414 deg. HeadingCmd: 5.303854 target range: 44.680988 and range: 44.70 m.h+@hh:h33?hgg9jgArgAeAreAZeA:eMYF@*eMޭ?[["[*[&@UtBɢ)ѽ) @=i)޽iE,i +f ) 33?  (kpHeading = 0.700000I: (kiHeading = 0.001000I+@I9'@ @@0@)u%=q}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249524E EE0E"E:*EM:VE4ZEa@a@a@a@B->B)B-IB-tBB)B)B)B-;B-)fEa ^A Iy I O >cN#,0b:LA :@:=@:ٱ:T}=:H\?@?Dӿ`g?j /? ?`?i:@I:4^^;:CYBtByFxIbDNVDN8yV%VW=ٔVF;Q-Z>9XYX=ZNEyX^E^>`Q 5f5bky?Q 9f5b_)bBYdyf} Q Ij<@b DIb:ib:b5ynBɮnMAnҥE:iDNOT Ignoring new targets: 44.68 m.2i"i *i   ProNav pure pursuit: ac range: 44.680988 m, nav range: 41.249168 m, bearing: 303.797857 deg, approach rate: -0.391912 m/s, LOS rate: -0.258748 deg/s, cmd heading: 303.888421 deg, new cmd heading: 303.797857 deg. %HeadingCmd: 5.302273 target range: 44.680988 and range: 44.70 m.h%8@h!h!h!h!g!g)jg)rg)e)re)Ze1:e1*e5?[Y[Y"[Y*[]&@颅VtBɢZѽ) ®=i)>޽顩iF*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500772ie? aaIm8@Iqq-'*@) @)@-/5@)@5>@5=ԙ^AQI1 IA OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752387bEU4jEU#4rEUɒ0E  E E /E "E D:*E :VE J4ZE BE 2ye½ee;%Ae /A e9.A)e;%AaYe)AbDVD8y=%;=ٔd;Q->9Y=NEy E>Q 55܅?Q 95b)BY>Q E;yQ I<@%DI:i:5yɮLA:iDNOT Ignoring new targets: 44.68 m.2i"i/*i/  ProNav pure pursuit: ac range: 44.680988 m, nav range: 41.089722 m, bearing: 303.699024 deg, approach rate: -0.365818 m/s, LOS rate: -0.227634 deg/s, cmd heading: 303.797853 deg, new cmd heading: 303.699024 deg. HeadingCmd: 5.300548 target range: 44.680988 and range: 44.70 m.h@hhhhgg!jg!rg%~Be!re)Ze):e)*e- ?[M>[M>"[Me@*[M @eXtBɢeDͽ)a e"=ii)mL޽iiim`(iuqqIu@Iy-,@) @)@-4@)iAIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005956^AiIIO>A wN#, :LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2565466b@6Z[@6Gvٱ6J=6H@+?? 䳿Կp4?、@ծ?\L?{?i6b@I6k];6CEB EBEB-E@"EB;*EBx:VEBt4ZE@aF@aF@aF@aF@YNtByNI PPTVAbDZVDZ8ybt<%bY=ٔf;Q-f>9dYd=jNEyhj мEj>lQ 5r5n?Q 9r5n=d)n!BYtyvQ Iv<@n*DInG:inS:n5yz BɮzLAx:i!%DNOT Ignoring new targets: 44.68 m.2i!"i-*i-=  ProNav pure pursuit: ac range: 44.680988 m, nav range: 40.951721 m, bearing: 303.614994 deg, approach rate: -0.366539 m/s, LOS rate: -0.223942 deg/s, cmd heading: 303.699034 deg, new cmd heading: 303.614994 deg. ]HeadingCmd: 5.299081 target range: 44.680988 and range: 44.70 m.h]@hahahahigigijgirgieqreqZeq:ey*e}? B>BBIBuBBBBB;BfEA]zAuMAڥ9zAYTA[["[*[ο@YtBɢ̽) >i)y^޽ i /&i4￉I@II1/@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509045^A Ii Iy O >ԩ N#,:LA2 @2U @2xypٱ2^~=2H`?@OY?y տ? ɣ ???i2 @I2];2CY^tBybIimMb@Mb@Mb@iiii i9mJ +?MbI +Ym>ymm94m#Aym9.A m /A)m &AiYm)AbDVD8yQ=%>=ٔ9l;Q->9Y=NEyE>Q 55ǜ?Q 95f)"BYx>Q E;yQ I<@0DI;iL;5yɮLAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 44.68 m.2i"i*i   ProNav pure pursuit: ac range: 44.680988 m, nav range: 40.792374 m, bearing: 303.518586 deg, approach rate: -0.370307 m/s, LOS rate: -0.224915 deg/s, cmd heading: 303.614995 deg, new cmd heading: 303.518586 deg. HeadingCmd: 5.297399 target range: 44.680988 and range: 44.70 m.h J@hhhhggjgrg/~BereZe!:e!*e%T?[x>[x>"[ڇ@*[ߔ@5[tBɢ5 Vɽ)1 5>>i9)=v޽99i=$iE8俉AAIEJ@IIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760488D=D4=E EE,E"E:*E?:VEg4ZEBE>A xAzA uAIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013531! VN#,;LAF@F@F%jٱFn=FH ??V沿3ֿ(? V??`?iF@IFR];FCYRtByRIbDZVDZ8yb;%bY=ٔbo;Q-f>9dYd=fNEydjEj>lQ 5r5nm?Q 9r5nh)n#BYpyrQ Iv<@n4DIn;in:n5yxɮzLAx:iAEDNOT Ignoring new targets: 44.68 m.2iA"iMry*iMryU  ProNav pure pursuit: ac range: 44.680988 m, nav range: 40.652405 m, bearing: 303.435692 deg, approach rate: -0.366972 m/s, LOS rate: -0.218082 deg/s, cmd heading: 303.518580 deg, new cmd heading: 303.435692 deg. ]HeadingCmd: 5.295952 target range: 44.680988 and range: 44.70 m.h]px@hahahahagagajgirgieireiZei:eq*eu ]@[["[*[.>@颥]tBɢ ǽ) !>i)+ݽ顩i."i#ڿ11I5px@I93@ @@@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264374E EE-E"ET;*E:VEt4ZEa@a@a@a@BBBIB8uBBBBB;BfEBCBBB< =B< =CǶ<5^A>iAE AII IY Om >ԙ fN#,(;LA2i@27c@2H|dٱ2gGe=2H?જ?`8l yֿ`?D`? ?`r?i2i@I2^;2CY:uBy:IIB>)B;bDFVDF8yN̪=%~M=ٔt;Q-%>9% ?Y- ?=-NEy- D5vļE5>aQ 5m5eE?Q 9u5ewk)e%BYy!Q I<@e:DIeLi)ݽ项isi0οIbk@I6@ @@@ԡu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769246D zD AAE  E E .E "E :*E :VE ـ4ZE BE G8BN#,B;LAY~uBy~IiMb@Mb@Mb@ 9J +?MbX{GzYyʽ#h-A ,A)Y(AbDVD8y;%8=ٔQ->9?Y?=NEyDE>Q 55?Q 95n)&BY>Q E;y>Q I<@?DI#:i::5yɮLA:i!%DNOT Ignoring new targets: 44.68 m.2i!"i-&}*i-&}=  ProNav pure pursuit: ac range: 44.680988 m, nav range: 40.337242 m, bearing: 303.255221 deg, approach rate: -0.390172 m/s, LOS rate: -0.221321 deg/s, cmd heading: 303.344383 deg, new cmd heading: 303.255221 deg. EHeadingCmd: 5.292802 target range: 44.680988 and range: 44.70 m.hE^@hAhAhAhAgAgAjgIrgM#~BeIreIZeQ:eY*e]ݑ @颅btBɢ!r½) )7>i)Kݽ顉iiwSĿI^@I58@1 @1@5/@9BDAT read: Rx Time:01:27:07.9300 TRx dataTimestamp_ set to:1764898029.197482checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022743^AM#>AUt>AU>) A ܏AI I O >Q N#,k\;LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272470E2 E2E2-E0"E2 ;*E2xv:VE2t4ZE0a6@a6@a6@a6@Bǵ@B@BUٱB`=BH ??`} ׿٦?`? ??iBǵ@IB];BCY%uByIbD-VD-8yUW<%]R=ٔ]m9]?Ye?=eNEyeDeiByA}<B>BCBIBMuBB; =BBjDB;BeEQ 55mɝ?Q 95mxp)m'BYyR!Q I<@mDDIm7;im;m5yBɮ]LAݥE:iDNOT Ignoring new targets: 44.68 m.2i"if*if  ProNav pure pursuit: ac range: 44.680988 m, nav range: 40.189877 m, bearing: 303.176070 deg, approach rate: -0.374585 m/s, LOS rate: -0.201930 deg/s, cmd heading: 303.255208 deg, new cmd heading: 303.176070 deg. HeadingCmd: 5.291420 target range: 44.680988 and range: 44.70 m.hQS@hhhhggjgrgereZe:e*e ; @ dtBɢ8K½) @>i!1)MxܽQQi]@}iĸIQS@I}9@y @@/@YDAT read: 01:27:07.9300 LVL= 32752, 32753, 26466, 32755, AGC= 57, IDX= 431,-0.18,-2.251,-3.137,-0.695,-1.703, PHS=-0.446,-1.389, 0.964, RAW= 186.6, 8.5, CAL= 186.5, 9.1, ROT= 323.5, -9.1  Ygot valid direction response: 01:27:07.9300 LVL= 32752, 32753, 26466, 32755, AGC= 57, IDX= 431,-0.18,-2.251,-3.137,-0.695,-1.703, PHS=-0.446,-1.389, 0.964, RAW= 186.6, 8.5, CAL= 186.5, 9.1, ROT= 323.5, -9.1 PDAT read: Bearing 152.4, -33.5 (Local) ~Local bearing/azimuth received: Bearing 152.4, -33.5 (Local) DAT read: Range 11 to 50 : 43.5 m (Round-trip 58.0 ms) speed 0.3 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.793739,-0.587336,0.158158]-Fpublishing direction and range infoyPg Pf?gu@\~>?Y.Bbg )9IZiʱv?(oP@>RP@ ">).@I"W$3?nv]?G*?  ?)Ie#i"ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.^A >ԙ A I IA Om >N#,v;LA@@*Hٱ0$W=H`n]?s?ǰA=ٿUd?@g`?$٪??i@I!];CYE-uByMI QQiUMb@Mb@Mb@QQQQ Q9UFx?y&1y&1YU>yU`彙U`eUj$AU+A Q)U;%AQYUz(AbDmVDm8y}Ԏ<%}7=ٔ;Q->9Y=NEy#D8CE>Q 55՝?Q 95s)Y>Q E;y-Q I<@JDI:i:5y BɮNLA &DAT read: user:9> BDAT read: Tx time:01:27:09.2679 $Ping request sent.?*je#2j"Zj{55@B*'@Jjݔy[8?!mo 6?j jAi 7Ѥ?i#GjBjj*jrj BzjF@ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 3.780092 s, deltaX: -1.200001 m, approachRate: -0.317453 m/s, rangeRepo size: 2  Added new target pos. range: 43.480900 m, bearing: 299.647007 deg, lat: 36.779559 deg, lon: -121.859743 deg, deltaT: 3.780092 s, deltaX: -1.200089 m, approachRate: -0.317476 m/s, posRepo size: 2 :iEDNOT Ignoring new targets: 43.48 m.2iA"iE*iIU ProNav: ac range: 43.480900 m, nav range: 40.022655 m, bearing: 303.086723 deg, approach rate: 0.000000 m/s, LOS rate: -0.201930 deg/s, cmd heading: 303.176060 deg, new cmd heading: 302.983268 deg. i]Ƹ]HeadingCmd: 5.288055 target range: 43.480900 and range: 43.50 m.h}7@hhhhggjgrg~BereZe:eE@*eqR?htBɢSý) E>i)Rܽ i i [I7@Iԙ@ @@/@  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251354^A }> Ae AIq I O >N#,;LAɰ;2@2ݷ@2 Bٱ2AP=2H9?`?X@BٿT@?` >?? 4?i2@I2,];2CY0uByIbDVD°8y;%?=ٔe;Q->9??Y??=NEy+DռE> Q 55 Vᝊ?Q 95 xv) Yya0Q I<@ PDI :i : C5y!ɮ%DLA!EB*** querying acoustic contact ***iAiA:iIUDNOT Ignoring new targets: 43.48 m.2iQ"i]^*i]^e ProNav: ac range: 43.480900 m, nav range: 39.854084 m, bearing: 303.010589 deg, approach rate: -0.429627 m/s, LOS rate: -0.194860 deg/s, cmd heading: 302.983257 deg, new cmd heading: 302.830345 deg. imNuHeadingCmd: 5.285387 target range: 43.480900 and range: 43.50 m.hu!@hqhqhqhqgqgqjgyrgyeyreyZe:e*e?EktBɢMR)I M_E>iI)MJDܽIIiUiUQYI]!@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503374E% E%E%,E!"E%;*E%:VE%g4ZE!a5@a5@a5@a5@ @  @ @ 0@ B>B CBIBauBB> =BBiDBq;BeE! ^A >A yAzA zAA- 0AI9 IQ Q O] >N#,$;LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7550826h@6a@6:ٱ6HT=6H@ ?@8\? d~ڿ?`X?`~?}?i6h@I6B];6CYB#uByBIbDJVDJ8yR %Rb=ٔR ;Q-V>9V?YV?=ZNEyZ2DZeEZ>\Q 5b5^Ꝋ?Q 9b5^y)^&BY`yf3Q If<@^UDI^;i^;^l5yhɮjwLAh:i|DNOT Ignoring new targets: 43.48 m.2i"i AG*i AG ProNav: ac range: 43.480900 m, nav range: 39.710861 m, bearing: 302.947737 deg, approach rate: -0.395541 m/s, LOS rate: -0.174204 deg/s, cmd heading: 302.830343 deg, new cmd heading: 302.704187 deg. igHeadingCmd: 5.283185 target range: 43.480900 and range: 43.50 m.h@h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5 Q?mtBɢ) 6>i)ܽiiPI@I!@ @@5@I^A?G?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008584E- E-E-1E)"E-;*E-:VE--4ZE)BE-bWN#,;LA0Y2uByII C=) p>iMb@Mb@Mb@ 9@5^I ?rh|~jtYb>yD;%A +A) &AY(AbDVD8yZ=%8=ٔQ->9??Y ??= NEy :D E>Q 5-5 ?Q 9-5L|)Y5>Q E5:y= 8Q I=<@[DI[;i$k;T5yE"BɮMMLAMޥE:iDNOT Ignoring new targets: 43.48 m.2i"i)?*i)? ProNav: ac range: 43.480900 m, nav range: 39.527988 m, bearing: 302.872408 deg, approach rate: -0.403852 m/s, LOS rate: -0.167125 deg/s, cmd heading: 302.704176 deg, new cmd heading: 302.552821 deg. i혻HeadingCmd: 5.280543 target range: 43.480900 and range: 43.50 m.h5@hhhhggjgrg(~BereZe:e*e ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259206ԉ颥qtBɢt½) A>i)۽顩iiu \qqIu5@Iy9@ @@%75@!Թ ^AE }> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511457EU  EU EU ,EQ "EU ;*EU :VEU g4ZEQ a] @a] @a] @a] @B! B% CB% IB% uBB% A =B! B% hDB% ^;B% eEAu ڗAIy I O >N#,_;LA(2ܿ@2(@2+ٱ2^P=2H??@š ۿQ?C|?1?9?i2ܿ@I2];2CY>GuBy>IbDJVDJ8yR]=%RZ=ٔV9V?YZ?=ZNEyZBDZaEZ>\Q 5b5^?Q 9b5^)\YdyfS=Q If<@^`DI^:i^;^5yhɮjKAh:i|~DNOT Ignoring new targets: 43.48 m.2i|"i8*i8 ProNav: ac range: 43.480900 m, nav range: 39.374790 m, bearing: 302.813692 deg, approach rate: -0.418364 m/s, LOS rate: -0.160969 deg/s, cmd heading: 302.552819 deg, new cmd heading: 302.434930 deg. iKHeadingCmd: 5.278485 target range: 43.480900 and range: 43.50 m.hZ@hhhh!g!g!jg!rg!e)re)Ze):e1*e5@?]ttBɢ])a eR>ia)ea۽aaieiAIZ@Iy9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762988ԩ^A>A>A> A I9 Ii O >N#,H;LA`YfQuByfIiUMb@Mb@Mb@QQQQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015351 Q9U@5^I ?Zd;~jtYQyUQUj$AQ U *A)U;%AQYU'AbDuVDu8y%<%>=ٔQ->9Y=NEyJDE>bE%t4jE%y4rE%p/E EE.E"EV:*Exv:VEـ4ZEBE9Q E:yi!)%Xڽ!!i%Û i-}O|QQIUQը@IQ@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267637^AI A Ay I I O >LO#,9pYp=rNEyrQDvrEv>xQ 5~5zA?Q 9]5zI)xYYy]BQ I]<@zkDIzKfi)'ڽi+" ivILŨ@I @ @@@Iu?uC=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520325E EE0E"E;*E҆:VE4ZEa@a@a@a@1M{ABm>BiBmIBmuBBiBiBmiDBm{;BmeEAR9{AYAq^A}>A AI I1 OM >Ա % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771093i6 O#,_/9^c?Y^c?=^NEy^YDbEb>dQ 5j5f ?Q 9j5fl)f%BYhyjxEQ Ij<@fpDIfP:if~:f35ypɮrKAt:i  DNOT Ignoring new targets: 43.48 m.2i"iU(*iU(% ProNav: ac range: 43.480900 m, nav range: 38.873661 m, bearing: 302.630964 deg, approach rate: -0.426659 m/s, LOS rate: -0.147168 deg/s, cmd heading: 302.182759 deg, new cmd heading: 302.067894 deg. i%-HeadingCmd: 5.272079 target range: 43.480900 and range: 43.50 m.h-ന@h)h)h1h1g1g1jg1rg9e9re9Ze9:eA*eE@L@autBɢuN)q uY>iq)}8Rڽyyi}biyvI ന@I 9@ @@@ԑBDAT read: Rx Time:01:27:11.7282 TRx dataTimestamp_ set to:1764898032.980279checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027879E EE/E"E:*Ex:VEJ4ZEBE<AxAzAI I! O- > VO#,2Hy1*A ~(A)Y3'AbDտVD8y]=%<=ٔI;Q->9Y=NEybDCܼE>Q 55+?Q 95)$BY@>Q E:yLQ I<@wDI:i1:5yɮKA:iDNOT Ignoring new targets: 43.48 m.2i"i*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275329 ProNav: ac range: 43.480900 m, nav range: 38.686501 m, bearing: 302.574454 deg, approach rate: -0.414318 m/s, LOS rate: -0.125702 deg/s, cmd heading: 302.067903 deg, new cmd heading: 301.954336 deg. i fHeadingCmd: 5.270097 target range: 43.480900 and range: 43.50 m.h@hhhhggjgrg~Be re Ze :e)*e5 AQ @}tBɢ}I5)y }1e>i)ٽ顁ii$|I@I a@a @a@a@a1^Ai  DAT read: 01:27:11.7282 LVL= 31600, 32753, 22514, 32755, AGC= 62, IDX= 427, 0.28, 0.150,-0.705, 1.685, 0.670, PHS=-0.418,-1.331, 0.971, RAW= 186.8, 7.8, CAL= 186.8, 7.9, ROT= 323.2, -7.9  Ygot valid direction response: 01:27:11.7282 LVL= 31600, 32753, 22514, 32755, AGC= 62, IDX= 427, 0.28, 0.150,-0.705, 1.685, 0.670, PHS=-0.418,-1.331, 0.971, RAW= 186.8, 7.8, CAL= 186.8, 7.9, ROT= 323.2, -7.9 E  E E E "E ;*E :VE ZE a @a @a @a @ PDAT read: Bearing 144.9, -34.7 (Local)  ~Local bearing/azimuth received: Bearing 144.9, -34.7 (Local)  DAT read: Range 11 to 50 : 42.0 m (Round-trip 56.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.793132,-0.593338,0.137445] Fpublishing direction and range infoy  %QVa?ryjȗ?Y (B p{ W ) >I ־i 5^ ux? YP@ 'g > YP@ 0 >) J@I 0 j ?/bP$? `_? @?) k I l$i 0  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Bi Bm CBm IBm uBBm ? =Bi Bi Bm P;Bm eEB- CB- CB-˔CB-? =B-? =C-+6ԑ I I O >;O#,'b!>)>=bDFVDF8yN=%N_=ٔRS;Q-R>9TYT=VNEyViDVEZ>XQ 5~5Z5?Q 95Z)Z"BYyOQ I<@Z|DIZv$0@ޝC%XQ@Jj0x? ki?j  jVAi _!?ihwjcBjb?jY j BrjuBzjVA@ addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 3.779858 s, deltaX: -1.500000 m, approachRate: -0.396840 m/s, rangeRepo size: 3  Added new target pos. range: 41.980122 m, bearing: 293.823089 deg, lat: 36.779557 deg, lon: -121.859759 deg, deltaT: 3.779858 s, deltaX: -1.500778 m, approachRate: -0.397046 m/s, posRepo size: 3 :i DNOT Ignoring new targets: 41.98 m.2i "i *i = ProNav: ac range: 41.980122 m, nav range: 39.615005 m, bearing: 301.259812 deg, approach rate: 0.000000 m/s, LOS rate: -0.125702 deg/s, cmd heading: 301.954330 deg, new cmd heading: 301.861254 deg. i9EHeadingCmd: 5.268473 target range: 41.980122 and range: 42.00 m.hET@hAhIhIhIgIgIjgQQrgQeqreqZey:e}E@*e}*?tBɢb>) n>i)_ٽi[LiⁿIT@I9@ @@0@ԁ(DAT read: user:10> BDAT read: Tx time:01:27:13.0679 $Ping request sent.I1 IA OM > eO#,c|y t T  O)A O)A) #A Y &AbD%VD%8y5b;%5A=ٔ5_;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250890DyD}<E EE-E"E ;*E:VEt4ZEBEO9Y=NEyrDhԼE>Q 558@?Q 95)!BY>Q E:y$WQ I<@DIl;i; 5y8BɮKAE:iAMDNOT Ignoring new targets: 41.98 m.2iI"iU7*iu7 ProNav: ac range: 41.980122 m, nav range: 39.420490 m, bearing: 301.206956 deg, approach rate: -0.455314 m/s, LOS rate: -0.124335 deg/s, cmd heading: 301.861249 deg, new cmd heading: 301.755014 deg. icHeadingCmd: 5.266619 target range: 41.980122 and range: 42.00 m.h$@hhhhgԱgjgrg}BereZe:e*e? tBɢ-6)1 5Uk>i1)5#ٽ11i50i=9AIE$@IA9@ @@00@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826 ^Ai Am >Am >I I O >9 P%O#,KIbDFVDF8yN%NT=ٔR;Q-R>9PYP=VNEyVyDV EV>XQ 5^5ZsI?Q 9^5ZC)Z BY`ybTZQ Ib<@ZDIZ.:iZ:ZE 5ydɮfKAdvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 41.98 m.2i|"i~2*i~2  ProNav: ac range: 41.980122 m, nav range: 39.256508 m, bearing: 301.165060 deg, approach rate: -0.453903 m/s, LOS rate: -0.116450 deg/s, cmd heading: 301.755025 deg, new cmd heading: 301.670885 deg. i UHeadingCmd: 5.265150 target range: 41.980122 and range: 42.00 m.h|@hhhhggjg!rg!e!re!Ze!:e)*e-`E?UtBɢUՑ)Y ]Td>iY)]^ؽYYi]bieNaaIm|@Ii9@ @@5@ Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754804E EE,E"E;*Eą:VEg4ZEa@a@a@a@B>B CBIBuBB> =BBhDB;BqeE9^AII)O5q>a i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007015w+O#,/9hYh=jNEyjDjEn>pQ 5r5rS?Q 9v5r)rBYtyv]Q Iv<@rDIr:ir:r5yz;Bɮ~KA~E:iDNOT Ignoring new targets: 41.98 m.2i"i<*i< ProNav: ac range: 41.980122 m, nav range: 39.074593 m, bearing: 301.121581 deg, approach rate: -0.431881 m/s, LOS rate: -0.103704 deg/s, cmd heading: 301.670878 deg, new cmd heading: 301.583514 deg. i=HeadingCmd: 5.263625 target range: 41.980122 and range: 42.00 m.ho@hhhhggjgrgereZe:e*e ^?}tBɢ}NԸ) l>i)Ngؽ顁iSi󀂿IMo@IQq)@1 @1@=$5@9ԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821DzD@AE EE0E"E ;*E:VE4ZEBEL I I O >a2O#,y 'A) &AY&AbD-"VD-̰8y=?=%=5=ٔEQ-E>9AYA=MNEyMDMEM>QQ 5]5U^?Q 9]5U:)UBYe%>Q Ee:yeaQ Ie<@UDIUE:iU:U5yiɮuxKAq:iDNOT Ignoring new targets: 41.98 m.2i"i*i뺝checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884 ProNav: ac range: 41.980122 m, nav range: 38.866417 m, bearing: 301.076635 deg, approach rate: -0.473303 m/s, LOS rate: -0.102736 deg/s, cmd heading: 301.583506 deg, new cmd heading: 301.493132 deg. i<HeadingCmd: 5.262048 target range: 41.980122 and range: 42.00 m.hb@hhhhggjgrg~BereZe:e*e`M?tBɢf) z}>i) ׽  i  siIb@I9@ @@1@^A>! m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763321E  E E 2E "E :*E :VE 4ZE a @a @a @a @A .AA A @AB >B CB IB uBB A =B B fDB ;B 5eEI! I1 OE >8O#,9R ?YR ?=VNEyVDV(EV>XQ 5^5Z=g?Q 9^5Z)ZBY`ybhQ Ib<@ZDIZ;iZ;Z5ydɮfQKAd:ixzDNOT Ignoring new targets: 41.98 m.2ix|"i*i ProNav: ac range: 41.980122 m, nav range: 38.704899 m, bearing: 301.047398 deg, approach rate: -0.461698 m/s, LOS rate: -0.083922 deg/s, cmd heading: 301.493129 deg, new cmd heading: 301.434411 deg. iHeadingCmd: 5.261023 target range: 41.980122 and range: 42.00 m.hMZ@hyhyhyhygygyjgrgereZe:e*e@ @tBɢF) T>i)?׽ii5ւ I MZ@I @ @@/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791Q^Ax>A! II Ii ԉ O >>O#,@6Oٱ63%=6H?Qu?#={? iƑ;?@??i6@I64];6CYBuByBIIF=)Fy # t %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266835  ~(A) &A Y 3'AbD5VD58yE9IYI=MNEyMDU%EU>YEe EeEe,Ea"Ee&:*Ee҆:VEeg4ZEaBEei;Q E:ykQ I<@}DI}:i}4:}5y=BɮKA:iDNOT Ignoring new targets: 41.98 m.2i"i⯺*i⯺ ProNav: ac range: 41.980122 m, nav range: 38.501701 m, bearing: 301.014535 deg, approach rate: -0.472912 m/s, LOS rate: -0.076886 deg/s, cmd heading: 301.434416 deg, new cmd heading: 301.368345 deg. i HeadingCmd: 5.259870 target range: 41.980122 and range: 42.00 m.hP@hhhhggjgrgP~BereZe:e*e_@tBɢC) >i)׽iƝܻiIP@Iԉ9@ @@@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518647^A>I I O >EO#,@=LA2&@2? @2Lٱ2$$=2H@$?`?R?g?o??i2&@I2];2CY>uBy>IbDF/VDFذ8yRo<%RT=ٔR:Q-R>9TYT=VNEyVDZ EZ>\Q 5b5^z?Q 9b5^)\Y`yboQ Ib<@^DI^::i^:^5yhɮjJAhvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 41.98 m.2i|"ih*ih ProNav: ac range: 41.980122 m, nav range: 38.321308 m, bearing: 300.988596 deg, approach rate: -0.473251 m/s, LOS rate: -0.068370 deg/s, cmd heading: 301.368355 deg, new cmd heading: 301.316232 deg. i@HeadingCmd: 5.258960 target range: 41.980122 and range: 42.00 m.hgI@hhhh!g!g!jg!rg!e)re)Ze):e1*e5m@]tBɢ]A)Y eh>ia)e&ֽaaieW׻imiiIugI@Iqԩ9@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770902Ee EeEe-Ea"Ee:*Eez:VEet4ZEaam@am@am@am@B{>BCB,IBuBBE =B1DBeDBب;BeE^A->I I! O= >1  BDAT read: Rx Time:01:27:15.5259  TRx dataTimestamp_ set to:1764898036.756460 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023756KO#,Na1=LA:@:@:ٱ:t"=:H Q?H%?@.S?`~?9dYd=fNEyjDjsEj>lQ 5r5nH?Q 9r5n׭)nBYtyvMrQ Iv<@nDIn:in:n}"5yxɮzJAx:iDNOT Ignoring new targets: 41.98 m.2i"i%;*i%;5 ProNav: ac range: 41.980122 m, nav range: 38.128456 m, bearing: 300.964354 deg, approach rate: -0.474821 m/s, LOS rate: -0.059989 deg/s, cmd heading: 301.316227 deg, new cmd heading: 301.267496 deg. i5ۺHeadingCmd: 5.258110 target range: 41.980122 and range: 42.00 m.hoB@hhhhggjgrgereZe:e*e @tBɢ΂) %V>i!)%9ֽ!!i%:(ѻi-5))I-oB@IQ9@ @@/@I=8>=a==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275022bE4jEm4rEJ0E EE.E"E*E|:VEـ4ZEBE6 ߮RO#,@K=LA6}U@6N@6qٱ6=6Hi?{?Vm??@?@L?i6}U@I6װ];6CY^uBy^4I ``i]Mb@Mb@Mb@YYYY Y9]x&1?ףp= ÿY]A>y]]YY Y)] &AYY] 'AbDmVDm8y5<%?=ٔ:Q->9Y=NEyD:E>Q 55?Q 95)BY>Q E:y uQ I=@DI:i:;&5yOBɮJAE:iDNOT Ignoring new targets: 41.98 m.2i"ik*ik ProNav: ac range: 41.980122 m, nav range: 37.929970 m, bearing: 300.942389 deg, approach rate: -0.463022 m/s, LOS rate: -0.051506 deg/s, cmd heading: 301.267487 deg, new cmd heading: 301.223328 deg. iHeadingCmd: 5.257339 target range: 41.980122 and range: 42.00 m.h<@hhhhggjgrgn~BereZe :e *e `@DAT read: 01:27:15.5259 LVL= 29424, 32081, 19858, 32755, AGC= 60, IDX= 420, 0.25,-0.922,-2.033, 0.267,-0.610, PHS=-0.210,-1.378, 0.833, RAW= 178.1, 7.9, CAL= 177.9, 8.2, ROT= 332.1, -8.2 Ygot valid direction response: 01:27:15.5259 LVL= 29424, 32081, 19858, 32755, AGC= 60, IDX= 420, 0.25,-0.922,-2.033, 0.267,-0.610, PHS=-0.210,-1.378, 0.833, RAW= 178.1, 7.9, CAL= 177.9, 8.2, ROT= 332.1, -8.2 PDAT read: Bearing 137.1, -26.2 (Local) ~Local bearing/azimuth received: Bearing 137.1, -26.2 (Local) DAT read: Range 11 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.874730,-0.463146,0.142629]Fpublishing direction and range infoy5L2?.f.ݿx0A?Y!BrQ}M )<I= WiNb}?U?F@0 >YF@ C>)z@IC/!?r?=$? `݁?)r IQiC T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.EtBɢEU)I M>i)  ս  i wʻiNI<@I=9@9 @9@9@9I gx> G% /{AM (DAT read: user:11> U BDAT read: Tx time:01:27:16.8179 ] $Ping request sent.] B >B B 8IB uBB F =B B B ;B %eE 9 /{AY $AIA IQ Oe >RXO#,?e=LAɰ;YbuByb:IbDnVDn8yv<%vT=ٔvQ-z>9xYx=zNEyzDE>!Q 5-5%?Q 9-5%)%BY)y)Q I5=@%DI%G:i%:%)5y]QBɮ]JA]EiiP=LAj!B"j!B:j̆@Rj#A@%q2eM @Bj5L2?.f.ݿx0A?*jQ2jCZj/^Q@1@ݖAw :<@Jj`Y?W}3X쿨:c5?j jߍAiY<m?ikwbjBj 7Ѥ?j#GjBrj:Bzj@ addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 3.779934 s, deltaX: -1.599998 m, approachRate: -0.423287 m/s, rangeRepo size: 4  Added new target pos. range: 40.378105 m, bearing: 296.374135 deg, lat: 36.779553 deg, lon: -121.859785 deg, deltaT: 3.779934 s, deltaX: -1.602016 m, approachRate: -0.423821 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 40.38 m.2i!"i-*i1m ProNav: ac range: 40.378105 m, nav range: 39.557434 m, bearing: 298.577237 deg, approach rate: 0.000000 m/s, LOS rate: -0.051506 deg/s, cmd heading: 301.223336 deg, new cmd heading: 301.181644 deg. iiHeadingCmd: 5.256611 target range: 40.378105 and range: 40.40 m.h)6@hhhhggjgrgereZe:e@33D@*e@?Q颍tBɢEp) >i)2ս顑iĻifI)6@Ia@a @a@e0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250449y^A 0e>A zA wAԱ I! IA Om >_O#,~=LA65@6z@6$ۼٱ6lz=6H?)?`D/?a?̠??i65@I6];6C@Y@y@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502029i%Mb@Mb@Mb@!!!! !9%%C?~jtÿMbp?Y%Z>y%%;%;%A! %&A)%;%A!Y%&AEE EEEAEA"EE:*EE:VEAZEABEE<9iYi=mNEym¯Du}Eu>yQ 55}?Q 95}@)} BYB>Q E:yxQ I=@}DI}:i}:}A-5yPBɮJA:iDNOT Ignoring new targets: 40.38 m.2i"i㣺*i㣺 ProNav: ac range: 40.378105 m, nav range: 39.362820 m, bearing: 298.548771 deg, approach rate: -0.487371 m/s, LOS rate: -0.071640 deg/s, cmd heading: 301.181645 deg, new cmd heading: 301.124431 deg. i]HeadingCmd: 5.255613 target range: 40.378105 and range: 40.40 m.h]-@hYhYhYhYgYgajgargec~BeareiZei:ei*em?颽tBɢ) >i)ԽiiI-@Iԩi@i @i@m3@i^A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755255 A I I O >eO#,̘=LA2@2 @2 ׼ٱ2=2H@V??g`4Z? ! ?@? ?i2@I2];0Y:uBy:FII>=)>p>bDFVDF8yNI<%N<ٔn:Q-n>p9pYp=vOEyvʯDvx Ev>xQ 5~5zz?Q 9~5z>)z#BYy2|Q I=@zĦDIzs;iz<;z05y ɮ JA -B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 40.38 m.2i9"i= *iE M ProNav: ac range: 40.378105 m, nav range: 39.181438 m, bearing: 298.525535 deg, approach rate: -0.468888 m/s, LOS rate: -0.060345 deg/s, cmd heading: 301.124435 deg, new cmd heading: 301.077748 deg. iMܺUHeadingCmd: 5.254798 target range: 40.378105 and range: 40.40 m.hUN'@hQhQhYhYgYgYjgargaeareaZei:ei*em@?颕tBɢRL) Ś>i)'KԽ顡iTi2IN'@IQ@Q @Q@UI4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634BU>BU CBUQIBUvBBUC =BQBUfDBU;BU,eEB CB CBBC =BC =C^@6Eu EuEu,Eq"EuT;*Euą:VEug4ZEqBEuG<2EuG<JEu#;:Eu#;1^Au}>A I I O >e PExceeded connect timeout, disconnecting.i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258013@lO#,֩=LA2寬@22@2мٱ2r=2H,?k?i@?99'?+l? ?i2寬@I2a];2CY>vBy>TIbDFVDF8yNc=%NJ=ٔRU ;Q-R>9PYP=VOEyVүDVAEV>XQ 5^5Z?Q 9b5Z])Z%BY`ybWQ Ib=@ZʦDIZ$;iZ%;Z45yfRBɮjIJAh:ix~DNOT Ignoring new targets: 40.38 m.2i|"io*io ProNav: ac range: 40.378105 m, nav range: 38.995491 m, bearing: 298.504866 deg, approach rate: -0.469614 m/s, LOS rate: -0.052450 deg/s, cmd heading: 301.077744 deg, new cmd heading: 301.036208 deg. iHeadingCmd: 5.254073 target range: 40.378105 and range: 40.40 m.h^!@hhhhg!g!jg!rg!e)re)Ze):e)*e-@c?9tBɢ@륽) %>i)ӽiƳiI^!@I@ @@/@i%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511103E} E}E}/Ey"E};*E}:VE}J4ZEya@a@a@a@ԑ^A>A5>A5>Ae ؟AIi Iy O > rO#,I=LA6I@6jB@61̼ٱ6k=6H` ??W#%?V@?O=? U?i6I@I6];6CYB1vByBgIi Mb@Mb@Mb@     9 -?㥛 ¿~jtx?Y 5>y  ;  ~(A 'A)  Y bD%VD%8y5=%5A=ٔ=:Q-=>9E"?YE"?=EOEyEگDEEE>IQ 5U5M?Q 9U5M)M'BY]v>Q E]:y]ˀQ I]=@MЦDIM;iM:;M75yaɮmIAi:iDNOT Ignoring new targets: 40.38 m.2iԙ"iP*iP ProNav: ac range: 40.378105 m, nav range: 38.801994 m, bearing: 298.485666 deg, approach rate: -0.457008 m/s, LOS rate: -0.045573 deg/s, cmd heading: 301.036216 deg, new cmd heading: 300.997626 deg. iΦHeadingCmd: 5.253399 target range: 40.378105 and range: 40.40 m.h@hhhhggjgrg~BereZe:e*e?tBiqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762169ɢ') >i).ӽ顉ibiЃI@IM9@I @I@M/@I^Aq5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014529Be t>Be CBe dIBe ,vBBa Ba Be eDBe ;Be eEE  E E +E "E ~ ;*E ą:VE [4ZE BE V%yO#,1^=LA2f@2ݲ@2ļٱ2=2H`M?m?@᣿ s ?˂㓘?VQ? z?i2f@I2];2CY:vBy:TI <<@@ F=F<bDF VDF8yNȞ%RU=ٔR);Q-R>9R ?YV ?=VOEyVDVEV>XQ 5b5Z?Q 9b5Z)Z*BY`yb]Q If=@Z֦DIZ$;iZ%;Z';5yhɮjIJAh:ix~DNOT Ignoring new targets: 40.38 m.2i|"i+*i+ ProNav: ac range: 40.378105 m, nav range: 38.626263 m, bearing: 298.471277 deg, approach rate: -0.456828 m/s, LOS rate: -0.037576 deg/s, cmd heading: 300.997612 deg, new cmd heading: 300.968703 deg. iHeadingCmd: 5.252895 target range: 40.378105 and range: 40.40 m.h@hhhhggjgrgereZe:e*e>@颥tBɢF)X< ->i)ҽ顩i0iI@I nManaging dock network, ignoring radio surface power off!e9@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266875a^A (>ԁ A ؟AI I O5 >O#,[>LA,ɰ,~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517862Y5:vBy5lIDQDU<E] E]EYEY"E]l;*E]:VEYZEYae@ae@ae@ae@i5Mb@Mb@Mb@1111 195MbX9?㥛 ¿~jthY5>y15D15'A 5&A)5 &A1Y5f&AbDM$VDMΰ8y]=%]2=ٔ]Q-]>9e"?Ye"?=eOEyeDeEm>iqQ 5}5u˞?Q 9}5u])qY>Q E:yQ I=@uݦDIu:iu:u(?5yɮIA:iDNOT Ignoring new targets: 40.38 m.2i"iOB*iOB ProNav: ac range: 40.378105 m, nav range: 38.413765 m, bearing: 298.451939 deg, approach rate: -0.464111 m/s, LOS rate: -0.042470 deg/s, cmd heading: 300.968707 deg, new cmd heading: 300.929817 deg. irHeadingCmd: 5.252216 target range: 40.378105 and range: 40.40 m.h(@hhhhggjgrg~BereZe:e*e @tBɢҢ) >i)ҽi#i%!)I-(@I)@ @@@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770181^A>AzAyAA I! I1 O= > V(O#,>LA2D@2@2ٱ2B-<2H ?E?3Y  ?@o+A?`3b? ?i2D@I2];2CY:7vBy:jIbDFVDF8yJ>%Nm=ٔN`:Q-N?9PYP=ROEyRDREV?TQ 5Z5Vў?Q 9^5V)V+BY\y^!Q I^=@VDIV;iVw;V+B5ybgBɮf\JAfEvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 40.38 m.2i|"i~ٹ*iٹ  ProNav: ac range: 40.378105 m, nav range: 38.253574 m, bearing: 298.443745 deg, approach rate: -0.463052 m/s, LOS rate: -0.023785 deg/s, cmd heading: 300.929829 deg, new cmd heading: 300.913373 deg. i .HeadingCmd: 5.251929 target range: 40.378105 and range: 40.40 m.h@hhhhggjg!rg!e!re!Ze!:e)*e-s @UtBɢUr()Y ]>iY)]rѽYaie7ie5iiIm@Ii9@ @@/@BDAT read: Rx Time:01:27:19.2737 TRx dataTimestamp_ set to:1764898040.537238%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024045B=k>B=CB=wIB=KvBB=G =B9B=dDB=˨;B=dEEq EuEqEq"Eq*Eu~:VEqZEqBEuaF) A! I1 IA OU >i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274196Q TO#, 3>LA2•@2@28Qٱ2Q<2H c?k?`Ģ`p ?ěz@i?j? R?i2•@I2[];2CY:3vBy:hII>;>)>;bDF!VDF˰8y~%~D=ٔ~:Q-~>9Y=OEyD E >Q 55ٞ?Q 95n)Yy䆿Q I=@DI;i;E5y)ɮ-lJA):iIUDNOT Ignoring new targets: 40.38 m.2iQ"i]D*i]Dm ProNav: ac range: 40.378105 m, nav range: 38.059921 m, bearing: 298.437760 deg, approach rate: -0.465338 m/s, LOS rate: -0.014455 deg/s, cmd heading: 300.913382 deg, new cmd heading: 300.901352 deg. imӹmHeadingCmd: 5.251719 target range: 40.378105 and range: 40.40 m.hu@hqhqhqhyggjgrgereZe:e*e  @1mtBɢuM)q uX>iq)uZѽqyi}i}I@IYEDAT read: 01:27:19.2737 LVL= 32752, 31825, 23602, 32755, AGC= 65, IDX= 413, 0.09, 2.593, 1.364,-2.721, 2.764, PHS=-0.069,-1.355, 0.754, RAW= 172.8, 7.3, CAL= 172.4, 7.2, ROT= 337.6, -7.2 MYgot valid direction response: 01:27:19.2737 LVL= 32752, 31825, 23602, 32755, AGC= 65, IDX= 413, 0.09, 2.593, 1.364,-2.721, 2.764, PHS=-0.069,-1.355, 0.754, RAW= 172.8, 7.3, CAL= 172.4, 7.2, ROT= 337.6, -7.2 mPDAT read: Bearing 128.2, -21.1 (Local) DyzD}AAE EE,E"E~ ;*E:VEg4ZEa@a@a@a@~Local bearing/azimuth received: Bearing 128.2, -21.1 (Local) DAT read: Range 11 to 50 : 38.7 m (Round-trip 51.6 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.917256,-0.378066,0.125333]Fpublishing direction and range infoy>є(Z?0zA:2ؿcK ?YBQ|2\ )AIOip%A?A@w>@@ >))@I]J_ 3?-yE?X4U? k?)I+ȾiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 2;ԁ 9@  @ @ /@ Ա ^A }>(DAT read: user:12> BDAT read: Tx time:01:27:20.6179 $Ping request sent.LAHHf&@f@f ٱf&<fHhs?? u?tyGݖ??w?if&@If];fCY%-vBy-dIiMb@Mb@Mb@ 9?(\¿~jtxYf>yzĻj$A 'A)YbDKVD8y.%=ٔw:Q->9Y=OEy D  ļE >Q 55䞊?Q 95)Y>Q E%:y%Q I%=@DI] ;i;J5y)ɮ-JA)iIiMB>LAjMB"jMB:jMy@RjMd7CA@HǨ>-ҍc@BjM>є(Z?0zA:2ؿcK ?*jM+Ⱦ2jMZjM+ߡ/@^1pAw@JjMU\J?!Gc()N_=?jM  jM6~AiM?iMcrjMBjMY<m?jMkwbjIrjMBzjMc@} addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 3.780088 s, deltaX: -1.700001 m, approachRate: -0.449725 m/s, rangeRepo size: 4  Added new target pos. range: 38.677528 m, bearing: 294.492027 deg, lat: 36.779542 deg, lon: -121.859797 deg, deltaT: 3.780088 s, deltaX: -1.700577 m, approachRate: -0.449878 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 38.68 m.2i"i*i ProNav: ac range: 38.677528 m, nav range: 38.160427 m, bearing: 296.128202 deg, approach rate: 0.000000 m/s, LOS rate: -0.014455 deg/s, cmd heading: 300.901361 deg, new cmd heading: 300.884850 deg. iHeadingCmd: 5.251431 target range: 38.677528 and range: 38.70 m.h @hhhhggjgrg~BԹereZe:eYC@*e,%?tBɢê) p>i)uD^нyyi}ƞiI @I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251099B5<A5<B=h>B9B=IB=_vBB9B9B=cDB=;B=dEE EE.E"E;*E҆:VEـ4ZEBE?C checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503311AM.AIYIiqO}?O#,[v>LA2 @2Y@2rٱ2y<2H+?` ?á`(R.?@w?@PӜ?@?i2 @I2M];2CYR/vByRfIbDZwVDZ8yb;%b/=ٔf*;Q-f>9j ?Yj ?=jOEyjDj߼Ej>lQ 5v5n힊?Q 9z5n)lYy 7Q I=@nDIn;ina;nN5y!ɮ%|JA!L= =Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEMEntering USBL mode with 120.000000 count pings at 38.700001 m (mode 2.000000 count ).LM1M]:iamDNOT Ignoring new targets: 38.68 m.2ii"iu *iu  ProNav: ac range: 38.677528 m, nav range: 37.939499 m, bearing: 296.113919 deg, approach rate: -0.467076 m/s, LOS rate: -0.030373 deg/s, cmd heading: 300.884859 deg, new cmd heading: 300.856126 deg. iX^HeadingCmd: 5.250930 target range: 38.677528 and range: 38.70 m.h@hhhhggjgrgereZe:e*e ?uBɢ) >i) Ͻii I@I1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755211QbE^n4jEp4rEͰ/E} E}E}-Ey"E}=;*E}$:VE}t4ZEya@a@a@a@ 9@  @ @ @ ԁ ^AM #>ԩ A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007014O >O#,&T>LA6٨@6Kӯ@6Ҧٱ6=<6H? ?C-@ߎ?8s`ٔ?g? ??i6٨@I6-];6CY>6vBy>jI @@i Mb@Mb@Mb@     9 S?~jtÿ~jtY >y  D ;%A ~(A &A)  Y &AbDVDL8y5<%5/=ٔ5#:Q-5>99Y9==OEy=DEtEE>IQ 5U5M?Q 9U5M)M*BYU>Q EU:yUQ I]=@MDIM:iMA:MR5yeiBɮenJA!j=^@1M=qM=:iDNOT Ignoring new targets: 38.68 m.2i"i$*i$ ProNav: ac range: 38.677528 m, nav range: 37.710354 m, bearing: 296.109530 deg, approach rate: -0.467535 m/s, LOS rate: -0.009010 deg/s, cmd heading: 300.856118 deg, new cmd heading: 300.847286 deg. i郹HeadingCmd: 5.250776 target range: 38.677528 and range: 38.70 m.h[@hhhhggjgrg~BereZe:e*e%\?m uBɢmS$)i u>iq)u3Ͻqqiu}yi}%}:_=a}>I[@I@ @@/@1EQG]zAuMAb9zAYABL>BCBIBivBBF =BBaDB_;BsdEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259206E EE(E"E:*Eą:VEc44ZEBE<A9 zA= tAAe ؟AIq ԑ I O >EO#,>LAɰ4<2)g@2v`@2nٱ2u<2H:?@?`_IbDFVDF^8yN/9%rV=ٔr:Q-r>9v"?Yv"?=vOEyv!DvEv>xQ 55z?Q 95z)z(BYy莿Q I =@zDIz<;iz;zXV5yɮJAj)qM-M-5B*** querying acoustic contact ***i1i5x:iAMDNOT Ignoring new targets: 38.68 m.2iI"iM7*iM7] ProNav: ac range: 38.677528 m, nav range: 37.518391 m, bearing: 296.109930 deg, approach rate: -0.533474 m/s, LOS rate: 0.001120 deg/s, cmd heading: 300.847293 deg, new cmd heading: 300.848099 deg. ie 8eHeadingCmd: 5.250790 target range: 38.677528 and range: 38.70 m.hex@hahihihigigijgqrgqeqreqZeq:ey*e}c?颥uBɢu) >i)oν顩ixni%=u>Ix@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511642U9@Q @Q@U/@Q^A-/E>ԡAYIaIqOY> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765223E%  E% E% +E! "E% T;*E% :VE% [4ZE! a5 @a5 @a5 @a5 @ O#,>LA6@6I@6rYٱ6S<6H`?Q?@;uU`?$]oߪ???i6@I6Y];6CY^$vBy\iMb@Mb@Mb@ 9K?S㥛ĿQY^>y$u &A'A )YbDVDl8y-%-3=ٔ5Lg:Q-5>91Y1==OEy=*D=dE=>AQ 5M5E?Q 9M5E)E&BYU?Q EU:yU4Q IU=@E DIE" ;iEi ;E@Z5y]{Bɮ]MKA] EjqM}}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL} }Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:iDNOT Ignoring new targets: 38.68 m.2i"i9*i9 ProNav: ac range: 38.677528 m, nav range: 37.288200 m, bearing: 296.116761 deg, approach rate: -0.516346 m/s, LOS rate: 0.015416 deg/s, cmd heading: 300.848086 deg, new cmd heading: 300.861830 deg. i9HeadingCmd: 5.251029 target range: 38.677528 and range: 38.70 m.ho@hhhhggjgrg~BereZe:e*e@B@uBɢo) >i)Zνi(__iں=j>Io@I9@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015143^AC}>) A I I O% >ͷO#,8>LA6ar@6k@6頼ٱ6<6H@$?M? o?Ah@?`蘚??i6ar@I6a^;6CY>3vByBhIIB!>)B=FAAFAAbDJVDJo8yR:*=%Rg=ٔVMQ-V>9TYT=VOEyZ1DZb0EZ>\Q 5b5^0 ?Q 9b5^u)^$BYdyf&Q If=@^DI^;i^>:^V]5yhɮjKAh:i|~DNOT Ignoring new targets: 38.68 m.2i|"i9*i9 ProNav: ac range: 38.677528 m, nav range: 37.106422 m, bearing: 296.126487 deg, approach rate: -0.515796 m/s, LOS rate: 0.027734 deg/s, cmd heading: 300.861828 deg, new cmd heading: 300.881376 deg. iK:HeadingCmd: 5.251370 target range: 38.677528 and range: 38.70 m.h: @hhhh!g!g!jg!rg!e)re)Ze):e)*e-k@A9A=?ABE5>BECBABABEM =BABE^DBES;BEOdEBCBCBCBG =BG =CFj6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267009E EE*E"E;*E:VE(N4ZEBEAi!)%ͽ!!i-Si-57=5_>I5: @I1Q9@ @@ 0@^A&v>yAIIOn>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518931ԩ zO#,Ԙ>LA2@2@21ٱ2f+<2H2? ?`5?Hr@??@?i2@I2^;2C@YB"vByB^IbDNVDN\8yV3&%VJ=ٔV:Q-V>9XYX=ZOEyZ9DZ E^> Q 55 Q?Q 95 ) "BYy픿Q I=@ DI D;i ; `5y%}Bɮ%dKA- E:iIMDNOT Ignoring new targets: 38.68 m.2iQ"iU3:*iU3:e ProNav: ac range: 38.677528 m, nav range: 36.893135 m, bearing: 296.142626 deg, approach rate: -0.514244 m/s, LOS rate: 0.039136 deg/s, cmd heading: 300.881362 deg, new cmd heading: 300.913826 deg. ie?:mHeadingCmd: 5.251937 target range: 38.677528 and range: 38.70 m.hm@hihihqhqgqgqjgyrgyeyreyZey:e*ee@颭,uBɢ) u>i)ːͽ顱iFi=U>I@I}9@y @y@2@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772474D4=DR=E EE+E"ET;*EVE [4ZEa@a@a@a@^A2j>A I I  O >= BDAT read: Rx Time:01:27:23.0714 E TRx dataTimestamp_ set to:1764898044.316448E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023915O#,r?LA6Г@6@64ٱ6h<6H ?8?`b>=`?u?@v3?`?i6Г@I6/^;6CY> vBy>]Ili Mb@Mb@Mb@     9 x&1? ףp= ǿ:vY ?y Q8 T j$A  &A ;%A)  Y p%AbDVDp8yQ%9=ٔ9Q->9Y=OEyBD^E>Q 5 5s?Q 9 5Z) BY ?Q E:yQ I=@ DI;i;d5y9ɮ=kKA9:iDNOT Ignoring new targets: 38.68 m.2i"iޢ:*iޢ: ProNav: ac range: 38.677528 m, nav range: 36.660034 m, bearing: 296.174017 deg, approach rate: -0.525333 m/s, LOS rate: 0.071195 deg/s, cmd heading: 300.913819 deg, new cmd heading: 300.977001 deg. iK;HeadingCmd: 5.253040 target range: 38.677528 and range: 38.70 m.h@hhhhggjgrgI~BereZe:e*e @E6uBɢE'o)A M2j>iI)Mh#ͽ顉iP6iۃp1= K>I@I E9@A @A@E1@A^A]>1Be1>BeCBeIBe_vBBaBaBaBe;BedEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275174E EE,E"E=;*E:VEg4ZEBEIi W O#,N.?LA2a&@2@2sٱ2<2H 6?Y?@fb?su`*???i2a&@I2:^;2CY:)vBy:bIbDFVDFu8yN <%N`=ٔR7Q-R>9PYP=VOEyVJDVEV>XQ 5^5Z) ?Q 9^5Z!)ZBY`yb^Q Ib=@Z'DIZ;iZ;Zg5ydɮfHKAdvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 38.68 m.2i"iO:*iO: ProNav: ac range: 38.677528 m, nav range: 36.467144 m, bearing: 296.204374 deg, approach rate: -0.545157 m/s, LOS rate: 0.086250 deg/s, cmd heading: 300.977012 deg, new cmd heading: 301.038047 deg. i;HeadingCmd: 5.254105 target range: 38.677528 and range: 38.70 m.h!@hhh!h!g!g!jg!rg)e)re)Ze):e)*e5 @Ae>uBɢen0)i mk>ii)m̽iiim^*iu縃uL=k@>I!@IIxA)xA=DAT read: 01:27:23.0714 LVL= 31120, 32673, 26546, 32755, AGC= 66, IDX= 422, 0.11, 2.052, 0.614, 2.691, 2.128, PHS= 0.026,-1.469, 0.519, RAW= 163.8, 10.3, CAL= 163.8, 11.4, ROT= 346.2, -11.4 MYgot valid direction response: 01:27:23.0714 LVL= 31120, 32673, 26546, 32755, AGC= 66, IDX= 422, 0.11, 2.052, 0.614, 2.691, 2.128, PHS= 0.026,-1.469, 0.519, RAW= 163.8, 10.3, CAL= 163.8, 11.4, ROT= 346.2, -11.4 UPDAT read: Bearing 124.0, -12.3 (Local) ]~Local bearing/azimuth received: Bearing 124.0, -12.3 (Local) mDAT read: Range 11 to 50 : 37.0 m (Round-trip 49.4 ms) speed 0.5 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.951975,-0.233827,0.197657]uFpublishing direction and range infoy]Xv? Ϳg4L?YByg )BIc6@ %K>)Z@I%KuT?q9l?Dpa?9@ @@A4@ ƖC?)Y8Ivi%KT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.iԑ^AT>A .AI I) OU > (DAT read: user:13>  BDAT read: Tx time:01:27:24.3679  $Ping request sent. 9  ?Y  ?= OEySDE>!Q 5-5% '?Q 9-5%J )%BY- ?Q E-:y-Q I5=@%/DI%:i%:%k5y9ɮ=]KA9i)i-4?LAj-B"j-B:j-T@Rj-z kA@2J!y;@Bj-]Xv? Ϳg4L?*j-v2j-%KZj-<@.@!uc@L?@Jj->Дl?>6^R+=?j- j-@tAi-Wx-?i-Tyjj-Bj-Wx-?j-Tyjj)rj-Bzj-Y@ addTargetRange:: Added new target pos. range: 37.000000 m, deltaT: 3.780987 s, deltaX: -1.700001 m, approachRate: -0.449618 m/s, rangeRepo size: 4  Added new target pos. range: 36.974266 m, bearing: 294.972046 deg, lat: 36.779535 deg, lon: -121.859800 deg, deltaT: 3.780987 s, deltaX: -1.703262 m, approachRate: -0.450481 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 36.97 m.2i"i*i ProNav: ac range: 36.974266 m, nav range: 36.159855 m, bearing: 294.972175 deg, approach rate: 0.000000 m/s, LOS rate: 0.086250 deg/s, cmd heading: 301.038047 deg, new cmd heading: 301.116326 deg. iHeadingCmd: 5.255471 target range: 36.974266 and range: 37.00 m.h,@hhhhggjgrgM~BereZe:eB@*eM`?}HuBɢ}X)y }[>iy)}f̽顁iHi"o=u5>I,@IAM9@I @I@M4@I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247170^A]H>AIIYIiqO}>ԙ HO#,b?LABpAr<Bv+>BtBv}IBvUvBBtBtBtBv;BvcEC@i<@ťٱ=H@? /?@@?s_? ??iC@IU];CY vByNIbD-VD-H8echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498500y=Վ%eX=ٔm)ԺQ-m>9iYi=uOEyuZDuEu>Q 55,?Q 95)BYy՟Q I=@5DI:i6:=o5yBɮ_LAE EE,E"EO;*Ev:VEg4ZEBE0Yi)̽ip i_U=*>I7@Iԩ9@ @@%4@! checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750357^A= @> A ؟AI I O >HO#,G?LA2ۤ@2ի@2觼ٱ2=2H?VM?\v`nS :?_t@??Z?i2ۤ@I2];2CY:*vBy>cIbDFVDF78yn=%n7=ٔrkQ-r>9r"?Yr"?=rOEyvcDvEv>xQ 5~5z2?Q 9~5z)zBYyqQ I=@z=DIz:izK:z s5y Bɮ KA EY:iDNOT Ignoring new targets: 36.97 m.2ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004932"i0:*i0:EE EEEE-EA"EE%;*EE:VEEt4ZEAaM@aM@aM@aM@u ProNav: ac range: 36.974266 m, nav range: 35.710575 m, bearing: 295.059397 deg, approach rate: -0.526091 m/s, LOS rate: 0.108491 deg/s, cmd heading: 301.193802 deg, new cmd heading: 301.291873 deg. iuF;}HeadingCmd: 5.258535 target range: 36.974266 and range: 37.00 m.h}E@hyhyhyhygygyjgrgereZe:e*e`?\uBɢ1) -N>i)=Ƿ˽AAiEiM'M=M >IME@IQmV>iiԉ9@ @@T0@@=@=^AVT5>ԩA- .AI9 II OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254471 O#,L?LA2~@2x@2rٱ2e=2H@B?@?`IE?fs??:?i2~@I2\];2CY>-vBy>dIiMb@Mb@Mb@ 9Zd;O?(\ȿ9- ?Y5 ?=5OEy5lD5)E=>9Q 5E5=8?Q 9M5=)=BYM<?Q EM:yMQ IM=@=EDI=M:i=w:=v5yQɮ]KAY:iyDNOT Ignoring new targets: 36.97 m.2i"i$;*i$;Ա5 ProNav: ac range: 36.974266 m, nav range: 35.475197 m, bearing: 295.111602 deg, approach rate: -0.645072 m/s, LOS rate: 0.144021 deg/s, cmd heading: 301.291884 deg, new cmd heading: 301.396987 deg. i5Ƀ;=HeadingCmd: 5.260370 target range: 36.974266 and range: 37.00 m.h=T@h9h9h9hAgAgAjgArgML~BeIreZe:e*e{?=euBɢ=)9 =G>i9)E j˽AAiE޺iM낿M=Mzx>IMT@IQ9@ @@/@Bm0>BiBmwIBmKvBBiBiBiBmh;BmXcEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506438E= E=E=.E9"E=:*E=:VE=ـ4ZE9BE=>A zA wA1 A] ؟AIa Iq O >i#O#,l?LA2 )@2Z"@2L&ٱ2=2H?@?@~ ?1u@eD? Qݢ?@?i2 )@I2];2CYN+vByRcIbDZFVDZ8ybp%bQ=ٔb]Q-b>9f"?Yf"?=fOEyftDjۼEj>hQ 5-5j:>?Q 9-5j9#)jBY)y-ࣿQ I5=@jLDIjM;i)$˽iźiڭɥ=>Idd@IU9@Q @Q@Q@Q^A-Em$>AAaIiIyOZ>q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014057bE [4jEY4rE30Ee  Ee Ee 'Ea "Ee ~ ;*Ee :VEe '4ZEa a @a @a @a @ԙ M O#,?LA2]ԣ@2ͪ@2Іٱ2Nb"=2H q??禿u?;w j?I??i2]ԣ@I27^;2CYR*vByP TVATVAi-Mb@Mb@Mb@)))) )9-sh|??MbXɿY- ?y-J--;%A-&A ))-;%A)Y-%AbDE2VDEڰ8yU%UA=ٔ]Q-]>9aYa=eOEye|De ȼEm>iQ 5u5mC?Q 9}5mb))mBY}?Q E}:y}Q I}=@mTDImG ;im~ ;m}5yɮKA:iDNOT Ignoring new targets: 36.97 m.2i"i7;*i7; ProNav: ac range: 36.974266 m, nav range: 35.013676 m, bearing: 295.230903 deg, approach rate: -0.582009 m/s, LOS rate: 0.160438 deg/s, cmd heading: 301.504986 deg, new cmd heading: 301.637162 deg. iϒ;HeadingCmd: 5.264562 target range: 36.974266 and range: 37.00 m.hJw@hhhhggjgrg^~BereZe:e*e̅@ xuBɢ5q) 2>i)ʽ顱i"iEbTڥ=>IJw@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263115m9@i @i@m/@iԡ^A?> ! - C G {A A /9 {AY AA .AI I O% >BE />BA BE }IBE UvBBE L =BA BA BE ;BE bE DDAT read: Rx Time:01:27:26.5437  TRx dataTimestamp_ set to:1764898047.592963 PDAT read: Bearing 116.9, -6.8 (Local)  ~Local bearing/azimuth received: Bearing 116.9, -6.8 (Local) % DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.6 M DAT read: 01:27:26.5437 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.34,-2.442, 2.273,-1.990,-2.489, PHS= 0.148,-1.477, 0.455, RAW= 158.5, 9.8, CAL= 158.4, 10.5, ROT= 351.6, -10.5 U Ygot valid direction response: 01:27:26.5437 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.34,-2.442, 2.273,-1.990,-2.489, PHS= 0.148,-1.477, 0.455, RAW= 158.5, 9.8, CAL= 158.4, 10.5, ROT= 351.6, -10.5 U R#Rx 1: Read range and direction messages.E]  E] E] ,EY "E] %;*E] ?:VE] g4ZEY BE] KiV> 1@%/>;0@ f;>)^@If;BR?*9?C`? ,?)B.IT if;&checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538263(%4<ɰ!!~@nw@Źٱ8+=H`'s??@:"v?;w@08? v? ?i!~@I .^;Y1vBygIqbDU6VDUް8y g<%'=ٔQ->9 ?Y ?=OEyD E>1Q 5=55J?Q 9=550)5BYAyEgQ IE=@5]DI5:i5:55ymBɮmdLAuEii?LAj B"j B:j@Rj1A@9 '[6+~@Bj'j ?a b¿m~S?*jT 2jf;Zj:dn.@e>7>w@@Jj!)ŝ?_j)Z?j jssAiRT7L?iOXjBjjjrj Bzj?@ addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 2.772187 s, deltaX: -2.000000 m, approachRate: -0.721452 m/s, rangeRepo size: 4 - Added new target pos. range: 34.975590 m, bearing: 296.348367 deg, lat: 36.779535 deg, lon: -121.859800 deg, deltaT: 2.772187 s, deltaX: -1.998676 m, approachRate: -0.720975 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 34.98 m.2i1"i5*i1E ProNav: ac range: 34.975590 m, nav range: 34.732086 m, bearing: 295.314195 deg, approach rate: 0.000000 m/s, LOS rate: 0.160438 deg/s, cmd heading: 301.637164 deg, new cmd heading: 301.802181 deg. iAmHeadingCmd: 5.267442 target range: 34.975590 and range: 35.00 m.hm⎨@hihihqhqgqgqjgqrgyeyreyZey:e}A@*e?uBɢW) {,>i){ʽi8焺ib==I⎨@IԡMchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.7680189@ @@/@^A> A ؟AI I1 Oe >qP#,|{@LA2A4@2-@2Ewٱ2&7=2H6? :C?ʕ@L):?Vz\Η?@R??i2A4@I2];2CY>ZvBy>IbDFVDF8yN >%N=ٔRSQ-R?9R"?YR"?=ROEyVDV!EV?XQ 5^5ZM?`Q 9b5Z4)XY`ybQ If=@ZbDIZ4;iZx5;Z5yhɮjKAh:ix~DNOT Ignoring new targets: 34.98 m.2i|"iW;*iW;- ProNav: ac range: 34.975590 m, nav range: 34.570919 m, bearing: 295.364967 deg, approach rate: -0.596149 m/s, LOS rate: 0.188678 deg/s, cmd heading: 301.802181 deg, new cmd heading: 301.904198 deg. i5;=HeadingCmd: 5.269222 target range: 34.975590 and range: 35.00 m.h=x@h9h9h9h9gAgAjgArgAeAreIZeI:eI*eM;?uBɢQ)  N>i)%Eʽ!i%Qji]Ɂ]u=e(=Iex@IDDAT read: Rx Time:01:27:27.0436 TRx dataTimestamp_ set to:1764898048.101261PDAT read: Bearing 117.0, -6.4 (Local) D%=D%4=EE EEEE+EA"EE:*EE:VEE [4ZEAae@ae@ae@ae@ ~Local bearing/azimuth received: Bearing 117.0, -6.4 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 ]DAT read: 01:27:27.0436 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 505,-0.47, 1.840, 0.235, 2.285, 1.799, PHS= 0.142,-1.519, 0.442, RAW= 158.1, 10.2, CAL= 158.1, 11.1, ROT= 351.9, -11.1 Ygot valid direction response: 01:27:27.0436 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 505,-0.47, 1.840, 0.235, 2.285, 1.799, PHS= 0.142,-1.519, 0.442, RAW= 158.1, 10.2, CAL= 158.1, 11.1, ROT= 351.9, -11.1 R#Rx 2: Read range and direction messages.^direction in FSK: [0.971503,-0.138265,0.192522]Fpublishing direction and range infoy$]d?ubӬM?Y3 B )CIsh>in¿M>r0@K6>r0@ aF>)@IaFI?LzKu?} _? *?)' 7IiaFchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.096153A@A @A@E0@A^Am >A m checking for new query: numPingsReceived=2, elapsed TxPingTime=3.270467AY Ia Iq O >GP#,uV@LAYvTvByz}II=!)=iMb@Mb@Mb@ 9/$?ɿy&1|Y&?yL`#A'A  &A)YbDVD8y>%)=ٔQ->9 Y = OEy DE>Q 5%5S?Q 9%51<)BY%?Q E-:y-ҦQ I-=@kDI:iw:Ԉ5y5Bɮ5KA5Eii{@LAj B"j B:j[@Rjl!q@@9;o2@Bj$]d?ubӬM?*j2jaFZjXI"z-@.3 >Md$S@Jj(?Ƣ 0Nb|G+?jd j+oAij??iȁ_jBjj??jkwbjBrjtBzjO@ addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.508298 s, deltaX: -0.200001 m, approachRate: -0.393471 m/s, rangeRepo size: 4  Added new target pos. range: 34.775730 m, bearing: 296.073427 deg, lat: 36.779537 deg, lon: -121.859797 deg, deltaT: 0.508298 s, deltaX: -0.199860 m, approachRate: -0.393194 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.78 m.2i"i*i ProNav: ac range: 34.775730 m, nav range: 34.113335 m, bearing: 295.988698 deg, approach rate: 0.000000 m/s, LOS rate: 0.188678 deg/s, cmd heading: 301.904197 deg, new cmd heading: 302.087655 deg. iHeadingCmd: 5.272424 target range: 34.775730 and range: 34.80 m.h@hhhhggjgrg~BereZe:e`ffA@*e@?uBɢ,) m<>i)tɽiR)i`=I{=I@II)B&>BCBBBK =BB]DB;BbEBCBCBēCBM =BL =C5DDAT read: Rx Time:01:27:27.5433 TRx dataTimestamp_ set to:1764898048.602490PDAT read: Bearing 116.4, -5.2 (Local) ~Local bearing/azimuth received: Bearing 116.4, -5.2 (Local) DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 E% E%E%-E!"E%:*E%:VE%t4ZE!BE%F8i{>^/@X8>^/@ +H>)'@I+HVo"?F/.?(h7? v%?)>8I5i+Huchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.544870}9@y @@20@y^Ae=A I I O > r P#,z54@LA2@2D@2ML̼ٱ2'gO=2H@??W?[~ ܈???i2@I28];2CYBRvByB{IbDJVDJ8yv,%vs=ٔvʤQ-v?9xYx=zOEyzDzJ%checking for new query: numPingsReceived=3, elapsed TxPingTime=3.774602E%?)Q 555-BX?Q 955-jA))Y9y=Q I==@-rDI-_;i-(;-΋5yYɮ]KAYԹii2&@LAj B"j B:jf@RjEZ@@?+p\ '@Bj(?=mVѫ?*j52j+HZjO\-@hĈ'>P+@Jj1U?DXmq0'?j< jlAi5<7?i"ZjBj5<7?jȁ_jBrjBzjQ@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.501229 s, deltaX: -0.399998 m, approachRate: -0.798034 m/s, rangeRepo size: 4  Added new target pos. range: 34.375519 m, bearing: 296.150378 deg, lat: 36.779536 deg, lon: -121.859795 deg, deltaT: 0.501229 s, deltaX: -0.400211 m, approachRate: -0.798460 m/s, posRepo size: 4 :i5DNOT Ignoring new targets: 34.38 m.2i1"i9*i9M ProNav: ac range: 34.375519 m, nav range: 33.768967 m, bearing: 296.003977 deg, approach rate: 0.000000 m/s, LOS rate: 0.188678 deg/s, cmd heading: 302.087656 deg, new cmd heading: 302.220076 deg. iIuHeadingCmd: 5.274735 target range: 34.375519 and range: 34.40 m.huʨ@hqhqhyhygygyjgyrgereZe:e@33A@*e _?uBɢ 䯽) 30>i)?ɽi\5i=M=Iʨ@I 9@ @@'5@DDAT read: Rx Time:01:27:28.0432  TRx dataTimestamp_ set to:1764898049.109521% PDAT read: Bearing 116.8, -5.0 (Local) EE  EE EE .EA "EE :*EE n:VEE ـ4ZEA ae @am @am @am @^A w= ~Local bearing/azimuth received: Bearing 116.8, -5.0 (Local) u DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.5 9 } DAT read: 01:27:28.0432 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.06,-0.993,-2.584,-0.601,-1.031, PHS= 0.140,-1.509, 0.386, RAW= 156.9, 11.0, CAL= 156.9, 12.1, ROT= 353.1, -12.1  Ygot valid direction response: 01:27:28.0432 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.06,-0.993,-2.584,-0.601,-1.031, PHS= 0.140,-1.509, 0.386, RAW= 156.9, 11.0, CAL= 156.9, 12.1, ROT= 353.1, -12.1  R#Rx 4: Read range and direction messages. ^direction in FSK: [0.970702,-0.117468,0.209619] Fpublishing direction and range infoyr1?&IeY9h?YBA I I O > )AI)\>i&ˡ>LB/@ D>LB/@ @X>)P5@I@X=R !?b3?&4w? !$?)DIUYP#, N@LAi-@X))Bchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.158199Y}`vBy}IieMb@Mb@Mb@aaaa a9eK7A`?MbXɿMb`?Ye ?yeJe;aa a)e &AaYe%AbDVD8y<%&=ٔQ->9Y=OEyDE>Q 55]?Q 95H)BY?Q E:ycQ I=@{DI;i;5yɮKA5checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278595i)i-dG@LAj-B"j-B:j-m@Rj-TܥQ@@{|%ɧ@Bj-r1?&IeY9h?*j-2j-@XZj-5Qb-@O#=[/F2@Jj-Vt(?5Ҥ`H@ ?j- j-kAi-4?i-cZj-Bj)j-"Zj-Brj-CBzj-u@ addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.507031 s, deltaX: -0.200001 m, approachRate: -0.394455 m/s, rangeRepo size: 4  Added new target pos. range: 34.175663 m, bearing: 296.200291 deg, lat: 36.779536 deg, lon: -121.859793 deg, deltaT: 0.507031 s, deltaX: -0.199856 m, approachRate: -0.394169 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.18 m.2i"i*i  ProNav: ac range: 34.175663 m, nav range: 33.315681 m, bearing: 296.255542 deg, approach rate: 0.000000 m/s, LOS rate: 0.188678 deg/s, cmd heading: 302.220079 deg, new cmd heading: 302.406359 deg. i HeadingCmd: 5.277987 target range: 34.175663 and range: 34.20 m.hD@hhhhggjgrg~Be!AreAZeI:eMA@*eM ?颕uBɢ) 0>i)KɽirQgi\==ID@I9@ @@2@y^Am :_=B >B CB IB svBB M =B B \DB u;B NbEA I I O >  DDAT read: Rx Time:01:27:28.5429  TRx dataTimestamp_ set to:1764898049.609118 PDAT read: Bearing 116.4, -3.4 (Local)  ~Local bearing/azimuth received: Bearing 116.4, -3.4 (Local)  DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.5 - DAT read: 01:27:28.5429 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.07,-0.922,-2.554,-0.580,-0.982, PHS= 0.161,-1.528, 0.358, RAW= 155.4, 11.2, CAL= 155.5, 12.4, ROT= 354.5, -12.4 5 Ygot valid direction response: 01:27:28.5429 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.07,-0.922,-2.554,-0.580,-0.982, PHS= 0.161,-1.528, 0.358, RAW= 155.4, 11.2, CAL= 155.5, 12.4, ROT= 354.5, -12.4 EA  EE EE )EA "EA *EE ?:VEE FA4ZEA BEE >iÿK>^-@+H>-@ k]>)z@Ik])K?bbs4? 5? f?)HI)Ľik]=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.586714ԉY-cvBy-I 15AbDEVDE8y;<%K=ٔQ->9Y=OEyDE>Q 5 5b?Q 9 5N)BYyQ I=@DI:i:5yɮKAiif@LAjB"jB:jE4@Rj&N j@@8c.K /@Bj@+?M,h`r|?*j)Ľ2jk]Zj o@j.@+}Q=oY]@Jj.?EZ?5*#h?j jRsAiv1d?i/&DLjBjj??jcZjrjnBzj@ addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.499597 s, deltaX: -0.400002 m, approachRate: -0.800648 m/s, rangeRepo size: 4  Added new target pos. range: 33.775307 m, bearing: 297.587444 deg, lat: 36.779537 deg, lon: -121.859793 deg, deltaT: 0.499597 s, deltaX: -0.400356 m, approachRate: -0.801358 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.78 m.2i"i*i ProNav: ac range: 33.775307 m, nav range: 33.108334 m, bearing: 296.501457 deg, approach rate: 0.000000 m/s, LOS rate: 0.188678 deg/s, cmd heading: 302.406352 deg, new cmd heading: 302.559715 deg. iHeadingCmd: 5.280663 target range: 33.775307 and range: 33.80 m.h1@hhhhg g jg rg e reZe:e`f@@*e5?额uBɢ\J) )>i)ɽ顡iЄiR6 =4=I1@ԹIR>ii9I=AEchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.783529u9@q @q@u 5@q^A  = A I IO>V!P#,Ý@LArDDAT read: Rx Time:01:27:29.0428 zTRx dataTimestamp_ set to:1764898050.117534D%=D%R=q5PDAT read: Bearing 113.7, -3.4 (Local) 5~Local bearing/azimuth received: Bearing 113.7, -3.4 (Local) EDAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.5 EU EUEU.EQ"EUl;*EU]t:VEUـ4ZEQa]@a]@a]@a]@DAT read: 01:27:29.0428 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497, 0.31, 0.416,-1.237, 0.768, 0.300, PHS= 0.218,-1.492, 0.424, RAW= 155.6, 9.4, CAL= 155.4, 10.0, ROT= 354.6, -10.0 y@@ ٱu=H@;??ڰWA?瀿@??`?iy@I<];5Ygot valid direction response: 01:27:29.0428 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497, 0.31, 0.416,-1.237, 0.768, 0.300, PHS= 0.218,-1.492, 0.424, RAW= 155.6, 9.4, CAL= 155.4, 10.0, ROT= 354.6, -10.0 =R#Rx 6: Read range and direction messages.=^direction in FSK: [0.980437,-0.092678,0.173648]EFpublishing direction and range infoytv`~_?7ƹٖNs:?YvfBtttt t)vAYUwvByUIIvd;_>ivv>v-@v'>v^-@ v¸2>)v @Iv¸2ttvw?rpc?2d? v&?)vi'Iviv¸2tt}checking for new query: numPingsReceived=6, elapsed TxPingTime=5.123836i}Mb@Mb@Mb@yyyy yԁ9}oʡ?EȿMbpY} ?y}F}}"A}O)A }'A)};%AyY}=&A@A@AbDۿVD8y8=%"=ٔpQ->9Y=OEyDe#E>Q 55;h?Q 9 5V)Y ?Q E :y nQ I =@DI;i6;5yBɮKA(Eitiv@LAjvMB"jvMB:jvz@RjvcqO\u@@w nS>R@Bjv`~_?7ƹٖNs:?*jv2jv¸2Zjv_Iu-@[HÎr=65I@Jjvu>A?owF}t ?jv jvkAiv~A?ivZc\jv`Bjtjv"ZjtrjvbBzjvO@e addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.508416 s, deltaX: -0.200001 m, approachRate: -0.393380 m/s, rangeRepo size: 4 u Added new target pos. range: 33.575451 m, bearing: 296.574723 deg, lat: 36.779537 deg, lon: -121.859793 deg, deltaT: 0.508416 s, deltaX: -0.199856 m, approachRate: -0.393095 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 33.58 m.2iq"i*i ProNav: ac range: 33.575451 m, nav range: 32.845825 m, bearing: 296.601531 deg, approach rate: 0.000000 m/s, LOS rate: 0.188678 deg/s, cmd heading: 302.559704 deg, new cmd heading: 302.751059 deg. iHeadingCmd: 5.284003 target range: 33.575451 and range: 33.60 m.h@hhhhggjgrg~BereZe:e@@*e@8?5uBɢU)Q U/>iY)]ȽYYi]h9ieke} =e\}=Ie@IiԹ}checking for new query: numPingsReceived=6, elapsed TxPingTime=5.287140 9@  @ @ -1@ @ =@ = ^A5 C= B>BBIBvBBN =BBBf;BIbDFοVDF~8RDDAT read: Rx Time:01:27:29.5426 RTRx dataTimestamp_ set to:1764898050.617198VPDAT read: Bearing 115.3, -1.8 (Local) Z~Local bearing/azimuth received: Bearing 115.3, -1.8 (Local) bDAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.5 DAT read: 01:27:29.5426 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.43,-2.335, 2.323,-2.042,-2.422, PHS= 0.189,-1.493, 0.336, RAW= 154.2, 11.0, CAL= 154.1, 12.1, ROT= 355.9, -12.1 %Ygot valid direction response: 01:27:29.5426 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.43,-2.335, 2.323,-2.042,-2.422, PHS= 0.189,-1.493, 0.336, RAW= 154.2, 11.0, CAL= 154.1, 12.1, ROT= 355.9, -12.1 -R#Rx 7: Read range and direction messages.Ա^direction in FSK: [0.975281,-0.069909,0.209619]Fpublishing direction and range infoyPR35?k屿9h?YR3BPPy8=%F=ٔsQ->9Y=OEy°DJE>Q 55l?Q 95E\)BYyQ I=@DE  E E ,E "E ;*E ~:VE g4ZE BE @iRR1>R9>,@R D>R!,@ R@X>)R@IR@XPPR<?`ʝݡ?*Yn? RҒ?)RDIRiiR@XPP]checking for new query: numPingsReceived=7, elapsed TxPingTime=5.595370I%;iR<5yɮKAiPiR,@LAjRB"jRB:jR@RjR"B9@@\10r@@BjR35?k屿9h?*jRi2jR@XZjRWD8r-@3i))- VȽ))i509i=x = =Eں=IE.@II9@ @@i2@^A+= Mchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.790689A I I O >9 kA/P#,@LA2a@2@2ٱ2=2Hp??E?@Ŷ` 7?Nڰ??i2a@I2];2CY>vByBIIF<)FbDJVDJ8yb`=%f^=ٔfQ-f>9hYh=jOEyjɰDjwJEj>lQ 5r5np?Q 9v5na)lYtyvQ Iv=@nDIn:inh:n͞5yzBɮzYKA~)EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 33.28 m.2i"ie;*ie; ProNav: ac range: 33.275505 m, nav range: 32.396095 m, bearing: 296.843193 deg, approach rate: -0.646122 m/s, LOS rate: 0.287449 deg/s, cmd heading: 302.919764 deg, new cmd heading: 303.105072 deg. i<HeadingCmd: 5.290182 target range: 33.275505 and range: 33.30 m.h+I@hhhhggjgrgereZe:e*e5 ?-uBɢM 橽)Q UuE>iQ)U(ȽQQiU,:i]}5~]=]|G=Ie+I@IaDDAT read: Rx Time:01:27:30.0424 TRx dataTimestamp_ set to:1764898051.128051=PDAT read: Bearing 113.2, -1.4 (Local) ~Local bearing/azimuth received: Bearing 113.2, -1.4 (Local) E EE*E"E&:*E|:VE(N4ZEa%@a%@a-@a-@IM9@Q @Q@]0mDAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.5 @YDAT read: 01:27:30.0424 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.18,-2.311, 2.300,-2.021,-2.450, PHS= 0.241,-1.489, 0.385, RAW= 154.0, 9.6, CAL= 153.7, 10.4, ROT= 356.3, -10.4 Ygot valid direction response: 01:27:30.0424 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.18,-2.311, 2.300,-2.021,-2.450, PHS= 0.241,-1.489, 0.385, RAW= 154.0, 9.6, CAL= 153.7, 10.4, ROT= 356.3, -10.4 R#Rx 8: Read range and direction messages.^direction in FSK: [0.981521,-0.063472,0.180519]Fpublishing direction and range infoy(fh?Sk?lE@?YB )AIv>i>,@+>>+@ 9>)@I9~Z+?N8?49Q? Ǻ?)Z+I)Ai9checking for new query: numPingsReceived=8, elapsed TxPingTime=6.161276i^A ȝ=e checking for new query: numPingsReceived=8, elapsed TxPingTime=6.294387ԙ A I I O >6P#,.q@LA<<Y vBy IiMb@Mb@Mb@ 9x&?(\ȿ~jthY7 ?yGD"!A *A &A)j$AY%A =bDVD8y&%&=ٔQ->9Y=OEyӰDE>Q 55u?Q 95i)Y?Q E:yQ I=@DI{:i&;5yɮKAiYi]1@LAj]B"j]B:j]/;@Rj]t.@@hIM@Bj](fh?Sk?lE@?*j])A2j]9Zj]7-@L͔<9K@Jj]ii)uǽqqiuH:i}b|AAAAB>BBIBvBBM =BBBI;BbE===g=I=p@IADDAT read: Rx Time:01:27:30.5421 %TRx dataTimestamp_ set to:1764898051.628455-PDAT read: Bearing 112.9, -0.8 (Local) =~Local bearing/azimuth received: Bearing 112.9, -0.8 (Local) eDAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 DAT read: 01:27:30.5421 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506,-0.04,-1.706, 2.928,-1.433,-1.848, PHS= 0.244,-1.462, 0.371, RAW= 153.6, 9.6, CAL= 153.3, 10.4, ROT= 356.7, -10.4 Ygot valid direction response: 01:27:30.5421 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506,-0.04,-1.706, 2.928,-1.433,-1.848, PHS= 0.244,-1.462, 0.371, RAW= 153.6, 9.6, CAL= 153.3, 10.4, ROT= 356.7, -10.4 R#Rx 9: Read range and direction messages.^direction in FSK: [0.981941,-0.056618,0.180519]Fpublishing direction and range infoy9@ @@4@E EE+E"E;*E҆:VE [4ZEBEAi">+@<+@ )8@IX]K?@UJp?QhzQ? ?);X+IQkichecking for new query: numPingsReceived=9, elapsed TxPingTime=6.604612^Am=A .AI! I1 OE >1 vByBIbDJVDJ8yfl=%fq=ٔfLQ-f?9j ?Yj ?=jOEyjڰDn|En?Q 55y?Q 9 5 n)Y y ծQ I =@DI:i:5yɮ=;KA9echecking for new query: numPingsReceived=9, elapsed TxPingTime=6.798547iQiU8@LAjUMB"jUMB:jU 4@RjUu?@XTt@BjUl?9 lE@?*jUQk2jQZjU\@-@* r:<`@JjUuNM?è쾬D*{&?jU jUkAiUWS?iU)TjUBjUWS?jU)TjUBrjUAzjU4@ addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.500404 s, deltaX: -0.400002 m, approachRate: -0.799357 m/s, rangeRepo size: 4  Added new target pos. range: 32.575977 m, bearing: 297.585877 deg, lat: 36.779539 deg, lon: -121.859791 deg, deltaT: 0.500404 s, deltaX: -0.399750 m, approachRate: -0.798854 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 32.58 m.2i "i *ie ProNav: ac range: 32.575977 m, nav range: 31.848942 m, bearing: 297.585992 deg, approach rate: 0.000000 m/s, LOS rate: 0.287449 deg/s, cmd heading: 303.381430 deg, new cmd heading: 303.585569 deg. iaeHeadingCmd: 5.298568 target range: 32.575977 and range: 32.60 m.hmލ@hihihihigigijgrgereZe:eL@@*e@r?-uBɢ5a)9 =s4>iA)|ǽi!p:Aie|e=ece=Ieލ@Ii9@ @@/@i= DDAT read: Rx Time:01:27:31.0420 M TRx dataTimestamp_ set to:1764898052.134503 PDAT read: Bearing 110.5, 0.0 (Local)  ~Local bearing/azimuth received: Bearing 110.5, 0.0 (Local) bE%g4jE%Ye4rE%ʖ/E  E E ,E "E *E :VE g4ZE a @a @a @a @U DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 ^A9 e DAT read: 01:27:31.0420 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 505, 0.12, 2.534, 0.838, 2.788, 2.321, PHS= 0.315,-1.438, 0.423, RAW= 153.0, 7.8, CAL= 152.5, 8.2, ROT= 357.5, -8.2 u Ygot valid direction response: 01:27:31.0420 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 505, 0.12, 2.534, 0.838, 2.788, 2.321, PHS= 0.315,-1.438, 0.423, RAW= 153.0, 7.8, CAL= 152.5, 8.2, ROT= 357.5, -8.2 u T#Rx 10: Read range and direction messages.ԡ  ^direction in FSK: [0.988834,-0.043173,0.142629] Fpublishing direction and range infoyA E ~B?0e x0A?YE BA A A A A )A IE G>iE bE u>E *@E 'g >E X*@ E C>)E i@IE CA A E )dݙ?ek @?GX? E G?)E 92 IE Ѹ2iE CA A = checking for new query: numPingsReceived=10, elapsed TxPingTime=7.154240Ai Iy I O >9DP#,#ALAnY@nR@nٱnI=nH@?@c.?@?lL@ڱ?ţx?X??inY@In];nC)YmvBymI yyi]Mb@Mb@Mb@YYYY Y9]/$? rȿy&1|Y]1?y]C]`]Q AY ]'A)YYYYbDuVDu8y}W<%#=ٔQ->9Y=OEyD E>Q 55}?Q 95Ju)Y?Q E:yʮQ I=@DI2;i;t5yДBɮKA3Ei)i-ALAj-B"j-B:j-@Rj- %@@iQY]i)Ix@Bj-~B?0e x0A?*j-Ѹ22j-CZj-(!.@|< @-checking for new query: numPingsReceived=10, elapsed TxPingTime=7.302400Jj-۳ ?qr$1#6?j- j- qAi-s?i-zWj-̆Bj)j-zWj-Brj-Azj-8@] addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.506048 s, deltaX: -0.199997 m, approachRate: -0.395213 m/s, rangeRepo size: 4  Added new target pos. range: 32.376125 m, bearing: 298.214852 deg, lat: 36.779539 deg, lon: -121.859792 deg, deltaT: 0.506048 s, deltaX: -0.199852 m, approachRate: -0.394927 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.38 m.2i"i*i ProNav: ac range: 32.376125 m, nav range: 31.690979 m, bearing: 297.618290 deg, approach rate: 0.000000 m/s, LOS rate: 0.287449 deg/s, cmd heading: 303.585571 deg, new cmd heading: 303.871583 deg. i  HeadingCmd: 5.303560 target range: 32.376125 and range: 32.40 m.h ö@h hhhggjgrg~Be9re9ZeA:eE@33@@*eE ?Y颍vBɢ̐) m0>i)j&ǽ顑ij:iz=_K=Iö@II=yA)=yA9@ @@@EQG]/{Aԉ5p9=/{AY=XlA^Aeh=B >B CB IB vBB B B B ;B aEA I Ա I  DDAT read: Rx Time:01:27:31.5418  TRx dataTimestamp_ set to:1764898052.634618 PDAT read: Bearing 111.1, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 111.1, 1.5 (Local) % DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 E  E E *E "E ;*E ]t:VE (N4ZE BE O?Y fB u 2x ) AI w>i  j> V)@ > (@ ">) r@I " ]`?DE?v?  ?) mJI FO5 >qVJP#,[+ALAi="99Nchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.618834j;ɰj;ԩ P@VI@Cl%ٱ=HZ?/?@D@P?jq?@%Y?@?i P@I];CYvByIbDVD8yӻ%L=ٔOQ->9Y=OEyD=E>Q 55Ӂ?Q 95"{)Yy뮿Q I=@DI;i.;5yɮKAi9i=(ALAj=MB"j=MB:j=9=@Rj=*a?@:Zt ?J@Bj=;T 8g?PX.i@\~>?*j=F2j="Zj=m^ .@Vd;s;a@Jj=hB?\T뿂W?j=% j=`wAi=N?i=옧Kj=Bj=b?j=)Tj9rj=Azj=@ addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.500115 s, deltaX: -0.300003 m, approachRate: -0.599868 m/s, rangeRepo size: 4 % Added new target pos. range: 32.076077 m, bearing: 299.440553 deg, lat: 36.779541 deg, lon: -121.859791 deg, deltaT: 0.500115 s, deltaX: -0.300049 m, approachRate: -0.599960 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 32.08 m.2i!"i)*i)] ProNav: ac range: 32.076077 m, nav range: 31.443254 m, bearing: 298.123658 deg, approach rate: 0.000000 m/s, LOS rate: 0.287449 deg/s, cmd heading: 303.871592 deg, new cmd heading: 304.112683 deg. iYeHeadingCmd: 5.307767 target range: 32.076077 and range: 32.10 m.he;٩@hahahahagigijgirgieqreqZeq:e @@*e`?vBɢԜ) a!>i)dƽiã:iy=b"==I;٩@I]checking for new query: numPingsReceived=11, elapsed TxPingTime=7.807344@ @@@ ^A Jc=) A I I O >.QP#,9FALADDAT read: Rx Time:01:27:32.0417 TRx dataTimestamp_ set to:1764898053.138503PDAT read: Bearing 110.8, 1.4 (Local) %~Local bearing/azimuth received: Bearing 110.8, 1.4 (Local) =DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 Eu EuEqEq"Eu:*Eu:VEqZEqa@a@a@a@Y}vByIDAT read: 01:27:32.0417 LVL= 29072, 32753, 32754, 32755, AGC= 66, IDX= 502,-0.05, 0.051,-1.650, 0.266,-0.164, PHS= 0.317,-1.441, 0.386, RAW= 151.9, 8.3, CAL= 151.4, 8.9, ROT= 358.6, -8.9 Ygot valid direction response: 01:27:32.0417 LVL= 29072, 32753, 32754, 32755, AGC= 66, IDX= 502,-0.05, 0.051,-1.650, 0.266,-0.164, PHS= 0.317,-1.441, 0.386, RAW= 151.9, 8.3, CAL= 151.4, 8.9, ROT= 358.6, -8.9 T#Rx 12: Read range and direction messages.^direction in FSK: [0.987665,-0.024138,0.154710]Fpublishing direction and range infoy  ?Gj?Y B  q   ) BI M>i r ˡ> )@ V> )@ >) G@I    _?Uh? zm? ?) I *ȼi   %checking for new query: numPingsReceived=12, elapsed TxPingTime=8.149353iMb@Mb@Mb@ 9q= ףp?MbXɿ{GzY ?yJ#+A ~(A)"AY%AbDVD8y<% =ٔ=Q-=>99Y9=EOEyEDEEE>IQ 5U5Mن?Q 9U5MՂ)MBYv?Q E:yWQ I=@MçDIM j tAi A?i dΩSj Bj s?j j Brj Azj $Ŧ@ addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.503885 s, deltaX: -0.099998 m, approachRate: -0.198455 m/s, rangeRepo size: 4  Added new target pos. range: 31.976154 m, bearing: 299.157160 deg, lat: 36.779543 deg, lon: -121.859791 deg, deltaT: 0.503885 s, deltaX: -0.099922 m, approachRate: -0.198304 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.98 m.2i"i*i ProNav: ac range: 31.976154 m, nav range: 31.251524 m, bearing: 298.600674 deg, approach rate: 0.000000 m/s, LOS rate: 0.287449 deg/s, cmd heading: 304.112670 deg, new cmd heading: 304.405371 deg. iHeadingCmd: 5.312876 target range: 31.976154 and range: 32.00 m.h@hhhhggjg rg BereZe:e@@*eX?e vBɢecO)a e>ia)mƽ顉i:i.fxե=/=I@IY>i>)checking for new query: numPingsReceived=12, elapsed TxPingTime=8.310844E 9@A  @A @A @A ^A% l;=A1 zA5 xAa A I I O >1XP#,aALABH@B[A@Bj6ٱB&=BHʖ?f+?@IS@?gn˦?(??iBH@IB];BCYZvByZII\)^<bDfVDf8y¼%=ٔiQ-%?9!Y!=%OEy%D-_EM?QQ 5]5U?Q 9]5U,)QYYy]iQ Ie=@UɧDIUS:iU:U5ԩyɮKAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 31.98 m.2i"i;*i;B>BBIBvBBN =BBB˥;BaEBCBCBBBM =C45 ProNav: ac range: 31.976154 m, nav range: 31.090565 m, bearing: 298.692057 deg, approach rate: -0.593862 m/s, LOS rate: 0.338903 deg/s, cmd heading: 304.405385 deg, new cmd heading: 304.589096 deg. i5<=HeadingCmd: 5.316082 target range: 31.976154 and range: 32.00 m.h=Y@h9h9hAhAgAgajgirgieireiZei:eq*eu?颽)vBɢ)  >i) 6kƽ  i^:i w_ͥ=!=IY@I)߅%=߅R=DDAT read: Rx Time:01:27:32.5415 TRx dataTimestamp_ set to:1764898053.642979PDAT read: Bearing 110.6, 1.9 (Local) ~Local bearing/azimuth received: Bearing 110.6, 1.9 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 E EEE"E;*Exv:VEZEBEDi+>Us)@C>[(@ nF>)Hd@InF?[?t)?ZA?9@ @@@  ?)ŠIinFchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.611225^A X;=] checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818023Au ؟Aԁ I I O >&^P#,[{ALA5DJ@5C@5pg>ٱ5r=5H M? &? g5@Qv?b@ʧ?ঢ়?`&?i5DJ@I5#];5CYvByIbDVD8y[4<%==ٔQ->9"?Y"?=OEyDD#:E>!Q 5-5%ۍ?Q 955%)%BQY1yYQ I=@%ѧDI%iy)}1ƽyyif:i(?v=)T=IG@IE9@A @A@M/@Iԁ^A%!=DDAT read: Rx Time:01:27:33.0414 TRx dataTimestamp_ set to:1764898054.147787PDAT read: Bearing 111.9, 2.5 (Local) DD%=E EEE"E;*E҆:VEZEaM@aU@a]@a]@~Local bearing/azimuth received: Bearing 111.9, 2.5 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 AQIIԱO>M DAT read: 01:27:33.0414 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.35,-1.182,-2.880,-0.990,-1.374, PHS= 0.294,-1.461, 0.340, RAW= 151.3, 9.3, CAL= 150.9, 10.1, ROT= 359.1, -10.1 U Ygot valid direction response: 01:27:33.0414 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.35,-1.182,-2.880,-0.990,-1.374, PHS= 0.294,-1.461, 0.340, RAW= 151.3, 9.3, CAL= 150.9, 10.1, ROT= 359.1, -10.1 ] T#Rx 14: Read range and direction messages.e ^direction in FSK: [0.984382,-0.015464,0.175367]e Fpublishing direction and range infoyT?s:ujr?Y3A )BI+>i {>)@6&>(@ J4>)-@IJ4VN5?e?me?  ?) &IiJ4 checking for new query: numPingsReceived=14, elapsed TxPingTime=9.160436 eP#,O;ALA2I@2C@2Gٱ2t=2Hs?I"?? {Q`R?X?@{??i2I@I2];2CY>vByBIi%Mb@Mb@Mb@!!!! !9%Q?J +ɿ rhY%\?y%H%C%A! %O)A)%#A!Y%&A]AAYbD]ڿVD]8ym1%%mT=ٔuQ-u>9Y=OEy DYE>Q 55?Q 95)BY?Q E:yQ I=@اDI;iW;#5yBɮ[LA=Echecking for new query: numPingsReceived=14, elapsed TxPingTime=9.318540iiXuALAjA"jA:j/@Rjﰍ>@σ ߿LOVy@BjT?s:ujr?*j2jJ4ZjRO-@صU:@Jj?V? |5Gt??jj joAi?i.Qj4Bjj2Rjrj*AzjY.@m addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504808 s, deltaX: -0.100000 m, approachRate: -0.198096 m/s, rangeRepo size: 4 Ա Added new target pos. range: 31.376623 m, bearing: 299.341175 deg, lat: 36.779544 deg, lon: -121.859790 deg, deltaT: 0.504808 s, deltaX: -0.099926 m, approachRate: -0.197949 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.38 m.2i"i*i ProNav: ac range: 31.376623 m, nav range: 30.645584 m, bearing: 299.336511 deg, approach rate: 0.000000 m/s, LOS rate: 0.338903 deg/s, cmd heading: 304.887132 deg, new cmd heading: 305.147850 deg. iHeadingCmd: 5.325835 target range: 31.376623 and range: 31.40 m.h=m@hhh1h1g9gAjgQrgUBeareaZe:e`ff?@*eR?%DvBɢ%B )! %=i!)-Ž))i-><:i5u5V=5\=I5=m@I9A9@ @@@BBBIBvBBM =BBB;BMaE  DDAT read: Rx Time:01:27:33.5411  TRx dataTimestamp_ set to:1764898054.649276 PDAT read: Bearing 110.9, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 110.9, 2.3 (Local)  DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 E  E E .E "E l;*E k:VE ـ4ZE BE aFA ?e ^direction in FSK: [0.987160,-0.022402,0.158158]e Fpublishing direction and range infoy  ːϖ?v@\~>?Y A ) CI w>i η |> Us)@ > )@ ">) U@I " G?$i!?荘H? ?) ZrI ޹i "  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.639353A A5 .AI9 IQ O] >kP#,;ALARK@R?E@RQٱR:=RH?m?LO`?؂3?`$??iRK@IRC];RCYnvBynI ppprAbDzVDz8y~H<%A=ٔQ->9  ?Y  ?= PEy D-":E5>9Q 5=5={?Q 9E5=)=BYAyEQ IE=@=DI=G:i=2:=ֿ5yiɮuFLAqiiALAjA"jA:j@@Rjiȅ>@U G濙Ԁ@Bjːϖ?v@\~>?*j޹2j"ZjNJJq-@Q::|Ӆއ@Jj^h?b ŞHaL>J?j jAzj3B@ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.501489 s, deltaX: -0.299999 m, approachRate: -0.598217 m/s, rangeRepo size: 4 - Added new target pos. range: 31.076860 m, bearing: 299.042073 deg, lat: 36.779544 deg, lon: -121.859790 deg, deltaT: 0.501489 s, deltaX: -0.299763 m, approachRate: -0.597745 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 31.08 m.2i1"i1*i1e ProNav: ac range: 31.076860 m, nav range: 30.405457 m, bearing: 299.475362 deg, approach rate: 0.000000 m/s, LOS rate: 0.338903 deg/s, cmd heading: 305.147854 deg, new cmd heading: 305.434657 deg. iamHeadingCmd: 5.330841 target range: 31.076860 and range: 31.10 m.hm?@hihqhqhqgqgqjgyrgyeyreyZey:e?@*eR?PvBɢ N) =i)ŽiY:is=aԉ  DDAT read: Rx Time:01:27:34.0410  TRx dataTimestamp_ set to:1764898055.153115 PDAT read: Bearing 110.5, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 110.5, 2.6 (Local)  DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 E  E E )E "E =;*E h:VE FA4ZE a- @a- @a- @a- @5 DAT read: 01:27:34.0410 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.10, 1.270,-0.438, 1.473, 1.044, PHS= 0.329,-1.436, 0.385, RAW= 151.6, 8.1, CAL= 151.1, 8.7, ROT= 358.9, -8.7 E Ygot valid direction response: 01:27:34.0410 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.10, 1.270,-0.438, 1.473, 1.044, PHS= 0.329,-1.436, 0.385, RAW= 151.6, 8.1, CAL= 151.1, 8.7, ROT= 358.9, -8.7 E T#Rx 16: Read range and direction messages.НrP#,fALA4<ɰ:^direction in FSK: [0.988312,-0.018977,0.151261]>Fpublishing direction and range infoyU??pnni\?Y3A )Ir>i>V)@>(@ |>)r@I|b ?@?Є9? ?)aIFi|qchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.186712YvByIiMb@Mb@Mb@ 9Gz?~jtȿ~jtY?yDA,A ~(A)"AYG%AbD-ܿVD-8y=Ѻ%==ٔ=Q-=>9aYa=ePEye DmEm>qQ 5}5u?Q 9}5u=)uBY}?Q E}:y}kQ I=@uDIuF;iuE;u5ԡyɮJLAiiALAjA"jA:j '@Rj>@WU ?©@BjU??pnni\?*jF2j|Zj-@J\wd:K@@JjZv7?2ZŽFv?j# jlAi{?iyAnXjBj?jdΩSjBrjAzjtO@U addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503839 s, deltaX: -0.200001 m, approachRate: -0.396954 m/s, rangeRepo size: 4 e Added new target pos. range: 30.877008 m, bearing: 299.285425 deg, lat: 36.779544 deg, lon: -121.859790 deg, deltaT: 0.503839 s, deltaX: -0.199852 m, approachRate: -0.396658 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 30.88 m.2ii"ii*iq ProNav: ac range: 30.877008 m, nav range: 30.135715 m, bearing: 299.568047 deg, approach rate: 0.000000 m/s, LOS rate: 0.338903 deg/s, cmd heading: 305.434667 deg, new cmd heading: 305.803856 deg. iHeadingCmd: 5.337284 target range: 30.877008 and range: 30.90 m.h˪@hhhhggjgrg~BereZe:e`f>@*e?%checking for new query: numPingsReceived=16, elapsed TxPingTime=10.3265725bvBɢ&) 2=i)Ž顙i ;i&r=dB1 B5 IB5 wBB1 B1 B1 B5 L;B5 aE^A @o=A zA yADDAT read: Rx Time:01:27:34.5407 TRx dataTimestamp_ set to:1764898055.657236PDAT read: Bearing 110.0, 2.9 (Local) ~Local bearing/azimuth received: Bearing 110.0, 2.9 (Local) DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 E5 E5E5(E1"E5;*E5|:VE5c44ZE1BE5Di$>%:)@ >(@ 5>)-@I5 t> ?Љ,?fP?  ?)VIi5=checking for new query: numPingsReceived=17, elapsed TxPingTime=10.624556AyIIO ?yzP#, ALAr]@rW@rXdٱr`=rHܦ?W?p D`Ѿ?Aߍ?}?@?ir]@IrU];rCYvByIbD-߿VD-8y]E%]C=ٔ]3Q-e>9aYa=ePEye(Dm{;Em>Q 55J?Q 95)BYyQ I=@DIl:i:@5yɮfLAii(ALAjA"jA:j][@RjBUK->@;NV޿x@5i@BjvF?!q1ڏH@l?*j2j5ZjO殇-@|9`@Jj?A_%K뿴?j jlAiASG?iypTj BjASG?jypTjrjJAzja[@ addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.504121 s, deltaX: -0.400000 m, approachRate: -0.793460 m/s, rangeRepo size: 4  Added new target pos. range: 30.477257 m, bearing: 299.651352 deg, lat: 36.779544 deg, lon: -121.859791 deg, deltaT: 0.504121 s, deltaX: -0.399752 m, approachRate: -0.792968 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 30.48 m.2i"i*i% ProNav: ac range: 30.477257 m, nav range: 29.911610 m, bearing: 299.651459 deg, approach rate: 0.000000 m/s, LOS rate: 0.338903 deg/s, cmd heading: 305.803852 deg, new cmd heading: 306.093692 deg. i)-HeadingCmd: 5.342343 target range: 30.477257 and range: 30.50 m.h-y@h1h1h1h1g1g1jg9rg9e9re9Ze9:ee>@*ee?qvBɢC) <=i);Ži/;i pox=wQ ՁP#,BLAJg@J.a@JjnٱJ=JH??>>`?06ۭ? ??iJg@IJ];JCYbvByfIIj%=)j4=bDnVDn8yvNH<%vR=ٔzֻQ-z>9xYx=~PEy~0D~P;E~>Q 5 5?Q 9 5)BY y諿Q I=@DI:i:5yɮRLAMDDAT read: Rx Time:01:27:35.0406 UTRx dataTimestamp_ set to:1764898056.162602mPDAT read: Bearing 109.9, 3.0 (Local) u~Local bearing/azimuth received: Bearing 109.9, 3.0 (Local) DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.5 E EE+E"E*EVE [4ZEa@a@a@a@B*** querying acoustic contact ***iDAT read: 01:27:35.0406 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.45, 0.649,-1.057, 0.853, 0.402, PHS= 0.349,-1.414, 0.407, RAW= 151.6, 7.4, CAL= 151.0, 7.8, ROT= 359.0, -7.8 iaYgot valid direction response: 01:27:35.0406 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.45, 0.649,-1.057, 0.853, 0.402, PHS= 0.349,-1.414, 0.407, RAW= 151.6, 7.4, CAL= 151.0, 7.8, ROT= 359.0, -7.8 T#Rx 18: Read range and direction messages.:iDNOT Ignoring new targets: 30.48 m.2i^direction in FSK: [0.990597,-0.017291,0.135716]%Fpublishing direction and range infoyI"iU;*iU;M48[?aqĴ M _?YMfAIIII I)MAIM!>iMMNb>MV)@M A>M+(@ M'g >)M@IM'g IIMWL?t-x? x? M 7 ?)M9%IMiM'g IIchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.168441 ProNav: ac range: 30.477257 m, nav range: 29.693697 m, bearing: 299.776860 deg, approach rate: -0.529717 m/s, LOS rate: 0.307068 deg/s, cmd heading: 306.093698 deg, new cmd heading: 306.346337 deg. i} <HeadingCmd: 5.346752 target range: 30.477257 and range: 30.50 m.h@hhhhggjgrgereZe:eL>@*e%\ķ?mvBɢmc)q ub=iq)unŽqqiu;i}oe=ԫs_P#,G#BLA2n@2Dh@2qzٱ2n=2H1??Y9@?m@ S?ų?`9?i2n@I25];0Y9m"?Ym"?=uPEyu9Duu:Eu>yQ 55}ߪ?Q 95}Q =tI)}BY?Q E:ylQ I>@}DI}:i}:;}u5yBɮLAFEB>BCBIB wBBBBB;B`Eiih BLAj8A"j8A:jU@Rjչ-=@-uJo@Bj48[?aqĴ M _?*j2j'g ZjMwZ-@98d@Jj@EU8?ͽALi?j jjAi ?i5\jBj ?jZUjBrjAzjO|@= addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.505366 s, deltaX: -0.200001 m, approachRate: -0.395754 m/s, rangeRepo size: 4 ] Added new target pos. range: 30.277578 m, bearing: 299.607610 deg, lat: 36.779544 deg, lon: -121.859791 deg, deltaT: 0.505366 s, deltaX: -0.199678 m, approachRate: -0.395116 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 30.28 m.2ia"i*i ProNav: ac range: 30.277578 m, nav range: 29.459822 m, bearing: 299.881773 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 306.346333 deg, new cmd heading: 306.594245 deg. iHeadingCmd: 5.351079 target range: 30.277578 and range: 30.30 m.h <@hhhhg!gAjgIrgM~BeIreIZeI:eQ*eUɧ?DDAT read: Rx Time:01:27:35.5403 TRx dataTimestamp_ set to:1764898056.666024PDAT read: Bearing 111.4, 3.0 (Local) ~Local bearing/azimuth received: Bearing 111.4, 3.0 (Local) DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4 E EEE"E;*E:VEZEBE?C?Y3A )BI?5>i'1J >)@>%:)@ ">)c9@I"2x?եnN{?@5? ?)JIwּi"uchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.615559vBɢ?) )=i)[Ži$!;inDQ=GdP#,c ?BLAR}@R w@RٱRz=RH?0?j0@?˄+O?@+?@J?iR}@IR];RCYZvByZIbDbVDb8yj,K%nC=ٔn\ƻQ-n>9pYp=rPEyrBDrt;Er>tQ 5M5v߯?Q 9M5v )v BQYQyU"Q IU>@v DIv,;iv>+;v5yYɮ]MAaii#*BLAjA"jA:j@Rj\8}=@ݱ^tN@Bj;?\6w@\~>?*jwּ2j"ZjG,@ۑ@p9<02@JjdJ?EXS>nز?j j>bAi6tW?iv[jGBj{?jyAnXjrjWAzjFu@ addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.503422 s, deltaX: -0.400000 m, approachRate: -0.794561 m/s, rangeRepo size: 4  Added new target pos. range: 29.877874 m, bearing: 298.996627 deg, lat: 36.779544 deg, lon: -121.859792 deg, deltaT: 0.503422 s, deltaX: -0.399704 m, approachRate: -0.793974 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.88 m.2i"i*i ProNav: ac range: 29.877874 m, nav range: 29.292934 m, bearing: 299.832562 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 306.594242 deg, new cmd heading: 306.851101 deg. iHeadingCmd: 5.355562 target range: 29.877874 and range: 29.90 m.h`@hhhhggjgrgereZe:e`f=@*e{?vBɢ%)! %3G ?YA )@Iu>i#۹j>)@nF>V)@ )>)+@I)E1?r ?SD׭? o?);Ii)5checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110208Ա^A-m<Aq I I O > P#,XBLA2p@2@2=Ňٱ2=j=2H ?@? 0(}?Ln y?Ն? ?i2p@I2];2CYBvByBI DDiIAchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.342905iMb@Mb@Mb@ 9~jt?> ףp=ʿy&1Y?yQ`9A /A O)A)YbD5 VD58y=Y=%E6=ٔU6Q-e>9yY=PEyKD^m;E>Q 555ֵ?Q 9=5) BYEi$?Q EM:yuQ Iu>@DI3G ?*j2j)ZjyS+@{ҋN9YGU@Jj̓؊(?I뿔H&$?jv j_Ai|NSP?ih]jBjjv[jrjAzj~@ addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.503214 s, deltaX: -0.199999 m, approachRate: -0.397443 m/s, rangeRepo size: 4  Added new target pos. range: 29.678022 m, bearing: 298.925042 deg, lat: 36.779544 deg, lon: -121.859793 deg, deltaT: 0.503214 s, deltaX: -0.199852 m, approachRate: -0.397151 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.68 m.2i"i!*i!5 ProNav: ac range: 29.678022 m, nav range: 29.092464 m, bearing: 299.898345 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 306.851112 deg, new cmd heading: 307.160500 deg. i1=HeadingCmd: 5.360962 target range: 29.678022 and range: 29.70 m.h=@h9h9h9h9gagajgarge~BeireiZei:em@3=@*emV?颽vBɢ 'Ž) :i)QŽi0/;il{&=kdBBIBwBBL =BBBܤ;B`E9@ @@0@DDAT read: Rx Time:01:27:36.5399 TRx dataTimestamp_ set to:1764898057.674261PDAT read: Bearing 110.6, 3.5 (Local) ~Local bearing/azimuth received: Bearing 110.6, 3.5 (Local) DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 E  E E +E "E :*E :VE [4ZE BE $5i)\>)@>)@ 5>)U@I5 y?\?0? 7;?)tI޹i5 checking for new query: numPingsReceived=21, elapsed TxPingTime=12.633688Y ^A <A II!O5>P#,vBLAɰ4<(Y5vBy5I E=AbDE!VDE˰8yu{<%}:=ٔ}Q-}>9Y=PEyTDE>Q 55,?Q 95)BYyQ I>@DI:i:5yɮLAii'kBLAj:A"j:A:j:@Rj¶j<@ IԄiL@Bj6!0?XP&pH@l?*j޹2j5ZjH |<.,@F8ߥW~@Jjm?M*[N뿍OQ?j jqaAiS^?i[jBjS^?j[jBrjwAzj:@ addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.505023 s, deltaX: -0.400002 m, approachRate: -0.792046 m/s, rangeRepo size: 4  Added new target pos. range: 29.278400 m, bearing: 299.422128 deg, lat: 36.779541 deg, lon: -121.859794 deg, deltaT: 0.505023 s, deltaX: -0.399622 m, approachRate: -0.791295 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 29.28 m.2i "i*i% ProNav: ac range: 29.278400 m, nav range: 28.683111 m, bearing: 299.422232 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 307.160492 deg, new cmd heading: 307.389969 deg. i!%HeadingCmd: 5.364967 target range: 29.278400 and range: 29.30 m.5checking for new query: numPingsReceived=21, elapsed TxPingTime=12.846545h%ϭ@h1h1h1h9g9g9jg9rg9eAreAZeA:eEL=@*e|~?ԉvBɢ=@jŽ)I M-iI)UERŽYib5;i]k=P4i P > )@ Q > Us)@^A a<ԙ | >) @I | 鲵?v?f>+? y?) 6I i |  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.131194A I I O >?P#,AӑBLAdzط@z&@z—ٱz/>zH >?`׼?¿` @0?x?n??izط@Iz>];zCYvByIiMb@Mb@Mb@ 91Zd?A`"˿I +Y"?yY9 *A)Q AYbD&VDϰ8yeu&=%e'=ٔe Q-m>9iYi=mPEym^Du5<Eu>Q 55B?Q 95)BYs$?Q E:yQ I>@'DI:i:-5yBɮKMAPEiqiuYBLAjuA"juA:jut@RjuH* 9<@n9!CD}2@Bju,7#?x"0p ?*ju2ju| ZjuqR+@+!x"8Du@Jju)t[a?{NBE CBE IBE wBBA BA BA BE ;BE g`EBCBCBBi BCk'5U DDAT read: Rx Time:01:27:37.5395 U TRx dataTimestamp_ set to:1764898058.681693e PDAT read: Bearing 111.0, 4.1 (Local) m ~Local bearing/azimuth received: Bearing 111.0, 4.1 (Local)  DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5 E  E E )E "E :*E :VE FA4ZE BE a 2E a JE ;a :E ;a ^A 8< DAT read: 01:27:37.5395 LVL= 30592, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.21,-0.889,-2.573,-0.685,-1.125, PHS= 0.338,-1.403, 0.396, RAW= 151.6, 7.6, CAL= 151.1, 8.1, ROT= 358.9, -8.1  Ygot valid direction response: 01:27:37.5395 LVL= 30592, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.21,-0.889,-2.573,-0.685,-1.125, PHS= 0.338,-1.403, 0.396, RAW= 151.6, 7.6, CAL= 151.1, 8.1, ROT= 358.9, -8.1  T#Rx 23: Read range and direction messages. ^direction in FSK: [0.989841,-0.019006,0.140901]ԙ  Fpublishing direction and range infoyQ U xKvǬ?ddXPv:N ?YU AQ U wQ Q Q )Q IU V>iU U >U V)@U >U (@ U >)U r@IU Q Q U 1?^#ȡ?? U M ?)U uIU FiU Q Q checking for new query: numPingsReceived=23, elapsed TxPingTime=13.653268A)I9IIOU?P#,BLA2'ơ@2u@2ٱ2/>2H a?`?@xIÿ&?&r&?`L?a?i2'ơ@I2];2CYJvByNIIR<)R=bDV$VDVΰ8yr4%rB=ٔrQ-r>9tYt=vPEyvfD;E>Q 5%5Ɵ?Q 9%5)BY!y%RQ I%>@0DI:iK:5yQɮUMAQqiiܠBLAjmA"jmA:jć@Rj{*!c<@B,qe5b)@BjxKvǬ?ddXPv:N ?*jF2jZjG4+@پ,F8zb.n@JjJ:?>Y"c?B?j5 j_Aia?i/-XjBjj[jrjAzjT@ addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504385 s, deltaX: -0.400000 m, approachRate: -0.793044 m/s, rangeRepo size: 4  Added new target pos. range: 28.678564 m, bearing: 299.961906 deg, lat: 36.779540 deg, lon: -121.859794 deg, deltaT: 0.504385 s, deltaX: -0.399986 m, approachRate: -0.793018 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.68 m.2i"i*iM ProNav: ac range: 28.678564 m, nav range: 28.078783 m, bearing: 299.606091 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 307.700104 deg, new cmd heading: 307.958132 deg. iIUHeadingCmd: 5.374883 target range: 28.678564 and range: 28.70 m.hU @hQhQhQhQgYgYjgYrgYeYreaZea:ee@3<@*e}?vBɢsɽ) @i ) ]Ž  i  ?;ih=GgU DDAT read: Rx Time:01:27:38.0394 ] TRx dataTimestamp_ set to:1764898059.185070e PDAT read: Bearing 110.8, 4.0 (Local) e ~Local bearing/azimuth received: Bearing 110.8, 4.0 (Local) } DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.5  DAT read: 01:27:38.0394 LVL= 32240, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.24,-0.632,-2.328,-0.416,-0.878, PHS= 0.347,-1.405, 0.417, RAW= 151.9, 7.2, CAL= 151.4, 7.6, ROT= 358.6, -7.6  Ygot valid direction response: 01:27:38.0394 LVL= 32240, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.24,-0.632,-2.328,-0.416,-0.878, PHS= 0.347,-1.405, 0.417, RAW= 151.9, 7.2, CAL= 151.4, 7.6, ROT= 358.6, -7.6 E  E E 'E "E :*E x:VE '4ZE a @a @a @a @ T#Rx 24: Read range and direction messages. ^direction in FSK: [0.990920,-0.024217,0.132256] Fpublishing direction and range infoyY ] D$?Yun̘) ?Y] AY ] }Y Y Y )Y I] >i] ׳] >] )@] >] )@ ] >)] G@I] Y Y ]   [? 8?J? ] ?)] I] *ȼi] Y Y  checking for new query: numPingsReceived=24, elapsed TxPingTime=14.124749P#,BLA2ա@2Ψ@2Eٱ2>2H l?Ӧ?1ÿ<5?j 3c? ??i2ա@I2];2CY:vBy:Ixz@AAbDzVDzŰ8y=%7=ٔwƻQ->9Y=%PEy%oD5 ;E>!Q 5-5%̟?Q 9-5%)!Y)yUQ IU>@%:DI%m;i%;%5yaɮeMAaiii0BLAjA"jA:jt@RjY8<@M}!@BjD$?Yun̘) ?*j*ȼ2jZj.M+@L {,8bn\@Jjr?n%?jou)l?jc j]Ai\?i]j2Bj\?jh]jBrjAzj9u@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503377 s, deltaX: -0.200001 m, approachRate: -0.397318 m/s, rangeRepo size: 4  Added new target pos. range: 28.478714 m, bearing: 299.827702 deg, lat: 36.779540 deg, lon: -121.859794 deg, deltaT: 0.503377 s, deltaX: -0.199850 m, approachRate: -0.397019 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.48 m.2i"i*i ProNav: ac range: 28.478714 m, nav range: 27.861439 m, bearing: 299.832221 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 307.958121 deg, new cmd heading: 308.276626 deg. iHeadingCmd: 5.380442 target range: 28.478714 and range: 28.50 m.h,@hhhhggjgrgereZe:e<@*e"?5vBɢ52ǽ)1 5li9)=eŽYYi]+D;ie,geSŤ=e;Ie,@IiEchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.363145ԙ9@ @!@%c0@! ^A] <Ae yAzAe zAA A AAB >B B IB 4wBB N =B 2DB [DB ;B ?`E ADDAT read: Rx Time:01:27:38.5391 TRx dataTimestamp_ set to:1764898059.690742PDAT read: Bearing 110.6, 4.1 (Local) ~Local bearing/azimuth received: Bearing 110.6, 4.1 (Local) E- E-E-+E)"E-:*E-z:VE- [4ZE)BE-.i-->)@=%:)@ =)c9@I9roG?Q,?;TA? Ew?)`IwּiFchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.683555Pj@j*ܨ@jٱj>jH? ȝ?ÿhC?PxM I,?`W?f?ij@Ij];hY vBy IiMb@Mb@Mb@ 9rh|?5^I ˿MbY?yXA/A O)A)AY$AbD VD8yU;%U =ٔU2Q-U>9YYY=]PEy]{D]8;Ee>aQ 55eӟ?Q 95e)eBY %?Q E:yQ I>@eEDIe<:ie:e5yBɮ MAQEii5BLAjA"jA:j$}@RjſK;@qm%WKd @Bje?A7X?*jwּ2jZjs i+@?!P7 *y~@Jj+jr=?ij<-SV?jʾ jO[AiV?i^jBjj]j2Brj3Azj @- addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.505672 s, deltaX: -0.400000 m, approachRate: -0.791026 m/s, rangeRepo size: 4 = Added new target pos. range: 28.078897 m, bearing: 299.887590 deg, lat: 36.779540 deg, lon: -121.859794 deg, deltaT: 0.505672 s, deltaX: -0.399817 m, approachRate: -0.790664 m/s, posRepo size: 4 :i9EDNOT Ignoring new targets: 28.08 m.2ia"ia*iiu ProNav: ac range: 28.078897 m, nav range: 27.525251 m, bearing: 300.033771 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 308.276627 deg, new cmd heading: 308.593204 deg. iq}HeadingCmd: 5.385967 target range: 28.078897 and range: 28.10 m.h}Y@hyhhhggjgrg~BereZe:e<@*e@8?-wBɢ-;Eɽ)9 EiA)EuŽAAiEH;iMeMt=Mm;IMY@IQDDAT read: Rx Time:01:27:39.0388 -TRx dataTimestamp_ set to:1764898059.944716MPDAT read: Bearing 110.5, 4.2 (Local) ]~Local bearing/azimuth received: Bearing 110.5, 4.2 (Local) mchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.875119 9@ @@/@! ^A [R;Q  DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.6  DAT read: 01:27:39.0388 LVL= 31984, 32753, 30450, 32755, AGC= 63, IDX= 506,-0.45,-1.708, 2.892,-1.486,-1.969, PHS= 0.363,-1.378, 0.439, RAW= 152.1, 6.5, CAL= 151.4, 6.8, ROT= 358.6, -6.8  Ygot valid direction response: 01:27:39.0388 LVL= 31984, 32753, 30450, 32755, AGC= 63, IDX= 506,-0.45,-1.708, 2.892,-1.486,-1.969, PHS= 0.363,-1.378, 0.439, RAW= 152.1, 6.5, CAL= 151.4, 6.8, ROT= 358.6, -6.8  T#Rx 26: Read range and direction messages. ^direction in FSK: [0.992669,-0.024260,0.118404] Fpublishing direction and range infoy  P|?kWטEO?Y A | v ) I #۹>i Nb > V= )@ =) G@I E  E E )E "E :*E :VE FA4ZE a@a@a@a@ z\BP#, CLA)=@=@=xٱ=8>=H? ?ÿR?``?>?T??i=@I=2];=CYvByIi%Mb@Mb@Mb@!!!! !9%+?Q˿:vY%v?y%(\%T!% /A % *A)%A!Y%$AbD}VD}8y<% =ٔ߸Q->9Y=PEyDg;E>Q 55Zڟ?Q 95\) BY'?Q E:yQ I>@PDIe#Bq Bu IBu SwBBu L =Bu 1DBu \DBu ;Bu P`E^AqZ;DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.5 E% E%E%(E!"E%V:*E%~:VE%c44ZE!BE%9?05?YAuw )I>i/>)@z0=)@ V=)U@IV轩ؤ]?/-??B? 55?)1I޹iV轩checking for new query: numPingsReceived=27, elapsed TxPingTime=15.643904IyIO ?7P#,us0CLA00ex@e@eٱec>eH 7? ~?=Ŀ`6v?nx?`V?`?ǘ?iex@Ie ];aiY}wBy}IbDVD8y&=%7=ٔVMQ->9Y=PEyD#<E>Q 55H?Q 95)BYyQ I>@YDIC;i;U5yɮLAii,CLAjpA"jpA:j٧@Rj%#:@yTŲ[@Bj!z>?05?*j޹2jVZj=+@$Н6H4c,@Jj R? Ґ48?j jXAiT?i_jȽ) Xi):Ž顑iM;iC co=rw:I@Iԙ9@ @@@DDAT read: Rx Time:01:27:40.0384 TRx dataTimestamp_ set to:1764898060.952650%PDAT read: Bearing 110.5, 4.6 (Local) -~Local bearing/azimuth received: Bearing 110.5, 4.6 (Local) UDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.6 eZ#Rx 28: Read range message, but no direction.yYAchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.899763^Arg:IqIO}> doP#,6JCLAY&wByIbDVD8y%iD=%-S=ٔ-Q-->91Y1=5PEy5D5E5>]DAT read: 01:27:40.0384 LVL= 30576, 32753, 32242, 32755, AGC= 62, IDX= 501, 0.31,-0.744,-2.445,-0.525,-1.024, PHS= 0.382,-1.375, 0.455, RAW= 152.0, 6.0, CAL= 151.3, 6.3, ROT= 358.7, -6.3 mYgot valid direction response: 01:27:40.0384 LVL= 30576, 32753, 32242, 32755, AGC= 62, IDX= 501, 0.31,-0.744,-2.445,-0.525,-1.024, PHS= 0.382,-1.375, 0.455, RAW= 152.0, 6.0, CAL= 151.3, 6.3, ROT= 358.7, -6.3 mZ#Rx 29: Read direction message, but no range.u^direction in FSK: [0.993705,-0.022550,0.109734]y9=n?>~g,=?9=pw9=} 9)=>I=>i==>9=Pw=9 =z0=)9I=z0Ὡ9=<9?6/?ϲ}? =?)=BؽI9i=z0Ὕchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.132021E EE*E"E;*E:VE(N4ZEa@a@a@a@Q 55~埊?Q 95q)BYyQ I>@bDI<;i;5yɮLAi1i58~g,=?*j12j5z0Zj5SQ*@u][6{6v'@Jj5 כ?|4W?j5> j5?WAi5(S?i5Xj5'Bj5T?j1j5mBrj5Azj5_٧@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.255257 s, deltaX: -0.200001 m, approachRate: -0.783527 m/s, rangeRepo size: 4 % Added new target pos. range: 26.979900 m, bearing: 300.563880 deg, lat: 36.779540 deg, lon: -121.859793 deg, deltaT: 0.255257 s, deltaX: -0.199850 m, approachRate: -0.782937 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 26.98 m.2i)"i1*i1E ProNav: ac range: 26.979900 m, nav range: 26.515263 m, bearing: 300.532670 deg, approach rate: 0.000000 m/s, LOS rate: 0.307068 deg/s, cmd heading: 309.186654 deg, new cmd heading: 309.423095 deg. iAMHeadingCmd: 5.400452 target range: 26.979900 and range: 27.00 m.hMЬ@hIhIhIhIgIgQjgQrgQeYreYZeY:e];@*e]H0?颍4wBɢaǽ) \i)-qŽ11i5O;i5a=W==I=Ь@I99@ @@0@ 1 DDAT read: Rx Time:01:27:40.5381  TRx dataTimestamp_ set to:1764898061.456787E PDAT read: Bearing 111.3, 4.6 (Local) M ~Local bearing/azimuth received: Bearing 111.3, 4.6 (Local) ^A q: DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.7 5 Z#Rx 30: Read range message, but no direction.I) IQ Ou >y Y A  checking for new query: numPingsReceived=30, elapsed TxPingTime=16.427237Y P#,UdCLA2F@2a?@2ƽٱ2>2H0]? o^?@Ŀ m????`K?i2F@I2\];2CY>NwByBIiEMb@Mb@Mb@AAAA A9EZd;O?S˿I +YEj?yE/]E94EAE9.A E*A)EAAYE($AiibDuVDu8y =%D=ٔHVQ->9Y=PEyDLc<E>Q 55ꟊ?Q 954)BY%?Q E:yQ I>@B<AB>BB2IB|wBBM =BB[DB;Bi`EjDI)iMGM/>M*@MV=MV)@ M|=)M+@IM|ゥIM(?P?$wݼ? Mp?)MiIMiM|}checking for new query: numPingsReceived=31, elapsed TxPingTime=16.636309E EE.E"EV:*E:VEـ4ZEBE9  DDAT read: Rx Time:01:27:41.0380 - TRx dataTimestamp_ set to:1764898061.961144E PDAT read: Bearing 112.2, 4.7 (Local) M ~Local bearing/azimuth received: Bearing 112.2, 4.7 (Local) P#,I}CLA2DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.6 z;ɰxUZ#Rx 32: Read range message, but no direction.yQYU3AQ]checking for new query: numPingsReceived=32, elapsed TxPingTime=16.934401m_@X@2˽ٱ >H*q?K?@Jſ ߣ`?Š?e?v??im_@Ix];CԑYTwByIbDVD8yM<%7=ٔQ->9Y=PEyD;E>Q 55?Q 95)BYyQ I>@sDIW:id:B5yM)BɮMKAM[EiQiUb}CLAjU A"jU A:jU@RjUߠ!0:@hH)R@BjU?т?Hԅemu"޽?*jU2jU|ZjU/R*@M.6l5$@JjUN h?h(~EF%?jUt jURAiUKE?iUWjUBjU(S?jUXjQrjUeAzjU@= addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504357 s, deltaX: -0.200001 m, approachRate: -0.396546 m/s, rangeRepo size: 4 } Added new target pos. range: 26.380165 m, bearing: 300.683683 deg, lat: 36.779539 deg, lon: -121.859792 deg, deltaT: 1.008494 s, deltaX: -0.599735 m, approachRate: -0.594684 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 26.38 m.2i"i*i ProNav: ac range: 26.380165 m, nav range: 25.924757 m, bearing: 300.914470 deg, approach rate: 0.000000 m/s, LOS rate: 0.389707 deg/s, cmd heading: 309.757548 deg, new cmd heading: 310.107021 deg. iHeadingCmd: 5.412388 target range: 26.380165 and range: 26.40 m.hI2@hh!h!h!g!g!jg)rg)e)re)Ze):e5`ff:@*e5?颅XwBɢ6 ƽ) ]i)Ž顉i3N;i^ =lII2@IԹDAT read: 01:27:41.0380 LVL= 29856, 32753, 31218, 32755, AGC= 60, IDX= 497, 0.18,-1.277,-2.951,-1.047,-1.518, PHS= 0.343,-1.388, 0.428, RAW= 152.4, 7.0, CAL= 151.8, 7.4, ROT= 358.2, -7.4 Ygot valid direction response: 01:27:41.0380 LVL= 29856, 32753, 31218, 32755, AGC= 60, IDX= 497, 0.18,-1.277,-2.951,-1.047,-1.518, PHS= 0.343,-1.388, 0.428, RAW= 152.4, 7.0, CAL= 151.8, 7.4, ROT= 358.2, -7.4 Z#Rx 33: Read direction message, but no range.^direction in FSK: [0.991182,-0.031149,0.128796]yY]O·?埿OZ_|?YbE=ǙT4jE=ǼP4rE=]%0E EE+E"E%;*E:VE [4ZEa@a@a@a@]tY]y Y)YI]>i]]">];*@]5=])@ ] A>)]@I] AY]E?6aw?|S9? ]1?)] oI]ѭi] Achecking for new query: numPingsReceived=33, elapsed TxPingTime=17.1497029@ @@0@^A NJκ AII!O->SP#,CLAzDDAT read: Rx Time:01:27:41.5377 TRx dataTimestamp_ set to:1764898062.464479-PDAT read: Bearing 111.7, 4.4 (Local) 5~Local bearing/azimuth received: Bearing 111.7, 4.4 (Local) eDAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.9 }Z#Rx 34: Read range message, but no direction.y|Y~A|checking for new query: numPingsReceived=34, elapsed TxPingTime=17.405334%|~@%w@%gнٱ% >%H ԉ?z6?<ſ!?¸? ?U??i%|~@I%];%C݂G4f9YsbAYwBy8I aaAiMb@Mb@Mb@ 97A`?A`"˿MbY?yYA /A  *A)9AY#AbDVD8yP=%=ٔQ->9Y=PEy%D-;E->YQ 5e5]?Q 9m5]:)] BYm ?Q Eu:yuQ Iu>@]~DI]0;i];]5y>BɮKAeEB>BB^IBwBBL =BB\DB;B\`Ei|i~CLAj~A"j~A:j~@Rj~퐃}e9@8TI' @Bj~O·?埿OZ_|?*j~ѭ2j~ AZj~()@#5 qL<@Jj~`7?}d5?j~f j~(NAi~e5?i~mUj~`Bj~NR?j~Wj|rj~[Azj~6@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503335 s, deltaX: -0.400000 m, approachRate: -0.794699 m/s, rangeRepo size: 4  Added new target pos. range: 25.980650 m, bearing: 300.585427 deg, lat: 36.779539 deg, lon: -121.859792 deg, deltaT: 0.503335 s, deltaX: -0.399515 m, approachRate: -0.793736 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.98 m.2i"i*i ProNav: ac range: 25.980650 m, nav range: 25.544710 m, bearing: 301.180579 deg, approach rate: 0.000000 m/s, LOS rate: 0.389707 deg/s, cmd heading: 310.107008 deg, new cmd heading: 310.528512 deg. iHeadingCmd: 5.419745 target range: 25.980650 and range: 26.00 m.hn@hhhh g g)jg1rg53Be9re9Ze9:e=:@*eE N?imwBɢä½) ȿ B -V:?v"| );IԸ>i7>{*@z0=P*@ =)M@I佩c|س? VI?t|? ?)߽̎IFE EE/E"E&:*E]t:VEJ4ZEBEi;i;߯>X*@^ =)@Y]wBy]CIbDu VDu8 z0=)@Iz0Ὡ~|?% ?vCe? zP?)۽Iѭiz0Ὡchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.971210y?=%2=ٔQ->9Y=PEyDE>Q 55E?Q 95])&BYyQ I>@DI\:iu:5yɮKAii!CLAj?A"j?A:j@RjxtYʜ9@atJޡ@Bj˥?_,=?*j2jz0Zj%, )@n &ȯ59P$@Jj!-?6D(x=?j~ jeNAi0zMP#,bhCLA:DDAT read: Rx Time:01:27:42.5374 >TRx dataTimestamp_ set to:1764898063.474010JPDAT read: Bearing 112.5, 4.6 (Local) R~Local bearing/azimuth received: Bearing 112.5, 4.6 (Local) jDAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.6 zZ#Rx 37: Read range message, but no direction.y8Y:3A8 checking for new query: numPingsReceived=37, elapsed TxPingTime=18.415304y]aۢ@]ԩ@]Bٱ]=X>]H??ƿ]X8)?)? ?@? }?i]aۢ@I])^;]CYmwBym_IiMb@Mb@Mb@ 9333333?nʿ~jtY?yV$A9.A )AY"AbDVDy=%=ٔfQ->9Y=MPEyMDZDU<EU>iQ 5}5m?Q 9}5m2()m*BY"?Q E:yΦQ I>@mDImcl;im`e;m 5yɮJAԩAAAABM>BIBMIBM xBBIBM2DBM[DBM{;BM3`EBBBBL =BC,#5m addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503242 s, deltaX: -0.400000 m, approachRate: -0.794845 m/s, rangeRepo size: 4 :iiuDNOT Ignoring new targets: 25.78 m.2iq"i};*i}; ProNav: ac range: 25.780798 m, nav range: 24.868221 m, bearing: 301.306652 deg, approach rate: -0.612101 m/s, LOS rate: 0.403434 deg/s, cmd heading: 310.867099 deg, new cmd heading: 311.308539 deg. i8<HeadingCmd: 5.433359 target range: 25.780798 and range: 25.40 m.hޭ@hhhhggjgrg@BereZe:e`ff9@*e?=wBɢ\)Zۺ >=i)AdŽiq4F;i9Y=DAT read: 01:27:42.5374 LVL= 31456, 32753, 31602, 32755, AGC= 60, IDX= 506, 0.23,-2.598, 1.998,-2.341,-2.847, PHS= 0.351,-1.392, 0.463, RAW= 153.1, 6.5, CAL= 152.4, 6.7, ROT= 357.6, -6.7 %Ygot valid direction response: 01:27:42.5374 LVL= 31456, 32753, 31602, 32755, AGC= 60, IDX= 506, 0.23,-2.598, 1.998,-2.341,-2.847, PHS= 0.351,-1.392, 0.463, RAW= 153.1, 6.5, CAL= 152.4, 6.7, ROT= 357.6, -6.7 %Z#Rx 38: Read direction message, but no range.-^direction in FSK: [0.992299,-0.041589,0.116671]yM?|?73Kmu"޽?zr{ )<IF>i-V>+@V=;*@ |=)@I|ゥyJ=c??zS[?WEڼ? ?)OIQ+i|}Mchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.652884E] E]E]-EY"E]s:*E]|:VE]t4ZEYBE]p0iV >r@rK@rNٱr>rH?? ǿ IG@A??`?+?ly?ir@Ir^;rC{*@Pw=P*@ ^ =)M@I^ ڽnָ?1m>I?󲮺? ?)սIFi^ ڽ}checking for new query: numPingsReceived=39, elapsed TxPingTime=18.979548YwByvII=)R=bDVDȰ8y=%)=ٔ薻Q->9Y=PEyѱD;E>IQ 5U5M ?Q 9U5M/)M/BYYy]\Q I]>@MDIM:iM:M5yaɮHJAiiICLAjA"jA:jX4@RjF-8@sEq]R@Bj ?B#XL O4?*jF2j^ ڽZj=?3Cb)@$BT/4 d@Jj q1?TkiQ8Pe?jܧ jKAi@e addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.507819 s, deltaX: -0.299999 m, approachRate: -0.590760 m/s, rangeRepo size: 4 u Added new target pos. range: 25.081078 m, bearing: 301.168952 deg, lat: 36.779537 deg, lon: -121.859792 deg, deltaT: 1.011061 s, deltaX: -0.699720 m, approachRate: -0.692065 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 25.08 m.2i"i*i ProNav: ac range: 25.081078 m, nav range: 24.540012 m, bearing: 301.236853 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 311.308548 deg, new cmd heading: 311.732643 deg. iHeadingCmd: 5.440761 target range: 25.081078 and range: 25.10 m.h@hhhhggjg!rg!e!re!Ze):e-9@*e-`?wBɢ猽) $}=i)BŽi5@;iW^=J>I@I checking for new query: numPingsReceived=39, elapsed TxPingTime=19.151930E EE(E"E:*Ei:VEc44ZEa@a@a@a@!@) @)@)@)A ^A- i I!IIDDAT read: Rx Time:01:27:43.5369 TRx dataTimestamp_ set to:1764898064.486800PDAT read: Bearing 112.3, 4.9 (Local) ~Local bearing/azimuth received: Bearing 112.3, 4.9 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 O%>Q#, K DLADAT read: 01:27:43.5369 LVL= 29488, 32753, 31074, 32755, AGC= 60, IDX= 501, 0.47, 2.946, 1.272,-3.077, 2.679, PHS= 0.369,-1.362, 0.483, RAW= 153.2, 5.7, CAL= 152.4, 5.8, ROT= 357.6, -5.8 Ygot valid direction response: 01:27:43.5369 LVL= 29488, 32753, 31074, 32755, AGC= 60, IDX= 501, 0.47, 2.946, 1.272,-3.077, 2.679, PHS= 0.369,-1.362, 0.483, RAW= 153.2, 5.7, CAL= 152.4, 5.8, ROT= 357.6, -5.8 T#Rx 40: Read range and direction messages.^direction in FSK: [0.994008,-0.041661,0.101056]Fpublishing direction and range infoy?54T+hg޹?YfA0sby )I>iK>D +@%=;*@ 4Q=)@I4QϽwG!]?\j?!gƥ? )?)xͽIQ+i4QϽ:checking for new query: numPingsReceived=40, elapsed TxPingTime=19.440796V@V!@VKJٱV>VH ,?? $ǿ2@._?Y ?'?? ^x?iV@IV^;VCY=xBy=IqiMb@Mb@Mb@ 9X9v?|?5^ɿ{GzY?yMףSA *A)Y <bD VD8y?=%=ٔSQ->9)Y)=-PEy5ܱD5T;E5>aQ 5}5e^?Q 9}5e(8)e4BY?Q E:yȥQ I>@eDIemB CB IB [xBB M =B B B a;B `Eii'DLAj@A"j@A:jk@@Rj]8@rwÄq@Bj?54T+hg޹?*jQ+2j4QϽZj()@d*4dVw@Jjj `>?>/CTYc,n?jӥ jGIAiv7?i^Yj>BjV Q#,e:DLAԱ]DDAT read: Rx Time:01:27:44.0369 uTRx dataTimestamp_ set to:1764898064.990311PDAT read: Bearing 113.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 113.6, 4.6 (Local) =@,7@!ٱwP>HE ?`7?qǿ<?q?m?.:?t?i=@Ix];CY$xByIDAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 DAT read: 01:27:44.0369 LVL= 29744, 32753, 30450, 32755, AGC= 61, IDX= 501,-0.27, 3.073, 1.413,-2.930, 2.842, PHS= 0.333,-1.385, 0.467, RAW= 153.7, 6.6, CAL= 153.1, 6.8, ROT= 356.9, -6.8 Ygot valid direction response: 01:27:44.0369 LVL= 29744, 32753, 30450, 32755, AGC= 61, IDX= 501,-0.27, 3.073, 1.413,-2.930, 2.842, PHS= 0.333,-1.385, 0.467, RAW= 153.7, 6.6, CAL= 153.1, 6.8, ROT= 356.9, -6.8 T#Rx 41: Read range and direction messages.%^direction in FSK: [0.991512,-0.053698,0.118404]bD5׿VD58y==%ED=ٔEFpublishing direction and range infoyaeƜ_x?W~EO?Yaae0taev a)e=Ie~>ieGe>e>+@e=e+@ e=)eT@Ieaae:ȳp?P?og? e??)e~IeQ]ieaachecking for new query: numPingsReceived=41, elapsed TxPingTime=19.956936Q->9Y=PEyD<-<E>Q 55`?Q 95>)8BYAyE1Q IM>@DIr jeDAie$&?ieAaje'Bjev7?je^YjarjeAzjeW@ addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.503511 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 24.780985 m, bearing: 300.644268 deg, lat: 36.779536 deg, lon: -121.859793 deg, deltaT: 0.503511 s, deltaX: -0.000317 m, approachRate: -0.000629 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 24.78 m.2iI"iq*iy ProNav: ac range: 24.780985 m, nav range: 23.998463 m, bearing: 301.414893 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 312.133170 deg, new cmd heading: 312.473892 deg. iHeadingCmd: 5.453698 target range: 24.780985 and range: 24.80 m.h@hhhhggjgrgereZe:e*e`p?ewBɢee)a e=ia)m<Ľiii%5;iHYTuT=mI@I  checking for new query: numPingsReceived=41, elapsed TxPingTime=20.158569E%  E% E% )E! "E% :*E% ga:VE% FA4ZE! a- @a- @a5 @a5 @A z;I yA) xA= 9@9  @A @E i0@I @q @q iDDAT read: Rx Time:01:27:44.5366 TRx dataTimestamp_ set to:1764898065.494526PDAT read: Bearing 112.9, 4.4 (Local) ~Local bearing/azimuth received: Bearing 112.9, 4.4 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 ^AMjbQuDAT read: 01:27:44.5366 LVL= 31264, 32753, 31058, 32755, AGC= 64, IDX= 498,-0.07, 2.844, 1.192, 3.134, 2.594, PHS= 0.352,-1.357, 0.497, RAW= 154.0, 5.7, CAL= 153.3, 5.7, ROT= 356.7, -5.7 }Ygot valid direction response: 01:27:44.5366 LVL= 31264, 32753, 31058, 32755, AGC= 64, IDX= 498,-0.07, 2.844, 1.192, 3.134, 2.594, PHS= 0.352,-1.357, 0.497, RAW= 154.0, 5.7, CAL= 153.3, 5.7, ROT= 356.7, -5.7 }T#Rx 42: Read range and direction messages.^direction in FSK: [0.993406,-0.057279,0.099320]Fpublishing direction and range infoy,9?4Shܸm?YfA zRy )@IX9>i-v>,@%=<+@ %=)8@I%˽=Ѕb?=/?ղ? k?)EͽIQki%˽checking for new query: numPingsReceived=42, elapsed TxPingTime=20.444614IIO?Q#,aDLA΍@@ٱ.>H`_?BmCBmIBmxBBmN =BiBmZDBmg;Biy}BAbDֿVD8yĭ<%=ٔxʻQ->9Y=PEyD<E>Q 55!?Q 95H)=BY?Q E:yaQ I >@DI*b;iPa;5yɮHAiyi}P_DLAj}?A"j}?A:j}3@Rj}R8@z5@#cJ@Bj},9?4Shܸm?*j}Qk2j}%˽Zj}}?(@c1FDR4:@Jj} H2?s#n ?j} j}DAi}3-?i}8}^j}6Bjyj}Yj}^Brj}:Azj}v@  addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504215 s, deltaX: -0.500000 m, approachRate: -0.991640 m/s, rangeRepo size: 4 E Added new target pos. range: 24.281013 m, bearing: 301.163888 deg, lat: 36.779536 deg, lon: -121.859793 deg, deltaT: 0.504215 s, deltaX: -0.499971 m, approachRate: -0.991584 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 24.28 m.2iA"iI*iI} ProNav: ac range: 24.281013 m, nav range: 23.653608 m, bearing: 301.634988 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 312.473887 deg, new cmd heading: 312.975708 deg. iyHeadingCmd: 5.462457 target range: 24.281013 and range: 24.30 m.hr̮@hhhhggjgrgBereZe:eL8@*e`[?wBɢZμ) =i ) )Ľ  i k,;i%ER%,=-`I-r̮@I)}checking for new query: numPingsReceived=42, elapsed TxPingTime=20.663181E EE(E"ED:*E҆:VEc44ZEBE2i-->-o+@-+=-+@ -+=)-T@I-+Ƚ))-hm?L?"O)? -%?)-ѝɽI-Q]i-+Ƚ))checking for new query: numPingsReceived=43, elapsed TxPingTime=20.930481y^AnA-.AI9IIO]?!Q#,VDLA4} @}Z@}wٱ}P>}H6?d?mGȿ`?Dr?9?? j?i} @I}'];}CYQxByIbDݿVD8yf=%=ٔ WQ- >9  ?Y  ?= PEy D<E>Q 5-5)?Q 9-5FP)BBY1y5Q I5>@ŨDI$P;iP;Y#5y=BBɮ=HAExEiYi]uDLAj]rA"j]rA:j]z@Rj]h8@# ;@Bj]?-=`A_1?*j]Q]2j]+ȽZj]rXc(@]v !4F/@Jj]@T)2m?IzEi> 9@  @ @ @ 5 DDAT read: Rx Time:01:27:45.5362 5 TRx dataTimestamp_ set to:1764898066.497104E PDAT read: Bearing 113.3, 4.1 (Local) E ~Local bearing/azimuth received: Bearing 113.3, 4.1 (Local) U DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 } DAT read: 01:27:45.5362 LVL= 32688, 32753, 31794, 32755, AGC= 61, IDX= 511,-0.44, 2.775, 1.127, 3.088, 2.530, PHS= 0.348,-1.358, 0.514, RAW= 154.6, 5.6, CAL= 153.8, 5.5, ROT= 356.2, -5.5  Ygot valid direction response: 01:27:45.5362 LVL= 32688, 32753, 31794, 32755, AGC= 61, IDX= 511,-0.44, 2.775, 1.127, 3.088, 2.530, PHS= 0.348,-1.358, 0.514, RAW= 154.6, 5.6, CAL= 153.8, 5.5, ROT= 356.2, -5.5  T#Rx 44: Read range and direction messages. ^direction in FSK: [0.993208,-0.065968,0.095846] Fpublishing direction and range infoy1 5 {ҿ[?@䇞N㰿aVX?Y5 A1 5 1 5 2| 1 )1 I5 ->i5 ҭ5 ?5 ,@1 5 +@ 5 =)5 @I5 Ľ1 1 5 lz7?  ?f;b? 5 ?)5 xǽI5 Ӈi5 Ľ1 1  checking for new query: numPingsReceived=44, elapsed TxPingTime=21.434284! ^A cB>BBIBxBBBBB{;B%`EA ؟AII!O5?*Q#,[\DLAZ @ZZڪ@ZٱZ`k>ZH@3?6H?ȿY ?ۆ???wf?iZ @IZy];ZCYjxBynIiMb@Mb@Mb@ 9Cl?Eȿy&1Y?yF`Ah-A *A)$AY!AbDVD8yݽ=%=ٔ\Q->9"?Y"?=PEyD<E>Q 551?Q 95X)FBY_?Q E:y桿Q I>@ϨDI* ;ia;'5yGBɮ1HAyEiiПDLAjsA"jsA:j?@Rj" A7@cf.x(@Bj{ҿ[?@䇞N㰿aVX?*jӇ2j ĽZj݁; (@'}3bL@checking for new query: numPingsReceived=44, elapsed TxPingTime=21.670570Jj[" =?(TFUt?jx jO@Aigi&?iaj Bj3-?jaj>BrjAzjxY@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503851 s, deltaX: -0.500000 m, approachRate: -0.992357 m/s, rangeRepo size: 4 E EE,E"E:*E n:VEg4ZEBE+ie he ˡ?e "-@e =e 9>,@ e =)e Y@^A Ie a a e 袡?uO??9 ٣? e ,?)e mŽIe i ie a a  checking for new query: numPingsReceived=45, elapsed TxPingTime=21.939411 A .AI I! O5 >u1Q#,DLAe.@e'@elٱe!>eH`? ?ȿ H?Ն?"?k ?b?ie.@Ie];eCYuxByIbDVD8y2<%:=ٔ ӻQ->9 ?Y ?=PEyD(<E>Q 55_8?Q 95^)IBY!y%Q I%>@רDI :iy:+5y)ɮ-#HA)iiqDLAj"j:j0U@Rj?{`R7@3apD64@Bj"Ƚ?2r|ӄ{?*ji 2jZj X$(@jrT3f;l[@JjLVO?0f\_[r?j8 j$AAi1?ixfj BjjAaj6BrjAzjm@Ա addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.681385 m, bearing: 301.398644 deg, lat: 36.779535 deg, lon: -121.859796 deg, deltaT: 0.504815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.68 m.2i"i*i ProNav: ac range: 23.681385 m, nav range: 22.966305 m, bearing: 301.570846 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 313.831975 deg, new cmd heading: 314.175248 deg. i 5HeadingCmd: 5.483393 target range: 23.681385 and range: 23.70 m.h5w@h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eEQ? /xBɢ u) 2=i)JĽi;i4La=8mIw@I!checking for new query: numPingsReceived=45, elapsed TxPingTime=22.174685bE(N4jEęT4rEĂL0E  E E *E "E :*E :VE (N4ZE a@a%@a%@a%@=9@9 @9@=/@A ^AE m9  DDAT read: Rx Time:01:27:46.5359  TRx dataTimestamp_ set to:1764898067.506149 7x>  PDAT read: Bearing 113.4, 4.2 (Local) A ؟A% pG9 Q IY } o9y Y} kAI O >rA8Q#,oDLA~Local bearing/azimuth received: Bearing 113.4, 4.2 (Local) ^DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 v*X@vxQ@DAT read: 01:27:46.5359 LVL= 30064, 32753, 30594, 32755, AGC= 60, IDX= 507, 0.17,-2.671, 1.958,-2.349,-2.925, PHS= 0.356,-1.355, 0.532, RAW= 154.8, 5.2, CAL= 154.0, 5.1, ROT= 356.0, -5.1 %Ygot valid direction response: 01:27:46.5359 LVL= 30064, 32753, 30594, 32755, AGC= 60, IDX= 507, 0.17,-2.671, 1.958,-2.349,-2.925, PHS= 0.356,-1.355, 0.532, RAW= 154.8, 5.2, CAL= 154.0, 5.1, ROT= 356.0, -5.1 %T#Rx 46: Read range and direction messages.vmٱvJP>E^direction in FSK: [0.993615,-0.069480,0.088894]EFpublishing direction and range infoyqu1?tɱ?YufAqupuvH?`?@ɿ@2o`j??vB?.?Z`?iv*X@Ivh];vCY]xBy]Iquw q)qIuE>iupu'1?u,@u޹=u,@ uK=)u@IuKqqu &"k'? 4? jP? u?)uźIu)iuKqqchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.531721BM>BMCBM?IBM0yBBMO =BIBIBM;BM1`EiMb@Mb@Mb@ 9M?Eȿy&1Yn?y A )AY AbDVD8yd<%=ٔQ->9"?Y"?=PEyD<E>Q 55A?Q 95f)NBY?Q E:y[Q I>@DI;i;j05yɮGAiqiudDLAju@A"ju@A:ju@Rju0P" "7@ϺPY-@Bju1?tɱ?*ju)2juKZju K(@?KbX3GƱ@JjuȪݒ?Sk`?juƚ ju@Aiu89?iucjuBju1?juaju BrjuAzju$@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504230 s, deltaX: -0.400002 m, approachRate: -0.793292 m/s, rangeRepo size: 4  Added new target pos. range: 23.281622 m, bearing: 301.933689 deg, lat: 36.779536 deg, lon: -121.859796 deg, deltaT: 0.504230 s, deltaX: -0.399763 m, approachRate: -0.792819 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.28 m.2i"i*i ProNav: ac range: 23.281622 m, nav range: 22.691116 m, bearing: 301.831956 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 314.175260 deg, new cmd heading: 314.610782 deg. iHeadingCmd: 5.490994 target range: 23.281622 and range: 23.30 m.h9@hhhhggjgrgBereZe:eL7@*e%?checking for new query: numPingsReceived=46, elapsed TxPingTime=22.678505颵HxBɢwԺ) ܚ=i)Ľ项i;i J =O݊I9@E EE+E"E:*EAr:VE [4ZEBE3A.AIIiMMMo?M'-@M=M?-@ MV=)M6@IMV轩IIM$'5?ْ?.? M?)MMIMKiMV轩IIchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.951714O>{@Q#,:ELA@2z@2z@2PMٱ2">2HV??iCɿU@?(J?(^?H?@|^?i2z@I2];2CY>xBy>I @@bDJVDJ8yR=%Rb=ٔRyQ-R>9V ?YV ?=VPEyV"DV$e<EZ>XQ 5}5ZG?Q 9}5Zl)ZQBYyQ I>@ZDIZ9 FQ#,ELA*@x@=ٱ >Hi]J ]K>]-@]5=]c-@ ]>)]DS@I]YY]N`u? Ƽ Os?E,U1a?iMb@Mb@Mb@ 9|?5^?NbX9ȿy&1Y?yE ]?)]BI]%i]YYchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.454430,A +A)AYz AbDVD8 yQ<%(=ٔQ->9"?Y"?=%PEy%,D%'<E%>)Q 555-JO?Q 955-]s)-UBY=1?Q E=:y=Q I=>@-DI-:i-:-75yESBɮEGAMEiYi]< ELAj]tA"j]tA:j] ?@Rj]lk6@XQ&ԑ@Bj]MWP?EТcK ?*j]%2j]Zj]. \&@2r*2sɉ@Jj]@.ُ?6Hb?j] j]6Ai]OW?i]mbj]!Bj]gi&?jYjYrj]pAzj]b@u addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503803 s, deltaX: -0.299999 m, approachRate: -0.595469 m/s, rangeRepo size: 4  Added new target pos. range: 22.682096 m, bearing: 301.243740 deg, lat: 36.779535 deg, lon: -121.859797 deg, deltaT: 0.503803 s, deltaX: -0.299763 m, approachRate: -0.595000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.68 m.2i"i*i ProNav: ac range: 22.682096 m, nav range: 22.179819 m, bearing: 301.735732 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 314.928056 deg, new cmd heading: 315.331275 deg. i%HeadingCmd: 5.503569 target range: 22.682096 and range: 22.70 m.h%=@h!h)h)h)g)g)jg1rg5B1eQreQZeY:e]@36@*e]?B>BCB^IBcyBBM =BB[DB~;B,`EBeCBeCBaBeN =BeN =Ceƀ85qxBɢT) "=i)|ýi:i G 3Y= [HI=@I19@ @@/@a  checking for new query: numPingsReceived=48, elapsed TxPingTime=23.687140EE  EE EE +EA "EE 2:*EE :VEE [4ZEA BEE +*}H`[??@9aɿ $?y?Y? 9 ?Y ?=PEy5D)<E>DDAT read: Rx Time:01:27:48.0354 TRx dataTimestamp_ set to:1764898069.017032%PDAT read: Bearing 115.6, 3.5 (Local) -~Local bearing/azimuth received: Bearing 115.6, 3.5 (Local) =DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 ]DAT read: 01:27:48.0354 LVL= 32752, 32753, 31106, 32755, AGC= 61, IDX= 502,-0.02, 2.594, 0.963, 2.954, 2.398, PHS= 0.297,-1.390, 0.511, RAW= 155.9, 6.5, CAL= 155.2, 6.5, ROT= 354.8, -6.5 eYgot valid direction response: 01:27:48.0354 LVL= 32752, 32753, 31106, 32755, AGC= 61, IDX= 502,-0.02, 2.594, 0.963, 2.954, 2.398, PHS= 0.297,-1.390, 0.511, RAW= 155.9, 6.5, CAL= 155.2, 6.5, ROT= 354.8, -6.5 mT#Rx 49: Read range and direction messages.u^direction in FSK: [0.989483,-0.090050,0.113203]uFpublishing direction and range infoyopש? 5 5?YAy )Ib>i뱿?X$.@V=-\-@ V=)_(@IV轩@A?_;_?_h? d ?)I޹iV轩checking for new query: numPingsReceived=49, elapsed TxPingTime=23.954048Q 55NW?Q 95]z)YBYy Q I>@DI=i=;5yXBɮGAEIii AELAjܳA"jܳA:jL@RjZ?6@QO2+\c\@Bjopש? 5 5?*j޹2jVZj#N&@K52&L@Jjǜ6?Ggp,?j jB6Ai8?ihfjBj8?jꈩejBrjAzjR@- addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503773 s, deltaX: -0.200001 m, approachRate: -0.397006 m/s, rangeRepo size: 4 = Added new target pos. range: 22.482677 m, bearing: 301.338339 deg, lat: 36.779533 deg, lon: -121.859798 deg, deltaT: 0.503773 s, deltaX: -0.199419 m, approachRate: -0.395851 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.48 m.2i"i*i5 ProNav: ac range: 22.482677 m, nav range: 21.878143 m, bearing: 301.377046 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 315.331283 deg, new cmd heading: 315.712126 deg. i9EHeadingCmd: 5.510216 target range: 22.482677 and range: 22.50 m.hES@hAhIhIhIgIgIjgQrgQeQreQZeQ:e]6@*e} oG?xBɢr) Z=i)ýi8^:iPE5= IS@II))-yAq9@ @@@ԡ  checking for new query: numPingsReceived=49, elapsed TxPingTime=24.190573D zD E  E E -E "E *E xv:VE t4ZE a @a @a @a @^A 7ƙ A ؟AI I1O}>?zVQ#,0+[ELAyYmxBymIDDAT read: Rx Time:01:27:48.5351 TRx dataTimestamp_ set to:1764898069.521166PDAT read: Bearing 114.6, 3.7 (Local) ~Local bearing/azimuth received: Bearing 114.6, 3.7 (Local) DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 =DAT read: 01:27:48.5351 LVL= 32464, 32753, 31186, 32755, AGC= 61, IDX= 499, 0.05,-3.059, 1.590,-2.705, 3.000, PHS= 0.326,-1.365, 0.534, RAW= 155.7, 5.6, CAL= 154.9, 5.5, ROT= 355.1, -5.5 EYgot valid direction response: 01:27:48.5351 LVL= 32464, 32753, 31186, 32755, AGC= 61, IDX= 499, 0.05,-3.059, 1.590,-2.705, 3.000, PHS= 0.326,-1.365, 0.534, RAW= 155.7, 5.6, CAL= 154.9, 5.5, ROT= 355.1, -5.5 MT#Rx 50: Read range and direction messages.M^direction in FSK: [0.991758,-0.085024,0.095846]UFpublishing direction and range infoy{?A4ĵaVX?Y̰A~y )Iy>iR9?'-@+=c-@  =)DS@I Ľ;r?E穘?5o6? Y?)ʽI%i Ľmchecking for new query: numPingsReceived=50, elapsed TxPingTime=24.458628iMb@Mb@Mb@ 9$C?|?5^ɿ rhY?yMC ;A*A  *A) AY AbDVD°8y$=%=ٔQ->9"?Y"?=PEy@DE>Q 55Da?Q 95)]BY"?Q E:yQ I>@DI ;i;@5y ɮ )GAiiZaELAjA"jA:jۏ@Rjm5@2$: !A@Bj{?A4ĵaVX?*j%2j ĽԙZj=%&@+JY2@@Jjd}?{񮪿?jʒ j6AiK ?iܖejBjjܖejrjGAzjm@ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504134 s, deltaX: -0.400000 m, approachRate: -0.793439 m/s, rangeRepo size: 4  Added new target pos. range: 22.082987 m, bearing: 301.808972 deg, lat: 36.779533 deg, lon: -121.859798 deg, deltaT: 0.504134 s, deltaX: -0.399691 m, approachRate: -0.792826 m/s, posRepo size: 4 :i5DNOT Ignoring new targets: 22.08 m.2i1"i9*i9M ProNav: ac range: 22.082987 m, nav range: 21.535074 m, bearing: 301.565608 deg, approach rate: 0.000000 m/s, LOS rate: 0.403434 deg/s, cmd heading: 315.712135 deg, new cmd heading: 316.138683 deg. iIuHeadingCmd: 5.517661 target range: 22.082987 and range: 22.10 m.h@hhhhggjgrguBereZe:e6@*e?B=A<B>BCB}IByBBBBZDBr;B`ExBɢMZ)Q ]Έ=iY)]ýYYi]N:ieeCS =nԼI@I 9@  @! @% 4@!  checking for new query: numPingsReceived=50, elapsed TxPingTime=24.695326E  E E +E "E O;*E &p:VE [4ZE BE 0YAm?A.AIIO ?_Q#, ELAF:@F3@F͂ٱF>FH X?`k?ɿX@!?.? l?B ?Z?iF:@IF'];FCYRyByR&IbDrVDr8yzX=%~0=ٔ~Q-~>9 ?Y ?=PEyID<E> Q 55 j?Q 95 >) aBYyQ I>@ DI  ;i  ; D5y!ɮ-FA)=DDAT read: Rx Time:01:27:49.0350 ETRx dataTimestamp_ set to:1764898070.025159MPDAT read: Bearing 114.9, 3.5 (Local) M~Local bearing/azimuth received: Bearing 114.9, 3.5 (Local) ]DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.5 DAT read: 01:27:49.0350 LVL= 30352, 32753, 28514, 32755, AGC= 61, IDX= 498, 0.06,-1.645, 3.011,-1.284,-1.861, PHS= 0.318,-1.366, 0.534, RAW= 155.9, 5.8, CAL= 155.2, 5.6, ROT= 354.8, -5.6 Ygot valid direction response: 01:27:49.0350 LVL= 30352, 32753, 28514, 32755, AGC= 61, IDX= 498, 0.06,-1.645, 3.011,-1.284,-1.861, PHS= 0.318,-1.366, 0.534, RAW= 155.9, 5.8, CAL= 155.2, 5.6, ROT= 354.8, -5.6 T#Rx 51: Read range and direction messages.^direction in FSK: [0.991131,-0.090200,0.097583]Fpublishing direction and range infoy9=DY?ZA_1?Y=3A9=v9=bo 9)9I=Т>i=ٮ9=X$.@=4Q==-\-@ =+=)=_(@I=+Ƚ99=?h?v&?C? = ?)=gͽI=޹i=+Ƚ99checking for new query: numPingsReceived=51, elapsed TxPingTime=24.962606i9i=4ELAj=A"j=A:j=2˨@Rj=ūQ5@є{F@Bj=DY?ZA_1?*j=޹2j=+ȽZj=u1&@ w2 EE-  E- E- *E) "E- O:*E- c:VE- (N4ZE) a5 @a5 @a5 @a5 @ eQ#,ܘELAPuV@uO@u< ٱu!>uH ?X?2ɿ 5?Cm?&5?`^$?X?iuV@IuO];uCY yBy'Ii}Mb@Mb@Mb@yyyy y9}}?5^I?> ףp=ʿL7A`堿Y}M"?y}Q}+}A}+A }~(A)}jAyY}AAAbD6VDް8y-;%&=ٔHQ->9"?Y"?=QEyTD6;E>Q 555t?Q 95h)gBY *?Q E :y Q I >@DI;i&;I5yiBɮ#GAE5B*** querying acoustic contact ***i1i1:i9MDDAT read: Rx Time:01:27:49.5347 UTRx dataTimestamp_ set to:1764898070.529262]PDAT read: Bearing 113.8, 3.7 (Local) ]~Local bearing/azimuth received: Bearing 113.8, 3.7 (Local) mDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.5 DAT read: 01:27:49.5347 LVL= 25632, 31553, 25554, 32755, AGC= 59, IDX= 495, 0.04,-2.017, 2.648,-1.667,-2.266, PHS= 0.350,-1.325, 0.555, RAW= 155.7, 4.7, CAL= 154.8, 4.4, ROT= 355.2, -4.4 Ygot valid direction response: 01:27:49.5347 LVL= 25632, 31553, 25554, 32755, AGC= 59, IDX= 495, 0.04,-2.017, 2.648,-1.667,-2.266, PHS= 0.350,-1.325, 0.555, RAW= 155.7, 4.7, CAL= 154.8, 4.4, ROT= 355.2, -4.4 T#Rx 52: Read range and direction messages.^direction in FSK: [0.993556,-0.083431,0.076719]Fpublishing direction and range infoyIM5?M0[.0ۣ?YMAIM dMA{Mc I)M;IM33>iMM{?M'-@M=M,@ MnF=)Ma@IMnFIIMrAi?X4^?> 5?DNOT Ignoring new targets: 21.88 m.2i"i;*i; ProNav: ac range: 21.882816 m, nav range: 20.919891 m, bearing: 301.878650 deg, approach rate: -0.685024 m/s, LOS rate: 0.351031 deg/s, cmd heading: 316.490667 deg, new cmd heading: 316.826379 deg. i < M?)M:کIMiMnFIIchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.470507HeadingCmd: 5.529664 target range: 21.882816 and range: 21.90 m.h@hhhhggjgrgQBereZe:e5@*e:?-xBɢ-d)) -y=i1)5nMý11i5:i]@eɡ=e4Ie@Iai>-:@) @)@-Q4@)B B B IB yBB L =B B B @;B _E  checking for new query: numPingsReceived=52, elapsed TxPingTime=25.702568E=  E= E= (E9 "E= 2:*E= x:VE= c44ZE9 BE= +*2H@? 3A?`#ɿ@P?{?`e?1?@V?i2w@I2"];2CY:9yBy:DIbDFVDF8yN=%NT=ٔR:Q-R>9PYP=RQEyR[DV0<EV>XQ 5^5Z{?Q 9^5Z)ZkBY\ybQ Ib>@Z"DIZ`:iZ):ZaL5ydɮfeFAdi i nߡELAj ݫA"j ݫA:j ]@Rj r j@X5@悊;^?Bj 5?M0[.0ۣ?*j 2j nFZj ۮ'@˫1ݠg@Jj B82?V$;h7DL?j  j 8Ai 4WH?i C_gj Bj K ?j VBej Brj Azj ͨ@Ա addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504103 s, deltaX: -0.400000 m, approachRate: -0.793488 m/s, rangeRepo size: 4  Added new target pos. range: 21.483181 m, bearing: 303.248520 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 0.504103 s, deltaX: -0.399635 m, approachRate: -0.792765 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 21.48 m.2i"i*i ProNav: ac range: 21.483181 m, nav range: 20.737709 m, bearing: 302.243154 deg, approach rate: 0.000000 m/s, LOS rate: 0.351031 deg/s, cmd heading: 316.826384 deg, new cmd heading: 317.104425 deg. i  HeadingCmd: 5.534516 target range: 21.483181 and range: 21.50 m.h @hhhhggjgrgere9ZeA:eA*eE?颍xBɢз)N1 L=i)$ý顑i:DDAT read: Rx Time:01:27:50.0346 TRx dataTimestamp_ set to:1764898071.033157PDAT read: Bearing 114.5, 3.3 (Local) ~Local bearing/azimuth received: Bearing 114.5, 3.3 (Local)  DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.5 -DAT read: 01:27:50.0346 LVL= 25552, 31297, 26194, 32755, AGC= 60, IDX= 510,-0.03,-1.550, 3.123,-1.182,-1.776, PHS= 0.328,-1.339, 0.550, RAW= 156.2, 5.2, CAL= 155.3, 4.9, ROT= 354.7, -4.9 5Ygot valid direction response: 01:27:50.0346 LVL= 25552, 31297, 26194, 32755, AGC= 60, IDX= 510,-0.03,-1.550, 3.123,-1.182,-1.776, PHS= 0.328,-1.339, 0.550, RAW= 156.2, 5.2, CAL= 155.3, 4.9, ROT= 354.7, -4.9 =T#Rx 53: Read range and direction messages.E^direction in FSK: [0.992086,-0.092033,0.085417]EFpublishing direction and range infoyyX*?!hyb$ݵ?YfAcAzRf )<I>iZd ?!z.@޹=x-@ %=)@I%dz ?:?,uQ#, ELA^@^ԑ@^! ٱ^->^H?X*? ʿvj?A?d?;C?>T?i^@I^];\YfUyByfUIbDrVDr8xy~j=%~/=ٔ~CQ-~>9 ?Y ?=QEyeD <E > Q 55 ?Q 95 ,) qBYy|Q I>@ ,DI Y;i : wP5y!ɮ-EA)ii?ELAjDA"jDA:j *@Rj}/i5@W3!Z?BjyX*?!hyb$ݵ?*jq2j%Zj 8w&@?}1Њ@Jjy&e?tPKN@6]?j j4Ai~>?ixc/ljnBj*?jhfjBrjAzj @u addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503895 s, deltaX: -0.200001 m, approachRate: -0.396910 m/s, rangeRepo size: 4  Added new target pos. range: 21.283337 m, bearing: 302.887330 deg, lat: 36.779535 deg, lon: -121.859798 deg, deltaT: 0.503895 s, deltaX: -0.199844 m, approachRate: -0.396599 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 21.28 m.2i"i*i ProNav: ac range: 21.283337 m, nav range: 20.513077 m, bearing: 302.660557 deg, approach rate: 0.000000 m/s, LOS rate: 0.351031 deg/s, cmd heading: 317.104428 deg, new cmd heading: 317.421683 deg. iHeadingCmd: 5.540053 target range: 21.283337 and range: 21.30 m.hH@hhhhggjgrgereZe:eL5@*e8?颥xBɢ􇵽) =i)½i,a:i =>7=%UȼIEH@IY)9@ @@/@mDDAT read: Rx Time:01:27:50.5343 mTRx dataTimestamp_ set to:1764898071.538439}PDAT read: Bearing 114.6, 3.1 (Local) }~Local bearing/azimuth received: Bearing 114.6, 3.1 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.6 DAT read: 01:27:50.5343 LVL= 27744, 30113, 26850, 32755, AGC= 60, IDX= 507,-0.15,-2.900, 1.771,-2.524,-3.124, PHS= 0.326,-1.343, 0.557, RAW= 156.4, 5.2, CAL= 155.5, 4.9, ROT= 354.5, -4.9 Ygot valid direction response: 01:27:50.5343 LVL= 27744, 30113, 26850, 32755, AGC= 60, IDX= 507,-0.15,-2.900, 1.771,-2.524,-3.124, PHS= 0.326,-1.343, 0.557, RAW= 156.4, 5.2, CAL= 155.5, 4.9, ROT= 354.5, -4.9 T#Rx 54: Read range and direction messages.^direction in FSK: [0.991758,-0.095496,0.085417]Fpublishing direction and range infoyimI{?٤Pgrb$ݵ?Ym3Aim`lmumh i)iImy>imm竿m?mR.@im-@ i)mz@IiiimKwdy?z?3e? m"?)mIm)Ľiiiichecking for new query: numPingsReceived=54, elapsed TxPingTime=26.480543Q^A lAI AM ?Ay Bu >Bu CBu IBu /zBBu M =Bq Bu YDBu 5;Bu _EA I I O >q*{Q#,,ELAB#@Bq@B~ٱB!>BH??@I@ʿԍ?i?'?@`?@|Q?iB#@IBi];BCYNvyBy^jIYchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.710449E EE+E"E:*E|:VE [4ZEBEF89Y=QEynD<E>Q 55ӎ?Q 95)wBY,?Q E:yQ I>@6DI:iA:wT5yɮqEAiiuELAjA"jA:j#-@Rjss4@.kAQh?BjI{?٤Pgrb$ݵ?*j)Ľ2jZjɿ+3&@CIT'1NPD@Jj߼rs?栺Hp=]Xu?j: j1AiaH6?iPjj]BjaH6?jC_gjnBrjAzj1G@u addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.505282 s, deltaX: -0.400000 m, approachRate: -0.791636 m/s, rangeRepo size: 4  Added new target pos. range: 20.883343 m, bearing: 302.909030 deg, lat: 36.779536 deg, lon: -121.859799 deg, deltaT: 0.505282 s, deltaX: -0.399994 m, approachRate: -0.791625 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.88 m.2i"i*i ProNav: ac range: 20.883343 m, nav range: 20.332535 m, bearing: 303.091259 deg, approach rate: 0.000000 m/s, LOS rate: 0.351031 deg/s, cmd heading: 317.421676 deg, new cmd heading: 317.750289 deg. iHeadingCmd: 5.545789 target range: 20.883343 and range: 20.90 m.hw@hhhhggjgrgvBereZe:e`f4@*e?m yBɢm㴽)i mt=ii)u½qqiu0:i}<}c=}ҼI}w@Iԁe9@i @i@q@qԹu DDAT read: Rx Time:01:27:51.0340 u TRx dataTimestamp_ set to:1764898072.041126 PDAT read: Bearing 114.9, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 114.9, 3.2 (Local)  DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.6  DAT read: 01:27:51.0340 LVL= 26608, 32753, 26482, 32755, AGC= 60, IDX= 505,-0.38,-2.371, 2.295,-1.995,-2.593, PHS= 0.324,-1.351, 0.553, RAW= 156.3, 5.3, CAL= 155.5, 5.0, ROT= 354.5, -5.0  Ygot valid direction response: 01:27:51.0340 LVL= 26608, 32753, 26482, 32755, AGC= 60, IDX= 505,-0.38,-2.371, 2.295,-1.995,-2.593, PHS= 0.324,-1.351, 0.553, RAW= 156.3, 5.3, CAL= 155.5, 5.0, ROT= 354.5, -5.0  T#Rx 55: Read range and direction messages. ^direction in FSK: [0.991608,-0.095481,0.087156] Fpublishing direction and range infoyq u WA?$)uqO?Yu 3Aq u gu u rg q )q Iu T>iu u h ?u .@u q=q u ¸=)q Iu ¸q q u 9~?$;탥?䆓¹? u L"?)u Iq iu ¸q q  checking for new query: numPingsReceived=55, elapsed TxPingTime=26.982738^A ̼ A >A ?A ؟AI I) O5 >Q#,ׇ FLABۥ@B<լ@BٱBL>BH"?`9?@nʿvD?1??s? O?iBۥ@IB];@pYUyByUIbDeVDe8yg=%K=ٔ iQ->9"?Y"?=QEyvD.<E>Q 55ږ?Q 95P)}BYytQ I>@?DI:i:W5ynBɮDAEiiϡFLAjA"jA:jL@Rj"Xr64@A4#Gl?BjWA?$)uqO?*j2j¸Zj9%@ \~0BWI@Jj?Lj3Q?j jI.Ai,?iOej\Bjjj]BrjAzjR^@u addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.502687 s, deltaX: -0.500000 m, approachRate: -0.994655 m/s, rangeRepo size: 4  Added new target pos. range: 20.383741 m, bearing: 303.130691 deg, lat: 36.779536 deg, lon: -121.859799 deg, deltaT: 0.502687 s, deltaX: -0.499601 m, approachRate: -0.993862 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.38 m.2i"i*i ProNav: ac range: 20.383741 m, nav range: 20.071169 m, bearing: 303.253010 deg, approach rate: 0.000000 m/s, LOS rate: 0.351031 deg/s, cmd heading: 317.750290 deg, new cmd heading: 318.031449 deg. iHeadingCmd: 5.550696 target range: 20.383741 and range: 20.40 m.hM@hhhhggjgrgereZe:e`ff4@*e/3?E yBɢEx̰)a m=ii)m ½iiimU:iuk;u]D=uռIuM@Iychecking for new query: numPingsReceived=55, elapsed TxPingTime=27.214577bEÙT4jErO4rEÝ/E- E-E-*E)"E-s:*E-]t:VE-(N4ZE)aE@aE@aE@aE@1U9 :@  @ @ 3@ Y - ݂GA Y $i9 Y VeAiߑ Iߕ A DDAT read: Rx Time:01:27:51.5337  TRx dataTimestamp_ set to:1764898072.545453 PDAT read: Bearing 115.0, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 115.0, 3.4 (Local)  DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.7  DAT read: 01:27:51.5337 LVL= 30448, 32753, 29266, 32755, AGC= 60, IDX= 501, 0.30,-1.949, 2.710,-1.577,-2.175, PHS= 0.328,-1.353, 0.554, RAW= 156.2, 5.3, CAL= 155.4, 5.0, ROT= 354.6, -5.0  Ygot valid direction response: 01:27:51.5337 LVL= 30448, 32753, 29266, 32755, AGC= 60, IDX= 501, 0.30,-1.949, 2.710,-1.577,-2.175, PHS= 0.328,-1.353, 0.554, RAW= 156.2, 5.3, CAL= 155.4, 5.0, ROT= 354.6, -5.0  T#Rx 56: Read range and direction messages. ^direction in FSK: [0.991774,-0.093750,0.087156] Fpublishing direction and range infoy  !雼?&c!O?Y A v Rr ) I >i / ? !z.@ ^-@ ) @I 0r?ԭ{?J? ?!?) rI i  checking for new query: numPingsReceived=56, elapsed TxPingTime=27.482767^AM Ѽԉ AyIIO?YQ#,Mj+FLABF>BDBFIBFzBBFN =BDBDBF2;BF_Er@r5@raٱrչ>rHv;??rʿ` ?e? ?hQ?`N?ir@Ir];rCY~yBy~I 11=only read 2 of 4 data items for bottom velocity. Device response is::BS, -236, +639, a=@a= a=@a= a=@a= a=@a= bDEVDE8yU`=%U=ٔ](Q-]>9aYa=eQEyeDeX;Em>iQ 5u5mѡ?Q 9u5m/)mBQ A}+:YyQ E}:y}Q I}>@mJDIm ;imP ?m[5yzBɮDAEiyi}"FLAj}ߟA"j}ߟA:j}}@Rj}ȯn}3@ B?Bj}!雼?&c!O?*j}2jyZj}Ǡik%@y K0x:$J @Jj}|o??5꿰?j}X j}[,Ai}-?i}iY)]N½YYi]ϯ9ie9e=eA Ie+Ա@Iichecking for new query: numPingsReceived=56, elapsed TxPingTime=27.718660E EEE"Ea:*E:VEZEBE(iU 񲿉U >U %/@U w>U !z.@ U A>)U e@IU AQ Q U cp?eX?p,? U $?)U IU iݽiU AQ Q  checking for new query: numPingsReceived=57, elapsed TxPingTime=28.014776Aa Ii I O >ܑQ#,GFLAjsE@j>@j ٱjP>jHp??@Bʿ@06?\?g?@)? M?ijsE@Ijۻ];jCY%yBy%IbD=VD=8y=%D=ٔAQ->9Y=QEyD^<E>Q 55?Q 95 )BQ A :YQ EO:yטQ I>@SDI:i8u?&^5yɮCAiIiM$CFLAjMEA"jMEA:jM@RjM"03@ 6p,x b@BjM*/A?Q.EjOZ_|?*jMiݽ2jM AZjM$@Li0 @JjM ?@? @ Sz?jMӀ jM%AiMk?iMejMBjM-?jMejM]BrjMAzjMq@m addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503665 s, deltaX: -0.200001 m, approachRate: -0.397091 m/s, rangeRepo size: 4 } Added new target pos. range: 19.784174 m, bearing: 302.752234 deg, lat: 36.779535 deg, lon: -121.859798 deg, deltaT: 0.503665 s, deltaX: -0.199841 m, approachRate: -0.396773 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.78 m.2i"i*i ProNav: ac range: 19.784174 m, nav range: 19.316931 m, bearing: 303.526629 deg, approach rate: 0.000000 m/s, LOS rate: 0.351031 deg/s, cmd heading: 318.401207 deg, new cmd heading: 318.703044 deg. iHeadingCmd: 5.562418 target range: 19.784174 and range: 19.80 m.hS@hhhhggjgrgereZe:e3@*e?YePyBɢe)i mW'>ii)m½iiimkv8iu=8=˼IS@Iuchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.222588E EEE"E:*E|:VEZEa@a@a@a@ԉ9@ @@ 5@ ^A A xAzA xA5 DDAT read: Rx Time:01:27:52.5333 = TRx dataTimestamp_ set to:1764898073.554787M PDAT read: Bearing 118.3, 3.0 (Local) M ~Local bearing/azimuth received: Bearing 118.3, 3.0 (Local) e DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.6 eDAT read: 01:27:52.5333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497, 0.04, 1.634, 0.032, 2.026, 1.490, PHS= 0.246,-1.413, 0.492, RAW= 156.8, 7.6, CAL= 156.3, 7.8, ROT= 353.7, -7.8 IIO>jQ#,k~gFLAZYgot valid direction response: 01:27:52.5333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497, 0.04, 1.634, 0.032, 2.026, 1.490, PHS= 0.246,-1.413, 0.492, RAW= 156.8, 7.6, CAL= 156.3, 7.8, ROT= 353.7, -7.8 ZT#Rx 58: Read range and direction messages.^^direction in FSK: [0.984765,-0.108719,0.135716]^Fpublishing direction and range infoy T:1?{ꝇջ M _?Y3A );Im{>i/ݴm>>.@ 'g >)@I'g x {d?^?PxL? $?)?_Ii0i'g checking for new query: numPingsReceived=58, elapsed TxPingTime=28.571472UJj@Uc@U5ٱUt>UH@-?@b?@ʿ0 C?8?@?.?`L?iUJj@IU];QYu0zByuII<)<B<A<B>BCBLIBzBBBBB*;B_EBCBCBBM =BM =C¹A5aa aa aa aa iMb@Mb@Mb@ 9K7A?:vʿZd;OY "?yTj A'A )"AYAbDVD8y=% =ٔQ-=>99YA=EQEyEDE;EE>IQ 5U5M'?Q 9U5Mq)MBQ A]T:Y]*?Q E]:y].Q I]>@M`DIM9;iM_;M=c5yBɮ@CAiicFLAjA"jA:j"@Rj쨟3@0 0%4r @Bj T:1?{ꝇջ M _?*ji02j'g ZjDN$@Hov/iM$@Jj7E?1V*+?j{ jp"Ai ?i!>ej!Bj,?jOejrj_Azj@  addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.505669 s, deltaX: -0.400000 m, approachRate: -0.791031 m/s, rangeRepo size: 4 = Added new target pos. range: 19.384357 m, bearing: 302.835638 deg, lat: 36.779535 deg, lon: -121.859798 deg, deltaT: 0.505669 s, deltaX: -0.399817 m, approachRate: -0.790668 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 19.38 m.2iA"iI*iI} ProNav: ac range: 19.384357 m, nav range: 18.921871 m, bearing: 303.740032 deg, approach rate: 0.000000 m/s, LOS rate: 0.351031 deg/s, cmd heading: 318.703047 deg, new cmd heading: 319.111017 deg. iyHeadingCmd: 5.569538 target range: 19.384357 and range: 19.40 m.h9@hhhhggjgrgBechecking for new query: numPingsReceived=58, elapsed TxPingTime=28.726507reZe:e`ff3@*ex?E EEE"E:*E~:VEZEBE.i)顱iti6+ɠ=/I9@II9@ @@O4@y ^A F˼ii Im Au DDAT read: Rx Time:01:27:53.0333 } TRx dataTimestamp_ set to:1764898074.058125 DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.6  Z#Rx 59: Read range message, but no direction.yy Y} Ay  checking for new query: numPingsReceived=59, elapsed TxPingTime=28.984240ԡ II OQ#,-FLAɰr@rA@rNٱr>rH@1?~?ʿ@c`,?ׁ? ?k?2I?ir@Ir!];pY]YzBy]IbDmVDm8y=%F=ٔ9ۺQ->9Y=QEyD^G<E>Q 55?Q 95)BYԱyQ I>@hDI+;i+;f5yɮBAB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503338 s, deltaX: -0.199999 m, approachRate: -0.397345 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 19.38 m.2i"i;*i;  ProNav: ac range: 19.384357 m, nav range: 18.655146 m, bearing: 303.894438 deg, approach rate: -0.678061 m/s, LOS rate: 0.398137 deg/s, cmd heading: 319.111028 deg, new cmd heading: 319.424251 deg. i(6<HeadingCmd: 5.575005 target range: 19.384357 and range: 19.20 m.hqf@hhhhggjg!rg!e!re!Ze):e-@333@*e-?UyBɢ]%ҡ)Y ]V>iY)]=YYieieOK5m=m{-Imqf@IE9@A @I@M/@I^A% IIO<>checking for new query: numPingsReceived=59, elapsed TxPingTime=29.230486EU EUEQEQ"EU:*EUxv:VEQZEQa]@a]@a]@a]@ A ݧQ#,FLA2Y@2@2wٱ2>2H@?^?C˿wN?{? ?@? OG?i2Y@I2϶];2CYBzByB!Ii Mb@Mb@Mb@     9 Q?1Zd˿~jtY ?y "[ D   ;%A) QA Y AbD%VD%ɰ8y-5>%5Q=ٔ5+йQ-5>99Y9==QEy=DEg<EE>IQ 5M5MǠ?Q 9U5M)MBYU~?Q EU:yU[Q IU>@MpDIM:DDAT read: Rx Time:01:27:53.5330 TRx dataTimestamp_ set to:1764898074.569509PDAT read: Bearing 117.0, 2.9 (Local) ~Local bearing/azimuth received: Bearing 117.0, 2.9 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.6 DAT read: 01:27:53.5330 LVL= 30128, 32753, 28258, 32755, AGC= 55, IDX= 509,-0.05,-2.284, 2.392,-1.888,-2.471, PHS= 0.289,-1.374, 0.540, RAW= 156.9, 6.1, CAL= 156.2, 6.0, ROT= 353.8, -6.0  Ygot valid direction response: 01:27:53.5330 LVL= 30128, 32753, 28258, 32755, AGC= 55, IDX= 509,-0.05,-2.284, 2.392,-1.888,-2.471, PHS= 0.289,-1.374, 0.540, RAW= 156.9, 6.1, CAL= 156.2, 6.0, ROT= 353.8, -6.0 T#Rx 60: Read range and direction messages.E^direction in FSK: [0.988705,-0.107408,0.104528]EFpublishing direction and range infoy &wx?b%,4ޮ`º?YfAubniM:M9j5y}BɮAAE )7I>i;߯q= ?LB/@^ =!z.@ Pw=)e@IPwֽUo?u?SݲJ9? %?)3ڽIiݽiPwֽchecking for new query: numPingsReceived=60, elapsed TxPingTime=29.533754iirFLAjGA"jGA:j@Rj9HZ2@mQ$ٔj?Bj &wx?b%,4ޮ`º?*jiݽ2jPwֽZjcf\$@ ]_.T-D?@Jj>ܬW?#{TJnia?jr j"Aiy!?iXmcjBjy!?j!>ejBrjAzj@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.511384 s, deltaX: -0.400002 m, approachRate: -0.782194 m/s, rangeRepo size: 4  Added new target pos. range: 18.784840 m, bearing: 303.836050 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 1.014722 s, deltaX: -0.599518 m, approachRate: -0.590820 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.78 m.2i"i-*i)= ProNav: ac range: 18.784840 m, nav range: 18.340639 m, bearing: 303.716089 deg, approach rate: 0.000000 m/s, LOS rate: 0.398137 deg/s, cmd heading: 319.424260 deg, new cmd heading: 319.787471 deg. i9EHeadingCmd: 5.581344 target range: 18.784840 and range: 18.80 m.hE_@hAhAhAhAgigijgqrguBeyreyZey:e}2@*eշ?IB>BCBIBU{BBO =BBXDB);B_E颽yBɢj]) >i)i`7iܫ3=II_@I]9@Y @Y@]5@Y@e=@e=qU checking for new query: numPingsReceived=60, elapsed TxPingTime=29.742664E]  E] EY EY "E] l;*E] n:VEY ZEY BE] aF !Q#,{ںFLAY%zBy%=I AAbDuVDu8yv=%@=ٔQ->9Y=QEyDE>1Q 5=55Ϡ?Q 9=55)5BY9y9Q IE>@5yDI5`:i5:5n5yIɮM0AAI:iiuDNOT Ignoring new targets: 18.78 m.2iq"i}A<*i}A< ProNav: ac range: 18.784840 m, nav range: 18.077126 m, bearing: 303.899200 deg, approach rate: -0.715558 m/s, LOS rate: 0.504476 deg/s, cmd heading: 319.787463 deg, new cmd heading: 320.159017 deg. if<HeadingCmd: 5.587829 target range: 18.784840 and range: 18.80 m.hϲ@hhhhggjgrgereZe:e*e`@?DDAT read: Rx Time:01:27:54.0329 TRx dataTimestamp_ set to:1764898075.073171PDAT read: Bearing 118.7, 2.9 (Local) ~Local bearing/azimuth received: Bearing 118.7, 2.9 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 DAT read: 01:27:54.0329 LVL= 31728, 32753, 32130, 32755, AGC= 57, IDX= 508,-0.08,-1.294,-2.881,-0.894,-1.440, PHS= 0.248,-1.396, 0.502, RAW= 157.1, 7.3, CAL= 156.5, 7.4, ROT= 353.5, -7.4 -Ygot valid direction response: 01:27:54.0329 LVL= 31728, 32753, 32130, 32755, AGC= 57, IDX= 508,-0.08,-1.294,-2.881,-0.894,-1.440, PHS= 0.248,-1.396, 0.502, RAW= 157.1, 7.3, CAL= 156.5, 7.4, ROT= 353.5, -7.4 5T#Rx 61: Read range and direction messages.^direction in FSK: [0.985297,-0.112260,0.128796]Fpublishing direction and range infoyC?]NOZ_|?Y{} )9I}>i!?~{/@w>.@  A>)n@I AqAtR?lE#?4]|?? %? )WIVi AEchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.046379myBɢmt)q u>iq)u9qqiuxi2_=a Iϲ@IQ@Q @Q@U4@Q) e checking for new query: numPingsReceived=61, elapsed TxPingTime=30.246836Di zDm ?AEu  Eu Eu 'Eq "Eu :*Eu xv:VEu '4ZEq a} @a} @a} @a} @^A} ԁ I I O >QQ#,OFLA@R@R@RNJٱR;!>RH`?r?3˿X?0Pg?a?@?D?iR@IR];RCYnzBynUIbDvVDv8y=%-I=ٔ-a9Q-->9)Y1=5QEy5D=)<E=>AQ 5M5Eנ?Q 9M5E)EBYIyM藿Q IM>@EDIE{;iE;Eq5y]Bɮ]@A]Ei!i%ծFLAj%FA"j%FA:j%@Rj%pz)2@[Z@Bj%C?]NOZ_|?*j%V2j% AZj%7H$@$M-.[I/@Jj%zGG?}mXX?j%jq j%G"Ai%\.?i%x,~mj%Bj!j!j%Brj%Azj%'ҩ@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503662 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.784645 m, bearing: 303.908719 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 0.503662 s, deltaX: -0.000195 m, approachRate: -0.000386 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.78 m.2i"i*i ProNav: ac range: 18.784645 m, nav range: 17.834908 m, bearing: 304.063174 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 320.159025 deg, new cmd heading: 320.564962 deg. iHeadingCmd: 5.594914 target range: 18.784645 and range: 18.80 m.h @hhhhggjgrgereZe:e)*e- s,?ԉ颅yBɢs)N >i)%ֿ)aieܚi}20kI @IԹ9@ @@/@=DDAT read: Rx Time:01:27:54.5326 =TRx dataTimestamp_ set to:1764898075.584919UPDAT read: Bearing 120.1, 3.1 (Local) ]~Local bearing/azimuth received: Bearing 120.1, 3.1 (Local) uDAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 DAT read: 01:27:54.5326 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.08,-2.392, 2.311,-2.001,-2.514, PHS= 0.224,-1.413, 0.469, RAW= 156.9, 8.2, CAL= 156.5, 8.5, ROT= 353.5, -8.5 Ygot valid direction response: 01:27:54.5326 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.08,-2.392, 2.311,-2.001,-2.514, PHS= 0.224,-1.413, 0.469, RAW= 156.9, 8.2, CAL= 156.5, 8.5, ROT= 353.5, -8.5 T#Rx 62: Read range and direction messages.^direction in FSK: [0.982658,-0.111960,0.147809]Fpublishing direction and range infoy9= 7Hq?G1g%)k?Y=fA9=9= 9)9I=B`e>i=/ݴ= >=LB/@=C>9 =>)9I=99=\V??t?2? =$?)=I9i=99checking for new query: numPingsReceived=62, elapsed TxPingTime=30.532894^A  l IiIO>A! A% @AB >B B IB {BB B B B ;B _E DxQ#,FLAYr*{ByrvIiMb@Mb@Mb@ 9gfffff?ɿ~jtY3?yL &A #A) AYAbD"VD̰8y=%5<=ٔ5Q-=>99Y9==QEy=DEEE>IE] E]E](EY"E]D:*E]:VE]c44ZEYBE]2@MDIMgi)D>顉i}is".?pIK@I)9@ @@@@@I 5 DDAT read: Rx Time:01:27:55.0324 = TRx dataTimestamp_ set to:1764898076.085970M PDAT read: Bearing 119.8, 3.0 (Local) U ~Local bearing/azimuth received: Bearing 119.8, 3.0 (Local) m DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.5  DAT read: 01:27:55.0324 LVL= 30640, 32753, 32754, 32755, AGC= 57, IDX= 503,-0.01,-1.928, 2.779,-1.535,-2.063, PHS= 0.237,-1.396, 0.484, RAW= 156.9, 7.7, CAL= 156.5, 7.9, ROT= 353.5, -7.9  Ygot valid direction response: 01:27:55.0324 LVL= 30640, 32753, 32754, 32755, AGC= 57, IDX= 503,-0.01,-1.928, 2.779,-1.535,-2.063, PHS= 0.237,-1.396, 0.484, RAW= 156.9, 7.7, CAL= 156.5, 7.9, ROT= 353.5, -7.9  T#Rx 63: Read range and direction messages. ^direction in FSK: [0.984142,-0.112129,0.137445] Fpublishing direction and range info^A  A zA y1 5 ~? C|yjȗ?Y5 A1 5 w1 1 1 )1 I5 !r>i5 !5 >1 5 >1 5 0 >)1 I5 0 1 1 5 BA X?pUk?<? 5 %?)5 .G I1 i5 0 1 1 ] checking for new query: numPingsReceived=63, elapsed TxPingTime=31.078339y I I O >^Q#,jK GLAnNy@nr@nTgٱn >nH{T?@?@˿g,?Q)?@O|?K? F?inNy@In];nCYz>{ByII<);bD-VD-8y]F=%]L=ٔ];Q-]>9aYa=eQEyeDzDeA<Em>iQ 55m蠊?Q 95m)mBYy$Q I?@mDIm:im:mx5yɮ?AiiGLAjA"jA:j @RjJD51@!")k@Bj~? C|yjȗ?*j2j0 Zjc'ݪ#@/,^ [@JjXq^?plHz#F?je jVAiH%?iVXejBjy!?jVXejrjÊAzj@m addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501051 s, deltaX: -0.299999 m, approachRate: -0.598740 m/s, rangeRepo size: 4 } Added new target pos. range: 17.985235 m, bearing: 304.478927 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 0.501051 s, deltaX: -0.299753 m, approachRate: -0.598249 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 17.99 m.2i"i*i ProNav: ac range: 17.985235 m, nav range: 17.345346 m, bearing: 304.355892 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 321.026650 deg, new cmd heading: 321.418246 deg. iHeadingCmd: 5.609807 target range: 17.985235 and range: 18.00 m.ԩh@hhhhggjgrgereZe:e2@*e? yBɢ k) >i)iպib,nI@I!E EE'E"E:*Ex:VE'4ZEa@a@a@a@checking for new query: numPingsReceived=63, elapsed TxPingTime=31.2585589@ @@@ ^A% 3I9 II O] >1 BQ#,`!%GLA*DDAT read: Rx Time:01:27:55.5321 .TRx dataTimestamp_ set to:1764898076.5906086PDAT read: Bearing 120.6, 3.2 (Local) :~Local bearing/azimuth received: Bearing 120.6, 3.2 (Local) FDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 fDAT read: 01:27:55.5321 LVL= 31680, 32753, 30786, 32755, AGC= 57, IDX= 500, 0.15,-2.400, 2.302,-2.017,-2.528, PHS= 0.230,-1.408, 0.467, RAW= 156.6, 8.1, CAL= 156.2, 8.4, ROT= 353.8, -8.4 jYgot valid direction response: 01:27:55.5321 LVL= 31680, 32753, 30786, 32755, AGC= 57, IDX= 500, 0.15,-2.400, 2.302,-2.017,-2.528, PHS= 0.230,-1.408, 0.467, RAW= 156.6, 8.1, CAL= 156.2, 8.4, ROT= 353.8, -8.4 nT#Rx 64: Read range and direction messages.r^direction in FSK: [0.983486,-0.106841,0.146083]rFpublishing direction and range infoy(*N⺷x?L9XY/8ٲ?Y*̌A(*{(*Bx ()(I*k>i*X9*>*.@*>*!z.@ *Q >)*e@I*Q ((*e'i?G.e?@s? *#?)*~I*iݽi*Q 鰙ɰ4<((checking for new query: numPingsReceived=64, elapsed TxPingTime=31.561264@@ٱ >H@tw?Y?; ˿@G`?XKl?@G?F?i@I];CY-x{By-I B>BB IB?|BBBBB;B_EiMb@Mb@Mb@ 9ʡE?x&1ȿy&1Y?yA` Aj$A j$A) AYAbD VD y=%%=ٔ&:Q->9)Y1==QEy=ҲDM"><EU>QQ 5]5U ?Q 95U)UBY?Q E:yőQ I?@UDIU;iU;U$}5yBɮ??AEi(i*%GLAj*A"j*A:j*E[@Rj*YmTK1@6T1@Bj*N⺷x?L9XY/8ٲ?*j*iݽ2j*Q Zj*jLxr#@;r"+Xp@Jj*}ӝ?Y0?@hu#?j*^ j*Ai*\l&?i*`j*'Bj*H%?j(j(rj*Azj*%@e addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504638 s, deltaX: -0.400000 m, approachRate: -0.792647 m/s, rangeRepo size: 4 m Added new target pos. range: 17.585489 m, bearing: 305.022190 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 0.504638 s, deltaX: -0.399746 m, approachRate: -0.792144 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 17.59 m.2iq"i*i ProNav: ac range: 17.585489 m, nav range: 17.079790 m, bearing: 304.646482 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 321.418238 deg, new cmd heading: 321.926152 deg. iHeadingCmd: 5.618671 target range: 17.585489 and range: 17.60 m.h(̳@hhhhggjgrg"BereZe:e1@*ej?9} zBɢ}9?)y }>iy)顁iۛi*4={I(̳@IE EE*E"E:*E]t:VE(N4ZEBEN-A}>| )7IY>i~>LB/@>.@ >)4`@IIIO?%Q#,IGLA-+eK??Wj? -?%?)-`I-i-))>checking for new query: numPingsReceived=65, elapsed TxPingTime=32.078651YU{ByUIbDeVDe8yC=%)=ٔQ->9Y=QEy۲DE> Q 55 -?Q 95 ) BYyQ I?@ DI :i : a5y!ɮ%>A!i)i-,FGLAj-IA"j-IA:j-W@Rj-5e00@׳gEz;d@Bj-g?-j?*j-2j-Zj-͗*"@:Jxb+\@Jj-1p?7[Y鿽M?j-[ j-Ai-l?i-:bj-SBj)j)j-'Brj-_Azj-=@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.505874 s, deltaX: -0.300001 m, approachRate: -0.593035 m/s, rangeRepo size: 4  Added new target pos. range: 17.285734 m, bearing: 304.526097 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 0.505874 s, deltaX: -0.299755 m, approachRate: -0.592549 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 17.29 m.2i)"i)*i)= ProNav: ac range: 17.285734 m, nav range: 16.796736 m, bearing: 304.814990 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 321.926159 deg, new cmd heading: 322.415850 deg. i9eHeadingCmd: 5.627218 target range: 17.285734 and range: 17.30 m.he,@hahahihigigijgirgqeqreqZeq:euL1@*e}@=(?'zBɢ^L) >i)Diir'Ȇ*I,@IbE(N4jEFA4rEż/E% E%E%(E!"E%:*E%:VE%c44ZE!a5@a5@a=@a=@Echecking for new query: numPingsReceived=65, elapsed TxPingTime=32.268066U9@Q @Q@U/@YA Cu pG /{A j9 /{AY SfAy} ? lA^A]  DDAT read: Rx Time:01:27:56.5317 TRx dataTimestamp_ set to:1764898077.598798PDAT read: Bearing 122.8, 2.1 (Local) ~Local bearing/azimuth received: Bearing 122.8, 2.1 (Local) 5DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 UDAT read: 01:27:56.5317 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.07, 1.218,-0.336, 1.638, 1.145, PHS= 0.174,-1.436, 0.449, RAW= 157.7, 9.3, CAL= 157.5, 9.9, ROT= 352.5, -9.9 ]Ygot valid direction response: 01:27:56.5317 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.07, 1.218,-0.336, 1.638, 1.145, PHS= 0.174,-1.436, 0.449, RAW= 157.7, 9.3, CAL= 157.5, 9.9, ROT= 352.5, -9.9 IiIyO>iQ#,[xgGLA,ZT#Rx 66: Read range and direction messages.^^direction in FSK: [0.976682,-0.128583,0.171929]^Fpublishing direction and range infoy@ @?)ɔeu!?YA ):I-2>iηT>'0@6&>/@ ;0>)@I;0| ?!+W?_ ? j(?)o%I i;0checking for new query: numPingsReceived=66, elapsed TxPingTime=32.574581-!K@-pD@-ٱ-`!>-H?`O?ʿd?E@ ??I?i-!K@I-Y];-CYE{ByEIonly read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 a@a a@a a%@a% a%@a% ))bDU&VDUϰ8yes=%$=ٔ&;Q->9Y=QEyDi!=E>B>BB_IB|BBP =BBB;B_EQ 55?Q 95)BQ A+:YQ E:y7Q I?@DIW;iD?5yɮ=AiiRfGLAjA"jA:j@Rju٣0@i;y҉M\@Bj@ @?)ɔeu!?*j 2j;0Zj-Ix"@B*R k@JjԪ e?JEh@鿊9J?jwV jAiDw,?ijJbjBj ?j:bjSBrjAzj.@ԁ addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.502316 s, deltaX: -0.299999 m, approachRate: -0.597232 m/s, rangeRepo size: 4  Added new target pos. range: 16.985926 m, bearing: 304.565342 deg, lat: 36.779533 deg, lon: -121.859797 deg, deltaT: 0.502316 s, deltaX: -0.299809 m, approachRate: -0.596852 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.99 m.2i"i*i!- ProNav: ac range: 16.985926 m, nav range: 16.335852 m, bearing: 304.709955 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 322.415856 deg, new cmd heading: 322.910868 deg. i15HeadingCmd: 5.635858 target range: 16.985926 and range: 17.00 m.h5X@h9h9h9h9g9gYjgargaeareaZei:em1@*em?DzBɢv)) 5`>i1)5@k11i5%i?%=.bIX@IԱE EEE"E*Exv:VEZEBE35@aF>6@ k]>)&@Ik][?l֖_?L؇? Ң??)YEIVhik]]checking for new query: numPingsReceived=67, elapsed TxPingTime=33.041328^Ae-|,AazAezAQAIIO?!Q#,"GLAV}@V)w@VCٱVM >VH ?@.?8ʿ; N?} y?`?K?iV}@IV];VCY{ByIbD5 VD5ʰ8yE =%E=ٔEm;Q-M>9IYI=MQEyUDUs9<EU>YQ 5e5] ?Q 9e5]_ )]BQ Ae :YaQ Emk:ymniQ Im?@]DI].i)顱i-x:i1# I@IEe EeEaEa"Ee=;*Ee҆:VEaZEaau@au@au@au@checking for new query: numPingsReceived=67, elapsed TxPingTime=33.275146ԙU9@Y @Y@]5@Y^A5 AIIO> i) I) = DDAT read: Rx Time:01:27:57.5313 = TRx dataTimestamp_ set to:1764898078.605406E PDAT read: Bearing 122.7, 1.6 (Local) EQ#,iGLA2 @2X@2ٱ2§ >2H9?[ ?ʿC?G ??M?i2 @I2];2CB~Local bearing/azimuth received: Bearing 122.7, 1.6 (Local) JDAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 ZDAT read: 01:27:57.5313 LVL= 32752, 32753, 31922, 32755, AGC= 57, IDX= 510,-0.48, 2.462, 0.890, 2.900, 2.375, PHS= 0.189,-1.439, 0.481, RAW= 158.1, 8.6, CAL= 157.8, 9.1, ROT= 352.2, -9.1 Y^7|By^I~Ygot valid direction response: 01:27:57.5313 LVL= 32752, 32753, 31922, 32755, AGC= 57, IDX= 510,-0.48, 2.462, 0.890, 2.900, 2.375, PHS= 0.189,-1.439, 0.481, RAW= 158.1, 8.6, CAL= 157.8, 9.1, ROT= 352.2, -9.1 T#Rx 68: Read range and direction messages.^direction in FSK: [0.978278,-0.134007,0.158158] Fpublishing direction and range infoyqug N?%'@\~>?Yu3Aqqqu| q)qIu7A>iu'1uE>ur0@u`>uC0@ u">)u@Iu"qqusF?0V?1~3? u J*?)u0Iug iu"qq%checking for new query: numPingsReceived=68, elapsed TxPingTime=33.566906aa aa aa aa iMb@Mb@Mb@ 9oʡ?+ǿˡEY ?yv>'A!A A)= AYAB>BCBIB|BBO =BBBڣ;Bb_EBCBCBBO =BO =C94bDUJVDU8y>%)=ٔW;Q->9Y=QEyDeT<E>Q 55?Q 95)BQ AT:Y>?Q E:y%Q I?@DI :i:;5yɮn?*jug 2ju"ZjuD*"@ K&a)=~zd@Jju)?)3j/:?ju{N juVAiu>/?iugcjuBjqjqjqrju{Azju1W@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503334 s, deltaX: -0.400000 m, approachRate: -0.794700 m/s, rangeRepo size: 4  Added new target pos. range: 16.386408 m, bearing: 305.141133 deg, lat: 36.779533 deg, lon: -121.859797 deg, deltaT: 0.503334 s, deltaX: -0.399683 m, approachRate: -0.794071 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.39 m.2i"i*i ProNav: ac range: 16.386408 m, nav range: 15.731359 m, bearing: 304.993667 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 323.475382 deg, new cmd heading: 323.966618 deg. iHeadingCmd: 5.654284 target range: 16.386408 and range: 16.40 m.h@hhhhggjgrgBereZe:e`ff0@*eW?e~zBɢ}K)y }X>i)?顁iA >A)IAIYOu>P=Q#,2GLA nDDAT read: Rx Time:01:27:58.0313 nTRx dataTimestamp_ set to:1764898079.108956vPDAT read: Bearing 123.9, 1.1 (Local) v~Local bearing/azimuth received: Bearing 123.9, 1.1 (Local) ~DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 -DAT read: 01:27:58.0313 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.18,-2.123, 2.602,-1.674,-2.186, PHS= 0.165,-1.450, 0.468, RAW= 158.4, 9.2, CAL= 158.2, 9.7, ROT= 351.8, -9.7 MYgot valid direction response: 01:27:58.0313 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.18,-2.123, 2.602,-1.674,-2.186, PHS= 0.165,-1.450, 0.468, RAW= 158.4, 9.2, CAL= 158.2, 9.7, ROT= 351.8, -9.7 MT#Rx 69: Read range and direction messages.U^direction in FSK: [0.975626,-0.140590,0.168489]]Fpublishing direction and range infoyln'}S8? "#RV?Ylllln l)n:In(>inn>n;0@nl$>n 0@ n-\->)np{@In-\-lln4={gU??~-to? n+?)n3$InTin-\-lluchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.050606c@@s ٱ?#>H?ཾ?`fʿO>?@?_"?NN?ic@I];CYuC|Byu#I 4=bDQVD8y<%4=ٔ;Q->9AY=eQEyeDet<Ee>iQ 5u5m:)?Q 9u5m>)mBYyy}lQ I}?@mɩDIm:im:mD5yBɮi)繽顩i4^i>"+IS2@Iq:@ @@15@Em EiEm,Ei"Em&:*EiVEmg4ZEiau@au@au@au@checking for new query: numPingsReceived=69, elapsed TxPingTime=34.282692ԙ ^A  A I I O >$Q#,(GLA%O@%H@%Ӕٱ%;">%H ?`(?1ʿ-@Y??`4?P?i%O@I%];!)Y p|By->ImDDAT read: Rx Time:01:27:58.5310 uTRx dataTimestamp_ set to:1764898079.613034}PDAT read: Bearing 123.3, 1.2 (Local) }~Local bearing/azimuth received: Bearing 123.3, 1.2 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 DAT read: 01:27:58.5310 LVL= 32752, 32753, 32354, 32755, AGC= 58, IDX= 506, 0.03,-1.126,-2.702,-0.682,-1.215, PHS= 0.191,-1.442, 0.489, RAW= 158.2, 8.5, CAL= 157.9, 8.9, ROT= 352.1, -8.9 Ygot valid direction response: 01:27:58.5310 LVL= 32752, 32753, 32354, 32755, AGC= 58, IDX= 506, 0.03,-1.126,-2.702,-0.682,-1.215, PHS= 0.191,-1.442, 0.489, RAW= 158.2, 8.5, CAL= 157.9, 8.9, ROT= 352.1, -8.9 T#Rx 70: Read range and direction messages.^direction in FSK: [0.978584,-0.135790,0.154710]Fpublishing direction and range infoyim3ԅP?PzJaj?Ymf~Aiiimb~ i)iImC>imum5^>m 0@m>mA`0@ m>)mU@Imiim}BbS?Pt?xz? m1*?)mIm0 imiichecking for new query: numPingsReceived=70, elapsed TxPingTime=34.549870iMb@Mb@Mb@ 9|?5^? rȿktY?yC 0AQ A A)l AYAbD@VD8yIJ=%#=ٔo;Q->9Y=QEyDO<E>Q 55$5?Q 95.)BYA?Q E:yQ I?@өDI;i[;5B>BBIB=}BBBBWDB;B:_EQyUBɮU&/?jijmBrjm{sAzjmΒ@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504078 s, deltaX: -0.500000 m, approachRate: -0.991910 m/s, rangeRepo size: 4 5 Added new target pos. range: 15.886740 m, bearing: 306.183488 deg, lat: 36.779533 deg, lon: -121.859797 deg, deltaT: 0.504078 s, deltaX: -0.499668 m, approachRate: -0.991252 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 15.89 m.2i9"i9*i9m ProNav: ac range: 15.886740 m, nav range: 15.217721 m, bearing: 305.410607 deg, approach rate: 0.000000 m/s, LOS rate: 0.504476 deg/s, cmd heading: 324.431226 deg, new cmd heading: 324.931350 deg. iiuHeadingCmd: 5.671122 target range: 15.886740 and range: 15.90 m.huy@hqhyhyhygygyjgrgBereZe:e/@*e`*?zBɢB) >i)%!!i%qiM+M=M޳IMy@IQy9@ @@$1@E  E E +E "E a:*E xv:VE [4ZE BE (6H?`x?ɿ @0???S?i6x@I6/];6CYJ|ByJKIbDV*VDVӰ8yv.]=%zP=ٔ~å;Q-~>9|Y=QEyD <E>!Q 5U5%>?Q 9U5%")!YYy]DQ Ie?@%کDI%*;i%;%5yiɮ;AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 15.89 m.2i"iO;*iO; ProNav: ac range: 15.886740 m, nav range: 14.979916 m, bearing: 305.519949 deg, approach rate: -0.626315 m/s, LOS rate: 0.292548 deg/s, cmd heading: 324.931360 deg, new cmd heading: 325.153514 deg. i<HeadingCmd: 5.674999 target range: 15.886740 and range: 15.90 m.h@hhhhgg!jg!rg!e!re)=DDAT read: Rx Time:01:27:59.0308 =TRx dataTimestamp_ set to:1764898080.117213EPDAT read: Bearing 121.4, 1.1 (Local) M~Local bearing/azimuth received: Bearing 121.4, 1.1 (Local) ]DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 iDAT read: 01:27:59.0308 LVL= 29728, 32753, 25362, 32755, AGC= 56, IDX= 504, 0.23,-0.137,-1.739, 0.309,-0.284, PHS= 0.249,-1.410, 0.549, RAW= 158.2, 6.8, CAL= 157.6, 6.7, ROT= 352.4, -6.7 Ygot valid direction response: 01:27:59.0308 LVL= 29728, 32753, 25362, 32755, AGC= 56, IDX= 504, 0.23,-0.137,-1.739, 0.309,-0.284, PHS= 0.249,-1.410, 0.549, RAW= 158.2, 6.8, CAL= 157.6, 6.7, ROT= 352.4, -6.7 T#Rx 71: Read range and direction messages.^direction in FSK: [0.984446,-0.131353,0.116671]Fpublishing direction and range infoy9=qL?-mu"޽?Y=yA9= t9=c 9)=8I=~>i=z=D ?9===x 0@ =|=)=:@I=|ゥ99=Nw?&kף?u`QV? =*?)=YI=i=|ゥ99checking for new query: numPingsReceived=71, elapsed TxPingTime=35.059074Ze:e@33/@*e@74?-zBɢ- p)) -+>i))-!W11i5ji5=== I=@I99@ @@5@ԙ^A*_E  E E &E "E :*E Ar:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=71, elapsed TxPingTime=35.290558A- .AI1 IA OU > R#,FHLA=B@=@=Iٱ=B#>=H@?`gU?@+ɿ@R$P?h%?&?@;T?i=B@I=I];=CYM|ByMfIIU=)Up=bDeֿVDe8yuy=%uB=ٔu;Q-}>9} ?Y} ?=}QEy}Dm<E>Q 55I?Q 95()BYyzQ I?@DI;i;5yBɮ;AiiimkHLAjmdyA"jmdyA:jm̫@RjmEi.@am h@?BjmqL?-mu"޽?*jm2jm|Zjmzݍ"@f8;(X* ˈ @Jjmǿ ?jݞ迬v̐C?jm@ jmnAimV?imҹNejm:Bjm')?jmҹNejmBrjmnAzjm@U addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504179 s, deltaX: -0.299999 m, approachRate: -0.595025 m/s, rangeRepo size: 4  Added new target pos. range: 15.586990 m, bearing: 307.607152 deg, lat: 36.779535 deg, lon: -121.859798 deg, deltaT: 0.504179 s, deltaX: -0.299749 m, approachRate: -0.594530 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.59 m.2i"i*i ProNav: ac range: 15.586990 m, nav range: 14.882108 m, bearing: 305.976843 deg, approach rate: 0.000000 m/s, LOS rate: 0.292548 deg/s, cmd heading: 325.153505 deg, new cmd heading: 325.388435 deg. iHeadingCmd: 5.679100 target range: 15.586990 and range: 15.60 m.h/@hhh!h!g1g1jgArgAereZe:e*el?zBɢc7v) >i)F{i3i]l=AkI/@II)MDDAT read: Rx Time:01:27:59.5305 MTRx dataTimestamp_ set to:1764898080.621256UPDAT read: Bearing 126.0, 0.7 (Local) ]~Local bearing/azimuth received: Bearing 126.0, 0.7 (Local) mDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 DAT read: 01:27:59.5305 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.43, 2.518, 0.966, 2.971, 2.482, PHS= 0.138,-1.471, 0.445, RAW= 158.6, 10.0, CAL= 158.5, 10.8, ROT= 351.5, -10.8 Ygot valid direction response: 01:27:59.5305 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.43, 2.518, 0.966, 2.971, 2.482, PHS= 0.138,-1.471, 0.445, RAW= 158.6, 10.0, CAL= 158.5, 10.8, ROT= 351.5, -10.8 T#Rx 72: Read range and direction messages.^direction in FSK: [0.971498,-0.145191,0.187381]Fpublishing direction and range infoyIMuN?tf¿0i?YM3sAIMIM I)M:IMO >iMIM >Mm(1@M¸2>M 1@ MA>)MP@IMAIIME ??.k04? M^,?)M2IMiMAIIchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.563908}9@y @y@} 5@y@@yAB>BBIBp}BBBBB;B_E! ^A C Q E  E E E "E :*E g:VE ZE BE N-a R#,8HLAchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.8025596H@6ݰ@63ٱ6Q$>6H? 3?ɿm?јQ?H?`T?i6H@I6r];4Yr|ByrsIqiUMb@Mb@Mb@QQQQ Q9U ףp= ?Clɿ{GzYUQ?yUOU#U$AUA Q)UAQYUAbDVD8y5=%$=ٔ9"?Y"?=QEy(D;<E>Q 55U?Q 95/)BYD!?Q E:yۈQ I?@DI;id;5y Bɮ :A ii'HLAjrA"jrA:j @Rj1&?-@t._~h7@BjuN?tf¿0i?*j2jAZjei̹9!@ z'4%%E@JjEvܵ%?{6y追C[2?j; j Ai+?i+djBj+?j+djrjhAzj @u addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504043 s, deltaX: -0.400001 m, approachRate: -0.793584 m/s, rangeRepo size: 4  Added new target pos. range: 15.187261 m, bearing: 306.264670 deg, lat: 36.779535 deg, lon: -121.859798 deg, deltaT: 0.504043 s, deltaX: -0.399730 m, approachRate: -0.793047 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.19 m.2i"i*i ProNav: ac range: 15.187261 m, nav range: 14.560453 m, bearing: 306.264723 deg, approach rate: 0.000000 m/s, LOS rate: 0.292548 deg/s, cmd heading: 325.388436 deg, new cmd heading: 325.687586 deg. i HeadingCmd: 5.684321 target range: 15.187261 and range: 15.20 m.h @h h h h g gjgrgBere1Ze1:eu`ff.@*e}F?ԑzBɢg{t) >i)Jifi *O F= VI @IDDAT read: Rx Time:01:28:00.0305 TRx dataTimestamp_ set to:1764898081.134234PDAT read: Bearing 126.2, 0.5 (Local) ~Local bearing/azimuth received: Bearing 126.2, 0.5 (Local)  DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 =DAT read: 01:28:00.0305 LVL= 32752, 32753, 32658, 32755, AGC= 57, IDX= 501,-0.24,-2.978, 1.748,-2.522,-3.018, PHS= 0.142,-1.473, 0.452, RAW= 158.6, 9.8, CAL= 158.5, 10.6, ROT= 351.5, -10.6 M9@I @I@M?5@IUYgot valid direction response: 01:28:00.0305 LVL= 32752, 32753, 32658, 32755, AGC= 57, IDX= 501,-0.24,-2.978, 1.748,-2.522,-3.018, PHS= 0.142,-1.473, 0.452, RAW= 158.6, 9.8, CAL= 158.5, 10.6, ROT= 351.5, -10.6 UT#Rx 73: Read range and direction messages.]^direction in FSK: [0.972139,-0.145287,0.183951]eFpublishing direction and range infoy?Ø¿ =η?Y )9Ish>iDl>%/> q=>)Iq=ŋ"?z;?Jx? ,?)I0Iiq=checking for new query: numPingsReceived=73, elapsed TxPingTime=36.081364 ^Am ;Au >Au >A.AIIO>R#,<WHLA(E2 E2E2)E0"E2:*E2:VE2FA4ZE0a6@a6@a6@a6@R@R@R:ٱR`$>RH@:??Eɿ ?Ѡ? ^?U?iR@IR];P^checking for new query: numPingsReceived=73, elapsed TxPingTime=36.306522Y|ByIbD%VD%8yMg=%UH=ٔUߖ;Q-U>9] ?Y] ?=]QEy]1D]x<Ee>aQ 5m5e``?Q 9u5e5)aYqyuQ Iu?@eDIe';ie3;e5y}͕Bɮ}:A¦EiiJHHLAj"j:jD@Rje*;-@Mo)@WY@Bj?Ø¿ =η?*j2jq=Zj?i!@yb:f'P$"@JjDzĮ!X?U7)ʦ迁 wr?j1; jL Ai>?i/oijBjE0?jҹNejBrjeAzj`/@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.512978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.187261 m, bearing: 306.654518 deg, lat: 36.779536 deg, lon: -121.859798 deg, deltaT: 0.512978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.19 m.2i"i*i ProNav: ac range: 15.187261 m, nav range: 14.360282 m, bearing: 306.505667 deg, approach rate: 0.000000 m/s, LOS rate: 0.292548 deg/s, cmd heading: 325.687598 deg, new cmd heading: 325.919592 deg. iHeadingCmd: 5.688370 target range: 15.187261 and range: 15.20 m.h @hhhhgg)jg1rg9eAreiZeq:ey*e}?ԉe{Bɢe}k)a e>ia)mεiiim/iuEu#=uIu @Iy=9@9 @9@E5@AԹuDDAT read: Rx Time:01:28:00.5302 uTRx dataTimestamp_ set to:1764898081.637276PDAT read: Bearing 127.1, 0.4 (Local) ~Local bearing/azimuth received: Bearing 127.1, 0.4 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.5 DAT read: 01:28:00.5302 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.14, 2.410, 0.855, 2.864, 2.383, PHS= 0.129,-1.483, 0.437, RAW= 158.6, 10.3, CAL= 158.6, 11.2, ROT= 351.4, -11.2 Ygot valid direction response: 01:28:00.5302 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.14, 2.410, 0.855, 2.864, 2.383, PHS= 0.129,-1.483, 0.437, RAW= 158.6, 10.3, CAL= 158.6, 11.2, ROT= 351.4, -11.2 T#Rx 74: Read range and direction messages.^direction in FSK: [0.969926,-0.146688,0.194234]Fpublishing direction and range infoyquUkv ?,¿mVѫ?Yu3kAqqqu q)qIu>iuҽuw>quX8>um(1@ u+H>)u?B@Iu+HqquYB B IB }BB B B B ;B _E^A {A ؟AI I O >R#,5rHLAViJ@VC@VJ\ٱV$>VH@^??@gɿ4g?@@?Z?W?iViJ@IV];VCY^}BybIi Mb@Mb@Mb@     9 㥛 ?ɿ rhY ?y L C A A A) A Y AbDEVDE8yum=%u1=ٔu'{;Q-u>9}"?Y}"?=}QEy}:D`<E>Q 55 l?Q 95=<)BYD?Q E:yQ I?@DI;iQ;5yɮQ:AE EE+E"E*Ez:VE [4ZEBE<iI)M_ߴIQiUBiu}=}DI}'0@Iya>iԙ)@) @)@-75@)@5=@5=  DDAT read: Rx Time:01:28:01.0301  TRx dataTimestamp_ set to:1764898082.140999 PDAT read: Bearing 127.2, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 127.2, 0.9 (Local)  DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5 % DAT read: 01:28:01.0301 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.09,-3.025, 1.696,-2.597,-3.069, PHS= 0.146,-1.474, 0.428, RAW= 157.9, 10.1, CAL= 157.8, 11.0, ROT= 352.2, -11.0 - Ygot valid direction response: 01:28:01.0301 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.09,-3.025, 1.696,-2.597,-3.069, PHS= 0.146,-1.474, 0.428, RAW= 157.9, 10.1, CAL= 157.8, 11.0, ROT= 352.2, -11.0 5 T#Rx 75: Read range and direction messages.= ^direction in FSK: [0.972545,-0.133222,0.190809]= Fpublishing direction and range infoy  ߀?gwi P@ml?Y iA ) 8I >i  "> A`0@ J4> C0@ D>) @I D Ϙ\s?OY?9& ? Q)?) Z5I g i D m checking for new query: numPingsReceived=75, elapsed TxPingTime=37.080257 ^A- AYIaIqO?$R#,#HLAɰ;2`|@2u@2Qٱ2{$>42Hw? "?`8ɿ[ ?@) K?Z?Y?i2`|@I2Ǭ];2CY>#}By>IbDz VDz8yv=%/=ٔtg;Q->9 Y = QEy DDKV<E>Q 5%5%x?Q 9%5B)BY!y%ӆQ I=?@DIς;iU;5yMҕBɮM :AUæEii!HLAjgiA"jgiA:j@Rj@_,@N)SD@Bj߀?gwi P@ml?*jg 2j DZjD=8!@&^ &`1ݛ@Jj\WV?/,+" 7?jL0 j AiM?iWdj߆Bj>?jWdjrj]Azj@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503723 s, deltaX: -0.099999 m, approachRate: -0.198521 m/s, rangeRepo size: 4  Added new target pos. range: 14.587693 m, bearing: 308.006919 deg, lat: 36.779537 deg, lon: -121.859798 deg, deltaT: 0.503723 s, deltaX: -0.099916 m, approachRate: -0.198354 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 14.59 m.2i"i*iM ProNav: ac range: 14.587693 m, nav range: 13.870055 m, bearing: 307.399089 deg, approach rate: 0.000000 m/s, LOS rate: 0.292548 deg/s, cmd heading: 326.206529 deg, new cmd heading: 326.468975 deg. iIUHeadingCmd: 5.697958 target range: 14.587693 and range: 14.60 m.hUU@hQhQhYhYgYgYbE FA4jE rE '0E EE)E"E:*Eą:VEFA4ZEa@a@a@a@checking for new query: numPingsReceived=75, elapsed TxPingTime=37.314587jgrgereZe:e@33-@*e3?ԙ颥?{Bɢc) >i)D顩iC짻iq3ڞ=CIU@I9@ @@/5@]݂Gu{Am9{AYjA^A  DDAT read: Rx Time:01:28:01.5298  TRx dataTimestamp_ set to:1764898082.645261 PDAT read: Bearing 129.3, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 129.3, 0.2 (Local)  DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5  DAT read: 01:28:01.5298 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.07, 2.132, 0.586, 2.582, 2.137, PHS= 0.097,-1.506, 0.400, RAW= 158.5, 11.4, CAL= 158.7, 12.6, ROT= 351.3, -12.6  Ygot valid direction response: 01:28:01.5298 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.07, 2.132, 0.586, 2.582, 2.137, PHS= 0.097,-1.506, 0.400, RAW= 158.5, 11.4, CAL= 158.7, 12.6, ROT= 351.3, -12.6  T#Rx 76: Read range and direction messages. ^direction in FSK: [0.964688,-0.147618,0.218143] Fpublishing direction and range infoy  ɸ?5&¿'$?Y aA ) I =i > 1@ %K> E1@ z0a>) 3@I z0a [Ì?%*R#,HLAB>BCB'IB}BBQ =BBVDB;B_EX-٪@-ұ@- ٱ->#>-H-?@/?@ȿ`x?@ڪ?`A,?]?i-٪@I-];-CYe>}ByeIimMb@Mb@Mb@iiii i9mOn?:vʿlYm?ymTmmlAm$A m;A)mAiYmQAbDVD8y(c=%,=ٔ_;Q->9 ?Y ?=QEy%MDE<EE>IQ 5U5M鄡?Q 9U5MI)IY]!?Q E]:y]Q I]?@MDIMb:iM(:M5yɮ9AiiKHLAjhaA"jhaA:jd@Rj5QO.+@k@Bjɸ?5&¿'$?*j|2jz0aZj.soQ @nuSI%`.@@JjRj?k-|?jN* jAiFu4?iY̳aj?BjFu4?j+djBrjXAzjB@U addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504262 s, deltaX: -0.500000 m, approachRate: -0.991548 m/s, rangeRepo size: 4 u Added new target pos. range: 14.087926 m, bearing: 307.470953 deg, lat: 36.779536 deg, lon: -121.859798 deg, deltaT: 0.504262 s, deltaX: -0.499767 m, approachRate: -0.991087 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 14.09 m.2iq"i*i ProNav: ac range: 14.087926 m, nav range: 13.500191 m, bearing: 307.183272 deg, approach rate: 0.000000 m/s, LOS rate: 0.292548 deg/s, cmd heading: 326.468972 deg, new cmd heading: 326.754332 deg. iHeadingCmd: 5.702939 target range: 14.087926 and range: 14.10 m.hz~@hhhhggjgrgBereZe:e@33,@*eA+?UW{BE} E}E},Ey"E}D:*E}~:VE}g4ZEyBE}2i)%项i]i굞=ˑļIz~@Ichecking for new query: numPingsReceived=76, elapsed TxPingTime=37.818508!:@ @@:5@9 ^A- Gq  DDAT read: Rx Time:01:28:02.0296  TRx dataTimestamp_ set to:1764898083.149879 PDAT read: Bearing 125.3, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 125.3, 0.9 (Local)  DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5  DAT read: 01:28:02.0296 LVL= 28224, 32753, 24418, 32755, AGC= 52, IDX= 508,-0.07, 1.822, 0.229, 2.243, 1.707, PHS= 0.216,-1.434, 0.492, RAW= 157.6, 8.1, CAL= 157.2, 8.4, ROT= 352.8, -8.4  Ygot valid direction response: 01:28:02.0296 LVL= 28224, 32753, 24418, 32755, AGC= 52, IDX= 508,-0.07, 1.822, 0.229, 2.243, 1.707, PHS= 0.216,-1.434, 0.492, RAW= 157.6, 8.1, CAL= 157.2, 8.4, ROT= 352.8, -8.4  T#Rx 77: Read range and direction messages.^direction in FSK: [0.981472,-0.123989,0.146083]Fpublishing direction and range infoy  [7h?"I/8ٲ?Y \A @n b_ ) 4I /]>i P m> x 0@ > /@ Q >) j @I Q  ].{? [V?#P? (?) I i Q  %checking for new query: numPingsReceived=77, elapsed TxPingTime=38.089893A]؟AIiIyO>2R#,HLA2 @2+@2~ٱ2Rf#>2H ?`?ȿ?&?a Q?1?_?i2 @I2j];2CY5^}By5IbDMVDMȰ8y]=%]C=ٔ]]V;Q-]>9e"?Ye"?=eQEyeVDev<Em>qQ 5}5u?Q 9}5uO)uBYyy};Q I}?@uDIu:iuK:u5yؕBɮH9A iiHLAj\A"j\A:j4@Rj_A+@QStZb @Bj[7h?"I/8ٲ?*j2jQ Zj Ty@!@Bx$Trv @JjAc?n%E ?j# j Aif?i\jLBj>?j}djBrjTAzjܫ@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504618 s, deltaX: -0.300000 m, approachRate: -0.594509 m/s, rangeRepo size: 4  Added new target pos. range: 13.788182 m, bearing: 310.123658 deg, lat: 36.779537 deg, lon: -121.859797 deg, deltaT: 0.504618 s, deltaX: -0.299744 m, approachRate: -0.594001 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 13.79 m.2i "i *i  ProNav: ac range: 13.788182 m, nav range: 13.305624 m, bearing: 307.717833 deg, approach rate: 0.000000 m/s, LOS rate: 0.292548 deg/s, cmd heading: 326.754337 deg, new cmd heading: 327.004142 deg. iMHeadingCmd: 5.707299 target range: 13.788182 and range: 13.80 m.hM1@hIhIhIhQgQgQjgQrgQeYreYZeY:e]+@*ee ?m{Bɢ]) d>i)MiiKm_=ƽI1@I!99@ @@5@E] E]E]-EY"E]:*E]:VE]t4ZEYam@am@am@am@^A¼checking for new query: numPingsReceived=77, elapsed TxPingTime=38.324730yA.AII OE >ԑ 8R#, fHLA$$p?@8@\Sٱ#>H@?@I;?ȿ?@^E?ি@?`c=?_?ip?@I];CY]}By]IbDVD8yi=%C=ٔT;Q->9 ?Y ?=QEy^D=DDAT read: Rx Time:01:28:02.5293 ETRx dataTimestamp_ set to:1764898083.657405qPDAT read: Bearing 129.3, 0.2 (Local) ~Local bearing/azimuth received: Bearing 129.3, 0.2 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.5  cn<E>Q 55m?Q 95*V)YyEoQ IM?@"DI5=0@=B>=0@ =PwV>)=%m@I=PwV99=U?auEu?^=`!? =*?)=8BI=Vi=PwV99checking for new query: numPingsReceived=78, elapsed TxPingTime=38.632915AAB>BBRIB1~BBBBBq;B^EBCBCBBBP =C85M addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.507526 s, deltaX: -0.400001 m, approachRate: -0.788138 m/s, rangeRepo size: 4 :iIUDNOT Ignoring new targets: 13.79 m.2iQ"iU;*i]; ProNav: ac range: 13.788182 m, nav range: 13.021158 m, bearing: 307.871542 deg, approach rate: -0.629323 m/s, LOS rate: 0.347477 deg/s, cmd heading: 327.004131 deg, new cmd heading: 327.318261 deg. i<HeadingCmd: 5.712781 target range: 13.788182 and range: 13.40 m.h϶@hhhhggjgrgereZe:e*@*e 9?{BɢZ) >i)ciQfiEEt=EMIE϶@IIԙ@ @@4@Ei  Em Em +Ei "Ei *Em xv:VEm [4ZEi BEm <@R#,ILA2o@22H &? ?Mȿw@Pc?t ?? 5b?i2o@I2];0Y:}By:IqiMb@Mb@Mb@ 9$C?ɿ rhY?yLC ~A A)Y\AbDVD8y=%6=ٔ';Q->9"?Y"?=QEygDqZ<E>Q 55%?Q 95\)BY"?Q E:y큿Q I?@+DIj:iQ:5y ɮ _8A iiHLAj7VA"j7VA:j,@Rj=)@icb?dFD@BjKJ?HJ¿hٜ?*jV2jPwVZjT#t @IL`#7a{@Jj3E?o?r0@+H>ԡ k]>)Ik]t::B? |b?[Cu? k*?)HIik]checking for new query: numPingsReceived=79, elapsed TxPingTime=39.1091129@9 @9@=/@9^A] E%  E% -E% -E! "E% :*E% K;VE% t4ZE! a- @a- @a- @a- @} checking for new query: numPingsReceived=79, elapsed TxPingTime=39.330441A I I O >FR#,ILA#@r@Uٱ+">H@I?`?ȿ`:_?iK-Z? ? #d?i#@I];CY}ByI  =<bD%VD%8y5ڐ=%5E=ٔ5mK;Q-=>99Y9==QEy=pDE<EE>IQ 5U5M?Q 9U5Ma)MBYQy]Q I]?@M3DIMD;iM:M5yeBɮe8AeΦEii ILAjSA"jSA:jɬ@RjS;#~)@Y NG7{@Bj.O? G ¿h`r|?*j2jk]ZjH5L@t#db#@Jj-c0^?Mh翍)(?j jo@i T?iajφBjơO?jjφBrjHAzjq@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.499917 s, deltaX: -0.200000 m, approachRate: -0.400066 m/s, rangeRepo size: 4  Added new target pos. range: 13.188674 m, bearing: 309.371102 deg, lat: 36.779539 deg, lon: -121.859796 deg, deltaT: 1.007443 s, deltaX: -0.599508 m, approachRate: -0.595079 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 13.19 m.2i"i*i ProNav: ac range: 13.188674 m, nav range: 12.543333 m, bearing: 309.170898 deg, approach rate: 0.000000 m/s, LOS rate: 0.330370 deg/s, cmd heading: 327.572075 deg, new cmd heading: 327.846208 deg. iHeadingCmd: 5.721996 target range: 13.188674 and range: 13.20 m.h@hhhhggjgrgereZe:e`ff*@*e ?%{Bɢ%eD)! % ?i))-թ))i-K̻i55:=58zI5@I99@ @@@DDAT read: Rx Time:01:28:03.5290 TRx dataTimestamp_ set to:1764898084.664901 PDAT read: Bearing 130.5, -0.1 (Local) ~Local bearing/azimuth received: Bearing 130.5, -0.1 (Local) -DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.5 eDAT read: 01:28:03.5290 LVL= 32752, 32753, 32386, 32755, AGC= 55, IDX= 501,-0.10,-0.356,-1.906, 0.089,-0.360, PHS= 0.106,-1.501, 0.405, RAW= 158.4, 11.1, CAL= 158.5, 12.3, ROT= 351.5, -12.3 Ygot valid direction response: 01:28:03.5290 LVL= 32752, 32753, 32386, 32755, AGC= 55, IDX= 501,-0.10,-0.356,-1.906, 0.089,-0.360, PHS= 0.106,-1.501, 0.405, RAW= 158.4, 11.1, CAL= 158.5, 12.3, ROT= 351.5, -12.3 T#Rx 80: Read range and direction messages.^direction in FSK: [0.966314,-0.144416,0.213030]Fpublishing direction and range infoyIu ? +=|¿AzUmD?YLA~ )I=i )\>;0@aF> 1@ [>)P@I[Rc_?TN~?YSaz? +?)PGI1i[B>BCB~IBx~BBBBBS;B^Echecking for new query: numPingsReceived=80, elapsed TxPingTime=39.644650^A A1 IA IQ Y Oe >LR#,o5ILAɰY~By8IE EE'E"E*Exv:VE'4ZEBE.9qYq=}QEy}yDE>9Q 5u5=?Q 9u5=oh)9Yu?Q Eu:yuQ I}?@=))i-Իi5g;5=5sUϼI=nH@Iԉ9@ @@@ DDAT read: Rx Time:01:28:04.0289  TRx dataTimestamp_ set to:1764898085.165205 PDAT read: Bearing 131.8, 0.0 (Local)  ~Local bearing/azimuth received: Bearing 131.8, 0.0 (Local)  DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 5 DAT read: 01:28:04.0289 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.15, 1.572, 0.017, 2.010, 1.583, PHS= 0.092,-1.521, 0.383, RAW= 158.2, 11.8, CAL= 158.4, 13.1, ROT= 351.6, -13.1 = Ygot valid direction response: 01:28:04.0289 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.15, 1.572, 0.017, 2.010, 1.583, PHS= 0.092,-1.521, 0.383, RAW= 158.2, 11.8, CAL= 158.4, 13.1, ROT= 351.6, -13.1 E T#Rx 81: Read range and direction messages.M ^direction in FSK: [0.963527,-0.142281,0.226651]M Fpublishing direction and range infoy  !7?F6¿+#?Y IA  ) 8I j=i !¿ > 0@ BR> ;0@  j>) ^@I  j AEu?l=Z?+;R? {*?) +RI T i  j  checking for new query: numPingsReceived=81, elapsed TxPingTime=40.110447Թ ^A ፨AIIO>UR#,?UUILAF@Fg @FSٱFd!>FH`B?`?0ǿF1@M?+? ?f?iF@IF];FCYr?~Byz[IbDVD8y>%A=ٔ;Q->9Y=QEyD3=E%>!Q 555%mˡ?Q 955%m)%BY1y5܁Q I5?@%DDI%/;i% ;%=5yAɮEa6AAiaieJILAjelIA"jelIA:je@Rjen B(@5xI@Bje!7?F6¿+#?*jeT 2je jZje|pN@Y._"c~ @JjeڮCp?3ʮ.Y翭Mm?je je@ieAR?ieiO_jeBjeAR?jeaajarje|@Azje@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.500304 s, deltaX: -0.200000 m, approachRate: -0.399757 m/s, rangeRepo size: 4  Added new target pos. range: 12.589101 m, bearing: 309.906451 deg, lat: 36.779539 deg, lon: -121.859796 deg, deltaT: 0.500304 s, deltaX: -0.199826 m, approachRate: -0.399410 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 12.59 m.2i"i*i ProNav: ac range: 12.589101 m, nav range: 12.030492 m, bearing: 309.689048 deg, approach rate: 0.000000 m/s, LOS rate: 0.330370 deg/s, cmd heading: 328.166821 deg, new cmd heading: 328.414325 deg. iHeadingCmd: 5.731911 target range: 12.589101 and range: 12.60 m.hk@hhhhggjgrgereZe:e@33)@*e5?E- E-E-*E)"E-s:*E-]t:VE-(N4ZE)a5@a5@a5@a5@颅{Bchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.338699ɢ9~() S?i)顩iۻiL q= Ik@I 9@ @@@^AuTм1A.AIIO>a e DDAT read: Rx Time:01:28:04.5286 } TRx dataTimestamp_ set to:1764898085.674421 PDAT read: Bearing 130.9, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 130.9, 0.2 (Local)  DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.5 B <A <B >B B IB ~BB R =B B B J;B ^E% DAT read: 01:28:04.5286 LVL= 30640, 32753, 27986, 32755, AGC= 56, IDX= 497,-0.20, 1.527,-0.050, 1.957, 1.502, PHS= 0.127,-1.508, 0.411, RAW= 157.9, 10.8, CAL= 157.9, 11.9, ROT= 352.1, -11.9 c9[R#,oILA02I@2B@2ٱ26!>2H "?`w?}ǿ@T?A a?d?)h?i2I@I2b];2CYBM~ByBdIID)F4=RYgot valid direction response: 01:28:04.5286 LVL= 30640, 32753, 27986, 32755, AGC= 56, IDX= 497,-0.20, 1.527,-0.050, 1.957, 1.502, PHS= 0.127,-1.508, 0.411, RAW= 157.9, 10.8, CAL= 157.9, 11.9, ROT= 352.1, -11.9 RT#Rx 82: Read range and direction messages.V^direction in FSK: [0.969222,-0.134491,0.206204]VFpublishing direction and range infoy"?l6Fa5d?YDAwRm )IJ >i%n>A`0@A>A`0@ ȭT>)U@IȭT{A?ߪL?5)? @)?)lAI0 iȭT checking for new query: numPingsReceived=82, elapsed TxPingTime=40.691444iMb@Mb@Mb@ 9ʡE?B`"ɿX9vY-?yN A)AYp AbDVD8y <%>=ٔfR;Q->9 ?Y ?=QEyD<E>!Q 5-5%Fס?Q 9-5%s)!Y-A?Q E5:y5Q I5?@%MDI%;i%;%5y]Bɮ]6A]ئEii)kILAjDA"jDA:jӵ@Rjw'@5}UbR#, ʉILA(6}@6v@66ٱ6!>6HT?Q?`Zǿ@?^??j?i6}@I6];6CY>o~By>yIRDDAT read: Rx Time:01:28:05.0285 RTRx dataTimestamp_ set to:1764898086.173130VPDAT read: Bearing 145.5, -5.4 (Local) V~Local bearing/azimuth received: Bearing 145.5, -5.4 (Local) bDAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 rDAT read: 01:28:05.0285 LVL= 28048, 32753, 28146, 32755, AGC= 56, IDX= 512,-0.22,-2.036, 2.959,-1.391,-1.690, PHS=-0.245,-1.590, 0.255, RAW= 165.2, 18.7, CAL= 166.4, 24.7, ROT= 343.6, -24.7 vYgot valid direction response: 01:28:05.0285 LVL= 28048, 32753, 28146, 32755, AGC= 56, IDX= 512,-0.22,-2.036, 2.959,-1.391,-1.690, PHS=-0.245,-1.590, 0.255, RAW= 165.2, 18.7, CAL= 166.4, 24.7, ROT= 343.6, -24.7 zT#Rx 83: Read range and direction messages.~^direction in FSK: [0.871545,-0.256509,0.417867]~Fpublishing direction and range infoyPR*?jпwU?YR3CAPRmPRm P)PIRHziR˿R\>R8@R>R9@ R>)R@IRܾPPR i]?2?iO$~? RI?)RᦾIR:iRܾPPchecking for new query: numPingsReceived=83, elapsed TxPingTime=41.110470bDVD8y-=%-P=ٔ5aF;Q-5>91Y1=5QEy=D=<E=>AQ 5M5Eᡊ?Q 9M5Ex)AYQyU6Q IU?@ETDIEj;iE3;En5yYɮ]D6AYiPiRILAjRCA"jRCA:jR@RjR&-G?%@Utv _@BjR*?jпwU?*jR:2jRܾZjRk'Ug@8-˔@" @JjR0<?YC $xQ?jR" jR@iRMV?iRnjRBjPjPjRφBrjR8AzjRd#@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.498709 s, deltaX: -0.100000 m, approachRate: -0.200519 m/s, rangeRepo size: 4  Added new target pos. range: 12.189386 m, bearing: 300.211833 deg, lat: 36.779539 deg, lon: -121.859796 deg, deltaT: 0.498709 s, deltaX: -0.099914 m, approachRate: -0.200344 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 12.19 m.2i"i*i ProNav: ac range: 12.189386 m, nav range: 11.535460 m, bearing: 310.002823 deg, approach rate: 0.000000 m/s, LOS rate: 0.330370 deg/s, cmd heading: 328.715012 deg, new cmd heading: 328.972054 deg. iHeadingCmd: 5.741645 target range: 12.189386 and range: 12.20 m.h@hhh!h!gagajgirgieireiZei:eu`ff(@*eu`?ԁ|Bɢ&+) %?i!)%p!!i%5i-^ -K=-I-@I19@ @@@Ա^A7ƙE EE+E"E*E&p:VE [4ZEa@a@a@a@mchecking for new query: numPingsReceived=83, elapsed TxPingTime=41.349331I I) O] > |hR#,|ILA\Z@@Z@Z޽ٱZO`!>ZH@?)?9ǿ`3`"?#d˻?I?j?iZ@@IZ];XYr~ByrIbDVD8yۚ=%L=ٔ5;Q->9Y=REyD%Z<E%>)Q 5-5-?Q 955-P~)-BY1y5~Q I=?@-\DI-;i-;-5yAɮE5AA]B*** querying acoustic contact ***iYiY:iimDNOT Ignoring new targets: 12.19 m.2ii"iuG;*iuG; ProNav: ac range: 12.189386 m, nav range: 11.294784 m, bearing: 310.153414 deg, approach rate: -0.641037 m/s, LOS rate: 0.409641 deg/s, cmd heading: 328.972045 deg, new cmd heading: 329.279641 deg. il;<HeadingCmd: 5.747014 target range: 12.189386 and range: 12.20 m.h@hhhhggjgrgereZe:e*e ?|Bɢ?) ??i)iiB @=$I@I!DDAT read: Rx Time:01:28:05.5282 TRx dataTimestamp_ set to:1764898086.682925PDAT read: Bearing 131.0, 0.5 (Local) ~Local bearing/azimuth received: Bearing 131.0, 0.5 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 B%>B!B%IB%BB%Q =B!B!B%;B%^Ee9@a @a@e/@iDAT read: 01:28:05.5282 LVL= 26512, 31089, 28482, 32755, AGC= 56, IDX= 509,-0.16, 2.715, 1.125, 3.127, 2.662, PHS= 0.155,-1.491, 0.421, RAW= 157.4, 10.2, CAL= 157.3, 11.1, ROT= 352.7, -11.1 Ygot valid direction response: 01:28:05.5282 LVL= 26512, 31089, 28482, 32755, AGC= 56, IDX= 509,-0.16, 2.715, 1.125, 3.127, 2.662, PHS= 0.155,-1.491, 0.421, RAW= 157.4, 10.2, CAL= 157.3, 11.1, ROT= 352.7, -11.1 T#Rx 84: Read range and direction messages.^direction in FSK: [0.973339,-0.124687,0.192522]%Fpublishing direction and range infoydX%?v뿿M?Y3;AgqyBo )IR>iپP>F/@K6>/@ aF>)@IaF e?K2?vs? '?)6ItwiaFechecking for new query: numPingsReceived=84, elapsed TxPingTime=41.687149^A% eI I O >A E  E E &E "E :*E :VE 4ZE BE N-}H_?m?`ǿ A?K`y??`j?i}@I}];yY~ByIiMb@Mb@Mb@ 9i|?5? rȿL7A`堿Y?yC+A;A )AYz A 5=5<bD5VD58yE[=%E8=ٔMa:;Q-M>9IYQ=UREyUDUm<EU>YQ 5e5]?Q 9e5])]BYm?Q Em:ymxQ Im?@]dDI];i];]5yuBɮ}X5Ayi i ILAj ;A"j ;A:j k@Rj (L&&@0æ2R5ا@Bj dX%?v뿿M?*j tw2j aFZj ^z@ (n8z ^ @Jj T?Ln'?j  j @i %j~?i \j …Bj j iO_j Brj /Azj o@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.509795 s, deltaX: -0.500000 m, approachRate: -0.980786 m/s, rangeRepo size: 4  Added new target pos. range: 11.689781 m, bearing: 312.877597 deg, lat: 36.779539 deg, lon: -121.859795 deg, deltaT: 0.509795 s, deltaX: -0.499605 m, approachRate: -0.980012 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 11.69 m.2i"i*i% ProNav: ac range: 11.689781 m, nav range: 10.975078 m, bearing: 310.535249 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 329.279650 deg, new cmd heading: 329.671044 deg. i!-HeadingCmd: 5.753845 target range: 11.689781 and range: 11.70 m.h-@h)h)h1h1g1g1jg9rg=PB9eYreYZeY:ee`ff'@*ee #?颭)|Bɢmf.) #?i)QK顱ii؂̂=I@Iq@q @q@u/@qPDAT read: Bearing 130.5, 0.5 (Local) ~Local bearing/azimuth received: Bearing 130.5, 0.5 (Local) DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 DAT read: 01:28:06.0280 LVL= 25168, 29617, 24562, 32755, AGC= 55, IDX= 507,-0.06, 2.738, 1.154,-3.140, 2.658, PHS= 0.182,-1.459, 0.441, RAW= 157.2, 9.4, CAL= 157.0, 10.1, ROT= 353.0, -10.1  Ygot valid direction response: 01:28:06.0280 LVL= 25168, 29617, 24562, 32755, AGC= 55, IDX= 507,-0.06, 2.738, 1.154,-3.140, 2.658, PHS= 0.182,-1.459, 0.441, RAW= 157.2, 9.4, CAL= 157.0, 10.1, ROT= 353.0, -10.1 T#Rx 85: Read range and direction messages.^direction in FSK: [0.977165,-0.119981,0.175367]%Fpublishing direction and range infoy:-D?k Y{:ujr?Yf6APbs_ )7I5^:>i>/@'>^/@ J4>)'@IJ4 4#?ɕ?WE ? .M&?)@(I5iJ4ichecking for new query: numPingsReceived=85, elapsed TxPingTime=42.129986^A A zA zAԡ I I O >+uR#,MILAɰY~~By~IbD VD 8ym#>%`=ٔ%Q-%>9!Y!=-REy-D-E->1Q 5=553?Q 9=55)1YAyAQ IE?@5kDI5:i5:55yIɮMi4AIiqiILAj=6A"j=6A:jv@RjJB&@$HLi~?Bj:-D?k Y{:ujr?*j52jJ4ZjvR8@! p ˇ@JjJɾ9?yN&?j j@i؀?i#P[jZBj b?j3]j?Brj,Azj@DzDbE=T4jE=L4rE=0E EE'E"Es:=DDAT read: Rx Time:01:28:06.5277 MTRx dataTimestamp_ set to:1764898087.437396]PDAT read: Bearing 132.2, 0.1 (Local) e~Local bearing/azimuth received: Bearing 132.2, 0.1 (Local) *Ee:VE'4ZEau@au@a}@a}@checking for new query: numPingsReceived=85, elapsed TxPingTime=42.368553 addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.497000 s, deltaX: -0.300000 m, approachRate: -0.603622 m/s, rangeRepo size: 4  Added new target pos. range: 11.390043 m, bearing: 313.360502 deg, lat: 36.779541 deg, lon: -121.859794 deg, deltaT: 0.497000 s, deltaX: -0.299738 m, approachRate: -0.603094 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 11.39 m.2i"i*i ProNav: ac range: 11.390043 m, nav range: 10.809951 m, bearing: 311.692347 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 329.671047 deg, new cmd heading: 329.983141 deg. iHeadingCmd: 5.759292 target range: 11.390043 and range: 11.40 m.hL@h h h h g g jgrgereZe:e&@*e@[?颅<|Bɢ ) &-?i) 4顉iyie=IL@Iԡ !-CpGhi9YeA9@ @@/@i I % DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4  A A B% >B% CB% IB% vBB% R =B! B% TDB% բ;B% 0^E DAT read: 01:28:06.5277 LVL= 28720, 32753, 26978, 32755, AGC= 56, IDX= 504, 0.07, 2.576, 0.981, 2.998, 2.530, PHS= 0.147,-1.504, 0.424, RAW= 157.6, 10.3, CAL= 157.6, 11.3, ROT= 352.4, -11.3  Ygot valid direction response: 01:28:06.5277 LVL= 28720, 32753, 26978, 32755, AGC= 56, IDX= 504, 0.07, 2.576, 0.981, 2.998, 2.530, PHS= 0.147,-1.504, 0.424, RAW= 157.6, 10.3, CAL= 157.6, 11.3, ROT= 352.4, -11.3  T#Rx 86: Read range and direction messages. ^direction in FSK: [0.972000,-0.129692,0.195946] Fpublishing direction and range infoy  oɠ?5sÙ>x_?Y 0A 0p  bi ) 8^A I +>i  > x 0@ X8> x 0@ I>) :@I I e?J?z˒8?E-_A7? '(?)  9I i I % checking for new query: numPingsReceived=86, elapsed TxPingTime=42.683830IY Ii Ou >F{R#,]oILA2I@2CC@2[m׽ٱ2d!>2HU?+? ƿB\z??7?`^m?i2I@I2&];0YZBy^IԱiMb@Mb@Mb@ 9V-?Clǿ{GzYh?yd;#@A $A)AY3 AbDVD8y-=%-9=ٔ5;Q-5>91Y9==REy=D=r<E=>AQ 55EE?Q 95E)EBY?Q E:y*rQ I?@EtDIEIx_?*j2jIZjHȫ.A@?p@JjH?VD3j!ƥ紌?jW j@i ~s?iYjBj ~s?j\j…Brj*Azj@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.507729 s, deltaX: -0.400000 m, approachRate: -0.787821 m/s, rangeRepo size: 4  Added new target pos. range: 10.990124 m, bearing: 313.248929 deg, lat: 36.779543 deg, lon: -121.859794 deg, deltaT: 0.507729 s, deltaX: -0.399920 m, approachRate: -0.787663 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 10.99 m.2i"i*i ProNav: ac range: 10.990124 m, nav range: 10.674310 m, bearing: 312.718822 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 329.983132 deg, new cmd heading: 330.328972 deg. iHeadingCmd: 5.765328 target range: 10.990124 and range: 11.00 m.h}@h!h!h!h!g!g!jg)rg-VBe)re)Ze1:e5&@*e5`k?%DDAT read: Rx Time:01:28:07.0276 -TRx dataTimestamp_ set to:1764898087.940529EPDAT read: Bearing 133.6, -0.1 (Local) M~Local bearing/azimuth received: Bearing 133.6, -0.1 (Local) echecking for new query: numPingsReceived=86, elapsed TxPingTime=42.870068E EE+E"E;*E~:VE [4ZEBEAi \¿ )\> '0@ D> C0@ @X>) @I @X DGO?j9?\j? G(?) DI g i @X % checking for new query: numPingsReceived=87, elapsed TxPingTime=43.124882aA؟AIIO > R#,JLAB#@Brz@B`ԽٱBJ >BHw? Ŋ?(|ƿ ?[?`?@o?iB#@IBI];BCY5?By5I=@A9bDEVDE8yU=%U/=ٔ]Q;Q-]>9]"?Y]"?=eREyeDeym<Ee>iQ 5u5m?Q 9u5mp)mBYyy}wpQ I}?@m}DIm:imW:m5yBɮ3AEi1i5 JLAj5,A"j5,A:j5@Rj52$@[p@C@Bj5k w ?*AxQ9h?*j5g 2j5@XZj5J5*H^@C63@Jj5xZM?,BQz;lF?j5 j5@i5жt?i5dZj5ɅBj5жt?j5#P[j1rj5%Azj5@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.500736 s, deltaX: -0.200000 m, approachRate: -0.399412 m/s, rangeRepo size: 4  Added new target pos. range: 10.790303 m, bearing: 313.299992 deg, lat: 36.779543 deg, lon: -121.859794 deg, deltaT: 0.500736 s, deltaX: -0.199821 m, approachRate: -0.399054 m/s, posRepo size: 4 :i-DNOT Ignoring new targets: 10.79 m.2i)"i)*i1= ProNav: ac range: 10.790303 m, nav range: 10.366513 m, bearing: 313.167493 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 330.328985 deg, new cmd heading: 330.689385 deg. iAEHeadingCmd: 5.771618 target range: 10.790303 and range: 10.80 m.hm@hihihihigigijgqrgqeqreqZey:e}%@*e}#?ԉe|Bɢ) b6?i)¥ i Fi +==~I@I9@ @@1@D%4=D%<}DDAT read: Rx Time:01:28:07.5274 TRx dataTimestamp_ set to:1764898088.444357PDAT read: Bearing 135.9, -0.5 (Local) ~Local bearing/azimuth received: Bearing 135.9, -0.5 (Local) ԹEM EMEM)EI^ADAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 "EM&:*EMe:VEMFA4ZEIaE@aE@aE@aE@}Z#Rx 88: Read range message, but no direction.yyY}(Aychecking for new query: numPingsReceived=88, elapsed TxPingTime=43.401989AAIIIaOm>! ;4R#,}*JLAHH=DAT read: 01:28:07.5274 LVL= 32752, 32753, 31122, 32755, AGC= 56, IDX= 501,-0.34,-0.159,-1.735, 0.279,-0.134, PHS= 0.076,-1.556, 0.368, RAW= 158.1, 12.3, CAL= 158.4, 13.9, ROT= 351.6, -13.9 Ygot valid direction response: 01:28:07.5274 LVL= 32752, 32753, 31122, 32755, AGC= 56, IDX= 501,-0.34,-0.159,-1.735, 0.279,-0.134, PHS= 0.076,-1.556, 0.368, RAW= 158.1, 12.3, CAL= 158.4, 13.9, ROT= 351.6, -13.9 Z#Rx 89: Read direction message, but no range.B>BBLIBBBT =BBB;B]EBCBCBCBR =BR =C5M^direction in FSK: [0.960303,-0.141805,0.240228]ydfwECͺ?20&¿ؼʿ?dfdfy d)dIf㥛=if+ǿfj>fr0@f[>f;0@ fUlx>)f^@IfUlxdf9m?9V=I?x塄_? ft5*?)f|\IfT ifUlxchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.669258@ߴ@.Ͻٱ) >Ho?;?ƿ@1(?@1Fڹ?@N?q?i@I];CYUByIi=Mb@Mb@Mb@9999 99=Dl?x&1ȿ9Y=REyƳD<E>Q 55-?Q 95ǚ)BY?Q E:yrQ I?@DIZ:i:^5yɮ~3AiiXpJLAj'A"j'A:jۮ@RjN%$@VA283)@BjwECͺ?20&¿ؼʿ?*jT 2jUlxZjB =@m 7 @JjH;(?"*6%O?j j@i,k?i-QZj1BjjdZjrj Azjf@E addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.255967 s, deltaX: -0.300000 m, approachRate: -1.172027 m/s, rangeRepo size: 4 M Added new target pos. range: 10.490521 m, bearing: 313.082897 deg, lat: 36.779543 deg, lon: -121.859793 deg, deltaT: 0.255967 s, deltaX: -0.299782 m, approachRate: -1.171174 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 10.49 m.2iQ"iy*iy ProNav: ac range: 10.490521 m, nav range: 10.046451 m, bearing: 313.520928 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 330.689373 deg, new cmd heading: 331.112196 deg. iHeadingCmd: 5.778998 target range: 10.490521 and range: 10.50 m.h@hhhhggjgrg?BereZe:e%@*en?5}|Bɢ5S)1 =6?i9)=F99i=i iElEN =EaI 1@b>5~1@ >)[@Iq?>Z/ij?Ϫ'? +?)cIiVchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.132362]D@]@]Bͽٱ]q >]H`??ſJ?`?`?r?i]D@I] ];YYBy!IbD"VD̰8y=%<=ٔ% ;Q->9 ?Y ?=REyϳDZ<E> Q 555 f:?Q 955 /) BY1y5pQ I5?@ DI :i W: ,5yE$BɮE 3AAiqiu ?=JLAju?&A"ju?&A:ju@Rju~#@*@BjuB_Eh?G.ÿl?*ju2juZjuS&@q+?gnV @Jjuߗ$|Ρ?$\qB濦?R G?juK jua@iu8n?iuL^juVBju ~s?jqjuɅBrjuAzju,@  addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.512616 s, deltaX: -0.100000 m, approachRate: -0.195079 m/s, rangeRepo size: 4  Added new target pos. range: 10.390611 m, bearing: 312.826551 deg, lat: 36.779543 deg, lon: -121.859793 deg, deltaT: 0.512616 s, deltaX: -0.099911 m, approachRate: -0.194904 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 10.39 m.2i!"iI*iI] ProNav: ac range: 10.390611 m, nav range: 9.783952 m, bearing: 313.650004 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 331.112189 deg, new cmd heading: 331.475893 deg. iY]HeadingCmd: 5.785346 target range: 10.390611 and range: 10.40 m.h]!@hahhhggjgrgereZe:e$@*e@M?|Bɢ) {;?i) i i s=LI!@I9@ @@/0@E EE'E"E*Ex: DDAT read: Rx Time:01:28:08.5270 TRx dataTimestamp_ set to:1764898089.452073-PDAT read: Bearing 135.8, -1.0 (Local) 5~Local bearing/azimuth received: Bearing 135.8, -1.0 (Local) eDAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 VE'4ZEam@am@am@am@Z#Rx 92: Read range message, but no direction.y Y fA checking for new query: numPingsReceived=92, elapsed TxPingTime=44.392323A ^A *:i A ؟AI I O >NIR#,#fJLArO@rH@r\ɽٱr U!>rH0? ?ſs@& ?@R/? \?`Ks?irO@IrJ];pY5By58I E9e"?Ye"?=eREye׳Dm<Em>Q 55cF?Q 95<)BYynQ I?@DI{!;i4;5yɮ2AB*** querying acoustic contact ***ii=DAT read: 01:28:08.5270 LVL= 32752, 32753, 32050, 32755, AGC= 54, IDX= 497, 0.16,-0.225,-1.798, 0.224,-0.221, PHS= 0.098,-1.532, 0.402, RAW= 158.4, 11.5, CAL= 158.6, 12.7, ROT= 351.4, -12.7 ]Ygot valid direction response: 01:28:08.5270 LVL= 32752, 32753, 32050, 32755, AGC= 54, IDX= 497, 0.16,-0.225,-1.798, 0.224,-0.221, PHS= 0.098,-1.532, 0.402, RAW= 158.4, 11.5, CAL= 158.6, 12.7, ROT= 351.4, -12.7 i}Z#Rx 93: Read direction message, but no range.^direction in FSK: [0.964566,-0.145877,0.219846]yn?E¿F#?2} )6I9=iĿ>B>BB~IB BBBBBk;B]Eu addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.495100 s, deltaX: -0.500000 m, approachRate: -1.009897 m/s, rangeRepo size: 4 :iquDNOT Ignoring new targets: 10.39 m.2iy}6Short final. Range: 9.90 m.;0@M>m(1@ b>)?B@Ib@+?ҹC{?ݰ%i? I+?)7LItibVTransitioning guidance mode to: SHORT_FINAL i@@"i;*i; ProNav: ac range: 10.390611 m, nav range: 9.546896 m, bearing: 313.827308 deg, approach rate: -0.524860 m/s, LOS rate: 0.402312 deg/s, cmd heading: 331.475883 deg, new cmd heading: 331.839291 deg. i8<~HeadingCmd: 5.791688 target range: 10.390611 and range: 9.90 m.checking for new query: numPingsReceived=93, elapsed TxPingTime=44.679703hU@hhhhggjgrgere Ze :e #@*e @?额|Bɢ6) ??i)>|顡i;i|̜=eAIU@Iԑm9@q @q@u0@q EU  EU EU (EQ "EU :*EU xv:VEU c44ZEQ  DDAT read: Rx Time:01:28:09.0270  TRx dataTimestamp_ set to:1764898089.956976 PDAT read: Bearing 140.7, -4.8 (Local)  ~Local bearing/azimuth received: Bearing 140.7, -4.8 (Local)  DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 BEU < >5@ 5z> 8/6@ C>) پ@I C 8;?K ?? +>?) vyI 4 ji C  checking for new query: numPingsReceived=94, elapsed TxPingTime=44.929203 ^A NJNA=.AIAIQOe?\R#,7JLAɰ2@2_}@25ǽٱ2VF!>2H`@??`ſIv'?ɲbָ?By>QIXiMb@Mb@Mb@ 9MbX?-ƿX9vY ?y?5@A QA)VAYAbDVD8y=%=ٔ$;Q->9 ?Y ?=REyDA<E>checking for new query: numPingsReceived=94, elapsed TxPingTime=45.126575Q 55V?Q 95)BY-?Q E:yiQ I?@DIT;i;k5y%*Bɮ-2A-Eii?}JLAjAA"jAA:j@Rj{"@5w4]_W@Bjt.5/?L ÿ˿Ix?*j4 j2jCZjNCx@A&wiR#,N|JLA2A@2@2yĽٱ2>2H3?`ӕ?}AſCE?v?/?Zw?i2A@I2];2CY:By:aIbDBɿVDBz8yJD=%NH=ٔNCk;Q-N>9R"?YR"?=RREyRDR<ER>TQ 5Z5V:b?Q 9^5Vo)VBY\y^BhQ I^?@VDIV`:iVl:V5yb9Bɮb*2AfEz addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503872 s, deltaX: -0.400000 m, approachRate: -0.793852 m/s, rangeRepo size: 4 :i|2i|~~Ignoring new targets. Set target to previous: 10.39 m. 10.39 m."iI;*iI; ProNav: ac range: 10.390611 m, nav range: 9.011075 m, bearing: 314.186922 deg, approach rate: -0.606319 m/s, LOS rate: 0.416655 deg/s, cmd heading: 332.247285 deg, new cmd heading: 332.566580 deg. i><~HeadingCmd: 5.804382 target range: 10.390611 and range: 9.50 m.h@hhhhg!g!jg!rg!e)re)Ze):e-#@*e5?]|Bɢ]x)] ]AF?ia)e՞aaie*i %=+AI%@!IEDAT read: 01:28:09.5267 LVL= 32752, 32753, 30082, 32755, AGC= 53, IDX= 510,-0.31,-1.137,-2.721,-0.690,-1.155, PHS= 0.120,-1.521, 0.421, RAW= 158.3, 10.8, CAL= 158.4, 11.9, ROT= 351.6, -11.9 eYgot valid direction response: 01:28:09.5267 LVL= 32752, 32753, 30082, 32755, AGC= 53, IDX= 510,-0.31,-1.137,-2.721,-0.690,-1.155, PHS= 0.120,-1.521, 0.421, RAW= 158.3, 10.8, CAL= 158.4, 11.9, ROT= 351.6, -11.9 uZ#Rx 96: Read direction message, but no range.B>BBIB5BBR =BBUDB;Bs]E-9@) @)@-0@)E^direction in FSK: [0.968012,-0.142944,0.206204]Qyw!?ռK¿Fa5d?u )5I=i!¿P>0@A>;0@ ȭT>)^@IȭT殜!?4!.|ax?/j? +?)ţAIT iȭTchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.685314y^AU cEU  EU EU (EQ "EU V: DDAT read: Rx Time:01:28:10.0265  TRx dataTimestamp_ set to:1764898090.964529*EU Ar:VEU c44ZEQ BEU 96R#,̿JLAJEML;a:EML;a^DAT read: 01:28:10.0265 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 508,-0.06,-1.007,-2.574,-0.547,-0.995, PHS= 0.090,-1.534, 0.404, RAW= 158.7, 11.5, CAL= 158.9, 12.8, ROT= 351.1, -12.8 bYgot valid direction response: 01:28:10.0265 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 508,-0.06,-1.007,-2.574,-0.547,-0.995, PHS= 0.090,-1.534, 0.404, RAW= 158.7, 11.5, CAL= 158.9, 12.8, ROT= 351.1, -12.8 bT#Rx 97: Read range and direction messages.f^direction in FSK: [0.963408,-0.150866,0.221548]jFpublishing direction and range inforE@r@rٱrӯ>rH@R?il?Ŀ@b?K=?8?y?irE@IrI];pY By{II <) =y=?=sOÿ@|[?Y3A )6IQ=iZĿ>E1@M>5~1@ d>)[@Idx.y?7z?? ?,?)(NIid-checking for new query: numPingsReceived=97, elapsed TxPingTime=45.956799ԉiMb@Mb@Mb@ 9/$?/$ƿV-Y1?y&1@;A A)AY(AAA@AbDڿVD8yM=%(=ٔA;Q->9Y=REyDV^<E>Q 55zp?Q 95 )BYg?Q E%:y%gfQ I%?@DI;i_;<5y-?Bɮ51A1iiغJLAjA"jA:j¯@RjaF!@Mr0rsJ@Bj=?=sOÿ@|[?*j2jdZj@rI` tu@JjAK.?**jD?jc jF@iPz?iBg1@t;?>g1@ Q>)@IQO2f\j?^X? T[B? A.?)5>I"iQ.checking for new query: numPingsReceived=98, elapsed TxPingTime=46.45160300ԁc@\@ٱ>Ha??zĿ@N`n?Y> O???|?ic@I+];CY=By=IbDUVDU8yC=%=ٔ;;Q->9Y=REyD%<E>Q 55?Q 959)BYybQ I?@DI):i:5yɮH1AiiJLAjEA"jEA:j5@RjGD2!@9p ?Bj?&@?ÿ ?*j"2jQZjx@ɳ' ,>@Jj no? G$ɲ?j\ j@ii7?iWZjDŽBjjjrjAzj~@= addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.505991 s, deltaX: -0.300000 m, approachRate: -0.592896 m/s, rangeRepo size: 4 M Added new target pos. range: 8.892050 m, bearing: 315.504355 deg, lat: 36.779542 deg, lon: -121.859793 deg, deltaT: 2.513547 s, deltaX: -1.498561 m, approachRate: -0.596194 m/s, posRepo size: 4 :iQ2iYe|Ignoring new targets. Set target to previous: 8.89 m. 10.39 m."ii*ii ProNav: ac range: 10.390611 m, nav range: 8.438148 m, bearing: 314.550118 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 332.984508 deg, new cmd heading: 333.414742 deg. i~HeadingCmd: 5.819185 target range: 10.390611 and range: 8.90 m.h6@hhhhggjgrge re Ze :e-!@*eU PR?颅}Bɢݼ)Ա K?i)C^i&%checking for new query: numPingsReceived=98, elapsed TxPingTime=46.640587idN=B>BCBIBXBBQ =BBB;BQ]EIm6@Iy 9@  @ @ /@  E  E E +E "E &:*E x: DDAT read: Rx Time:01:28:11.0262  TRx dataTimestamp_ set to:1764898091.973003PDAT read: Bearing 139.6, -2.4 (Local) ~Local bearing/azimuth received: Bearing 139.6, -2.4 (Local) =DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 ]DAT read: 01:28:11.0262 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.46,-1.339,-2.880,-0.853,-1.285, PHS= 0.048,-1.549, 0.388, RAW= 159.4, 12.4, CAL= 159.8, 14.0, ROT= 350.2, -14.0 eYgot valid direction response: 01:28:11.0262 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.46,-1.339,-2.880,-0.853,-1.285, PHS= 0.048,-1.549, 0.388, RAW= 159.4, 12.4, CAL= 159.8, 14.0, ROT= 350.2, -14.0 eT#Rx 99: Read range and direction messages.m^direction in FSK: [0.956137,-0.165154,0.241922]mFpublishing direction and range infoy   Ŭ?Бd#ſ79K?Y 3 AVE [4ZE BE i; / 2@ k]> 2@ 5z>) @I 5z f'3o!?2+?`q qv? O0?) @l]I %/i 5z checking for new query: numPingsReceived=99, elapsed TxPingTime=46.9205021AIIO?_.R#,<KLAVӚ@V"@V÷ٱV~>VH`o?`l?UĿ@f`$?@l崿`??`F|?iVӚ@IV];VCY~(By~IIiMb@Mb@Mb@ 9x&1?'1ZĿS㥛Y?y"/ݼ@A  A)?AYAbDVD8y =% =ٔ/;Q->9Y=REy DJ<E>)Q 555-e?Q 955- )-BY5?Q E5:y5^Q I5?@-êDI-:i-:-5yEEBɮE0AEEiYi]EJLAj] A"j] A:j]̯@Rj]JpD @qc@Bj] Ŭ?Бd#ſ79K?*j]%/2j]5zZj]. LO_@nď^,/|j@Jj] ?EOWu#r<?j]~ j]@i]|?i]B`\j]WBj]Pz?j]B`\j]WBrj]uAzj]ź@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.502483 s, deltaX: -0.200000 m, approachRate: -0.398023 m/s, rangeRepo size: 4  Added new target pos. range: 8.692342 m, bearing: 314.768914 deg, lat: 36.779544 deg, lon: -121.859794 deg, deltaT: 3.016030 s, deltaX: -1.698269 m, approachRate: -0.563081 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 8.69 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 8.149495 m, bearing: 314.705444 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 333.414755 deg, new cmd heading: 333.863846 deg. i=~HeadingCmd: 5.827024 target range: 10.390611 and range: 8.70 m.h=v@h9h9h9h9g9gAjgArgEBeAreIZeI:eM`ff!@*eM W?echecking for new query: numPingsReceived=99, elapsed TxPingTime=47.142578y颽}BɢJռ) M?i)矙i*i龉-=lIv@Iԡ (} 9@  @ @ 5@ bEm(N4jEm˔K4rEm.0= DDAT read: Rx Time:01:28:11.5259 M TRx dataTimestamp_ set to:1764898092.478168U PDAT read: Bearing 137.6, -2.4 (Local) U ~Local bearing/azimuth received: Bearing 137.6, -2.4 (Local) e DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4  DAT read: 01:28:11.5259 LVL= 28336, 32753, 25282, 32755, AGC= 52, IDX= 502,-0.12,-2.959, 1.764,-2.478,-2.968, PHS= 0.110,-1.506, 0.445, RAW= 159.2, 10.5, CAL= 159.3, 11.5, ROT= 350.7, -11.5  Ygot valid direction response: 01:28:11.5259 LVL= 28336, 32753, 25282, 32755, AGC= 52, IDX= 502,-0.12,-2.959, 1.764,-2.478,-2.968, PHS= 0.110,-1.506, 0.445, RAW= 159.2, 10.5, CAL= 159.3, 11.5, ROT= 350.7, -11.5  V#Rx 100: Read range and direction messages. ^direction in FSK: [0.967044,-0.158359,0.199368] Fpublishing direction and range infoy9 = +?MEĿi?Y= A9 = n9 = b 9 )= 4I= G=i= = >= 1@= f;>= 1@ = M>)= +@I= M9 9 = j.]?18|?xltj? = R/?)= =cRH?B?Ŀ=?V\ۓ?:?/}?iRͯ@IRO];RCYj2ByjI llbDzVDz8y #=% (=ٔ5=;Q-5>99Y9==REy=DEO<EE>qQ 5}5uΞ?Q 95uN)uBYy ]Q I?@u˪DIuv";iu%;u5yɮ0AiiNKLAjA"jA:jw@Rj­? @nTWD9s?Bj+?MEĿi?*j5&2jMZjZ@9nZ<| @Jj!ZlF?|Qdps応ݽ|r?j j@iD?i(KYjuBj|?jBBCBIBrBBBBTDB;BC]E:ia2iau|Ignoring new targets. Set target to previous: 8.29 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 7.887062 m, bearing: 314.844644 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 333.863854 deg, new cmd heading: 334.292025 deg. i~HeadingCmd: 5.834496 target range: 10.390611 and range: 8.30 m.h2@hhhhggjgrgereZe:e @*e j?]5}Bɢ]()Y ]K?iY)eIaaieu:/im徉m8=mIm2@IqԱ Eu  Eu Eq Eq "Eu l;*Eu :VEq ߡ ߡ  DDAT read: Rx Time:01:28:12.0259  TRx dataTimestamp_ set to:1764898092.980729 PDAT read: Bearing 137.6, -3.2 (Local)  ~Local bearing/azimuth received: Bearing 137.6, -3.2 (Local)  DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4  DAT read: 01:28:12.0259 LVL= 28384, 32033, 24114, 32755, AGC= 52, IDX= 501, 0.12, 0.765,-0.793, 1.275, 0.757, PHS= 0.109,-1.505, 0.474, RAW= 160.0, 10.1, CAL= 159.9, 11.0, ROT= 350.1, -11.0  Ygot valid direction response: 01:28:12.0259 LVL= 28384, 32033, 24114, 32755, AGC= 52, IDX= 501, 0.12, 0.765,-0.793, 1.275, 0.757, PHS= 0.109,-1.505, 0.474, RAW= 160.0, 10.1, CAL= 159.9, 11.0, ROT= 350.1, -11.0  V#Rx 101: Read range and direction messages. ^direction in FSK: [0.967010,-0.168770,0.190809] Fpublishing direction and range infoy  I0?HBſP@ml?Y n !} 2^ ) I d;=i ף !> ¸2@ J4> )2@ D>) a@I D ¿s#?:Z=?PΖ? 2?ZEq BEu aFRH?@j?`jÿ?ٵ?@c??iR 1@IR^;RCYZ9By^IiEMb@Mb@Mb@AAAA A9EuV?ʡEÿQ롿YEr?yEE\AE?A E A)E(AAYEfAU@AQbD]VD]8ye<%m<ٔm;Q-m>9qYq=uREyu"D}ƙ<E}>Q 55&?Q 953)BYO?Q E:ySQ I?@תDI;i; 5yKBɮ0AEiiD>KLAjA"jA:j@Rjނ @ldP?BjI0?HBſP@ml?*j402j DZjz?@6~: a6@Jj[\0m?,! q6H?jձ j@ioᜤ?i_`jGBji7?jjDŽBrj@zjr@e addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.502561 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.292446 m, bearing: 316.281467 deg, lat: 36.779545 deg, lon: -121.859793 deg, deltaT: 4.023756 s, deltaX: -2.098165 m, approachRate: -0.521444 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 8.29 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 7.530965 m, bearing: 314.948631 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 334.292025 deg, new cmd heading: 334.802860 deg. i~HeadingCmd: 5.843412 target range: 10.390611 and range: 8.30 m.h<@hhhhggjgrg mBe re Ze :e *e ?ԁ颽N}Bɢ:^ټ) rI?i)ڕi3i )ᾉ = I <@IEU EUEU(EQ"EUD:*EU&p:VEUc44ZEQ}DDAT read: Rx Time:01:28:12.5256 TRx dataTimestamp_ set to:1764898093.481067PDAT read: Bearing 137.6, -3.7 (Local) ~Local bearing/azimuth received: Bearing 137.6, -3.7 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 ԱDAT read: 01:28:12.5256 LVL= 28448, 30241, 24226, 32755, AGC= 52, IDX= 499,-0.47,-1.976, 2.764,-1.453,-1.985, PHS= 0.112,-1.489, 0.489, RAW= 160.3, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5 Ygot valid direction response: 01:28:12.5256 LVL= 28448, 30241, 24226, 32755, AGC= 52, IDX= 499,-0.47,-1.976, 2.764,-1.453,-1.985, PHS= 0.112,-1.489, 0.489, RAW= 160.3, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5 V#Rx 102: Read range and direction messages.^direction in FSK: [0.967410,-0.175808,0.182236]Fpublishing direction and range infoyle?{iMƿm~S?Y@ o!v^ )IB`=i5^>3@%/>3@ f;>)0O@If;wb ?i;i?i{%)? n=4?)/IT8if;checking for new query: numPingsReceived=102, elapsed TxPingTime=48.418564a@a@a@a@ 9@  @ @ /@ ^A ;A >A >Echecking for new query: numPingsReceived=102, elapsed TxPingTime=48.657047B-<A-<BM>BMCBMIBMBBMU =BM3DBMSDBM;ABM4]EAIIO ?~R#,htKLAB]CB]CBYBYB]S =C]5Vc@V]@VٱV,L>VHE"?`)B?[ÿ.@?l@j? ??iVc@IVa];VCYbCBybIimMb@Mb@Mb@iiii i9msh|??w/Ŀ/$Ym ?ym&m,m`@mA m A)m$AiYmAbDVD8y]=%=ٔH;Q->9Y=REy-D6<E>Q 55Ģ?Q 95I)BY?Q E:yTQ I?@DI4:i=:5y[Bɮ0AEi9i=^KLAj=^@"j=^@:j=Ҭ@Rj='@ԹoU #ȸ?Bj=le?{iMƿm~S?*j=T82j=f;Zj=7@>}Y~?Jj=f?Ȅ{@?j=j j=h@i=eᒤ?i=<]j=Bj=D?j=B`\j=uBrj=@zj=M@  addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.500338 s, deltaX: -0.500000 m, approachRate: -0.999324 m/s, rangeRepo size: 4  Added new target pos. range: 7.792735 m, bearing: 316.335525 deg, lat: 36.779545 deg, lon: -121.859794 deg, deltaT: 4.524094 s, deltaX: -2.597876 m, approachRate: -0.574231 m/s, posRepo size: 4 :i!2i!%|Ignoring new targets. Set target to previous: 7.79 m. 10.39 m."i)*i)= ProNav: ac range: 10.390611 m, nav range: 7.217888 m, bearing: 315.058766 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 334.802868 deg, new cmd heading: 335.244682 deg. i9E~HeadingCmd: 5.851123 target range: 10.390611 and range: 7.80 m.hEg<@hAhAhAhAgAgIjgIrgMbBeIreQZeQ:eU@33@*eU@|?颅d}Bɢ¼) H?i)7顉i7i<7ݾ(Û=%Ig<@ԙIU9@Y @Y@]/@aE EE*E"Es:*EAr:VE(N4ZEBEp03@ A>)@IA/R0,?Tೕ?<î 2? 46?)|2It;?iAchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.925148^AU`ԻA I I O >! ZR#,KLA2#@2r@2ٱ2Q>2H =?`?G¿@!8?`{@9? $f??i2#@I2];2CBchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.158295YNMByNIbDZVDZ8yI=%%T=ٔ%ܞ;Q-%>9!Y)=-REy-5D-<E->1Q 5=55kѢ?Q 9E55~)5BYAyE&SQ IE?@5DI5:i5:55yMaBɮM0AMEiiimKLAji"ji:jm࠰@Rjm3ȯ!@vxToN]?BjmzZ?uS.)Xǿ0i?*jmt;?2jmAZjmݸ@l2u3Di?Jjm{v?р 1?jm jm@im(i?imV:bjmBjmeᒤ?jm<]jmGBrjm@zjm@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.505119 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 7.792735 m, bearing: 316.251970 deg, lat: 36.779546 deg, lon: -121.859795 deg, deltaT: 5.029213 s, deltaX: -2.597876 m, approachRate: -0.516557 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 7.79 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 7.000246 m, bearing: 315.130838 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 335.244672 deg, new cmd heading: 335.560990 deg. i~HeadingCmd: 5.856644 target range: 10.390611 and range: 7.80 m.hi@hhhhggjgrgereZe:e*e? u}Bɢ Į) eI?i)顑i4:icھ=8Ii@I%9@! @!@%0@!9D=D4=E EE)E"E ;*Ex:VEFA4ZEa@a@a@a@=DDAT read: Rx Time:01:28:13.5253 =TRx dataTimestamp_ set to:1764898094.489198MPDAT read: Bearing 139.1, -5.1 (Local) M~Local bearing/azimuth received: Bearing 139.1, -5.1 (Local) ]DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 DAT read: 01:28:13.5253 LVL= 30000, 32753, 25186, 32755, AGC= 52, IDX= 495, 0.19,-0.943,-2.467,-0.376,-0.919, PHS= 0.078,-1.504, 0.499, RAW= 161.5, 10.2, CAL= 161.5, 11.1, ROT= 348.5, -11.1 Ygot valid direction response: 01:28:13.5253 LVL= 30000, 32753, 25186, 32755, AGC= 52, IDX= 495, 0.19,-0.943,-2.467,-0.376,-0.919, PHS= 0.078,-1.504, 0.499, RAW= 161.5, 10.2, CAL= 161.5, 11.1, ROT= 348.5, -11.1 U V#Rx 104: Read range and direction messages.U ^direction in FSK: [0.961593,-0.195638,0.192522]] Fpublishing direction and range infoy9=ϛy^?tM ɿM?Y=@9=0u==bb 9)9I=w=i==|>=e4@i =K6>=e4@ =aF>)=@I=aF99=]?>?܈k? =Fi9?)=5I=Mi=aF99 checking for new query: numPingsReceived=104, elapsed TxPingTime=49.459206^A% AQ IY Iq O} >R#,.=KLA 2>Ȱ@2@2`ԣٱ2 >2H@|X??¿k Q?Ͷ t? dO?ཇ?i2>Ȱ@I2.];0Y>WBy>I F=F<bDF/VDFذ8yNA=%RP=ٔR{;Q-R>9PYT=VREyV=DV*<EV>XQ 5^5Z.ޢ?Q 9^5Z)ZBY`ybQQ Ib?@ZDIZ%:iZ:ZS5ydɮfS0AdiAiEOKLAjE@"jE@:jEa\@RjElo@7Z$Cȗ?BjEϛy^?tM ɿM?*jEM2jEaFZjEOwQ@:< C ?JjEpaeF?(>!fV?jEP jE@iEk䏤?iEͅ`jE؃BjAjE_`jEBrjE@zjE5}@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503012 s, deltaX: -0.400000 m, approachRate: -0.795210 m/s, rangeRepo size: 4  Added new target pos. range: 7.393108 m, bearing: 315.772901 deg, lat: 36.779546 deg, lon: -121.859796 deg, deltaT: 5.532225 s, deltaX: -2.997503 m, approachRate: -0.541826 m/s, posRepo size: 4 :i 2i |Ignoring new targets. Set target to previous: 7.39 m. 10.39 m."i*i% ProNav: ac range: 10.390611 m, nav range: 6.778716 m, bearing: 315.197455 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 335.560992 deg, new cmd heading: 335.898384 deg. i)M~HeadingCmd: 5.862533 target range: 10.390611 and range: 7.40 m.hUޙ@hQhQhQhQgQgQjgYrgYeYreYZea:ee@*ee?}Bɢђ) {I?i))id>i_׾(=Iޙ@I mchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.662830qB]>B]CB]'IB]BBYBYB]RDB]ӡ;B]]E:@ @@0@q^Am 8Ay zA} wAԱ E  E E 'E "E &:*E |:VE '4ZE BE h;- 4@ - D>)- mj@I- D) ) -  l?st?~Co? - ;?)- l4I- Ti- D) )  checking for new query: numPingsReceived=105, elapsed TxPingTime=49.933014A I I O >{R#,KLA4<ɰ@vo@v@vAٱvJ>vH`t?@?`X¿?@5j?'@???{?ivo@Iv6];vCYM_ByMIiMb@Mb@Mb@ 9sh|??oʡſ{GzYy-#@ A)YAbD];VD]8ye=%e%=ٔre;Q->9Y=REyGDlQ<E>Q 55V?Q 95ԩ0)BY?Q E:yRQ I?@DI\;i;5yɮ0Aiaie KLAje.@"je.@:je[@Rje =#@c7L?A*us?je) jef@ie?ieW(bjeBje?jeͅ`jeBrje'@zje@ addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504884 s, deltaX: -0.200000 m, approachRate: -0.396131 m/s, rangeRepo size: 4  Added new target pos. range: 7.193223 m, bearing: 315.767249 deg, lat: 36.779546 deg, lon: -121.859796 deg, deltaT: 6.037109 s, deltaX: -3.197388 m, approachRate: -0.529622 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 7.19 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 6.497066 m, bearing: 315.299518 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 335.898376 deg, new cmd heading: 336.307091 deg. i~HeadingCmd: 5.869666 target range: 10.390611 and range: 7.20 m.hNԻ@hhhhggjgrgYBere!Ze!:e%@*e%c]?u}Bɢu[)q u)H?iq)}yyi}0BiʸӾip=INԻ@Ichecking for new query: numPingsReceived=105, elapsed TxPingTime=50.1671649@ @@00@ ^A A AQ Iq I O >SR#,fKLAE" E"E".E "E":*E" n:VE"ـ4ZE a&@a&@a&@a&@BDDAT read: Rx Time:01:28:14.5250 FTRx dataTimestamp_ set to:1764898095.497199JPDAT read: Bearing 139.5, -6.6 (Local) J~Local bearing/azimuth received: Bearing 139.5, -6.6 (Local) RDAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 fDAT read: 01:28:14.5250 LVL= 31728, 32753, 25554, 32755, AGC= 51, IDX= 507,-0.06, 2.616, 1.120,-3.056, 2.650, PHS= 0.068,-1.485, 0.533, RAW= 162.7, 9.7, CAL= 162.6, 10.4, ROT= 347.4, -10.4 jYgot valid direction response: 01:28:14.5250 LVL= 31728, 32753, 25554, 32755, AGC= 51, IDX= 507,-0.06, 2.616, 1.120,-3.056, 2.650, PHS= 0.068,-1.485, 0.533, RAW= 162.7, 9.7, CAL= 162.6, 10.4, ROT= 347.4, -10.4 jV#Rx 106: Read range and direction messages.n^direction in FSK: [0.959884,-0.214559,0.180519]rFpublishing direction and range infoyDF`s^?v˿lE@?YF@DF{FFc D)DIFC=iF{Fr?Fּ5@F-\->F>5@ F9>)FW@IF9DDF6-? =e?Dܯw? FQ>?z1@z*@z%蛽ٱzYQ>zH?@>?`?퀷`3x? @)?@?iz1@Iz޾];zCY gBy I)F.-IFt0aiF9DDchecking for new query: numPingsReceived=106, elapsed TxPingTime=50.454926bDVD8y.=%J=ٔg;Q->9!Y!=-REy-OD-&<EU>YQ 5m5ԩ]?Q 95])]BYyQQ I@@]DI]~yBCB4IBBBV =BBQDB;B\E ^A xr1 AI IQ Iy O >b*R#,'jKLAԱE EE(E"E&:*E:VEc44ZEBEa2EaJE ;a:E ;a=DDAT read: Rx Time:01:28:15.0248 =TRx dataTimestamp_ set to:1764898096.001151MPDAT read: Bearing 138.4, -7.7 (Local) M~Local bearing/azimuth received: Bearing 138.4, -7.7 (Local) eDAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 DAT read: 01:28:15.0248 LVL= 29808, 30497, 24562, 32755, AGC= 50, IDX= 506, 0.13,-0.663,-2.147,-0.018,-0.652, PHS= 0.090,-1.450, 0.590, RAW= 163.6, 8.4, CAL= 163.3, 8.7, ROT= 346.7, -8.7 Ygot valid direction response: 01:28:15.0248 LVL= 29808, 30497, 24562, 32755, AGC= 50, IDX= 506, 0.13,-0.663,-2.147,-0.018,-0.652, PHS= 0.090,-1.450, 0.590, RAW= 163.6, 8.4, CAL= 163.3, 8.7, ROT= 346.7, -8.7 V#Rx 107: Read range and direction messages.^direction in FSK: [0.961981,-0.227402,0.151261]Fpublishing direction and range infoy9=kQP?ٛхͿni\?Y=@9=pt=!w=_ 9)=2I=Q=i=== ?=36@=Q >=ih6@ =|>)=B@I=|99=.?^W0?Oη? =VB?)=lHI=mi=|99checking for new query: numPingsReceived=107, elapsed TxPingTime=50.939056@K@ٱQt>H*?@?:k`߿ ?@uo? /??i@IS];CYjByIiMb@Mb@Mb@ 9Q?NbX9ȿ+Y\?yE;@A A)$@YAAAbDVD8y-^'<%-=ٔ5;Q-5>91Y1=5REy=ZD<E>Q 55n?Q 95)BY?Q E:yWUQ I@@ DI:i: $5yɮ/Ai9i=LLAj=@"j=@:j=e@Rj=DJ@2n?Bj=kQP?ٛхͿni\?*j=m2j=|Zj=sgP@Dck'?Jj=+jM?&X&忯k5iɘ?j=K j=@i=A?i=kbj=ςBj=A?j=kbj=Brj==@zj=e@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503952 s, deltaX: -0.300000 m, approachRate: -0.595295 m/s, rangeRepo size: 4  Added new target pos. range: 6.493752 m, bearing: 315.836987 deg, lat: 36.779546 deg, lon: -121.859796 deg, deltaT: 7.044178 s, deltaX: -3.896858 m, approachRate: -0.553203 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 6.49 m. 10.39 m."i*i5 ProNav: ac range: 10.390611 m, nav range: 5.935492 m, bearing: 315.550917 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 336.656145 deg, new cmd heading: 337.099765 deg. i1=~HeadingCmd: 5.883501 target range: 10.390611 and range: 6.50 m.h=E@h9h9h9hAgAgAjgArgELBeIreIZei:eu@*eu #?颽}Bɢ#) C?i)iHi~̾"4=ѴIE@I 9@  @ @ /@  checking for new query: numPingsReceived=107, elapsed TxPingTime=51.1746299 ^A A >A >aAIIIOu ?'S#,yLLA,.@En EnEn+El"Ena:*En|:VEn [4ZElar@ar@ar@ar@DDAT read: Rx Time:01:28:15.5246 TRx dataTimestamp_ set to:1764898096.505042-PDAT read: Bearing 139.9, -8.8 (Local) -~Local bearing/azimuth received: Bearing 139.9, -8.8 (Local) =DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 ]DAT read: 01:28:15.5246 LVL= 32752, 32753, 26690, 32755, AGC= 51, IDX= 503, 0.37,-1.116,-2.573,-0.435,-1.063, PHS= 0.049,-1.464, 0.584, RAW= 164.6, 9.1, CAL= 164.4, 9.6, ROT= 345.6, -9.6 mYgot valid direction response: 01:28:15.5246 LVL= 32752, 32753, 26690, 32755, AGC= 51, IDX= 503, 0.37,-1.116,-2.573,-0.435,-1.063, PHS= 0.049,-1.464, 0.584, RAW= 164.6, 9.1, CAL= 164.4, 9.6, ROT= 345.6, -9.6 mV#Rx 108: Read range and direction messages.u^direction in FSK: [0.955019,-0.245207,0.166769]uFpublishing direction and range infoy8U^?PzHbϿ8_X?Yf@Bh )3I9H=iZd?'7@">7@ +>)@I+mŸP?.?a>15Z/? g6G?)("Ii+checking for new query: numPingsReceived=108, elapsed TxPingTime=51.441887ԙYwByIbDVD8yOp=%<=ٔQ->9Y=REycDE>Q 55z?Q 95)BYyQ I@@DIqU?^XhW &?jd jr@iʃ?ivcjBjk䏤?jjaBrj9@zj@v@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503891 s, deltaX: -0.300000 m, approachRate: -0.595367 m/s, rangeRepo size: 4 E Added new target pos. range: 6.194040 m, bearing: 314.594051 deg, lat: 36.779546 deg, lon: -121.859796 deg, deltaT: 7.548069 s, deltaX: -4.196570 m, approachRate: -0.555979 m/s, posRepo size: 4 :iA2iAM|Ignoring new targets. Set target to previous: 6.19 m. 10.39 m."iI*iIe ProNav: ac range: 10.390611 m, nav range: 5.688035 m, bearing: 315.694615 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 337.099752 deg, new cmd heading: 337.469931 deg. iam~HeadingCmd: 5.889961 target range: 10.390611 and range: 6.20 m.hmz@hihihihigigqjgqrgqeqreqZe1:e=@*e= @?颥}Bɢ) eE?i)/q顩i BLiTɾ=4Iz@Im9@i @i@m/@qiIAchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.678848BM >BM CBM @IBM BBM X =BI BM PDBM ;BM \E! ^A 3A I IAOM>US#,UH??@z޿?Y e?>?@?iU@IU?^;UCYmBymIE EE'E"E:*Ez:VE'4ZEBE#5%R8@ %X8>)%M@I%X8!!%6V@'?Jz?]C(? %*J?)%*I%ڸi%X8!!checking for new query: numPingsReceived=109, elapsed TxPingTime=51.950771i=Mb@Mb@Mb@9999 99=Dl?(\ȿL7A`堿Y=O ?y=G=+=@=VA =(A)=@9Y=A im=bDuVDu8yj/=%=ٔ;Q->9Y=REyoD<E> Q 55 i/?Q 95 c) BY?Q E:y UQ I@@ DI A:i : ,5yaɮe/Aii!i%5@LLAj%4@"j%4@:j%Ev@Rj%,1@QoO!HzD?Bj%Q^?kп?*j%ڸ2j%X8Zj%)@'gs ?Jj%Cɳ?24{TB$?j%? j%=@i%?i%jj%Bj%A?j%W(bj%Brj%@zj%Y@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504187 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.193923 m, bearing: 314.163489 deg, lat: 36.779546 deg, lon: -121.859797 deg, deltaT: 8.052256 s, deltaX: -4.196688 m, approachRate: -0.521182 m/s, posRepo size: 4 :i2i5|Ignoring new targets. Set target to previous: 6.19 m. 10.39 m."i9*i99 ProNav: ac range: 10.390611 m, nav range: 5.354794 m, bearing: 315.906150 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 337.469921 deg, new cmd heading: 337.902577 deg. i~HeadingCmd: 5.897512 target range: 10.390611 and range: 6.20 m.hl@hhhhggjgrgNH?F?@B޿ ?ݹ@?rL?"?iN @INN/^;NCYZByZIbD~ӿVD~8y !=% J=ٔ ;Q->9Y=REywDbEG4jEI4rEEC0E% E%E%+E!"E% ;*E%:VE% [4ZE!a5@a5@a5@a5@5J<E5>9Q 5E5=m9@ m9>)m@Im9iim4ps{?w&? F? mVO?E)m<+Im:im9iichecking for new query: numPingsReceived=110, elapsed TxPingTime=52.454433iiimQ`LLAjm8@"jm8@:jm@Rjm!}@$9M|=|r?Bjm|1?ѿlE@?*jm:2jm9Zjmw@;?Jjmi(_?xm(濷`+o?jm܁ jm0u@im? Mw>U{Cim#gjmςBjmv?jmvcjmBIe{Arjm@zjm&@q9{AYmA addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503974 s, deltaX: -0.500000 m, approachRate: -0.992115 m/s, rangeRepo size: 4  Added new target pos. range: 5.694413 m, bearing: 313.351015 deg, lat: 36.779545 deg, lon: -121.859797 deg, deltaT: 8.556230 s, deltaX: -4.696198 m, approachRate: -0.548863 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 5.69 m. 10.39 m."i*iU ProNav: ac range: 10.390611 m, nav range: 5.118937 m, bearing: 316.059113 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 337.902572 deg, new cmd heading: 338.280353 deg. iQ]~HeadingCmd: 5.904106 target range: 10.390611 and range: 5.70 m.h]p@hYhYhYhYgagajgrgereZe:e@*e肺?u~Bɢ})y }E?iy)ӨS#,||}LLAHv2m@vf@vX}ٱv>vHf0?65? ޿?꺿6?b? ?iv2m@Iv.];tYBy.IE} E}E}(Ey"E}l;*E}:VE}c44ZEyiMb@Mb@Mb@ 9K7?K7ɿS㥛Y ?yIDDAT read: Rx Time:01:28:17.0241 TRx dataTimestamp_ set to:1764898098.017159PDAT read: Bearing 143.9, -11.9 (Local) ~Local bearing/azimuth received: Bearing 143.9, -11.9 (Local) DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 DAT read: 01:28:17.0241 LVL= 30032, 32337, 20322, 32755, AGC= 48, IDX= 499, 0.00,-1.293,-2.654,-0.511,-1.136, PHS=-0.055,-1.473, 0.581, RAW= 167.6, 10.4, CAL= 167.6, 11.7, ROT= 342.4, -11.7  Ygot valid direction response: 01:28:17.0241 LVL= 30032, 32337, 20322, 32755, AGC= 48, IDX= 499, 0.00,-1.293,-2.654,-0.511,-1.136, PHS=-0.055,-1.473, 0.581, RAW= 167.6, 10.4, CAL= 167.6, 11.7, ROT= 342.4, -11.7  V#Rx 111: Read range and direction messages.^direction in FSK: [0.933386,-0.296087,0.202787]Fpublishing direction and range infoyPzL? rҿ ?Y3@PuQ~bO )IGaiDj?6;@9>6;@ Q>)t;@IQy b8?#>?%{$? ;T?)+:/ݼ@ A A)@YfA5AA5@AbD=IjFiQchecking for new query: numPingsReceived=111, elapsed TxPingTime=52.978722VD=8yY=%=ٔ%;Q-%>9)Y)=-REy5D= <E=>AQ 55E"O?Q 95E+)EBY?Q E:yTQ I@@E.DIE%l&S#,fLLA[@@Ptٱo>H@H??~ݿ#? G~@?t?`?i[@I6];YByLIbDVD8y{=%==ٔ;Q->9 Y = REy DNi<E>Q 5%5@]?Q 9%5)BY!y%RQ I%@@6DI:i::851y5Bɮ=.A=EUB*** querying acoustic contact ***iQiQ:ia2iae~Ignoring new targets. Set target to previous: 10.39 m. 10.39 m."im <*im <} ProNav: ac range: 10.390611 m, nav range: 4.553499 m, bearing: 316.478835 deg, approach rate: -0.618187 m/s, LOS rate: 0.488794 deg/s, cmd heading: 338.704737 deg, new cmd heading: 339.093382 deg. i}_<~HeadingCmd: 5.918296 target range: 10.390611 and range: 5.60 m.hb@hhhhggDD<E EE/E"E;*E:VEJ4ZEjgrgereZe:e*e`?DDAT read: Rx Time:01:28:17.5238 TRx dataTimestamp_ set to:1764898098.521238PDAT read: Bearing 147.7, -12.4 (Local) ~Local bearing/azimuth received: Bearing 147.7, -12.4 (Local) DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 DAT read: 01:28:17.5238 LVL= 32752, 32753, 23026, 32755, AGC= 49, IDX= 496, 0.14,-2.058, 2.886,-1.248,-1.820, PHS=-0.136,-1.533, 0.528, RAW= 168.4, 12.5, CAL= 168.6, 14.8, ROT= 341.4, -14.8 %Ygot valid direction response: 01:28:17.5238 LVL= 32752, 32753, 23026, 32755, AGC= 49, IDX= 496, 0.14,-2.058, 2.886,-1.248,-1.820, PHS=-0.136,-1.533, 0.528, RAW= 168.4, 12.5, CAL= 168.6, 14.8, ROT= 341.4, -14.8 -V#Rx 112: Read range and direction messages.=^direction in FSK: [0.916325,-0.308378,0.255446]=Fpublishing direction and range infoylO=R?,XHuӿl39Y?Y3@Y )1IC iX9Ŀ+?<@f_>S<@  A>)y@I A4џì?gx\?Z.]? B CB rIB ҀBB B B ODB 0;B K\EԹ AQ Iy I O >,S#,>LLAXZ@4Բ@͹@wQkٱ>H$b??Sݿ7?@h f?? ?i4Բ@I];CY5By5YIiMb@Mb@Mb@ 9 rh?+ǿI +Y ?yv>9@ A)@YAbDVD8yP=%E=ٔG;Q->9Y=REyD~<E>Q 55{k?Q 95m )BY?Q E:yKQ I@@>DI:i:<5y ɮ^.Aii[LLAj @"j @:j&@Rj!@m>_e#+?BjlO=R?,XHuӿl39Y?*j62j AZjQMC @[ Ι?JjX>m~?Iǁ >Xq?jj jR@i?iСlj\Bjʃ?jjjBrj@zjU@ addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504079 s, deltaX: -0.500000 m, approachRate: -0.991908 m/s, rangeRepo size: 4 U Added new target pos. range: 5.094863 m, bearing: 311.815278 deg, lat: 36.779545 deg, lon: -121.859800 deg, deltaT: 9.564265 s, deltaX: -5.295747 m, approachRate: -0.553701 m/s, posRepo size: 4 :iQ2iQ]|Ignoring new targets. Set target to previous: 5.09 m. 10.39 m."i]*i]G; ProNav: ac range: 10.390611 m, nav range: 4.312947 m, bearing: 316.586246 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 339.093375 deg, new cmd heading: 339.470453 deg. il;<~HeadingCmd: 5.924877 target range: 10.390611 and range: 5.10 m.h@hhhhggjgrggBereZe:e`ff@*e?8~BɢpC)  Q?i)̃i[E- E-E-)E)"E-:*E-:VE-FA4ZE)BE->m)<@m%>m$=@ ml>)mdH@Imliim<8Tbb?#S??'X!|? mxY?)mgImjwimlii]checking for new query: numPingsReceived=113, elapsed TxPingTime=54.0051509@ @@@qԙ ^A % checking for new query: numPingsReceived=113, elapsed TxPingTime=54.199234A .AI IO>4S#,LLA2@2T@2Ibٱ2b>2H6z? 0?Q 3ܿ`M?@Ҽ}>?c??i2@I2];0Y:̀By:lI @B9f ?Yf ?=fREyjDjo<Ej>lQ 5r5n"z?Q 9r5n)nBYtyv}IQ Iv@@nFDIn:inq:nA@5yzBɮz.AzEiiLLAj֟@"j֟@:j @Rj1,@REiR0I9?BjGX?KMԿ \ 3?*jjw2jlZj3'@8 R?Jjl&? 4濭 ?je jF@i~?ifojBj?jСljBrj@zjJ@E addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.503951 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4  Added new target pos. range: 4.994964 m, bearing: 310.860634 deg, lat: 36.779544 deg, lon: -121.859801 deg, deltaT: 10.068216 s, deltaX: -5.395647 m, approachRate: -0.535909 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 4.99 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 4.066763 m, bearing: 316.688082 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 339.470456 deg, new cmd heading: 339.783910 deg. i ~HeadingCmd: 5.930348 target range: 10.390611 and range: 5.00 m.hiŽ@hhhhggjgrge!re!Ze!:e%@*e-?颕G~Bɢ~) U?i)顙i_]igj=IiŽ@I}9@ @@@DqzDuAAE} E}EyEy"E} ;*E}:VEyZEya@a@a@a@DDAT read: Rx Time:01:28:18.5234 TRx dataTimestamp_ set to:1764898099.529148PDAT read: Bearing 154.8, -13.1 (Local) ~Local bearing/azimuth received: Bearing 154.8, -13.1 (Local) DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 ]DAT read: 01:28:18.5234 LVL= 32752, 32753, 26226, 32755, AGC= 51, IDX= 507, 0.46,-2.633, 2.325,-1.760,-2.245, PHS=-0.286,-1.669, 0.441, RAW= 169.8, 16.1, CAL= 170.5, 20.4, ROT= 339.5, -20.4 mYgot valid direction response: 01:28:18.5234 LVL= 32752, 32753, 26226, 32755, AGC= 51, IDX= 507, 0.46,-2.633, 2.325,-1.760,-2.245, PHS=-0.286,-1.669, 0.441, RAW= 169.8, 16.1, CAL= 170.5, 20.4, ROT= 339.5, -20.4 uV#Rx 114: Read range and direction messages.}^direction in FSK: [0.877926,-0.328243,0.348572]}Fpublishing direction and range infoy ?7տ<O?Y@rf )3Iniˡտ>=@ޏ>Is>@ K>)ќ@IKQ?+\.f9~?=? {^?)eI0iKchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.483719^A% `ԻA AU ؟AIa Iq O >:S#,LLA6<@65@6IYٱ6y>6H??@=ܿd?(@B1??ē?i6<@I69];6CYBByBIbDJVDJ8yf]=%fK=ٔf;Q-f>9j"?Yj"?=jREyjDjʄ<En>pQ 5v5r"?Q 9v5rX)rBYtyvGQ Iv@@rMDIr:ir:rC5yxɮ~.A|iiLLAjڏ@"jڏ@:j@Rjj0В@ h?Bj ?7տ<O?*j02jKZj'"@ se `a  {?JjoW:?ND$4wneQ?jP j,@ik?ijjBj?jj\Brj@zj}@M addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503959 s, deltaX: -0.500000 m, approachRate: -0.992144 m/s, rangeRepo size: 4 ] Added new target pos. range: 4.495468 m, bearing: 309.718973 deg, lat: 36.779544 deg, lon: -121.859801 deg, deltaT: 10.572175 s, deltaX: -5.895143 m, approachRate: -0.557609 m/s, posRepo size: 4 :iY2iYe|Ignoring new targets. Set target to previous: 4.50 m. 10.39 m."ia*ii} ProNav: ac range: 10.390611 m, nav range: 3.832983 m, bearing: 316.774363 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 339.783907 deg, new cmd heading: 340.114966 deg. iy}~HeadingCmd: 5.936126 target range: 10.390611 and range: 4.50 m.h@hhhhggjgrgereZe:e@*e?U~Bɢ@) _[?i)/i:`iOS=<ֻI@Ichecking for new query: numPingsReceived=114, elapsed TxPingTime=54.702564B=m>B=CB=IB=BB=] =B9B=MDB=';B=/\EBCBCB塕CBX =BX =C%D6U9@Y @Y@]/@aY^AYyA I I E  E E E "E ;*E :VE ZE  DDAT read: Rx Time:01:28:19.0233  TRx dataTimestamp_ set to:1764898100.035311 PDAT read: Bearing 154.1, -14.7 (Local)  ~Local bearing/azimuth received: Bearing 154.1, -14.7 (Local)  DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 BE @ n?@ ɩ>) >@ԡ I ɩ cvYm[?p6t?H{? Bd?) 9I i ɩ  checking for new query: numPingsReceived=115, elapsed TxPingTime=54.984921O >FAS#,hMLA;ɰY~By~IyiEMb@Mb@Mb@AAAA A9EQ?Sſ rhYE?yE/ECE@E; A EA)E@AYEGAbD}VD}8y9<%1=ٔQ->9Y=REyDE>Q 55?Q 95)BY?Q E:yCQ I@@VDIW;im;G5yBɮ.AiiBMLAj@"j@:jv@RjO^@X(m \W?Bj)?!p&_ֿ`FI?*j2jɩZj˹d@5- ̨W?Jj4G?!C9X?j P jN'@iWZt?isojBj~?jOljBrjƅ@zjj­@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.506163 s, deltaX: -0.100000 m, approachRate: -0.197565 m/s, rangeRepo size: 4  Added new target pos. range: 4.395369 m, bearing: 308.794900 deg, lat: 36.779544 deg, lon: -121.859801 deg, deltaT: 11.078338 s, deltaX: -5.995242 m, approachRate: -0.541168 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 4.40 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 3.571094 m, bearing: 316.817934 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 340.114980 deg, new cmd heading: 340.506406 deg. i~HeadingCmd: 5.942958 target range: 10.390611 and range: 4.40 m.h,@hhhhgg!jg)rg-vBe)re)Ze1:e5@*e5?ԡ颅h~Bɢt) ?Y?i)\~顩iciH22=LfFI,@I-checking for new query: numPingsReceived=115, elapsed TxPingTime=55.2064909@ @@/@^A [Rӻ %= C= DDAT read: Rx Time:01:28:19.5230  TRx dataTimestamp_ set to:1764898100.539868 PDAT read: Bearing 152.4, -17.6 (Local)  ~Local bearing/azimuth received: Bearing 152.4, -17.6 (Local) % DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 e DAT read: 01:28:19.5230 LVL= 32752, 32753, 17826, 32755, AGC= 50, IDX= 504, 0.04,-3.044, 1.852,-1.917,-2.629, PHS=-0.313,-1.757, 0.668, RAW= 173.7, 13.2, CAL= 173.9, 16.2, ROT= 336.1, -16.2 Au .AI I O >2HS#,S$MLAE EE*E"E;*Eą:VE(N4ZEa@a@a@a@0Ygot valid direction response: 01:28:19.5230 LVL= 32752, 32753, 17826, 32755, AGC= 50, IDX= 504, 0.04,-3.044, 1.852,-1.917,-2.629, PHS=-0.313,-1.757, 0.668, RAW= 173.7, 13.2, CAL= 173.9, 16.2, ROT= 336.1, -16.2 %V#Rx 116: Read range and direction messages.-^direction in FSK: [0.877952,-0.389055,0.278991]-Fpublishing direction and range infoy{t/?D^TFؿ?Yy@E )IAi`࿉ +?WB@k>mp@m@mGٱmK>mH??@ۿ? N[?N?`?imp@ImE];mCY}ByIAA?B@ Ð>)@IÐ܀p?.dn?)V9m ?Ym ?=mREymDu<E>Q 55?Q 95)BYyA@Q I@@^DIK:i :K5yɮK-Aii3"MLAjVy@"jVy@:j@Rj*\ @HJY`@œjgd?Bj{t/?D^TFؿ?*jվ2jÐZjp)i@ ׾V:?Jj%zBO?JFah]?j= j@ԑi;j?iذljBjWZt?jСljrjv@zj@ addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504557 s, deltaX: -0.500000 m, approachRate: -0.990968 m/s, rangeRepo size: 4  Added new target pos. range: 3.895895 m, bearing: 307.942012 deg, lat: 36.779543 deg, lon: -121.859801 deg, deltaT: 11.582895 s, deltaX: -6.494716 m, approachRate: -0.560716 m/s, posRepo size: 4 :i2i|Ignoring new targets. Set target to previous: 3.90 m. 10.39 m."i)*i)= ProNav: ac range: 10.390611 m, nav range: 3.320130 m, bearing: 316.806381 deg, approach rate: 0.000000 m/s, LOS rate: 0.409641 deg/s, cmd heading: 340.506404 deg, new cmd heading: 340.883316 deg. i9E~HeadingCmd: 5.949536 target range: 10.390611 and range: 3.90 m.hMb@hIhIhIhIgIgQjgQrgQeQreYZeY:e]@33@*e]`!?y~BɢP) `?i)F{ieiԪ=HIb@Ichecking for new query: numPingsReceived=116, elapsed TxPingTime=55.710606BY>BCBIB BBa =BBKDB-;B#\E9@ @@/@ ^A 8F} PExceeded connect timeout, disconnecting.A  I I1 O= >DPS#,@MLANV@Nٺ@Nף?ٱNJ>NH3?`?5 wۿ`p?@A >?ય?v?iNV@INE];NCYV ByVI=DDAT read: Rx Time:01:28:20.0229 ETRx dataTimestamp_ set to:1764898101.041687UDAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 ]\#Rx 117: Read range message, but no direction.y9Y=3s@9echecking for new query: numPingsReceived=117, elapsed TxPingTime=55.968880E EEE"E ;*E:VEZEBEYQy# lA)3@YAbD-<VD-8yF?=%-=ٔۇ;Q->9Y=REyDW<E>Q 55ᶣ?Q 95")}BYd?Q E:yFi>1m9@q @q@u/@q@y@}zA^AMchecking for new query: numPingsReceived=117, elapsed TxPingTime=56.214859Y A} ؟AI I O >T(VS#,YMLA 6@6@68ٱ6j[>6H`)?Dg?q`ۿ "? 徿?`(?@?i6@I6];6CYRByRIbDzVDz8y =% =ٔ \;Q-  ?9"?Y"?=REyƴD<E ?!Q 5-5%4?Q 9-5%%)%{BY)y-:Q I-@@%kDI%:i%:%R5y9ɮ=,A9:ia2iae~Ignoring new targets. Set target to previous: 10.39 m. 10.39 m."im!*im! ProNav: ac range: 10.390611 m, nav range: 2.910117 m, bearing: 316.636951 deg, approach rate: -0.521571 m/s, LOS rate: -0.285236 deg/s, cmd heading: 340.701037 deg, new cmd heading: 340.521381 deg. i~HeadingCmd: 5.943219 target range: 10.390611 and range: 3.80 m.h.@hhhhgg jg rg e reZe:e*e ?颽~Bɢ;) d?i)Hvijil=)B I>B CB IB )BB f =B 4DB IDB @;B '\E checking for new query: numPingsReceived=118, elapsed TxPingTime=56.718510^R\S#,`sMLA2H@2A@2S1ٱ2>2H ?@ ?[w`%ڿ9?@sQ (?7?By>I DDbDFVDF8PyR=%RR=ٔRщ;Q-V>9TYT=VREyVδDZ<EZ>\Q 5=5^Σ?Q 9E5^`))^yBYAyE9Q IE@@^qDI^ A ):cS#,+MLA6@6|@6.Z)ٱ6{>6H#?ӥ?޹kQڿ A?q㿿)?@??i6@I6,];6CYN*ByRIi-Mb@Mb@Mb@)))) )9-Zd;O?L7A`I +Y-j>y-+-94-@-$ A ))-@)Y-AbDEVDE8yUʊ=%U?=ٔU;Q-]>9YYY=]REye״DeJ<Ee>iQ 5u5mXܣ?Q 9u5m,)mvBYu?Q E}:y}-Q I}@@mxDImT;im;mY5yBɮL,AE addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.500790 s, deltaX: -0.100000 m, approachRate: -0.199684 m/s, rangeRepo size: 4 :i2i~Ignoring new targets. Set target to previous: 10.39 m. 10.39 m."i*i ProNav: ac range: 10.390611 m, nav range: 2.489775 m, bearing: 316.088022 deg, approach rate: -0.533641 m/s, LOS rate: -1.074673 deg/s, cmd heading: 340.205466 deg, new cmd heading: 339.331457 deg. i~HeadingCmd: 5.922451 target range: 10.390611 and range: 3.20 m.h@hhhhggjgrgBereZe:e @*eX?checking for new query: numPingsReceived=119, elapsed TxPingTime=57.222591~Bɢo*<) g?i)pioi* =I@II:@ @@a4@@=@=q^A<AzAbEFA4jEʔK4rE0E  E E E "E =;*E Z:VE ZE a @a @a @a @ DDAT read: Rx Time:01:28:21.5222  TRx dataTimestamp_ set to:1764898102.561926 DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4  \#Rx 120: Read range message, but no direction.y Y ,@  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A I % G9 IA Q yd9 Y `AO >PdiS#,kdMLAz@za@z#ٱz>zH ;?D?+4ٿ?`^?@? ?iz@IzD];xY .By I bD% VD%ʰ8y5<%5L=ٔ5+~;Q-5>99Y9==SEy=ߴDE<EE>IQ 5U5M飊?Q 9U5MQ0)MtBYYy],Q I]@@MDIM55;iMTA;ME]5ymŖBɮm,AuE addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.512322 s, deltaX: -0.500000 m, approachRate: -0.975949 m/s, rangeRepo size: 4 :i2iBIntercept lockout. Range: 2.70 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT i@hhhhhggjgrgereZe:e@*e?-~Bɢ-;)1 5"f?i1)=?Bm99i=qiE$M̙=M =IIIQm9@i @i@m/@i^AE}U<BB>BCBIB=BBi =BBHDB?;B \EiIA2Acoustic response timeoutAQIaIqO}{>1Y :LpS#,?MLANb@N@N`ٱN>NH`P?? w ٿX?3???iNb@IN1];LY^4By^I-DDAT read: Rx Time:01:28:22.0222 5TRx dataTimestamp_ set to:1764898103.057962=PDAT read: Bearing 170.1, 7.5 (Local) =~Local bearing/azimuth received: Bearing 170.1, 7.5 (Local) MDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 E} E}E},Ey"E};*E}:VE}g4ZEyBE}=CC5r&@ 5"?)5d)5_I5dy555@5 A 5A)51Y5AIM@AbDUVDUư8y]<%e,=ٔeEX;Q-e>9iYi=mSEymD"Z<E>Q 55?Q 95*4)oBY?Q E:y%Q I@@DI:i:ua5y̖Bɮ,AEi1i5MLAj5,@"j5,@:j5ڦ@Rj5P٣0]@znX ?e1?Bj5{ ??sŠI?*j5d<2j5"Zj5E)X?!e𿾾ԣ?Jj57ik?Vؿ@1$L?j5 j5`?i5?i5;Oj5Bj1j5ذlj5Brj5%@zj5̩@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.496036 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.696896 m, bearing: 330.617708 deg, lat: 36.779543 deg, lon: -121.859801 deg, deltaT: 14.100989 s, deltaX: -7.693715 m, approachRate: -0.545615 m/s, posRepo size: 4 :i2ihhhhhggjgrgҀBereZe:e*eտ?am~Bɢm@Ǻ)q uLd?iq)uiqqiu Tti}.}T=']&=II=9@9 @9@=z0@9ԑ2Acoustic response timeout^A= Nw =AE >AE >Թ A I I O>aTwS#,MLA6#@6D@6}(ٱ6 >6Hze?`~?sηp-ٿ`b%?  â?Me?@֛?i6#@I6];6CY>IbDJVDJǰ8lyn1=%nX=ٔr;Q-r>9pYp=rSEyvDvԉ<Ev>xQ 5~5z?Q 9~5z%7)zlBY|y-$Q I@@zDIz:iz:zd5y ɮ },A -B*** querying acoustic contact ***i)i):i12i1h1h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM?颥~Bɢ;<) 8e?i) g顱izvi(=9=IIE] E]E]+EY"E];*E]:VE] [4ZEYae@ae@ae@ae@DDAT read: Rx Time:01:28:22.5220 TRx dataTimestamp_ set to:1764898103.562109PDAT read: Bearing 156.4, -6.1 (Local) ~Local bearing/azimuth received: Bearing 156.4, -6.1 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.2 DAT read: 01:28:22.5220 LVL= 10352, 21665, 17442, 11651, AGC= 40, IDX= 510, 0.20, 1.075,-0.484, 1.616, 1.301, PHS=-0.124,-1.740, 0.271, RAW= 160.7, 17.0, CAL= 161.8, 20.4, ROT= 348.2, -20.4 Ygot valid direction response: 01:28:22.5220 LVL= 10352, 21665, 17442, 11651, AGC= 40, IDX= 510, 0.20, 1.075,-0.484, 1.616, 1.301, PHS=-0.124,-1.740, 0.271, RAW= 160.7, 17.0, CAL= 161.8, 20.4, ROT= 348.2, -20.4 R#Rx 1: Read range and direction messages.^direction in FSK: [0.917475,-0.191670,0.348572] Fpublishing direction and range infoyt?%[?эW榈ȿ<O?Y@p(T"D -)(IiR޿>3@>{4@ K>)x@IKu6.5?ɀ?Zs`?  5?)AI4RiK]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.}9@ @@/@@@ ^Ae=AIIOa>1B >>B B IB LBB B B B 7;B \E% 2Acoustic response timeoutY Z}S#,MLA9Yqy}II<)=bDVD8yF:%/=ٔQ->9Y=SEyDE>Q 55?Q 95:)gBY y Q I @@DI ;i ;h5yҖBɮ,AEiiMLAjl@"jl@:j׾@RjkbZ@I?EhݿF?Bjt?%[?эW榈ȿ<O?*j4R2jKZj(,B?%o6/?Jj*{?b/RwDT?j j?iث?ikUj_jBjjjjBrj@zjC@m addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504147 s, deltaX: -0.300000 m, approachRate: -0.595064 m/s, rangeRepo size: 4 } Added new target pos. range: 2.397222 m, bearing: 321.833036 deg, lat: 36.779543 deg, lon: -121.859800 deg, deltaT: 0.504147 s, deltaX: -0.299674 m, approachRate: -0.594417 m/s, posRepo size: 4 :iy2iyhyhyhyhyhyggjgrgereZe:e@33@*e?au~Bɢu`6)y `?i)Vc!!i%Ixi525=5y5=I1Ee EeEe)Ea"Ee ;*Ee1:VEeFA4ZEaBEeOrS#,NLA2Z@2@2Fٱ2U>2H??%" cؿX?@07?@'??i2Z@I2];2CY>EBy>Ii Mb@Mb@Mb@     9 ?X9v/$Y ?y     ;A)  Y A <<bD%VD%8y5f=%5B=ٔ=sB99Y9==SEy=DEx=EE>IQ 55M%?Q 95M4>)MbBY?Q E:y; Q I@@MDIM7i]%?iVjvBjjkUj_jrj?zj,@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503190 s, deltaX: -0.100000 m, approachRate: -0.198732 m/s, rangeRepo size: 4  Added new target pos. range: 2.297338 m, bearing: 269.955541 deg, lat: 36.779543 deg, lon: -121.859795 deg, deltaT: 0.503190 s, deltaX: -0.099884 m, approachRate: -0.198502 m/s, posRepo size: 4 :i2ihhhhhggjg!rgEހBeAreAZeI:eM`ff@*eM?uBɢu4Y;)y }`?iy)}~R`yipzi,=Ob=II]9@Y @Y@a@aDU=DU=EY E]E],EY"EY*E]:VE]g4ZEYae@ae@ae@ae@}DDAT read: Rx Time:01:28:23.5219 }TRx dataTimestamp_ set to:1764898104.568807DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.3 X#Rx 1: Read range message, but no direction.yyYyy2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A d6=A .AI I O >) ܖS#,0NLA>@>@@>'ٱ>n\ >>H A??2C@5ؿ 4d?`ʣ?@{?`?i>@I>D];>CYJ9^ ?Y^ ?=bSEyb Db;Eb>dQ 5j5fF3?Q 9j5fBA)f^BYhyjQ In@@fDIfP:if~:fo5yvؖBɮv,AvE addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503508 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iTStarting intercept timer at range: 2.30 m.2ihhh!h!h!g!g!jg)rg)e)re)Ze):e)*e5W?Be;>BeCBeIBeQBBaBaBaBe;Be[EB-CB-CB-CB-i =B-g =C-U6颅Bɢ0<) X?i)^顉i|i& =Ff=II2Acoustic response timeout5:@1 @1@1@1@==@==^A |(H=A=؟AaIyIOc>Eu  Eu Eu (Eq "Eu ;*Eu ą:VEu c44ZEq BEu D2Hh?0?i ؿo?@?Ƽ?!?Z?i2Aµ@I2];2CY>@ByBI DDlimMb@Mb@Mb@iiii i9mGz?Q/$Ymp>ymiim A m$A)m@iYmQAbDVDȰ8y<%;=ٔ>u;Q->9"?Y"?=SEyD^;E>Q 55B?Q 95D)YBY?Q E:yQ I@@DIq;i;s5y!ɮ%,A!ii!DNLAj>@"j>@:j(@Rj|Z?$~5'1@BjQ"a:?NYې{!Oj?*j)2jZj?B?Auݿ8z!@JjRs? g̿D"?jS j6>i_?iPjHBj;j?jVjBrjbV?zj@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504260 s, deltaX: -0.200000 m, approachRate: -0.396621 m/s, rangeRepo size: 4  Added new target pos. range: 2.097557 m, bearing: 306.322289 deg, lat: 36.779542 deg, lon: -121.859792 deg, deltaT: 1.007768 s, deltaX: -0.199781 m, approachRate: -0.198241 m/s, posRepo size: 4 :iRStopped intercept timer at range: 2.10 m.2ihhhhhg gjgrgBereZe:e@*eZ?e&Bɢm@ :) sV?i)Z顑iar~i0=<n=II 2Acoustic response timeout%9@! @)@)@)1^Am Jc=a A I I O >S#,QdNLADzD@AE EE*E"ET;*E:VE(N4ZEa@a@a@a@&DDAT read: Rx Time:01:28:24.5217 *TRx dataTimestamp_ set to:1764898105.577076.PDAT read: Bearing 251.3, 13.3 (Local) .~Local bearing/azimuth received: Bearing 251.3, 13.3 (Local) 6DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 JDAT read: 01:28:24.5217 LVL= 18304, 22065, 17298, 28307, AGC= 44, IDX= 509,-0.36, 0.714, 1.341, 0.603, 2.175, PHS=-1.358,-0.789,-1.616, RAW= 347.7, 61.1, CAL= 346.9, 63.9, ROT= 163.1, -63.9 NYgot valid direction response: 01:28:24.5217 LVL= 18304, 22065, 17298, 28307, AGC= 44, IDX= 509,-0.36, 0.714, 1.341, 0.603, 2.175, PHS=-1.358,-0.789,-1.616, RAW= 347.7, 61.1, CAL= 346.9, 63.9, ROT= 163.1, -63.9 NR#Rx 1: Read range and direction messages.R^direction in FSK: [-0.420940,0.127891,0.898028]RFpublishing direction and range infoy$&5tڿ؆^?z{BN?Y&@$&G&1V&C &n)&,I&ҭi&I&ο&<1@&?&پ@ &?)&8/6@I&$$&<dDԿѲֿޯyR? &t)&ΜI&8/6@i&$$f2Acoustic response timeoutfQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9Y5>By5IAAbDMVDM8y]%]@=ٔeQ-e>9aYa=mSEymDmEm>Q 55Q?Q 95G)TBYyQ I@@DI:i>:nw5yޖBɮ-Ai$i&dNLAj&?"j&?:j&0O/@Rj&[2W@Y?j?Bj&5tڿ؆^?z{BN?*j&8/6@2j&Zj&LuC꿒Z?fzE?Jj&P8Jڿb)#fa? [&?j&ղ> j&Ri&NH{ ?i&;5>j&фBj&_?j&Pj&фBrj&>zj&C@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504009 s, deltaX: -0.100000 m, approachRate: -0.198409 m/s, rangeRepo size: 4  Added new target pos. range: 1.997673 m, bearing: 156.945077 deg, lat: 36.779541 deg, lon: -121.859789 deg, deltaT: 0.504009 s, deltaX: -0.099884 m, approachRate: -0.198178 m/s, posRepo size: 4 :iTStarting intercept timer at range: 2.00 m.2ihhhhhggjgrgereZe):e5@*e5`L?i额6Bɢ:) tQ?i)W顡i=i*\=l=IIA@A @A@A@AB]<A]<Be8>BaBaBaBaBaBeGDBe;Be[Eԑ2Acoustic response timeout^Ae ( n= I I O >Z+S#,NLA>@>i@>*̼ٱ>E;>>Hڲ? g?@FO׿ j?ʻ@?:?P?i>@I>җ];>CYJ8ByJItimMb@Mb@Mb@iiii i9mZd;O?/$:vYmj>ym1mTm@ml A mA)m$AiYmzAbDVD8yH%J=ٔy9Y=SEy$D5<E>Q 55_?Q 95-K)PBY?Q E:y#Q I@@DIuրi$K=A{=IIm9@i @q@u0@q@y@yA^A l=U 2Acoustic response timeouti Ii I O >S#,{ONLA2 @2p@2A-ɼٱ2=2Hл???@׿ #?P%?ڿ? ؽ?i2 @I2y];2CY:@By:IIB<)B=bDZ VDZʰ8y=t =%=T=ٔ=!x:Q-E>9AYA=ESEyE,DM;EM>QYQ 5]5Ul?Q 9e5U?N)UMBYaye"Q Ie@@UDIU&;iU';UM~5yiɮm,Aq addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503736 s, deltaX: 0.300000 m, approachRate: 0.595550 m/s, rangeRepo size: 4 :iTStarting intercept timer at range: 2.30 m.2ihhhhhggjgrgereZe:e*e@A?q8pnAggregate::initialize lineCaptureHoming:MicromodemComms8 q~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8QBɢx<) K?i)RiUi.*=Tȁ=IIu:@q @q@u65@q^Am y=ԉIIE EE&E"E~ ;*E:VE4ZEa@a@a@a@4=R=DDAT read: Rx Time:01:28:25.5215 TRx dataTimestamp_ set to:1764898106.585069DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed -0.1 X#Rx 1: Read range message, but no direction.yY?2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Ա B 4>B B IB LBB j =B B B f;B 3[Eu 2Acoustic response timeout AiE  E E +E "E ;*E ?:VE  [4ZE BE 6Ny̼@QA ;A)@YA =<bDVD8y%%%<ٔ-Q--T>9)Y)=-SEy5=D5E5T>9Q 5E5=?Q 9E5=T)=@BYM$>Q EM:yM Q IM@@=ʫDI=;i=2:=5yUBɮ]-A]*E addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 1.008112 s, deltaX: -0.600000 m, approachRate: -0.595172 m/s, rangeRepo size: 4 :iRStopped intercept timer at range: 1.70 m.2ihhhhhggjgrgBereZe:e@33?*eA?oBɢT_)~ TB?i)Mi/i(==III)xAiI2Acoustic response timeout9@ @@4@@=@=)Q^A|=I I! O5 > y G /{A 5 i9= /{AY= %eAy D  (DAT read: user:14>  BDAT read: Tx time:01:28:26.9176  $Ping request sent. 9Y=SEyEDE> Q 5=5 ?Q 9=5 W) ;BYAyAQ IE@@ ЫDI c;i ; #5YyUBɮu].Ay:iTStarting intercept timer at range: 1.70 m.2ihhhhhggjgrgereZe:e*e@`?E~BɢM)I M9?ii)mDKqqiuz܂iu2}΁=yIyIy%9@! @!@- 0@)ԁA9A9BE+>BECBEIBEGBBEh =BABEFDBE;BEZEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728Ա^AM D=I I O > @S#,OLA8ɰ8nƃ@n}@nbڡٱng>nH? C?@`ֿޫ?`s:??`*?inƃ@InZ];nCY|y~IiMb@Mb@Mb@ 9sh|??v/~jtY)>yx齙D@ A 3@)3@Y(AbDVD8y ;%M=ٔE9Y=SEyMDB'=E>Q 55?Q 95dY)6BYN>Q E;yYsQ I@@ӫDI7;i;5yɮZ.AEU EUEU+EQ"EUl;*EUv:VEU [4ZEQBEU`F1 fS#,OLA2۶@2UԽ@2gVٱ2>2H@ ?`?kI/ֿ?T@̊??Ӿ?i2۶@I2];2CY:0By:IbDFVDF8yNI-%N_=ٔNޔ9Rc?YRc?=RSEyRUDV}<EV>XQ 5Z5Z?Q 9^5ZZ)Z1BY!y%&qQ I%@@ZիDIZqA9@ @@@@@xA^A=i A I I O >BE )>BE ߎCBE IBE 8BBE k =BA BA BE ՟;BE ZE0S#,ݵ4OLA 2I@2B@2ػٱ2<=2H@1?`? u91տ@? {?`V??i2I@I2^;2CYN'ByRIbDZVDZ8yb9%bH=ٔbp9dYd=fSEyf]DfA=Ej>ipIrArchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259214hQ 5v5jĢ?Q 9v5j\)j,BYxyznQ Iz@@jثDIjq;ijr;ja5y|ɮ.A:i!2i!h!h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e ?%Bɢ%4)) -*?i))-D))i-ーiU0U=]]6=IYIY-FΞi9@ @@/@ԡE} E}E}*Ey"E};*E}҆:VE}(N4ZEyBE}]-By>IHiMb@Mb@Mb@ 995 ?Y5 ?==SEy=eD=U<E=>AQ 5M5E*?Q 9M5E])E(BYU=Q EU;yU!Q IU@@E٫DIE;iE;E 5yYɮ].AY:i2ihhhhh!g!g)jg)rg-Be)re1Ze1:e1*e5@@}Bɢ`) )?i)rZB顩iKi*==IIԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762871!@! @!@-/@)@1@5=^AG=A xAzA wA I I O% >Eu  Eu Eu (Eq "Eu ~ ;*Eu :VEu c44ZEq a} @a} @a} @a} @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886עS#,jhOLA|Y.By IbD%VD%Ű8ymΉ;%mG=ٔuQ-u>9yYy=}SEy}mDE>Q 55?Q 95 _)$BYyQ I@@۫DI);i=3;5yɮ}.A:i2ihhhhhgigijgirgieqreqZeq:ey*e}@/@颥Bɢٺ) &?i).@顩ii$= =II9@ @@ 0@BA<B*>BBIB.BBBBB;BuZEBCBCBœCBj =Bj =C25checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2669249^A=I I O >a *S#,GTOLAf=]@fV@fLٱf=fH@??I&ӿZ?`h@~Is?h ??if=]@If"];dYn2ByrIieMb@Mb@Mb@aaaa a9eJ +?~jtI +YeH=yee94e@eA e@)aaYe@bD}VD}8y`<%H=ٔ|ĺQ->9Y=SEyuDg=E>Q 55a?Q 95_) BY=Q E  i i.=}=II9@ @@0@Y^AD%=IIO%N>ԁ checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770988Ա ̴S#, OLA ɰ"4<@:@^ٱ>H??` ҿs?@}eRu?@e? j?i@I ^;YM@ByUIbDVD8yE؂=%E@=ٔMQ-M>9YYY=]SEy]~De)=Em>yQ 55}U?Q 95}`)}BYyԙQ I@@}ݫDI}Ւ;i};}5yɮ-AB*** querying acoustic contact ***ii  addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 3.024133 s, deltaX: -0.500000 m, approachRate: -0.165337 m/s, rangeRepo size: 4 :i 2ihhhhhgg!jg!rg)e)re)Ze):e5@33?*e5@O?颵Bɢۀ) (?i)|;项iJ)i(~={>IIIxA)EM EMEM(EI"EM ;*EMZ:VEMc44ZEIaU@aU@aU@aU@mDDAT read: Rx Time:01:28:29.5484 uTRx dataTimestamp_ set to:1764898110.617570PDAT read: Bearing 250.3, -42.0 (Local) ~Local bearing/azimuth received: Bearing 250.3, -42.0 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 01:28:29.5484 LVL= 12832, 32753, 16354, 21171, AGC= 43, IDX= 511, 0.02,-1.335,-0.051, 0.574, 0.600, PHS=-1.833,-0.605,-0.070, RAW= 252.8, 29.5, CAL= 255.7, 38.5, ROT= 254.3, -38.5  Ygot valid direction response: 01:28:29.5484 LVL= 12832, 32753, 16354, 21171, AGC= 43, IDX= 511, 0.02,-1.335,-0.051, 0.574, 0.600, PHS=-1.833,-0.605,-0.070, RAW= 252.8, 29.5, CAL= 255.7, 38.5, ROT= 254.3, -38.5  R#Rx 2: Read range and direction messages.`direction in FSK: [-0.211774,-0.753410,0.622515]EFpublishing direction and range infoyqu-j˿5cԣ?Yǔ?qu 2uu? uR)u+IuiuHu)\u0@u?uPώ@ u,?)u%@Iu,q}9@y @y@0@@xA@zAqu OK⿳&Io?9;? uR@)uIu"iu,qqchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.072010^A !=I! I1 OE >B (>B B B B B B B ;B zZE S#,/OLA2l@2@2tٱ2X>2H@?#F??п?¿@Jr?`h?-?i2l@I2^;2CY:FBy:IbDF&VDFϰ8yN=%Nj=ٔN:Q-R>9PYP=RSEyRDV=EV?XQ 5^5Z)?Q 9^5Zabchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.275044)ZBYdyfQ If@@ZޫDIZ-i;iZi;Z5yhɮj-AliiDOLAj?"j?:jt@Rj׼v0Ϳ*|꿄t?Bj-j˿5cԣ?*j"2j,Zjl7ݿ龏?Jj,tHIۿ{ġ-|?j}T ji ?iԃwj`BjjVjrj^t?zj,@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504513 s, deltaX: -0.100000 m, approachRate: -0.198211 m/s, rangeRepo size: 4  Added new target pos. range: 1.098679 m, bearing: 240.742077 deg, lat: 36.779541 deg, lon: -121.859792 deg, deltaT: 5.040494 s, deltaX: -0.898994 m, approachRate: -0.178354 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e?*e:w?UBɢ];)Y ]K)?iY)]½9Yaiecie2mƙ=m.>IiIi:@ @@<4@!^A5^=IIOe>EU EUEU,EQ"EU;*EUP:VEUg4ZEQBEUQ\2H o,?f? nj̿@?IſW^f?9??I?i2̺@I2^;2CYNAByRIi-Mb@Mb@Mb@)))) )9-ˡEl9YYY=]SEy]De=Ee>iQ 5u5mp?Q 9u5ma)mBYu1e=Q E}mI I Qchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.779607 9@  @ @ /@ ^A>IQIaOm5>yԡ DY zD] @AEe  Ee Ee -Ea "Ee ;*Ee :VEe t4ZEa am @am @am @am @ DDAT read: Rx Time:01:28:30.5486  TRx dataTimestamp_ set to:1764898111.624708 DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed -0.1  X#Rx 4: Read range message, but no direction.y Y 3?  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.034283S#,pOLA((@@@E :ٱt>>Hl?@?@X*ȿ?AǿȱA@?r?i@I'];CYMBy IbD=VD=8yMN[=%M;=ٔU;Q-U>9qYq=}SEy}D}ģ=E}>Q 55?ԩQ 95Ib)BYyF(Q I@@DIJ;i<۬5yɮ-A addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503717 s, deltaX: -0.100000 m, approachRate: -0.198524 m/s, rangeRepo size: 4 :i2i h h h h h g gjgrgereZe:e`ff?*e?Bɢ  )  %?i ) 5iPi&=K>IIAAAAB)>BBIB3BBBBB;BpZE9@ @@11@checking for new query: numPingsReceived=4, elapsed TxPingTime=4.284007 ^A Ȥ>1 AI IY Ii Ou >KjT#,PLA>nJ@>C@>x;ٱ>(:>>H?@?@Q@ÿ@?kƿ`j@s`-$?`x?i>nJ@I>];>CYFUByFIE~ E~E~*E|"E~f;*E~:VE~(N4ZE|BE~W9Y=SEyD{=E>Q 55ѡ?Q 95a)BY=Q EIyIy9@ @@/@^A >A!I1IAOM>checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786761A T#,APLA >@>Љ@><ٱ>5V'>>H@? ?%?@āq!@`?Ŀ`O7??i>@I>B^;>CYRSByRIbDbVDb8yn?'%rV=ٔvH9tYt=zSEyzD~=Em>qQ 5}5uܞ?Q 9}5uMa)uBYyy)@Q I@@uDIu<;iu;u5yɮU-AB*** querying acoustic contact ***ii:i2ihhhhhggjgrge-)Gre!AZe9:eIY*e] F?9YAMBɢM@:)I M"?iI)U0QQiUi]*]`n=]>IYIaiD D <bEjErEò0E EE+E]DDAT read: Rx Time:01:28:31.5486 eTRx dataTimestamp_ set to:1764898112.637802uDAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 uX#Rx 6: Read range message, but no direction.yYY]3?Ychecking for new query: numPingsReceived=6, elapsed TxPingTime=5.048738"E*E1:VE [4ZEa@a@a@a@@ @@/@^Ab4>ԙAII O> Bm <>Bm CBm IBm =BBm f =Bi Bm HDBm x;Bm HZE checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294869й T#,9PLA"4<ɰ FVÿ@F@Fčk<ٱFp >FH?@ ?q?\?}vq@f?@?iFVÿ@IFz^;FCPYRcByR$IbDZVDZ°8yb==%fL=ٔfRL9dYh=jSEyjDj=Ej>lQ 5r5n򛤊?Q 9v5n`)nBYtyv ,@Q Iv@@nDIn.:in:n5yxɮ~,A|% addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.509025 s, deltaX: -0.100000 m, approachRate: -0.196454 m/s, rangeRepo size: 4 :i)2i)h)h)h)h)h)g1g1jg1rg1e1re9Ze9:e=`ff?*eEV?mBɢm;)i m'?ii)u/qyi}ჼi$ >II-9@1 @9@=/@9@]yA@]yA^AMJ>A]?A]#?E EE*E"E=;*E:VE(N4ZEBEIe[@ e2+>)e@II!O->Ie2+aaeWA?*293?̚|? e?)ep-wIeQie2+aa=checking for new query: numPingsReceived=7, elapsed TxPingTime=5.575527! T#,3nSPLA6d@6@6A.<ٱ6l=6HI?`Q?@?`@?[&%?p?i6d@I6#'^;4YBoByB3I|i Mb@Mb@Mb@     9 l񲿢EԸ?V-?Y y = < 3@  ) ;A Y A%@A!bD-"VD-̰8y5l=%=C=ٔ=)9E"?YE"?=ESEyEDE=EM>IQ 5U5M{?Q 9]5M_)M$BY]i>Q E];y] @Q I]@@MDIM3;iM7;M5yiɮmv,AiiiIPLAjl?"jl?:j8@Rji?$꿕@R?BjԱX?'m9z0Gu?*jQ2j2+ZjBJ(?[Ejүk?Jj.z'?^5ɚt҅~Be?je jEA?i٤?i4qXwjBjjjrjGD?zjX+@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503302 s, deltaX: -0.200000 m, approachRate: -0.397376 m/s, rangeRepo size: 4  Added new target pos. range: 1.198614 m, bearing: 310.150850 deg, lat: 36.779541 deg, lon: -121.859792 deg, deltaT: 2.523534 s, deltaX: 0.099936 m, approachRate: 0.039602 m/s, posRepo size: 4 :i2ihhhhhggjgrgBereZe:e@33?*e@?颥Bɢp{ ;) *?i)w,i߱IߵAchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.799187顩iQfi.II)9@ @@/@Q^A L>D) zD- ?AE5  E5 E1 E1 "E5 ;*E5 :VE1 ZE1 aE @aE @aE @aE @} DDAT read: Rx Time:01:28:32.5484 } TRx dataTimestamp_ set to:1764898113.646480 PDAT read: Bearing 296.1, -88.7 (Local)  ~Local bearing/azimuth received: Bearing 296.1, -88.7 (Local)  DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 ԡ  DAT read: 01:28:32.5484 LVL= 15600, 32753, 17842, 29811, AGC= 44, IDX= 514, 0.08,-2.393,-1.212,-0.186,-1.326, PHS=-0.965, 0.159, 1.096, RAW= 243.0, -3.3, CAL= 239.9, -5.2, ROT= 270.1, 5.2  Ygot valid direction response: 01:28:32.5484 LVL= 15600, 32753, 17842, 29811, AGC= 44, IDX= 514, 0.08,-2.393,-1.212,-0.186,-1.326, PHS=-0.965, 0.159, 1.096, RAW= 243.0, -3.3, CAL= 239.9, -5.2, ROT= 270.1, 5.2  R#Rx 8: Read range and direction messages. `direction in FSK: [0.001738,-0.995883,-0.090633] Fpublishing direction and range infoyy } KGy\?[hLE0L3Y} ̌?y } <} } E } st)} ,I} = wi} ">} I?} @} k} E@ } ޹)} 0ږ@I} ޹=y y } T|d3fVNI7?R } d @)} j=I} ȿi} ޹=y y  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.072720A9 II IY Om >WT#,{JmPLArc@rl9r+<ٱrQ==rH@? \?m=? 5~-?@?DqO@.??irc@Ir^;rCYzqByz5IbD- VD-8y5) <%]J=ٔe;Q-e>9aYa=mSEymDm=Em>yqQ 55u?Q 95u^)u,BYy@Q I@@uDIud;iu;u:5yɮh,Aii_iPLAj?"j?:j@RjiLI_?iށ0~BjKGy\?[hLE0L3*jȿ2j޹=ZjwUa7J񿠼c+XɿJjvz`= 1y#'ǿjU j i̴ǖ?i8{j Bj ?j4qXwj`Brjx?zj@] addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505376 s, deltaX: -0.100000 m, approachRate: -0.197873 m/s, rangeRepo size: 4 m Added new target pos. range: 1.098730 m, bearing: 269.885399 deg, lat: 36.779544 deg, lon: -121.859806 deg, deltaT: 0.505376 s, deltaX: -0.099885 m, approachRate: -0.197644 m/s, posRepo size: 4 :ii2ihhhhhggjgrgereZe:e?*e? Bɢ.v;) (?i)Y*i?邼i%(!!I!I!B7>BBIBGBBc =BBBM;BZEԩ9@ @@0@^AWT>checking for new query: numPingsReceived=8, elapsed TxPingTime=6.303379AIIO=> !T#,1PLA>?@>H=><ٱ>=>H@S?Tl@`?`?@.?@O??i>?@I> ^;>CY^xBy^?IEn EnEn-El"En=;*En':VEnt4ZElBEnI$@A @)?AYAbDVD8yE=%M0=ٔM;Q-M>9QYQ=USEyUɵDU=E]>YQ 5%5];?Q 9%5]9])]6BY-(>Q E-;y-_ @Q I-@@]DI]+A1zA1ichecking for new query: numPingsReceived=9, elapsed TxPingTime=6.807053AY I I O >ԙ +'T#,PLAVe@Vۓ=V+<ٱV~=VH ,?ñ@"?u?@O?@cD?`?iVe@IV];VCYb}BybDI hja=bDnVDn8yv<%vu=ٔv<;Q-v ?9xYx=zSEyzϵD~=E~ ?Q 5 5?Q 9 5*\)>BY y @Q I @@DI:i:(5yɮ,A5B*** querying acoustic contact ***i1i1:iA2iAhAhAhAhIhIgIgIjgIrgQeQreQZeQ:eQ*e]`9?颅+Bɢ8z<)  )?i)v<&顉i>i,IIyI@Q @Q@U4@QE EE*E"Ef;*E՚:VE(N4ZEa@a@a@a@5DDAT read: Rx Time:01:28:33.5485 =TRx dataTimestamp_ set to:1764898114.653145EPDAT read: Bearing 335.8, -72.8 (Local) E~Local bearing/azimuth received: Bearing 335.8, -72.8 (Local) ]DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 DAT read: 01:28:33.5485 LVL= 17744, 30401, 23826, 27107, AGC= 46, IDX= 512,-0.06,-0.272, 1.559, 2.079, 1.194, PHS=-1.364, 0.409, 0.841, RAW= 259.4, 1.1, CAL= 255.8, -2.6, ROT= 254.2, 2.6 Ygot valid direction response: 01:28:33.5485 LVL= 17744, 30401, 23826, 27107, AGC= 46, IDX= 512,-0.06,-0.272, 1.559, 2.079, 1.194, PHS=-1.364, 0.409, 0.841, RAW= 259.4, 1.1, CAL= 255.8, -2.6, ROT= 254.2, 2.6 T#Rx 10: Read range and direction messages.bdirection in FSK: [-0.272000,-0.961227,-0.045363]Fpublishing direction and range infoy9=A0rhѿH`99Y=?9=PE=v=] =i)=.I=i=sh>=KW?=T@=nF<=ݎ@ =9)=@I=9=99=u]\EӮH?Ac? = @)=I=\i=9=99checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079751ԡ^A>A .AB 0>B CB IB [BB g =B B GDB ";B YEBCBCBɔCBg =Bh =CɁX6I9 II O] > checking for new query: numPingsReceived=10, elapsed TxPingTime=7.310853 .T#,#ٺPLA2@2@!=2[<ٱ2=2H?8 &Z?Pt??C?j?i2@I2];2CY>By>XIbDFVDF8yR=%RO=ٔV;Q-V>9V ?YV ?=VSEyZ׵DZܶ=EZ>\Q 5b5^?Q 9b5^Z)^GBYdyf0@Q IfA@^DI^;i^S:^5yjBɮjV+Ahiaie!ͩPLAjek?"jek?:je.@Rjeε=MmԿ; oU֫BjeA0rhѿH`99*je\2je9=ZjeP|wwʿuTzO4;O2ǿJjeOo[6ƿپl%\ pZÿjeS jeSieSv{?ie̜yje0Bjaje̜yjeBrje(?zjen@% addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503993 s, deltaX: -0.200000 m, approachRate: -0.396831 m/s, rangeRepo size: 4 e Added new target pos. range: 1.198584 m, bearing: 259.948762 deg, lat: 36.779544 deg, lon: -121.859806 deg, deltaT: 0.503993 s, deltaX: -0.199791 m, approachRate: -0.396416 m/s, posRepo size: 4 :ia2ihhhhhggjgrgereZe:e@33?*eʢ?]2BɢePZ@;)q }}-?iy)#iIi& IIIE EEE"E;*E:VEZEBEae @ eww?)ě@IewwaaeHhioA?Mj]h? es @)eKIe iewwaaUchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.598590) ^A >A% ?A% ?Y AI IY Ii Ou >5T#,#PLA;ɰ;YzByz]I}checking for new query: numPingsReceived=11, elapsed TxPingTime=7.814876iMb@Mb@Mb@ 9 ףp= ~jt?t<;@A @)VAY @bD)VDҰ8y<%*=ٔQ->9Y=SEyDE>Q 55׈?Q 95-Y)PBY5>Q E;y @Q IA@DI:i:5yɮ1+A  iqiu;VPLAjq"jq:juP@RjuǶEӿ;KA;cd?Bju,{Sп*ATFuPO ?*ju 2juwwZjufG?ǿܝtR ?Jju#ԑ A ؟AI I O > BdA<ٱB*>BHӈ?Ŀ@4V? w?9?D'a? 1?iB~{@IBֱ];BCY^By^^IfAAdbDf_VDf8y~ ;%L=ٔ;Q->9 "?Y "?= SEy D ">E5>9Q 5=5=?Q 9E5=W)=YBYAyE@Q IEA@=DI=::i=%:=X5yiɮu*+Aqԩii^gPLAj?"j?:j*+@RjkZҿ^y{6sc?BjdGѿzVF濑z:I?*jWl2jAQ:Zj Sh쿖?Jj9f}_+M?jf jioy?i`QkojςBjSv{?B1>BCB'IBfBBi =BBB;BYEjjBrj:?zj1 @% addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.501046 s, deltaX: -0.100000 m, approachRate: -0.199583 m/s, rangeRepo size: 4 U Added new target pos. range: 1.098702 m, bearing: 261.713885 deg, lat: 36.779544 deg, lon: -121.859806 deg, deltaT: 0.501046 s, deltaX: -0.099882 m, approachRate: -0.199347 m/s, posRepo size: 4 :iQ2iQhQhQhQhYhYgYgYjgYrgaeareaZea:e?*e@?=Bɢ<) *?i)i5=i*II checking for new query: numPingsReceived=12, elapsed TxPingTime=8.319751@ @@/@^A?΅>1 A1 EE  EE EE *EA "EE f;*EE :VEE (N4ZEA BEE W} b"@} |>} @ } >)} q@I} y y } o俽9M?4R? } =@Ii O >)} žI} i} y y  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.588418 BT#,A QLAY}By}`IiMb@Mb@Mb@ 9L7A`尿n??Y+yV><@ A @)lAYzAbDoVD8y]t;%1=ٔQ->9Y=SEyDE>Q 55?Q 95SV)dBY>Q E;y' @Q IA@DI;i ;X5y!ɮ%#+A!iiy QLAjk?"jk?:j(Z@Rj:u]%ҿ24t?kC >?BjjqwpGο /yp?*j2jZjp鵿RiU ?Jj4}HR譧?j' jKi iwz?ipsjkBj iwz?jG}tjrj?zjl@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.502631 s, deltaX: 0.100000 m, approachRate: 0.198953 m/s, rangeRepo size: 4  Added new target pos. range: 1.198582 m, bearing: 265.623532 deg, lat: 36.779544 deg, lon: -121.859804 deg, deltaT: 0.502631 s, deltaX: 0.099880 m, approachRate: 0.198714 m/s, posRepo size: 4 :i2ihhhhhg g jg rg BereZe:e@33?*e9z?eDBɢe;) '?i)7顉i!i$III9@! @!@!@!@)@-=checking for new query: numPingsReceived=13, elapsed TxPingTime=8.823691y^AE >AI zAM xAԡ A .AI I O >IIT#,E&QLA2S@2W>2X<ٱ2>2HHH? ɿf? ? ?E2鞿?@?i2S@I2k];0Y:By>nIbDF`VDF8yN=%Nm=ٔNKQx?ݎ@ڌ@  A)@I A=,-#_b%O?*Ԋ7 @)BuCBu4IBupBBuh =BqBqBu;BuYEi^A9  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327182Au ؟AIy I ԑ O >U.PT#,U@QLAN%;N9kf>N=ٱN@=NH|-?@˿z?`?`? a 0?ҿ?iN%;IN1];NCYZByZaI xz<bD~yVD~8y B% D=ٔ `;Q- >9"?Y"?=SEyD%S=E%>)Q 555-{?Q 955-S)-vBY9y=@Q I=A@-DI-{;i-3;-5yAɮE+AAii~*QLAj?"j?:j@Rj߭UͿU}%R3&Bj.BʿB$M6P0*j'Q2j A=ZjV[7l?6ɃNTWv&ȿJj[j?0↑ ,Znƿju jg;iG |?i0kpj2BjjpsjkBrj?zj=e@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505006 s, deltaX: -0.100000 m, approachRate: -0.198017 m/s, rangeRepo size: 4  Added new target pos. range: 1.098705 m, bearing: 270.187252 deg, lat: 36.779544 deg, lon: -121.859804 deg, deltaT: 0.505006 s, deltaX: -0.099877 m, approachRate: -0.197773 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e?*eV?yNBɢ <) E 5#?i1)=~9AiE}i}(IIE EE)E"E&:*E:VEFA4ZEBEg;A I I O >_VT#,ZQLAchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.830932Y ByhIiMb@Mb@Mb@ 9y&1T㥛 ?I +?Y`ey>9<l A @)AYQAbD oVD 8y<%:=ٔQ->9!Y!=%SEy% D-E->1Q 5555Dz?Q 9=55R)5~BY=>Q E=;y=8?Q I=A@5DI5:i5:55yIɮM*AI addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503566 s, deltaX: 0.100000 m, approachRate: 0.198584 m/s, rangeRepo size: 4 :i2ihhhhhggjgrg BereZe:e@33?*e`L? TBɢ@;) "?i)G项iY{i2III) ux>}vCpG1mp9iYm |A@ @@/@@zA@zAbE-(N4jE)rE-/E EE+E"E ;*E:VE [4ZEa@a@a@a@DDAT read: Rx Time:01:28:36.5484 TRx dataTimestamp_ set to:1764898117.677266DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  Z#Rx 16: Read range message, but no direction.yY̌?checking for new query: numPingsReceived=16, elapsed TxPingTime=10.088161! ^A >A I I O >\T#,HptQLA>y<>~>>=ٱ>=>H`?@;ο@>K?@:??%ڡbF??i>y)];>CYJByJTI LLbDVXVDV8yZ%^e=ٔ^9`Y`=bSEybDb=Ef>dQ 5j5fx?Q 9n5fQ)fBYlyn#?Q InA@fDIf;if ;f5ypɮvq+At addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503504 s, deltaX: -0.100000 m, approachRate: -0.198608 m/s, rangeRepo size: 4 :i2iB%0>B%CB!B!B!B!B!B%;B%YEhh9h9h9h9g9gAjgArgAeAreIZeI:eM?*eM?颍YBɢD<) 5?i)顑i_zi,II5:@1 @1@5;0@1mchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.336950iy^Au >A Թ I I9 Oe >E  E E )E "E ;*E :VE FA4ZE BE D2_=ٱ2yH>2H?BϿ1 ?U?ʺ?Ѽ ^?`w?i2;%=I2];2C@Y^}By^DIiMb@Mb@Mb@ 9I +?(\µ?/$?Y9VD8yc%8=ٔCF;Q->9Y=SEyD<E> Q 5 5  y?Q 95 P) BY=Q Ei> 9@  @ @ /@ @ @ @ @  1 E5 E5E5*E1"E5 ;*E5:VE5(N4ZE1aE@aE@aE@aE@uDDAT read: Rx Time:01:28:37.5485 uTRx dataTimestamp_ set to:1764898118.696536}DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 Z#Rx 18: Read range message, but no direction.yqYu?qchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.106054AI)I9OE?CkT#,voQLA %xY=% Ċ>%=ٱ%=%H` ?˷пK˱???J _ң ?b?i%xY=I%];!YvBy;II)4<bDVD8y׼%=ٔ;Q->9Y=TEy&D*<E>Q 55y?Q 95_O)BYyg?Q IA@DI;i;n5yBɮw+A EB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.511810 s, deltaX: -0.200000 m, approachRate: -0.390770 m/s, rangeRepo size: 4 :i2ihhhhhggjgrge!re!Ze!:e%@33?*e%@?颵fBɢ/) ?i)8项ilui0IIB=2>AB=CB=!IB=`BB=g =B9B9B=);B=YEDDAT read: Rx Time:01:28:38.0485 TRx dataTimestamp_ set to:1764898118.952250checking for new query: numPingsReceived=18, elapsed TxPingTime=11.361387yeE 9@A  @A @E /@A ԙ A I I OE >srT#, HQLAV"=ٱV=VHH?п߱? 0[?`?$Y@K??iV#i=IVa];VCYboByb3I=DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 EZ#Rx 19: Read range message, but no direction.y1Y11Mchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.609033E EE+E"E%;*EZ:VE [4ZEBEK9Y=TEy.D<E>Q 55{?Q 95N)BYX=Q EzxT#,p"QLA>q=>̍>>%=ٱ>=>H@m? #ѿq=I> ];>CYJ`ByJ I Ria)e' aaietqim$iiIiIqy-:@) @)@-?5@)A=?A=?Mchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.110883E EE)E"E=;*E:VEFA4ZEa@a@a@a@AIIO@>)B- 3>B) B- IB- GBB- f =B) B) B- A;B- ZEBBBȓCBh =BC5Y  DDAT read: Rx Time:01:28:39.0487 % TRx dataTimestamp_ set to:1764898119.960198M PDAT read: Bearing 259.8, -20.8 (Local) d~T#,QLA~Local bearing/azimuth received: Bearing 259.8, -20.8 (Local) 2DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.1 :Z#Rx 21: Read range message, but no direction.yIYM?Ichecking for new query: numPingsReceived=21, elapsed TxPingTime=12.4079569_x=堎>u&=ٱV^=H`?0ѿr??@?`Gͤ L?@?i_x=I];CYUByI bD%VD%8y5?%55=ٔ=>:Q-=>99Y9==TEy=?DEfj;EE>IQ 5u5MJ?Q 9u5ML)MBYqyuR?Q I}A@MDIM;iM9:M*5yɮ,A addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504441 s, deltaX: 0.300000 m, approachRate: 0.594718 m/s, rangeRepo size: 4 :i2ihhhhhggjgArgIeIreIZeI:eU?*eU ˽?额vBɢ#ɻ) >i)s i7ni.IIa@ @@Z1@U=QDAT read: 01:28:39.0487 LVL= 14544, 16721, 22066, 16883, AGC= 46, IDX= 513, 0.49,-2.294,-1.865,-0.852,-0.011, PHS=-2.180,-1.809,-0.885, RAW= 226.2, 56.2, CAL= 227.2, 62.5, ROT= 282.8, -62.5 ԉYgot valid direction response: 01:28:39.0487 LVL= 14544, 16721, 22066, 16883, AGC= 46, IDX= 513, 0.49,-2.294,-1.865,-0.852,-0.011, PHS=-2.180,-1.809,-0.885, RAW= 226.2, 56.2, CAL= 227.2, 62.5, ROT= 282.8, -62.5 Z#Rx 22: Read direction message, but no range.^direction in FSK: [0.102300,-0.450274,0.887011]yY]dwO0?knIܿ=Ndb?Y]8]QA]2V ]A)].I] i]P翉]\b]|@]{?]}@ ]X?)]@I]XY]~ÿn:?5-X? ]X$?)]zI]kwi]Xchecking for new query: numPingsReceived=22, elapsed TxPingTime=12.628043E EEE"E%;*E:VEZEBEa2EaJE;a:E;aA II!O5>Թ T#,\RLA2Ev=2]>2y&&=ٱ2`r=2Hݾ? ")ѿk ? ?`?{Yä ?O?i2Ev=I2j];2CYBMByB Ii-Mb@Mb@Mb@)))) )9-Mb?{Gz?~jtx?Y-=y-ף<-;-@-A -@)-lA)Y-QAbDEۿVDE8yU%UZ=ٔ]TQ-]>9YYa=eTEyeFDe.Ee>iQ 5u5m?Q 9u5mL)mBY}4=Q E} Q I}A@mDIm;im;mq5yɮ,Aԙ:i2ihhhhhggjgrgBereZe:e*e ?zBɢ7) j>i)E iϋli(II DDAT read: Rx Time:01:28:39.5490 TRx dataTimestamp_ set to:1764898120.461350DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 23: Read range message, but no direction.yY@checking for new query: numPingsReceived=23, elapsed TxPingTime=12.872167@ @@h3@AIIO%M>m checking for new query: numPingsReceived=23, elapsed TxPingTime=13.119173E  E E ,E "E ;*E $:VE g4ZE a @a @a @a @ ՋT#,1RLA6 u=66>6;S&=ٱ6h=6H?$ѿ?Ԉ??~Ȥ??i6 u=I6:];6CYBIByBIJAAJBAbDJVDJ8yR̼%RV=ٔV8Q-V>9TYT=ZTEyZNDZHMEZ>\Q 5b5^?Q 9b5^L)\Ydyf>Q IfA@^DI^:i^:^5yhɮj,Ah addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.501152 s, deltaX: 0.500000 m, approachRate: 0.997701 m/s, rangeRepo size: 4 :i RStopped intercept timer at range: 2.00 m.2i h h h h h g gjgrgereZe:e@*e`k?MBɢM )I M>iI)U QQiU?ji]2III)yABBBIB.BBg =BBBW;BZEm9@q @q@u/@qA}yAzA}zA)ADDAT read: Rx Time:01:28:40.0487 TRx dataTimestamp_ set to:1764898120.965117DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.1 Z#Rx 24: Read range message, but no direction.yY?checking for new query: numPingsReceived=24, elapsed TxPingTime=13.374667IIO J>Qԉ iT#,KRLAv>r=v܍>v\'=ٱv:=vH?`ѿ ?`~??|@ꤿ@Lp??iv>r=Iv];tYyD@ A )AYAE EE'E"E7;*Eą:VE'4ZEBEZ9Y=TEyWDɺE>Q 55d?Q 95K)BY>Q E;y;>Q IA@DI:i:5y Iɮ E-AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503767 s, deltaX: -0.500000 m, approachRate: -0.992522 m/s, rangeRepo size: 4 :iTStarting intercept timer at range: 1.50 m.2ihhhhhggjgrgBereZe:e?*e?颍Bɢ$) >i)顑iCgi,II]9@Y @Y@a@aԙAIIO>ԱDDAT read: Rx Time:01:28:40.5486 TRx dataTimestamp_ set to:1764898121.468708DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed -0.1 Z#Rx 25: Read range message, but no direction.yY3?checking for new query: numPingsReceived=25, elapsed TxPingTime=13.878270 @T#,\eRLAYn/BynIbDz VDzʰ8y'% Y=ٔ Q- >9Y=TEy_DE>9Q 5E5=`?Q 9M5=K)=BYIyIQ IMA@=DI=q:i=G:=5yQɮu-Ay addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503591 s, deltaX: -0.100000 m, approachRate: -0.198574 m/s, rangeRepo size: 4 :i2ihhhhhggjgrgereZe:e`ff?*ey?MBɢM)Q u>iq)uCyyi}di&IԱI5checking for new query: numPingsReceived=25, elapsed TxPingTime=14.126983e:@i @i@i@iE EE)E"E;*E1:VEFA4ZEa@a@a@a@AIIOe>B=A<B1>BBIBBBBBBd;B*ZE  DDAT read: Rx Time:01:28:41.0488  TRx dataTimestamp_ set to:1764898121.972711 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed -0.1  Z#Rx 26: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=26, elapsed TxPingTime=14.3822699 5T#,>RLANW[=NL>N 2*=ٱN=NH ?5п &i?&?ࢱ?,D??iNW[=IN\;LYM'ByMIbD}VD}8y' %:=ٔ:Q->9Y=TEyhD%}NE%>)Q 555-풤?Q 955-TK)-BY1y5?5>Q I=A@- DI-; ;i-7 ;-5yEBɮE.AE!Eu addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504003 s, deltaX: 0.300000 m, approachRate: 0.595235 m/s, rangeRepo size: 4 :iy2iyhyhyhyhyhyggjgrgereZe:e@33?*e`T?颽BɢE)2 ™>i)piai0IIG>i>i9@ @@@A?A ?ԙAIIMchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.633072Oex>E EE'E"E;*E?:VE'4ZEBE@6*=ٱ6=6H_?zпoO?`? -?`@L^`ͺ??i6F=I6];6CLYR!ByRI TTi-Mb@Mb@Mb@)))) )9-#~j?kt~jthY-%>y- 0-D-3@-l A -@)-A)Y-GAbDEVDE8yU%UX=ٔ]A:Q-]>9YYa=eTEyeoDecEe>iQ 5u5mD?Q 9u5mPK)mBY}+>Q E};y}iy)}yyi}[^)-\?I5<vU?&1-DP翵ә? 6Q)4I-\?i5<checking for new query: numPingsReceived=27, elapsed TxPingTime=14.951467i*II݂G{Ao9{AYkA9@9 @9@9@9A I I O >! M checking for new query: numPingsReceived=27, elapsed TxPingTime=15.134914D %=D R=bEmFA4jEm#E4rEmd/E  E E *E "E :*E |:VE (N4ZE a @a @a @a @#T#,RLA21=2Dž>2+=ٱ2^=2H?`п0??@ ?ܹy|U?@?i21=I2\;2CYB#ByBIbDJVDJ8yf%7<%fT=ٔf\:Q-f>9hYh=jTEyjwDjKTEn>pQ 5v5r?Q 9v5rNK)rBYtyv;Q IvA@r DIrG:ir:rv 5yx|ɮ~=.Aii|ўRLAjƿ?"jƿ?:j$3?RjrpXP?(vh?=n,dzƚBj"kG`{?6&B??W7) ߑ*j-\?2j5<Zj|< 'T?lf?Jj+w=Ī?:)?j? jUuiݧ?iH$jfBjj0kpjrj_?zj“@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.508825 s, deltaX: -0.200000 m, approachRate: -0.393063 m/s, rangeRepo size: 4  Added new target pos. range: 1.498232 m, bearing: 92.299819 deg, lat: 36.779544 deg, lon: -121.859803 deg, deltaT: 5.811340 s, deltaX: 0.399527 m, approachRate: 0.068750 m/s, posRepo size: 4 :iRStopped intercept timer at range: 1.50 m.2ihhhhhggjgrgereZe:e?*eP?5Bɢ53)Q U>iQ)]YYi]5\ie$aaIaIiB}3>ByB}IB}BByByByB}H;B}ZE)9@ @@0@DDAT read: Rx Time:01:28:42.0488 TRx dataTimestamp_ set to:1764898122.980711DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 28: Read range message, but no direction.yY?checking for new query: numPingsReceived=28, elapsed TxPingTime=15.390393A1IAQIO>ԁ 5T#,RLAchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.640367V=?>E.=ٱ=H#?|Ͽ0?`_6?f?dº ǥ/x?@M?iV=I5\;CY5 By5IIE EE+E"E;*Ev:VE [4ZEBEs_yTD;I@QA )AYA@AbDVD8y)N%7=ٔ -:Q- >9 Y=TEyDe5E>Q 5%5?Q 9-5^K)BY-<>Q E-;y-Q I-A@DI;i\ ;\5y1ɮ5T.A9B*** querying acoustic contact ***ii% addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.499175 s, deltaX: 0.200000 m, approachRate: 0.400661 m/s, rangeRepo size: 4 :i%-TStarting intercept timer at range: 1.70 m.2i)h)h)h)h)h)g1g1jg1rg5Be9re9Ze9:e]@33?*ee,?颭BɢRs) #>i)顱i/Xi.IIyԩ9DDAT read: Rx Time:01:28:42.5488 TRx dataTimestamp_ set to:1764898123.4908785 PDAT read: Bearing 311.0, -24.8 (Local) ] ~Local bearing/azimuth received: Bearing 311.0, -24.8 (Local) u DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 9@  @ @ /@ A zA yA E DAT read: 01:28:42.5488 LVL= 30176, 16497, 32754, 32755, AGC= 49, IDX= 498,-0.13,-2.370,-0.291,-0.884,-0.258, PHS=-2.010, 0.011,-0.671, RAW= 289.4, 27.9, CAL= 291.2, 34.6, ROT= 218.8, -34.6  Ygot valid direction response: 01:28:42.5488 LVL= 30176, 16497, 32754, 32755, AGC= 49, IDX= 498,-0.13,-2.370,-0.291,-0.884,-0.258, PHS=-2.010, 0.011,-0.671, RAW= 289.4, 27.9, CAL= 291.2, 34.6, ROT= 218.8, -34.6  T#Rx 29: Read range and direction messages. `direction in FSK: [-0.641501,-0.515780,0.567844] Fpublishing direction and range infoy4X6- onE+?Yuq@ )1IףiX94<+@Q>@ #?)ft@I#,>-;Lj?Kg?  0=@)Iϸi# checking for new query: numPingsReceived=29, elapsed TxPingTime=16.004723A! I1 IA OM >9T#,RLAYj#ByjIIn4<)np;bDv2VDvڰ8y=;<%=Y=ٔ=Q-E>9AYA=ETEyEDMEM>qQ 5}5u?Q 9}5ulK)uBYyyyQ IA@uDIu:iu :u5yɮB.AԱiijRLAjX?"jX?:j%΄@RjDm60V?Bj4X6- onE+?*jϸ2j#Zjg+頬I>iVG?JjܿZ !I?j jDiTi?i|kjBjj`Qkojrjǽ?zj (@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.510167 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.697999 m, bearing: 237.786889 deg, lat: 36.779544 deg, lon: -121.859802 deg, deltaT: 1.009342 s, deltaX: 0.199767 m, approachRate: 0.197918 m/s, posRepo size: 4 :i2ihhhhhggjgrgere!Ze):e)*e-J?uBɢ}$,a)y } >iy)} yyiKUi(IIchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.143755}jZXDzDAAE EE)E"EI;*E8:VEFA4ZEa@a@a@a@@ @@_0@ AAIQIaAiAiBu4>BqBuIBuBBuf =BqBqBu);BuYEO>9  DDAT read: Rx Time:01:28:43.0490  TRx dataTimestamp_ set to:1764898123.995518pT#,x{SLAPDAT read: Bearing 315.5, -37.7 (Local) ~Local bearing/azimuth received: Bearing 315.5, -37.7 (Local) JJcY4=VDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 vDAT read: 01:28:43.0490 LVL= 32752, 20977, 25250, 32755, AGC= 48, IDX= 499, 0.20, 0.222, 1.973, 1.705, 1.800, PHS=-1.477, 0.218,-0.139, RAW= 281.5, 17.7, CAL= 281.1, 25.0, ROT= 229.0, -25.0 zYgot valid direction response: 01:28:43.0490 LVL= 32752, 20977, 25250, 32755, AGC= 48, IDX= 499, 0.20, 0.222, 1.973, 1.705, 1.800, PHS=-1.477, 0.218,-0.139, RAW= 281.5, 17.7, CAL= 281.1, 25.0, ROT= 229.0, -25.0 ~T#Rx 30: Read range and direction messages.%`direction in FSK: [-0.594591,-0.683999,0.422618]%Fpublishing direction and range infoy)-k㿜Z=R忬]y- ?Y-@)--Q-b ))-0I-Vi-d;_>-V-!8@-2+>-@ -f>)-@I-f߾))-Z2q0 ZR?lXx? -Il4@)-DI-Ti-f߾ٱJc=JH ?GͿ6?'|? K?մO`.?d?iJ9Y=TEyDE> Q 555 ?Q 955 K) BY9y=$;Q I=A@ DI ";i ; c5yEBɮE.AE"Ei)i-RLAj-?"j-?:j-݈@Rj-Y/0>K U?Bj-k㿜Z=R忬]y- ?*j-T2j-f߾Zj-f-isg&,Ri?Jj-햨ؿ+Ƙp?j-Eֿ j-YGi-zo?i-^wj-Bj)j-0kpj)rj-?zj-@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504640 s, deltaX: 0.300000 m, approachRate: 0.594483 m/s, rangeRepo size: 4 % Added new target pos. range: 1.997658 m, bearing: 245.053267 deg, lat: 36.779544 deg, lon: -121.859803 deg, deltaT: 0.504640 s, deltaX: 0.299658 m, approachRate: 0.593806 m/s, posRepo size: 4 :i)2i)h)h)h)h)hggjgrgereZe:e@*e`~?%BɢE.~)I Mnq>iI)M9IIiU hRiU2QYIYIYA=checking for new query: numPingsReceived=30, elapsed TxPingTime=16.650099E EEE"E ;*E?:VEZEBEL|T#,5SLA2 f<2m>2*5=ٱ2A/=2H?@Y̿?e? ?3ر@? j?i2 fI5DDAT read: Rx Time:01:28:43.5491 mTRx dataTimestamp_ set to:1764898124.498043}PDAT read: Bearing 321.1, -64.7 (Local) ~Local bearing/azimuth received: Bearing 321.1, -64.7 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1 ԩDAT read: 01:28:43.5491 LVL= 29424, 18417, 23458, 28147, AGC= 49, IDX= 499,-0.05, 2.121,-2.784,-2.400,-2.860, PHS=-1.201, 0.121, 0.416, RAW= 260.1, 9.0, CAL= 259.1, 8.6, ROT= 250.9, -8.6 %Ygot valid direction response: 01:28:43.5491 LVL= 29424, 18417, 23458, 28147, AGC= 49, IDX= 499,-0.05, 2.121,-2.784,-2.400,-2.860, PHS=-1.201, 0.121, 0.416, RAW= 260.1, 9.0, CAL= 259.1, 8.6, ROT= 250.9, -8.6 %T#Rx 31: Read range and direction messages.-`direction in FSK: [-0.323539,-0.934324,0.149535]5Fpublishing direction and range infoy9=۴ԿS&r#?Y=f@9=r=G=[ =m)=1I=^i===>=jD@=| >=p@ =`>)=!@imMb@Mb@Mb@iiii i9m r?kt:v?YmC>ym 0mT9Y=TEyDE>Q 55?Q 95K)YH>Q E;y;Q IA@DI|:i$<5yAɮEr.AAi9i=SLAj=>@"j=>@:j=5@Rj=` Ea忼+yE[jh?Bj=۴ԿS&r#?*j=S2j=`Zj==bɿkLxA?Jj=ߧٲ4zY6^͟,?j=" j=Ki=M?i=7j=Bj=G |?j9j=Brj=?zj=Q@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.502525 s, deltaX: 0.100000 m, approachRate: 0.198995 m/s, rangeRepo size: 4 e Added new target pos. range: 2.097541 m, bearing: 264.553812 deg, lat: 36.779544 deg, lon: -121.859803 deg, deltaT: 0.502525 s, deltaX: 0.099883 m, approachRate: 0.198762 m/s, posRepo size: 4 :ieeRStopped intercept timer at range: 2.10 m.2iahahihihihigigijgqrguBereZe:e@*e`I?Bɢ)  t>i ) [J 1i5Ni=,99I9IAIIII ߽ =߽ < checking for new query: numPingsReceived=31, elapsed TxPingTime=17.150999E  E E E "E ;*E :VE ZE a @a @a @a @ 9@  @ @ /@ ) B 5>B B B B B B B ;B YEBBBBg =Bf =C6L5A!I1IAOM>ۣT#,59SLA2;2d>24=ٱ2=2H,? ˿@R?`R?@J$? ~ ?@Z?i2;I27];2CY>)By>I @@bDHVDHyNe=%R^=ٔR:Q-R>9PYT=VTEyVDV¼EZ>XQ 5^5Z?Q 9^5ZK)XY`ybqQ IbA@ZDIZ:iZ:Z5ydɮj=.Ah:ix2ixhxhxh|h|h|g|g|jgrgereZe :e *e ?=Bɢ=@)9 ={>i9)EATAAiEXLi&II UDDAT read: Rx Time:01:28:44.0492 UTRx dataTimestamp_ set to:1764898125.002205mPDAT read: Bearing 314.9, -45.4 (Local) u~Local bearing/azimuth received: Bearing 314.9, -45.4 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.2 9@ @@@1@1EDAT read: 01:28:44.0492 LVL= 30256, 19937, 23698, 31907, AGC= 47, IDX= 502, 0.13,-1.190, 0.580, 0.519, 0.424, PHS=-1.512, 0.201, 0.050, RAW= 274.6, 15.2, CAL= 274.4, 22.0, ROT= 235.6, -22.0 MYgot valid direction response: 01:28:44.0492 LVL= 30256, 19937, 23698, 31907, AGC= 47, IDX= 502, 0.13,-1.190, 0.580, 0.519, 0.424, PHS=-1.512, 0.201, 0.050, RAW= 274.6, 15.2, CAL= 274.4, 22.0, ROT= 235.6, -22.0 uT#Rx 32: Read range and direction messages.}`direction in FSK: [-0.523828,-0.765032,0.374607]}Fpublishing direction and range infoyQUV3DS/${迻?YU3@QU0vUMU\ U|)U/IU7iUM>UL=U]@Uԇ>U@@ U >)Ux@IU ľQQUL7,L҆?R\E]? Uܦ,@)UIU iU ľQQchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.455942IIOB>aԙ  checking for new query: numPingsReceived=32, elapsed TxPingTime=17.659664E  E E E "E *E :VE ZE BE O22=ٱ2p=2H";?ʿܭ?T?c2?()S??i2@I2+];2CY^%By^IyiMb@Mb@Mb@ 9S?Q롿Mb?Y/]>y\<@A )AYAbDVD8y%<=ٔ\EQ->9Y=TEyDE>Q 55Ǥ?Q 95aK)BY`>Q Eq;y2M=Q IA@DI:i:#5yɮ`.Aii $@SLAj@"j@:j^@RjRA%-?BjV3DS/${迻?*j 2j ľZj\xz2++&l2{=f?Jjdv~y տ*q)*3,`ĸ?j jYAi+m?i5jBj+m?j^wjBrj?zjjE@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504162 s, deltaX: 0.200000 m, approachRate: 0.396698 m/s, rangeRepo size: 4  Added new target pos. range: 2.297308 m, bearing: 249.542597 deg, lat: 36.779545 deg, lon: -121.859806 deg, deltaT: 0.504162 s, deltaX: 0.199767 m, approachRate: 0.396236 m/s, posRepo size: 4 :i2ihhhhhggjgrgBereZe:e`ff@*eǘ?5Bɢ5 ))9 =.i>i9)=99i=HiE0AAIIIiԱ-9@) @)@5/@1AQzAUzA]DDAT read: Rx Time:01:28:44.5491 eTRx dataTimestamp_ set to:1764898125.504303uPDAT read: Bearing 249.3, -24.4 (Local) u~Local bearing/azimuth received: Bearing 249.3, -24.4 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1 DAT read: 01:28:44.5491 LVL= 18992, 19921, 32754, 23139, AGC= 50, IDX= 501, 0.08,-0.181, 0.032, 1.324, 1.916, PHS=-1.995,-1.839,-0.637, RAW= 216.0, 50.8, CAL= 214.9, 58.8, ROT= 295.1, -58.8  Ygot valid direction response: 01:28:44.5491 LVL= 18992, 19921, 32754, 23139, AGC= 50, IDX= 501, 0.08,-0.181, 0.032, 1.324, 1.916, PHS=-1.995,-1.839,-0.637, RAW= 216.0, 50.8, CAL= 214.9, 58.8, ROT= 295.1, -58.8  T#Rx 33: Read range and direction messages.I9IIO]v>e^direction in FSK: [0.219747,-0.469109,0.855364]eFpublishing direction and range infoyae. ?v,޿ $_?Yef@ae0JeMe ecZ)e2Ie)\ieZd뿉eo#e:Fq@eb?e p@ eG\?)eФ@IeG\aaef~2?[}? e?)e.cIeieG\aachecking for new query: numPingsReceived=33, elapsed TxPingTime=17.954948 \T#, lSLA2@2 MU>2%0=ٱ2=2HxG?Jɿqѭ?r?;?@Y`f ?9?i2@I2(];2CYN.ByNIbDVVDV8y^HF=%^Z=ٔ^]Q-b>9`Y`=bTEybDfnEf>hQ 5n5jͤ?Q 9n5jIK)jBYlyn2/=Q InA@jDIj:ij:j&5ytɮv.AtiiF`SLAj>@"j>@:j'@Rj$Rn?= |￘5?Bj. ?v,޿ $_?*j2jG\Zj7U &?@u> ?Jj)?3jy޿收հ?j| j0A?iѓ ?i>ejBjjjBrj?zj@5 addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.502098 s, deltaX: -0.200000 m, approachRate: -0.398329 m/s, rangeRepo size: 4 E Added new target pos. range: 2.097542 m, bearing: 307.406341 deg, lat: 36.779545 deg, lon: -121.859806 deg, deltaT: 0.502098 s, deltaX: -0.199766 m, approachRate: -0.397862 m/s, posRepo size: 4 :iMMTStarting intercept timer at range: 2.10 m.2iIhIhIhIhQhQgQgQjgYrgYeYreYZeY:ee@*ee`?颍BɢUchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.158949)) -t>i1)5611i5Fi=*99I9IAEU EUEU+EQ"EU:*EUz:VEU [4ZEQa]@a]@a]@a]@9@ @@/@IiIyO>B<AB<>BCBIBBBe =BBHDB;BYEAU DDAT read: Rx Time:01:28:45.0492 ] TRx dataTimestamp_ set to:1764898126.006025m PDAT read: Bearing 234.2, 24.1 (Local) u ~Local bearing/azimuth received: Bearing 234.2, 24.1 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.2  DAT read: 01:28:45.0492 LVL= 16368, 19393, 32754, 25075, AGC= 48, IDX= 502,-0.12,-0.427,-1.271,-0.867, 0.144, PHS=-0.469,-1.370,-1.055, RAW= 110.1, 52.2, CAL= 108.2, 57.3, ROT= 41.8, -57.3  Ygot valid direction response: 01:28:45.0492 LVL= 16368, 19393, 32754, 25075, AGC= 48, IDX= 502,-0.12,-0.427,-1.271,-0.867, 0.144, PHS=-0.469,-1.370,-1.055, RAW= 110.1, 52.2, CAL= 108.2, 57.3, ROT= 41.8, -57.3  T#Rx 34: Read range and direction messages. \direction in FSK: [0.402736,0.360088,0.841511] Fpublishing direction and range infoyQ U kn?`IO ??YU 3@Q U ?U KQ U a)U 0IU iU )\U = U 2b.=ٱ2T=2HuS?ɿ@?@׎?jE?e@ʥ??i2ֆ@I2];2CYB/ByBIIF=)F=bDNVDNİ8yV;%VL=ٔVЮQ-V>9XYX=ZTEyZDZE^>|Q 55~դ?Q 95~4K)~BY y :=Q I A@~"DI~X:i~:~f*5yBɮ@.AiibSLAj@"j@:jH?Rji)iSBi$  I I 9:@ @@/@Ichecking for new query: numPingsReceived=34, elapsed TxPingTime=18.664789IIiE EE)E"E&:*Eą:VEFA4ZEBEh;ԉԹ e DDAT read: Rx Time:01:28:45.5489 m TRx dataTimestamp_ set to:1764898126.509508} DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.2  Z#Rx 35: Read range message, but no direction.ya Ye f?a  checking for new query: numPingsReceived=35, elapsed TxPingTime=18.920391fT#,9SLA2@I@2VF>2*=ٱ2Z=2H_?@ȿ`?`?P? Y@u ??i2@I@I2@-];2CYv:ByvIiMb@Mb@Mb@ 9v?/$ rh?Yx>yC<@;A @)$AYAbDVDǰ8yN?=%4=ٔ,Q->9Y=TEyĶDE> Q 55 ޤ?Q 95 J) BY]z>Q EY;Yy]O=Q IeA@ %DI B0i)rig?i.II9@ @@@ԑA?AI IO-N>checking for new query: numPingsReceived=35, elapsed TxPingTime=19.166859D==D9EE EEEE$EA"EEl;*EE:VEE4ZEAaM@aM@aM@aM@B J>B CB IB BB ` =B 3DB JDB Ӟ;B YE >2#&=ٱ2ӧ=2Hk?`4ǿ&,??S\?M פ?@?i2 @I2];0YR.ByRI V=TbDZ VDZ8yb%bb=ٔf4Q-f>9dYh=jTEyj˶DrEv>Q 55/椊?Q 95J)BY!y-7=Q I-A@(DI;i;~15yɮG.A:iDDAT read: Rx Time:01:28:46.0491 TRx dataTimestamp_ set to:1764898127.013488 PDAT read: Bearing 316.9, -2.7 (Local) ~Local bearing/azimuth received: Bearing 316.9, -2.7 (Local) %DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 EDAT read: 01:28:46.0491 LVL= 18240, 19137, 29970, 31155, AGC= 49, IDX= 501, 0.32, 3.121,-1.242,-2.727,-1.488, PHS=-1.572, 0.291,-1.283, RAW= 321.7, 27.6, CAL= 321.5, 32.7, ROT= 188.5, -32.7 MYgot valid direction response: 01:28:46.0491 LVL= 18240, 19137, 29970, 31155, AGC= 49, IDX= 501, 0.32, 3.121,-1.242,-2.727,-1.488, PHS=-1.572, 0.291,-1.283, RAW= 321.7, 27.6, CAL= 321.5, 32.7, ROT= 188.5, -32.7 UT#Rx 36: Read range and direction messages.]`direction in FSK: [-0.832267,-0.124383,0.540240]]Fpublishing direction and range infoyNsuVv׿d I?Yf@@GJu y)1IL7ɿi>X9ӫ@Ϣ>:@ ?)xR@I$Z~tԊԿNiB? 0)&QI=?ichecking for new query: numPingsReceived=36, elapsed TxPingTime=19.436216TStarting intercept timer at range: 1.80 m.2ihhhhhggjgrgereZe:e@*e@S?Bɢ-x)) -<]>i))5I11i501  checking for new query: numPingsReceived=36, elapsed TxPingTime=19.673561E}  E} E} -Ey "E} ;*E} Ǚ:VE} t4ZEy BE} D60"=ٱ6x=6HLw?@CƿaF??`Wh?)h]@I?"?i6@I6B];6CYN7ByNI PPieMb@Mb@Mb@aaaa a9eRQ?{Gzt? rh?Ye>yeף;ae@eA e)eQAaYeQAbDVD8y=%<=ٔE Q->9 ?Y ?=TEyԶDE>Q 55\金?Q 9 5!J)BY߂>Q EO;ygE>Q IA@,DIq;i;I55yɮ.A!i)i-SLAj-?@"j-?@:j-Va@Rj-R?>Ȳп]\|!?Bj-NsuVv׿d I?*j-=?2j-Zj-u YQAG&%W#?Jj-v)t;ӿׄjk?j-% j-2οi-/g?i-:)[j-Bj)j->ej-Brj-w?zj-=ۀ@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503980 s, deltaX: 0.300000 m, approachRate: 0.595262 m/s, rangeRepo size: 4  Added new target pos. range: 2.097647 m, bearing: 201.896757 deg, lat: 36.779548 deg, lon: -121.859798 deg, deltaT: 1.007463 s, deltaX: -0.199696 m, approachRate: -0.198217 m/s, posRepo size: 4 :iRStopped intercept timer at range: 2.10 m.2ihhhhhgg jg rg (Be reZe:e*e?)]ÀBɢed)a elg>i)>顩iX9i2II! DDAT read: Rx Time:01:28:46.5491  TRx dataTimestamp_ set to:1764898127.518230PDAT read: Bearing 320.6, -10.4 (Local) ~Local bearing/azimuth received: Bearing 320.6, -10.4 (Local) -DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 1@9 @9@=/@9QDAT read: 01:28:46.5491 LVL= 25520, 19073, 32754, 32755, AGC= 46, IDX= 501, 0.43,-1.623, 0.675,-0.843, 0.204, PHS=-1.725, 0.515,-1.091, RAW= 314.1, 22.1, CAL= 313.6, 27.3, ROT= 196.4, -27.3 Ygot valid direction response: 01:28:46.5491 LVL= 25520, 19073, 32754, 32755, AGC= 46, IDX= 501, 0.43,-1.623, 0.675,-0.843, 0.204, PHS=-1.725, 0.515,-1.091, RAW= 314.1, 22.1, CAL= 313.6, 27.3, ROT= 196.4, -27.3 T#Rx 37: Read range and direction messages.`direction in FSK: [-0.852463,-0.250893,0.458650]Fpublishing direction and range infoy  puX`Gޒпg̤Z?Y   c J  ) .I ܿi  ? 㥋 2m@ |> %@ >) a[@I    :h$1b%C̿p8PU? Y9) žI 26i   =checking for new query: numPingsReceived=37, elapsed TxPingTime=19.963671 w>kC  G!9mm9iYmjAIIOԁ T#,9)Y)=-TEy-۶D-E->echecking for new query: numPingsReceived=37, elapsed TxPingTime=20.1750831Q 555h?Q 955I)5BYyQ IA@5/DI57xiy)}Ԃyyi57i,IIԑ 9@  @ @ 1@ AEAAAABMN>BMCBMIBM BBM_ =BIBIBMȞ;BMYEI!I1OEQ>Թ DDAT read: Rx Time:01:28:47.0493  TRx dataTimestamp_ set to:1764898128.020680% DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.2 % Z#Rx 38: Read range message, but no direction.y Y @ - checking for new query: numPingsReceived=38, elapsed TxPingTime=20.430260 U#,0TLA2L@2@&>2W=ٱ28=2H@ȍ?SĿt?? ?ݭ`Xq@~?`I?i2L@I2K];2CY>6By>I\bDFVDF8yf%fP=ٔfQQ-j>9hYh=jTEyjDn#En>pQ 5v5r?Q 9v5r,I)rBYtyv5>Q IzA@r2DIr:ir:r<5y|ɮ~>.A|- addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502450 s, deltaX: 0.300000 m, approachRate: 0.597075 m/s, rangeRepo size: 4 :i)2i)h)h)h)h)h1g1g1jg9rg9e9re9Ze9:eE@33@*eEI?mʀBɢml)i uV>iq)u=qqiu4i}&yyII-9@) @)@-5@1IIO=checking for new query: numPingsReceived=38, elapsed TxPingTime=20.681013E= E=E=+E9"E=V:*E=~:VE= [4ZE9BE=9Bbq=ٱBC=BH1?[ÿ T???@> ??iB? @IB6];@^Ygot valid direction response: 01:28:47.5494 LVL= 19696, 10129, 32754, 25683, AGC= 48, IDX= 502, 0.44, 2.635,-2.160, 2.282,-2.603, PHS=-0.943, 0.488,-1.443, RAW= 344.4, 21.1, CAL= 344.4, 25.8, ROT= 165.6, -25.8 bT#Rx 39: Read range and direction messages.f^direction in FSK: [-0.872034,0.223900,0.435231]fFpublishing direction and range infoyY]jFm{(?2T?Y]f&@Y]L]'Y ]Sd)]0I]shqi]#>]9]hY@])>]hY@ ]>)]8@I]澩YY] O];Ψ˔? ]j)]ݼI]8@i]澩YYrchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.967031Y=,By=IIA)EC=iMb@Mb@Mb@ 9K7?:v?~jt?Y>yT<D<@A )$AYAbDVD8y)%.=ٔӺQ->9Y=TEyD臼E>Q 5m5L ?Q 9u5H)Yu>Q EuD;yuL>Q IuA@6DI1g?Jj]X] #?-F/?j]6> j]Bi] K?i]$yDj]Bj]+~Eo?Ij]:)[j]Brj]_?zj]L`@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504667 s, deltaX: 0.200000 m, approachRate: 0.396301 m/s, rangeRepo size: 4  Added new target pos. range: 2.597105 m, bearing: 176.277427 deg, lat: 36.779542 deg, lon: -121.859793 deg, deltaT: 1.007117 s, deltaX: 0.499458 m, approachRate: 0.495928 m/s, posRepo size: 4 :i  RStopped intercept timer at range: 2.60 m.2ihhhhhggjgrg BereZe!:e%@*e-@Y?颕πBɢ4) 8>i)K顙i/0i0II}checking for new query: numPingsReceived=39, elapsed TxPingTime=21.182999ԑ@ @@0@II)D1D1E= E=E=,E9"E=:*E=:VE=g4ZE9aE@aE@aE@aE@OM>ԡ BE \>BE CBA BA BE ^ =BA BE KDBE ;BE YEFU#,;TLAԁY"ByIbDVDİ8y&C%W=ٔQ-%>9!Y)=-TEy-D5E5>9Q 5E5=?Q 9E5=G)=BYIyIQ IMA@=9DI=:i=_:=C5yUBɮ] /A]$EuB*** querying acoustic contact ***iqiq:i2ihhhhhggjgrgereZe:e*e`Υ?颽ҀBɢ銼)  >i)pi.DDAT read: Rx Time:01:28:48.0497 TRx dataTimestamp_ set to:1764898129.029147PDAT read: Bearing 319.8, 12.8 (Local) ~Local bearing/azimuth received: Bearing 319.8, 12.8 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.2 DAT read: 01:28:48.0497 LVL= 26848, 16449, 32754, 32755, AGC= 50, IDX= 504, 0.42, 2.865,-2.136, 2.719,-2.446, PHS=-0.870, 0.355,-1.162, RAW= 340.5, 23.0, CAL= 340.2, 27.8, ROT= 169.8, -27.8 Ygot valid direction response: 01:28:48.0497 LVL= 26848, 16449, 32754, 32755, AGC= 50, IDX= 504, 0.42, 2.865,-2.136, 2.719,-2.446, PHS=-0.870, 0.355,-1.162, RAW= 340.5, 23.0, CAL= 340.2, 27.8, ROT= 169.8, -27.8 T#Rx 40: Read range and direction messages.^direction in FSK: [-0.870601,0.156646,0.466387]Fpublishing direction and range infoygtKy ?]jBG?Y@@hA@ )2IR^iµ>j+@>@ Ul>)=@IUli*II~Rhg1( ? )A;I=@iUl5checking for new query: numPingsReceived=40, elapsed TxPingTime=21.478907ԩ@ @@4@IIO%M>ߕ =ߑ  checking for new query: numPingsReceived=40, elapsed TxPingTime=21.690311 E}  E} E} (Ey "E} ;*E} c:VE} c44ZEy BE} D2=ٱ2̋=2H@?,1h???@ @2O@Es??i2|@I2t];2CYNByRIi%Mb@Mb@Mb@!!!! !9%S㥛?I +?Mb`?Y%ݤ>y%94<%;%@%A !)%A!Y%zAbDEVDE8yMͼ%MX=ٔUt{Q-U>9QYY=]TEy]D]$>Ee>aQ 5m5e?Q 9u5enG)eBYu>Q Eu$;yu>/>Q IuA@e=DIe:ie;eF5yɮ0/Ai i ATLAj ?@"j ?@:j kH@Rj jn)2k ?/)\?Bj gtKy ?]jBG?*j =@2j UlZj 2}lO?uғL?Jj HÕ뿨+z?YW7?j ڜ< j T%i C?i f|Fj 'Bj /g?j f|Fj rj @zj }H@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503800 s, deltaX: 0.400000 m, approachRate: 0.793966 m/s, rangeRepo size: 4  Added new target pos. range: 2.996742 m, bearing: 179.575335 deg, lat: 36.779542 deg, lon: -121.859785 deg, deltaT: 0.503800 s, deltaX: 0.399637 m, approachRate: 0.793246 m/s, posRepo size: 4 :i2ihhhhhggjgrgBereZe:e@*e?颥րBɢJx) >i)顩i+i$II@ @@/@II)O5.>DDAT read: Rx Time:01:28:48.5497 TRx dataTimestamp_ set to:1764898129.532801DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3 Z#Rx 41: Read range message, but no direction.yYchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.9426231Y XU#,oTLA2 6@2@>2dB=ٱ2TO=2H?Q@&?o?`? @X ,İ? R?i2 6@I2GP];2CYVByVIbDbɿVDbz8yzj%zP=ٔ~.Q-~>9|Y=TEyDCE> Q 55 M'?Q 95 F) BYym&>Q IA@ ADI ;i ; 7J5y!ɮ%G/A!Echecking for new query: numPingsReceived=41, elapsed TxPingTime=22.190901e addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503654 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :ia2iahahahahahagigijgirgieqreqZeq:eq*e}%?颥ـBɢx) >i)#顩i(i.IIE EE)E"E:*E:VEFA4ZEa@a@a@a@15:@1 @1@5/@1Bw>BCBIBBBX =BBNDB;BYEBCBCBĖCB_ =B_ =CU6aA}؟AIIO=>ԉDDAT read: Rx Time:01:28:49.0497 TRx dataTimestamp_ set to:1764898130.036677 DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3  Z#Rx 42: Read range message, but no direction.yY checking for new query: numPingsReceived=42, elapsed TxPingTime=22.446245Թ /@"U#,pTLA2V@22=2Sy =ٱ2=2H?@ؽHS?0o?` ?@姭D`?` ?i2V@I2l];2CYR ByRIbDZVDZ8yb%bN=ٔb2Q-f>9f"?Yf"?=fTEyf Dj!ƼEj>lQ 5-5n1?Q 9-5naF)nBY)y->Q I5A@nEDIn8 DDAT read: Rx Time:01:28:49.5497  TRx dataTimestamp_ set to:1764898130.540644 DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3  Z#Rx 43: Read range message, but no direction.y Y   checking for new query: numPingsReceived=43, elapsed TxPingTime=22.950241! oj(U#,YLTLAV@V@=V[ =ٱVs=VHh?a@z?@K?s?]Ji?@?iV@IV.J];VCY=By=IiMb@Mb@Mb@ 9~jt?{Gzt~jth?Y>yףD;@;A 3@)Y3AbD5VD5İ8yER%E4=ٔMۺQ-M>9IYI=UTEyUDU$EU>YQ 5e5]=?Q 9e5] F)]BYm>Q Em.;ym(=Q ImA@]JDI]:i](:]Q5yqɮ}f0Ay addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :i2ihhhhhggjgrgʀBereZe:e*ee?BɢLϼ) 8h=i)%i5l"i2II@ @@@AIIOn>]checking for new query: numPingsReceived=43, elapsed TxPingTime=23.198973E EE)E"E:*E:VEFA4ZEa%@a%@a%@a%@I B >B CB IB BB S =B B PDB ;B YEU.U#,HTLA>6B@>=>=ٱ>>j=>H@X?&̸£?)O?@? gV??i>6B@I>k1];>CYRByRII^<)^<bDf>VDf8y5?%5\=ٔ=޺Q-=>9AYA=ETEyEDMZEU>YQ 5e5] G?Q 9m5]E)]BYqyu=Q IuA@]NDI]pJ;i]F;]T5yyɮ}p0Ay:iTStarting intercept timer at range: 3.00 m.2ihhhhhggjgrgereZe:e*e`H?Bɢ6Ѽ) E=i)iii,III yA) DDAT read: Rx Time:01:28:50.0498 TRx dataTimestamp_ set to:1764898131.045477DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 Z#Rx 44: Read range message, but no direction.yYL@checking for new query: numPingsReceived=44, elapsed TxPingTime=23.455988a@ @@0@AII OK>ԉԹ u checking for new query: numPingsReceived=44, elapsed TxPingTime=23.705505D D <E5  E5 E5 (E1 "E5 :*E5 :VE5 c44ZE1 BE5 N-y ' ` $A  $A) A Y AbD%VD%8y5%5K=ٔ=Q-=>99YA=ETEyE%DEռEE>IQ 5U5MrR?Q 9U5ME)MBY]X>Q E];y]Q I]A@MRDIM;iM;MhX5yeBɮe0Am&EB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504833 s, deltaX: 0.200000 m, approachRate: 0.396171 m/s, rangeRepo size: 4 :iRStopped intercept timer at range: 3.20 m.2ihhhhhg!g!jg!rg%ՀBe)re)Ze):e- @*e- ?Bɢ޼) <i )iCi5&9AIAIqDDAT read: Rx Time:01:28:50.5498 TRx dataTimestamp_ set to:1764898131.549727PDAT read: Bearing 314.7, -31.0 (Local) ~Local bearing/azimuth received: Bearing 314.7, -31.0 (Local) DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 :@ @@/@DAT read: 01:28:50.5498 LVL= 26048, 21777, 16450, 23603, AGC= 51, IDX= 508,-0.14,-1.313, 1.046, 0.187, 0.569, PHS=-1.780, 0.522,-0.426, RAW= 294.2, 16.5, CAL= 292.4, 23.4, ROT= 217.6, -23.4 %Ygot valid direction response: 01:28:50.5498 LVL= 26048, 21777, 16450, 23603, AGC= 51, IDX= 508,-0.14,-1.313, 1.046, 0.187, 0.569, PHS=-1.780, 0.522,-0.426, RAW= 294.2, 16.5, CAL= 292.4, 23.4, ROT= 217.6, -23.4 %T#Rx 45: Read range and direction messages.-`direction in FSK: [-0.727127,-0.559964,0.397148]-Fpublishing direction and range infoy, *àD翈j8M\1j?YeUB@ 3\)3I iˡ?ھO@r>N@ >)s@IѾx"TJ ܸ?SJ:? CB@)[ޓIiѾchecking for new query: numPingsReceived=45, elapsed TxPingTime=24.020372AIIYIiOu>! ;U#,TLA6@6=6C=ٱ6?`=6HM?^9 Y = TEy -DqE>%checking for new query: numPingsReceived=45, elapsed TxPingTime=24.206985!Q 5-5%]?Q 9-5%F)%BY1y5.Q I5A@%VDI% ;i%e ;%[5yAɮEj1AAii.TLAjL@"jL@:jy@RjGjɌd\@<^$NP?Bj, *àD翈j8M\1j?*j2jѾZj:>:T#?JjSC`]N`mx?j ji.٩?i"Nl{j_Bjj:)[jBrjA@zj85Z@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504250 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.196809 m, bearing: 223.526981 deg, lat: 36.779542 deg, lon: -121.859793 deg, deltaT: 2.520580 s, deltaX: 0.200067 m, approachRate: 0.079373 m/s, posRepo size: 4 :iTStarting intercept timer at range: 3.20 m.2ihhhhhggjgrgereZe:e*e`/M?E EE*E"E:*Ee:VE(N4ZEa@a@a@a@Bɢ:) Ri)i#i 0  I I9@ @@/5@)B>BBxIB׀BBR =BBBÞ;BYEIIO%M>QDDAT read: Rx Time:01:28:51.0500 TRx dataTimestamp_ set to:1764898132.053058PDAT read: Bearing 320.7, -18.1 (Local) ~Local bearing/azimuth received: Bearing 320.7, -18.1 (Local) DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.3  DAT read: 01:28:51.0500 LVL= 28944, 16785, 13074, 20787, AGC= 48, IDX= 511, 0.32,-1.463, 0.679,-0.562, 0.055, PHS=-1.416, 0.669,-0.661, RAW= 309.0, 15.2, CAL= 307.5, 20.7, ROT= 202.5, -20.7 % Ygot valid direction response: 01:28:51.0500 LVL= 28944, 16785, 13074, 20787, AGC= 48, IDX= 511, 0.32,-1.463, 0.679,-0.562, 0.055, PHS=-1.416, 0.669,-0.661, RAW= 309.0, 15.2, CAL= 307.5, 20.7, ROT= 202.5, -20.7 % T#Rx 46: Read range and direction messages.- `direction in FSK: [-0.864238,-0.357979,0.353475]- Fpublishing direction and range infoy է.| ֿiU?Yff@qA3 3Q)0I}?iC+?L7)@ԇ>@ >)1b@I-AJP}d(kÿ&c ? >)<I/iM checking for new query: numPingsReceived=46, elapsed TxPingTime=24.474667ԁ  PExceeded connect timeout, disconnecting.BU#, ULAY؀ByyI !!bD5VD58yEV%EF=ٔEQ-M>9IYI=MTEyM5DUEU>YYQ 5e5]i?Q 9e5]8F)]BYiyiQ ImA@][DI]C:i]\:]|_5yqɮu1Ayi i MeULAj ,f@"j ,f@:j h@Rj ʡXdD] W?Bj  է.| ֿiU?*j /2j Zj /jl C{Dl NS"?Jj :IRm&Fܿ/?j b˿ j =i 4p?i pj oBj +~Eo?j 6Geaj oBrj 8I@zj n}^@ addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503331 s, deltaX: 0.400000 m, approachRate: 0.794705 m/s, rangeRepo size: 4  Added new target pos. range: 3.596440 m, bearing: 208.270673 deg, lat: 36.779542 deg, lon: -121.859796 deg, deltaT: 0.503331 s, deltaX: 0.399631 m, approachRate: 0.793973 m/s, posRepo size: 4 :iRStopped intercept timer at range: 3.60 m.2ihhhhhggjgrgereZe:e @*e?额Bɢ>R) `&i)顡ii*IIV>i>===C=Echecking for new query: numPingsReceived=46, elapsed TxPingTime=24.713116m:@i @i@m5@iԩE  E E 'E "E :*E Ar:VE '4ZE BE a52E a5JE L;a=:E L;aEIIOb>Ա  DDAT read: Rx Time:01:28:51.5500  TRx dataTimestamp_ set to:1764898132.557119 PDAT read: Bearing 333.2, -18.8 (Local)  ~Local bearing/azimuth received: Bearing 333.2, -18.8 (Local)  DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.3 - DAT read: 01:28:51.5500 LVL= 20976, 14017, 12722, 14707, AGC= 50, IDX= 511,-0.26,-1.486, 1.040,-0.509,-0.001, PHS=-1.383, 1.087,-0.552, RAW= 310.7, 7.9, CAL= 308.6, 8.3, ROT= 201.4, -8.3 5 Ygot valid direction response: 01:28:51.5500 LVL= 20976, 14017, 12722, 14707, AGC= 50, IDX= 511,-0.26,-1.486, 1.040,-0.509,-0.001, PHS=-1.383, 1.087,-0.552, RAW= 310.7, 7.9, CAL= 308.6, 8.3, ROT= 201.4, -8.3 = T#Rx 47: Read range and direction messages.HU#,$ULA2X@2fa=2<ٱ2L=2H? ZDՠ?%?@?t@鑩??i2X@I2;];2CYV΀Bp|E`9AYE]AyZmI`direction in FSK: [-0.921304,-0.361055,0.144356]Fpublishing direction and range infoypR{oH׿'ЌCz?YQ61 s9)2I%i"?O @0 >Z@ V>)I`@IVjvYbj&ᅫCbǿftv? =) & Il(1iVԱchecking for new query: numPingsReceived=47, elapsed TxPingTime=25.038416iMb@Mb@Mb@ 9ʡE?p= ףy&1|Y->yA A);AYAbDVD8yer%e!=ٔmu(Q-m>9iYq=uTEyu@Du6Eu>yQ 55}xx?Q 95}F)}}BYJ>Q E;yQ IA@}`DI};i}};}c5yBɮA2Aii֧#ULAj"j:jd@Rj3Yށ a/?BjpR{oH׿'ЌCz?*jl(12jVZj5wx |2g& i^;z?Jj씃S쿞1ڿ+M,n?jI jNii?iVnjBji?jVnjrjmc@zjd@ addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.596440 m, bearing: 205.007539 deg, lat: 36.779542 deg, lon: -121.859802 deg, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i2ihhhhhggjgrgBereZe:e*e3?]BɢeM)a eia)eaiimDim$qqIqIEchecking for new query: numPingsReceived=47, elapsed TxPingTime=25.215757bE}:4jE}Dz>4rE}/E EEE"E:*E n:VEZEa @a @a @a @ a@a @a@e1@aIIO>B >B CB _IB ÀBB B B B ;B ZE9 NU#,w>ULAJp@J,=JzH<ٱJC=JH@4?@ि ?^?? ̧睿@q?`)?iJp@IJP4];JCYZByb[If@AfAAbDj+VDj԰8yr(ͽ%r=ٔvdQ-v?9tYt=vTEyvEDzj5Ez?|Q 55~?Q 95~4G)~zBYy Q I A@~dDI~:i~:~pf5yɮ2A:i2ihhhhhggjgrgereZe:e*e EH?Bɢԡ) ˽i!)%!!i%i-.))I)IQiߑIߑDDAT read: Rx Time:01:28:52.0501 TRx dataTimestamp_ set to:1764898133.061023DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 Z#Rx 48: Read range message, but no direction.yY3s@checking for new query: numPingsReceived=48, elapsed TxPingTime=25.4705929@ @@/@EnManaging dock network, ignoring radio surface power offIiIyO>9iE checking for new query: numPingsReceived=48, elapsed TxPingTime=25.718868D %=D R=E  E E &E "E s:*E k:VE 4ZE BE p0T @><>A<ٱ>.?=>H#?!(?t??6Aǜ??i>T @I>H];>CYJByNYIieMb@Mb@Mb@aaaa a9eQ?bX9ȶ~jthYeµ>yeEeDeAe$A a)aaYeAbD}VD}8y%@=ٔ)Q->9Y=TEyNDE>Q 55΍?Q 95H)vBYd>Q E;y\Q IA@iDIT;iz;(j5yɮ2AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503904 s, deltaX: 0.200000 m, approachRate: 0.396901 m/s, rangeRepo size: 4 :i2ihhhh h ggjg!rg%Be)re1Ze9:e=`ff@*eE`+?Ա颭BɢI+) \޽i)Gi i(IIDDAT read: Rx Time:01:28:52.5502 TRx dataTimestamp_ set to:1764898133.565294PDAT read: Bearing 325.7, -1.6 (Local) ~Local bearing/azimuth received: Bearing 325.7, -1.6 (Local) DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.3 DAT read: 01:28:52.5502 LVL= 25184, 14593, 15650, 17667, AGC= 47, IDX= 513,-0.07,-0.896, 1.342,-0.598, 0.436, PHS=-1.230, 0.951,-1.078, RAW= 326.4, 12.8, CAL= 325.8, 15.7, ROT= 184.2, -15.7 9@ @@@-Ygot valid direction response: 01:28:52.5502 LVL= 25184, 14593, 15650, 17667, AGC= 47, IDX= 513,-0.07,-0.896, 1.342,-0.598, 0.436, PHS=-1.230, 0.951,-1.078, RAW= 326.4, 12.8, CAL= 325.8, 15.7, ROT= 184.2, -15.7 5T#Rx 49: Read range and direction messages.=`direction in FSK: [-0.960106,-0.070506,0.270600]=Fpublishing direction and range infoy1I} RlyQ?Yy@`b9"= E)/Ipits?K@d>@ K>)M@IK8'衋Htۿ8m"@d? s+) eI^DiK}checking for new query: numPingsReceived=49, elapsed TxPingTime=25.998585IIOa> 1 O[U#,(rULA2@2b<2z<ٱ2+8=2H? ?9J??Ԧm.`'??i2@I2{4];2CY>ByBWIbDJVDJð8yf%fX=ٔfɺQ-f>9hYh=jTEyjVDjEn>pQ 5v5r+?Q 9v5rH)rsBYtyvhQ IvA@rmDIr:irb:rwm5yzB~%=~R=checking for new query: numPingsReceived=49, elapsed TxPingTime=26.223099ɮ 3A 'Eii-dULAjZy@"jZy@:jO@Rjs `ѿAlj?E EEE"E:*Eg:VEZEa@a@a@a@Bj1I} RlyQ?*j^D2jKZjo  ^ؿxZK?Jjl 偹1_H$/?jƾ jmia?itSjBjjj_BrjBx@zjpa@  addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504271 s, deltaX: 0.100000 m, approachRate: 0.198306 m/s, rangeRepo size: 4 = Added new target pos. range: 3.896153 m, bearing: 185.982664 deg, lat: 36.779542 deg, lon: -121.859802 deg, deltaT: 1.008175 s, deltaX: 0.299713 m, approachRate: 0.297283 m/s, posRepo size: 4 :iA2iAhAhAhAhAhAgAgIjgIrgIeIreQZeq:eu@33@*eu`u?Bɢ) i)>iim2qqIqIqB1A1B=>B9B=@IB=BB=S =B9B9B==;B=QZE%9@) @)@)@1AIAIQO]v>DDAT read: Rx Time:01:28:53.0504 TRx dataTimestamp_ set to:1764898134.068845DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 Z#Rx 50: Read range message, but no direction.yYf@checking for new query: numPingsReceived=50, elapsed TxPingTime=26.478424i rbU#,ULA 6?@6D;6^<ٱ6"/=6H?;oDO?`Ft?@l? ޥ?`?i6?@I6aS];6CYbByb@I hj<bDjVDj8yr%rH=ٔv'Q-v>9tYx=zTEyz^DzEz>|Q 55~]?Q 95~IQ = tI)~oBY y vQ I B@~rDI~:i~:~q5yɮ3AM addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503551 s, deltaX: 0.300000 m, approachRate: 0.595768 m/s, rangeRepo size: 4 :iI2iIhIhIhIhIhIgQgQjgQrgQeYreYZeY:e]@*ee }?颍Bɢ~') D i)Q顑iqi,IIU9@Q @Q@U/@Qԁchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.726858DzDE EEE"Es:*E]t:VEZEBEa2EaJE;a :E;a II O5O>ԡ  DDAT read: Rx Time:01:28:53.5504  TRx dataTimestamp_ set to:1764898134.572627 DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4  Z#Rx 51: Read range message, but no direction.y Y  checking for new query: numPingsReceived=51, elapsed TxPingTime=26.982210BiU#,ޥULAɰLVk@V@V(<ٱV[(=VH?cr? %?~ ?`+`C|@? R?iVk@IVC@];VCYfByj=IiMb@Mb@Mb@ 9X9v?:v{Gzt?Y>yԽף;A $A)AYAbDVD8yU%==ٔoQ->9Y=UEygDrE>Q 55?Q 95 K)nBYs>Q E;yQ IB@wDII:i1:t5y"Bɮ3A(E- addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503782 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :i)2i)h)h)h1h1h1g1g9jg9rg=~BeAreAZeA:eI*eM?颍BɢP')D< l+i)顙ii&II:@ @@/@IIIYOm5>checking for new query: numPingsReceived=51, elapsed TxPingTime=27.230898E EE(E"E:*Ez:VEc44ZEa@a@a@a@B- >B) B- -IB- BB) B) B- QDB- ;B- ZEBCBCBɓCBS =BS =Ci 5I 2oU#,jULA2o@2hh@2<ٱ2 "=2H?>?4ǘ?G씿?K@ >?@?i2o@I2|e];2CY>By>DIbDF$VDFΰ8yb<%b[=ٔfQ-f>9dYd=jUEyjoDjEj>lQ 5r5n?Q 9r5n#L)nlBYtyv$Q IvB@n{DIn:inh:n x5yxɮz3A|:i!2i!h!h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5V?eBɢe))a mV$ii)mթiiim@iu0II}DDAT read: Rx Time:01:28:54.0507 }TRx dataTimestamp_ set to:1764898135.076761DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 Z#Rx 52: Read range message, but no direction.yyY}f@ychecking for new query: numPingsReceived=52, elapsed TxPingTime=27.4866269@ @@0@I)I9AOM>Ա% checking for new query: numPingsReceived=52, elapsed TxPingTime=27.734798D =D <E  E E )E "E :*E :VE FA4ZE BE 3yU/ݽU#9Y=UEyyDE>Q 55̥?Q 95M)kBYw>Q E ;yQ IB@DI ;i;]|5yɮ3AMB*** querying acoustic contact ***iIiI] addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504134 s, deltaX: 0.500000 m, approachRate: 0.991800 m/s, rangeRepo size: 4 :i2ihhhh!h!g!g!jg!rg-Be)re)Ze):e-@*e5_?DDAT read: Rx Time:01:28:54.5507 TRx dataTimestamp_ set to:1764898135.583587PDAT read: Bearing 331.1, -19.6 (Local) ~Local bearing/azimuth received: Bearing 331.1, -19.6 (Local) DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 DAT read: 01:28:54.5507 LVL= 21840, 15841, 23106, 26323, AGC= 53, IDX= 502,-0.15,-2.395, 0.196,-1.390,-0.916, PHS=-1.378, 1.157,-0.518, RAW= 310.5, 6.7, CAL= 308.4, 6.2, ROT= 201.6, -6.2 Ygot valid direction response: 01:28:54.5507 LVL= 21840, 15841, 23106, 26323, AGC= 53, IDX= 502,-0.15,-2.395, 0.196,-1.390,-0.916, PHS=-1.378, 1.157,-0.518, RAW= 310.5, 6.7, CAL= 308.4, 6.2, ROT= 201.6, -6.2 T#Rx 53: Read range and direction messages.`direction in FSK: [-0.924338,-0.365971,0.107999]-Bɢ-z$)1 525Fpublishing direction and range infoy®-k?:l׿Niإ?YPU=BZ f)5INbi?yj@|=9>@ k=)z0a@Ikݽ>?qc3ǿĆq9 C|U#,enULA2@2@@2<ٱ2^"=2H?Q? Fk? u?`ܤ SUR? ;?i2@I2gF];0YBByB9IbDJVDJð8rchecking for new query: numPingsReceived=53, elapsed TxPingTime=28.238632yv%v=ٔzӂQ-z ?9xYx=zUEy~D~E~ ?Q 5 5ե?Q 9 5N)YyQ IB@DIP:i:'5y(Bɮ#4A)Eii}YULAj@@"j@@:j^@RjO LM\3~~2X*:?Bj®-k?:l׿Niإ?*j;02jkݽZjBy'A6cPάS?Jj8$6Կkrs?jĿ jiɩb?iwjBjjpjBrjI@zjJ[@E EE*E"E:*E:VE(N4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.506826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 4.695401 m, bearing: 199.240110 deg, lat: 36.779542 deg, lon: -121.859802 deg, deltaT: 2.018293 s, deltaX: 0.799248 m, approachRate: 0.396002 m/s, posRepo size: 4 :i2ih!h!h!h!h!g!g!jg)rg)e)re)Ze):e1*eU ?额BɢS:) 6?i)(%顡iqi$IIA@AAB>BCB'IBBBR =BBB;BZEA?BɺqiߑIߑDDAT read: Rx Time:01:28:55.0509 TRx dataTimestamp_ set to:1764898136.085043DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 Z#Rx 54: Read range message, but no direction.yY@checking for new query: numPingsReceived=54, elapsed TxPingTime=28.4946279@ @@/@A .AI I O% >ԙ *U#,G VLA:}6@:/@:_<ٱ:=:H?j? ?s_?`P|rk@Dԣ??i:}6@I:^];8Y^Byb@IbDjVDhyr<%rK=ٔrLQ-v>9v ?Yv ?=vUEyvDzEz>|Q 55~᥊?Q 95~P)~jBYyQ IB@~DI~;i~:~5y=Bɮ4A2EE addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.501456 s, deltaX: 0.300000 m, approachRate: 0.598258 m/s, rangeRepo size: 4 :iA2iAhAhAhAhAhAgIgIjgIrgIeQreQZeQ:eU@*eU>:?颅Bɢd1) 8i)N:顉ii.IIq}Ǥ;checking for new query: numPingsReceived=54, elapsed TxPingTime=28.742977 9@  @@0@E EEE"E:*EM:VEZEBE> DDAT read: Rx Time:01:28:55.5510  TRx dataTimestamp_ set to:1764898136.588659 DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4  Z#Rx 55: Read range message, but no direction.y Y 3@  checking for new query: numPingsReceived=55, elapsed TxPingTime=28.998260 TU#,#'VLA2Lп@2@2<ٱ2=2HA?@~b?&?,?@B= w?`?i2Lп@I2X];0Y>By>8IiMb@Mb@Mb@ 9Gz?|?5^I +?Yp>yҽ94<A VA)AYA ===<bDEDVDE8yM߼%2=ٔ'nQ->9"?Y"?=UEyDT޼E>Q 55壘?Q 95Q)Y>Q E ;yѯQ IB@DI ;i;5yɮ4AU addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503616 s, deltaX: 0.100000 m, approachRate: 0.198564 m/s, rangeRepo size: 4 :iY2iYhYhYhYhYhYgagajgargeBeareiZei:e`ff@*e?Bɢ/) Ii)DiݻiM(IIIIIQchecking for new query: numPingsReceived=55, elapsed TxPingTime=29.246744E EE&E"E:*E|:VE4ZEa@a@a@a@U<) B >B B !IB BB S =B B B ;B ZE @  @ @ }0@ I I O >Q >U#,AVLAɰ;Bwh@Ba@Bb6<ٱBj=BH [? ?`?h(?ɣ YF`?`w?iBwh@IBq];BCY^By^=IbDf=VDf8ynζ<%nk=ٔrQ-r?9pYp=vUEyvDv Ev?xQ 5~5zn?Q 95zR)xYyLQ IB@zDIz[;iz;z5y CBɮ 4A3E:i12i1h1h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM@B?u Bɢuo:)y }*Eiy)}Jyyi}tػi2II]DDAT read: Rx Time:01:28:56.0511 ]TRx dataTimestamp_ set to:1764898137.092900eDAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 mZ#Rx 56: Read range message, but no direction.yYY]@Yuchecking for new query: numPingsReceived=56, elapsed TxPingTime=29.502472)Y9@ @@/@I I! O- >ԁ  checking for new query: numPingsReceived=56, elapsed TxPingTime=29.752638E  E E )E "E :*E Ar:VE FA4ZE BE a 2E a JE L;a :E L;a jU#,6ZVLA4@c@\<ٱŌ =H !? ո?`Ƒ? u?:K ?V?i@IM_];CYByIIiMb@Mb@Mb@ 9?MbQ?Y>yu<VA;A A)AYGAbDVD8y'=%0=ٔ-Q->9Y=UEyDE>Q 55?Q 95pT)kBY>Q E ;yQ IB@DI:i:ɍ5yɮ4A addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504241 s, deltaX: 0.200000 m, approachRate: 0.396636 m/s, rangeRepo size: 4 :i2ihhhhhggjgrg%Be!re!Ze!:e-@33@*e-?U Bɢ],)Y ]6iY)]+Yaiebлim,m=mC>IiIiԉ :@ @@@EpGeDDAT read: Rx Time:01:28:56.5512 mTRx dataTimestamp_ set to:1764898137.596928uDAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 uZ#Rx 57: Read range message, but no direction.yaYe̬@a}checking for new query: numPingsReceived=57, elapsed TxPingTime=30.006514II4f9YsbAOG>y-s?-oAԱ 7U#,tVLA2@2@2 <ٱ2u=2H`+?`?oԐ?@@?7@@??i2@I2];2CYNByR<IVAAVAAbchecking for new query: numPingsReceived=57, elapsed TxPingTime=30.254768dbDZVDZ8y~%k=ٔQ-?9 Y = UEy D  E?Q 5%5P?Q 9%5U)Y!y%ҵQ I%B@DIo;i:Ґ5y-JBɮ55A54EMB*** querying acoustic contact ***iIiIe addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504028 s, deltaX: 0.100000 m, approachRate: 0.198401 m/s, rangeRepo size: 4 :ia2iahahahihihigigijgqrgqeqreqbEjE34rE/E EEE"Es:*E n:VEZEa@a@a@a@Zeq:e@*e ?Bɢ&<) nOi)UiLʻi&cݚ=:>IIBu<Au<B}>ByB}'IB}BB}R =ByB}RDB}ҟ;B}ZE@ @@/@A?A>I)IIOe>uDDAT read: Rx Time:01:28:57.0513 }TRx dataTimestamp_ set to:1764898138.100610DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4 Z#Rx 58: Read range message, but no direction.yyY}3@ychecking for new query: numPingsReceived=58, elapsed TxPingTime=30.510187A yU#, VLA25@2/@2m<ٱ2=2Ht?@d??Ȏ?@#S?"km`?~?i25@I2Vm];2CYNByRBIIV%=)Va=bDZVDZ8yv<%vL=ٔv?Q-v>9xYx=zUEyzDzE~>Q 55?Q 9 5"W)lBY y JQ I B@DI:iG:S5yɮ4AM addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503682 s, deltaX: 0.200000 m, approachRate: 0.397076 m/s, rangeRepo size: 4 :iI2iIhIhIhQhQhQgQgQjgYrgYeYreYZea:ee`ff@*ee?颍Bɢ&6) Gi)顑i5ûi0S=w>II9@ @@0@IIO=%=checking for new query: numPingsReceived=58, elapsed TxPingTime=30.759171IE EEE"E:*Exv:VEZEBEa2EaJE;a:E;aԡ  DDAT read: Rx Time:01:28:57.5514  TRx dataTimestamp_ set to:1764898138.605140 PDAT read: Bearing 316.7, -29.4 (Local)  ~Local bearing/azimuth received: Bearing 316.7, -29.4 (Local)  DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4  DAT read: 01:28:57.5514 LVL= 21424, 10433, 22610, 23683, AGC= 59, IDX= 509, 0.32,-2.325, 0.035,-1.039,-0.728, PHS=-1.494, 0.808,-0.355, RAW= 300.3, 10.5, CAL= 297.8, 13.5, ROT= 212.2, -13.5  Ygot valid direction response: 01:28:57.5514 LVL= 21424, 10433, 22610, 23683, AGC= 59, IDX= 509, 0.32,-2.325, 0.035,-1.039,-0.728, PHS=-1.494, 0.808,-0.355, RAW= 300.3, 10.5, CAL= 297.8, 13.5, ROT= 212.2, -13.5  T#Rx 59: Read range and direction messages. `direction in FSK: [-0.822813,-0.518153,0.233445] Fpublishing direction and range infoy  *vi{T꿕e%E?Y f@ S ( RX \) ;I d;i N? µ @ f;> R@ :Fq>) m@I :Fq //D{wᅣx>x-cI)T:I%i:Fqbchecking for new query: numPingsReceived=59, elapsed TxPingTime=31.062742yieMb@Mb@Mb@aaaa a9ex&1?#~j{Gz?Ye>ye㥽e#9Y=UEyD*ܼE>Q 55-?Q 95X)mBY>Q E ;y㰾Q I%B@DI:i:r5y)ɮ-5A)iiVLAj9@"j9@:jd@Rj%Obt=o8JǑE?Bj*vi{T꿕e%E?*j%2j:FqZj[-~[!?Jj65z\PڿЯ?j ji_򆤊?i3YjLBjjjrjJ@zjJS@ addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504530 s, deltaX: 0.100000 m, approachRate: 0.198204 m/s, rangeRepo size: 4 M Added new target pos. range: 5.694546 m, bearing: 205.006309 deg, lat: 36.779542 deg, lon: -121.859802 deg, deltaT: 3.021553 s, deltaX: 0.999145 m, approachRate: 0.330673 m/s, posRepo size: 4 :iI2iIhIhIhIhIhQgQgQjgQrgUрBeYreYZeY:e]@*ee?ԱBɢl3) $Si) fY  i ;Wi%*-&M=-.n>I)I)checking for new query: numPingsReceived=59, elapsed TxPingTime=31.2629899@ @@/@E EE*E"Es:*E:VE(N4ZEa@a@a@a@Bu >Bu CBu -IBu BBu Q =Bq Bq Bu ;Bu '[E ^Ae >Ai zAi A I I O >JU#,lVLA,6l@6Cf@6Q<ٱ6--<6H? ģ? ?֔¿Ȥ? àGc? ?i6l@I6e];6CY>By>EI F=DbDJ VDJ8yR<%RW=ٔR5Q-R>9TYT=VUEyV·DVEZ>bDDAT read: Rx Time:01:28:58.0516 bTRx dataTimestamp_ set to:1764898139.109214fPDAT read: Bearing 298.9, -14.1 (Local) j~Local bearing/azimuth received: Bearing 298.9, -14.1 (Local) rDAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 MDAT read: 01:28:58.0516 LVL= 24464, 12097, 24098, 25923, AGC= 58, IDX= 512,-0.16, 1.060, 2.464, 1.656, 2.323, PHS=-1.161, 0.186,-0.711, RAW= 310.8, 26.7, CAL= 311.0, 31.9, ROT= 199.0, -31.9 UYgot valid direction response: 01:28:58.0516 LVL= 24464, 12097, 24098, 25923, AGC= 58, IDX= 512,-0.16, 1.060, 2.464, 1.656, 2.323, PHS=-1.161, 0.186,-0.711, RAW= 310.8, 26.7, CAL= 311.0, 31.9, ROT= 199.0, -31.9 UT#Rx 60: Read range and direction messages.]`direction in FSK: [-0.802718,-0.276398,0.528438]]Fpublishing direction and range infoy`b9L9ޯWX@ѿw]z?Yb@`b_bA/b"^ bCe)b:Ibibv>>b6b^@b>b@ bӇ?)bH^@qQ 5}5u3:?Q 9}5u/Z)qYyQ IB@uDIu:iu%:u5yPBɮ5AIbӇ``bw{t W-ſ9J)? bb<)b&Ib3ibӇ``checking for new query: numPingsReceived=60, elapsed TxPingTime=31.551373i`ib]VLAjbѿ@"jbѿ@:jb,SV@Rjb녝=?Wo95PW @Bjb9L9ޯWX@ѿw]z?*jb32jbӇZjb\@aY @Jjb/2LHƿY&?jb jbԞib %񗤊?iby2ujbBj`jby2uj`rjb@zjb{U@m addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504074 s, deltaX: 0.300000 m, approachRate: 0.595151 m/s, rangeRepo size: 4 } Added new target pos. range: 5.994329 m, bearing: 191.873623 deg, lat: 36.779542 deg, lon: -121.859805 deg, deltaT: 0.504074 s, deltaX: 0.299784 m, approachRate: 0.594722 m/s, posRepo size: 4 :iy2iyhyhyhhhggjgrgereZe:e@*e=?ԁ颕Bɢ9) $Ki)pP顙ibi$z= Df>IIY@Y @Y@]0@Y^A5R{>ԹAaIiIO>checking for new query: numPingsReceived=60, elapsed TxPingTime=31.772486E-  E- E- (E) "E- D:*E- ~:VE- c44ZE) BE- 2I ppttimMb@Mb@Mb@iiii i9mS㥛?+{Gzt?Ym$>ymmף;mAi mA)m AiYmAbD!VD˰8y=˼%<=ٔlcQ->9Y=UEyʷD E>Q 55G?Q 95[)lBY%>Q E;y/Q IB@DI:i:5yɮ@5A:i2ihhhhhggjgrgBereZe:e*ev?颭BɢT@) Xi)k顱i뮻i.L=&,]>IIDDAT read: Rx Time:01:28:58.5516 TRx dataTimestamp_ set to:1764898139.617939PDAT read: Bearing 303.3, -5.3 (Local)  ~Local bearing/azimuth received: Bearing 303.3, -5.3 (Local) DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 MDAT read: 01:28:58.5516 LVL= 24368, 12945, 22050, 25923, AGC= 59, IDX= 512, 0.12, 1.694,-3.010, 2.055, 2.946, PHS=-1.150, 0.372,-0.934, RAW= 322.5, 23.0, CAL= 322.1, 27.9, ROT= 187.9, -27.9 ]Ygot valid direction response: 01:28:58.5516 LVL= 24368, 12945, 22050, 25923, AGC= 59, IDX= 512, 0.12, 1.694,-3.010, 2.055, 2.946, PHS=-1.150, 0.372,-0.934, RAW= 322.5, 23.0, CAL= 322.1, 27.9, ROT= 187.9, -27.9 eT#Rx 61: Read range and direction messages.m`direction in FSK: [-0.875378,-0.121469,0.467930]mFpublishing direction and range infoy9쿿Rgޗڏ?Y0_2"V );I33iv>o4@>@ Q>)Q@IQyS8 k]ֿHC]? -/){;I<@iQchecking for new query: numPingsReceived=61, elapsed TxPingTime=32.043079@ @@0@ԩ^A]o>AIIO>  checking for new query: numPingsReceived=61, elapsed TxPingTime=32.274803E5  E5 E5 +E1 "E5 :*E5 :VE5 [4ZE1 a= @a= @a= @a= @ΚU#,VLA20@2@2 l^<ٱ2Jf<2Hֆ??@*? Kſ ? I͋&??i20@I2z];0YNByR9IbDZVDZ8yb%bZ=ٔbԄQ-f>9dYd=fUEyfҷDjHEj>lQ 5r5nR?Q 9r5n])lYpyrݽQ IvB@nDInj;inR:nҢ5yzVBɮz5Az5EAAB>BB4IBBBBBB;BI[EBeCi)i-PVLABeCj)"j):j-xG@Rj-wm=D&L|p@Bj-9쿿Rgޗڏ?*j-<@2j-QZj-sRoh?=з@Jj-:i"&I?@S>IYIY}:@y @y@}0@y DDAT read: Rx Time:01:28:59.0519  TRx dataTimestamp_ set to:1764898140.122015PDAT read: Bearing 300.6, -31.6 (Local) %~Local bearing/azimuth received: Bearing 300.6, -31.6 (Local) 5DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 ]DAT read: 01:28:59.0519 LVL= 15760, 10945, 12690, 17395, AGC= 62, IDX= 3,-0.46,-2.987,-1.129,-1.793,-1.469, PHS=-1.417, 0.384,-0.368, RAW= 294.6, 17.5, CAL= 293.1, 24.3, ROT= 216.9, -24.3 eYgot valid direction response: 01:28:59.0519 LVL= 15760, 10945, 12690, 17395, AGC= 62, IDX= 3,-0.46,-2.987,-1.129,-1.793,-1.469, PHS=-1.417, 0.384,-0.368, RAW= 294.6, 17.5, CAL= 293.1, 24.3, ROT= 216.9, -24.3 mT#Rx 62: Read range and direction messages.u`direction in FSK: [-0.728835,-0.547225,0.411514]uFpublishing direction and range infoy   kbR̺݂ῌL@V?Y @  = * 1 C) >I B`i > j "@ a> @ %>) Gr@I %پ   [_Yab"?$HJ? B@) ƜI  i %پ  checking for new query: numPingsReceived=62, elapsed TxPingTime=32.5453301^A ( n>A ?A ?a A I I O >LU#,EWLA216@2/@2K<ٱ2r<2H@u?h?.|?,_ǿ`;r?쟿z@Y?`?i216@I25j];2CY:By:>IbDFVDF8yJ<%NC=ٔN1Q-N>9PYP=RUEyR۷DRER>TQ 5^5V_?Q 9^5V^)VkBY\y^þQ I^B@VDIV;iV;V|5ydɮft5AdiiWLAji@"ji@:jMfg@Rj:rpY2ߍ Ƀ@Bj kbR̺݂ῌL@V?*j 2j%پZjƊc)|aOWW[@Jj-bV V^eڿ ?j-( jiѴ?icףjBj؍?jwjBrj@zj4S@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504076 s, deltaX: 0.300000 m, approachRate: 0.595149 m/s, rangeRepo size: 4 - Added new target pos. range: 6.294075 m, bearing: 207.159712 deg, lat: 36.779547 deg, lon: -121.859805 deg, deltaT: 0.504076 s, deltaX: 0.299746 m, approachRate: 0.594645 m/s, posRepo size: 4 :i)2i)h)h)h)h1h1g1g1jg9rg9e9re9Ze9:eE@33@*eE ?ԉchecking for new query: numPingsReceived=62, elapsed TxPingTime=32.778915EU EUEU)EQ"EUD:*EU|:VEUFA4ZEQBEQa]2EQa]JEUe;ae:EUe;ae颍BɢiD) ^i)s顑i'i2=tK>II @getADC uart error serial timeout Puart error - getPosition..serial timeoutq (Communications Faultq^A4e>AI&bCommunications Fault in component: DockingStepperI O >ia Ie Am DDAT read: Rx Time:01:28:59.5519 u TRx dataTimestamp_ set to:1764898140.625299} PDAT read: Bearing 300.4, -29.6 (Local) } ~Local bearing/azimuth received: Bearing 300.4, -29.6 (Local)  DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 ԙ  DAT read: 01:28:59.5519 LVL= 29632, 14417, 21810, 28963, AGC= 60, IDX= 499,-0.04, 1.011, 2.871, 2.146, 2.518, PHS=-1.405, 0.398,-0.416, RAW= 296.8, 17.8, CAL= 295.3, 24.4, ROT= 214.7, -24.4  Ygot valid direction response: 01:28:59.5519 LVL= 29632, 14417, 21810, 28963, AGC= 60, IDX= 499,-0.04, 1.011, 2.871, 2.146, 2.518, PHS=-1.405, 0.398,-0.416, RAW= 296.8, 17.8, CAL= 295.3, 24.4, ROT= 214.7, -24.4  T#Rx 63: Read range and direction messages. `direction in FSK: [-0.748713,-0.518434,0.413104] Fpublishing direction and range infoyi m 7uG IMp?Yi i m sm Q8m 2U m #q)m <Im ׳im >m Ծm å@m >m 7@ m ^ >)m |o@Im ^ ھi i m j.j>}#E?(6? m zE@)m [Im 9M"im ^ ھi i  checking for new query: numPingsReceived=63, elapsed TxPingTime=33.047329U#,.WLA2Ի@2@2q3<ٱ2<2H`gc?`?Gs?Gȿv_?`G0qqџ?`?i2Ի@I2S];2Cy㥽;AA A)AYfAbD>VD8y%7=ٔYQ->9Y =UEyDnؼE>!Q 5-5%wm?Q 9-5%`)!Y->Q E-;y-;Q I-B@%ìDI%:i%#<%l5yyɮ}5Ayii(WLAj"j:j5d@Rj#LG 3@Bj7uG IMp?*j9M"2j^ ھZj;0>ebxk>d@Jj"iNzȴؿs$?j j֧iu}?iEٞjBj %񗤊?j3YjBrj@zjL_@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 6.294075 m, bearing: 204.301645 deg, lat: 36.779547 deg, lon: -121.859819 deg, deltaT: 0.503284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i92i9h9h9h9h9hAgAgAjgArgEـBeIreQZeQ:eQ*eU ?ԩBɢ9?) ei)%L))i-i-,5=5C>I1I1 E:Uninitialize Docking Stepper. EPowering downIE)Eeiechecking for new query: numPingsReceived=63, elapsed TxPingTime=33.283016^AE S>E} E}EyEy"E}:*E}xv:VEyZEya@a@a@a@BBB-IBBBBBB*;BX[EAIIO=> yU#,GWLADDAT read: Rx Time:01:29:00.0521 TRx dataTimestamp_ set to:1764898141.129156PDAT read: Bearing 300.7, -28.8 (Local) ~Local bearing/azimuth received: Bearing 300.7, -28.8 (Local) &DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 :DAT read: 01:29:00.0521 LVL= 27072, 14145, 22290, 27315, AGC= 60, IDX= 500, 0.25, 2.111,-2.303,-3.073,-2.693, PHS=-1.377, 0.435,-0.425, RAW= 298.3, 17.1, CAL= 296.6, 23.6, ROT= 213.4, -23.6 >Ygot valid direction response: 01:29:00.0521 LVL= 27072, 14145, 22290, 27315, AGC= 60, IDX= 500, 0.25, 2.111,-2.303,-3.073,-2.693, PHS=-1.377, 0.435,-0.425, RAW= 298.3, 17.1, CAL= 296.6, 23.6, ROT= 213.4, -23.6 BT#Rx 64: Read range and direction messages.B`direction in FSK: [-0.765023,-0.504440,0.400349]FFpublishing direction and range infoyyр{ec_$^Q?Y3@iA7W j)IAiR>پ&@Θ>@ B>)^n@IBҾtt?͹T? /G@)蘾I#iBҾfchecking for new query: numPingsReceived=64, elapsed TxPingTime=33.555378t%?x@%q@%b<ٱ%D=%HQ?`O?f?`HʿL?d@샿q?=?i%?x@I%d];%CYBy.IbDRVD8y{=%:=ٔ7Q->9Y=UEyDԼE>)Q 555-z?Q 9=5-cb)-jBY9y=`ӾQ I=B@-ȬDI-:i-:-@5yE\BɮE 6AM6EiiDHWLAj@"j@:jsb@Rj=x-~ `_X@Bjyр{ec_$^Q?*j#2jBҾZj;ks 8uj^0@JjIFo=,;ndֿV>} y?j ji ⡤?i?jÅBj ⡤?jEٞjÅBrj@zj4a@  addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503857 s, deltaX: 0.300000 m, approachRate: 0.595406 m/s, rangeRepo size: 4 % Added new target pos. range: 6.593790 m, bearing: 202.344774 deg, lat: 36.779548 deg, lon: -121.859822 deg, deltaT: 0.503857 s, deltaX: 0.299715 m, approachRate: 0.594841 m/s, posRepo size: 4 :i)2i)h)h)h1h1h1g1g1jg9rg9e9re9Ze9:eE`ff@*eE?Bɢ~H) |i)r+imYi&j;=;>II9=checking for new query: numPingsReceived=64, elapsed TxPingTime=33.787071E EEE"E:*E]t:VEZEBE$5A= xAzA= xAi A9 Iq I O > U#,aWLA6!@6@6-<ٱ6V =6H>? ?QOV?@%˿:?@E@o??i6!@I6hi];4YBByB)Ii Mb@Mb@Mb@     9 "~? ףp= MbY >y Q   ;A A)  Y A %=4=bD%:VD%8y5y̼%5l=ٔ5Q-5?99AYA=EUEyEDEEM?IQ 5U5M?Q 9]5Mc)MhBYe>Q Ee:yeܾQ IeB@MͬDIM&;iM%;M>5yiɮm,6AiB*** querying acoustic contact ***ii:i2ihhhhhggjgrgBereZe:e*e@?yɢ}`W)y }iy)顁i>i0T=Z3>II=DDAT read: Rx Time:01:29:00.5521 ETRx dataTimestamp_ set to:1764898141.633258MPDAT read: Bearing 300.1, -26.6 (Local) M~Local bearing/azimuth received: Bearing 300.1, -26.6 (Local) ]DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.1 DAT read: 01:29:00.5521 LVL= 26384, 18097, 19042, 26995, AGC= 59, IDX= 501,-0.23,-1.366, 0.466,-0.347, 0.081, PHS=-1.345, 0.430,-0.472, RAW= 300.6, 17.7, CAL= 299.0, 24.0, ROT= 211.0, -24.0 Ygot valid direction response: 01:29:00.5521 LVL= 26384, 18097, 19042, 26995, AGC= 59, IDX= 501,-0.23,-1.366, 0.466,-0.347, 0.081, PHS=-1.345, 0.430,-0.472, RAW= 300.6, 17.7, CAL= 299.0, 24.0, ROT= 211.0, -24.0 T#Rx 65: Read range and direction messages.^AM> `direction in FSK: [-0.783061,-0.470511,0.406737] Fpublishing direction and range infoy9=>2鿗Mh~޿%-u,?Y99=g=F=bJ =si)=;I=(i=(>==@=2+>=<@ =Pw>)=sk@I=Pw־99=/|= ]gv4s? =PuH)=I=Bo&i=Pw־99]checking for new query: numPingsReceived=65, elapsed TxPingTime=34.076088iAI IO%M>ԑ  checking for new query: numPingsReceived=65, elapsed TxPingTime=34.291252E  E E &E "E :*E :VE 4ZE a @a @a @a @ 7U#,<{WLAɰp;2?Ⱥ@2@26;ٱ2~M =2H2+?B?X/%̿ y&?w~ (?@*?i2?Ⱥ@I2];2CBV<ATBf>BdBf'IBfBBdBdBdBf&;BfR[EYBy+IԡbDM$VDMΰ8y};%}7=ٔ}JQ-}>9Y=UEyDȼE>Q 55{?Q 95f)dBYy#Q IB@ӬDI:i2:+5ycBɮT6A7EiiimMhWLAji"ji:jm]@Rjmc*<b磧t@Bjm>2鿗Mh~޿%-u,?*jmBo&2jmPw־Zjm_zw|_$@Jjm=뿘`iҿ*pb?jm jmoimLm?im>jmӅBjmѴ?jijirjm@zjm`@u addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504102 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.593756 m, bearing: 198.729566 deg, lat: 36.779549 deg, lon: -121.859822 deg, deltaT: 0.504102 s, deltaX: -0.000034 m, approachRate: -0.000067 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e*e ?%Bɢ%$wI) i)顉i/i*t=\+>IIEDDAT read: Rx Time:01:29:01.0523 MTRx dataTimestamp_ set to:1764898142.137029UPDAT read: Bearing 301.7, -25.9 (Local) U~Local bearing/azimuth received: Bearing 301.7, -25.9 (Local) mDAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 DAT read: 01:29:01.0523 LVL= 32752, 19441, 19794, 32755, AGC= 59, IDX= 503, 0.10, 1.175, 3.040, 2.157, 2.579, PHS=-1.302, 0.506,-0.466, RAW= 302.5, 15.9, CAL= 300.5, 22.1, ROT= 209.5, -22.1 Ygot valid direction response: 01:29:01.0523 LVL= 32752, 19441, 19794, 32755, AGC= 59, IDX= 503, 0.10, 1.175, 3.040, 2.157, 2.579, PHS=-1.302, 0.506,-0.466, RAW= 302.5, 15.9, CAL= 300.5, 22.1, ROT= 209.5, -22.1 T#Rx 66: Read range and direction messages.`direction in FSK: [-0.806409,-0.456245,0.376224]Fpublishing direction and range infoyIMS1YW3ݿ*?YM@IMMKMRM M)IIM𧦿iM7?MM@Mq>Mԧ@ M|>)Mj@IM|žIIMʙ灿c*ġ]m$? MHF)MsIM0(iM|žIIchecking for new query: numPingsReceived=66, elapsed TxPingTime=34.559063!^A;>A>A>A I I O >9 U#,yWLAYzByz IbD'VDа8ym?%u]=checking for new query: numPingsReceived=66, elapsed TxPingTime=34.796646ٔQ->9Y=UEyDE>Q 55?Q 95g)bBY)y)Q I-B@E= E=E=(E9"E=2:*E=Z:VE=c44ZE9BE=+*"ѿv5y?j}? j}i}}\?i}#j}Bjyjyj}Brj}@zj} ^@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503771 s, deltaX: 0.300000 m, approachRate: 0.595509 m/s, rangeRepo size: 4  Added new target pos. range: 6.893472 m, bearing: 197.164319 deg, lat: 36.779549 deg, lon: -121.859822 deg, deltaT: 0.503771 s, deltaX: 0.299716 m, approachRate: 0.594945 m/s, posRepo size: 4 :i2ihhhhhgGg%c9!Y%_Ajg9rg9e9re9Ze9:eE@*eEO?q颵BɢJ) i)2项i[i$P=9->II@zA@zA] DDAT read: Rx Time:01:29:01.5524 e TRx dataTimestamp_ set to:1764898142.642220u PDAT read: Bearing 302.3, -25.3 (Local) u ~Local bearing/azimuth received: Bearing 302.3, -25.3 (Local)  DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4  DAT read: 01:29:01.5524 LVL= 32752, 20769, 19442, 32707, AGC= 59, IDX= 503, 0.47, 0.267, 2.146, 1.227, 1.644, PHS=-1.275, 0.547,-0.462, RAW= 303.5, 14.9, CAL= 301.3, 21.0, ROT= 208.7, -21.0  Ygot valid direction response: 01:29:01.5524 LVL= 32752, 20769, 19442, 32707, AGC= 59, IDX= 503, 0.47, 0.267, 2.146, 1.227, 1.644, PHS=-1.275, 0.547,-0.462, RAW= 303.5, 14.9, CAL= 301.3, 21.0, ROT= 208.7, -21.0  T#Rx 67: Read range and direction messages. `direction in FSK: [-0.818887,-0.448327,0.358368] Fpublishing direction and range infoyY ] Q4 dܿ.*?Y] 3@Y Y ] !Q] K ] )Y I] 33i] 1 ?] D쾩] @] %>] G@ ] f>)] i@I] fY Y ] "ԡ A1 IA IQ O] >%NU#,jWLAr%@r@rХ;ٱr/e=rH`?Fq?`p pϿ&?tut ?7?ir%@IrY];rCYByIonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.54, 83.16, 84.86 a@a a@a a@a a@a @AbDVDð8iyY"%7=ٔQ->9Y=UEy D;E>Q 55?Q 95j)_BQ A+:YQ E:y@Q IB@ެDI :i>5yɮ6Aii"WLAj@"j@:jTZ@Rj0<5T^p [2V@BjQ4 dܿ.*?*j)2jfZjv3'Owh@Jj\G>Z [YٍϿ~Qi ?j߿ jiK?i2jnBj ⡤?j#jrj@zj*[@ addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.505191 s, deltaX: 0.200000 m, approachRate: 0.395889 m/s, rangeRepo size: 4  Added new target pos. range: 7.093283 m, bearing: 195.231336 deg, lat: 36.779548 deg, lon: -121.859820 deg, deltaT: 0.505191 s, deltaX: 0.199811 m, approachRate: 0.395516 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e`ff@*e?yɢ}r p) -i)C顁i"wi.=\>IIchecking for new query: numPingsReceived=67, elapsed TxPingTime=35.298916bEFA4jEh=4rEĝ/EE EAEAEA"EEl;*EAVEAZEAa]@a]@a]@a]@ԑBBBIBBBR =BBB;BA[E^Ajb+>A .AI I) O= > ] DDAT read: Rx Time:01:29:02.0526 ] TRx dataTimestamp_ set to:1764898143.145093e PDAT read: Bearing 303.1, -23.1 (Local) m ~Local bearing/azimuth received: Bearing 303.1, -23.1 (Local) } DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4  DAT read: 01:29:02.0526 LVL= 32752, 18385, 22258, 32755, AGC= 59, IDX= 506,-0.06,-0.085, 1.812, 0.812, 1.265, PHS=-1.247, 0.592,-0.496, RAW= 306.1, 14.3, CAL= 304.0, 20.1, ROT= 206.0, -20.1  Ygot valid direction response: 01:29:02.0526 LVL= 32752, 18385, 22258, 32755, AGC= 59, IDX= 506,-0.06,-0.085, 1.812, 0.812, 1.265, PHS=-1.247, 0.592,-0.496, RAW= 306.1, 14.3, CAL= 304.0, 20.1, ROT= 206.0, -20.1  T#Rx 68: Read range and direction messages. `direction in FSK: [-0.844052,-0.411672,0.343660] Fpublishing direction and range infoyY ] Y-nz뿶pmXڿ"??Y] @Y Y ] G] V ] )Y I] i] P?] ] `@] r>] ɩ@ ] >)] f@I] Y Y ] ;w03Zԅ? ] PB)] ~I] ,i] Y Y  checking for new query: numPingsReceived=68, elapsed TxPingTime=35.567162#U#,xWLA-]@-@-;ٱ-(=-H@??}п ?8@cl??i-]@I-_];-CYmBymII<)=1bDVD8yE`%EH=ٔMQ-M>9M ?YM ?=UUEyD3E>Q 55ƻ?Q 958l)\BQ A :YQ E:yQ IB@DI:iKZ?5yiBɮ27Aii4IWLAj@"j@:jZU@RjovA YNgKS@BjY-nz뿶pmXڿ"??*j,2jZjFo`^1y&Hzk@JjLJ ȿ>H&?jA jig&{?iڐj^Bj}\?j>jBrj@zj֪Y@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.502873 s, deltaX: 0.300000 m, approachRate: 0.596572 m/s, rangeRepo size: 4  Added new target pos. range: 7.392985 m, bearing: 191.503556 deg, lat: 36.779547 deg, lon: -121.859820 deg, deltaT: 0.502873 s, deltaX: 0.299702 m, approachRate: 0.595980 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e@*e-a?UBɢU.])Q UyiQ)]HYYi]$jie(e=>IIa^Ae!>checking for new query: numPingsReceived=68, elapsed TxPingTime=35.802933A؟AIID<D%=E EEE"E&:*E҆:VEZEBEh;ԉԹ ѨU#,RWLAY~yBy~Iaa aa aa aa iMb@Mb@Mb@ 9!rh?I +Yl>y94 A A)QAY AbDVD8y!J%T=ٔQ->9"?Y"?=UEyDE>Q 55Ȧ?Q 95n)YBQ AT:Y->Q E:y Q IB@DI;i5;=5yɮ7A}DDAT read: Rx Time:01:29:02.5526 TRx dataTimestamp_ set to:1764898143.648992PDAT read: Bearing 305.1, -24.5 (Local) ~Local bearing/azimuth received: Bearing 305.1, -24.5 (Local) DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 DAT read: 01:29:02.5526 LVL= 32752, 21153, 22562, 32755, AGC= 60, IDX= 506, 0.24, 1.455,-2.921, 2.379, 2.776, PHS=-1.219, 0.631,-0.441, RAW= 305.3, 12.7, CAL= 303.0, 17.5, ROT= 207.0, -17.5 Ygot valid direction response: 01:29:02.5526 LVL= 32752, 21153, 22562, 32755, AGC= 60, IDX= 506, 0.24, 1.455,-2.921, 2.379, 2.776, PHS=-1.219, 0.631,-0.441, RAW= 305.3, 12.7, CAL= 303.0, 17.5, ROT= 207.0, -17.5 T#Rx 69: Read range and direction messages.`direction in FSK: [-0.849768,-0.432978,0.300706]Fpublishing direction and range infoyrL1#{1Tۿ->?YR"X )<I1i7!?ᾩ@b>%:@ a>)8g@IaiN2￑܎qж|Lz".;? 4C)ĸcI*ia checking for new query: numPingsReceived=69, elapsed TxPingTime=36.072929iiWLAj"j:jjV@RjӺ+! ɮ@BjrL1#{1Tۿ->?*j*2jaZjh:_1CjSʄ @Jj|`ODTSʿף6?j¿ jiNC?iE&jBjK?j2jnBrj.@zjW@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 7.392985 m, bearing: 192.388530 deg, lat: 36.779546 deg, lon: -121.859819 deg, deltaT: 0.503899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i2ihhhhhg)g)jg1rg5Be1re1Ze1:e9*e=~ެ?颥Bɢ$e) ۥi) iI]i2Ӝ=>II@ =@ =9^A- >J>i 5 checking for new query: numPingsReceived=69, elapsed TxPingTime=36.307941E  E E *E "E :*E :VE (N4ZE a @a @a @a @IA IQ Oe >A A ?AB% >B! B% IU#BM|BBMQ =BIBIBM;BMG[E ,=WLAu @u@u Dٱu+,?=uH ??H`^ѿ?9ܦ`B?L??iu @Iue];uCYwByIbDVD8y%H=ٔQ->9Y=UEy&D#E>Q 55V֦?Q 95;q)UBYy! Q IB@DI#;i/;5yBɮq8ABEB*** querying acoustic contact ***ii:i)2i)h)h)h)h1h1g1g1jg1rg9e9re9Ze9:e9*eEUd?iɢm1r)i uPiq)u qqiuTSi},}=};>IyIa^AmR>IAIQOe4>DDAT read: Rx Time:01:29:03.0529 TRx dataTimestamp_ set to:1764898144.153113PDAT read: Bearing 304.3, -23.5 (Local) ~Local bearing/azimuth received: Bearing 304.3, -23.5 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 DAT read: 01:29:03.0529 LVL= 32752, 21745, 21234, 32595, AGC= 60, IDX= 509,-0.18, 0.215, 2.138, 1.120, 1.544, PHS=-1.227, 0.639,-0.468, RAW= 306.1, 12.9, CAL= 304.0, 17.8, ROT= 206.0, -17.8 Ygot valid direction response: 01:29:03.0529 LVL= 32752, 21745, 21234, 32595, AGC= 60, IDX= 509,-0.18, 0.215, 2.138, 1.120, 1.544, PHS=-1.227, 0.639,-0.468, RAW= 306.1, 12.9, CAL= 304.0, 17.8, ROT= 206.0, -17.8 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.855768,-0.417386,0.305695]Fpublishing direction and range infoysk&tbզsڿќ?Y@TR S)IVi#?ᄅ`@f>ɩ@ >)f@Iii0/%9ӵY? 2B)q5gI,ichecking for new query: numPingsReceived=70, elapsed TxPingTime=36.575382ԑԹ ѺV#,FXLAFĸ@F @F<)ٱF B=FH ?`9Y?`z} p`ҿw?覿#e?@O?`?iFĸ@IF];FCPY^oBy^I ddn=lrchecking for new query: numPingsReceived=70, elapsed TxPingTime=36.810951bDjVDjð8y-}%-V=ٔ5+Q-5>91Y1==UEy=-D=EE>AQ 5M5E#㦊?Q 9U5Es)ERBYQyUEQ IUB@EDIE.:iE~:E&5yYɮe8AaE EE'E"ED:*E|:VE'4ZEBE2! = DAT read: 01:29:03.5529 LVL= 31808, 21825, 21682, 32531, AGC= 60, IDX= 509, 0.18, 1.735,-2.636, 2.652, 3.047, PHS=-1.210, 0.645,-0.439, RAW= 305.6, 12.4, CAL= 303.4, 16.8, ROT= 206.6, -16.8 II IY Om > Ygot valid direction response: 01:29:03.5529 LVL= 31808, 21825, 21682, 32531, AGC= 60, IDX= 509, 0.18, 1.735,-2.636, 2.652, 3.047, PHS=-1.210, 0.645,-0.439, RAW= 305.6, 12.4, CAL= 303.4, 16.8, ROT= 206.6, -16.8  T#Rx 71: Read range and direction messages. `direction in FSK: [-0.855991,-0.428649,0.289032] Fpublishing direction and range infoyܚGdGdnۿ\.?Y@|AUT )IHᚿi%?ྩ㭪@k]>Us@ Q >)Af@IQ G9↓}>d~? B)']ItY+iQ - checking for new query: numPingsReceived=71, elapsed TxPingTime=37.147713a V#,?1XLA|YrByIiMb@Mb@Mb@ 9y&1?HzG{GzY`>y= #AA $A)YbDVDǰ8y&<%A=ٔQ->9Y=UEy6DE>Q 55?Q 95v)OBY>Q E:y&Q IB@DIU;i<;5yBɮ8Aii*XLAj"j:jT@Rj ц uٓ@BjܚGdGdnۿ\.?*jtY+2jQ ZjJQv_r@JjpWQhs ƿX;w?jذ jEi傤?iZjBjjjڄBrj@zj({S@E addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 7.792646 m, bearing: 190.598780 deg, lat: 36.779544 deg, lon: -121.859819 deg, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY2iYhYhYhYhYhYgagajgargeBeireiZei:ei*em?颙ɢf>s) i)G 顡i$II^Aj>checking for new query: numPingsReceived=71, elapsed TxPingTime=37.314857II O>)DzD@AE EE)E"E&:*Eą:VEFA4ZEa@a@a@a@B>BBIBmBBBBB';BT[EBCBCBBQ =BQ =C5Qԁ  DDAT read: Rx Time:01:29:04.0531  TRx dataTimestamp_ set to:1764898145.161094 PDAT read: Bearing 305.0, -25.6 (Local)  ~Local bearing/azimuth received: Bearing 305.0, -25.6 (Local)  DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4  DAT read: 01:29:04.0531 LVL= 31824, 20161, 20082, 32147, AGC= 61, IDX= 511,-0.19,-0.009, 1.941, 0.947, 1.319, PHS=-1.226, 0.667,-0.416, RAW= 304.8, 11.8, CAL= 302.5, 15.9, ROT= 207.5, -15.9 V#,KXLABYgot valid direction response: 01:29:04.0531 LVL= 31824, 20161, 20082, 32147, AGC= 61, IDX= 511,-0.19,-0.009, 1.941, 0.947, 1.319, PHS=-1.226, 0.667,-0.416, RAW= 304.8, 11.8, CAL= 302.5, 15.9, ROT= 207.5, -15.9 FT#Rx 72: Read range and direction messages.F`direction in FSK: [-0.853075,-0.444083,0.273959]JFpublishing direction and range infoyRcL6kܿψ.?YAP|NrN })=I휿i*?Ծ;@BR>@ q>)g@Iqk{t66ᅰPkNʴ5ql@? ѾC)SIX*iqVchecking for new query: numPingsReceived=72, elapsed TxPingTime=37.611645^^J@^C@^ͻٱ^:L=^Hނ? C??ো9iYq=uUEyu>DufEu>Q 55?Q 95Wy)LBYyQ IB@DI:i2:O5y1ɮ579A9ii]OJXLAjzA"jzA:jT@RjģT$Kտ `f[@BjRcL6kܿψ.?*jX*2jqZjK΄}Y=?JjK|pcxƿȆ$U?j jifNt?iTNj`Bjg&{?jjBrj@zj!SR@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503680 s, deltaX: 0.300000 m, approachRate: 0.595617 m/s, rangeRepo size: 4  Added new target pos. range: 8.092342 m, bearing: 190.603824 deg, lat: 36.779544 deg, lon: -121.859819 deg, deltaT: 0.503680 s, deltaX: 0.299696 m, approachRate: 0.595014 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e%@33 @*e% ??IɢmJ0t)q u⻾iq)uUqqiuS0i}*} =Y=II^AmM=ԉIIO$>checking for new query: numPingsReceived=72, elapsed TxPingTime=37.818855E EE'E"E*E:VE'4ZEBEi;y]!]ף]lA] A Y)]AYY]AbDuVDu8yJ%H=ٔ6Q->9Y=UEyFDzE>Q 55* ?Q 95p|)JBY>Q E:ԩy%Q IB@DI1;i0;5yɮY9A]DDAT read: Rx Time:01:29:04.5531 ]TRx dataTimestamp_ set to:1764898145.666019mPDAT read: Bearing 305.0, -26.4 (Local) u~Local bearing/azimuth received: Bearing 305.0, -26.4 (Local) DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4 DAT read: 01:29:04.5531 LVL= 29168, 22049, 22258, 30099, AGC= 61, IDX= 511, 0.22, 0.968, 2.926, 1.946, 2.297, PHS=-1.227, 0.674,-0.395, RAW= 304.1, 11.5, CAL= 301.7, 15.3, ROT= 208.3, -15.3 Ygot valid direction response: 01:29:04.5531 LVL= 29168, 22049, 22258, 30099, AGC= 61, IDX= 511, 0.22, 0.968, 2.926, 1.946, 2.297, PHS=-1.227, 0.674,-0.395, RAW= 304.1, 11.5, CAL= 301.7, 15.3, ROT= 208.3, -15.3 T#Rx 73: Read range and direction messages.`direction in FSK: [-0.849271,-0.457285,0.263873]Fpublishing direction and range infoyY]0z4:-)Dݿ&K?YYY]q]!V]V ]u)YI]Vi]D,?]q=ʾ]kש@]M>]F@ ]ܸ>)]`h@I]ܸYY]_E2EpGox? ]vD)]e%MI]Us)i]ܸYY]checking for new query: numPingsReceived=73, elapsed TxPingTime=38.104874iYi]jXLAjY"jY:j]SUU@Rj]u} D2@Bj]0z4:-)Dݿ&K?*j]Us)2j]ܸZj]گ$r%?Jj];!zՌ⌃߸ǿ\9?j] j]8i]K#?i]Zj]%Bj]K#?j]Zj]Brj]@zj]1R@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.504925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.092342 m, bearing: 190.985896 deg, lat: 36.779544 deg, lon: -121.859821 deg, deltaT: 0.504925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i2ihhhhhggjgrgBe re Ze :e *e @y?!Bɢ[v) Qi){i$i$==II^A ط= checking for new query: numPingsReceived=73, elapsed TxPingTime=38.323032E  E E (E "E :*E x:VE c44ZE a @a @a @a @A B <A <B B B IB bBB R =B B B ,;Ii B Y[EI O >" V#,lXLAR޷@R׾@RI%ٱR*K[=RH@za?? ԿX?d?e??iR޷@IRt];RCY^eBy^IbDfVDf8ynX<%nM=ٔr4Q-r>9pYp=vUEyvNDvEv>xQ 5~5z?Q 9~5z)zHBYy&Q IB@zDIz:izG:zT5y Bɮ i9ACE-B*** querying acoustic contact ***i)i):i92i9h9h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM ?yɢ})y }iy)} 顁ii.==ԑII^AB=IaIqO>ԹDDAT read: Rx Time:01:29:05.0533 TRx dataTimestamp_ set to:1764898146.169121PDAT read: Bearing 287.5, -23.1 (Local) ~Local bearing/azimuth received: Bearing 287.5, -23.1 (Local) DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 -DAT read: 01:29:05.0533 LVL= 30560, 19201, 25586, 30307, AGC= 63, IDX= 514,-0.07,-2.074,-0.464,-1.163,-0.603, PHS=-1.369, 0.184,-0.604, RAW= 300.5, 25.2, CAL= 300.9, 31.1, ROT= 209.1, -31.1 5Ygot valid direction response: 01:29:05.0533 LVL= 30560, 19201, 25586, 30307, AGC= 63, IDX= 514,-0.07,-2.074,-0.464,-1.163,-0.603, PHS=-1.369, 0.184,-0.604, RAW= 300.5, 25.2, CAL= 300.9, 31.1, ROT= 209.1, -31.1 5T#Rx 74: Read range and direction messages.=`direction in FSK: [-0.748182,-0.416433,0.516533]=Fpublishing direction and range infoy^/1צڿjp?YfA`wKc cv)?Id;ij<>ԧ@z0> @  ?)$i@I U2܁E<>je9Y=UEyXDNlE>Q 55*'?Q 95&)FBYyf(Q IB@DI:iS:k5yɮ%?9A!i!i%ҊXLAj%EA"j%EA:j%CV@Rj%)"y@Ƌ3 V@Bj%^/1צڿjp?*j%(2j% Zj%66H\<@Jj%Ci.G@ƿs?j% j%i%Vɤ?i%_j%Bj!j%TNj!rj%Azj%ЃQ@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503102 s, deltaX: 0.299999 m, approachRate: 0.596299 m/s, rangeRepo size: 4 ) Added new target pos. range: 8.392049 m, bearing: 191.817086 deg, lat: 36.779544 deg, lon: -121.859823 deg, deltaT: 0.503102 s, deltaX: 0.299706 m, approachRate: 0.595717 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e @*e@ ?颁ɢ2h) i)[T顉i i('=h=IIiIADDAT read: Rx Time:01:29:05.5534  TRx dataTimestamp_ set to:1764898146.674309PDAT read: Bearing 304.7, -26.0 (Local) %~Local bearing/azimuth received: Bearing 304.7, -26.0 (Local) =DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 QuDAT read: 01:29:05.5534 LVL= 24048, 15681, 19330, 22739, AGC= 66, IDX= 3,-0.34,-1.475, 0.508,-0.505,-0.143, PHS=-1.230, 0.695,-0.406, RAW= 304.8, 11.2, CAL= 302.4, 14.7, ROT= 207.6, -14.7 }Ygot valid direction response: 01:29:05.5534 LVL= 24048, 15681, 19330, 22739, AGC= 66, IDX= 3,-0.34,-1.475, 0.508,-0.505,-0.143, PHS=-1.230, 0.695,-0.406, RAW= 304.8, 11.2, CAL= 302.4, 14.7, ROT= 207.6, -14.7 T#Rx 75: Read range and direction messages.`direction in FSK: [-0.857196,-0.448131,0.253758]Fpublishing direction and range infoy  H}~&n-j/ܿN=?Y  A  ] A= K X) BI pi 1? ;Ͼ ;@ +H> [@ G\>) 5g@I G\   Gp9kɴl˲? C) II ;*i G\  checking for new query: numPingsReceived=75, elapsed TxPingTime=39.103676^A ^1=Ia Iq y O >br,V#,4XLA2~@2Uw@2wgٱ2!Sk=2H`;B??}cԿb8?`Bt?`e??i2~@I2t];0YNkByNI PPiMb@Mb@Mb@ 9q= ףp?/$ÿMb`Y>yAl A )YbD%VD%8Qy];%]H=ٔ]QQ-]>9aYa=eUEye`DmfUEm>qQ 5}5u3?Q 9}5u%)uEBY}5>Q E}:y}&Q I}B@uDIu:iu:u5yBɮj9ADEi1i5'XLAj5x A"j5x A:j5}hS@Rj5up(`}Y(q@Bj5H}~&n-j/ܿN=?*j5;*2j5G\Zj5Іð Ц_X?Jj54 DVlVĿ`?j5ڬ j5}i5BBBBBBB9;Bf[EE= E=E9E9"E=:*E=Ar:VE9ZE9ԁBE=$5<2E=$5<JE=L;:E=L;IɢMy)I MiI)UH{QQiUi2F-=L=II^A/=II)O5>ԩ DDAT read: Rx Time:01:29:06.0537  TRx dataTimestamp_ set to:1764898147.177082 PDAT read: Bearing 306.1, -25.6 (Local)  ~Local bearing/azimuth received: Bearing 306.1, -25.6 (Local) - DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 - DAT read: 01:29:06.0537 LVL= 31488, 20577, 28866, 31731, AGC= 63, IDX= 501, 0.29, 1.393,-2.889, 2.347, 2.708, PHS=-1.213, 0.731,-0.405, RAW= 305.6, 10.5, CAL= 303.3, 13.2, ROT= 206.7, -13.2 5 Ygot valid direction response: 01:29:06.0537 LVL= 31488, 20577, 28866, 31731, AGC= 63, IDX= 501, 0.29, 1.393,-2.889, 2.347, 2.708, PHS=-1.213, 0.731,-0.405, RAW= 305.6, 10.5, CAL= 303.3, 13.2, ROT= 206.7, -13.2 5 T#Rx 76: Read range and direction messages.= `direction in FSK: [-0.869768,-0.437447,0.228351]= Fpublishing direction and range infoy  Ca("뿣Z#ۿ :?Y A { aP p {) ?I Ci ";? )\Ͼ 㭪@ f;> e@ k>) f@I k .lPrInIgYNFU? BJY3V#, XLA2V@2RO@2qٱ2w=2H4?!?J@^տ\*?@s?@$??i2V@I2j];2C)=;I=<+i=k99bchecking for new query: numPingsReceived=76, elapsed TxPingTime=39.650860YrdByrIbDzVDz8y-\%-`=ٔ-Q-->91Y1=5UEy5gD5j[E=>aQ 5m5e??Q 9m5e)aYiym'Q ImB@e!DIe:ie>:e5yqɮ9Ai9i=PUXLAj=A"j=A:j=J R@Rj=I53HYhwDD%l@Bj=Ca("뿣Z#ۿ :?*j=<+2j=kZj=}!oCz,?Jj=eO/xhm?j=5 j= i=^?i=gj=ÃBj=  % fC G  B=9 Y ,:A9 9V#,-XLA22@2_+@2^ٱ2F=2H(?`ZA?`\տ?Z?q%?W?i22@I2}];2CYNqByRI-only read 0 of 1 data item for altitude. Device response is::BD, +215.98, +15 +50.61, 8.45, 0.00 a5@a5 a5@a5 a5@a5 a5@a5 bDEVDE8DDAT read: Rx Time:01:29:06.5537 TRx dataTimestamp_ set to:1764898147.681854PDAT read: Bearing 305.9, -24.4 (Local) ~Local bearing/azimuth received: Bearing 305.9, -24.4 (Local) DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 -DAT read: 01:29:06.5537 LVL= 28656, 21665, 23634, 26547, AGC= 64, IDX= 502, 0.08,-0.400, 1.601, 0.518, 0.907, PHS=-1.205, 0.739,-0.433, RAW= 306.8, 10.6, CAL= 304.6, 13.3, ROT= 205.4, -13.3 =Ygot valid direction response: 01:29:06.5537 LVL= 28656, 21665, 23634, 26547, AGC= 64, IDX= 502, 0.08,-0.400, 1.601, 0.518, 0.907, PHS=-1.205, 0.739,-0.433, RAW= 306.8, 10.6, CAL= 304.6, 13.3, ROT= 205.4, -13.3 =T#Rx 77: Read range and direction messages.E`direction in FSK: [-0.879107,-0.417430,0.230050]EFpublishing direction and range infoyL9ɤ!쿳y 3.ڿgz}"Er?YoTR\ g)@Iq=i/=?-ݾuY@q=>@ ,m>)oe@I,mJc;￝r|4? ~A)=I,i,mechecking for new query: numPingsReceived=77, elapsed TxPingTime=40.107681yUu=%G=ٔQ->9Y=UEypDE>Q 55N?Q 95)DBQ A+:YQ E:y)Q IB@(DI;i>/5yɮ<9AiiXLAj"j:jZP@Rj,i0N&D@BjL9ɤ!쿳y 3.ڿgz}"Er?*j,2j,mZjWՌ!R 8dG?Jj ֻ/:H[_"?j jf iORj?i jσBjjjBrj Azjm checking for new query: numPingsReceived=77, elapsed TxPingTime=40.338749q bEc44jEɊ94rE0E  E E %E "E ;*E :VE 4ZE a= @B >B B IB gBB S =B a= @a} @a @B B Y;B [Ek@V#,YLA02@2H @2ٱ2,!=2HT?|?֤տ+?۫@u? L??i2@I2v];2CYBpByBIbDJVDJɰ8yjۻ%jS=ٔjQ-n?9lYl=rUEyrxDr>Er?tQ 5z5v>Y?Q 9z5v;)vCBQ Az :YxQ E~:y~*Q I~B@v-DIv;ivK?v,5yBɮz9A EE%B*** querying acoustic contact ***i!i!:i)2i1h1h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eEP?iɢm)q uiq)uqyi}ֺi}08=g=IIԉDDAT read: Rx Time:01:29:07.0540 TRx dataTimestamp_ set to:1764898148.185149PDAT read: Bearing 305.2, -23.4 (Local) ~Local bearing/azimuth received: Bearing 305.2, -23.4 (Local) DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.6 DAT read: 01:29:07.0540 LVL= 31136, 22209, 25954, 30691, AGC= 63, IDX= 505,-0.08,-0.250, 1.717, 0.626, 1.037, PHS=-1.185, 0.725,-0.454, RAW= 307.7, 11.0, CAL= 305.7, 13.9, ROT= 204.3, -13.9 Ygot valid direction response: 01:29:07.0540 LVL= 31136, 22209, 25954, 30691, AGC= 63, IDX= 505,-0.08,-0.250, 1.717, 0.626, 1.037, PHS=-1.185, 0.725,-0.454, RAW= 307.7, 11.0, CAL= 305.7, 13.9, ROT= 204.3, -13.9 %T#Rx 78: Read range and direction messages.-`direction in FSK: [-0.884714,-0.399464,0.240228]-Fpublishing direction and range infoywO6IАٿؼʿ?YAyVbe w)?Ii9?r辩$ګ@ D>/@ Ulx>)4d@IUlx!IO)`> T? r@)KCI'-iUlx^A$ӿ=echecking for new query: numPingsReceived=78, elapsed TxPingTime=40.642765ԹA-.AI9IIOU> FV#,YLAchecking for new query: numPingsReceived=78, elapsed TxPingTime=40.842850pu@@tٱ=H@?`Ь?/ տ6?@N?@2? ?iu@EE EEEE(EA"EE:*EEg:VEEc44ZEABEE39 ?Y ?=UEyDE>Q 55Hh?Q 95)Q A9YQ Eh:y*Q IB@4DIT;i̡?Y5yBɮ2:ANEii{ YLAjA"jA:jN@RjoI4 kg:T q{=@BjwO6IАٿؼʿ?*j'-2jUlxZjdڌ"[_( -c?Jj8|E#~;"{D?jR jfi-Z?i|4jBjORj?jjBrjAzjO@ addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503295 s, deltaX: 0.500000 m, approachRate: 0.993453 m/s, rangeRepo size: 4  Added new target pos. range: 9.491069 m, bearing: 185.078017 deg, lat: 36.779542 deg, lon: -121.859827 deg, deltaT: 0.503295 s, deltaX: 0.499578 m, approachRate: 0.992614 m/s, posRepo size: 4 :i2ihhhhhg)g1jg9rg9eireqZey:e}#@*e%4? ɢ k) i)kii]*eW<=e=IaIa@u=@qDDAT read: Rx Time:01:29:07.5541 TRx dataTimestamp_ set to:1764898148.690124PDAT read: Bearing 306.5, -23.9 (Local) ~Local bearing/azimuth received: Bearing 306.5, -23.9 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5 =DAT read: 01:29:07.5541 LVL= 32752, 22721, 25650, 31187, AGC= 64, IDX= 506,-0.32,-1.075, 0.901,-0.192, 0.194, PHS=-1.167, 0.752,-0.430, RAW= 307.6, 10.1, CAL= 305.5, 12.3, ROT= 204.5, -12.3 EYgot valid direction response: 01:29:07.5541 LVL= 32752, 22721, 25650, 31187, AGC= 64, IDX= 506,-0.32,-1.075, 0.901,-0.192, 0.194, PHS=-1.167, 0.752,-0.430, RAW= 307.6, 10.1, CAL= 305.5, 12.3, ROT= 204.5, -12.3 ET#Rx 79: Read range and direction messages.M`direction in FSK: [-0.889074,-0.405174,0.213030]Fpublishing direction and range infoyC݀Js _ٿAzUmD?YAX2d y)@IB`i@?(ܾ˫@J4>@ [>)md@I[nè9c隦ٸC9s? I@)4I-i[checking for new query: numPingsReceived=79, elapsed TxPingTime=41.125401A ^A =A ؟AI I O >MV#,6YLA2ٶ@2mҽ@2uļٱ2>g=2H ?i?@#`ֿ(?@@Ղ??#?i2ٶ@I2];2CPYR|ByRIa-a- a-a- a-a5 a5a5 i5Mb@Mb@Mb@1111 195gfffff?~jtÿMb`Y53>y515lA5 A 5;A)11Y5\AbDMVDMð8y]و=%]V=ٔ]=Q-]>9e"?Ye"?=eUEyeDeXEm>qQ 5}5ut?Q 9}5u)qQ A}T:Y}Y>Q E}:y}(Q I}B@u:DIu:iuj:u5yBɮ9AOEiqiu*,YLAjutA"jutA:juN@RjuT !إJrdiX@BjuC݀Js _ٿAzUmD?*ju-2ju[Zjuk*F"kTadYi ?Jjuriʻ\ssZ (?ju#S juiu]yZ?iujuBju^?jqjuσBrjuzAzju` N@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504975 s, deltaX: 0.100000 m, approachRate: 0.198030 m/s, rangeRepo size: 4  Added new target pos. range: 9.590976 m, bearing: 185.000345 deg, lat: 36.779541 deg, lon: -121.859827 deg, deltaT: 0.504975 s, deltaX: 0.099907 m, approachRate: 0.197845 m/s, posRepo size: 4 :i2ihhhhhggjgrg΀BereZe:e@33#@*eD?checking for new query: numPingsReceived=79, elapsed TxPingTime=41.347748D)zD-AAE EE)E"E;B>BCBIBrBBP =B2DBSDBz;B[E*EV:VEFA4ZEBE7N<2E8N<JE;:E;Bɢfv) i)Ci]gi$4>==II^A% "= m DDAT read: Rx Time:01:29:08.0542 u TRx dataTimestamp_ set to:1764898149.198415 PDAT read: Bearing 305.4, -25.8 (Local)  ~Local bearing/azimuth received: Bearing 305.4, -25.8 (Local)  DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4  DAT read: 01:29:08.0542 LVL= 32752, 21217, 25954, 32755, AGC= 65, IDX= 507, 0.31, 1.284,-3.020, 2.221, 2.576, PHS=-1.190, 0.732,-0.399, RAW= 305.8, 10.3, CAL= 303.6, 12.8, ROT= 206.4, -12.8  Ygot valid direction response: 01:29:08.0542 LVL= 32752, 21217, 25954, 32755, AGC= 65, IDX= 507, 0.31, 1.284,-3.020, 2.221, 2.576, PHS=-1.190, 0.732,-0.399, RAW= 305.8, 10.3, CAL= 303.6, 12.8, ROT= 206.4, -12.8  T#Rx 80: Read range and direction messages. `direction in FSK: [-0.873453,-0.433586,0.221548] Fpublishing direction and range infoyq u 5S뿆D޿ۿ@|[?Yu fAq q u Ru be u )u AIu Qiu Zd;?u I̾u {ʪ@u X8>u @ u d>)u f@Iu dq q u ,S￐tGW)l ? u KB)u #s7Iu +iu dq q  checking for new query: numPingsReceived=80, elapsed TxPingTime=41.624790A I I1 O= >SV#,oPYLA|%e¶@%@%`Ҽٱ%Ћ=%Hs??稿.ֿ?WK?,??i%e¶@I%B];%CY5By= I aabDmAVDm8y<%C=ٔ%Q->9Y=UEyDػE>Q 555?Q 9=5Z)BBY9y=)Q I=B@ADIL$G!fo'//ć@Bj5S뿆D޿ۿ@|[?*j+2jdZjl]#Y\.Jjd?JjS+ܭ;0w?j咿 ji#R?ijуBj-Z?jjrjAzj)M@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.508291 s, deltaX: 0.299999 m, approachRate: 0.590212 m/s, rangeRepo size: 4  Added new target pos. range: 9.890801 m, bearing: 186.759291 deg, lat: 36.779540 deg, lon: -121.859827 deg, deltaT: 0.508291 s, deltaX: 0.299826 m, approachRate: 0.589870 m/s, posRepo size: 4 :i2ihh h h h g g)jg1rg1e1re1Ze9:e=#@*e=qS?颁ɢ~w) מi)顩ib7i.~?=1=II)checking for new query: numPingsReceived=80, elapsed TxPingTime=41.852215E EE*E"EV:*EAr:VE(N4ZEBE9<2E9<JEL;:EL;Y^A=A .AI I9 Oe >ԉ #!ZV#,g|jYLADDAT read: Rx Time:01:29:08.5542  TRx dataTimestamp_ set to:1764898149.697051PDAT read: Bearing 306.0, -27.6 (Local) ~Local bearing/azimuth received: Bearing 306.0, -27.6 (Local) %DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4 MDAT read: 01:29:08.5542 LVL= 27584, 20417, 20706, 27635, AGC= 65, IDX= 508, 0.04, 0.240, 2.241, 1.231, 1.541, PHS=-1.200, 0.745,-0.355, RAW= 304.3, 9.6, CAL= 302.0, 11.6, ROT= 208.0, -11.6 UYgot valid direction response: 01:29:08.5542 LVL= 27584, 20417, 20706, 27635, AGC= 65, IDX= 508, 0.04, 0.240, 2.241, 1.231, 1.541, PHS=-1.200, 0.745,-0.355, RAW= 304.3, 9.6, CAL= 302.0, 11.6, ROT= 208.0, -11.6 UT#Rx 81: Read range and direction messages.]`direction in FSK: [-0.864914,-0.459883,0.201078]]Fpublishing direction and range infoyRD[_^nݿo?YkOP k)IiR>?µ@+>+@ 4QO>)Vh@I4QO u+/\p my e?  :D)+I)yi4QOchecking for new query: numPingsReceived=81, elapsed TxPingTime=42.119015YByIi]Mb@Mb@Mb@YYYY Y9]q= ףp?HzGMb`?Y]>y]= ];Y] A ]A)]AYY]AbD+VD԰8y;%0=ٔQ->9 ?Y ?=UEyDE>Q 55?Q 9M5֜)CBYMt>Q EM:yM#Q IMB@HDI×B B IB BB Q =B 3DB B ;B [EBBBBR =BR =C:{5^A h= Iy I O >3+aV#,YLAYzByzI@AbD  VD 8y=%x=ٔQ-?9!Y!=%UEy%D)E-?1Q 5=55d?Q 9=55O)5DBY9y9Q I=B@5MDI5 :i5:5;5yIɮM9AIԑB*** querying acoustic contact ***ii:i2ihhhhhggjgrgereZe:e*e Mg?!ɢ%SYy)) -i))-))i5[i5252B=9I9I9DDAT read: Rx Time:01:29:09.0545 TRx dataTimestamp_ set to:1764898150.201018PDAT read: Bearing 305.0, -29.1 (Local) ~Local bearing/azimuth received: Bearing 305.0, -29.1 (Local) DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.8 DAT read: 01:29:09.0545 LVL= 30352, 19393, 20978, 28787, AGC= 66, IDX= 511,-0.26, 1.403,-2.846, 2.451, 2.743, PHS=-1.237, 0.740,-0.336, RAW= 302.9, 9.8, CAL= 300.4, 12.0, ROT= 209.6, -12.0 Ygot valid direction response: 01:29:09.0545 LVL= 30352, 19393, 20978, 28787, AGC= 66, IDX= 511,-0.26, 1.403,-2.846, 2.451, 2.743, PHS=-1.237, 0.740,-0.336, RAW= 302.9, 9.8, CAL= 300.4, 12.0, ROT= 209.6, -12.0 %T#Rx 82: Read range and direction messages.-`direction in FSK: [-0.850494,-0.483148,0.207912]-Fpublishing direction and range infoy1?7td޿hٜ?Yf&AvKQ sp)BIVip=?1+@%/>gƧ@ PwV>) j@IPwV53I ߁ ߅ 4= DDAT read: Rx Time:01:29:09.5546  TRx dataTimestamp_ set to:1764898150.457703 PDAT read: Bearing 308.2, -30.6 (Local)  ~Local bearing/azimuth received: Bearing 308.2, -30.6 (Local)  checking for new query: numPingsReceived=82, elapsed TxPingTime=42.870975E-  E- E- ,E) "E- :*E- :VE- g4ZE) SgV#,YLABE]69Y=VEyD_E>Q 55P?Q 95Ѣ)FBYy 0%Q I B@TDI ;i';E5yɮ9Aii{݌YLAj>&A"j>&A:júS@Rj$r c}!`Zp`9H@Bj1?7td޿hٜ?*j'2jPwVZj6?H${W$ sL%a?JjlՇ;￱:4ſHK?jcڿ jA"iVžT?ij|Bj]yZ?jjBrj!AzjN@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503967 s, deltaX: 0.500000 m, approachRate: 0.992128 m/s, rangeRepo size: 4 ! Added new target pos. range: 10.390304 m, bearing: 189.550139 deg, lat: 36.779540 deg, lon: -121.859833 deg, deltaT: 0.503967 s, deltaX: 0.499502 m, approachRate: 0.991141 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e$@*e;?颥Bɢe) Fi)i5顩iizi,DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4  DAT read: 01:29:09.5546 LVL= 28720, 17025, 25762, 32755, AGC= 67, IDX= 495, 0.27, 2.770,-1.403,-2.409,-2.167, PHS=-1.244, 0.809,-0.285, RAW= 302.2, 8.1, CAL= 299.7, 8.8, ROT= 210.3, -8.8 Ygot valid direction response: 01:29:09.5546 LVL= 28720, 17025, 25762, 32755, AGC= 67, IDX= 495, 0.27, 2.770,-1.403,-2.409,-2.167, PHS=-1.244, 0.809,-0.285, RAW= 302.2, 8.1, CAL= 299.7, 8.8, ROT= 210.3, -8.8 T#Rx 83: Read range and direction messages.`direction in FSK: [-0.853232,-0.498589,0.152986]%Fpublishing direction and range infoy!IVM|S߿8C ?Y(A0pBd )CId;iO?둾Ǩ@>Rb@ nF>)Ij@InF>W:3s:j, ? "F)Il7'inF=checking for new query: numPingsReceived=83, elapsed TxPingTime=43.123367UPB=Uo=IQIYIy ^A ܪ=I I) O= >omV#,\YLA:@:x@: ٱ:,-=:H@5?@%r?iֿ֩E?ɯ[;?I=??i:@I:ʊ];8YFByFIiMb@Mb@Mb@ 9{Gz?K7AY>y A$ A QA);AYAbD)VD)y=0 =%=i=ٔ=?Q-E?9AYA=EVEyEDMKEM?QQ 5]5U%?Q 9]5UT)UGBY]>Q E]:ye#Q IeB@UYDIU:iU$:UL5ymɗBɮm9Aii!i% YLAj%'A"j%'A:j%W4T@Rj%vȲ! K:bU"{?Bj%!IVM|S߿8C ?*j%l7'2j%nFZj%8$ XJiZK?Jj%rgbƿtf?j% j%$i%R?i%+7j%OBj%VžT?j%j%|Brj%:%Azj%O@DDAT read: Rx Time:01:29:10.0548 TRx dataTimestamp_ set to:1764898150.963389DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.4 Z#Rx 84: Read range message, but no direction.yY,Aqchecking for new query: numPingsReceived=84, elapsed TxPingTime=43.375072 addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.502723 s, deltaX: 0.100000 m, approachRate: 0.198917 m/s, rangeRepo size: 4  Added new target pos. range: 10.490211 m, bearing: 189.975302 deg, lat: 36.779540 deg, lon: -121.859837 deg, deltaT: 0.502723 s, deltaX: 0.099907 m, approachRate: 0.198732 m/s, posRepo size: 4 :i2ihhhhhDzDE EE+E"Es:*Ee:VE [4ZEa@a@a@a@gg jg rg Be reZe:e%@*e@I?BiBiBm!IBmBBiBiBiBm;Bm[Eaɢ|) si)q顉i#ii&B=塚=II^A=IIO%+>ԙ checking for new query: numPingsReceived=84, elapsed TxPingTime=43.614746 StV#,1&YLA2\q@2j@2Vٱ2=2H?? |`ֿ]?/?ej??i2\q@I2];2CYBByB I F=F<bDJVDJ8yf<%fR=ٔfQ-f>9hYh=jVEyjDjEn>)Q 555-§?Q 9=5-;)-HBY9y=$Q I=B@-_DI-;i-;-5yAɮM9AIu addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.259648 s, deltaX: 0.300000 m, approachRate: 1.155411 m/s, rangeRepo size: 4 :iy2iyhyhyhyhyhyggjgrgereZe:e*e ,?颽Bɢ =IIDDAT read: Rx Time:01:29:10.5549 TRx dataTimestamp_ set to:1764898151.466055PDAT read: Bearing 309.9, -32.5 (Local) E EEE"E&:*Ex:VEZEBEi;DAT read: 01:29:10.5549 LVL= 22224, 18913, 19906, 25123, AGC= 70, IDX= 3,-0.41, 2.622,-1.522,-2.500,-2.313, PHS=-1.246, 0.836,-0.231, RAW= 300.8, 7.2, CAL= 298.4, 6.7, ROT= 211.6, -6.7 Ygot valid direction response: 01:29:10.5549 LVL= 22224, 18913, 19906, 25123, AGC= 70, IDX= 3,-0.41, 2.622,-1.522,-2.500,-2.313, PHS=-1.246, 0.836,-0.231, RAW= 300.8, 7.2, CAL= 298.4, 6.7, ROT= 211.6, -6.7 T#Rx 85: Read range and direction messages.`direction in FSK: [-0.845910,-0.520408,0.116671]Fpublishing direction and range infoy`I-mu"޽?Y0AVIM #b)FI|iV?Dl@>r@ |=)\l@I|ゥЖyW7NcL6`? #H)I%i|ゥchecking for new query: numPingsReceived=85, elapsed TxPingTime=43.974285Ա DzV#,5YLAɰ4<:`@:iY@:ٱ:U=<:H?*?3d@ֿ_?` X?,? }?i:`@I:_];:CYNByNIbchecking for new query: numPingsReceived=85, elapsed TxPingTime=44.118858iMb@Mb@Mb@ 9tV?MbpY>y A )AYbD*VDӰ8yd%==ٔEQ->9Y=VEy¸DPE>Q 55Ч?Q 95i)IBY>Q E:yPQ IB@fDIj;iY;y5yЗBɮ:AQEiiYLAj/A"j/A:jGU@Rj)t"bfσ?Bj`I-mu"޽?*j%2j|Zjʎ% 8TBl?JjBcl-Dȿt=iu?jY j|,i\D?i7j{Bj#R?jjcBrj/+AzjVQ@- addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502666 s, deltaX: 0.200000 m, approachRate: 0.397878 m/s, rangeRepo size: 4 = Added new target pos. range: 10.989737 m, bearing: 190.939086 deg, lat: 36.779539 deg, lon: -121.859843 deg, deltaT: 0.762314 s, deltaX: 0.499526 m, approachRate: 0.655276 m/s, posRepo size: 4 :i92i9h9hAhAhAhAgAgAjgIrgMBeIreIZeQ:eU&@*e];?Bɢj) Gi) i Ei-*5D@=5,=I1I1@A@Aԩ^A=AzAzAIIO}%=}<DDAT read: Rx Time:01:29:11.0551 TRx dataTimestamp_ set to:1764898151.969917PDAT read: Bearing 311.7, -29.3 (Local) ~Local bearing/azimuth received: Bearing 311.7, -29.3 (Local) E  E E (E "E :*E k:VE c44ZE a= @aE @aE @aE @U DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.7 B B B 4IB BB B B B ;B [E E DAT read: 01:29:11.0551 LVL= 31984, 17185, 28770, 32755, AGC= 67, IDX= 501, 0.15,-0.828, 1.390, 0.253, 0.506, PHS=-1.232, 0.929,-0.297, RAW= 304.4, 6.5, CAL= 302.1, 5.5, ROT= 207.9, -5.5 M Ygot valid direction response: 01:29:11.0551 LVL= 31984, 17185, 28770, 32755, AGC= 67, IDX= 501, 0.15,-0.828, 1.390, 0.253, 0.506, PHS=-1.232, 0.929,-0.297, RAW= 304.4, 6.5, CAL= 302.1, 5.5, ROT= 207.9, -5.5 U T#Rx 86: Read range and direction messages.] `direction in FSK: [-0.879697,-0.465775,0.095846]] Fpublishing direction and range infoy|Yfz&CݿaVX?Y4A|!Cbp )CI-im?bP@V=w@  =)9h@I ĽLKAω M? D)vI)i Ľ checking for new query: numPingsReceived=86, elapsed TxPingTime=44.440937fV#,ZLA2?U@2N@2"ٱ2;=2H`l?n?|ֿF? 쯿X?$?@?i2?U@I2];2CYNByNIbDZVDZư8ly;%T=ٔ%\Q-%>9!Y!=%VEy-ɸD-,aE->1Q 5]55ݧ?Q 9]55P)1YYyeQ IeB@5lDI5;i5T;55yiɮm:AiiiYLAj4A"j4A:jmQ@Rj #.:a#P?Bj|Yfz&CݿaVX?*j)2j ĽZjЎ%f&[lTiD ?Jj>￰ZB=ÿԁՖ?jJ j03i.C-?i5(jBjR?j5(jOBrj-AzjWQ@ addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503862 s, deltaX: 0.300000 m, approachRate: 0.595402 m/s, rangeRepo size: 4 % Added new target pos. range: 11.289457 m, bearing: 187.129000 deg, lat: 36.779539 deg, lon: -121.859845 deg, deltaT: 0.503862 s, deltaX: 0.299721 m, approachRate: 0.594847 m/s, posRepo size: 4 :i)2i)h)h)h)h)h)g1gQjgQrgQeYreYZeY:e]&@*e]`{?颭Bɢo) ފi) iI6i$>=j=IIchecking for new query: numPingsReceived=86, elapsed TxPingTime=44.623058 ^A=1Aa Iq I O >a  DDAT read: Rx Time:01:29:11.5552  TRx dataTimestamp_ set to:1764898152.472612 PDAT read: Bearing 312.4, -30.5 (Local)  ~Local bearing/azimuth received: Bearing 312.4, -30.5 (Local) E5  E5 E1 E1 "E5 :*E5 g:VE1 ZE1 V#,jZLABE] '9iYq=uVEyuҸDu E}>yQ 55}짊?Q 95})}KBYyQ IB@}sDI};i};} 5yBpGɮ:A9auZEA9Y_>AiiiF?ZLAj:6A"j:6A:jzR@Rjf #HZ9p:?Bj$\WPNX޿zꇴ?*j(2jlZjYe8&ߝW1p(&?Jj R#S:Q7.Nl?j˿ jq4i(X6?i9LjBj\D?j+7j{Brj3AzjٿP@e addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.502695 s, deltaX: 0.099999 m, approachRate: 0.198927 m/s, rangeRepo size: 4 u Added new target pos. range: 11.389363 m, bearing: 188.024423 deg, lat: 36.779538 deg, lon: -121.859845 deg, deltaT: 0.502695 s, deltaX: 0.099906 m, approachRate: 0.198741 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e&@*e`?checking for new query: numPingsReceived=87, elapsed TxPingTime=45.126965=Bɢ=`)9 =Ri9)E!AAiE 'iM.M<=M0=IIIqԙԹ ^A ̓=A >A >A ؟AI I1DDAT read: Rx Time:01:29:12.0556 TRx dataTimestamp_ set to:1764898152.976829PDAT read: Bearing 314.5, -26.6 (Local) ~Local bearing/azimuth received: Bearing 314.5, -26.6 (Local)  DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 bE(N4jEJJ4rE5/EE EEB>BB@IBBBR =BBB;B[EEE*EA"EE:*EE&p:VEE(N4ZEABEE6<2EE6<JEEz;:EEz;Z#Rx 88: Read range message, but no direction.yY@Achecking for new query: numPingsReceived=88, elapsed TxPingTime=45.418442O?Y5V#,@ZLA8:@jD@j >@jQ^2ٱj`ԫ=jH`M?`A?2׿u?@`I?@n?q?ijD@Ij^;hiYmByu!II}%=)}p;iMb@Mb@Mb@ 9tV?T㥛 QYyu  A)AYAbDVD8y%=ٔbQ->9"?Y"?=VEyݸDE%>!Q 5-5%?Q 955%)%IBY5;>Q E5:y= Q I=B@%|DI%;i%;%u5yeBɮe:Ae[EB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504217 s, deltaX: 0.600000 m, approachRate: 1.189965 m/s, rangeRepo size: 4 :i2ihhhhhggjgrgBereZe:e(@*eC?UBɢ][k)Y ]iY)]"aaieİie(m:=mw=IiIiԑDAT read: 01:29:12.0556 LVL= 26144, 15585, 31730, 32755, AGC= 67, IDX= 503, 0.37,-1.164, 1.040,-0.198, 0.085, PHS=-1.147, 1.000,-0.327, RAW= 307.8, 5.1, CAL= 305.4, 3.2, ROT= 204.6, -3.2 Ygot valid direction response: 01:29:12.0556 LVL= 26144, 15585, 31730, 32755, AGC= 67, IDX= 503, 0.37,-1.164, 1.040,-0.198, 0.085, PHS=-1.147, 1.000,-0.327, RAW= 307.8, 5.1, CAL= 305.4, 3.2, ROT= 204.6, -3.2 Z#Rx 89: Read direction message, but no range.`direction in FSK: [-0.907818,-0.415632,0.055822]yimB) B"sڿᢔ?im fm<m{ m)mCImВim?mlmo@mK=mJ@ md=)mXd@ImdimO Dc'o9θv1oŶ? mc@)m1iIm]-imdchecking for new query: numPingsReceived=89, elapsed TxPingTime=45.640659^Av= A) I1 IA OU >VV#,lZZLA24:@23@2tO:ٱ2۬=2H??`蠲p(׿?Xԯ@G?-? e?i24:@I2^;2CYFByF'IbD^VD^8yj{<%jv=ٔnQ-n?9pYt=vVEyvDvEz?DDAT read: Rx Time:01:29:12.5556  TRx dataTimestamp_ set to:1764898153.481342-PDAT read: Bearing 315.6, -26.8 (Local) =~Local bearing/azimuth received: Bearing 315.6, -26.8 (Local) eDAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 E EE'E"E:*Ex:VE'4ZEBEF8<2EG8<JE;:E;Z#Rx 90: Read range message, but no direction.yYchecking for new query: numPingsReceived=90, elapsed TxPingTime=45.915855Q 55& ?Q 95Ǹ)HBY!y%q Q I%B@DI:i):5y)ɮ-:A1iiO^ZLAj?A"j?A:jM@Rj{j%ahWj?BjB) B"sڿᢔ?*j]-2jdZjZ&G'de翜\ϿJj_1x*ڧ6j= jj?iq?i3jBj(X6?jjBrj3;AzjN@ addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.988773 m, bearing: 183.531730 deg, lat: 36.779536 deg, lon: -121.859845 deg, deltaT: 1.008730 s, deltaX: 0.599410 m, approachRate: 0.594222 m/s, posRepo size: 4 :i 2i h hhhhggjgrgereZe:e!*e%?-Bɢ-sh)) -~i))5A~#11i5ِi=2=8== =I9IA)  DAT read: 01:29:12.5556 LVL= 22752, 18273, 32754, 32755, AGC= 66, IDX= 504, 0.07, 2.588,-1.527,-2.745,-2.483, PHS=-1.110, 1.001,-0.306, RAW= 307.8, 4.5, CAL= 305.5, 2.2, ROT= 204.5, -2.2  Ygot valid direction response: 01:29:12.5556 LVL= 22752, 18273, 32754, 32755, AGC= 66, IDX= 504, 0.07, 2.588,-1.527,-2.745,-2.483, PHS=-1.110, 1.001,-0.306, RAW= 307.8, 4.5, CAL= 305.5, 2.2, ROT= 204.5, -2.2  Z#Rx 91: Read direction message, but no range. `direction in FSK: [-0.909291,-0.414388,0.038388]y  u7ArSڿ.? X aG  ) BI {i ?  |٠= @ nF=) md@I nF r} \+ücr$~EJ? O@) }I -i nF checking for new query: numPingsReceived=91, elapsed TxPingTime=46.144695^A ~4=A I! I9 OE >_xV#,MtZLAZ/@Z)@Z30CٱZ=ZHy C;AQA A)AY\AbDVD8y{ =%<=ٔuQ->9Y=VEyD#BE>Q 55?Q 95)Y>Q E:y< Q IB@DIV:i:5yBɮ:A\E:i)2i)h)h)h)h)h)g1g1jg1rg5Be9re9Ze9:e9*e= ,?mBɢmn)i mmiq)u$qqiu| i},}6=}܌=IyIA%DDAT read: Rx Time:01:29:13.0557 -TRx dataTimestamp_ set to:1764898153.985376MPDAT read: Bearing 317.2, -25.8 (Local) ]~Local bearing/azimuth received: Bearing 317.2, -25.8 (Local) BAB>BCBFIBBBBBRDBݠ;B\EE EE+E"E*Exv:VE [4ZEBE2EJE;:E;DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 qDAT read: 01:29:13.0557 LVL= 29424, 17905, 32754, 32755, AGC= 68, IDX= 507,-0.25,-3.041,-0.875,-2.136,-1.871, PHS=-1.068, 1.041,-0.309, RAW= 309.2, 3.7, CAL= 306.8, 0.8, ROT= 203.2, -0.8 Ygot valid direction response: 01:29:13.0557 LVL= 29424, 17905, 32754, 32755, AGC= 68, IDX= 507,-0.25,-3.041,-0.875,-2.136,-1.871, PHS=-1.068, 1.041,-0.309, RAW= 309.2, 3.7, CAL= 306.8, 0.8, ROT= 203.2, -0.8 T#Rx 92: Read range and direction messages.`direction in FSK: [-0.919046,-0.393903,0.013962]Fpublishing direction and range infoy!%tHh5ٿ4?Y%3CA!%r%E! !)%DI%9i%}??%?5%@% A=%uY@ %d<)%b@I%d^A x=!!%eX9￐93fĿbG{)g? %>)%VPI%%/i%d!!Echecking for new query: numPingsReceived=92, elapsed TxPingTime=46.460819A9 IA IY Oe >ԙ YV#, ZLAi0I06checking for new query: numPingsReceived=92, elapsed TxPingTime=46.6389856i%@6@6Kٱ6ͱ=6H??@b賿M׿N?5 @x?+?@ ?i6i%@I6и];6C@YrByrI ttbDVD8yuڷ%uR=ٔuQ-}>9yYy=}VEy}DRE>Q 55%?Q 95)GBYy Q IC@DI;i;5yɮS;AiaiefZLAjeCA"jeCA:je!K@RjexWg&|W4C\jk?BjetHh5ٿ4?*je%/2jedZje4O(jP(ٿ4+aJje4<YZ:C ᰿jeDɾ je}Bie/k%?ieje}Bje.C-?je5(jeBrjeEAAzjes6M@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504034 s, deltaX: 0.200000 m, approachRate: 0.396798 m/s, rangeRepo size: 4  Added new target pos. range: 12.188557 m, bearing: 181.852226 deg, lat: 36.779535 deg, lon: -121.859845 deg, deltaT: 0.504034 s, deltaX: 0.199783 m, approachRate: 0.396369 m/s, posRepo size: 4 :i2ihhh h h g g jg rgereZe:e`ff(@*eA_?Bɢco) i)$ii&4=F=IIԱ^A=p,=EDDAT read: Rx Time:01:29:13.5559 UTRx dataTimestamp_ set to:1764898154.490287uPDAT read: Bearing 317.3, -23.2 (Local) }~Local bearing/azimuth received: Bearing 317.3, -23.2 (Local) E EE&E"Es:*E:VE4ZEBEp0<2Eq0<JE;:E; DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.6  DAT read: 01:29:13.5559 LVL= 22176, 13617, 31730, 32755, AGC= 65, IDX= 507, 0.32, 3.093,-1.063,-2.387,-2.074, PHS=-1.014, 1.056,-0.357, RAW= 311.9, 3.5, CAL= 309.5, 0.8, ROT= 200.5, -0.8  Ygot valid direction response: 01:29:13.5559 LVL= 22176, 13617, 31730, 32755, AGC= 65, IDX= 507, 0.32, 3.093,-1.063,-2.387,-2.074, PHS=-1.014, 1.056,-0.357, RAW= 311.9, 3.5, CAL= 309.5, 0.8, ROT= 200.5, -0.8  T#Rx 93: Read range and direction messages. `direction in FSK: [-0.936581,-0.350173,0.013962] Fpublishing direction and range infoyAE xGDV#,ZLAB@B@B7TٱB!=BH?@?@og`b׿`?y?@#?E?iB@IB܆];BCYRByR"IbDfVDfɰ8yM<%==ٔQ->9Y=VEyDPE>Q 555?Q 95)FBYy Q IC@DI:i:v5y Bɮ V;A ]Eiqiu`ZLAjuGA"juGA:juH@Rju~d'w+L~CtQ?Bju xGD^l?Kju^N> ju]Giu?iuju}Bju/k%?ju3juBrju|EAzjuBK@] addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504911 s, deltaX: 0.300000 m, approachRate: 0.594164 m/s, rangeRepo size: 4 m Added new target pos. range: 12.488276 m, bearing: 179.073379 deg, lat: 36.779534 deg, lon: -121.859842 deg, deltaT: 0.504911 s, deltaX: 0.299719 m, approachRate: 0.593607 m/s, posRepo size: 4 uchecking for new query: numPingsReceived=93, elapsed TxPingTime=47.142937:ii2iyhyhyhyhyhygygyjgrgereZe:e)@*e?颵Bɢi) }i)X%i7i00==II)a^A-=A ԑ I I M DDAT read: Rx Time:01:29:14.0562 U TRx dataTimestamp_ set to:1764898154.993593} PDAT read: Bearing 318.1, -22.1 (Local)  ~Local bearing/azimuth received: Bearing 318.1, -22.1 (Local) B >B CB B B B B SDB ;B *\EBCBCBBBC4E  E E )E "E :*E |:VE FA4ZE BE ><2E ><JE e;:E e;O > DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0 5 DAT read: 01:29:14.0562 LVL= 28656, 18417, 32754, 32755, AGC= 68, IDX= 510, 0.02,-2.148,-0.041,-1.393,-1.067, PHS=-0.979, 1.071,-0.370, RAW= 313.2, 3.1, CAL= 310.8, 0.2, ROT= 199.2, -0.2 = Ygot valid direction response: 01:29:14.0562 LVL= 28656, 18417, 32754, 32755, AGC= 68, IDX= 510, 0.02,-2.148,-0.041,-1.393,-1.067, PHS=-0.979, 1.071,-0.370, RAW= 313.2, 3.1, CAL= 310.8, 0.2, ROT= 199.2, -0.2 E T#Rx 94: Read range and direction messages.E `direction in FSK: [-0.944371,-0.328865,0.003491]M Fpublishing direction and range infoyI M )H89р տQC1ml?YM LAI M oM GM  I )M DIM ziM ?kV#,rZLA}p}@}k]=}^@ }d;)}/^@I}dyy}rf Ic(Ϳ 3܎? }T:)}+\I}3i}dyyvchecking for new query: numPingsReceived=94, elapsed TxPingTime=47.464031qL @@T_]ٱ=H@ַ?@&? 촿E{׿`?쮿w?`?`?iL @I"];CYByIi}Mb@Mb@Mb@yyyy y9}rh|?L7A`{GzY}>y}+}ף}VA}$ A } A)yyYybD VD8yiۼ%5=ٔ$Q->9 Y = VEy DqE>Q 5%5RD?Q 9%5)EBY%?Q EE:yM8"Q IMC@DIC;i;R"5yQɮU;AQԉiyi}ZLAj}LA"j}LA:j}nF@Rj} M='(ycXv1Eڦ?Bj})H89р տQC1ml?*j}32j}dZj})${)s?9 Jj},A~v?ʦjj}3? j}Ki}W?i}濷j}4}Bj}q?j}j}}Brj}JAzj}I@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503306 s, deltaX: 0.300000 m, approachRate: 0.596059 m/s, rangeRepo size: 4  Added new target pos. range: 12.788030 m, bearing: 177.643801 deg, lat: 36.779533 deg, lon: -121.859840 deg, deltaT: 0.503306 s, deltaX: 0.299754 m, approachRate: 0.595570 m/s, posRepo size: 4 :i2ihhhhhggjgIrgM݀BeYreYZeY:e)@*eEe?Bɢlj) i)&iri*-==II@=@=checking for new query: numPingsReceived=94, elapsed TxPingTime=47.647717Ա^AE = Aq I I O >ƶV#,lZLAYDDAT read: Rx Time:01:29:14.5563 TRx dataTimestamp_ set to:1764898155.497582PDAT read: Bearing 318.5, -20.8 (Local) ~Local bearing/azimuth received: Bearing 318.5, -20.8 (Local) E= E=E='E9"E=:*E=]t:VE='4ZE9aE@aE@aE@aE@}DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 #@t@,gٱ=H?i9Y=VEyD%蒻E%>5bdirection in FSK: [-0.952661,-0.304033,-0.000000]5Fpublishing direction and range infoy g3|ALGuӿYfNAkAI )CI= wǐ?̾@4QO=k@ )A\@I!rZp~>w*пu? 8)oOItJ5!Q 5e5%Q?Q 9e5%)%DBYaiye"Q IC@%DI%[;i%;%%5checking for new query: numPingsReceived=95, elapsed TxPingTime=47.967407yBɮ;A^EiibZLAj4NA"j4NA:j\D@RjG]j@(%_XBj g3|ALGuӿ*jtJ52jZjk)`hBq?}d Jj'&Hۼ?f:.4jc? j Mi)?i.:j|Bj?jj}BrjLAzj F@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503989 s, deltaX: 0.099999 m, approachRate: 0.198416 m/s, rangeRepo size: 4 U Added new target pos. range: 12.887936 m, bearing: 176.032610 deg, lat: 36.779533 deg, lon: -121.859835 deg, deltaT: 0.503989 s, deltaX: 0.099906 m, approachRate: 0.198230 m/s, posRepo size: 4 :iQ2iQhQhQhQhQhQgYgYjgYrgYԁereZe:e)@*e a?- Bɢ-q)-2 -Fi))-'11i5i5$=z)== =IYIaԱ5 checking for new query: numPingsReceived=95, elapsed TxPingTime=48.151615^AE = Aq I I O >rV#,gEZLA2@2O@2nٱ2=2H ? D?@'`׿ o?@뮿`G٭?q?C?i2@I2i];0YNByNIiEMb@Mb@Mb@AAAA A9EV-?yEtECEAEQA El A)EAAYAbD]VD]8ymI<%mj=ٔm2Q-u>9qYq=}VEy}D}b E}>Q 55]?Q 95)Y?Q E:y'Q IC@ԱDI9 = checking for new query: numPingsReceived=96, elapsed TxPingTime=48.654755V#,n[LA:@:@:wٱ:Q=:H@?W?`@׿ q? `??@?i:@I:];:CYFByFI HJ<bDN,VDNհ8yV%VX=ٔZ廻Q-Z>9XYX=^VEy^D^.E^>`Q 5f5bj?Q 9f5b)`Yhyj*(Q IjC@bDIb~:ib:b,5ylɮn;ApiidZ[LAjgQA"jgQA:jHA@Rj ~Local bearing/azimuth received: Bearing 319.1, -16.4 (Local) % DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.3  DAT read: 01:29:15.5564 LVL= 30544, 23281, 32754, 32755, AGC= 68, IDX= 498, 0.17,-2.906,-0.870,-2.364,-1.934, PHS=-0.870, 1.109,-0.474, RAW= 319.1, 2.6, CAL= 317.1, -0.3, ROT= 192.9, 0.3  Ygot valid direction response: 01:29:15.5564 LVL= 30544, 23281, 32754, 32755, AGC= 68, IDX= 498, 0.17,-2.906,-0.870,-2.364,-1.934, PHS=-0.870, 1.109,-0.474, RAW= 319.1, 2.6, CAL= 317.1, -0.3, ROT= 192.9, 0.3  T#Rx 97: Read range and direction messages. bdirection in FSK: [-0.974748,-0.223247,-0.005236] Fpublishing direction and range infoyLjbn"1x}6Z̿sNruYPwZ )DIR^i?!8@9= @ )xW@I;4yVyԿ&n? 3);I :i; checking for new query: numPingsReceived=97, elapsed TxPingTime=48.986866ԙ V#,)[LA(ɰ*;rݵ@rL׼@r@ٱr=rHϢ?|m?`P׿? )Q?y??irݵ@Ir];rCYBy"IybDVD8y<%-=ٔQ->9Y=VEchecking for new query: numPingsReceived=97, elapsed TxPingTime=49.159016y'DdE>Q 5-5{?Q 955)EBY1y5(Q I5C@DI;i.;=05y=!BɮE@Rj<F)$_խ\cBjLjbn"1x}6Z̿sNru*j :2j;Zj))V@~i JjJhR|g'Q?szPj@ j NitL>?ij|Bjj.:j|BrjUAzj2B@  addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.500456 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.087742 m, bearing: 170.988144 deg, lat: 36.779533 deg, lon: -121.859830 deg, deltaT: 0.500456 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i2ih!h!h!h!h!g!gAjgIrgIeIreIZeQ:eQ*eU`{?Bɢ|fe) bji) *ii2=|=IIԡ 0; DDAT read: Rx Time:01:29:16.0566  TRx dataTimestamp_ set to:1764898157.013339 PDAT read: Bearing 320.4, -14.1 (Local) B B B B B B B B ;B &\E ~Local bearing/azimuth received: Bearing 320.4, -14.1 (Local) - DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.4 U DAT read: 01:29:16.0566 LVL= 27248, 18673, 32754, 32755, AGC= 66, IDX= 500, 0.05, 2.413,-1.842, 2.877,-2.958, PHS=-0.810, 1.161,-0.492, RAW= 321.4, 1.6, CAL= 319.6, -1.4, ROT= 190.4, 1.4 Ee  Ee Ee )Ea "Ee :*Ee i:VEe FA4ZEa BEe .By> Ii%Mb@Mb@Mb@!!!! !9%}?5^I?7A`¿9Y=VEy1DhE>Q 55Z?Q 95)Y?Q E:y )Q IC@DI:i:i45yɮS*`SԿBjՏ0w6<{ǿ{J*jq=2j+<ZjBw*U YU-@#\JjMU**│rȘ?@1Bj,@ jPi%A?iˏj{BjE)?j7$j|BrjQWAzjE@@ addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.507366 s, deltaX: 0.299999 m, approachRate: 0.591288 m/s, rangeRepo size: 4 - Added new target pos. range: 13.387468 m, bearing: 168.307227 deg, lat: 36.779535 deg, lon: -121.859825 deg, deltaT: 0.507366 s, deltaX: 0.299726 m, approachRate: 0.590750 m/s, posRepo size: 4 :i12i1h1h1h1h1h1g9g9jg9rg=ÀBeAreAZeA:eE*@*eEDh?iuBɢ}>h)y }8hiy)}*yii߉IߍAchecking for new query: numPingsReceived=98, elapsed TxPingTime=49.667191i,=Tw=IIe^AE|=ԙAiIyIO\>E DDAT read: Rx Time:01:29:16.5567 M TRx dataTimestamp_ set to:1764898157.513241U PDAT read: Bearing 321.1, -12.5 (Local) ] ~Local bearing/azimuth received: Bearing 321.1, -12.5 (Local) m DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4  DAT read: 01:29:16.5567 LVL= 29168, 19825, 32754, 32755, AGC= 67, IDX= 501,-0.09,-0.095, 1.896, 0.308, 0.767, PHS=-0.760, 1.174,-0.503, RAW= 322.9, 1.0, CAL= 321.4, -2.0, ROT= 188.6, 2.0 E  E E +E "E *E z:VE [4ZE a @a @a @a @5 Ygot valid direction response: 01:29:16.5567 LVL= 29168, 19825, 32754, 32755, AGC= 67, IDX= 501,-0.09,-0.095, 1.896, 0.308, 0.767, PHS=-0.760, 1.174,-0.503, RAW= 322.9, 1.0, CAL= 321.4, -2.0, ROT= 188.6, 2.0 = T#Rx 99: Read range and direction messages.E bdirection in FSK: [-0.988154,-0.149444,-0.034899]E Fpublishing direction and range infoyI M 3P:) ÿXޡYM XAI M qM qMI I )M CIM \BiM E?M M eW@M 59Y=VEy9DE>Q 55?Q 95B)FBYyQ IC@ƭDIq:iG:75y(Bɮ?jj{BrjA ?e DDAT read: Rx Time:01:29:17.0570 e TRx dataTimestamp_ set to:1764898158.017665Bq Au 4=B} >B} CB} YIB} BBy By By B} ;B} (\E PDAT read: Bearing 321.7, -10.6 (Local)  ~Local bearing/azimuth received: Bearing 321.7, -10.6 (Local)  DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4  DAT read: 01:29:17.0570 LVL= 32240, 21425, 32754, 32755, AGC= 66, IDX= 504,-0.16, 0.181, 2.149, 0.514, 0.999, PHS=-0.716, 1.195,-0.529, RAW= 324.9, 0.5, CAL= 323.5, -2.4, ROT= 186.5, 2.4  Ygot valid direction response: 01:29:17.0570 LVL= 32240, 21425, 32754, 32755, AGC= 66, IDX= 504,-0.16, 0.181, 2.149, 0.514, 0.999, PHS=-0.716, 1.195,-0.529, RAW= 324.9, 0.5, CAL= 323.5, -2.4, ROT= 186.5, 2.4  V#Rx 100: Read range and direction messages. bdirection in FSK: [-0.992700,-0.113104,-0.041876] Fpublishing direction and range infoya e w'}3k_ ۷pYe `Aa e }e Sa a )e BIe K7ie ?e lbEuc44jEuh=4rEu͋S0E  E E 'E "E :*E Ar:VE '4ZE BE +9 ?Y ?=VEyEDE>Q 55?Q 958)JBY?Q E:y)Q IC@ϭDII:i:<5yɮasV#,9B[LAPDDAT read: Rx Time:01:29:17.5571 TRx dataTimestamp_ set to:1764898158.521158 PDAT read: Bearing 322.1, -8.0 (Local) ~Local bearing/azimuth received: Bearing 322.1, -8.0 (Local) %DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 MDAT read: 01:29:17.5571 LVL= 32752, 22513, 32754, 32755, AGC= 67, IDX= 505,-0.25,-1.384, 0.544,-1.143,-0.617, PHS=-0.665, 1.206,-0.570, RAW= 327.4, 0.3, CAL= 326.2, -2.6, ROT= 183.8, 2.6 UYgot valid direction response: 01:29:17.5571 LVL= 32752, 22513, 32754, 32755, AGC= 67, IDX= 505,-0.25,-1.384, 0.544,-1.143,-0.617, PHS=-0.665, 1.206,-0.570, RAW= 327.4, 0.3, CAL= 326.2, -2.6, ROT= 183.8, 2.6 UV#Rx 101: Read range and direction messages.]bdirection in FSK: [-0.996774,-0.066206,-0.045363]]Fpublishing direction and range infoyX@36 H򰿁99YaAW )CIq=*i5^?ڶ@;8/@ 9)|NM@I9=;u?g2Nxݿ Dsw? o*)sI9Di9=checking for new query: numPingsReceived=101, elapsed TxPingTime=50.943550w@Ȯ@6dٱq=H.?`?L ؿ ז?3Ȳ? ?@?iw@I7];CE EE(E"E;*E|:VEc44ZEa@a@a@a@YBy:IbD VD8yA=%r=ٔ.Q-?9"?Y"?=VEyLDE?Q 55?Q 95')MBYy*Q IC@խDIi =is =?5y/BɮXdV#,4[LA2@2c@2 vٱ2R=2H@p??)Pؿ@? )*? ??i2@I2Z];2CY:By:@Ii}Mb@Mb@Mb@yyyy y9}x&?/$ſ9Y=VEy TD=;E>Q 55ʨ?Q 95,)NBY?Q E:y /Q I C@ݭDI>BBlIB̀BBBBRDB;B5\E)=DDAT read: Rx Time:01:29:18.0574 =TRx dataTimestamp_ set to:1764898159.029762MPDAT read: Bearing 322.0, -5.1 (Local) M~Local bearing/azimuth received: Bearing 322.0, -5.1 (Local) ]DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 DAT read: 01:29:18.0574 LVL= 32752, 25809, 32754, 32755, AGC= 69, IDX= 508,-0.34, 0.554, 2.445, 0.690, 1.284, PHS=-0.628, 1.206,-0.638, RAW= 330.3, 0.7, CAL= 329.2, -2.2, ROT= 180.8, 2.2 Ygot valid direction response: 01:29:18.0574 LVL= 32752, 25809, 32754, 32755, AGC= 69, IDX= 508,-0.34, 0.554, 2.445, 0.690, 1.284, PHS=-0.628, 1.206,-0.638, RAW= 330.3, 0.7, CAL= 329.2, -2.2, ROT= 180.8, 2.2 V#Rx 102: Read range and direction messages.bdirection in FSK: [-0.999166,-0.013952,-0.038388]Fpublishing direction and range infoy9=)בɒ.Y=iA99=d9 9)=EI= i9=S#=my@=+H<='ܷ@ =nFE EEE"ED:*Ex:VEZEBE2 checking for new query: numPingsReceived=102, elapsed TxPingTime=51.686848tV#,![LA2٭@2*@2=Hٱ2_=2H f?@T?R !ؿ@?`\?P?@?i2٭@I2];2CY:By:GI <<bDFVDF8yN,<%Na=ٔRèQ-R>9R ?YR ?=RVEyV[DViEV>XQ 5^5Z-ר?Q 9^5ZW)ZOBY\yb/Q IbC@ZDIZ ;iZ;ZF5yf6Bɮf;=% l=I!I!ԉ==9MDDAT read: Rx Time:01:29:18.5575 MTRx dataTimestamp_ set to:1764898159.534229]PDAT read: Bearing 322.9, -3.8 (Local) ]~Local bearing/azimuth received: Bearing 322.9, -3.8 (Local) mDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 DAT read: 01:29:18.5575 LVL= 32752, 24097, 32754, 32755, AGC= 68, IDX= 509,-0.31,-1.580, 0.324,-1.496,-0.884, PHS=-0.595, 1.252,-0.657, RAW= 331.6, -0.0, CAL= 330.7, -2.9, ROT= 179.3, 2.9 ^Am=E EE&E"E:*E:VE4ZEa@a@a@a@Ygot valid direction response: 01:29:18.5575 LVL= 32752, 24097, 32754, 32755, AGC= 68, IDX= 509,-0.31,-1.580, 0.324,-1.496,-0.884, PHS=-0.595, 1.252,-0.657, RAW= 331.6, -0.0, CAL= 330.7, -2.9, ROT= 179.3, 2.9  V#Rx 103: Read range and direction messages.`direction in FSK: [-0.998645,0.012201,-0.050593]Fpublishing direction and range infoyIM9￧'?|rQ穿YM3kAIIM!^I I)MDIMQiMA?M'1(ML3@MM@ M4QO)MGH@IM4QO=IIM˫뤅>i࿼PE}< M%)M+IMGH@iM4QO=IIU checking for new query: numPingsReceived=103, elapsed TxPingTime=52.007137A ؟AI I O > ҬV#,G[LA~[@~@~ٱ~=~H?@?o̻@,ؿ ?YV@l? ~??i~[@I~];~CYEByMVIbDVD8yg=%9=ٔzwQ- >9m"?Ym"?=mVEymeDuEu>yQ 55}訊?Q 95})}QBYy0Q IC@}DI}:i}y:}J5checking for new query: numPingsReceived=103, elapsed TxPingTime=52.190968yɮ;Aiyi}0[LAj}jA"j}jA:j}/@Rj}qU-E?Bj}9￧'?|rQ穿*j}GH@2j}4QO=Zj}oe*t@xJj}͵)1 ?nLj}@ j}%Vi}nB?i}cvVj}yBj}݉^?j}=lj}XzBrj}jAzj}63@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504467 s, deltaX: 0.099999 m, approachRate: 0.198228 m/s, rangeRepo size: 4  Added new target pos. range: 14.686146 m, bearing: 156.754355 deg, lat: 36.779541 deg, lon: -121.859801 deg, deltaT: 0.504467 s, deltaX: 0.099905 m, approachRate: 0.198041 m/s, posRepo size: 4 :i2ihhhhhg g jg rg ereZe:e`ff-@*ek ?EBɢEL)A EiA)Mj.IIiMmiU(U@=Uli=IQIY^A^oj=AA A @AA @AB >B B IB BB B B B ;B &\EBCBCBBBC4I1 M DDAT read: Rx Time:01:29:19.0577 U TRx dataTimestamp_ set to:1764898160.037188] PDAT read: Bearing 4.0, -9.5 (Local) ] ~Local bearing/azimuth received: Bearing 4.0, -9.5 (Local) u DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.5  DAT read: 01:29:19.0577 LVL= 32752, 27249, 32754, 32755, AGC= 68, IDX= 512,-0.33,-2.313,-1.097,-2.111,-2.719, PHS= 0.508, 1.668, 0.564, RAW= 327.6, -40.5, CAL= 326.6, -43.9, ROT= 183.4, 43.9  Ygot valid direction response: 01:29:19.0577 LVL= 32752, 27249, 32754, 32755, AGC= 68, IDX= 512,-0.33,-2.313,-1.097,-2.111,-2.719, PHS= 0.508, 1.668, 0.564, RAW= 327.6, -40.5, CAL= 326.6, -43.9, ROT= 183.4, 43.9  V#Rx 104: Read range and direction messages. bdirection in FSK: [-0.719283,-0.042733,-0.693402] Fpublishing direction and range infoyQ U VX]翅᥿ )+Y0YU pAQ Q U qjQ Q )Q IU J ?iU ?U Nb?U c@U 4U ih@ U %D)U L@IU %D?Q Q U 忱Bf"ֿ7E  E E ,E "E :*E ~:VE g4ZE BE N-a PW#,\LAY~ǀBy~dI1iMMb@Mb@Mb@IIII I9MMb?ˡEĿ:vYM?yM'MTII I)IIYIBAbDVD8y `J=%7=ٔQ->9Y=VEymDE>!Q 5-5%?Q 9-5%)%TBY5 ?Q E5:y51Q I5C@%DI%z;i%r;%fN5y=VBɮ=xE)Q UiQ)U.YYi]ie2e=e j=II@=@=achecking for new query: numPingsReceived=104, elapsed TxPingTime=52.695004ԉ^Ah=A>A>A .AIA Ii O > W#,] \LA6%@6w@6Cٱ6?=6H`?s? 2ؿ?J´?? ?i6%@I6];4YBӀByBtIIF=)F;bDJVDJ8yR-=%R{=ٔVQ-V ?9V ?YV ?=ZVEyZtDZκEZ ?\Q 5b5^D?Q 9b5^|)^VBYdyf1Q IfC@^DI^:i^%:^?Q5yhɮjͫgވWQڿ^π?Aӿ ,)~v>Ip{Di)>ԉ颕Bɢ?)֤% 0]i).顙i5i,=6h=Ichecking for new query: numPingsReceived=105, elapsed TxPingTime=52.997749IԹ^Au`k=checking for new query: numPingsReceived=105, elapsed TxPingTime=53.201050A ؟AI I O > W#,KV:\LAZࡵ@Z2@ZٱZ=ZHk?d?U4ؿ@???`?@?iZࡵ@IZl];ZCYjڀByj|IiMb@Mb@Mb@ 9 r?/$ÿ~jtY?yD@ A  A)@YAbD޿VD8yMn<%U'=ٔU,4Q-U>9]"?Y]"?=]VEy]~D]E]>aQ 55e?Q 95e)eZBYR ?Q E:y,Q IC@eDIe;ie~;eU5y]BɮBCBIBBBS =BBQDB;B \Ei9i="\LAj=rA"j=rA:j=[2@DDAT read: Rx Time:01:29:20.0580 TRx dataTimestamp_ set to:1764898161.045194%PDAT read: Bearing 322.1, 1.4 (Local) %~Local bearing/azimuth received: Bearing 322.1, 1.4 (Local) 5DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 ]DAT read: 01:29:20.0580 LVL= 27760, 23745, 24306, 31795, AGC= 71, IDX= 3,-0.30,-1.423, 0.429,-1.544,-0.765, PHS=-0.556, 1.239,-0.823, RAW= 336.8, 1.5, CAL= 336.1, -1.4, ROT= 173.9, 1.4 eYgot valid direction response: 01:29:20.0580 LVL= 27760, 23745, 24306, 31795, AGC= 71, IDX= 3,-0.30,-1.423, 0.429,-1.544,-0.765, PHS=-0.556, 1.239,-0.823, RAW= 336.8, 1.5, CAL= 336.1, -1.4, ROT= 173.9, 1.4 mV#Rx 106: Read range and direction messages.u`direction in FSK: [-0.994041,0.106233,-0.024432]uFpublishing direction and range infoysIK/މ 2?{JYxApl\^ 3|)GIVi?!R@Pw<@ +ȼ)?B@I+<DzDE EE(E"E:*E~:VEc44ZEBE$5Zj=˸o)DGH@UJj=AE&u?ٙ'-ܿj=@ j=Li=*ޤ?i=<|j=fBj=nB?j9j=yBrj= nAzj={1@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 1.008006 s, deltaX: 0.500000 m, approachRate: 0.496029 m/s, rangeRepo size: 4  Added new target pos. range: 15.185358 m, bearing: 159.674376 deg, lat: 36.779544 deg, lon: -121.859801 deg, deltaT: 0.504070 s, deltaX: 0.199635 m, approachRate: 0.396045 m/s, posRepo size: 4 :i2ihhhhhggjgArgEڀBeAreIZeI:eM/@*eM`cB?颕Bɢ7) i)/iNi&=g=II)I ^A% Xh= checking for new query: numPingsReceived=106, elapsed TxPingTime=53.703510AU .AIa Iq q O >W#,%T\LA2@2@2MȨٱ2+=2H`4??x0ؿE?x?B ??i2@I2 6];2CY:By:I B=B=bDFտVDF8y~'=%~u=ٔ~ø9Q-~?9 ?Y ?=VEyDn4:E ?Q 55T?Q 95)\BYy,Q IC@DI:iu:qX5y!ɮ-x;A)iiuB\LAjwA"jwA:j%3)@RjA@I=M`W9ۇBG? ' )׍I,>A@Em EmEm'Ei"Em:*Emz:VEm'4ZEiau@au@a}@a}@i=checking for new query: numPingsReceived=107, elapsed TxPingTime=53.973198A؟AI & dClearing failed state for component DockingStepperq I O- >y HW#,_n\LA,YEByMI iibDοVD~8y =%==ٔQ->9"?Y"?=VEy DiYI]Amchecking for new query: numPingsReceived=107, elapsed TxPingTime=54.209682E>Q 55z/?Q 95)`BYyQ IC@DI9;i:;q\5yɮ<;Ai)i-#c\LAj-\yA"j-\yA:j-"(@Rj-)9.#N`_?x1Bj-\w→%S o.?B3*j-,>A@2j-=Zj-Q7*:%@kzpݔJj-vjES?bّBCj-@ j-Wi-4?i-Bm7j-{Bj-4?j-cvVj)rj-=oAzj-;,@} addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503848 s, deltaX: 0.100000 m, approachRate: 0.198473 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 15.584973 m, bearing: 150.522714 deg, lat: 36.779551 deg, lon: -121.859791 deg, deltaT: 1.007784 s, deltaX: 0.399615 m, approachRate: 0.396529 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:e@33/@*e?Bɢ') B B IB BB T =B B B ;B  DDAT read: Rx Time:01:29:21.0583  TRx dataTimestamp_ set to:1764898162.053168 PDAT read: Bearing 322.6, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 322.6, 3.9 (Local) - DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.5 M DAT read: 01:29:21.0583 LVL= 32752, 32561, 32754, 32755, AGC= 70, IDX= 503,-0.25,-1.541, 0.262,-1.767,-0.941, PHS=-0.498, 1.248,-0.870, RAW= 339.5, 1.2, CAL= 338.9, -1.6, ROT= 171.1, 1.6 U Ygot valid direction response: 01:29:21.0583 LVL= 32752, 32561, 32754, 32755, AGC= 70, IDX= 503,-0.25,-1.541, 0.262,-1.767,-0.941, PHS=-0.498, 1.248,-0.870, RAW= 339.5, 1.2, CAL= 338.9, -1.6, ROT= 171.1, 1.6 Dy D} <E  E E (E "E :*E :VE c44ZE BE F89Y=VEyD/jE>Q 55D?Q 95 )dBYF?Q E:y+Q IC@DI Q;iӝ<a5ydBɮ:AvEiig\LAjA"jA:j &@Rjjr/"frN@ՋܿBj{A6~?|p}*j?@2j<ZjlY+|Q% @]¥uJj5(O4뿏E’?+TjIA jZiqĤ?i)j{BjqĤ?j":j{Brj2{AzjJ0(@} addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504126 s, deltaX: 0.500000 m, approachRate: 0.991816 m/s, rangeRepo size: 4  Added new target pos. range: 16.084425 m, bearing: 148.649617 deg, lat: 36.779551 deg, lon: -121.859779 deg, deltaT: 0.504126 s, deltaX: 0.499452 m, approachRate: 0.990728 m/s, posRepo size: 4 :i2ihhhhhggjgrgBereZe:e0@*ec?EBɢE1)A E=iI)M}.IIiMK,iu$u̜=uh=IqIyDDAT read: Rx Time:01:29:21.5584 TRx dataTimestamp_ set to:1764898162.557598PDAT read: Bearing 324.5, 4.7 (Local) ~Local bearing/azimuth received: Bearing 324.5, 4.7 (Local) DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.4 )EDAT read: 01:29:21.5584 LVL= 32752, 29553, 32754, 32755, AGC= 68, IDX= 504,-0.26, 2.953,-1.473, 2.674,-2.788, PHS=-0.441, 1.359,-0.866, RAW= 340.4, -0.5, CAL= 339.9, -3.4, ROT= 170.1, 3.4 EU EUEU*EQ"EU2:*EU&p:VEU(N4ZEQa]@a]@a]@a]@mYgot valid direction response: 01:29:21.5584 LVL= 32752, 29553, 32754, 32755, AGC= 68, IDX= 504,-0.26, 2.953,-1.473, 2.674,-2.788, PHS=-0.441, 1.359,-0.866, RAW= 340.4, -0.5, CAL= 339.9, -3.4, ROT= 170.1, 3.4 mV#Rx 109: Read range and direction messages.u`direction in FSK: [-0.983375,0.171626,-0.059306]uFpublishing direction and range infoya(w?Cg]YAqs )DIi?-]@5ֽ@ s)>@Is=Ka$GQN0g ):@is=checking for new query: numPingsReceived=109, elapsed TxPingTime=54.995209UaGiy2B9Y?AY &ԉ  checking for new query: numPingsReceived=109, elapsed TxPingTime=55.221142^A Xh=A >A >ԱIIO? -W#,X\LA6U@6@6{ٱ6ݪ=6H$?}?$`5ؿ?,V@ȵ?@K3?Z?i6U@I6N];6CYBByBIiMb@Mb@Mb@ 9Cl?x&:vYd>y7 T@ A )3@YAbDVDư8yp\=%=ٔ9Q->9Y=VEyD E>Q 55V?Q 95P )hBY U?Q E :y &Q I C@!DI?;ie;gf5ylBɮ:AwEiiim\LAjmyA"jmyA:jm$@Rjm8I7/)L=8@JmpBjma(w?Cg]*jm>@2jms=Zjmʤ9+7bI!@JBJjmn M?_?'?:jmK A jmXimZj⤊?im%jmzBjijmBm7jirjm-Azjm'@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504430 s, deltaX: 0.100000 m, approachRate: 0.198244 m/s, rangeRepo size: 4 E Added new target pos. range: 16.184328 m, bearing: 147.430827 deg, lat: 36.779551 deg, lon: -121.859778 deg, deltaT: 0.504430 s, deltaX: 0.099903 m, approachRate: 0.198051 m/s, posRepo size: 4 :iA2iAhAhAhAhIhIgIgIjgIrgUBeQreQZeQ:eU@330@B>BCBIBBBBBBB;B\E*e}L?Bɢ") 8=i) .  i NHi .Ĝ=G(g=II!!eDDAT read: Rx Time:01:29:22.0587 eTRx dataTimestamp_ set to:1764898163.065227mPDAT read: Bearing 323.7, 5.5 (Local) u~Local bearing/azimuth received: Bearing 323.7, 5.5 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.4 DAT read: 01:29:22.0587 LVL= 32752, 29409, 32754, 32755, AGC= 69, IDX= 507,-0.40,-1.858,-0.038,-2.167,-1.307, PHS=-0.449, 1.314,-0.904, RAW= 341.2, 0.4, CAL= 340.7, -2.5, ROT= 169.3, 2.5 Ygot valid direction response: 01:29:22.0587 LVL= 32752, 29409, 32754, 32755, AGC= 69, IDX= 507,-0.40,-1.858,-0.038,-2.167,-1.307, PHS=-0.449, 1.314,-0.904, RAW= 341.2, 0.4, CAL= 340.7, -2.5, ROT= 169.3, 2.5 bE9jE=Ŋ94rE=ş/E EE(E"E:*Ez:VEc44ZEBE+@-@-+ݯٱ-#=-H~?௭?Aн5ؿ`?`2?@1?@?i->@I-];-CY9yAbDVDð8ٔQ->9Y=VEyDRE>Q 55xj?Q 95)mBYy&Q IC@+DI;i:{k5yɮii,\LAjxA"jxA:j#@Rj`0d!@6IBjA iNO ?GU*j$=@2j¸2=Zj8;+ucc^1"@k4d%Jj}KɅEr?jA j]i٤?iUjzBjj)jrjAzj%@  addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.507629 s, deltaX: 0.500000 m, approachRate: 0.984971 m/s, rangeRepo size: 4  Added new target pos. range: 16.683825 m, bearing: 146.732357 deg, lat: 36.779551 deg, lon: -121.859772 deg, deltaT: 0.507629 s, deltaX: 0.499496 m, approachRate: 0.983979 m/s, posRepo size: 4 :i!2i!h!h!h!h!h!g)g)jg)rg)e1re1Ze1:e5@30@*e5@G9?颕߀Bɢ) =i)-顙i DDAT read: Rx Time:01:29:22.5588 TRx dataTimestamp_ set to:1764898163.569224PDAT read: Bearing 324.1, 5.5 (Local) ~Local bearing/azimuth received: Bearing 324.1, 5.5 (Local) DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 E  E E )E "E :*E  n:VE FA4ZE a@a@a@a@uDAT read: 01:29:22.5588 LVL= 32752, 23953, 32754, 32755, AGC= 68, IDX= 507, 0.42,-1.897,-0.057,-2.218,-1.354, PHS=-0.441, 1.342,-0.908, RAW= 341.3, 0.1, CAL= 340.9, -2.8, ROT= 169.1, 2.8 }Ygot valid direction response: 01:29:22.5588 LVL= 32752, 23953, 32754, 32755, AGC= 68, IDX= 507, 0.42,-1.897,-0.057,-2.218,-1.354, PHS=-0.441, 1.342,-0.908, RAW= 341.3, 0.1, CAL= 340.9, -2.8, ROT= 169.1, 2.8 V#Rx 111: Read range and direction messages.`direction in FSK: [-0.980786,0.188870,-0.048850]Fpublishing direction and range infoyB.bᅳ,?s!DYfA] )DIiƫ?rh-@:d@ +H)<@I+H=i(E=IIYS} Q#忚{X3S? :)I<@i+H=%checking for new query: numPingsReceived=111, elapsed TxPingTime=56.022560 ^Ae=I)IIOe>9 } checking for new query: numPingsReceived=111, elapsed TxPingTime=56.229473{=W#,\LA2@2@2Jگٱ2h=2H?@£?qͽ+ؿ@ޑ? =_?@1??i2@I2f];2CYB(ByBIiMb@Mb@Mb@ 9`"?K7AMbY>y @A QA)@YAbDVD8y=%<ٔ`7Q->9Y=VEyD:E>Q 55Ux?Q 95B)pBY)?Q E:y $Q IC@1DIb:i:o5yBɮ;AEii+n\LAjEA"jEA:j#@RjLv0'^\ @l{w<BjB.bᅳ,?s!D*j<@2j+H=Zj@ +!7c"@q Jj.?.jȦ9,jA j^i#䤊?i١kjzBj٤?j%jzBrjAzj$@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503997 s, deltaX: 0.099998 m, approachRate: 0.198411 m/s, rangeRepo size: 4 IM Added new target pos. range: 16.783728 m, bearing: 146.535959 deg, lat: 36.779554 deg, lon: -121.859771 deg, deltaT: 0.503997 s, deltaX: 0.099903 m, approachRate: 0.198222 m/s, posRepo size: 4 :iQ2iQhQhQhQhQhQgQgYjgYrg]BeYreaZea:ee0@*e͒?݀BɢE:) >i)-i)i2B>BB!IB`BBU =BBBڠ;B[EG=7Ti=II DDAT read: Rx Time:01:29:23.0591 TRx dataTimestamp_ set to:1764898164.073890PDAT read: Bearing 323.9, 6.5 (Local) ~Local bearing/azimuth received: Bearing 323.9, 6.5 (Local) DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.8 DAT read: 01:29:23.0591 LVL= 32752, 27761, 32754, 32755, AGC= 69, IDX= 510, 0.24,-0.553, 1.261,-0.910,-0.019, PHS=-0.432, 1.325,-0.934, RAW= 342.2, 0.4, CAL= 341.8, -2.5, ROT= 168.2, 2.5 E% E%E!E!"E%:*E%:VE!ZE!BE%3ԡ  nManaging dock network, ignoring radio surface power offzcDW#,4h]LA2@2m@2nٱ2=2H`?B?(ѽ`2%ؿ8?:6 ? -?@߹?i2@I2h\;2CYB/ByBIbDJ VDJ8yf =%f\=ٔfQ-j>9hYh=jVEyjDnq:%checking for new query: numPingsReceived=112, elapsed TxPingTime=56.730824EU>YQ 5e5]m?Q 9m5]N)]sBYiym#Q ImC@]7DI]2:i]`:]rr5yyqɮ}:Ayii]LAjCA"jCA:jx"@Rj?0ئi? @(dBjVc?K|Վ&?GU*j;@2j¸2=Zj>c,j^#@lJjxw!H[M?JljA jciVE٤?ivjzBjj١kjrjAzj8#@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504666 s, deltaX: 0.500000 m, approachRate: 0.990754 m/s, rangeRepo size: 4  Added new target pos. range: 17.283096 m, bearing: 145.696023 deg, lat: 36.779554 deg, lon: -121.859768 deg, deltaT: 0.504666 s, deltaX: 0.499369 m, approachRate: 0.989503 m/s, posRepo size: 4 :i2ihhhhhggjgrgereZe:eL1@*e?ۀBɢ%0)! %&>i!)%,!)i-]$i-,5=5kj=I1I1@E=@E=ԩ^A}Xh=IIOn>DDAT read: Rx Time:01:29:23.5592 TRx dataTimestamp_ set to:1764898164.577067PDAT read: Bearing 323.5, 5.9 (Local) ~Local bearing/azimuth received: Bearing 323.5, 5.9 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4  DAT read: 01:29:23.5592 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 495, 0.04,-1.954,-0.106,-2.290,-1.390, PHS=-0.462, 1.328,-0.944, RAW= 341.6, 0.8, CAL= 341.1, -2.1, ROT= 168.9, 2.1 % Ygot valid direction response: 01:29:23.5592 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 495, 0.04,-1.954,-0.106,-2.290,-1.390, PHS=-0.462, 1.328,-0.944, RAW= 341.6, 0.8, CAL= 341.1, -2.1, ROT= 168.9, 2.1 E5  E1 E5 (E1 "E5 D:*E1 VE5 c44ZE1 a= @a= @a= @a= @= V#Rx 113: Read range and direction messages.M `direction in FSK: [-0.980634,0.192393,-0.036644]M Fpublishing direction and range infoyRYaiS?(א¢Y3A )FIDi?qɾ@d<@ Q )<@IQ =e1՞翑ޓ?g#)z9tYt=zVEyzɹDz;Ez>|Q 55~?Q 95~b)~uBY y #Q I C@~>DI~:i|~u5yBɮ:Aii$]LAjA"jA:j!#@Rj7~C 10A @ݯbBjRYaiS?(א¢*j<@2jQ =Zjq,Xh}#@-Ԣ+Jj.FB;,];?)u jA jfiӤ?i$@js{BjjUjrjlAzj#@e addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503177 s, deltaX: 0.100000 m, approachRate: 0.198738 m/s, rangeRepo size: 4 u Added new target pos. range: 17.382999 m, bearing: 146.488669 deg, lat: 36.779554 deg, lon: -121.859768 deg, deltaT: 0.503177 s, deltaX: 0.099903 m, approachRate: 0.198545 m/s, posRepo size: 4 :iq2iqhyhyhyhyhygygyjgrgereZe:e`ff1@*e`?颵ڀBɢ֨) I>i)+项iWX0i&6=Fl=IIi9I9Mchecking for new query: numPingsReceived=113, elapsed TxPingTime=57.238400 ^Ai=IIO>1B B B @IB zBB B B B Ѡ;B [EBCBCBBT =BT =C/5Y  DDAT read: Rx Time:01:29:24.0594  TRx dataTimestamp_ set to:1764898165.080636 DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.4  \#Rx 114: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=114, elapsed TxPingTime=57.490238D1 zD5 @AE=  E= E= *E9 "E= :*E= :VE= (N4ZE9 BE= 6yl罙`e@l A )YbD VD8y1=%;=ٔQ->9Y=VEyҹDE>Q 5 5?Q 95)yBY>Q E:y#Q IC@EDI;i";y5y!ɮ%Y:A!1EB*** querying acoustic contact ***iAiA addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503569 s, deltaX: 0.300001 m, approachRate: 0.595750 m/s, rangeRepo size: 4 :i2ihhhhhggjgrgBereZe:e@31@*e gA?؀Bɢ () `>i)+i~o>i0=C{l=IIa=checking for new query: numPingsReceived=114, elapsed TxPingTime=57.738811^Am=ԑA .AI I) OU >Թ WW#,`]LA2O@2@2 Mٱ2==2H?`}?0ؿ@?Ů`µ?S? ?i2O@I2L\;2CY>CBy>IbDFVDFȰ8yN%Nb=ٔN:Q-R>9R ?YR ?=RVEyRٹDV4e;EV>XQ 5^5Z?Q 9^5Za)Z|BY\ybQ IbC@ZJDIZq:iZ:Z|5ydɮf:Ad:ix2ixhxhxhxhxhxg|g|jg|rg|ereZe:e*e?5׀Bɢ5Eм)1 5W>i1)=*99i=HiE*EJ=Ep=IAII U&Changing to mode: 1DDAT read: Rx Time:01:29:24.5594 TRx dataTimestamp_ set to:1764898165.585231DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.5 \#Rx 115: Read range message, but no direction.yYchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.996094ԹE EE)E"Es:*Exv:VEFA4ZEa@a@a@a@9@ @@/@@!@!^A8k= A I9 Ia O >M checking for new query: numPingsReceived=115, elapsed TxPingTime=58.244766! u]W#,y]LAN@N+@NٱN/=NHۋ?`>r?@{.׿ ?_?`^?V?iN@IN[\;NCYbSBybIiMb@Mb@Mb@ 9-?T㥛 ~jtY?>yļv@A A)@YpA =<bDVDy=%8=ٔ:Q- >9Y=VEy%D-:E5>IQ 5}5MC?Q 95M )M}BY>Q E%:y%"Q I-C@MQDIM=iMy=MՀ5y}Bɮ@:AE addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504595 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :i2ihhhhhggjgrg Be re Ze :e*e?]ՀBɢ]ռ)Y e{>ia)e)aB<Ap<B>BB`IBBBBBPDB;B[EaiCXi$=-r=IIDDAT read: Rx Time:01:29:25.0597 TRx dataTimestamp_ set to:1764898166.090099PDAT read: Bearing 324.5, 5.4 (Local) ~Local bearing/azimuth received: Bearing 324.5, 5.4 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -1.0 DD<E  E E 'E "E D:*E :VE '4ZE BE 2YdW#,3N]LA>Mõ@>@>%ٱ> =>H?n?m`׿?@?_?`y?i>Mõ@I>V\;9f"?Yf"?=fVEyfDjT:Ej>lQ 5n5nɩ?Q 9r5n#)lYpyr"Q IrC@nWDIn.:in~:n5yxɮz:Axii/ą]LAjuA"juA:j#@Rj"19%6 @vB=Bj!\Yb￉zd?ᢔ*j<@2jd=Zj]w.5.nx1#@@ZJjAk꿷Ze?6;j)A jqiޫФ?i^jzBjVE٤?jjrjAzj#@= addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504868 s, deltaX: 0.500000 m, approachRate: 0.990358 m/s, rangeRepo size: 4 M Added new target pos. range: 18.182173 m, bearing: 146.798588 deg, lat: 36.779554 deg, lon: -121.859768 deg, deltaT: 1.513032 s, deltaX: 0.799173 m, approachRate: 0.528193 m/s, posRepo size: 4 :iQ2iQhQhQhQhQhQgQgYjgYrgYeYreaZea:ee@332@*eeTm?颕ԀBɢ%6)P >i)#(顙icbi.=+Os=II!)@) @1@53@1q^Ar=uDDAT read: Rx Time:01:29:25.5598 }TRx dataTimestamp_ set to:1764898166.593726PDAT read: Bearing 324.1, 5.3 (Local) ~Local bearing/azimuth received: Bearing 324.1, 5.3 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 E EE&E"E:*Exv:VE4ZEa@a@a@a@DAT read: 01:29:25.5598 LVL= 32752, 30257, 32754, 32755, AGC= 70, IDX= 485, 0.14, 2.106,-2.355, 1.803, 2.652, PHS=-0.444, 1.321,-0.893, RAW= 341.1, 0.2, CAL= 340.6, -2.7, ROT= 169.4, 2.7 Ygot valid direction response: 01:29:25.5598 LVL= 32752, 30257, 32754, 32755, AGC= 70, IDX= 485, 0.14, 2.106,-2.355, 1.803, 2.652, PHS=-0.444, 1.321,-0.893, RAW= 341.1, 0.2, CAL= 340.6, -2.7, ROT= 169.4, 2.7 V#Rx 117: Read range and direction messages.`direction in FSK: [-0.981844,0.183747,-0.047106]Fpublishing direction and range infoyqu0bDkᅦL\c?P7VYufAqqu1vq u)uFIuSiu?udu@ud;u:@ uA)u8=@IuA=qqu>sj!<,忾1f? u2)u6Iu8=@iuA=qq checking for new query: numPingsReceived=117, elapsed TxPingTime=59.018948Ay I I ԙ O >jW#,E]LAɰ:\õ@:@:ǿٱ:2X=:H`.?o?N׿?P@q?I?`?i:\õ@I:E\;8@YR^ByRIbDZVDZ8yv2<%vI=ٔvKm:Q-v>9xYx=zWEyzDzU7E~>Q 55Bש?Q 9 5&)~BY y "Q I C@^DIP:i:5y֘Bɮ;AEii]LAjAA"jAA:jC$@Rj<11_ @zBj0bDkᅦL\c?P7V*j8=@2jA=ZjX/<.u#@Xis4Jj&b}\ ZkK?$h]jA jsi1VҤ?ix#jzBjӤ?j١kjzBrjّAzjj#@m addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503627 s, deltaX: 0.099998 m, approachRate: 0.198557 m/s, rangeRepo size: 4 } Added new target pos. range: 18.282074 m, bearing: 147.056964 deg, lat: 36.779553 deg, lon: -121.859768 deg, deltaT: 0.503627 s, deltaX: 0.099901 m, approachRate: 0.198363 m/s, posRepo size: 4 :iy2iyhyhhhhggjgrgereZe:eL2@*e`?颽ӀBɢ2[) \>i)+'i$pi(b=s=II@ @@S0Ա@checking for new query: numPingsReceived=117, elapsed TxPingTime=59.253372@=@=^Aur= BI BI BM rIBM BBI BI BM QDBM ;BM [EAa Ii Iy O >} %=y  DDAT read: Rx Time:01:29:26.0601  TRx dataTimestamp_ set to:1764898167.097349 PDAT read: Bearing 323.6, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 323.6, 4.5 (Local)  DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.6  DAT read: 01:29:26.0601 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 504,-0.03, 2.069,-2.334, 1.793, 2.654, PHS=-0.482, 1.340,-0.905, RAW= 340.2, 0.5, CAL= 339.7, -2.4, ROT= 170.3, 2.4 E  E E 'E "E :*E :VE '4ZE BE 3@I += I o迡ɀ 3Gx? %) I :>@i +=  checking for new query: numPingsReceived=118, elapsed TxPingTime=59.522865qW#,x]LAlYXByIiMb@Mb@Mb@ 9)\(?MbYG?y̼`@ A)`@YAUAAUAAbD]VD]8y@%=ٔQ->9Y=WEyDE>Q 550ꩊ?Q 95,+)BY?Q E:y Q IC@gDI:i:<5yɮ;A!ii:]LAj@A"j@A:j]N%@Rj$ 12['5K @qh*Bjẽ37? ۷p*j:>@2j+=Zj}Ϟ/eG#@(K"Jj]B[.;?6}j^A jW}ixV賤?i&jzBj1VҤ?j^jzBrjAzjp#@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503623 s, deltaX: 0.500000 m, approachRate: 0.992806 m/s, rangeRepo size: 4  Added new target pos. range: 18.781593 m, bearing: 147.989728 deg, lat: 36.779553 deg, lon: -121.859768 deg, deltaT: 0.503623 s, deltaX: 0.499519 m, approachRate: 0.991852 m/s, posRepo size: 4 :i2ihhhhhggjgrgӀBereZe:e2@*e Z?eрBɢ}ͼ)y }>i)ȼ&顁iʦi28=IIchecking for new query: numPingsReceived=118, elapsed TxPingTime=59.75500999@ @@/@a ^A ԉ Ai u7x>qDDAT read: Rx Time:01:29:26.5601 TRx dataTimestamp_ set to:1764898167.602066PDAT read: Bearing 323.4, 4.3 (Local) ~Local bearing/azimuth received: Bearing 323.4, 4.3 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 E EE(E"E2:*Ek:VEc44ZEa @a@a@a@5DAT read: 01:29:26.5601 LVL= 32752, 26321, 32754, 32755, AGC= 69, IDX= 505,-0.21, 0.467, 2.316, 0.209, 1.054, PHS=-0.485, 1.307,-0.888, RAW= 339.9, 0.7, CAL= 339.4, -2.2, ROT= 170.6, 2.2 =Ygot valid direction response: 01:29:26.5601 LVL= 32752, 26321, 32754, 32755, AGC= 69, IDX= 505,-0.21, 0.467, 2.316, 0.209, 1.054, PHS=-0.485, 1.307,-0.888, RAW= 339.9, 0.7, CAL= 339.4, -2.2, ROT= 170.6, 2.2 =V#Rx 119: Read range and direction messages.uBG`direction in FSK: [-0.985845,0.163205,-0.038388]Fpublishing direction and range infoyK u h?.Yf )EIQiK?Scֽ@+H<@ nF)>@/{AInF=S 3k1Ѻ;?o9/{AYjAI)I9 u)@inF=Echecking for new query: numPingsReceived=119, elapsed TxPingTime=60.063251Om ?zW#,j]LA$ll@@ٱ=H݌?@w?^O׿(?@Ů-+?)? q?i@I0\;CYfBy(IbDVDð8yEo=%/=ٔ(;Q->9Y=WEyD4E>Q 55?Q 95.)BYy Q IC@nDI;i;W5yݘBɮ;AEii@]LAj"j:j%@Rjr2 @{MqBjK u h?.*j>@2jnF=Zjֹ~/ #@ڤ"JjA./L?,0jA jH~iS{?i,j{BjޫФ?jx#jrjAzj)5$@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504717 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.781593 m, bearing: 148.295297 deg, lat: 36.779553 deg, lon: -121.859770 deg, deltaT: 0.504717 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i2ih!h!h!h!h!g!g!jg)rg)eIreQZeQ:eQ*eUz?ЀBɢY) >i)<%i2`i,=Wq=IIchecking for new query: numPingsReceived=119, elapsed TxPingTime=60.262558ԡ @  @ @ 0@ @ @ A! A! B- >B) B- IB- BB) B) B- PDB- y;B- [E  DDAT read: Rx Time:01:29:27.0604  TRx dataTimestamp_ set to:1764898168.105106 PDAT read: Bearing 323.8, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 323.8, 4.6 (Local)  DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.4  DAT read: 01:29:27.0604 LVL= 32752, 24769, 32754, 32755, AGC= 70, IDX= 508,-0.39, 1.507,-2.955, 1.239, 2.070, PHS=-0.461, 1.303,-0.875, RAW= 340.3, 0.3, CAL= 339.8, -2.6, ROT= 170.2, 2.6  Ygot valid direction response: 01:29:27.0604 LVL= 32752, 24769, 32754, 32755, AGC= 70, IDX= 508,-0.39, 1.507,-2.955, 1.239, 2.070, PHS=-0.461, 1.303,-0.875, RAW= 340.3, 0.3, CAL= 339.8, -2.6, ROT= 170.2, 2.6 bEe:4jEe64rEe@o/E  E E )E "E :*E Z:VE FA4ZE BE a 2E a JE ';a :E (;a  V#Rx 120: Read range and direction messages. `direction in FSK: [-0.984393,0.170034,-0.045363] Fpublishing direction and range infoy  r&UX.?99Y ̘A ` ) FI 1i Ȧ? ` 3@ ; ǽ@ 9) >@I 9=  gųfv俺0ΰw?  ) վI >@i 9= T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^AM9Y=WEyDE>!Q 5%5%?Q 9-5%3)!Y?Q E:y'Q IC@%xDI%[h@2je9=Zje 05Yu/6/$@;~nJje0MDn\9?<,ajey!A jevie@Ť?ieE*jeqzBje@Ť?je&jezBrjeIAzjeO$@% addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503040 s, deltaX: 0.300001 m, approachRate: 0.596376 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.081276 m, bearing: 147.851177 deg, lat: 36.779552 deg, lon: -121.859771 deg, deltaT: 0.503040 s, deltaX: 0.299683 m, approachRate: 0.595743 m/s, posRepo size: 4 :iY2iYhYhYhYhYhaga2Acoustic response timeoutgajgrgـBereZe:e3@*eU?颵πBɢ ;) >i)'$顡i0i&|=|r=II= }M DDAT read: Rx Time:01:29:27.5605 M TRx dataTimestamp_ set to:1764898168.610023] PDAT read: Bearing 323.1, 4.2 (Local) e ~Local bearing/azimuth received: Bearing 323.1, 4.2 (Local) } DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 E  E E 'E "E :*E Ar:VE '4ZE a @a @a @a @ DAT read: 01:29:27.5605 LVL= 32752, 30545, 32754, 32755, AGC= 68, IDX= 508, 0.32, 1.737,-2.717, 1.490, 2.332, PHS=-0.493, 1.279,-0.886, RAW= 339.8, 1.0, CAL= 339.3, -1.9, ROT= 170.7, 1.9  Ygot valid direction response: 01:29:27.5605 LVL= 32752, 30545, 32754, 32755, AGC= 68, IDX= 508, 0.32, 1.737,-2.717, 1.490, 2.332, PHS=-0.493, 1.279,-0.886, RAW= 339.8, 1.0, CAL= 339.3, -1.9, ROT= 170.7, 1.9  R#Rx 1: Read range and direction messages. @  @ @ 3@  `direction in FSK: [-0.986313,0.161515,-0.033155] Fpublishing direction and range infoyI M +?B3YM AI I M QwI I )M DIM jiM F?M bM ǽ@M 5@IM =I I M ս8z{gbX? M 2)M uIM y>@iM =I I  2Acoustic response timeout% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A| u=A II!)O5?ƌW#,̖5^LA ɰ f2Acoustic response timeout%@%߭@%q^ٱ%=%H[??Vؿؖ? %??@ʼ?i%@I%y\;%CYmkBym.IbDVD8y-n <%5=ٔE9Q-M>9QYY=eWEyeDuE}>Q 55$?Q 958)BYy6(Q IC@DIY;iZ;5yBɮ@2j=Zj_=i?0b $@譭BJj8(2x`?îU=jH A jihzˤ?i1jF{BjjE*jzBrjVAzj %@!5 addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504917 s, deltaX: 0.100000 m, approachRate: 0.198053 m/s, rangeRepo size: 4 E Added new target pos. range: 19.181179 m, bearing: 148.343860 deg, lat: 36.779552 deg, lon: -121.859773 deg, deltaT: 0.504917 s, deltaX: 0.099903 m, approachRate: 0.197860 m/s, posRepo size: 4 :iA2iAhAhAhIhIhIgIgIjgQrgQeQreQZeQ:eU@333@*e]?]̀Bɢ}!) n>i)"顙i?ri0Yt=6m=IIQBBBIBBBBBB;B[EmDDAT read: Rx Time:01:29:28.0607 uTRx dataTimestamp_ set to:1764898169.113067}PDAT read: Bearing 322.8, 4.1 (Local) }~Local bearing/azimuth received: Bearing 322.8, 4.1 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.4 DAT read: 01:29:28.0607 LVL= 32752, 27857, 32754, 32755, AGC= 69, IDX= 510, 0.17, 2.015,-2.492, 1.786, 2.606, PHS=-0.489, 1.230,-0.864, RAW= 339.7, 1.3, CAL= 339.1, -1.6, ROT= 170.9, 1.6 Ygot valid direction response: 01:29:28.0607 LVL= 32752, 27857, 32754, 32755, AGC= 69, IDX= 510, 0.17, 2.015,-2.492, 1.786, 2.606, PHS=-0.489, 1.230,-0.864, RAW= 339.7, 1.3, CAL= 339.1, -1.6, ROT= 170.9, 1.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.987029,0.158097,-0.027922]Fpublishing direction and range infoyimԐCrd󉪁@Im@im9Y=WEy)DE>Q 55o7?Q 95=)BQ A+:YQ E:yD(Q IC@DI;iH?F5yBɮ@2j<ZjG|0H;$@]%"JjfY{//Y?ch9-᷿j!A jciRĤ?im3j{BjRĤ?j,j{Brj=Azj;%@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503044 s, deltaX: 0.299999 m, approachRate: 0.596368 m/s, rangeRepo size: 4  Added new target pos. range: 19.480892 m, bearing: 148.562253 deg, lat: 36.779552 deg, lon: -121.859774 deg, deltaT: 0.503044 s, deltaX: 0.299713 m, approachRate: 0.595799 m/s, posRepo size: 4 :i2ihhhhhggijgqrgyereZe:e3@*e?5̀Bɢ57r)1 5H>i1)=!99i=(ie*el=esl=IaIi9@ @@@DDAT read: Rx Time:01:29:28.5608 TRx dataTimestamp_ set to:1764898169.619554PDAT read: Bearing 322.1, 4.1 (Local) ~Local bearing/azimuth received: Bearing 322.1, 4.1 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.5 E5 E5E5+E1"E5V:*E5xv:VE5 [4ZE1MDAT read: 01:29:28.5608 LVL= 32752, 31585, 32754, 32755, AGC= 70, IDX= 511, 0.04, 0.574, 2.341, 0.355, 1.186, PHS=-0.510, 1.200,-0.875, RAW= 339.5, 1.9, CAL= 338.9, -0.9, ROT= 171.1, 0.9 UYgot valid direction response: 01:29:28.5608 LVL= 32752, 31585, 32754, 32755, AGC= 70, IDX= 511, 0.04, 0.574, 2.341, 0.355, 1.186, PHS=-0.510, 1.200,-0.875, RAW= 339.5, 1.9, CAL= 338.9, -0.9, ROT= 171.1, 0.9 UR#Rx 1: Read range and direction messages.]`direction in FSK: [-0.987838,0.154691,-0.015707]]Fpublishing direction and range infoyF/t^gg%a?y&YAa{ )FI\i?`ќ@=G@ )?@I<$M6gCURKq? )3 I?@i<}2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.i^A &lm=ԑ A I I) O5 >#W#, r^LA2@2槼@2Pٱ2R=2H`n?`?@!輿ؿ ?+ ?)??i2@I2c\;0Y:By:\IbD^VD^8yfrO=%fZ=ٔf%9Q-j>9hYh=jWEyj0DnbEn>pQ 5v5rD?Q 9v5r@)pQ Av :YtQ Ev:yvb(Q IzC@rDIrI:ir6g?rm5y|ɮ~;A|i)i-Ʀg^LAj-rA"j-rA:j-{9&@Rj- p3ivZ@tRӿBj-F/t^gg%a?y&*j-?@2j-<Zj-j0ʗmP$@#'8Jj-8ֻH뿠6?ǁ۴j-"A j->i-/ƾ?i-J5j-|Bj)j-1j-F{Brj-Azj-%@M addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.506487 s, deltaX: 0.200001 m, approachRate: 0.394878 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.680696 m, bearing: 148.811937 deg, lat: 36.779552 deg, lon: -121.859776 deg, deltaT: 0.506487 s, deltaX: 0.199804 m, approachRate: 0.394490 m/s, posRepo size: 4 :iY2iahahihihihigqgyjgrgereZe:e@33@*e?颹ɢ) >i) iPSi$Gh=ADk=IIM2Acoustic response timeoutԁu:@y @@@ԡ^AcRl=BQAU<B]>BYB]IB]ƁBBYBYB]QDB];B][EBBBBU =BU =CyG4 (DAT read: user:15>  DAT read: 0  8unknown deviceResponse_: 0 q  (Communications Faulta a a a a  DAT read: Ok  :unknown deviceResponse_: Ok  (DAT read: user:16>  BDAT read: Tx time:01:29:29.5173  $Ping request sent.  W#,nj^LART@R@R2ٱR2Y=RH??L{*ؿ@/?"`K?J? -?iRT@IR:];RCYZBy^tIaa aa aa aa iMb@Mb@Mb@ 9/$?#~jĿ{GzY1?y%ף@A lA)3@Yp@bDVD8y6=%9=ٔ 9Q->9Y=WEy:D%E%>)Q 555-U?Q 9U5-D)-BQ AUT:YUu?Q E]:y]-Q I]C@-DI-;i-g;-R5yeBɮeV;AeEB*** querying acoustic contact ***ii:i2ihhhhhggjgrgBereZe:e*eRA5ˀBɢ=v^2)9 =V>i9)=Gs9AiEiȲiE.Ma=Mmh=IIIi9@ @@@@ @ ^A8k=)  Powering downi I A] .AIa Iq O >5W#,=^LA>@>囼@>ٱ>ov=>H??ۼ 3ؿT?=Һ???i>@I>/];>CYJByJsIbDRVDR8yZk%Za=ٔZEB;Q-^>9^ ?Y^ ?=bWEybADbӺEb>dQ 5j5f0b?Q 9j5f$H)fBYhyn-Q InC@fDIfC:if::fu5ypɮr[;ApE EE(E"ED:*E~:VEc44ZEa @a @a@a@:i!2i!h!h!h!h!h!g)g)jg)rg)E- 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE5=Transitioning to midcourse guidance. Received last range of 19.700001 m 29955729.066667 min ago.E=1F=e9reAZeA:eA*eAiɢu(yػ)q u>iq)uAyyi}vi(\=Yf=II@ @@0@Qԙ^Auh=A I I O= >W#,x^LA2@2뙼@2|!ٱ2=2Hh?? 7ؿ9YYa=eWEyeIDeEe>iQ 5u5mq?Q 9u5m$L)mBY}??Q E}:y}/Q I}C@mDIm ;imD;m+5yBɮ;A:i2ihhhhhggjgrg΀BRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeereZe:e*eɢ6)B>BBIBځBBBBB;B[E >i)顑i(bi2U=`f=IIԱE EEE"Ea:*E]t:VEZEBE(LHW#,Y^LAF@FU@FluٱF<=FH?`?r =ؿ'?n#@:I?? ޼?iF@IFe];FCYRByRI TTXXbD^VD^8yf=%fS=ٔft ;Q-f>9j"?Yj"?=jWEyjQDjCVEn>9Q 5E5=?Q 9E5=O)=BYAyE/Q IEC@=DI=:i=:=5yQɮU:AQqLmmAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1Km mAggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqKmuNo longer in Terminal. Resuming normal ranging with 1.000000 count pings.qKuKuD}}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E} Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF Uninitialize.qGGGZTransitioning guidance mode to: UNINITIALIZED i?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAInitialize.A Initialize.q@ffHBrfNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630ereZe:e*eBɢż) (9i)ioŻI@ @@@IE5 E5E5+E1"E5:*E5:VE5 [4ZE1a=@a=@a=@a=@q^Ah=A I & NClearing failed state for component DATq  I! O- >ԡ qW#,0/^LA2i@2@2ٱ2~=2H ?`?I;=ؿL?@`C?`?Լ?i2i@I2n];2CY>ʁBy>IF@AF@AbDJVDJð8yNȉ=%RM=ٔR`;Q-R>9TYT=VWEyVYDV9EV>XQ 5^5Z?Q 9b5ZS)ZBY`yb/Q IbC@ZDIZ;iZ ;Z5yf2Bɮf@;AjEjr?KvKvfzfz P2@fxg|f|f|rf|ereZe:e*e)ɢ5f)1 50 M(kpHeading = 0.400000M_=IMO./@ MO./@IQԙI)i^A]+,=AAAABBBIBBBBBB~;B[EIyIO>D! D! E-  E- E- )E) "E- :*E- :VE- FA4ZE) BE- .=ٔu8;Q-u>9qYq=uWEyubD}P=9E}>Q 55?Q 95nW)BY ?Q E:y1Q IC@DI:i=:ɵ5y9Bɮ ;A1K Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKUB*** querying acoustic contact ***iQiUfafafagafafirfieireiZei:eq*eqɢ ) d=i)|iϻ":ɧ[i=I.@ .@I^A 9<A A !I1IAO^>Qy  ݂G {A1 W#,'_LA-9{AYA6-@6@6ᡚٱ6 =6H??a5ؿ@? O?h;?@j?i6-@I6(];6CYZByZIbDbVDb8En EnEn(El"En:*EnAr:VEnc44ZElav@av@av@av@yv">%vR=ٔz7R;Q-z>9xY|=~WEy~jD~:E~>Q 5 5?Q 95Z)BYy1Q IC@ĮDI"&;i 7;.5y!ɮ- :A)fYfYfYgYfYfarfaeareaZei:ei*ei颥BɢA) 8=i)`"顱iuӻL:ɧ]J}1in;Ip.@ p.@I@@I^A"IIIaOm=yԩ wkW#,A_LA2@2@2—ٱ2fi=2H@?.?@, ؿ? ? ?@?i2@I2b];2CY:By:Ii-Mb@Mb@Mb@)))) )9-\(\?M¿MbpY->y-n--@-~A -;A)-@)Y-=@ AAbDE VDEʰ8yUm=%UD=ٔ]J\;Q-]>9aYa=eWEyerDm o;Em>qQ 5}5u?Q 9}5ui^)uBY}?Q E}:y}N+Q IC@uˮDIu;iu;uҼ5yABɮ9AEB>BB IBBBBBBu;B[EfffgffrfereZe:e*eɢ)  >i ) p  iA~ػ:ɧ`:gi0I~.@ ~.@I!ԱDzDE EE*E"E ;*Ee:VE(N4ZEBEL 9 W#,Z[_LA2cȵ@2@2Qaٱ2 =2H?}^?׿?@ó`?m? G?i2cȵ@I2W];0YRByRIbDZVDZ8ybW=%bT=ٔfE;Q-f>9dYd=jWEyjzDj<Ej>lQ 5r5nƪ?Q 9r5na)nBYtyvt*Q IvC@nѮDIn>:inl:n05yxɮz9Axfffgffrfe!re!Ze!:e!*e!Bɢuռ) (>i)io^ݻS:ɧ?2iL 4IvL.@ vL.@I^AHI1IIOU=}Powering up}"Initializing DAT.9bEƷG4jE#E4rEͰ/E EEE"ED:*E:VEZEa@a@a@a@i W#,܀u_LA,2@2@2ٱ2O==2H?? Z &׿.?@9dYd=fWEyfDj8<Ej>lQ 5r5nOԪ?Q 9r5nd)nBYpyve)Q IvD@nخDIn:in::n5yzIBɮz19AzEfffgffrfe!re!Ze!:e!*e!IɢUr)Q UQ>iQ)]uYYi]{_⻩ey#;ɧeϾeielBB. IB;BBBBB;B[E E  E E E "E :*E Ar:VE ZE BE 62Hǰ??@=o׿?Eu 8?{"??i2i@I2];2C\Yb3Byb$ IiUMb@Mb@Mb@QQQQ Q9UX9v?p= ףMbYU>yUUU@UA Q)U@QYU@eAAeAAbDm$VDmΰ8y}I=%}?=ٔ}Z:Q->9Y=WEyD9<E>Q 55⪊?Q 95=h)BY>Q E:y_#Q ID@߮DIY;i;s5yɮ8AB*** querying acoustic contact ***iifffgffrfereZe:e*e Bɢ L)  s>i)Bii绩M;ɧ+i%V;=!%II%z-@ %z-@I)^A}A>A>A.AIIO>A W#,/_LA2?@2o8@2|ٱ2>2H`}?xa?D@׿^?I@ ? ??i2?@I2T];2CY>ABy>6 IbDJVDJŰ8yV̚=%VY=ٔZ3:Q-Z>9Z ?Y^ ?=^WEy^DEf EfEf&Ed"Ef;*Ef:VEf4ZEdaj@aj@an@an@rby<Er>tQ 5z59vh慠?Q 9}5v-k)vBYyy}!Q ID@vDIviQ)]YYi]}z;ɧ}} Ҽi}D?G>y} #I}t-@ }t-@I^Am$iA؟AIIOC>ԙ W#,l _LA2x@2-r@2䎽ٱ2Y%>2H`??rֿ ?ֺ ر? ?u?i2x@I2Y];2CY:MBy:D II>p<)>=iMb@Mb@Mb@ 9Zd;O?X9vI +Yj>y9`@$A 3@)@Y@bDVD8y-R=%-C=ٔ-:Q-->95"?Y5"?=5WEy5D55<E=>BE>BABEZ IBE^BBABABABE;BE[EBBBBBCQ4ԙQ 5%5?Q 9%5wn)BY%?Q E%:y%UQ I%D@DI:iw:5y5QBɮ5 8A5EfQfQfQgYfYfYrfYeYreaZea:ea*ea颍Bɢ) >i)顙iW󻩧7u<ɧ8駥Zil>.CI-@ -@I@@^AE EE)E"E:*E1:VEFA4ZEBE#5 W#,m_LA6౶@62@61ٱ6>6H?n~?*Aֿ?`;ݻ??@? ?i6౶@I63];6CYBSByBL I J=Jp=bDN)VDNҰ8yV=%VS=ٔV~:Q-V>9Z ?YZ ?=ZWEyZD^ <E^>`Q 5f5b ?Q 9f5bq)bBYdyf|Q IfD@bDIbC:ib:b5ynmBɮn8AnEf|f|fgffrfere Ze :e *e 1ɢ5|e)9 =>i9)=AAiEM <ɧMMNiM>IM'_IMi-@ Ui-@IQ^A57Ae؟AIqIO>)E EE*E"E:*E$:VE(N4ZEa@a@a@a@Qy W#,f_LA2S@2@2ٱ2>2H ??kտ ? ɽB?$??i2S@I2#];0Y:]By:W IbDFVDF8yJn==%NK=ٔNS9Q-j>9j"?Yn"?=nWEynDrѤ<Er>tQ 5v5v?Q 9z5vt)vBYxyz=Q I~D@vDIv7;ivI;va5y uBɮ8AEfQfQfQgQfYfYrfYeYreaZea:ei*ei颵Bɢe) >i)ritx=ɧe',iK>IB-@ B-@IYԉ^A]A9A=@ABE>BABE IBE}BBABABABE;BE[EAM.AIYIiOu>ԹE  E E )E "E *E g:VE FA4ZE BE F82HC ?;?@@Wտ?p?`Qn?@)?i2ZL@I2&:];2CY:hBy:e I <y-/ݽ--@-A ))))Y)bDEVDEɰ8yUnJ=%U?=ٔ]z9Q-]>9e ?Ye ?=eWEyeDe<Ee>iQ 5u5mJ)?Q 9u5mv)mBY}$>Q E}:y}G Q I}D@mDImP;im;m5yɮj8AB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢTB)  >i)ۈig >ɧ1i?   I -@ -@I @=@=Ա^A AE؟AIIIYOm5> 9 3! X#,|*`LAB[@B@BkӎٱB42>BH??h?@̾@3fԿ?~-¿@ֱ?s?p?iB[@IB'];BCER ERER+EP"ER:*ER:VER [4ZEPaZ@aZ@aZ@aZ@Y^mBybl IhhbDrVDrư8yq<%O=ٔ uѺQ- >9 "?Y "?=WEyD<E>Q 5%57?Q 9%5zy)BY)y- Q I-D@DI:i::5y5}Bɮ5y8A=EfffgffrfereZe:e*eUBɢU$.)Q U7>iY)]MYYi]Fe>ɧe:e85ie;?iiIm-@ m-@I^Am8AIIOA>9a X#,RD`LA 6@6;@6吽ٱ6=>6Hx`?*?kӿ0?nÿ@??_?i6@I65];6CYRnByRm IBr>BpBr IBrBBpBpBpBr̠;Br[EiEMb@Mb@Mb@AAAA A9E ףp= ?S㥻QYEQ>yAEE@El A A)E@AYE@bDeVDe8yuL;%uD=ٔuQ-}>9yYy=WEyĺD<E>Q 55VF?Q 95-|)BY>Q E:yQ ID@ DI;i;&5yɮv8AfAfAfAgAfIfIrfIeIreIZeQ:eq*e颽Bɢ)) >i) i,S?ɧCi^4?I,@ ,@IiE EE*E"E:*E|:VE(N4ZEBE#5ԙ 1X#,0-^`LA2@2܇@2]ٱ2MI>2H@ ?`5?`w ҿ!?`hFſg?@?M?i2@I2y];0PYVzByZ{ II^<)^bDbVDb8yjy=%jU=ٔnMQ-n>9lYl=rWEyr̺DrS=Er>tQ 5z5vsT?Q 9z5v~)vBYxy~Q I~D@vDIvG:iv+;v5yBɮU8AEf!f)f)g)f)f)rf)e1re1Ze1:e1*e1eBɢe|UȻ)a e>ia)m'iiim uZ?ɧuJu!iuG?qyI},@ },@Iy@@^Au.% WCuGA.AII:9Y7AO(>E EE&E"E:*E:VE4ZEa@a@a@a@! [X#,cx`LAY By  I %%=%%=bD- VD-8ye=%eA=ٔmQ-m>9m ?Ym ?=uWEyuԺDuEu>yQ 55}c?Q 95}<)}BYyQ ID@}DI}~:i}u:}15yɮ8AfffgffrfereZe:e*eBɢ4޻) >i)tiF@ɧQd'iN^?  I 2,@ 2,@I 1^AjA!zA!B<A<B>BB IBBBBBBؠ;B[EQAm؟AIyIO>E  E E )E "E ;*E k:VE FA4ZE BE A2H\?c?ўп>? 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Ϳ ??@?i2s@I2\;2CY8y8bDFlVDF8ٔNaQ-N>9LYP=RWEyRDRTL=ER>TQ 5Z5V?Q 9Z5V)VBY\y^˾Q I^D@V1DIVbi)i顁i,kCɧ^駕2id?Iz,@ z,@III)O==ԑԹE EEE"E:*EVEZEa@a@a@a@ =X#,PR`LAFh@F @FGٱF+ā>FHR???`uǿ?Ϳ@?>?$?iFh@IF];FCYRByR IIV=)Va=bDZQVDZ8yb"<%f<ٔfQ-f>9hYh=jWEyjDj@=Ej>lQ 5r5n?Q 9v5ns)nzBYtyvQ IvD@n8DIn:in:n5yxɮz7A|fyfyfygyfyfyrfyereZe:e*eBɢ׹) >i)i$J+Dɧ_P2iqM? I s,@ s,@I =BBB IBBBBBBʠ;B[EBIBIBIBIBICM3IIOb>I D %=D R=E  E E *E "E :*E &p:VE (N4ZE BE F82Hl?By> IiMb@Mb@Mb@ 9tV?1ZdktY>y"۽ 0@A A)@Y@ =<bD\VD8y-<%-D=ٔ5Q-5>91Y1=5WEy5DE2=EE>IQ 5U5M?Q 9U5MX)MtBYU>Q EU:y]+Q I]D@M>DIM;iM;MP5yeBɮe7AeEB*** querying acoustic contact ***iiff f g f f rf ereZe:e1*e1颍Bɢ":) >i)di(gDɧ`73i?Ixo,@ xo,@I!ԉ-&ּIIO!>Թ -JX#,-aLAE2 E2E2(E0"E2:*E2k:VE2c44ZE0a:@a:@a:@a:@:MA@::@:a'ٱ:>:Hǃ?fο?,I/ÿ?@Ϳ]? ?0?i:MA@I:]];:C\YbByb IbDjVDj8yrvv=%rO=ٔv!UQ-v>9tYt=vWEyzDzC=Ez>|Q 55~JΫ?Q 95~ )~oBY y Q I D@~DDI~:i~u:~5yBɮ@Af1f1f1g9f9f9rf9eAreAZeA:eA*eAuBɢuh;)q ud?iq)}0yyi}p-Eɧh_駅:2i|?In,@ n,@IIIIYOmV>I QX#,FaLABBB IBɂBBBBB;B[E$ɰ$B׽@B @BٱB~>BH`?zH?" n?%ͿQ?@d??iB׽@IB];BCYJByJ I!iuMb@Mb@Mb@qqqq q9urh|?RQ~jtYu>yu½uDu@q uA)u@qYu@bD VD8yƻ%?=ٔ3BQ->9Y=WEyD/=E>Q 55߫?Q 95)iBY?Q E:yQ ID@KDIu ;ii ;}5yܚBɮAAEfffgffrfereZe:e*e-Bɢ- ];)) -?i))511i52=VFɧ=[=7/i=?AAIEv,@ Ev,@IAIIIIEu EuEu*Eq"Eu:*Eu:VEu(N4ZEqBEu3A>yA.AIIO>ԡ WX#,`aLA2^o@2h@2ɶٱ2ϲ{>2HI?@Ķ?@ia K?Ϳ]Ѷ??&?i2^o@I2;];0YBByB IHJ@AbDJVDJȰ8yfޓ=%fY=ٔfQ-f>9j ?Yj ?=jWEyjDnI=En>pQ 5v5r響?Q 9v5r)rdBYtyvQ IvD@rQDIr:ir:r5y|ɮ~AA|fffgf!f!rf!e!re!Ze):e)*e)yBɢ;)  ?i)q>i7MGɧX$,i?  I ,@ ,@I AIԩIO>E EE-E"E:*E~:VEt4ZEa@a@a@a@ ! ]X#,zaLA2@2.@2ٱ2z>2H?DX? zN? Ϳж??l?i2@I2/^;2CYNByN IbDVVDV8y^<%^K=ٔ^[Y8Q-b>9`Y`=bWEyb&Df6=Ef>hQ 5n5j?Q 9n5ja)j_BYlynQ IrD@jXDIj8;ij3;jN 5yvBɮv@AAvEf f f g ffrfereZe:e*eEBɢM-<)I M?iI)MgIIiU><]Gɧ]R]?(i]?YYI]P,@ eP,@IaAIIO% >!BBB IB݂BBBBB;B[EIE  E E *E "E :*E :VE (N4ZE BE a 2E a JE a :E a q }dX#,XpaLA2@2F@2ٱ21{>2H?4?ế5۳`j?M!ο Tʶ?=?3?i2@I2"^;2CY:̂By: Ii5Mb@Mb@Mb@1111 195v/?(\µy55t5@5QA 5$A)5`@1Y5\@bDMVDM8yU=%]A=ٔ]EW9Q-e>9aYa=eWEye.Dm0=Em>qQ 5}5u?Q 9}5u)u[BY}5>Q E:yrQ ID@u^DIu ;iu" ;u5yɮ@AB*** querying acoustic contact ***iifffgffrfereZe:e*eY颵Bɢ#<) ?i)ĺ项is'BhHɧM$i?Ig,@ g,@IAE؟AIQIaOm5>ԁԩ5 QGI a c19 Y .A kX#,{LaLAE& E&E&.E$"E&V:*E&z:VE&ـ4ZE$a*@a*@a*@a*@>]1@>*@>õٱ>c{>>Hs?b?/?`+gοΰ???i>]1@I>v^;>CYFԂByF I LN=bDR VDR8yZ*=%ZU=ٔZ:Q-^>9^"?Y^"?=^XEyb6DbiH=Eb>dQ 5j5fG?Q 9j5f)fYBYhyn_Q InD@fdDIf:if(:fY5yEBɮE@AMEfffgffrfereZe:e*eBɢn]<)c 3?i)mi{GIɧFj i?I,@ ,@IԹA)I1IAOU> %qX#,1aLABYBYB]!IB]BB]T =BYBYB]Z;B]p[EF@FL@F ?ٱFz>FH?` ?U ¤ ?xοo?@{?G?iF@IFk^;FCYR߂ByR Ii-Mb@Mb@Mb@)))) )9-sh|??/$+Y->y---@-MA -+@)))Y-@bDVD8yB=%<=ٔ:Q->9Y=XEy?D.=E>Q 55/?Q 95)UBY>Q E:yHQ ID@jDI:i:(5yɮf@AfffgffrfereZe:e *e 5Bɢ5t<)9 =$?i9)=S99i=ME$IɧE>E)qiM80?IIIM,@ M,@IQIEU EUEU)EQ"EU:*EU&p:VEUFA4ZEQBEU$5qԡ xX#,[ aLA2e@2"_@2,zٱ2z>2H`?'O.3 ? Bο H? ?`)?i2e@I2.];0Y:By:!I< @@bDJVDJŰ8yR>%R]=ٔR;Q-R>9V ?YV ?=VXEyVGDVS=EZ>XQ 5^5Z]=?Q 9b5Zs)ZQBY`yb5Q IbD@ZpDIZ<;iZ';Zd5yfBɮj?Ahfxfxfxgxfxfxrf|e|re|Ze|:e*e-Bɢ-L7<)) 51?i1)511i5]R=.Jɧ=6E)iE7@AAIE,@ E,@IIAiIqIO=ԩbEŷG4jErO4rEŲ0Ee EaEaEa"EeD:*EaVEaZEaau@au@au@au@ WF~X#,jaLA6@6@6 ٱ6z>6H?ѹ`=pdk ?@ο?@?`?i6@I6Y];6CYNByR!!ITTbDZVDZ8yb>=%bH=ٔfZ;Q-f>9dYd=fXEyjODj>=Ej>llQ 5v5n2M?Q 9v5n<)nMBYtyv!Q IvD@nvDIn:inG:n5yxɮ~?A|fffgf!f!rf!e!re!Ze):e)*e)UBɢU@<)Y ]%8?iY)],KYYie<XeJɧm$-m im+@iiIm,@ m,@Iq.ۼAAB>BB;!IBBBU =BBPDBL;B_[EAAU؟AIYIqO}>Dm =Dm <Eu  Eu Eu *Eq "Eu :*Eu ]t:VEu (N4ZEq BEu 62H?]@S? ?1Ͽ ??`?i2@I2+];2CY:By:(!I9i]Mb@Mb@Mb@YYYY Y9]ʡE?p= ף rhY]>y]]C ]@] A ]@)]@YY](@bDVD8y<%>=ٔI;Q->9"?Y"?=XEyXD/=E>Q 55']?Q 95Ș)KBY>Q E:y߽Q ID@|DIg;if;5yBɮ?AE B*** querying acoustic contact ***i i fffgff!rf!e!re!Ze!:e)*e)Bɢ5<) ԑ QXX#,/bLAE EE(E"E;*E:VEc44ZEa@a@a@a@ >3@>=>eٱ>:Sy>>H?@Ί|@ ?? 2Ͽ@rF?`z??i>3@I>ҧ];>CYFByF=!IbDR VDR8yZ=%ZZ=ٔ^X\;Q-^>9\Y`=bXEyb_DbN=Eb>dQ 5j5fj?Q 9j5f,)fHBYlynsQ InD@fDIf;if;f#5ypɮr?Atf f f g f f rf ereZe:e*eԙBɢe?<) FF?i)ݼiMcKɧN ~ii@I@-@ @-@I    AzAIIO>! B >B B Z!IB /BB B B B B;B P[EBCBCBBBC-4rBX#,-zIbLAnDAT read: rVDAT read: Teledyne Benthos DAT-900 Series ~q@~tZ=~n姽ٱ~hx>~H?G @3??FϿ?`ܬ??i~q@I~]t];~CY By F!Ii%Mb@Mb@Mb@!!!! !9%n?:v~jtY%V>y%T%ļ%h@% A %@)%3@!Y%3@ 9=<bDE VDE8yUT<%U3=ٔU/;Q-U>9YYY=]XEy]hD]&=Ee>aQ 5m5ez?Q 9u5es)aYuh>Q E};y}LhQ ID@eDIe;ie;e&5yBɮ#?AEfffgffrfereZe:e*eBɢ<) K?D)zD)E5 E5E5'E1"E5T;*E5҆:VE5'4ZE1BE5GIy HjX#,KcbLA6Od@6q=6@ٱ6(v>6H ?(ɮ@[?@X?m0Ͽ`vn?`u?`?i6Od@I6];6CYN.ByRY!IbDZVDZ8yb:=%bh=ٔb;Q-f>9dYd=fXEyfpDjX=Ej>lQ 5r5n?Q 9r5n)nGBYpyrQ IrD@nDIn0;in;n*5yxɮz>AxfffgffrfereZe!:e!*e!MBɢMΘ=)Q UT?iQ)UҼQQiUyoeLɧee{Ǽie/@aaIe5-@ m5-@IiQIqIO=ԁEE EEEAEA"EE:*EE&p:VEAZEAaM@aM@aM@aM@ԩ sX#,'}bLA2@2G=2Yٱ2v>2H ?`(@6 ?G?GϿ Ƴ?;r??i2@I2C];2CYb2Byb^!IbDjVDj8yr<%rH=ٔv;Q-v>9tYt=vXEyzxDzC9=Ez>|Q 55~?Q 95~)~FBY y ֡Q I D@~DI~m:i~:~-5y Bɮ>AEf1f1f1g9f9f9rf9eAreAZeA:eA*eAuBɢul =)q uuX?iq)}2̼yyi}Piu8Lɧݾ駅`Ki3#@I-@ -@IA>A?II O=ԱB}<A}<Bu>BCB!IBMBBY =BBODBQ;BT[E EU  EU EU &EQ "EU ~ ;*EU :VEU 4ZEQ BEU VBH?ً@ݲ??`CϿ?Y??iB@IBw|];BCYRDByRt!IiMb@Mb@Mb@ 9Fx?J +S㥛Y>yH/ݼQ@ A @)@Y@@AAAbDVDȰ8y{=%>=ٔ;Q->9Y=XEyDS/=E>Q 550?Q 95)DBY>Q E;y;Q ID@DIn;i;g15yɮ3>AB*** querying acoustic contact ***iif f f g f frfereZe:e*eu~Bɢu=)q }c?iy)}8Ƽyyi}ƴ{VNMɧF駅-8i'@Iv-@ v-@IIqIO=9q  :DAT read: MF Frequency Band  vDAT read: Directional Acoustic Transponder version 8.15.0 % BDAT read: Dec 5 2025 01:29:41 X#,bLAE2 E2E2(E0"E2;*E2Ar:VE2c44ZE0a6@a6@a:@a:@>'@>$>>0ٱ>s>>H`?$@.?T?DϿ b???i>'@I>~];>CY^SBy^!IbDf VDf8yn՚=%rY=ٔr>;Q-r>9pYt=vXEyvDvE=Ev>xQ 5~5z򯬊?Q 9~5z)zBBYyԙ B} o>B} CB} !IB} gBB} Z =By B} NDB} };B} |[E5X#,bLALhh%@%>%tƍٱ%"s>%H a?@Ŀz`y? ? Ͽ /???i%@I%];%CY=aBy=!IIE%=)E=iMb@Mb@Mb@ 9"~?QY>y̼;@QA @)@Y@bD=VD=8yM=%M5=ٔmj;Q-u>9qYq=uXEyuD}"=E}>Q 55Կ?Q 95)Y>Q E:y=Q ID@DI;i;85yBɮ=AfffgffrfereZe:e*eEu EuEu*Eq"Eu:*Eux:VEu(N4ZEqBEu<! X#, bLA2MO@2'>2ڇٱ2QSs>2He?L.ƿ@j૿?`F?`Ͽ .?`a?K?i2MO@I2\];0Y^gByb!I df<bDhVDhyr=%vd=ٔv9v ?Yz ?=zXEyzDzXP=Ez>|Q 5 5,̬?Q 9 5)ABY y =Q ID@DI.:i::;5yɮZ=A Mgx>IfAfIfYgafqfrfeBGreZe:e*e .9Y+AtBɢ(B=) y?i)iۆMɧe, i3@  I .@ .@I19AAIIIO>>E EE+E"E:*E|:VE [4ZEa@a@a@a@Qԁ  LDAT read: Features enabled [Bearing]  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600X#,LpbLAY}By!IbD VD8y%=%-F=ٔ-Q-->91Y1=5XEy5D5E5>9Q 5E5=ڬ?Q 9M5=7)=@BYIyIQ IMD@=DI=:i=\:=^?5yUBɮU‰~Mɧ8Γi.4@I.@ .@IAaIqIԁO>AAAAAAB-i>B-CB-!IB-BB-[ =B)B-MDB-;B-[EԱE  E E E "E *E c:VE ZE BE #5FzٱF5s>FH@yP?@Oʿ<]`)? f?OϿtU?=?` ?iFn@IFx];FCYnByn!I ppiMb@Mb@Mb@ 9n?~jtI +Y>yļ9@A @)@Y@bDVD8ymR=%?=ٔB9Y=XEyDr=E>Q 5 5~鬊?Q 9 5|)Y >Q E :y >Q I D@DI:i9:C5yɮA؟AIIO(> )Y uX#,}$2cLAbEUc44jEU<4rEU/E& E&E&(E$"E&:*E&:VE&c44ZE$a*@a*@a*@a.@>@>d]>>t3qٱ> u>>H`j3?k̿vt@i?D?.4Ͽ!?I? ?i>@I>:^;>CYvByv!I~AA|bDVD8y.k=%Y=ٔ;Q->9"?Y"?=XEyD%VC=E%>)Q 555-?Q 955-Ŗ))Y1y5*1>Q I5D@-DI- :i-:-gF5yE"BɮEuaԉB e>B CB !IB BB ] =B B B ;B [E FX#,LcLA5$E<52o>5hٱ5w>5H?uοK[? ? !? aϿs??`?i5$EyDף@ @)@YbD߿VD8yA=%;=ٔћ;Q->9 ?Y% ?=%XEy%D%"=E%>)Q 555-?Q 9=5-))Y=S>Q E=:y=M^>Q I=D@-DI-;i-/:-:J5yAɮE 駭 X#,@ecLA6ک =6`ʀ>6jh_ٱ6ow>6Hd?FпH???ZϿ?@~?@,?i6ک =I69^;4YNByR!IIV=)Vp<bDZ޿VDZ8ybD=%bc=ٔf;Q-f>9dYd=fXEyfDj.L=Ej>lQ 5r5n?Q 9r5nє)lYtyvp>Q IvD@nDIn;in,:n_M5yz*Bɮz4SEe EeEe(Ea"Ee:*Eee:VEec44ZEaam@am@am@am@I >2X#,ܼcLA 6S=6>>6Vٱ6w>6H?Qѿߍ??m?q5Ͽ@Ϫ???i6S=I6];6CYBByB!I J=J4=N*entering command modebDJVDJİ8yV,=%VK=ٔZ;Q-Z>9XYX=^XEy^ɻD^6=E^>`Q 5f5b?Q 9f5b)`Yhyj>Q IjD@bƯDIbX:ib:bP5ylɮn;Apfffgffrf e re Ze:e*em^Bɢm=)i m?ii)m͈qqiu|}JMɧ}>}͐BB!IBBB\ =BBB;B[EBCBCBĔCB[ =B[ =Că5@AE>AE>ԡDAT read: &DAT read: user:1> (setting verbose to 3A؟AIIO>Em  Em Em +Ei "Em V:*Em x:VEm [4ZEi BEm 92uNٱ2t>2H?Nҿi?`??ο֩?#J? ?i2!~=I2];2CLYRByR"IiUMb@Mb@Mb@QQQQ Q9UM?I +YUn>yUU94QUA U@)U@QYU@bDmVDmð8y}lf<%}>=ٔȐ;Q->9"?Y"?=XEyһD"=E>Q 55-?Q 95`)BBY>Q E;y>Q ID@̯DI;i;T5yɮ;AB*** querying acoustic contact ***iifffgffrfereZe:e*e ZBɢ e=) d?i&DAT read: user:1> ]TDAT read: Verbose | 3 ] set verbose to 3]6setting DatVerbose to 27440)顑i5Lɧ>駝 &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 6setting transmit power to 8! BX#,lcLAE EE'E"ET;*EAr:VE'4ZEa@a@a@a@>G=>yR>> Eٱ>ts>>HҀ?YFӿQJ???ο`l?@$??i>G=I>];>CYFÃByF"I HHbDRVDR8yZĀ=%ZX=ٔZ;Q-^>9\Y\=^XEybڻDb96=Eb>dQ 5j5fI:?Q 9j5f!)fDBYhyj>Q InD@fѯDIf:if~:fW5yr2Bɮru;ArEfffgffrfereZe:e*emVBɢmь=)q u|?iy)}ÜpyiejLɧb?駝p-&DAT read: user:3> 5TDAT read: TxPower | 8 (Max) 5.set transmit power to 856setting local address to 11Qԁ B ]>B CB "IB ƒBB ^ =B 4DB LDB ;B u[EX0X#,_cLAF&DAT read: user:4> RTDAT read: LocalAddr | 11 V.set local address to 11b\Setting time to: 1:29:51 And date to:12/5/2025QYMʃByM"I only read 1 of 4 data items for bottom velocity. Device response is::BS, +14, +-5,A a @a  a @a  a@a a@a bDVD8D%?AzD%?AE- E-E-+E)"E-:*E-:VE- [4ZE)BE->9QYQ=UXEyUDUE]>YQ 55]tJ?Q 95])]FBQ A+:YQ E:yQ ID@]دDI]:i] ?]i[5y Bɮ :AEfffgffrfereZe:e *e UQBɢU3=)Q U\?iQy)]]yi뢼Kɧ4.?駍] =i1@IN1@ N1@IIiIO;>ԩ-&DAT read: user:5> 5NDAT read: Fri Dec 5, 2025 01:29:51 5fLocal DAT time set to Fri Dec 5, 2025 01:29:51 =2Acoustic response timeout=6setting remote address to 8 UX#,$cLAYڃBy-"IbDVD8yM1=%Mr=ٔIQ-M?9QYQ=UXEyUDYE]?aQ 5m5eU?Q 9m5eg)eHBQ Am :YiQ Em:yqQ IuD@eܯDIe;iebT?eX]5yBɮ9AEfffgԹffrfereZe:e*e` 6@ MBɢ }&=)  Q?i)Oiͥ%AKɧ%D?%=i%1@))I-1@ -1@I1IIO=&DAT read: user:6> TDAT read: RemoteAddr | 8 .set remote address to 82Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.EE EEEAEA"EEs:*EEi:VEAZEAaM@aM@aM@aM@i= AI= AE &DAT read: user:7> M BDAT read: Tx time:01:29:51.6570 M $Ping request sent.M 2u>21&ٱ2p>2H? Gֿ?4O? ?HͿĤ???i2 >I2];0YbByf7"IIj<)j<bD~VD~8y )=% N=ٔ19Y==XEy=D={>E=>AQ 5M5Eb?Q 9M5E݌)EIBQ AU9YQQ EU:yU>Q IUD@EDIE:iEk?E5_5yyɮ9Afffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 19.700001 m @1AereZe:e*eu6@EIBɢUv=)Q U?iQ)]^>YYi]euJɧe_?e3=iee1@aiIme1@ me1@IiII O=AM@AAM@ABUS>BUCBU("IBUփBBU_ =BQBUKDBU;BUe[EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253309iEM  EM EM *EI "EM :*EM :VEM (N4ZEI BEM 32ߛ>2Nٱ2%1o>2H`?DH׿ǩ?`a??LͿz_?L??i2r >I2];2CYB׃ByF)"Ia-a- a-a- a-a- a-a5 i5Mb@Mb@Mb@1111 195ʡE?y&1?MbY5>y5`<55@5 A 5@)5@1Y5@ AE=bDMVDM8y]a^%]F=ٔ];Q-]>9aYa=eXEyeDm2=Em>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502782Q 55up?Q 95uߊ)uLBQ AT:Y2>Q E:y>Q I D@uDIuizAMAyn9zAYhiA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754747 I Y#,4dLAE EE+E"E&:*E҆:VE [4ZEa@a@a@a@jԤD>j>jٱjm>jHU?@Dٿ?`~?`ev?`J̿? fv?@u?ijԤD>Ij];hYvByvF"IbD VD 8y%p=%-N=ٔ-gH95 ?Y= ?==XEy=DEd=EE>IQ 5]5M }?Q 9]5MLj)MOBYayeC>Q IeD@MDIMB;iM<;MEf5yqɮue9AyqL~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEntering USBL mode with 120.000000 count pings at 19.700001 m (mode 0.000000 count ).L1MDAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFInitialize.F5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G5 =Initialize.qG=G=qE=g=h7gEh7FEEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GEMDReached init depth of 65.967880 m.jgIrgMfBM$Terminal guidance.qEMGMMInitialize.MdInitializing internal variables to default values.UZTransitioning guidance mode to: UNINITIALIZED iQuDRollout timeout set to 300.00 sec.}VIIR filter is initialized with decay: 0.00.}bTransitioning guidance mode to: TERMINAL_GUIDANCE i}??}}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@} Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*e@`I7@B)   i ) |1,  Zi)5I= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007052AAIIIYOm5>) BM F>BM CBM ;"IBM BBM c =BI BM JDBM ;BM ][Ep|Y#,'NdLA>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261944LV>>ٱl>H?Aڿ /f?ਊ?g??qE̿Y?Q? C"?iV>Im];CYByN"I imMb@Mb@Mb@iiii i9m$C?ˡE?ym'=mtm@mA m`@)m@iYm@bDVD8y<%2=ٔ;Q->9Y=XEy D=E> Q 55 s?Q 95 +) RBY+>Q E:y?Q IE@ DI V:i 1: Nj5y!ɮ%79A!E- E-E--E)"E- ;*E-:VE-t4ZE)BE-Rhh;hL?hggjgrgہBereZe:e*e7@=Bɢ=+)=Ӽ =X9ia)e0,amimҬiu"1@q)uL? }(kpHeading = 0.800000I}; (kiHeading = 0.004000 I>IAA]zA]A]A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510777AE II Ia Om > qY#,ihdLABdi>BV>B ٱB l>BH ?@ۿXDz?!??@˿`Y_?w;? $?iBdi>IB[^;BCYNByNQ"ITTbDZVDZİ8ybah<%bt=ٔb;Q-b?9fYf=fXEydj]=Ej?lQ 5v5n?Q 9v5n=)nTBYtyvR ?Q IzE@nDIn=;in;n3m5y $Bɮ d9A j)qM5M5hAhAhIhIhIgIgIjgQrgQeYreZe:e*e@8@[-+>[-+>"[-=*[-R ?Yɢe_%)a e@;ia)e!,aaimV>V|sٱV;q>VHM? >ܿ@??`5?@>̿`-?@e?`?iVw|>IV^;VCYbBybY"IbDj3VDj۰8yr=%rH=ٔr:;;Q-v>9tYt=vXEytz9=Ez>|Q 55~?Q 95~ʁ)~WBYy?Q I E@~DI~A;i~:~p5yɮ/9Aj)M--Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL- -Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLh9h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU@^u8@Y[q[q"[q*[u?颅Bɢv) 'Y#,џdLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518891,>~ɇ>>^>>!0μٱ>nu>>H T?8ݿϰ?@?8p?\̿Qř?k`?M?i>~ɇ>I>];>CYByL"II )>) pyD=Ļ@A I@)Y@bD,VDհ8yA*%'=ٔ;Q->9Y=XEyl=E>Q 557?Q 95~)[BYd>Q E:ym?Q IE@DI:i: u5yWBɮKAEB*** querying acoustic contact ***iixh hhhhggjgrgŁBereZe:e!*e%l8@[Ed>[Ed>"[E=*[E{m?ɢ`,) Zi)+i-in%@II ԁԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771179^AII!O5> E  E E +E "E :*E x:VE [4ZE a @a @a @a @-Y#,dLA23>2bd?2&ٱ2w>2H`B ?`q.޿(|?@?(?`5;̿b?`??i23>I2)^;0Y:By>S"I F=F=bDJ&VDJϰ8yR<%R_=ٔR0;Q-R>9TYT=VXEyTZ,M=EZ>X`Q 5b5Z?Q 9b5Zw|)Z^BYdyf ?Q IfE@ZDIZd*;iZ`+;Z>x5yhɮjJAhh|h|h|h|h|ggjgrge re Ze :e *e gP9@[)[)"[)*[- ?颹ɢ/) 6B=CB=T"IB=BB=a =B9B=KDB=f;B=E[EBCBCBBa =Ba =CǢ6^A- N؅A II Ii O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277507R4Y#,dLA ->-?-tٱ-Bt>-HE?@.(߿⳹?;?O?`˿ "Δ?@VG??i->I-)^;)Y=ByE_"IEM EMEM)EI"EM:*EMM:VEMFA4ZEIBEME8y 0=@A @)@Y\@bD,VDհ8nManaging dock network, ignoring radio surface power offy =%*=ٔR;Q->9Y=XEy=E>Q 5 5Lǭ?Q 9 5y)aBYV>Q E ;y!?Q IE@DI:i(:t|5yYɮ]JAYhhhhhggjgrg߁BereZe:e*e9@[V>[V>"[4=*[K!?%Bɢ%_ )) -i--2?-K-Ϣv>-nF=-Ulx> -)-q@I-))-)4ѿcDĬ? -])- pI-q@i-))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.aԙ Թ 4= = &DAT read: user:8>  BDAT read: Tx time:01:29:55.4570  $Ping request sent. jv ?j<ȗٱjNk>jH|?` =? _?`v?Fʿ`?h4? z&?ij}>Ij:^;jCYrByrc"I ttbD~LVD~8y p<% 9=ٔ );Q- >9Y=XEy!=E>!Q 5-5%ҭ?Q 9-5%v)%dBY)y-&?Q I-E@%DI%:i%;%M5y=]Bɮ=JA=EԑiYi]~dLAj]A"j]A:j][c;@Rj][t5Es4@Bj]nvC翠YX0?*j]q@2j]Zj]p@*eu "n?[["[*[o&?BɢN) `=i) *  i [5iI_@IO'.@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866^A)I I O- > B% D>B% CB! B! B! B! B% JDB% G;B% [E):CY#,+ eLAY~By~a"IbD5RVD58ym>%uE=ٔQ->9Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505136=XEyE>Q 55ݭ?Q 9%5Bt)gBY)y)Q I5E@DIy AdIY#,,d'eLA2y>2Y?2vٱ2Vd]>2H2?`~?`G?@4@? ȿ`W?t?`a@?i2y>I2^;2CY:By:m"Ii%Mb@Mb@Mb@!!!! !9%X9v?ˡE?y&1|Y%>y%'=%`%@%A %@)%@!Y%p@bD=xVD=8yMO=%UL=ٔUN9YYa=eXEyam=Em>qQ 55uH筊?Q 95uq)uhBY$>Q E;y.?Q IE@uDIuX;iuW;ur5yɮnJAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 29.97 m.2iPowering the camera and arming the capture device at range: 30.00 m.i"i+I<*i+I<  ProNav pure pursuit: ac range: 29.966908 m, nav range: 30.275217 m, bearing: 156.429472 deg, approach rate: 0.191528 m/s, LOS rate: 0.703498 deg/s, cmd heading: 156.185321 deg, new cmd heading: 156.429472 deg. HeadingCmd: 2.730209 target range: 29.966908 and range: 30.00 m.h.@hQhhhiggjgrǵBereZe:e*e?[$>[$>"[j=*[w.?1ɢ5-»)9 =o=i9)=xv)99i=iE@AIIM.@Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006978ԁ^A#E5 E5E5%E1"E5 ;*E5~:VE5 4ZE1a=@a=@a=@a=@IYIiOu>Թ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258573QPY#,VAeLA2>2?2EC\ٱ2NY>2Hܦ?@@b???`qǿ@2??@F?i2>I2^;2CY:By>f"IIB=)B>?bDFVDF<8yN%NV=ٔNچ;Q-R>9PYP=RXEyPV+=EV>XQ 5^5Zt?Q 9^5Zuo)ZjBY\y^2?Q IbE@Z"DIZ7:iZC:ZŊ5yf.Bɮf)IAfE:it5DNOT Ignoring new targets: 29.97 m.2i1=Powering the camera and arming the capture device at range: 30.00 m.i9"i=6<*i=6BCBZ"IBBBc =BBIDB;BZEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510637^AMFӅ I I9 Oe >D} @AzD} AAE  E E +E "E :*E :VE [4ZE BE 62jC?2XDٱ22H\?"@j7?"?? 'ǿ`?D? F?i2>I2C^;2CY8y8i-Mb@Mb@Mb@)))) )9-x?+?y-=-t-@-A -@)-@)Y-z@ ===R=bDEVDE68ٔU_;Q-U>9QYY=]XEyY]=Ee>aQ 5m5e8?Q 9u5el)aYup>Q Eu;yu6?Q IuE@e'DIe:ie;e}5yɮ:iDNOT Ignoring new targets: 29.97 m.2iPowering the camera and arming the capture device at range: 30.00 m.i"i@.<*i@.< ProNav pure pursuit: ac range: 29.966908 m, nav range: 30.405704 m, bearing: 156.929925 deg, approach rate: 0.157166 m/s, LOS rate: 0.609375 deg/s, cmd heading: 156.669677 deg, new cmd heading: 156.929925 deg. HeadingCmd: 2.738944 target range: 29.966908 and range: 30.00 m.hJ/@hhhhiggjgrgBereZe:e*e ?[p>[p>"[:=*[6?Bɢd޻) `L=i)C6(ii%K@!!I%J/@I)@yA@xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762818!  I݂G{AA^Aؐ9{AY{Ay;T?PAIIO>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014652\Y#,QteLA Y~Bys"IbD%VD%M8y}+<%}<ٔQ->9Y=XEyE>Q 55?Q 95Cj)kBYyQ IE@,DI7:i.:5yɮHAE EE(E"ED:*E҆:VEc44ZEa@a@a@a@:iDNOT Ignoring new targets: 29.97 m.2iPowering the camera and arming the capture device at range: 30.00 m.i"i,<*i,<  ProNav pure pursuit: ac range: 29.966908 m, nav range: 30.470985 m, bearing: 157.180202 deg, approach rate: 0.158101 m/s, LOS rate: 0.604835 deg/s, cmd heading: 156.929921 deg, new cmd heading: 157.180202 deg. HeadingCmd: 2.743312 target range: 29.966908 and range: 30.00 m.h m/@hhhhiggjgrgere!Ze!:e!*e%@[A[A"[A*[AUBɢ]I)Y ]=iY)]"<'Yaief3ie@iiImm/@Ii }&Changing to mode: 2q%:@! @!@%x3@)i!I!%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266992Թ^AI B ;>B B B B d =B B B ;B ZEA} 2AI I O >.cY#,hЎeLA2 >2$"?2ٱ2?!Z>2H?.:??&$?zƿ h?`/?}F?i2 >I2_^;2CdYfByf{"I hhbD~VD~T8y =%M=ٔ;Q->9?Y?=XEy%D%=E%>)Q 555-R ?Q 955-g)-lBY1y5??Q I=E@-0DI-:i-b;-{5yAɮEHAADDAT read: Rx Time:01:29:57.6272 TRx dataTimestamp_ set to:1764898198.285556PDAT read: Bearing 32.8, 55.9 (Local) ~Local bearing/azimuth received: Bearing 32.8, 55.9 (Local) :iDAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.1 UDNOT Ignoring new targets: 29.97 m.2iYmPowering the camera and arming the capture device at range: 30.00 m.ii"i<*i< ProNav pure pursuit: ac range: 29.966908 m, nav range: 30.529171 m, bearing: 157.419670 deg, approach rate: 0.135070 m/s, LOS rate: 0.554830 deg/s, cmd heading: 157.180206 deg, new cmd heading: 157.419670 deg. DAT read: 01:29:57.6272 LVL= 22880, 18145, 32754, 32755, AGC= 54, IDX= 433, 0.12, 3.079,-3.095, 1.644, 2.658, PHS= 0.523, 0.576,-1.058, RAW= 28.4, -0.5, CAL= 28.9, -2.4, ROT= 121.1, 2.4 Ygot valid direction response: 01:29:57.6272 LVL= 22880, 18145, 32754, 32755, AGC= 54, IDX= 433, 0.12, 3.079,-3.095, 1.644, 2.658, PHS= 0.523, 0.576,-1.058, RAW= 28.4, -0.5, CAL= 28.9, -2.4, ROT= 121.1, 2.4 HeadingCmd: 2.747492 target range: 29.966908 and range: 30.00 m.h/@hhhhigg!-R#Rx 1: Read range and direction messages.5`direction in FSK: [-0.516080,0.855516,-0.041876]=Fpublishing direction and range infoyr;c`? ۷pY3A`YFE} E}E})Ey"E}l;*E}:VE}FA4ZEyBE}`F@*e? )IT?it?l>5^ ? +)E@I+=^;9|pyT;u <̿)ۭijY#,ɬeLA>p>>&?>ٱ>.Z>>H`)w?@qS? ^`?@?5ƿ?(?3E?i>p>I>H^;>CYJByJ"IiMb@Mb@Mb@ 9K7A`?~jt?Mb`?Y>yD=;@A @)Y@11bD5VD5S8yEw<%E3=ٔMwQ;Q-M>9M?YM?=UYEyUDU =EU>YQ 55]y?Q 95]d)]oBYĬ>Q E;yI?Q IE@]5DI]AjmBjm/ƾ?jmJ5jm|BrjmAzjm[Z0@U addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 2.777809 s, deltaX: 0.900000 m, approachRate: 0.323996 m/s, rangeRepo size: 2 e Added new target pos. range: 30.864704 m, bearing: 158.737711 deg, lat: 36.779551 deg, lon: -121.859777 deg, deltaT: 2.777809 s, deltaX: 0.897797 m, approachRate: 0.323203 m/s, posRepo size: 2 :iaeDNOT Ignoring new targets: 30.86 m.2iamPowering the camera and arming the capture device at range: 30.90 m.ii"im*iq ProNav: ac range: 30.864704 m, nav range: 30.624416 m, bearing: 157.879366 deg, approach rate: 0.000000 m/s, LOS rate: 0.554830 deg/s, cmd heading: 157.419673 deg, new cmd heading: 157.903389 deg. i}<HeadingCmd: 2.755934 target range: 30.864704 and range: 30.90 m.h9a0@hhhhiggjgrgBereZe:e*e?BɢG) =i)$iyi;!@I9a0@I%DDAT read: Rx Time:01:29:58.1271 -TRx dataTimestamp_ set to:1764898198.7851355PDAT read: Bearing 35.5, 38.0 (Local) 5~Local bearing/azimuth received: Bearing 35.5, 38.0 (Local) EDAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed -0.1 mDAT read: 01:29:58.1271 LVL= 24096, 21601, 29938, 32755, AGC= 51, IDX= 512,-0.17, 2.964,-2.726, 1.839, 2.549, PHS= 0.517, 1.054,-0.754, RAW= 13.2, -10.2, CAL= 13.5, -12.0, ROT= 136.5, 12.0 }Ygot valid direction response: 01:29:58.1271 LVL= 24096, 21601, 29938, 32755, AGC= 51, IDX= 512,-0.17, 2.964,-2.726, 1.839, 2.549, PHS= 0.517, 1.054,-0.754, RAW= 13.2, -10.2, CAL= 13.5, -12.0, ROT= 136.5, 12.0 R#Rx 2: Read range and direction messages.`direction in FSK: [-0.709523,0.673312,-0.207912]Fpublishing direction and range infoy!%"jdd@Ƌ?hٜʿY%fA!% ^%aT%t !)%3I%Z?i%y?%%A%k>%K6%:Fq> %PwV)%x@I%PwV>!!%1=7ҿf}&W0Ѡƿ %ߜ)%a5>I%x@i%PwV>Թ!!checking for new query: numPingsReceived=2, elapsed TxPingTime=3.043359UO5@Q @Y@]|0@Y@e=@abE-ƷG4jE-#E4rE-a0E  E E +E "E &:*E :VE  [4ZE a@a@a@a@^AY A AI I O > checking for new query: numPingsReceived=2, elapsed TxPingTime=3.2748076FqY#,:XeLA.h>.ȗ*?.#ػٱ.Z>.HN'? ]?@??@ſ m{?@5"?E?i.h>I.2^;.CYB,ByB"IbDJVDJ<8yj=%jT=ٔjW;Q-j>9n??Yn??=nYEyn#Dr(=Er>tQ 5z5v?Q 9z5vjb)vrBYxyzN?Q IE@v9DIvs;iv1;vڜ5y1ɮ=5HAAiiim?eLAjmA"jmA:jmeA@Rjm52]޶4@/dBjm"jdd@Ƌ?hٜʿ*jmx@2jmPwV>Zjm> @t@JjmhEdVBm?4 P؂jm_@ jmim-?imyjm*BjmAQ?jmj>Ajm*BrjmAzjm1@B?>BCB`"IBBBb =BBB;BxZEM addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.499579 s, deltaX: -0.100000 m, approachRate: -0.200169 m/s, rangeRepo size: 3 ] Added new target pos. range: 30.764818 m, bearing: 173.465895 deg, lat: 36.779550 deg, lon: -121.859782 deg, deltaT: 0.499579 s, deltaX: -0.099886 m, approachRate: -0.199940 m/s, posRepo size: 3 :iaeDNOT Ignoring new targets: 30.76 m.2iaePowering the camera and arming the capture device at range: 30.80 m.ia"ii*i ProNav: ac range: 30.764818 m, nav range: 30.625990 m, bearing: 158.962627 deg, approach rate: 0.000000 m/s, LOS rate: 0.554830 deg/s, cmd heading: 157.903387 deg, new cmd heading: 158.371041 deg. iHeadingCmd: 2.764096 target range: 30.764818 and range: 30.80 m.h0@hhhhiggjgrgereZe:e>@*e`-"?%Bɢ%8,))! >i)""顉iQiZ'@I0@IUDDAT read: Rx Time:01:29:58.6272 ]TRx dataTimestamp_ set to:1764898199.290713uPDAT read: Bearing 99.9, 77.6 (Local) }z2@y @y@}0@~Local bearing/azimuth received: Bearing 99.9, 77.6 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.1 Y DAT read: 01:29:58.6272 LVL= 21920, 18529, 29426, 32755, AGC= 51, IDX= 513, 0.30, 0.710,-0.124,-0.952, 0.000, PHS= 0.812,-0.079,-0.996, RAW= 59.5, 3.4, CAL= 59.2, 1.4, ROT= 90.8, -1.4  Ygot valid direction response: 01:29:58.6272 LVL= 21920, 18529, 29426, 32755, AGC= 51, IDX= 513, 0.30, 0.710,-0.124,-0.952, 0.000, PHS= 0.812,-0.079,-0.996, RAW= 59.5, 3.4, CAL= 59.2, 1.4, ROT= 90.8, -1.4  R#Rx 3: Read range and direction messages.% ^direction in FSK: [-0.013958,0.999604,0.024432]% Fpublishing direction and range infoE5  E5 E5 *E1 "E5 %;*E5 |:VE5 (N4ZE1 BE5 KGwY#,UPeLARn>R˨.?RڳٱRQRZ>RH@?`{?e-?`=@?>tſV{v?`? eF?iRn>IRd-^;PY^%By^"IIb=)b;hchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.778663iMb@Mb@Mb@ 9oʡ?Q?y&1|?Y>yu=`;@ )v@Y=@bDVDC8y % 1=ٔ5;Q->9Y=YEy+D =E>!Q 5M5%%?Q 9M5%J_)%wBYU̯>Q EU;yUY?Q IUE@%>DI%x;i%;%5yYɮ]lHAYii eLAjA"jA:j53@Rj|ۿm7S>@uU!?Bjْ |2?{J?*jb?2j+ȼZjZArLG3W%6@Zu @Jj o8"?UGm?j޷A j:iRͧ?is]jBjjjBrjrAzjR1@  addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.505578 s, deltaX: 0.100000 m, approachRate: 0.197794 m/s, rangeRepo size: 4  Added new target pos. range: 30.865053 m, bearing: 129.989824 deg, lat: 36.779550 deg, lon: -121.859782 deg, deltaT: 0.505578 s, deltaX: 0.100235 m, approachRate: 0.198258 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 30.87 m.2i!MPowering the camera and arming the capture device at range: 30.90 m.iI"iI*iI] ProNav: ac range: 30.865053 m, nav range: 30.681122 m, bearing: 159.239599 deg, approach rate: 0.000000 m/s, LOS rate: 0.554830 deg/s, cmd heading: 158.371036 deg, new cmd heading: 158.833462 deg. iHeadingCmd: 2.772167 target range: 30.865053 and range: 30.90 m.h/k1@hhhhigAgIjgrgBereZe:e`f>@*e`?颕Bɢ>) =i) 项ii+@I/k1@IQ1/@ @@@DDAT read: Rx Time:01:29:59.1272 TRx dataTimestamp_ set to:1764898199.793317PDAT read: Bearing 10.5, 75.4 (Local) ~Local bearing/azimuth received: Bearing 10.5, 75.4 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.0  DAT read: 01:29:59.1272 LVL= 22896, 22353, 30354, 31715, AGC= 53, IDX= 513,-0.06,-2.385,-2.786, 2.502,-2.678, PHS= 0.395,-0.063,-1.148, RAW= 46.8, 11.9, CAL= 43.9, 13.3, ROT= 106.1, -13.3 % Ygot valid direction response: 01:29:59.1272 LVL= 22896, 22353, 30354, 31715, AGC= 53, IDX= 513,-0.06,-2.385,-2.786, 2.502,-2.678, PHS= 0.395,-0.063,-1.148, RAW= 46.8, 11.9, CAL= 43.9, 13.3, ROT= 106.1, -13.3 % R#Rx 4: Read range and direction messages.- ^direction in FSK: [-0.269877,0.935010,0.230050]- Fpublishing direction and range infoyGEѿP??gz}"Er?YpYQWv {)5Iq=>i%񒿩Q?ȭT>%D? ,m>)?I,mT{P_?- \@T? )%TI?i,mM checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047046a E  E E (E "E *E VE c44ZE a @a @a @a @^AM #AU >AU >ԉ A}0AIIO>Y#,heLA2w>2P2?2iٱ22H?@` ?ܐ??Ŀ 2 q??FH?i2w>I2h^;2CYR0ByR"I Z9f?Yj?=jYEyj4Dn=En>lQ 5r5n.?Q 9v5nH\)n|BYtyv]?Q IvE@nCDIn:in:n5y|ɮ~HA|iieLAj"j:j$@Rjq`}֨ <@e9f@BjGEѿP??gz}"Er?*j?2j,mZj^P8 790).@zU)@Jjar"v追rjE?D?jIqA jiDi?iޟj'BjjjBrjAzj*2@M addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.502604 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 30.865053 m, bearing: 147.414600 deg, lat: 36.779550 deg, lon: -121.859782 deg, deltaT: 0.502604 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i]]VStarting intercept timer at range: 30.90 m.eDNOT Ignoring new targets: 30.87 m.2iaePowering the camera and arming the capture device at range: 30.90 m.ia"ii*ii} ProNav: ac range: 30.865053 m, nav range: 30.731983 m, bearing: 159.503563 deg, approach rate: 0.000000 m/s, LOS rate: 0.554830 deg/s, cmd heading: 158.833467 deg, new cmd heading: 159.311091 deg. iyHeadingCmd: 2.780503 target range: 30.865053 and range: 30.90 m.h1@hhhhiggjgrgereZe:e*e`%?Bɢ E\:) >ichecking for new query: numPingsReceived=4, elapsed TxPingTime=4.286335)5iٰi{90@I 1@IIE_-@I @I@U/@Q@uzA@uzAԁA1A5AAB=->B=CB=m"IB=BB=d =B9B=HDB=;B=WZEBCBCBBc =Bc =C}5^AԱ DDAT read: Rx Time:01:29:59.6274  TRx dataTimestamp_ set to:1764898200.297174 PDAT read: Bearing 41.3, 59.0 (Local)  ~Local bearing/azimuth received: Bearing 41.3, 59.0 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.1  DAT read: 01:29:59.6274 LVL= 18768, 19601, 20466, 22931, AGC= 55, IDX= 2, 0.45, 2.021, 2.020, 0.495, 1.523, PHS= 0.600, 0.541,-1.073, RAW= 31.8, -0.8, CAL= 32.4, -2.6, ROT= 117.6, 2.6  Ygot valid direction response: 01:29:59.6274 LVL= 18768, 19601, 20466, 22931, AGC= 55, IDX= 2, 0.45, 2.021, 2.020, 0.495, 1.523, PHS= 0.600, 0.541,-1.073, RAW= 31.8, -0.8, CAL= 32.4, -2.6, ROT= 117.6, 2.6 % R#Rx 5: Read range and direction messages.M `direction in FSK: [-0.462819,0.885291,-0.045363]U Fpublishing direction and range infoA Ia I O >y  Ӟݿ6rNT?99 Y A PI L O Y) 7I ?i ~ ? X q? d ? 9) G\@I 9=  џ?B5+#i qſ) oN6?NAٱNX>NH,?`2[?(?(?@ГĿ;0h? ?H?iNA2>INXW^;NCYf;Byf"IԱiMb@Mb@Mb@ 9I +?MbX9?:v?Y9>yʡ=T<@ A I@)Y@bDVDF8yi<=%*=ٔ%%;Q-%>9!Y!=%YEy-=D-V =Ee>qQ 5}5u7?Q 9}5uX)uBY}Ӹ>Q E};y}Kl?Q IE@uIDIu:iu:u5y8BɮGAEiifLAjOA"jOA:ji1@Rj,~< ;@NyiBjӞݿ6rNT?99*jG\@2j9=ZjJ[i9)=]aaieims4@iiIm2@Ii`*@ @@@5@ ^A= FӅ9  DDAT read: Rx Time:01:30:00.1273  TRx dataTimestamp_ set to:1764898200.801759 PDAT read: Bearing 43.4, 59.4 (Local)  ~Local bearing/azimuth received: Bearing 43.4, 59.4 (Local)  DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.0  DAT read: 01:30:00.1273 LVL= 23072, 22657, 30594, 32755, AGC= 51, IDX= 498, 0.02, 0.593, 0.571,-0.942, 0.078, PHS= 0.618, 0.539,-1.063, RAW= 32.4, -1.1, CAL= 33.0, -2.9, ROT= 117.0, 2.9  Ygot valid direction response: 01:30:00.1273 LVL= 23072, 22657, 30594, 32755, AGC= 51, IDX= 498, 0.02, 0.593, 0.571,-0.942, 0.078, PHS= 0.618, 0.539,-1.063, RAW= 32.4, -1.1, CAL= 33.0, -2.9, ROT= 117.0, 2.9  R#Rx 6: Read range and direction messages. `direction in FSK: [-0.453409,0.889865,-0.050593] Fpublishing direction and range infoy  O ݿRy?|rQ穿Y A Z X w ) 3I ?5?i ? b ? nF r? 4QO) @I 4QO= 3Q?QuH8Mhd ÿ) Y#,X5fLABchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.087249.?Ž??Ϲٱ\Z>Hs?`Gd?`?.?`ÿ#9?@?@rF?i.?I4^;E  E E (E "E T;*E :VE c44ZE a@a@a@a@Y%=By%"I ))bD=VD=U8y%Q<%%7=ٔ-b;Q-->9)Y)=5YEy5ED5=E5>9Q 5e5=>?Q 9e5=6U)=BYiymt?Q ImE@=NDI=W:i=:=ά5yqɮuGAqiiP3fLAjA"jA:j-2@RjN+,(};@ys3L%BjO ݿRy?|rQ穿*j@2j4QO=Zj#PiA)EAAiE{iMs6@IQIU3@Iqchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.291468-'@) @)@-l0@)!B 5>B B y"IB BB e =B B B ;B QZEI ^Am #Au xAzAu xAA ڗAI I O >DZY#,ARfLA2C ?2C?2C2:ٱ2%EZ>2H/?b`?(??? yÿ@AF?F?i2C ?I2X!^;2CY:>By:"I@@NDDAT read: Rx Time:01:30:00.6275 RTRx dataTimestamp_ set to:1764898201.305263VPDAT read: Bearing 45.9, 60.9 (Local) Z~Local bearing/azimuth received: Bearing 45.9, 60.9 (Local) bDAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.1 rDAT read: 01:30:00.6275 LVL= 20752, 22865, 27362, 28723, AGC= 52, IDX= 500,-0.42, 0.620, 0.548,-0.935, 0.087, PHS= 0.635, 0.506,-1.066, RAW= 33.9, -0.9, CAL= 34.6, -2.6, ROT= 115.4, 2.6 vYgot valid direction response: 01:30:00.6275 LVL= 20752, 22865, 27362, 28723, AGC= 52, IDX= 500,-0.42, 0.620, 0.548,-0.935, 0.087, PHS= 0.635, 0.506,-1.066, RAW= 33.9, -0.9, CAL= 34.6, -2.6, ROT= 115.4, 2.6 zR#Rx 7: Read range and direction messages.~`direction in FSK: [-0.428494,0.902405,-0.045363]~Fpublishing direction and range infoyPRsplۿb?99YRAPRQRQYRj R3p)R4IR\"?iR7?RrRww?RR#? R9)R.@IR9=PPRTfn?`% d& RaV)Rj9?Y?=YEyND%M=E->AQ 5]5EeF?Q 95EQ)EBYy-y?Q IE@ESDIE!i) )iiN6@I-3@I)ԉ$@ @@/@@=@=Mchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.795122Թ ^A FӅ AYIaIqO>tY#,-pfLA2Y?2]$H?2:ٱ2\>2H c?r?‹?1? ;Fÿ \Wa?_B?i2Y?I2=^;2CY>SBy>"Ii=Mb@Mb@Mb@9999 99=ˡE?Mb??Y=>y===<=@=A =v@)=@9Y=@bDUVDUn8ye=%e<=ٔeX&;Q-e>9iYi=mYEymVD}DDAT read: Rx Time:01:30:01.1274 TRx dataTimestamp_ set to:1764898201.809204PDAT read: Bearing 47.2, 60.6 (Local) ~Local bearing/azimuth received: Bearing 47.2, 60.6 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 DAT read: 01:30:01.1274 LVL= 18704, 24753, 29602, 30291, AGC= 52, IDX= 499, 0.05, 0.914, 0.849,-0.656, 0.372, PHS= 0.644, 0.523,-1.072, RAW= 33.6, -1.2, CAL= 34.3, -2.9, ROT= 115.7, 2.9 Ygot valid direction response: 01:30:01.1274 LVL= 18704, 24753, 29602, 30291, AGC= 52, IDX= 499, 0.05, 0.914, 0.849,-0.656, 0.372, PHS= 0.644, 0.523,-1.072, RAW= 33.6, -1.2, CAL= 34.3, -2.9, ROT= 115.7, 2.9 R#Rx 8: Read range and direction messages.`direction in FSK: [-0.433104,0.899923,-0.050593]Fpublishing direction and range infoyy}ӈۿ,,g+?|rQ穿Yyy}I}`}s }Sv)yI}/$?i}T?}L7}Q ?}}@? }4QO)}<@I}4QO=yy}º="+?yERʺ }|)}<٥Q 5 5L?Q 9 5SN)BY*>Q E;y?Q IE@XDI;i;5yBɮEAEiyi}sfLAjy"jy:j}3@Rj}H#*d <@6 :Bj}ӈۿ,,g+?|rQ穿*j}<@2j}4QO=Zj}D4=%LnyZ$@`[-d@Jj}qeRS]>?FoÆi?j}"A j}i}p?i}Bj}JBj}Zl?j}z5j}JBrj}pAzj}҂2@} addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 31.164036 m, bearing: 160.732151 deg, lat: 36.779551 deg, lon: -121.859777 deg, deltaT: 0.503941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iEeTStopped intercept timer at range: 31.20 m.mDNOT Ignoring new targets: 31.16 m.2iimPowering the camera and arming the capture device at range: 31.20 m.ii"iq*iq ProNav: ac range: 31.164036 m, nav range: 30.929827 m, bearing: 159.811367 deg, approach rate: 0.000000 m/s, LOS rate: 0.554830 deg/s, cmd heading: 160.868727 deg, new cmd heading: 161.324435 deg. iHeadingCmd: 2.815643 target range: 31.164036 and range: 31.20 m.h }34@h h h h i g g jgrgӁBereZe:e*e=?E EE%E"E:*E~:VE 4ZEa@a@a@a@߃BɢJ;) g>i)Ai8=iS5@I}34@I!@ @@0@- checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298756) ^A Q A! I1 IA BI AM <BU />BU CBU "IBU (BBU g =BQ BU GDBU ;BU ;ZEOm >/Y#,ٌfLA2¼?2VL?2]y1;ٱ2Q]>2H@Q?b6?? ?¿)/fs?aA?i2¼?I2^;2CY:NBy>"IbDFVDF8y % >=ٔ1;Q->9Y=YEy^Dp*=E>!Q 5-5%yR?Q 9-5% K)%BY1y5=?Q I5E@%\DI%7;i%T;%'5y= Bɮ=EAEE]B*** querying acoustic contact ***iYiY:iemVStarting intercept timer at range: 31.20 m.mDNOT Ignoring new targets: 31.16 m.2iiuPowering the camera and arming the capture device at range: 31.20 m.iq"i}j3<*i}j3< ProNav: ac range: 31.164036 m, nav range: 30.952648 m, bearing: 160.066574 deg, approach rate: 0.056148 m/s, LOS rate: 0.627424 deg/s, cmd heading: 161.324437 deg, new cmd heading: 161.834461 deg. i<HeadingCmd: 2.824544 target range: 31.164036 and range: 31.20 m.hU4@hhhhiggjgrgereZe:e*eNy?݃Bɢ;) a>i)>iYi:5@IU4@IuDDAT read: Rx Time:01:30:01.6274 uTRx dataTimestamp_ set to:1764898202.313250}PDAT read: Bearing 47.4, 61.1 (Local) ~Local bearing/azimuth received: Bearing 47.4, 61.1 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.1 o@ @@@DAT read: 01:30:01.6274 LVL= 24560, 26497, 32754, 32755, AGC= 53, IDX= 500,-0.37,-1.362,-1.432,-2.918,-1.879, PHS= 0.619, 0.493,-1.083, RAW= 33.8, -0.4, CAL= 34.4, -2.1, ROT= 115.6, 2.1 Q]Ygot valid direction response: 01:30:01.6274 LVL= 24560, 26497, 32754, 32755, AGC= 53, IDX= 500,-0.37,-1.362,-1.432,-2.918,-1.879, PHS= 0.619, 0.493,-1.083, RAW= 33.8, -0.4, CAL= 34.4, -2.1, ROT= 115.6, 2.1 mR#Rx 9: Read range and direction messages.`direction in FSK: [-0.431795,0.901227,-0.036644]Fpublishing direction and range infoyqu-ۿ=?(א¢Yqqu_ugu u)u5Iuv?iuj>uu?uu`? uQ )u^ @IuQ =qqu>r?Rjݾ %y u|)u̇;Iu^ @iuQ =qqmchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.648729E} E}E}&Ey"E}:*E}:VE}4ZEyBE}3A >iA= AIA IQ O] >i I  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802918ԑ o5Y#,˟fLA2/?2 P?2y;ٱ2[>2H@?]}?P?o?B¿@6oa+?DE?i2/?I2#3^;0U Gu/{Aٕ9/{AYAY-OByU"Iqi5Mb@Mb@Mb@1111 195v?&1?y5=5t<5v@1 5@)5v@1Y1bDMVDM8y][l;%]+=ٔ],;Q-]>9ec?Yec?=eYEyehDm=Em>qQ 5}5uY?Q 9}5uF)uBY}J>Q E} ;y}?Q IE@ubDIuo:iu:uU5yɮEAiiJ fLAj"j:jr5@Rj*tD:<@YlEBj-ۿ=?(א¢*j^ @2jQ =Zj]`=\\X"@pV@Jj*C*-bh?ͻ}?jA jiQ?iºUjBji)Tw igi.r5@!AIE.r5@IIIUxA)UxAԡDDAT read: Rx Time:01:30:02.1274 TRx dataTimestamp_ set to:1764898202.818698PDAT read: Bearing 47.9, 61.1 (Local) ~Local bearing/azimuth received: Bearing 47.9, 61.1 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.1 DAT read: 01:30:02.1274 LVL= 20912, 24177, 30194, 31139, AGC= 53, IDX= 499, 0.05,-0.830,-0.891,-2.385,-1.341, PHS= 0.613, 0.494,-1.089, RAW= 33.6, -0.2, CAL= 34.1, -2.0, ROT= 115.9, 2.0 Ygot valid direction response: 01:30:02.1274 LVL= 20912, 24177, 30194, 31139, AGC= 53, IDX= 499, 0.05,-0.830,-0.891,-2.385,-1.341, PHS= 0.613, 0.494,-1.089, RAW= 33.6, -0.2, CAL= 34.1, -2.0, ROT= 115.9, 2.0 T#Rx 10: Read range and direction messages.`direction in FSK: [-0.436536,0.899010,-0.034899]Fpublishing direction and range infoy?3ۿ# ?XޡYQq^u y)I?i>ZdQ ?d:\? 5)(v@I5=e̸?tMo  )dl};I(v@i5=.@ @@/@!@5yA@1Echecking for new query: numPingsReceived=10, elapsed TxPingTime=7.073563E  E E )E "E 2:*E n:VE FA4ZE a @a @a @a @^A N؅ A I I O > Y#,fLA"checking for new query: numPingsReceived=10, elapsed TxPingTime=7.3067486`?6YU?6!;ٱ6Z>6H? @x?گ? ? :s ?E?i6`?I6^;6CYf]Byf"IbDnVDn8yv=%vX=ٔzj;Q-z>9xY|=~YEy~oD~,9=E~>Q 5 5_?Q 9 5C)BYy?Q IE@fDI8;i#;5yɮaEA1i!i%efLAj!"j!:j% 7@Rj%B5+1<@efBj%?3ۿ# ?Xޡ*j%(v@2j%5=Zj%ɑ=g!@ղȿ@Jj%y\oȞz?F2zG?j%-A j%i%V?i%&cj%=Bj%p?j%Bj%eBrj%TAzj%z4@u addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505448 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.163593 m, bearing: 163.942457 deg, lat: 36.779550 deg, lon: -121.859783 deg, deltaT: 0.505448 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.16 m.2iPowering the camera and arming the capture device at range: 31.20 m.i"i*i ProNav: ac range: 31.163593 m, nav range: 30.916164 m, bearing: 161.572797 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 162.438919 deg, new cmd heading: 162.913512 deg. iHeadingCmd: 2.843377 target range: 31.163593 and range: 31.20 m.h5@hhhhiggjgrgereZe:e*e@Xq?UكBɢ]K <) 7>i)# 顩ii5@I5@IBMB>BMCBM"IBM-BaBMd =BIBMIDBMO;BMZE=p@9 @9@=|3@9ԉDDAT read: Rx Time:01:30:02.6275 TRx dataTimestamp_ set to:1764898203.321263PDAT read: Bearing 49.1, 61.7 (Local) ~Local bearing/azimuth received: Bearing 49.1, 61.7 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 =DAT read: 01:30:02.6275 LVL= 22928, 26481, 32754, 32755, AGC= 54, IDX= 500, 0.44, 0.198, 0.120,-1.355,-0.310, PHS= 0.609, 0.475,-1.089, RAW= 34.1, 0.1, CAL= 34.7, -1.7, ROT= 115.3, 1.7 EYgot valid direction response: 01:30:02.6275 LVL= 22928, 26481, 32754, 32755, AGC= 54, IDX= 500, 0.44, 0.198, 0.120,-1.355,-0.310, PHS= 0.609, 0.475,-1.089, RAW= 34.1, 0.1, CAL= 34.7, -1.7, ROT= 115.3, 1.7 MT#Rx 11: Read range and direction messages.U`direction in FSK: [-0.427170,0.903685,-0.029666]UFpublishing direction and range infoyl HڿVۿ>&? `YYqg )6Im?i33>:\?: ? )@I<Na2+?*uVʻQ? L)hI@i<checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577069^Ae  E  E E (E "E V:*E ҆:VE c44ZE BE 9DY#,fLA4<ɰ;2+"?2\Y?2s;ٱ2+[>2H@? t7? ??j'u/?D?i2+"?I2 ^;2CY>aBy>"I @@ԙiMb@Mb@Mb@ 9X9v?q= ףp?/$?Y>y=<@+@ )@Y@bDVD8y-͟<%-8=ٔ-:Q-->9QYQ=UYEyUxD]$=E]>aQ 5m5eCe?Q 9m5e?)eBYm(>Q Em;ym1?Q ImE@elDIei%;iez%;e5yɮ=EAi)i-fLAj-QA"j-QA:j-Ơ7@Rj-68*3)<@HqݕBj-l HڿVۿ>&? `*j-@2j-<Zj-)$k= @Ŵ@Jj-+wpeE}?u׫%?j-PA j-i-򆩦?i-fj-Bj-Q?j-ºUj-Brj-Azj-rV6@% addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502565 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Uchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.810814e Added new target pos. range: 31.164850 m, bearing: 164.392350 deg, lat: 36.779549 deg, lon: -121.859791 deg, deltaT: 0.502565 s, deltaX: 0.001257 m, approachRate: 0.002501 m/s, posRepo size: 4 :ieeTStopped intercept timer at range: 31.20 m.eDNOT Ignoring new targets: 31.16 m.2iiPowering the camera and arming the capture device at range: 31.20 m.i"i*i ProNav: ac range: 31.164850 m, nav range: 30.825739 m, bearing: 163.237178 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 162.913508 deg, new cmd heading: 163.489247 deg. iHeadingCmd: 2.853426 target range: 31.164850 and range: 31.20 m.h6@hhhhiggjgrg%Be)re)Ze):e)*e5?}փBɢ}hC <)y }>i)&顁iqi6@I6@I @ @@05@ DDAT read: Rx Time:01:30:03.1275  TRx dataTimestamp_ set to:1764898203.825048 PDAT read: Bearing 49.4, 61.7 (Local)  ~Local bearing/azimuth received: Bearing 49.4, 61.7 (Local)  - DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 U DAT read: 01:30:03.1275 LVL= 20320, 24609, 30386, 30947, AGC= 53, IDX= 500,-0.11,-2.253,-2.322, 2.489,-2.744, PHS= 0.594, 0.467,-1.094, RAW= 33.9, 0.4, CAL= 34.4, -1.4, ROT= 115.6, 1.4 m Ygot valid direction response: 01:30:03.1275 LVL= 20320, 24609, 30386, 30947, AGC= 53, IDX= 500,-0.11,-2.253,-2.322, 2.489,-2.744, PHS= 0.594, 0.467,-1.094, RAW= 33.9, 0.4, CAL= 34.4, -1.4, ROT= 115.6, 1.4 m T#Rx 12: Read range and direction messages. `direction in FSK: [-0.431957,0.901563,-0.024432] Fpublishing direction and range infoy  d:-ۿ>d?{JY `O !` v x) 5I b?i > 1 ww? ; `? +ȼ) ^ @I +< NJ?K(>Y}? h) I ^ @i +< ^A FӅ checking for new query: numPingsReceived=12, elapsed TxPingTime=8.085423bEc44jE\9Y=YEyDE>Q 55k?Q 95;)B!Yy)Q I-E@rDI+;i;5y1ɮ54EA1i9i=fLAj9"j9:j=7@Rj=fny*G<@K0L]Bj=d:-ۿ>d?{J*j=^ @2j=+<Zj=`W=6Tg/ @zN3.@Jj= ʕk ^p?逿?j={A j=i=Ap?i=û6fj=Bj=Ap?j=&cj==Brj=Azj=}7@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.164850 m, bearing: 164.722060 deg, lat: 36.779549 deg, lon: -121.859797 deg, deltaT: 0.503785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.16 m.2iPowering the camera and arming the capture device at range: 31.20 m.lFinal approach. Armed for intercept at range: 31.20 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i ProNav: ac range: 31.164850 m, nav range: 30.735701 m, bearing: 164.559211 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 163.489252 deg, new cmd heading: 164.093962 deg. iHeadingCmd: 2.863980 target range: 31.164850 and range: 31.20 m.hrK7@hh:h33?hggjgrgereZe:e*e`"?-ԃBɢ-=(<)) -Ҏ>i1)5[11i5ѱechecking for new query: numPingsReceived=12, elapsed TxPingTime=8.314649i=rK7@)33? (kpHeading = 0.700000I: (kiHeading = 0.001000IrK7@IYy@y @@J1@@@=AIAIBUO>BUCBU"IBU7BBU^ =BQBUKDBU(;BUYEy ^A # DDAT read: Rx Time:01:30:03.6276 % TRx dataTimestamp_ set to:1764898204.3298055 PDAT read: Bearing 52.9, 62.4 (Local) 5 ~Local bearing/azimuth received: Bearing 52.9, 62.4 (Local) U DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0  DAT read: 01:30:03.6276 LVL= 18928, 23233, 30706, 32499, AGC= 53, IDX= 501, 0.16, 0.735, 0.631,-0.836, 0.205, PHS= 0.632, 0.471,-1.085, RAW= 34.9, -0.2, CAL= 35.5, -1.9, ROT= 114.5, 1.9 Ա A I I O% >όY#,NGgLAYgot valid direction response: 01:30:03.6276 LVL= 18928, 23233, 30706, 32499, AGC= 53, IDX= 501, 0.16, 0.735, 0.631,-0.836, 0.205, PHS= 0.632, 0.471,-1.085, RAW= 34.9, -0.2, CAL= 35.5, -1.9, ROT= 114.5, 1.9 T#Rx 13: Read range and direction messages.E EE*E"ED:*Ek:VE(N4ZEBE2}H኿}I?}d}? })}?I}=yy}={?]%wӽo }.)}};I}?i}=yychecking for new query: numPingsReceived=13, elapsed TxPingTime=8.698498M0?MPg?M;ٱMY[>MHh?@ْ? -?U?`&3zn5? D?iM0?IM ^;IYZBy"II<)y===T<=v@=A =@)=@9Y=@bDuVDu[8y'%=ٔ ;Q->9Y=YEyD=E>Q 55r?Q 955)BY>Q E:y.?Q IE@yDI ;iZ:]5y=Bɮ=EA=Eiyi}gLAj}A"j}A:j}(:@Rj}|M)흆<@ҿBj}LHڿ<M?B3*j}?2j}=Zj}yo>}E@m݇@Jj}-3|m=!#?1tM(?j}z@ j}i}[a?i}xyj}Bj}򆩦?j}fj}Brj}ZAzj}w8@checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818789 addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504757 s, deltaX: 0.199999 m, approachRate: 0.396228 m/s, rangeRepo size: 4  Added new target pos. range: 31.365664 m, bearing: 166.659058 deg, lat: 36.779548 deg, lon: -121.859798 deg, deltaT: 0.504757 s, deltaX: 0.200813 m, approachRate: 0.397842 m/s, posRepo size: 4 :iTStopped intercept timer at range: 31.40 m.%DNOT Ignoring new targets: 31.37 m.2i!"i!*i!U ProNav: ac range: 31.365664 m, nav range: 30.793976 m, bearing: 165.143876 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 164.093956 deg, new cmd heading: 164.768405 deg. iQ]HeadingCmd: 2.875751 target range: 31.365664 and range: 31.40 m.h]O 8@hYhahahagagajgirgmځBeireiZei:eu`ff?@*e?%ЃBɢ-_ <)Q U>iY)e~$aii&㱼iO 8@IO 8@I @  @ @ /@ 9 ]DDAT read: Rx Time:01:30:04.1275 eTRx dataTimestamp_ set to:1764898204.834180}PDAT read: Bearing 52.9, 62.4 (Local) }~Local bearing/azimuth received: Bearing 52.9, 62.4 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 ^AA>A>DAT read: 01:30:04.1275 LVL= 19680, 23841, 32674, 32755, AGC= 55, IDX= 501,-0.50,-2.043,-2.138, 2.696,-2.547, PHS= 0.606, 0.454,-1.084, RAW= 34.7, 0.3, CAL= 35.2, -1.4, ROT= 114.8, 1.4 aYgot valid direction response: 01:30:04.1275 LVL= 19680, 23841, 32674, 32755, AGC= 55, IDX= 501,-0.50,-2.043,-2.138, 2.696,-2.547, PHS= 0.606, 0.454,-1.084, RAW= 34.7, 0.3, CAL= 35.2, -1.4, ROT= 114.8, 1.4 T#Rx 14: Read range and direction messages.`direction in FSK: [-0.419327,0.907506,-0.024432]Fpublishing direction and range infoyY]@ڿWQKK ?{JY]AY]L]!]] ])]7I]"?i]r>]] ?];]nF? ]+ȼ)];@I]+2HK?F?@Ȇ??@c@t|?;H?i2y4?I2D^;2CY>`By>"IbDFVDF>8y;<%B=ٔ w:Q- >9  ?Y  ?= YEyD.=E>9Q 5E5=8x?Q 9E5=V1)=BYIyM?Q IME@=DI=:i=:=5yqɮuuEAqiiim5c5gLAjmSA"jmSA:jm;@Rjm8+#*=|H<@S?]Bjm@ڿWQKK ?{J*jm;@2jm+<Zjmڴ! >=~@HFt3@Jjm4SAj]̐-?-?jm@ jmXim,?im YjmBjmV?jmû6fjmBrjmAzjmm8@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504375 s, deltaX: -0.199999 m, approachRate: -0.396528 m/s, rangeRepo size: 4 U Added new target pos. range: 31.165884 m, bearing: 168.021840 deg, lat: 36.779548 deg, lon: -121.859798 deg, deltaT: 0.504375 s, deltaX: -0.199780 m, approachRate: -0.396093 m/s, posRepo size: 4 :iUUVStarting intercept timer at range: 31.20 m.]DNOT Ignoring new targets: 31.17 m.2iY"iY*iY ProNav: ac range: 31.165884 m, nav range: 30.849815 m, bearing: 165.503203 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 164.768410 deg, new cmd heading: 165.290287 deg. iHeadingCmd: 2.884860 target range: 31.165884 and range: 31.20 m.h8@hhhhggjgrgereZe:e@33?@*e '?΃BɢI<) >i)Tyii8@I8@I Ichecking for new query: numPingsReceived=14, elapsed TxPingTime=9.322910@ @@@qBUQ>BQBQBQBQBQBQBU ;BUYEBCBCBȕCBd =Bb =CȘ6^AuFӅԙ A I I O >M DDAT read: Rx Time:01:30:04.6277 X0Y#,zUgLA"TRx dataTimestamp_ set to:1764898205.347319&PDAT read: Bearing 54.4, 62.4 (Local) *~Local bearing/azimuth received: Bearing 54.4, 62.4 (Local) 6DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 VDAT read: 01:30:04.6277 LVL= 17776, 22305, 28658, 31155, AGC= 53, IDX= 502,-0.16,-1.571,-1.665,-3.113,-2.081, PHS= 0.612, 0.461,-1.077, RAW= 34.6, 0.0, CAL= 35.2, -1.7, ROT= 114.8, 1.7 ^Ygot valid direction response: 01:30:04.6277 LVL= 17776, 22305, 28658, 31155, AGC= 53, IDX= 502,-0.16,-1.571,-1.665,-3.113,-2.081, PHS= 0.612, 0.461,-1.077, RAW= 34.6, 0.0, CAL= 35.2, -1.7, ROT= 114.8, 1.7 bT#Rx 15: Read range and direction messages.f`direction in FSK: [-0.419268,0.907378,-0.029666]fFpublishing direction and range infoyvcGڿMe= ? `YApE!Wo y)5I?i1>#ۉ#? )I<P'?849￶z{L? 㵾)eIi< checking for new query: numPingsReceived=15, elapsed TxPingTime=9.611854q%`9?*q?1;ٱZY>H`?:E@Z?F?o?tKW}?G?i%`9?I^;CYZBy"IDzD@AE EE)E"E;*E:VEFA4ZEBE>Cy->-;-@- A -I@)-@)Y) =4=bDyVD8y%=ٔ9Q->9Y=YEyDE=E>Q 55~?Q 95_+)BY>Q E:y8?Q IE@DI8S;iR;5y ڜBɮ CAEiiy:VgLAjA"jA:j$<@RjCb*&W <@FBjvcGڿMe= ? `*j2j<Zjw>p`y@p@Jj&bkLn?i)Y顡ii g9@I g9@IM @Q  @Q @] 5@Y ^A ()UDDAT read: Rx Time:01:30:05.1276 ]TRx dataTimestamp_ set to:1764898205.842598mPDAT read: Bearing 56.0, 62.6 (Local) u~Local bearing/azimuth received: Bearing 56.0, 62.6 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 DAT read: 01:30:05.1276 LVL= 21296, 23409, 32754, 32755, AGC= 53, IDX= 501, 0.02,-1.787,-1.886, 2.963,-2.297, PHS= 0.612, 0.456,-1.067, RAW= 34.8, -0.0, CAL= 35.4, -1.7, ROT= 114.6, 1.7 Ygot valid direction response: 01:30:05.1276 LVL= 21296, 23409, 32754, 32755, AGC= 53, IDX= 501, 0.02,-1.787,-1.886, 2.963,-2.297, PHS= 0.612, 0.456,-1.067, RAW= 34.8, -0.0, CAL= 35.4, -1.7, ROT= 114.6, 1.7 T#Rx 16: Read range and direction messages.`direction in FSK: [-0.416098,0.908836,-0.029666]Fpublishing direction and range infoyY]Wڿo /? `Y]3AY]0S]q[] ])YIYi]x>]u]|?Y]2+? Y)]j@IYYY]?d1h, ]EI)]nf9I]j@iYYYchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.104998AI!I9OE?aRY#,*wgLAɰYRBy"IbD^VD8E EE(E"E:*E|:VEc44ZEa@a@a@a@y%<=ٔQ->9Y=YEyDE>Q 55?Q 95&)BYyQ IE@DI;i:5yɮ<մ@E]@JjE&-ile?=^2?jM@ ji"}?izjBj[a?jzjrj(Azji<@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.495279 s, deltaX: -0.100000 m, approachRate: -0.201907 m/s, rangeRepo size: 4  Added new target pos. range: 31.365801 m, bearing: 168.856695 deg, lat: 36.779545 deg, lon: -121.859813 deg, deltaT: 0.495279 s, deltaX: -0.099892 m, approachRate: -0.201688 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.40 m.DNOT Ignoring new targets: 31.37 m.2i"i*i ProNav: ac range: 31.365801 m, nav range: 30.894909 m, bearing: 168.842837 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 165.980973 deg, new cmd heading: 166.523316 deg. i5HeadingCmd: 2.906380 target range: 31.365801 and range: 31.40 m.h5":@h1h1h1h1g1g99jgYrgYeareaZea:ee`ff?@*ee QL?颵ǃBɢUO7<) ܊>i)yiBa Be "IBe Y#, gLAhYaBy"IbD=uVD=8y]_=%]W=ٔaQ-e>9iYiu%=u<DDAT read: Rx Time:01:30:05.6276 TRx dataTimestamp_ set to:1764898206.346829PDAT read: Bearing 56.4, 62.0 (Local) ~Local bearing/azimuth received: Bearing 56.4, 62.0 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 DAT read: 01:30:05.6276 LVL= 19520, 24817, 32754, 32755, AGC= 53, IDX= 501, 0.13,-1.445,-1.522,-2.953,-1.935, PHS= 0.592, 0.458,-1.062, RAW= 34.2, 0.2, CAL= 34.7, -1.6, ROT= 115.3, 1.6  Ygot valid direction response: 01:30:05.6276 LVL= 19520, 24817, 32754, 32755, AGC= 53, IDX= 501, 0.13,-1.445,-1.522,-2.953,-1.935, PHS= 0.592, 0.458,-1.062, RAW= 34.2, 0.2, CAL= 34.7, -1.6, ROT= 115.3, 1.6  T#Rx 17: Read range and direction messages.`direction in FSK: [-0.427191,0.903730,-0.027922]Fpublishing direction and range infoyZWۿN[?|p}Y@L` )IP?i~>?d; ? )@I<u? (￈se? )1.I@i<mchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.614666=YEyDE> E EE)E"E*EVEFA4ZEBE>{NDbd@CĖ@Jj25< ~F?;I?j#@ jXi 0?iTSjЎBj"}?j YjrjAzj*=@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504231 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 31.365881 m, bearing: 169.572236 deg, lat: 36.779545 deg, lon: -121.859813 deg, deltaT: 0.504231 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 31.37 m.2i)"i*i ProNav: ac range: 31.365881 m, nav range: 30.959984 m, bearing: 169.230148 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 166.523318 deg, new cmd heading: 167.160521 deg. iHeadingCmd: 2.917501 target range: 31.365881 and range: 31.40 m.hX:@hhhhggjgrgereZe:e*e;?)măBɢmbL<)i u>iq)u,=ֻqqiufji}X:@yyI}X:@I% checking for new query: numPingsReceived=17, elapsed TxPingTime=10.8349059 @A  @A @E 0@A a ^Ae #ԉ AIIO?tY#,=gLA2uG?2J?2BQ;ٱ27]>2H&]?@8` ?? ?G*? @?i2uG?I2#a^;2CYJ]ByJ"Il DDAT read: Rx Time:01:30:06.1275 TRx dataTimestamp_ set to:1764898206.850953EPDAT read: Bearing 58.0, 62.3 (Local) M~Local bearing/azimuth received: Bearing 58.0, 62.3 (Local) eDAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 DAT read: 01:30:06.1275 LVL= 21824, 21617, 32754, 32755, AGC= 53, IDX= 500, 0.24,-1.874,-1.960, 2.905,-2.365, PHS= 0.592, 0.449,-1.058, RAW= 34.5, 0.2, CAL= 35.1, -1.5, ROT= 114.9, 1.5 Ygot valid direction response: 01:30:06.1275 LVL= 21824, 21617, 32754, 32755, AGC= 53, IDX= 500, 0.24,-1.874,-1.960, 2.905,-2.365, PHS= 0.592, 0.449,-1.058, RAW= 34.5, 0.2, CAL= 35.1, -1.5, ROT= 114.9, 1.5 T#Rx 18: Read range and direction messages.`direction in FSK: [-0.420891,0.906733,-0.026177]Fpublishing direction and range infoyvڿ7a?P!ΚYA@UqT )IiT>l%?i%Mb@Mb@Mb@!!!! ! ? Pwּ)3X@IPw<K?7[FQo? J )xI3X@iPw<5checking for new query: numPingsReceived=18, elapsed TxPingTime=11.1594399%K7?T㥛 ?I +?Y%>y%>%94<%`@%+@ %v@)%I@!Y%@bD_VD8yPJ% =ٔ)D:Q->9Y=YEyD=E>E  E E *E "E :*E z:VE (N4ZE a@a@a@a@Q 5e5\?Q 9e5y)BYe>Q Ee;ye?Q ImE@DI3X@6@Jjc'=ᅧc%?ʌ[?jł@ jfiz?i,j BjjTSjЎBrjAzj=@E addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504124 s, deltaX: -0.199999 m, approachRate: -0.396726 m/s, rangeRepo size: 4 U Added new target pos. range: 31.166100 m, bearing: 172.349873 deg, lat: 36.779545 deg, lon: -121.859815 deg, deltaT: 0.504124 s, deltaX: -0.199781 m, approachRate: -0.396294 m/s, posRepo size: 4 :iUUTStopped intercept timer at range: 31.20 m.UDNOT Ignoring new targets: 31.17 m.2iY"i*i ProNav: ac range: 31.166100 m, nav range: 30.946325 m, bearing: 169.962860 deg, approach rate: 0.000000 m/s, LOS rate: 0.627424 deg/s, cmd heading: 167.160520 deg, new cmd heading: 167.777393 deg. iHeadingCmd: 2.928268 target range: 31.166100 and range: 31.20 m.hh;@hhhhggjgrgBereZe:e@33?@*e oG?5Bɢ5 Y<)Q U>iY)]̻YYi])ieh;@aaIeh;@Ii1 !@  @ @0@iߩIߩchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.339695i B= V>B= CB9 B9 B= ^ =B9 B= LDB= ͞;B= YE^AM ԉ AIIO>Y#, gLABQ?Bi?B<ٱB|\>BHY?`9lYl=nYEynļDr=Ev>|Q 55~?Q 95~H)~BY y t?Q IE@~DI~P;i~MV;~5y%ߜBɮ%vDA!]B*** querying acoustic contact ***iYiYDDAT read: Rx Time:01:30:06.6276 TRx dataTimestamp_ set to:1764898207.354413PDAT read: Bearing 60.1, 62.9 (Local) ~Local bearing/azimuth received: Bearing 60.1, 62.9 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 %DAT read: 01:30:06.6276 LVL= 20240, 25169, 32754, 32755, AGC= 52, IDX= 501, 0.31,-1.100,-1.207,-2.615,-1.603, PHS= 0.605, 0.441,-1.057, RAW= 35.1, 0.1, CAL= 35.7, -1.6, ROT= 114.3, 1.6 MYgot valid direction response: 01:30:06.6276 LVL= 20240, 25169, 32754, 32755, AGC= 52, IDX= 501, 0.31,-1.100,-1.207,-2.615,-1.603, PHS= 0.605, 0.441,-1.057, RAW= 35.1, 0.1, CAL= 35.7, -1.6, ROT= 114.3, 1.6 UT#Rx 19: Read range and direction messages.]`direction in FSK: [-0.411354,0.911048,-0.027922]]Fpublishing direction and range info:ieeVStarting intercept timer at range: 31.20 m.mDNOT Ignoring new targets: 31.17 m.2iiy`~SڿoM'?|p}Y3AOQb )4IH?i>K ?:W? )BY?I<!^o? @bHd? 1)Q IBY?i<"imX<*iX< ProNav: ac range: 31.166100 m, nav range: 30.957243 m, bearing: 170.265878 deg, approach rate: 0.027296 m/s, LOS rate: 0.757317 deg/s, cmd heading: 167.777395 deg, new cmd heading: 168.383193 deg. i?<HeadingCmd: 2.938841 target range: 31.166100 and range: 31.20 m.h<@hhhhgchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.634161gjgrgereZe:e`ff?@*e:U?]Bɢ]ia)l<Ż顁iR²i<@I<@IDzD?AE EE'E"E:*E n:VE'4ZEBE< ^A FӅ G E Xv9I YM qAԑ A I I O >Y#,rngLAYv[Byv"Ixi}Mb@Mb@Mb@yyyy y9}K7?Zd;?Mb?Y}I>y}=}9Y=YEyͼDE>Q 55ŕ?Q 95;)BY>Q E:y ?Q IE@DI:i(:5yɮ#DAiAiEgLAjEA"jEA:jE3B@RjEwi)/)t<@RZ`}BjE`~SڿoM'?|p}*jEBY?2jE<ZjEМG>3Gr @\@JjEqSZӪ?)<; ?jES@ jEiE&x?iEEjE BjE 0?jE-rjArjEAzjE>@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503460 s, deltaX: 0.199999 m, approachRate: 0.397249 m/s, rangeRepo size: 4 = Added new target pos. range: 31.366076 m, bearing: 173.859642 deg, lat: 36.779545 deg, lon: -121.859816 deg, deltaT: 0.503460 s, deltaX: 0.199976 m, approachRate: 0.397203 m/s, posRepo size: 4 :iEETStopped intercept timer at range: 31.40 m.MDNOT Ignoring new targets: 31.37 m.2iQ"i]*iY ProNav: ac range: 31.366076 m, nav range: 30.966030 m, bearing: 170.759849 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 168.383192 deg, new cmd heading: 169.053175 deg. iDDAT read: Rx Time:01:30:07.1276 %TRx dataTimestamp_ set to:1764898207.8587025PDAT read: Bearing 62.0, 63.3 (Local) 5~Local bearing/azimuth received: Bearing 62.0, 63.3 (Local) EDAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 mDAT read: 01:30:07.1276 LVL= 16768, 22641, 30194, 32147, AGC= 50, IDX= 500, 0.39,-2.194,-2.313, 2.565,-2.709, PHS= 0.617, 0.441,-1.053, RAW= 35.5, -0.1, CAL= 36.1, -1.7, ROT= 113.9, 1.7 uYgot valid direction response: 01:30:07.1276 LVL= 16768, 22641, 30194, 32147, AGC= 50, IDX= 500, 0.39,-2.194,-2.313, 2.565,-2.709, PHS= 0.617, 0.441,-1.053, RAW= 35.5, -0.1, CAL= 36.1, -1.7, ROT= 113.9, 1.7 uT#Rx 20: Read range and direction messages.}`direction in FSK: [-0.404963,0.913852,-0.029666]}Fpublishing direction and range infoy!%u6ٿE>? `Y!!%A%qX%u %})%2I%?i!%Ȇ%?%%K!? %)%~t?I%i ) Bn ii<@I<@!I9M]>iM>@ @@@@zA@E EE,E"ED:*E:VEg4ZEa%@a%@a%@a%@I^A y  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.346955A ؟AI1 Ii O >՘Z#, hLAnZ?n ?n <ٱnZ>nH !?`g`O?0?$?' `?E?inZ?InJl^;nCYzZByz"I bD*VDӰ8yV%N=ٔ?;Q->9%"?Y%"?=%YEy%ռD-ն=E->1Q 5=55?Q 9=55)5BY9yE?Q IEE@5DI5:i5;5S5yMBɮMBAMEiigLAj"j:jJC@Rjdzg)><@SГBju6ٿE>? `*j~t?2j<Zjڰj>dzT@{"@JjV_rxV>?FdK?j@ jiPfbs?idwBU>BBBB] =BBB;BYEjBjj,jBrjuAzjԞA@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504289 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.366076 m, bearing: 175.462346 deg, lat: 36.779545 deg, lon: -121.859830 deg, deltaT: 0.504289 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.40 m.DNOT Ignoring new targets: 31.37 m.2i"i*i ProNav: ac range: 31.366076 m, nav range: 30.807373 m, bearing: 173.338019 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 169.053179 deg, new cmd heading: 169.659534 deg. iHeadingCmd: 2.961118 target range: 31.366076 and range: 31.40 m.h=@hhhhggjgrgereZe:e*e B#?颭Bɢr4<) >i)r顱i.i=@I=@I1U!@Q @Q@Y@YDDAT read: Rx Time:01:30:07.6277 TRx dataTimestamp_ set to:1764898208.361120PDAT read: Bearing 63.9, 64.1 (Local) ~Local bearing/azimuth received: Bearing 63.9, 64.1 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 DAT read: 01:30:07.6277 LVL= 18096, 20033, 29682, 29683, AGC= 52, IDX= 501, 0.37, 0.081,-0.069,-1.468,-0.449, PHS= 0.632, 0.425,-1.064, RAW= 36.4, 0.1, CAL= 37.0, -1.6, ROT= 113.0, 1.6 %Ygot valid direction response: 01:30:07.6277 LVL= 18096, 20033, 29682, 29683, AGC= 52, IDX= 501, 0.37, 0.081,-0.069,-1.468,-0.449, PHS= 0.632, 0.425,-1.064, RAW= 36.4, 0.1, CAL= 37.0, -1.6, ROT= 113.0, 1.6 -T#Rx 21: Read range and direction messages.5`direction in FSK: [-0.390579,0.920146,-0.027922]5Fpublishing direction and range infoy(O>ؿwq?|p}YAFANs s)4I!?i>'1"?:MQ%? )q?I<p?%bU^MY? )jʺIq?i<Uchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.614938q^A}#DDE  E E (E "E V:*E xv:VE c44ZE BE 94Z#,$hLA2^?2W-?2<ٱ2*hY>2H?xi?T?'1?@ ?G?i2^?I2I^;2CYNYByR"IEchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.850771ԁiMMb@Mb@Mb@IIII I9M&1?rh|?:v?YM>yM=MT9 ?Y ?=YEy߼D:=E>Q 5 5D?Q 9 5 )BY H>Q E :y ?Q IE@DI;i`;5yɮBAiihLAjA"jA:jD@RjSa2s(v <@|VBj(O>ؿwq?|p}*jq?2j<Zjު>C<@j@Jj/ũ 9p9  ?&?j@ jOi;o?icjBj&x?jEj BrjAzj[B@ԡ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502418 s, deltaX: 0.100000 m, approachRate: 0.199038 m/s, rangeRepo size: 4  Added new target pos. range: 31.465969 m, bearing: 175.552313 deg, lat: 36.779543 deg, lon: -121.859835 deg, deltaT: 0.502418 s, deltaX: 0.099894 m, approachRate: 0.198826 m/s, posRepo size: 4 :iTStopped intercept timer at range: 31.50 m.DNOT Ignoring new targets: 31.47 m.2i"i*i ProNav: ac range: 31.465969 m, nav range: 30.947968 m, bearing: 174.546347 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 169.659536 deg, new cmd heading: 170.412903 deg. iHeadingCmd: 2.974266 target range: 31.465969 and range: 31.50 m.haZ>@hh9hAhAgAgAjgIrgMBeIreIZeI:eU?@*eU`?额Bɢ6z<) >i)FibiaZ>@IaZ>@Iu@q @q@y@y@@=DDAT read: Rx Time:01:30:08.1276 TRx dataTimestamp_ set to:1764898208.865209 PDAT read: Bearing 64.7, 64.7 (Local)  ~Local bearing/azimuth received: Bearing 64.7, 64.7 (Local)  DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 = DAT read: 01:30:08.1276 LVL= 18320, 22097, 30578, 31859, AGC= 52, IDX= 500, 0.38,-1.696,-1.858, 3.045,-2.216, PHS= 0.622, 0.403,-1.066, RAW= 36.8, 0.5, CAL= 37.4, -1.1, ROT= 112.6, 1.1 E Ygot valid direction response: 01:30:08.1276 LVL= 18320, 22097, 30578, 31859, AGC= 52, IDX= 500, 0.38,-1.696,-1.858, 3.045,-2.216, PHS= 0.622, 0.403,-1.066, RAW= 36.8, 0.5, CAL= 37.4, -1.1, ROT= 112.6, 1.1 M T#Rx 22: Read range and direction messages.U `direction in FSK: [-0.384224,0.923040,-0.019197]U Fpublishing direction and range infoyAH"ؿ3^?]~Y3AGQVrw s|)Id;?iV>rl$?5<'? nF)?InF<B] ?{Z)￀i? ) aI?inF<m checking for new query: numPingsReceived=22, elapsed TxPingTime=13.118692 ^A} bE˷G4jEI4rE7/E  E E +E "E %;*E v:VE [4ZE a @a @a @a @A I I O >cZ#,AhLA(6tc?6q?6<ٱ6UZ>6H? ??~5?+ƒ ?F?i6tc?I6J+^;6CY9Y=YEyD@=E>Q 55ʞ?Q 95q)BYyK?Q IE@DI:i:5yɮBAii_7hLAjA"jA:jD@RjhxDm(+$<@ߕUDBjAH"ؿ3^?]~*j?2jnF<Zj՟>+B ^@m @Jj=hϬa?T7C?j@ jFiħ|?iRjBjjcjBrj[AzjiD@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504089 s, deltaX: -0.100000 m, approachRate: -0.198378 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=22, elapsed TxPingTime=13.354736 Added new target pos. range: 31.366077 m, bearing: 176.197737 deg, lat: 36.779543 deg, lon: -121.859841 deg, deltaT: 0.504089 s, deltaX: -0.099892 m, approachRate: -0.198163 m/s, posRepo size: 4 :i VStarting intercept timer at range: 31.40 m.DNOT Ignoring new targets: 31.37 m.2i"iI*iQԉ% ProNav: ac range: 31.366077 m, nav range: 30.919447 m, bearing: 175.835909 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 170.412906 deg, new cmd heading: 170.997381 deg. i!]HeadingCmd: 2.984467 target range: 31.366077 and range: 31.40 m.he?@hahihihigqgjgrgereZe:e`ff?@*ep?-Bɢ-Z͍<)) ->i))5Ix1QiUji]?@YYI]?@IaBQ>BCB"IB7BBBBKDB ;BYEԩ @ @@%0@! } DDAT read: Rx Time:01:30:08.6276  TRx dataTimestamp_ set to:1764898209.369098 PDAT read: Bearing 66.1, 65.2 (Local)  ~Local bearing/azimuth received: Bearing 66.1, 65.2 (Local)  DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0  DAT read: 01:30:08.6276 LVL= 17184, 19185, 27634, 28403, AGC= 52, IDX= 501, 0.38,-0.670,-0.843,-2.199,-1.181, PHS= 0.613, 0.383,-1.063, RAW= 37.3, 0.9, CAL= 37.8, -0.8, ROT= 112.2, 0.8  Ygot valid direction response: 01:30:08.6276 LVL= 17184, 19185, 27634, 28403, AGC= 52, IDX= 501, 0.38,-0.670,-0.843,-2.199,-1.181, PHS= 0.613, 0.383,-1.063, RAW= 37.3, 0.9, CAL= 37.8, -0.8, ROT= 112.2, 0.8 5 T#Rx 23: Read range and direction messages.= `direction in FSK: [-0.377804,0.925780,-0.013962]= Fpublishing direction and range infoy  Y-ؿ0$?4Y C J k n) I ?i > b r&? < [(? d) >?I d< $3?1,@'ӎ? Ѹ) vI >?i d<  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.640291^A  D zD E  E E )E "E :*E Ar:VE FA4ZE BE <IZ#,?`hLAEg?E̴?E#%<ٱEMg\>EH??%`p/??M6?j^9V?B?iEg?IEyK^;ECYu[By}"II=);ԑiMb@Mb@Mb@ 9V-?Dl?yO >t<@ 3@)Y@bDVD8y;%=ٔV:Q- >9Y=YEyD=E>Q 5%5k?Q 9%5)*BYM2>Q EM:yMU?Q IME@DI;i;5yQɮ]xBAYchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.861129iiimMWhLAji"ji:jmiE@RjmmgmE') =@lK#ܿBjmY-ؿ0$?4*jm>?2jmd<Zjmɧ>ҼMA? @C@JjmI|aI_Ϋ?)a ?jm ? jmimXT?im6jm$BjijmdwjirjmfAzjm!6E@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 31.365847 m, bearing: 176.830117 deg, lat: 36.779543 deg, lon: -121.859843 deg, deltaT: 0.503889 s, deltaX: -0.000231 m, approachRate: -0.000458 m/s, posRepo size: 4 :i--TStopped intercept timer at range: 31.40 m.5DNOT Ignoring new targets: 31.37 m.2i1"i1*i1e ProNav: ac range: 31.365847 m, nav range: 30.924967 m, bearing: 176.552863 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 170.997379 deg, new cmd heading: 171.867743 deg. iamHeadingCmd: 2.999658 target range: 31.365847 and range: 31.40 m.hmf?@hihqhqhqgqgqjg1rg5Be9re9Ze9:e9*e=?颭BɢS<) >i)Βi:ѳif?@If?@I @  @ @ 0@  E DDAT read: Rx Time:01:30:09.1275 M TRx dataTimestamp_ set to:1764898209.873112U PDAT read: Bearing 68.9, 65.8 (Local) U ~Local bearing/azimuth received: Bearing 68.9, 65.8 (Local) e DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0  DAT read: 01:30:09.1275 LVL= 18064, 19441, 26338, 26867, AGC= 52, IDX= 500, 0.36,-1.439,-1.638,-2.964,-1.959, PHS= 0.622, 0.367,-1.049, RAW= 38.2, 0.8, CAL= 38.7, -0.8, ROT= 111.3, 0.8  Ygot valid direction response: 01:30:09.1275 LVL= 18064, 19441, 26338, 26867, AGC= 52, IDX= 500, 0.36,-1.439,-1.638,-2.964,-1.959, PHS= 0.622, 0.367,-1.049, RAW= 38.2, 0.8, CAL= 38.7, -0.8, ROT= 111.3, 0.8  T#Rx 24: Read range and direction messages. `direction in FSK: [-0.363216,0.931600,-0.013962] Fpublishing direction and range infoyI M ֞>׿?4YM AI M FM KM f M h)I IM d;?iM m>M EM *?M d2H?5ah?v? 7?f`ͅ`X?dB?i2&l?I2O5^;2CY>eBy>"IbDFVDF8yR4=%R5=ٔV:Q-V>9V"?YV"?=VYEyVDZ3"=EZ>\Q 5b5^_?Q 9b5^)^3BYdyj?Q InE@^İDI^ؙ;i^;^n5y~VBɮ~7A|iiwhLAjTA"jTA:jUE@Rj+-Eأ&+=@O[5oۿBj֞>׿?4*j?2jZjY^ >>CE?jOڗ@Jj-?b^`↑.Lʱ?r?{w9?qj-? jxi̜??iTZj1Bjħ|?jTZjBrjAzjME@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504014 s, deltaX: -0.199999 m, approachRate: -0.396812 m/s, rangeRepo size: 4  Added new target pos. range: 31.166067 m, bearing: 176.924265 deg, lat: 36.779544 deg, lon: -121.859843 deg, deltaT: 0.504014 s, deltaX: -0.199780 m, approachRate: -0.396377 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.17 m.2i"i*i ProNav: ac range: 31.166067 m, nav range: 30.882418 m, bearing: 176.952125 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 171.867750 deg, new cmd heading: 172.471207 deg. iHeadingCmd: 3.010190 target range: 31.166067 and range: 31.20 m.h@@hh!h!h!g!g!jg)rgIeIreIZeQ:eU@33?@*eU@Û?iIDDAT read: Rx Time:01:30:09.6275 TRx dataTimestamp_ set to:1764898210.129651=PDAT read: Bearing 71.8, 67.0 (Local) E~Local bearing/azimuth received: Bearing 71.8, 67.0 (Local) Uchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.374783颅BɢP<) P>i)n׈顙ԡii@@I@@IBA<B%@>B%CB%"IB% Tㅿ |0? $+3? ) ۄ?I S ?*%FB? ^س) AjI ۄ?i E checking for new query: numPingsReceived=25, elapsed TxPingTime=14.635742AE .AIi D =D <E  E E (E "E %;*E |:VE c44ZE BE K'Z#, hLAY_By"IiMMb@Mb@Mb@IIII I9MyMV>Mj9} ?Y} ?=}YEy}DE>Q 55Х?Q 95k)ABYk>Q E:ԙy4?Q IE@˰DI5;i,3;(5yɮ7ADDAT read: Rx Time:01:30:10.1274 TRx dataTimestamp_ set to:1764898210.632927PDAT read: Bearing 75.0, 68.1 (Local) ~Local bearing/azimuth received: Bearing 75.0, 68.1 (Local) checking for new query: numPingsReceived=25, elapsed TxPingTime=14.878335iiimhLAjmQA"jmQA:jm D@Rjmg}6%!>M=@'u'ۿBjmiu<տc?4*jmۄ?2jiZjmL!n>؇!<1@p#s@JjmC~Py`?*@Em?jm@ jmimtԛ?imNjmEBjmXT?jijm$BrjmAzjm #F@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502959 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 31.164827 m, bearing: 175.501563 deg, lat: 36.779544 deg, lon: -121.859843 deg, deltaT: 0.502959 s, deltaX: -0.001240 m, approachRate: -0.002465 m/s, posRepo size: 4 :iMMTStopped intercept timer at range: 31.20 m.UDNOT Ignoring new targets: 31.16 m.2iQ"iQ*iQ ProNav: ac range: 31.164827 m, nav range: 30.844467 m, bearing: 177.381392 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 172.471210 deg, new cmd heading: 173.403518 deg. iHeadingCmd: 3.026462 target range: 31.164827 and range: 31.20 m.hA@hhhhggjgrgBereZe:e*e`W?-Bɢ-:ۑ<)1 5>i1)5^u11i5ai}A@yIA@I1 @9  @9 @= /@9 ] DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 } DAT read: 01:30:10.1274 LVL= 15776, 22657, 28082, 29795, AGC= 50, IDX= 499, 0.25,-1.940,-2.217, 2.795,-2.492, PHS= 0.654, 0.320,-1.040, RAW= 40.8, 0.9, CAL= 41.3, -0.8, ROT= 108.7, 0.8  Ygot valid direction response: 01:30:10.1274 LVL= 15776, 22657, 28082, 29795, AGC= 50, IDX= 499, 0.25,-1.940,-2.217, 2.795,-2.492, PHS= 0.654, 0.320,-1.040, RAW= 40.8, 0.9, CAL= 41.3, -0.8, ROT= 108.7, 0.8  T#Rx 26: Read range and direction messages. `direction in FSK: [-0.320582,0.947118,-0.013962] Fpublishing direction and range infoyI M thԿon[N?4YI I M =M XM m M ct)M 2IM l'?iM ף>M M K6?M 2H?( @?@(?2?? {7`G?F?i2y?I2C^;0Y:gBy:"IbDFVDF8y^* =%b4=ٔbD;Q-b>9dYd=fYEyfDfW=Ef>lQ 5n5n?Q 9r5n>)nKBYpyr?Q IrE@nѰDInq:in:n!5yv-Bɮv,6AuEi9i=HOhLAj9"j9:j=E@Rj=RS#!J=@'u'ۿBj=thԿon[N?4*j=?2j9Zj=଱g>tjr?0v-@Jj=aFsH?e.[?j=? j={i=.?i=yj=DBj=̜??j9j=1Brj=Azj= F@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.164827 m, bearing: 177.254795 deg, lat: 36.779546 deg, lon: -121.859843 deg, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.16 m.2i"i*i ProNav: ac range: 31.164827 m, nav range: 30.625793 m, bearing: 177.731099 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 173.403518 deg, new cmd heading: 173.978262 deg. iHeadingCmd: 3.036494 target range: 31.164827 and range: 31.20 m.hUB@hhhhggjgrgereZe:e *e @…?5Bɢ5<)9 =I>i9)= yc99i=9iEUB@AAIMUB@IIDDAT read: Rx Time:01:30:10.6275 TRx dataTimestamp_ set to:1764898211.136962PDAT read: Bearing 80.1, 69.0 (Local) ~Local bearing/azimuth received: Bearing 80.1, 69.0 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 Z#Rx 27: Read range message, but no direction.yYchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.392577-!@1 @1@9@9B}G>ByB}"IB}ABByByB}JDB}-;B}YE^AA A I I O >= DAT read: 01:30:10.6275 LVL= 19008, 21873, 27410, 30259, AGC= 51, IDX= 500, 0.18,-0.536,-0.864,-2.116,-1.126, PHS= 0.692, 0.307,-1.034, RAW= 42.3, 0.5, CAL= 42.9, -1.3, ROT= 107.1, 1.3 E Ygot valid direction response: 01:30:10.6275 LVL= 19008, 21873, 27410, 30259, AGC= 51, IDX= 500, 0.18,-0.536,-0.864,-2.116,-1.126, PHS= 0.692, 0.307,-1.034, RAW= 42.3, 0.5, CAL= 42.9, -1.3, ROT= 107.1, 1.3 E Z#Rx 28: Read direction message, but no range.M `direction in FSK: [-0.293965,0.955547,-0.022687]y  xPҿKZד?NGY;  @J qU k  3v) 3I &1?i /> Z 9Y=YEyDE>AQ 5E5E?Q 9M5E)EUBYIyIQ IME@EװDIE:iE`:E5yQɮ<6ADzDAAE EEE"E:*E:VEZEBE>}P4@!@Jj92j]￑M?/s?ja@ jai除?i糬jяBj.?jyjrjAzj_F@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.257123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 31.165197 m, bearing: 175.601467 deg, lat: 36.779547 deg, lon: -121.859840 deg, deltaT: 0.257123 s, deltaX: 0.000370 m, approachRate: 0.001439 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 31.17 m.2i1"i9*i9m ProNav: ac range: 31.165197 m, nav range: 30.600027 m, bearing: 177.592778 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 173.978264 deg, new cmd heading: 174.699622 deg. iiuHeadingCmd: 3.049084 target range: 31.165197 and range: 31.20 m.hu0$C@hqhqhqhqgqgyjgyrgyeyreZe:e*e`?Bɢ娴<) >i)Iii%0$C@!!I%0$C@I)DDAT read: Rx Time:01:30:11.1274 TRx dataTimestamp_ set to:1764898211.642013PDAT read: Bearing 84.6, 70.2 (Local) ~Local bearing/azimuth received: Bearing 84.6, 70.2 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 E @A @I@I@IZ#Rx 29: Read range message, but no direction.yYchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.927495! ^A #Q IUDAT read: 01:30:11.1274 LVL= 17328, 18769, 23986, 26819, AGC= 52, IDX= 499, 0.11,-1.625,-2.008, 3.044,-2.244, PHS= 0.721, 0.281,-1.039, RAW= 43.9, 0.5, CAL= 44.5, -1.4, ROT= 105.5, 1.4 ]Ygot valid direction response: 01:30:11.1274 LVL= 17328, 18769, 23986, 26819, AGC= 52, IDX= 499, 0.11,-1.625,-2.008, 3.044,-2.244, PHS= 0.721, 0.281,-1.039, RAW= 43.9, 0.5, CAL= 44.5, -1.4, ROT= 105.5, 1.4 ]Z#Rx 30: Read direction message, but no range.e`direction in FSK: [-0.267159,0.963343,-0.024432]y)-{R) ѿ-)O?{J)-C-QI-] -h)-4I-u8?i-;ߏ>--%D?)-F? -+ȼ)-s?I-+<)-Y?&c? -)-I-s?i-+<}checking for new query: numPingsReceived=30, elapsed TxPingTime=16.136511IO>=Z#,'hLA2.W?2w2H4|?`m ?#?-?@ ҭcu?E?i2.W?I2ez^;2CY:sBy:"II><)>y><`@@ 3@)Y@bDVD8y9R=%"=ٔ ;Q->9Y = YEy D=E>Q 5%5x?Q 9%5j)cBY%!>Q E-:y-?Q I-E@߰DI;iq;- 5yQɮU5AQiihLAj"j:j D@Rjs g7>@rP]Bj{R) ѿ-)O?{J*js?2j+<Zj̴j>+HJʠ@}@Jj5(6a(Y܍?Z"d~?j@E EE'E"E;*E:VE'4ZEa@a@a@a@ j}i%?i&N5jBj%?jNjrjAzjPE@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.165197 m, bearing: 176.000030 deg, lat: 36.779547 deg, lon: -121.859832 deg, deltaT: 0.505051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iTStopped intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.17 m.2i"i*iM ProNav: ac range: 31.165197 m, nav range: 30.613556 m, bearing: 176.645961 deg, approach rate: 0.000000 m/s, LOS rate: 0.757317 deg/s, cmd heading: 174.699628 deg, new cmd heading: 175.366932 deg. iQUHeadingCmd: 3.060730 target range: 31.165197 and range: 31.20 m.hUC@hYhYhYhYgYgYjgargeBereZe:e*e?Bɢl<) >i)R0iViC@I C@I ԉ@ @@@}DDAT read: Rx Time:01:30:11.6275 TRx dataTimestamp_ set to:1764898212.145764PDAT read: Bearing 89.7, 70.7 (Local) ~Local bearing/azimuth received: Bearing 89.7, 70.7 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 Z#Rx 31: Read range message, but no direction.yyYyy checking for new query: numPingsReceived=31, elapsed TxPingTime=16.401484ԡ^A ?΅BM M>BM CBM "IBM FBBM _ =BI BM KDBM O;BM $ZEI I O > DZ#,liLA2r?2n?2ͦj<ٱ2CZ>2H r?` :?Q?+?`ЫT`?E?i2r?I2<^;0YRtByR"IbDf$VDfΰ8yr_<%r]=ٔve:Q-v>9xYx=~YEy~(D~C?=E>Q 5%5?Q 9%5)lBY)y-?Q I-E@DI"w;i@x;f5y9ɮE5AA-B*** querying acoustic contact ***i)i)DAT read: 01:30:11.6275 LVL= 17872, 21105, 26834, 27891, AGC= 52, IDX= 500, 0.04,-0.602,-1.025,-2.234,-1.249, PHS= 0.749, 0.269,-1.029, RAW= 45.1, 0.1, CAL= 45.8, -1.8, ROT= 104.2, 1.8 Ygot valid direction response: 01:30:11.6275 LVL= 17872, 21105, 26834, 27891, AGC= 52, IDX= 500, 0.04,-0.602,-1.025,-2.234,-1.249, PHS= 0.749, 0.269,-1.029, RAW= 45.1, 0.1, CAL= 45.8, -1.8, ROT= 104.2, 1.8 Z#Rx 32: Read direction message, but no range.`direction in FSK: [-0.245186,0.968967,-0.031411]yV%DbϿTA?IzEqRh l)Iw??i^>Fi)h顙iiD@ID@II Q @Q  @Q @U 4@Q  DDAT read: Rx Time:01:30:12.1274  TRx dataTimestamp_ set to:1764898212.650976 PDAT read: Bearing 93.4, 71.0 (Local)  ~Local bearing/azimuth received: Bearing 93.4, 71.0 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0  Z#Rx 33: Read range message, but no direction.y Y M checking for new query: numPingsReceived=33, elapsed TxPingTime=16.908888 BG hm9 Y hAq ^AAzAxAIIO >'LZ#,2iLA:݅?:¡?:q<ٱ:A]>:HDW? @?@ ??0 [6pz?@?i:݅?I:x];:CYFkByF"ILieMb@Mb@Mb@aaaa a9eʡE?^I +?I +?Ye>yeX9>e99Y=YEy2D=E>Q 55?Q 952Q =tI)zBY?Q E:y?Q IF@DIN;iB;5yɮ6Aii)iLAjSA"jSA:j\E@RjNϏ͐K2>@~wSBjV%DbϿTA?Iz*j?2j=ZjF>9)&Z?Ħ@Jj A8Hk=?Y?s)?j? ji%򔤊?i䣕jBjj糬jBrjAzjE@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDAT read: 01:30:12.1274 LVL= 19584, 21809, 28770, 31667, AGC= 51, IDX= 499,-0.03,-2.787, 3.050, 1.860, 2.838, PHS= 0.761, 0.258,-1.022, RAW= 45.9, 0.0, CAL= 46.5, -1.9, ROT= 103.5, 1.9 UYgot valid direction response: 01:30:12.1274 LVL= 19584, 21809, 28770, 31667, AGC= 51, IDX= 499,-0.03,-2.787, 3.050, 1.860, 2.838, PHS= 0.761, 0.258,-1.022, RAW= 45.9, 0.0, CAL= 46.5, -1.9, ROT= 103.5, 1.9 ]Z#Rx 34: Read direction message, but no range.e`direction in FSK: [-0.233317,0.971835,-0.033155]y)-N{.UͿJcF?B3)-L-1U-bp -{)-3I-B?i->-Ђ-KM?--O? -)-8?I-=)-֓_?L }%vi)ieiaE@IaE@IE EE'E"ED:*E:VE'4ZEa-@a-@a-@a-@I@I @Q@U5@Q!  DDAT read: Rx Time:01:30:12.6275  TRx dataTimestamp_ set to:1764898213.157059% PDAT read: Bearing 98.7, 71.7 (Local) - ~Local bearing/azimuth received: Bearing 98.7, 71.7 (Local) e DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 u Z#Rx 35: Read range message, but no direction.y Y   checking for new query: numPingsReceived=35, elapsed TxPingTime=17.412542^AQ I I O >NSZ#,zMiLA8F8?F?F0v<ٱF^>B^8>B^CB^"IB^KBB^a =B\B^IDB^;B^VZEFH7??;?`?h8 Ŏ?m>?iF8?IF^;FCYqBy"I bDdVD 8y<%B=ٔ`*:Q->9Y=YEy;D2=E> Q 55 g?Q 95 ) BYy?Q IF@ DI :i : 5y!ɮ%5A!iiA JiLAjPA"jPA:jE@Rjr\:/dI>@Y >BjN{.UͿJcF?B3*j8?2j=ZjeB>vv?D\@Jj=9<]nuI$R%?FE?j? ji풤?iTjBj.?j&N5jяBrjAzjE@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.506083 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.164431 m, bearing: 177.023657 deg, lat: 36.779547 deg, lon: -121.859828 deg, deltaT: 0.506083 s, deltaX: -0.001293 m, approachRate: -0.002555 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.20 m. DNOT Ignoring new targets: 31.16 m.2i "i*i] ProNav: ac range: 31.164431 m, nav range: 30.589756 m, bearing: 177.195857 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 176.704944 deg, new cmd heading: 177.313594 deg. iYeHeadingCmd: 3.094706 target range: 31.164431 and range: 31.20 m.ԩheF@hhhhg gjgrgereZe:e*eC?%Bɢ%'<)) -1>i))-cº))i-zi5F@1YI]F@IYIi)iDAT read: 01:30:12.6275 LVL= 18656, 21457, 27042, 28819, AGC= 52, IDX= 500,-0.13,-1.494,-1.986, 3.133,-2.178, PHS= 0.786, 0.237,-1.016, RAW= 47.3, -0.1, CAL= 48.0, -2.1, ROT= 102.0, 2.1 Ygot valid direction response: 01:30:12.6275 LVL= 18656, 21457, 27042, 28819, AGC= 52, IDX= 500,-0.13,-1.494,-1.986, 3.133,-2.178, PHS= 0.786, 0.237,-1.016, RAW= 47.3, -0.1, CAL= 48.0, -2.1, ROT= 102.0, 2.1 Z#Rx 36: Read direction message, but no range.`direction in FSK: [-0.207772,0.977491,-0.036644]y,ڼFʿ[~G?(א¢HSi p)4IL7I?i!r>J VS?PwV? Q )?IQ =B(=?sٍ!IXY o):I?iQ =%checking for new query: numPingsReceived=36, elapsed TxPingTime=17.656023@ @@5@E EE%E"E:*EM:VE 4ZEBE<vYZ#,lgiLAlMDDAT read: Rx Time:01:30:13.1274 eTRx dataTimestamp_ set to:1764898213.664138PDAT read: Bearing 102.7, 72.5 (Local) ~Local bearing/azimuth received: Bearing 102.7, 72.5 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 ??|<ٱy]>HU?? ?@?@?C٣@Gw? /@?i?I];CDAT read: 01:30:13.1274 LVL= 19104, 24497, 28002, 30243, AGC= 51, IDX= 499,-0.26,-2.911, 2.843, 1.697, 2.671, PHS= 0.803, 0.217,-1.018, RAW= 48.4, -0.0, CAL= 49.0, -2.1, ROT= 101.0, 2.1 %Ygot valid direction response: 01:30:13.1274 LVL= 19104, 24497, 28002, 30243, AGC= 51, IDX= 499,-0.26,-2.911, 2.843, 1.697, 2.671, PHS= 0.803, 0.217,-1.018, RAW= 48.4, -0.0, CAL= 49.0, -2.1, ROT= 101.0, 2.1 Y-nBy-"ImT#Rx 37: Read range and direction messages.u`direction in FSK: [-0.190681,0.980968,-0.036644]uFpublishing direction and range infoyY]5(#;hȿ&d?(א¢YYY]J]_]bm ]#v)]3I]hM?i]?5^>]M]@X?]]!Z? Y)]ܢ?IYYY]X2,?tԽk^AxZ|+< ]N)]\A9I]ܢ?iYYYchecking for new query: numPingsReceived=37, elapsed TxPingTime=17.979099iMb@Mb@Mb@ 9sh|??kt??Y>y 0><I@@ @)v@Y@AbDlVD8ymW/%m=ٔmM:Q-m>9qYq=uYEyuEDu=E>Q 55|?Q 95)BYU>Q E:y?Q IF@DI:i :55yBɮ4A EiYi]=jiLAjY"jY:j]FE@Rj]~N )A>@P?fC?I%@Jj]xoN'ɭ?fJ?j]? j]i]?i]?j]Bj]%򔤊?j]䣕1j]Brj]Azj]TF@u addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.507079 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.164431 m, bearing: 176.610658 deg, lat: 36.779546 deg, lon: -121.859827 deg, deltaT: 0.507079 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iTStopped intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.16 m.2i"i*i ProNav: ac range: 31.164431 m, nav range: 30.591625 m, bearing: 177.552884 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 177.313596 deg, new cmd heading: 178.135412 deg. iHeadingCmd: 3.109050 target range: 31.164431 and range: 31.20 m.hF@hhhhggjgrgBere Ze):e)*e-ʠ?}Bɢ}<)y }>iy)}?顁iⶼiF@IF@Ichecking for new query: numPingsReceived=37, elapsed TxPingTime=18.149134= !@A  @A @E 0@A i bEE:4jEEc44rEE˲/E  E E &E "E :*E :VE 4ZE a @a @a @a @ԑ ^AeAm?AiDDAT read: Rx Time:01:30:13.6274 TRx dataTimestamp_ set to:1764898214.165483PDAT read: Bearing 110.5, 72.8 (Local) A؟AI I!-~Local bearing/azimuth received: Bearing 110.5, 72.8 (Local) =DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 O]?bZ#,{iLA2DAT read: 01:30:13.6274 LVL= 18064, 21633, 25458, 27267, AGC= 51, IDX= 498, 0.42,-1.002,-1.589,-2.704,-1.749, PHS= 0.848, 0.204,-0.999, RAW= 50.1, -0.7, CAL= 50.8, -2.8, ROT= 99.2, 2.8 6Ygot valid direction response: 01:30:13.6274 LVL= 18064, 21633, 25458, 27267, AGC= 51, IDX= 498, 0.42,-1.002,-1.589,-2.704,-1.749, PHS= 0.848, 0.204,-0.999, RAW= 50.1, -0.7, CAL= 50.8, -2.8, ROT= 99.2, 2.8 6T#Rx 38: Read range and direction messages.Bc?BH?B<ٱB\>BH]?@d?W"?>?| !Sd?.A?iBc?IB*^;BCYjBy"IbD)VD)y=%===ٔ=@:Q-=>9E"?YE"?=EYEyENDE1=EM>QQ 5U5U?Q 9]5U)UBYYy]?Q I]F@UDIU~:iU%:U 5yaɮe4AiB/>BCB"IBPBBc =BBHDB;B`ZE`direction in FSK: [-0.159690,0.985958,-0.048850]Fpublishing direction and range infoy1{pĿR?s!DYFTrc j)IY?i`P>wT_?+Hb? +H)k?I+H=?C Wա /)=@]P[Bj1{pĿR?s!D*jk?2j+H=ZjĦ>gyn@3$@JjIpOy S?"i|8?j@ j6io?i֌jBj풤?jTjBrjAԩzjF@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.501345 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.163822 m, bearing: 175.837598 deg, lat: 36.779546 deg, lon: -121.859827 deg, deltaT: 0.501345 s, deltaX: -0.000608 m, approachRate: -0.001214 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.16 m.2i"i*im ProNav: ac range: 31.163822 m, nav range: 30.586140 m, bearing: 177.876889 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 178.135418 deg, new cmd heading: 178.752235 deg. iiuHeadingCmd: 3.119815 target range: 31.163822 and range: 31.20 m.hu G@hqhqhqhqgygyjgyrgyereZe:e*eoE?%}Bɢ-3<)) ->i1)5K"11i=MiM G@IIIU G@IY5 @1 @1@5n0@1checking for new query: numPingsReceived=38, elapsed TxPingTime=18.651083 E  E E 'E "E :*E ą:VE '4ZE BE a 2E <xYiZ#,6iLAE)Α?Eq?Ew<ٱEY>EHO&?@L6? D?&Qd?+5g? A)R(?IA=s^?OTl}( !ə)!H1yU^:>U99 ?Y ?=ZEyYDm=E>Q 55j?Q 9=5k)BY=&?Q E=:y=?Q I=F@ DIq'@ @).CBjTYp¿P[9E?P7V*jR(?2jA=Zj׆+\>kvu-@#/\@Jj{\"zPz??j@ jiq?iԅjBjj?jBrjtAzjBF@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.506007 s, deltaX: -0.300001 m, approachRate: -0.592879 m/s, rangeRepo size: 4  Added new target pos. range: 30.864168 m, bearing: 175.803492 deg, lat: 36.779546 deg, lon: -121.859822 deg, deltaT: 0.506007 s, deltaX: -0.299654 m, approachRate: -0.592193 m/s, posRepo size: 4 :i  TStopped intercept timer at range: 30.90 m. DNOT Ignoring new targets: 30.86 m.2i "iQ*iY ProNav: ac range: 30.864168 m, nav range: 30.556755 m, bearing: 177.491890 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 178.752239 deg, new cmd heading: 179.530630 deg. iHeadingCmd: 3.133401 target range: 30.864168 and range: 30.90 m.hH@hhhhggjgrgBereZe:e`f>@*e  ?ewBɢe <)a mu>i)@Vո顙iSķiH@IH@I>iM checking for new query: numPingsReceived=39, elapsed TxPingTime=19.154896 @  @ @ /@ E=  E9 E= )E9 "E= ;*E9 VE= FA4ZE9 aE @aE @aE @aE @^Ae #A؟AIIO?%rZ#,iLADDAT read: Rx Time:01:30:14.6273  TRx dataTimestamp_ set to:1764898215.173871ePDAT read: Bearing 117.7, 73.9 (Local) e~Local bearing/azimuth received: Bearing 117.7, 73.9 (Local) uDAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.0 3(?{ ?Dͅ<ٱY>H? K`? c?@?w( ?F?i3(?I>^;CYgBy"IDAT read: 01:30:14.6273 LVL= 11568, 14097, 16786, 16019, AGC= 53, IDX= 2,-0.18,-1.537,-2.180, 3.022,-2.302, PHS= 0.866, 0.167,-1.004, RAW= 51.7, -0.4, CAL= 52.4, -2.5, ROT= 97.6, 2.5 %Ygot valid direction response: 01:30:14.6273 LVL= 11568, 14097, 16786, 16019, AGC= 53, IDX= 2,-0.18,-1.537,-2.180, 3.022,-2.302, PHS= 0.866, 0.167,-1.004, RAW= 51.7, -0.4, CAL= 52.4, -2.5, ROT= 97.6, 2.5 %T#Rx 40: Read range and direction messages.)bDbVD8y `direction in FSK: [-0.132131,0.990272,-0.043619]Fpublishing direction and range infoy  8Sn'O?GUY A  0- 7 A >) 5I -]?i  +>  qf?   j? ¸2) ^ ?I ¸2=   L% (?ީֺ`%y _) I;I ^ ?i ¸2=  %2=ٔ-^:Q-->9-"?Y-"?=5ZEy5bD5d=E5>9Q 5E5BM&>BMߎCBM"IBMKBBMg =BIBMGDBM;BM\ZEBCBCBÕCBb =Bb =C<6mchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.473539=J?Q 95=D)=BYy,?Q IF@=DI=#@=7Bj 8Sn'O?GU*j ^ ?2j ¸2=Zj n,.\O>g13? Pk@Jj iG5z͙_?4橗?j ? j ri h?i j Bj ?j ֌j Brj Azj qE@M addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.502381 s, deltaX: 0.200001 m, approachRate: 0.398106 m/s, rangeRepo size: 4  Added new target pos. range: 31.063223 m, bearing: 176.348483 deg, lat: 36.779546 deg, lon: -121.859815 deg, deltaT: 0.502381 s, deltaX: 0.199055 m, approachRate: 0.396223 m/s, posRepo size: 4 :iVStarting intercept timer at range: 31.10 m.DNOT Ignoring new targets: 31.06 m.2i"i*i ProNav: ac range: 31.063223 m, nav range: 30.566643 m, bearing: 176.760896 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 179.530634 deg, new cmd heading: 180.238763 deg. i=HeadingCmd: 3.145760 target range: 31.063223 and range: 31.10 m.h=!TI@hAhAhAhAgIgIjgQrgQaeyreZe:e?@*e?qBɢ5<)9 = >i9)Ec>9AAiM9iMHQqIu!TI@Iq @  @ @ @ ߍ=߉checking for new query: numPingsReceived=40, elapsed TxPingTime=19.659655ԙEy  E} E} *Ey "Ey *E} :VE} (N4ZEy BE} AǛyZ#,MiLA}DDAT read: Rx Time:01:30:15.1271 TRx dataTimestamp_ set to:1764898215.678298PDAT read: Bearing 126.5, 73.9 (Local) ~Local bearing/azimuth received: Bearing 126.5, 73.9 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.1 DAT read: 01:30:15.1271 LVL= 14480, 20721, 24434, 25075, AGC= 50, IDX= 496, 0.29, 0.240,-0.471,-1.519,-0.578, PHS= 0.920, 0.152,-0.985, RAW= 53.6, -1.1, CAL= 54.4, -3.2, ROT= 95.6, 3.2 ??<ٱa8[>H?-?࡙? ?-푿 *Ð 0? C?i?I<^;-Ygot valid direction response: 01:30:15.1271 LVL= 14480, 20721, 24434, 25075, AGC= 50, IDX= 496, 0.29, 0.240,-0.471,-1.519,-0.578, PHS= 0.920, 0.152,-0.985, RAW= 53.6, -1.1, CAL= 54.4, -3.2, ROT= 95.6, 3.2 -T#Rx 41: Read range and direction messages.5`direction in FSK: [-0.097431,0.993676,-0.055822]5Fpublishing direction and range infoyy},8T20?ᢔY}fAy}8}PYE`ByE"I}r_ }a)}2I}k?i}>}(|}|o?}nF}s? }d)}?I}d=yy}DJz'?PUU{xP/7h }K)}{ŗyQ8>ף<@ 3@)`@Y@bDIVD8y}b%} =ٔ$8Q->9 ?Y ?=ZEynD{=E>Q 55?Q 95)BY->Q E-:y-?Q I-F@DI/@g:yBj},8T20?ᢔ*j}?2j}d=Zj}Co7Q> A?78u@Jj}ȉE?ꅪ=?j}? j}i})?i}j}Bjyj}j}Brj}Azj}ݎE@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504427 s, deltaX: -0.300001 m, approachRate: -0.594737 m/s, rangeRepo size: 4 5 Added new target pos. range: 30.763577 m, bearing: 176.493495 deg, lat: 36.779546 deg, lon: -121.859812 deg, deltaT: 0.504427 s, deltaX: -0.299646 m, approachRate: -0.594033 m/s, posRepo size: 4 :i55TStopped intercept timer at range: 30.80 m.=DNOT Ignoring new targets: 30.76 m.2i9"i9*i9m ProNav: ac range: 30.763577 m, nav range: 30.508139 m, bearing: 176.863168 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 180.238761 deg, new cmd heading: 181.094609 deg. iiuHeadingCmd: 3.160697 target range: 30.763577 and range: 30.80 m.huHJ@hqhyhyhygygyjgrgBereZe:e>@*e?kBɢ<-<) X>i)Ui:9i=iEGAIIMHJ@II checking for new query: numPingsReceived=41, elapsed TxPingTime=20.163393y @  @ @ 4@ E  E E )E "E ;*E :VE FA4ZE a @a @a @a @ԡ ^A#Am؟AIDDAT read: Rx Time:01:30:15.6272 TRx dataTimestamp_ set to:1764898216.180605PDAT read: Bearing 125.0, 66.6 (Local) ~Local bearing/azimuth received: Bearing 125.0, 66.6 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.1 DAT read: 01:30:15.6272 LVL= 14064, 18897, 21682, 23891, AGC= 50, IDX= 513,-0.05,-0.717,-1.365,-2.678,-1.809, PHS= 1.194, 0.489,-0.912, RAW= 49.2, -8.3, CAL= 51.4, -9.8, ROT= 98.6, 9.8 %Ygot valid direction response: 01:30:15.6272 LVL= 14064, 18897, 21682, 23891, AGC= 50, IDX= 513,-0.05,-0.717,-1.365,-2.678,-1.809, PHS= 1.194, 0.489,-0.912, RAW= 49.2, -8.3, CAL= 51.4, -9.8, ROT= 98.6, 9.8 %T#Rx 42: Read range and direction messages.IqO}?lZ#, jLA`direction in FSK: [-0.147353,0.974328,-0.170209]Fpublishing direction and range infoy~ϗx¿\(-?rlſY3A6IT S])IԘ?i5^>xi[?VLe? %/)FF?I%/>FW?AXf^¿ ,)\D>IFF?i%/>&checking for new query: numPingsReceived=42, elapsed TxPingTime=20.450338M_?MD?M<ٱM[>MH ?@A?@گ? ?@zI 9?``C?iM_?IM$^;MCAA?AB!>BB"IBFBBBBFDB;BdZEԡY]bBy"IbD2VDڰ8y];%].=ٔe*3:Q-e>9e"?Ye"?=eZEymwDm =Em>qQ 55u?Q 95u)uBYy[?Q IF@u#DIu;iuT;u25yښBɮ3A{Eii jLAjA"jA:jI@RjV4'0Qέ$>@ WHBj~ϗx¿\(-?rlſ*jFF?2j%/>Zj+f A>4a7hп윔^o?JjLaM-9?jA ji6Km?ijBjh?jjBrjAzjF@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.502307 s, deltaX: 0.100000 m, approachRate: 0.199082 m/s, rangeRepo size: 4 = Added new target pos. range: 30.863182 m, bearing: 180.476374 deg, lat: 36.779546 deg, lon: -121.859812 deg, deltaT: 0.502307 s, deltaX: 0.099606 m, approachRate: 0.198296 m/s, posRepo size: 4 :i=EVStarting intercept timer at range: 30.90 m.EDNOT Ignoring new targets: 30.86 m.2iI"ii*iq} ProNav: ac range: 30.863182 m, nav range: 30.486185 m, bearing: 177.283236 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 181.094611 deg, new cmd heading: 181.783654 deg. iHeadingCmd: 3.172723 target range: 30.863182 and range: 30.90 m.h K@hhhhggjgrgereZe:e`f>@*e?eBɢA=)) ->i))-6e:))i-5i5G19I= K@I9checking for new query: numPingsReceived=42, elapsed TxPingTime=20.666956@ @@@5@D D <E  E E 'E "E T;*E xv:VE '4ZE BE G-Z#, F*jLA0VDDAT read: Rx Time:01:30:16.1271 ZTRx dataTimestamp_ set to:1764898216.682060^PDAT read: Bearing 136.9, 74.2 (Local) b~Local bearing/azimuth received: Bearing 136.9, 74.2 (Local) nDAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.0 eDAT read: 01:30:16.1271 LVL= 16992, 22897, 27954, 28915, AGC= 51, IDX= 511, 0.49,-0.155,-0.935,-1.932,-1.005, PHS= 0.953, 0.115,-0.971, RAW= 55.7, -1.2, CAL= 56.5, -3.3, ROT= 93.5, 3.3 mYgot valid direction response: 01:30:16.1271 LVL= 16992, 22897, 27954, 28915, AGC= 51, IDX= 511, 0.49,-0.155,-0.935,-1.932,-1.005, PHS= 0.953, 0.115,-0.971, RAW= 55.7, -1.2, CAL= 56.5, -3.3, ROT= 93.5, 3.3 T#Rx 43: Read range and direction messages.`direction in FSK: [-0.060947,0.996480,-0.057564]Fpublishing direction and range infoyTV\ 7~4 g)?`8.yYVfATV`BVqYV2m Vp)V3IVs?iV=VuxVx?VVq|? Vk)V?IVk=TTVs?WH\?~???r?@p̂`':@.0?C?iÝ?I^;CYaBy"IԁiMb@Mb@Mb@ 9Gz? ףp= ?Mb?Y>y<3@@ @)3@Y(@bD% VD%8y5%5=ٔ=9Q-=>99Ya=eZEyeDeu=Ee>iQ 5u5mz?Q 9u5mF)mBY}?Q E}:y}?Q I}F@m+DIm0;im;mm75yӚBɮ3AzEiTiVߦ+jLAjVA"jVA:jV$E@RjVY-p>@OSpUBjV\ 7~4 g)?`8.y*jV?2jVk=ZjV,S> ]?0Z7@@JjV>?U?jV? jViV֒?iV)P]ujVBjV֒?jVԅjVBrjVAzjVuF@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.501455 s, deltaX: -0.100000 m, approachRate: -0.199420 m/s, rangeRepo size: 4  Added new target pos. range: 30.763302 m, bearing: 176.491330 deg, lat: 36.779546 deg, lon: -121.859812 deg, deltaT: 0.501455 s, deltaX: -0.099880 m, approachRate: -0.199181 m/s, posRepo size: 4 :iTStopped intercept timer at range: 30.80 m.DNOT Ignoring new targets: 30.76 m.2i"i*i] ProNav: ac range: 30.763302 m, nav range: 30.352634 m, bearing: 177.670758 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 181.783654 deg, new cmd heading: 182.568181 deg. iYeHeadingCmd: 3.186416 target range: 30.763302 and range: 30.80 m.he=K@hahahihigigijgirguBereZe:e>@*e?Ա_Bɢq=) ?i) ::iiw1FI=K@II))-yAUchecking for new query: numPingsReceived=43, elapsed TxPingTime=21.171646@ @@0@ E=  E= E= +E9 "E= f;*E= ą:VE= [4ZE9 aE @aE @aE @aE @^A ?΅ A9IaIO?’Z#,KjLADDAT read: Rx Time:01:30:16.6271 TRx dataTimestamp_ set to:1764898217.185278PDAT read: Bearing 138.7, 67.4 (Local) ~Local bearing/azimuth received: Bearing 138.7, 67.4 (Local) "DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.1 (6DAT read: 01:30:16.6271 LVL= 17696, 25233, 28786, 31795, AGC= 49, IDX= 512, 0.08,-0.716,-1.400,-2.413,-1.705, PHS= 1.092, 0.350,-0.752, RAW= 53.6, -8.6, CAL= 55.8, -10.0, ROT= 94.2, 10.0 :Ygot valid direction response: 01:30:16.6271 LVL= 17696, 25233, 28786, 31795, AGC= 49, IDX= 512, 0.08,-0.716,-1.400,-2.413,-1.705, PHS= 1.092, 0.350,-0.752, RAW= 53.6, -8.6, CAL= 55.8, -10.0, ROT= 94.2, 10.0 >T#Rx 44: Read range and direction messages.B`direction in FSK: [-0.072125,0.982163,-0.173648]BFpublishing direction and range infoyLnv-m?ٖNs:ƿY Ebrp 3|)1IƋ?i33>@|o?`Qy? ¸2)q?I¸2>4}M?쿝S|35ÿ |h)C>Iq?i¸2>Rchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.439749z"?zY?zEE<ٱz-[>zH ? 1C?h?5W?L;urHQ/?C?iz"?IzkD^;zCY dBy "II<)=bDVD8y-{<%5B=ٔ59Q-5>99Y9==ZEy=D=5=E=>AQ 55E!?Q 95E)EBYy?Q IF@E2DIE+t@2^BjLnv-m?ٖNs:ƿ*jq?2j¸2>Zj Ct>`i?P?Jj3CXL ?k2q?jm? ji m?i~j܆Bjh?jjBrjAzjF@BU">BQBU"IBUABBUh =BQBQBU;BUTZEu addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.503218 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.763302 m, bearing: 178.267070 deg, lat: 36.779546 deg, lon: -121.859812 deg, deltaT: 0.503218 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 30.80 m.DNOT Ignoring new targets: 30.76 m.2i"i*im ProNav: ac range: 30.763302 m, nav range: 30.356432 m, bearing: 178.136185 deg, approach rate: 0.000000 m/s, LOS rate: 0.741180 deg/s, cmd heading: 182.568183 deg, new cmd heading: 183.173198 deg. iiuHeadingCmd: 3.196975 target range: 30.763302 and range: 30.80 m.hu?L@hqhqhqhygygyjgyԁrgyereZe:e*e@y?ZBɢA=)9 =D?iy)Z;顁iUivEI?L@Iq@q @q@u 0@qԱchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.674807 ^A D zD E  E E )E "E ;*E P:VE FA4ZE BE AZ#,|*hjLA 4:RC1{ADDAT read: Rx Time:01:30:17.1270 TRx dataTimestamp_ set to:1764898217.690024PDAT read: Bearing 144.4, 74.5 (Local) ~Local bearing/azimuth received: Bearing 144.4, 74.5 (Local) DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.1 =DAT read: 01:30:17.1270 LVL= 15728, 23153, 25442, 29235, AGC= 49, IDX= 511,-0.34,-2.596, 2.869, 1.920, 2.838, PHS=0.076,-0.963, RAW= 57.2, -0.8, CAL= 57.8, -2.9, ROT= 92.2, 2.9 E!unknown deviceResponse_: 01:30:17.1270 LVL= 15728, 23153, 25442, 29235, AGC= 49, IDX= 511,-0.34,-2.596, 2.869, 1.920, 2.838, PHS=0.076,-0.963, RAW= 57.2, -0.8, CAL= 57.8, -2.9, ROT= 92.2, 2.9 q EE(Communications Faulta E a E a E a E a E MZ#Rx 45: Read range message, but no direction.iIAMchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.941143Uo9U{AYUkAiiԑYmcBym"IiUMb@Mb@Mb@QQQQ Q9Ui|?5?x?Mb?YU>yUK7>QQQ Q)U`@QYU@bDVD8y%=ٔQ->9 ?Y ?=ZEyDE>Q 55?Q 95)BYK?Q E:y?Q IF@2H!ާ?X4????|? ?`B=?i2@2?I2/^;2CY>gByB"IbDJVDJ8yR<%Rq=ٔR;Q-R?9TYT=VZEyVDZ&>EZ?\Q 5b5^d?Q 9b5^)^BY`yb?Q IbF@^ADI^h:i^:^C5yhɮjc3Ah:i~~VStarting intercept timer at range: 30.80 m.~DNOT Ignoring new targets: 30.76 m.2i|"i<*iBB"IBEu  Eu Eu *Eq "Eu %;*Eu 1:VEu (N4ZEq BEu KjH ۿ?@8F? ?? ?@q@9?N;?ijT?Ij"^;jCY}cBy}"I bDVD8yUg%]2=ٔ]eQ-]>9e"?Ye"?=eZEyeDe%=Em>iQ 5u5mKy?Q 9}5mێ)mBYyy}?Q I}F@mIDImb;im;mG5yBɮ.2AqEԑ:iDNOT Ignoring new targets: 30.76 m.2i"i@<*i@<5 ProNav: ac range: 30.763302 m, nav range: 30.142082 m, bearing: 179.430440 deg, approach rate: -0.164250 m/s, LOS rate: 0.904006 deg/s, cmd heading: 184.938683 deg, new cmd heading: 185.767840 deg. i5R7Z#,(ҿjLA;ɰ4<2?28?2<ٱ28`>2H@Bi? ; .?O?͋? 4?`!?`$;?i2?I22^;0Y>hBy>"IiMb@Mb@Mb@ 9ʡE? ףp= ?I +?Y->yQ8>9<I@@ )I@Yz@ <bDVDð8y-ǽ<%-Q=bEFA4jEB4rE?/Eu EuEu(Eq"Eu;*Euą:VEuc44ZEqa@a@a@a@ٔ&9Q->9Y=ZEyDH6=E>Q 55s?Q 95É)BY?Q E:y?Q IF@ODI ;i;K5yɮ 2A)qL55Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1K5 5Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqKEeNo longer in Terminal. Resuming normal ranging with 1.000000 count pings.qKmKmDuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Eu uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFu uUninitialize.qG}G}G}}ZTransitioning guidance mode to: UNINITIALIZED i}?}}Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@} }Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA}}Initialize.A Initialize.q@ffHBrfNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@ A  :Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630ereZe:e*eehBɢev\|;)i m(9ii)m{;iiim軼uIq @ @@/@QBE!>BABABABEf =BABEFDBE>;BEYEԉ^A= FӅAA zAA Ai Iy I O >ԩ )!Z#,jLA2.?2?2<ٱ2z`>2HA ;8?r?o z?7 ?`:?i2.?I2!^;2CY:fBy>"IbDFVDFŰ8yN,7%NT=ٔNTm9Q-N>9PYP=RZEyRDVFF=EV>XQ 5^5Z%n?Q 9^5Z))Z"BY\y^_?Q I^F@ZUDIZ:iZ:ZON5yfBɮf1AfpEjr?KrKrfzfzP;@fxgxfxfxrfxe|re|Ze|:e|*e|)ɢ- g;)) -@i1)5t{;11i5=Iɧ=u!>=* E(kpHeading = 0.400000E IEd8@ Ed8@IIԁ@ @@0@^A}Ey EyE}+Ey"Ey*EyVE} [4ZEyBE}>CC CBZ#,jjLAV1r?VzW?Vӕ<ٱV_>VH';<L?`? ?yr=? =?iV1r?IV:^;VCYjpByj"IIr4<)r4yuB>u9Y=ZEyD&=E>Q 55g?Q 95)/BYL?Q E:y>?Q IF@\DI;i;R5yɮ1A1K Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKB*** querying acoustic contact ***iifffgffrfereZe:e*eɢ;) @%9FI *Z#,kI kLA6;?6?6S&<ٱ6^>6H@@-9 fz? ???`=?i6;?I61^;6CYBzByB"IDDbDHVDHyVmP=%V[=ٔV :Q-Z>9Z ?YZ ?=ZZEyZǽD^#A=E^>Q 55`?Q 9%5z):BY!y%?Q I%F@cDIb;i;vU5y)ɮ-J1A1fQfQfQgQfQfQrfYeYreYZeY:ea*ea颍gBɢk;) =i)%~;顑idHɧ?駝nBB"IBABBg =BBB;BYEBߎCBߎCBCBg =Bg =C+5@ @@00@Q^A-2/A-?A->A]؟AIaIqyOZ>ԡ E  E E *E "E ;*E M:VE (N4ZE BE Q\}H⮿ 7[ ??-*?y뒿8?`.C?i}?I}B^;}CYBy"IiMb@Mb@Mb@ 9ˡE?bX9?~jt?Y?yE6>@@ )@Y=@bDVD8y<% )=ٔ :Q- >9"?Y"?=ZEyѽD=E>Q 5%5X?Q 9-5{t)FBY-?Q E-:y-?Q I-F@kDI;i;Y5y1ɮ=1A9fYfYfYgYfYfYrfaeareaZei:ei*ei频ɢۂ;) E=i);顙i֒ԡ!Hɧo9?駭_Y=iD@I/:@ /:@IY@Y @Y@]/@Y^AUAIIO> 2Hڻ?8M? +?mO ?UG n?6L?i2t ?I2b^;2CY:By:"I @@bDFVDF8yN:=%N}=ٔN:Q-R ?9PYP=RZEyRؽDVT=EV ?XQ 5^5ZR?Q 9^5Zp)ZOBY\ybW?Q IbF@ZqDIZj;iZf;Zh\5ydɮf0Adlfxfxfxgxfxfxrf|e|re|Ze:e*e-fBɢ-. <)1 5Hs=i1)5Ӂ;11i5[=Gɧ=_?E2=iEʃ@@AAIE>;@ E>;@IIE} E}E})Ey"E}=;*E}1:VE}FA4ZEya@a@a@a@ @ @@1@^A` MPowering upM"Initializing DAT.A.AIIOE>1B>BގCB"IBKBBBBBܞ;BYEa fZ#,@ZkLAɰp;:߸?:F?:<ٱ:M>:HXa<`2?3?쵿`Z? q`?Y?i:߸?I:J ^;:CYRByR#IbDZVDZ8yb`<%bH=ٔf!:Q-f>9f ?Yf ?=fZEyfDj&=Ej>lQ 5r5nfK?Q 9r5nj)nYBYpyvG?Q IvF@nxDInf;in:n_5yzsBɮzZ/AzfEfffgffrfe!re!Ze!:e!*e!9QɢUs <)Y ]t=iY)];YYieceZFɧmЇ?mMY=imn<@iiIm;@ m;@Iq@ @@3@^AAxAzAEu EuEu+Eq"Eu%;*Eu?:VEu [4ZEqBEuKԹ MZ#,tkLABҁ?Bg?Bv<ٱBpC>BH_B??*I?ҔQ?i?iBҁ?IB^;BCYJByJ#IiMMb@Mb@Mb@IIII I9M(\?/$?~jt?YM?yM&1>M9}"?Y}"?=ZEyD<E>Q 55]C?Q 95d)bBY?Q E:y?Q IF@DIr;i;c5yɮ/AԹB*** querying acoustic contact ***iifffgffrfereZe:e*e eBɢS%<) =i);iƹ%XEɧ%?%Ⴡ=i%[9@!!I-:<@ -:<@I)E @A @I@M-1@I^A%9AQIYE EE'E"E;*E:VE'4ZEa@a@a@a@IO> 9 xZ#,GkLA2\?2?2̭<ٱ2P=>2H`ʤA@?@ ? &@?@ ?@8r?i2\?I2];2CY:By:#II><)>4=bDFVDF8yNh%NZ=ٔNd;Q-R>9PYP=RZEyRDVG=EV>XQ 5^5ZBB"IB[BBj =BBEDBĞ;BhYEdBɢK*<) =i) _;i:cDɧ?=iz8@Ir=@ r=@I@ @@@5@A^AqA! I) I9 OM >E  E E E "E O;*E 1:VE ZE BE .YeH@#<੘?@?? ?`0w?iefZ?Ie ^;qeCYBy#Ionly read 1 of 4 data items for beam range. Device response is::RA, 0.00, 74.98, :WI,-32768,-32768,-32768,-32768,V a@a a@a a@a a@a bDVD8y<%+=ٔ:Q->9Y=ZEyD<E>Q 552?Q 95X)rBQ A+:YQ E :y ?Q I F@DIA:i9>cj5yɮ.AfffgffrfereZe:e*eMcBɢ]0<)a e=ia)e;aiim$uBɧul?u\=iu8@qqIu]=@ }]=@Iyԡ@ @@0@@@yA^AwA>AA .AI I! 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jo?2?i2?I2];2CYBvByB"IRDAT read: VVDAT read: Teledyne Benthos DAT-900 Series bDJܿVDJ8y^vw=%^L=ٔbbE9Q-b>9`Y`=b[EyfƾDf;=Ef>hQ 5n5jR?Q 9}5j)jBYy@Q IG@jUDIj}i)-";))i-,~5߼ɧ5@5\>i5E99I=E =PL@I9ԡ@ @@%/@!IIOa> $[#,HnLA2u6?2ݍ@2uV<ٱ2Xe>2H@]8@}?Ӕ?Fx߿&?`Ί@w?@2?i2u6?I2];2CEB EBE@E@"EB;*EBv:VE@ZE@aF@aF@aF@aF@YFByJ"I LLiMb@Mb@Mb@ 9/$??{Gz?Y?yL>#= @)@YQ@bD5VD58yE=%EB=ٔE9IYI=M[EyMξDM2=EU>YQ 5e5]?Q 9e5] )]BYe$%?Q Ee:yej@Q IeG@]^DI]:i]:]5yqɮu&AqfffgffrfereZe:e!*e!m1BɢÓ<) '>i)w;顑iu.׼ɧ^@駝~>iMEIME L@Ia@i @i@i@iIIO*>B>BB"IB?>|@>T<ٱ>e>>H@`g?iF?`;B?far?@l2?i>?I>];>CYJ}ByJ"I PPbDVVDV8yZT%^T=ٔ^jtQ-^>9`Y`=b[Eyb־DfeE=Ef>dQ 5j5f笊?Q 9n5f)fBYlyn@Q InG@ffDIf ;ifI;fp5yv7Bɮv%Av.EfffgffrfereZe:e*e!M.BɢM <)I M>iQ)Ul1;QQiU']T;μɧ]B@]>ielDaaIelD eIGM@Ia@ @@/@AyAzAzAQDzD@AE EE.E"E;*E҆:VEـ4ZEBE6Nyԩ u[#,Y|nLA21 ?2@2DQ<ٱ2f>2H@?R8*?F?S`׷?g( T?]1?i21 ?I2];0>=+==@=@ =@)=@9Y=f@bDUVDUɰ8ye=%e@=ٔe Q-e>9iYi=m[Eym߾Dm8=Eu>qQ 5}5uBլ?Q 95u)uBY,?Q E:y@Q IG@uoDIu8:iu:u(5yɮ%AB*** querying acoustic contact ***iifffgffrfereZe:e*e*BɢP<) RR>i)4;iy괼rüɧ@F>i{MD  I {MD :M@I u @q @q@q@qԩA.AIIOE>bE%(N4jE%ƼP4rE%]%0E EE*E"E7;*E:VE(N4ZEa@a@a@a@ :DAT read: MF Frequency Band  vDAT read: Directional Acoustic Transponder version 8.15.0  BDAT read: Dec 5 2025 01:30:29  By A} 4=B >B B "IB PBB B B B ;B XE][#,0nLA2?24 @2F_K<ٱ2Ng>2HDi??= (=?k`ɹ?`e.?i2?I2];2CYNByR#IIV<)VC=bDZVDZ8yb/]%fU=ٔf{uQ-f>9j ?Yj ?=j[EyjDj$N=Ej>lpQ 5v5rĬ?Q 9v5rO)rBYtyz@Q IzG@rwDIrh:ir>:r5y~2Bɮ~%A~-EfffgffrfereZe:e*e'Bɢ|5<) rS>i)U;i"ɧ@|>iCIC MN@IU@Q @Q@Q@QA؟AIIOA>1D D %=E  E E 'E "E &:*E $:VE '4ZE BE g;2HH٣ ܶ?1B?ߠ?h ??`.?i2X?I2];2CYBByF#IJAAHbDNVDNȰ8yZ<%ZK=ٔbfQ-b>9f"?Yf"?=f[EyfDjF=En>xQ 5z5zp?Q 9~5z)zBYyJ@Q I G@zDIzM;izO;z5yɮ$AfQfQafigqffrfe reZe):e)*eq颽#Bɢ [<) :e>i)i;))i-i5nzɧ5@5>i5PC11I=PC =0N@I9ԉ@ @@@A?A?ԱA)I9IIOU> n[#,D3nLA6?6 @6%f:<ٱ6Wi>6H@s!E? ??J(?L@?@A+?i6?I6];6CEB EBEB*E@"EBT;*EB:VEB(N4ZE@aJ@aJ@aJ@aJ@YJByJ #Ii%Mb@Mb@Mb@!!!! !9%uV?/$?%t=%½@%+@ %@)%@!Y%\@bD=VD=8yMe@=%MA=ٔMQ-U>9QYQ=U[EyUD]1A=E]>aQ 5}5eX?Q 95eڹ)eBY.?Q E:y@Q IG@eDIe;ie;e5y-Bɮd$A,EfffgffrfereZe:e*e% Bɢ%<)! %>i!)-};))i-5|ɧ5G@58>i5CB99I=CB =rRO@I9IDAT read: Features enabled 01:30:31.6992 LVL= 24784, 32177, 32754, 32755, AGC= 59, IDX= 90,-0.02, 2.208, 0.886, 0.733, 1.385, PHS= 0.925,-0.454,-0.696, RAW= 82.0, 3.0, CAL= 80.9, -0.8, ROT= 69.1, 0.8  @ @@0@ B->B)B-"IB-jBB-i =B)B)B-;B-XEBBBBj =Bj =Cħ4AqIyIO~>9 e *DAT read: [Bearing] e Hunknown deviceResponse_: [Bearing] q m m (Communications Faultu DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP u commRate: 600[#, nLAR @R @R?7<ٱR0i>RHN3???Ӿ@?@ M?,?iR @IRX];PYBy"#I  bD5 VD58yE2;%EK=ٔE_ùQ-E>9IYI=M[EyMDMG=EU>YQ 5e5]?Q 9e5]H)]BYaye@Q IeG@]DI]y:i]:]>5yu(Bɮu6$AqfffgffrfereZe:e*eBɢAr<) >i)˗;iҕɧN@Gr>iHRBIHRB mO@IQ@Q @Q@U0@QE EE+E"E ;*E:VE [4ZEBELi] Powering downiY IY a a ԙ 'þ[#,nLAɰ;6B@6v5@60<ٱ6vh>6H``΋? $?8z?8?@,?i6B@I6];4YbByb%#IiUMb@Mb@Mb@QQQQ Q9U?sh|??Q?YU,?yU)>U9Y=[EyD9=E>Q 55|?Q 95w)BY2?Q E:y@Q IG@DIs:i{:5yɮ$A B*** querying acoustic contact ***i i fffgf!f!rf!e!re!Ze!:e)*e)UBɢUt<)Y ]>iY)];YYiereΌɧe@mЮ>imAiiImA mPP@qIq@ @@1@ԡAI!I9OUS>E EE)E"E:*E:VEFA4ZEa@a@a@a@A! A% @AB- >B- ގCB- "IB- yBB- h =B) B) B- ;B- XE *[#,oLAFj@F x@F*<ٱF,|e>FHHH@--??  ?]Qq?2?iFj@IF];DYnByn#IbDzVDz8y%X=ٔ؃Q->9 Y = [Ey D T=E>Q 55k?Q 9%5=)BY!y%@Q I%G@DI;i;:5y-Bɮ5"A5!EfQfQfQgYfafarfaeareaZei:ei*ei颕Bɢ4@<) >i);顙it涼ɧ&@駭Ÿ>iU\AIU\A `P@I@ @@05@I)I9OM0>) E  E E (E "E T;*E :VE c44ZE BE GRH`&`+>c?@T?5; ?Cf?:?iR@IR];RCYbByb%#IIj=)jp;bDrVDr8yz=%zJ=ٔ~^Q-~>9|Y|=~[Ey~D$N=E> Q 55 X?Q 95 ڧ) BYy? @Q IG@ DI :i N: 5y!ɮ%"A!fIfIfIgIfQfQrfQeQreQZeQ:eY*eY颅Bɢ<) %>i).;顑i]lɧ@駽D>i@I@ 9Q@I)u @y @y@ 5@Iy&NClearing failed state for component DATq IO;>Iy ,[#,|KoLAE6 E6E6)E4"E6 ;*E6:VE6FA4ZE4a:@a:@a:@a:@8>@>@><ٱ>7`>>H@D@a2? ?r`?࢜t?@I>];>CY^Byb#IiMb@Mb@Mb@ 9tV?/$?:v?Y2?y><½@I@ @)`@Y@bDVDð8y%>=ٔjQ->9Y=[Ey!D@=E>Q 55WC?Q 95 )BY 7?Q E:y @Q IG@DI:i:5yBɮ"Afffgf!f!rf!e!re!Ze):e)*e)UBɢ]><)Y ]>iY)]; imd@iiImd@ mQ@Iqyԑ@ @@4@IQIaOm>B>BB#IBBBBBBڝ;BvXEԹ [#,`YeoLA6b@6^U@6V<ٱ6b>6H5_?`z? (?u !? T7?i6b@I6];4YNByR#I\bDZ8VDZ8yf c%f\=ٔjQQ-j>9hYl=n[Eyn(Dn4Z=Er>pQ 5v5r'1?Q 9v5r)rBYxyzM!@Q IzG@rDIr:ir:r5y|ɮ"Af!f!f!g!f!f!rf)e)re)Ze):e)*e1] Bɢ]`o<)a e>ia)e%iu(?qqIu(? u(R@Iy !! GZ9Y+WA)@1 @9@=/@9Eu EuEqEq"Eu;*Eu:VEqZEqBEua2H39?@ ?٘`.?` ҄?`1?i2Ψ@I2b];2CYRByR#I TTi-Mb@Mb@Mb@)))) )9-m?㥛 ?:v?Y-.?y->-T<-@) -@)-@)Y-@bDE7VDE߰8yU%UB=ٔ]_Q-]>9YYY=e[Eye1DeA=Ee>iQ 5u5m?Q 9u5m)m%BY}2?Q E}:y}"@Q I}G@mȲDIm ;im ;mq5yBɮ"A EB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢ<) +>i)u<ibӸN#ɧ@>i?I? ѝR@Ii@q @q@u/@qIIO >IE EE-E"E=;*EǙ:VEt4ZEa@a@a@a@qB <A <B >B B B B g =B B FDB Ν;B kXE Q[#,koLA4<ɰ2@2b@2v!<ٱ2\f>2He`j? _?k P ?@$@@?w0?i2@I2];2CYNByR #IbDZVDZ8yb %bT=ٔbQ-f>9dYd=f[Eyf9Dj5V=Ej>lQ 5-5n ?Q 9-5n)n-BY1y5#@Q I5G@nѲDIn ?i) <顡iQg ɧ@駭>i?I? 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U?Y Z?I?iNd%@IN];NCY^By^#I ``dd|!bDjVDjŰ8Uc9QYU_Aye3=%eQ=ٔm2Q-m>9iYi=m\EyuDu?=Eu>yQ 55}?Q 95}^)}BYym=@Q IG@}DI}K:i} :}-B5yfBɮAEfffgffrfereZe:e*eBɢQP=) c?i)An<iPǼ<ɧAWZ>i%: 5= I %: W@I Em EmEm(Ei"Em ;*Em:VEmc44ZEiBEmOQ =[\#,lrLAR&@Rt4@RĴ?<ٱRZ>RHgӿz9?@?Fd7?t?E?iR&@IR5];RCYZBy^#Ii=Mb@Mb@Mb@9999 99=bX9?B`"۹? rh?Y=E6?y===C<=@=I@ =I@)=@9Y==@ U=U=bD]VD]ð8ye.<%mJ=ٔm&Q-m>9qYq=u\EyuDu8=E}>yQ 55}멊?Q 95}Z])}BY%8?Q E:yF=@Q IG@}DI} ;i} ;}E5ycBɮdAE)]B*** querying acoustic contact ***iYiYfififigifqfqrfqeqreqZey:ey*ey颥BɢQYP=) ?i)lu<顩iiȼ<ɧA駽@'>iZ:1=IZ: [X@I= @9 @A@E2@AYE EEE"E;*E:VEZEa @a @a @a @^AeGgLԉA A AAB >B B "IB oBB i =B B B ;B ~XEA I I O >Ա j\#,rrLAJ'@J5@J;<ٱJ[>JHɑҿ@?@+? y?/` :C? |C?iJ'@IJ>];JCYVByV#IbDbVDb8yfĸ<%fU=ٔj;DQ-j>9hYl=n\EynDn>=Er>pQ 5v5rթ?Q 9v5r'\)r"BYxyzj>@Q IzG@rDIr:irl:rI5y|ɮ@Af!f!f!g!f!f!rf)e)re)Ze):e)*e1]Bɢ]be=)]v e ?ia)e|iu9uLU=qIu9 uX@Iqԑ@ @@4@^A?EAIIOK>E  E E -E "E ;*E 1:VE t4ZE BE XQs)@>7@>l8<ٱ>z:]>>HFѿ??Y i?`s o?@A?i>s)@I>];>CYFByF#IIN<)Np=bDR+VDR԰8yZ"%ZK=ٔ^͹Q-^>9\Y\=^\Ey^Db/=Eb>dQ 5j5f𼩊?Q 9%5f[)f(BY!y-?@Q I-G@fDIfGi9Z=z I9  -X@IA@A @I@M3@I^AM[ AIIOa>A bEjE#E4rE+/E  E E +E "E ;*E Z:VE [4ZE a% @a% @a% @a% @͖\#,y?SrLA6'*@68@6m9<ٱ6A\>6HzΆп7)?@:?@&`?-Q?`B?i6'*@I6];6CYBByB#Ii Mb@Mb@Mb@     9 Cl?bX9ȶ?:v?Y d;?y E= T< `@ @ ) `@ Y @!!bD-GVD-8y.;%;=ٔ9Q->9Y=\EyD=E>Q 55ա?Q 95Y)-BYBB"IByBBBBB;BXEɢ)\=)  u?i ) <  i˼=ɧA>i@9pn=I@9 u;X@I!I@ @@4@q^A@Lԙ A I I O- >Ú\#,%mrLA21+@2<$9@2ߞ:<ٱ2dW>2HTϿҤ??O H?S`u?}J?i21+@I2H];08Y9TYT=V\EyVDZf4=EZ>\Q 5b5^Z?Q 9b5^X)^1BY`ybz@@Q IbG@^гDI^:i^W:^S5yjYBɮj/AjEfxfxfxgxf|f|rf|e|re|Ze:e*e-nBɢ5+r=)1 5f?i1)58<19i=:̼=7=ɧExAE{Z>iE9E=E$IE9 EAX@IIE EE*E"E ;*E$:VE(N4ZEBER\#,ZrLA^T7,@^):@^;<ٱ^8S>^H"@0Ϳǵ??@rtz?@` @N?`P?i^T7,@I^];^CYfByf #Ih lli]Mb@Mb@Mb@YYYY Y9])\(?/$?Mb`?Y]GA?y]=];]v@]`@ Y)YYY]G@bDuVDu8y%==ٔd8Q->9 ?Y ?=\Ey'D_=E>Q 55o?Q 95W)4BYyB?Q E:yA@Q IG@۳DI:i:eW5yVBɮ;AEB*** querying acoustic contact ***iifffgffrfereZe:e*e颕gBɢb=) ?i)Q<顙iS<μ !=ɧA駥>i9=I9 HX@I= @A @A@E/@AE EE)E"E;*E:VEFA4ZEa@a@a@a@1B>BBBBBBB;BXEBqBqBqBqBuj =Cu $5^A i A I I O- > Χ\#,orLA4<ɰ;2*$-@2;@2{><ٱ2_Q>2H<p˿٠?@?U !? Ӈ?eT?i2*$-@I2ڸ];2CY:By>#I DF<bDFVDF8yN%N[=ٔR:Q-R>9PYT=V\EyV.DV=EV>XQ 5^5Z(X?Q 95ZV)Z6BYy%A@Q I%G@ZDIZdi9L=I9 JX@I    DAT read: %VDAT read: Teledyne Benthos DAT-900 Series i@ @@u3@ԙ^AA>A?E EEE"E ;*EM:VEZEBEa2Ea JEU;a :EU;a A ؟AI I O >2\#,rLA2 .@2;@28&H<ٱ2VP>2H XU?ɿ+??c`?@\?`pV?i2 .@I2];2CYNByR #IbDZVDZ8yb a<%bH=ٔb:Q-b>9f"?Yf"?=f\Eyf6Dj=Ej>lQ 5r5n!>?Q 9r5nV)n8BYpyrB@Q IrG@nDInD;in@;n:^5yzSBɮzAzEfffgffԙrfereZe:e*eZBɢv=) ?i)<iмm(.=ɧA?>i9=I9 HX@I @ @@/@^AA .AI I! O= >! E  E E *E "E ;*E :VE (N4ZE a @a @a @a @;\#,_rLA:.@:<@:XR<ٱ:N>:H"kvȿg??4?y=½@3@ 3@)YbD-VD-8y=*@%=A=ٔE:Q-E>9E ?YE ?=M\EyM?DM=EM>QQ 5]5Ur#?Q 9e5UrU)U:BYe??Q Ee:yeC@Q IeG@UDIU$;iU#;Ua5ymPBɮuRAqf)f)f1g1B9B=܎CB="IB=tBB=j =B9B=DDB=;B=XEf1fQrfQeYreYZeY:eY*eY颭SBɢbq=) :?i);7<顱iBҼ^5=ɧTA>i+9+=̽I+9 CX@I@ @@@ ^AeA؟AIIO>1Y .\#,rLA:?/@:=@:4`<ٱ:JM>:H~tƿe??Kd? `|? +[?i:?/@I:L];8YbByb"IlnAAbDvVDv8yD% N=ٔ (;Q- >9"?Y"?=%\Ey%GD%=E->9Q 5E5=' ?Q 9M5=T)=;BYIyUD@Q IUH@=DI=XD;i=E;=oe5yeMBɮeNAmEfffgffrfereZe:e*eLBɢ{=) 5?i)<ie;ӼA;=ɧA>i9<=I9 8X@1IDzDE EE+E"E;*E:VE [4ZEBEQ\= :DAT read: MF Frequency Band e vDAT read: Directional Acoustic Transponder version 8.15.0 } BDAT read: Dec 5 2025 01:30:47 Թ \#,sLA5 0@5>@5q<ٱ5'K>5H`D[Ŀ@-V?@?@1?@29?o^?i5 0@I5M];1YMByM"Ia@a a@a a@a a@a bDVDye%:=ٔ";Q->9Y=\EyPD<E%>)Q 5-5-?Q 955-wT)-=BQ A5+:Y1Q E5e:y5E@Q I5H@- DI- :i->-h5yEJBɮE>AEE]B*** querying acoustic contact ***iYiYfififigififirfieqreqZeq:eq*eqԉ颥EBɢb{=) ]?i)/W<顩i)ԼB=ɧ@駽>i9=zI9 *X@I @ @@/@^AOνE EE'E"EO;*Ev:VE'4ZEa@a@a@a@ԹIIO>B)B-ݎCB-"IB-oBB)B)B)B-;B-XE 2/\#,S"sLA2[1@2M?@28<ٱ2]`I>2H tÿw?`^p?`L?& ?@a?i2[1@I2];2CYN|ByN"I PPbDVVDVȰ8y^%^c=ٔb%;;Q-b>9`Yd=f\EyfWDf=Ef>hQ 5n5jר?Q 9n5j+T)j>BQ Ar :YpQ Er9:yrfF@Q IrH@jDIjE:ij5L?jj5yvBɮvAxfffgffrfe!re!Ze!:e!*e!U?BɢU&=)Q U?iQ)]ie:ep=iIm: mX@Ii@ @@]0@m݂G/{Am9/{AYhA^AGg̽IqIO>D=D4=E EE,E"E;*E:VEg4ZEBE6N:H`a¿?t?`?`r?d?i:2@I:8^;:CYFwByF"I N=N=bDR VDR8yZӼ%ZL=ٔZM;Q-Z>9\Y\=^\Ey^_Db<Eb>dQ 5j5f?Q 9j5fS)f@BQ Aj9YhQ Ej:yj"G@Q InH@fDIf:if?frl5yrBɮrArEff f g f f rf e reZe:e*eE8BɢE=)A E?iA)E\iU.:UI=UϢIU.: ] X@IY@ @@1@Q^ASIIO% >ԁԩ E  E E .E "E ~ ;*E M:VE ـ4ZE a @a @a @a @,>\#,zUsLA6LDAT read: Features enabled [Bearing] :DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP :commRate: 600<>2@>@@@>^<ٱ>1_G>>H ڪl??*9?+@?@c?i>2@I>D];9Y=\EyiD<E>Q 55o?Q 95S)CBQ AT:YC?Q E:yH@Q IH@*DI;i;p5yBɮWAf1f1f1g1f9f9rf9e9re9ZeA:eA*eAm/Bɢu=)q u%?iq)uA$i3:e=I3: W@IԱ @ @@O0@^A (׵Iq I O > i\#,osLAVs3@V{A@VK<ٱVV8G>VH- j .s??? )X? ͽ?d?iVs3@IVK];VCYfuByf"IIj<)jp;lbDvVDv8yzj %~k=ٔ~);Q-~?9Y=\EypDu=E ? Q 55 ?Q 9m5 S) EBYiymlHQ ImH@ 2DI LiL:ﮌ=IL: W@IE} E}E}*Ey"E} ;*E}:VE}(N4ZEyBE}{T1ԑ ]S\#,"sLA?4@B2B@j4<ٱE>HY@ۻW?g?@o6`k?9?gf?i?4@Ip];CYqBy"IQiMb@Mb@Mb@ 9x&1?+η?~jtx?YA@?yv=;@@ @)I@Y@A@AbDVD8y%;=ٔ;Q->9Y=\EyyD{<E> Q 55 :n?Q 95 T) GBYA?Q E:yIHQ IH@ =DI :i k: hw5y%ݖBɮ-bA-EEB*** querying acoustic contact ***iAiAfQfQfQgQfQfQrfYeYreYZeY:eY*ea颍!Bɢ9=) '?i)/{<顑icڼb=ɧ@駝İ>im:c=Im: ˱W@I!@! @!@)@)ԁbE (N4jE R4rE - 0E EE+E"EO;*E҆:VE [4ZEa@a@a@a@ԱBAp<BBB"IBUBBBBBޝ;BsXE^AMWA .AI I O >y\#,TsLA64@68B@6N<ٱ6C>6H <[?Bq?Ք`=N?9i?i64@I6"];6CYNiByR"IbDZVDZư8yb=%ba=ٔb;Q-f>9f ?Yf ?=f\EyfDj=Ej>lQ 5r5nW?Q 9r5nDT)nIBYpyrGQ IvH@nFDIn;ina;nz5yxɮzAxfffgffrfere!Ze!:e!*e!MBɢMMԐ=)Q U'?iQ)U3[ie:eH&=e|pIe: mW@IiԹ@ @@/@^AA9IQIyOZ>E EEE"E ;*E$:VEZEBEXQ2H 3s?@M]G?Cp"?/k?i2Y5@I2];2CY:mBy:"I <<bDDVDDyNl<%NM=ٔj ;Q-j>9lYl=n\EynDrQ<Er>tQ 5z5v.=?Q 9z5vT)vKBYxyzFQ IzH@vPDIv`:iv:v!~5yٖBɮeAEf!f!f!g!f)f)rf)e)re)Ze1:e1*e1]Bɢȅ=)a e,?ia)evپiuٯ:u=qIuٯ: }oW@Iy@ @@/@I^A5@qAa Iy I O >E  E E *E "E ;*E ?:VE (N4ZE a @a @a @a @Ա \#,DsLA;ɰ4<&BDAT read: Rx Time:01:30:51.8628 &TRx dataTimestamp_ set to:1764898255.372578>o6@>9bD@><ٱ>@>>H Tn 글@?o6@I>];>CYFdByF"IBBB"IBKBBBBBÝ;BWXEBE܎CBE܎CBABEj =BACE&w4iuMb@Mb@Mb@qqqq q9ujt?#~j?I +?Yu@?yu=u949Y=\EyD<E>Q 55h!?Q 95T)MBYA?Q E:y-GQ IH@ZDI:i :5*entering command modeyՖBɮAEf!f!f!g!f!f)rf)e)re)Ze):e1*e1] Bɢ]Z=)a eu,?ia)e8iO:=!gFIO: fJW@I@ @@@@=@=^ApuԩA؟AIIO>DAT read: &DAT read: user:1> (setting verbose to 3 \#,5sLA6W7@6 E@6 <ٱ63 @>6H@3ڰci?[^@? ?9n?i6W7@I6N];4YZgByZ"IbDbVDb8yjՍ<%jZ=ٔn;Q-n>9n"?Yr"?=r\EyrDr<Er>tQ 5z5v ?Q 9z5vU)vNBY|y~FQ I~H@vcDIvf;iv;v45yіBɮRAf)f)f)g)f1f1rf1e1re1Ze9:e9*e9Bɢ=) 1?i) f<  i ༩j{=ɧ@T>i8:wf=I8: }(W@IEU EUEU,EQ"EUf;*EUZ:VEUg4ZEQBEUW01:30:51.8628 LVL= 2032, 2769, 2434, 2563, AGC= 37, IDX= 102,-0.26,-2.826, 1.554, 2.296, 2.682, PHS= 0.877,-1.083,-0.430, RAW= 109.1, 7.4, CAL= 110.6, 8.3, ROT= 39.4, -8.3 8DAT read: $Error in header *Received a bad header @ @@@Vchecking for verbose setting acknowledgment^Am) A I I O > Vchecking for verbose setting acknowledgment]#,2 tLA]7@]E@])<ٱ].?>]H@@$@3?Wde? oS ?]o?i]7@I]q$^;]CYmcBym"IIu4=)u=iEMb@Mb@Mb@AAAA A9ES㥛?MbX9?{Gz?YED?yEʡ=E#9Y=\EyD:<E>Q 55맊?Q 95U)PBYE?Q E:y.FQ IH@oDI};ik;;5y͖BɮQAEB*** querying acoustic contact ***iifffgf!f!rf!e!re!Ze!:e)*e)I]Bɢ]P=)Y ],4?ia)eNii%;$=>Ii%; LV@IEe EeEe*Ea"Eea;*Ee:VEe(N4ZEaam@am@am@au@@ @@/@eBDAT read: Rx Time:01:30:52.8624 eTRx dataTimestamp_ set to:1764898256.380752eVchecking for verbose setting acknowledgment^A}zGyA}@AAyB>BݎCB"IBFBBBBB;BAXEIqIO>ԡ !]#,V$tLA2V8@2HF@2)<ٱ2|0>>2H!@<e5?`i@f?䘿W?p?i2V8@I2h];2C@YBjByB"IJAAJAAbDLVDLyr=%rj=ٔr:Q-v>9tYt=v\EyvDz<Ez?|Q 55~ԧ?Q 95~U)~QBYyEQ I H@~wDI~;i~y:~D5yɮAf1f1f1g1f9f9rf9e9reAZeA:eA*eAmBɢm<ͥ=)q u:?iq)u aiK;=IK; V@IVchecking for verbose setting acknowledgmentPExceeded connect timeout, disconnecting.@ @@/@@%zA@%zAԱ^A54|EE EE)E"ET;*E1:VEFA4ZEBEG DAT read: 01:30:52.8624 LVL= 21744, 30625, 27890, 32755, AGC= 59, IDX= 465,-0.06, 1.186,-0.714, 0.007, 0.400, PHS= 0.888,-1.069,-0.437, RAW= 108.5, 7.2, CAL= 110.0, 8.1, ROT= 40.0, -8.1  Ygot valid direction response: 01:30:52.8624 LVL= 21744, 30625, 27890, 32755, AGC= 59, IDX= 465,-0.06, 1.186,-0.714, 0.007, 0.400, PHS= 0.888,-1.069,-0.437, RAW= 108.5, 7.2, CAL= 110.0, 8.1, ROT= 40.0, -8.1  8DAT read: $Error in header  *Received a bad header5 Vchecking for verbose setting acknowledgment1 K]#,>tLA28@2F@2N<ٱ2+=>2H`',咿?n`?``2?r?i28@I2x];2CYNoByR"IbDZFVDZ8ybY<%bL=ٔb:Q-b>9dYd=f\EyfDj<Ej>lQ 5r5n?Q 9r5npV)nRBYpyrDQ IrH@nDIn;in;n5yzɖBɮzAzE|fffgffrf!e!re!Ze!:e!*e)UBɢU=)Q UA?iQ)]2Wiecy;m1Ŋ=mImcy; mRV@Ii@ @@/@)^AeC"Vchecking for verbose setting acknowledgmentIIO%>Qԁ E  E E +E "E ;*E :VE [4ZE a @a @a @a @]#,rXtLABDAT read: Rx Time:01:30:53.8620 TRx dataTimestamp_ set to:1764898257.388568Vchecking for verbose setting acknowledgmentrm9@rG@r<ٱr=>rH*@盿iKz? qr?@a0 +?uq?irm9@Ir];rCB!B!B%"IB%ABB!B!B!B%;B%5XEYY]cBye"I iiiMb@Mb@Mb@ 9v/?~jt?Mb`?YxI?y=;@ @)Y @bDIVD8y-6X%-5=ٔ-G:Q-5>91Y1=5\Ey=D=*<E=>AQ 5M5E?Q 9M5EW)EQBYMhJ?Q EU:yUDQ IUH@EDIE;iED;E5y]ŖBɮ]A]EfyffgffrfereZe:e*e颽BɢBQ=) ??i)<i弩=‰=ɧ@>i;=I; oV@IM @I @I@M0@IԉԹVchecking for verbose setting acknowledgment^A Wx>nManaging dock network, ignoring radio surface power offI1 U GIY i - N9) Y5 }AO > y- k?- gAK]#,frtLA4<ɰY~iBy~"I = bDTVD8y%<%%]=ٔ%Q-->9)Y)=-\Ey-D5E5>9Q 5E5=p?Q 9E5=W)=PBYAyAQ IEH@=DI= :i=|:=5yUBɮUAQfqfqfqgqfyfyrfyeyreyZe:e*e颭܂Bɢz=) sF?iԹ)<项i)缩g=ɧ @o>i.;b=I.; AV@IE= E=E9E9"E=;*E=$:VE9ZE9BE=6NI&LCommunications Fault in component: DATIO >9 "]#,TTtLAe{:@eH@e<ٱeP;>eHuri?`'w@yK?`F?`^t?ie{:@Ie2];eCYjBy"IieMb@Mb@Mb@aaaa a9eDl?V-?MbPYeOM?yeh=eae@ e@)eI@aYeQ@bDyVDyy;%5=ٔY;Q->9Y=\EyDG3=E>Q 5%5e?Q 9%5tX)NBY%N?Q E%:y-CQ I-H@DIy;i;ߚ5y5Bɮ5A5EMB*** querying acoustic contact ***iIiIfYfYfYgYfYfYrfYeareaZea:ei*ei颕҂BɢI=) K?i)K<顙i輩Z=ɧ@駥7>i</=JGI< *V@IPowering downiI9EE EEEAEA"EE ;*EE:VEAZEAaM@aU@aU@aU@] @Y @Y@]0@YB>BBBBi =BBEDB;B+XEi^A} Gԑ A I I O >J)]#,*tLA2o;@2sI@2v><ٱ2;>2H@K?`zlxw@^;?`Ɯ>?t?i2o;@I2H];0Y:dBy:"II>R=)>4=bDFAVDF8yN9 %Nq=ٔNF;Q-R?9PYP=R\EyRDV<EV?XQ 5^5ZO?Q 9^5ZY)ZLBY\y^CQ IbH@ZDIZ;iZ@;Z՝5yfBɮfAfEftftftgxfxfxrfxexrexZe|:e|*e|%̂Bɢ-Jع=)) -,L?i))-<)1i5鼩==ɧ= @=>i=tK<==9IEtK< EAU@IAԁ@ @@?5@^A¼ԡAIIO%M>EU EUEQEQ"EUT;*EU$:VEQZEQBEUG:H\? 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FDG@z?t?w?i2H<@I2U];2CY>fBy>"IBf>BdBf"IBf9Y=\EyD<E>Q 55?Q 95Z)EBYR?Q E:yBQ IH@DI8:i:)5yBɮzAEfffgffrfereZe:e*eBɢ=) U?i!)%:i-<5‰=5I5< 5UU@I9Q@ @@5@^Amyb]yAIIOb>ԩ QR<]#,)tLA2C=@25K@2<ٱ256>2H{5? ,{`l?V?`Cz?i2C=@I28];2CY:UBy:"I@ @@bDFVDFİ8yNt%RZ=ٔRWG;Q-R>9TYT=V\EyVDVV<EV>XQ 5^5Z-?Q 9b5Z[)ZABY`yb BQ IbH@ZʴDIZ;iZY;Zm5yfBɮfAhfxfxfxgxfxfxrf|e|re|Ze|:e*e-Bɢ-=)) 50Q?i1)5;<11i5=ɧ>@駽˥>i$=n=I$= U@IE EE*E"E;*E:VE(N4ZEBE] -AC]#, uLA>;ɰuHza?@ң  |=?Oj?-}?iu=@Iu];uCYeBy"Ii}Mb@Mb@Mb@yyyy y9}Cl?i|?5?Mb`Y}O?y}q=}}پ@y y)}`@yY}\@ <4=bDVD8yG=%-=ٔ ;Q->9Y=\EyD<E>Q 55 ܦ?Q 95\)iO==pCBB"IB7BBBBBq;BBuݎCBuݎCBqBui =Bui =Cu5)^A} 9Q A I I O >RdI]#,sd'uLA:R>@:DL@:;=ٱ:2>:HSX?|`Y?Ơb1?v?i:R>@I:];:CYF`ByF"IbDNVDN8yVmѼ%Vr=ٔZ/0;Q-Z?9XYX=^\Ey^D^<E^?`Q 5f5bĦ?Q 9f5b])b9BYhyjAAQ IjH@bߴDIb:ib2:b5ynBɮnLArEfffgffrf e re Ze :e *e9EBɢE`=)En= E|_?iA)Ec=IIiM񼩧UpX=ɧUq@]Z>i]K=]1j=aIeK= ejT@Ia@ @@/@^Ar;iA.AIIO%M>ԙE5 E5E5'E1"E5:*E5:VE5'4ZE1BE5>@2L@2+^ =ٱ2/>2H@ ?y+q|}? j? ?i2o>@I2];2CY:ZBy:"II>=)>bDF#VDFͰ8yN%NL=ٔNL;Q-R>9R ?YR ?=R\EyRDVO<EV>XQ 5^5Z?Q 9^5Z^)Z5BY|y~@Q I~H@ZDIZ#ik=P=Z Powering up "Initializing DAT. 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I I O >Q ^#,hA1xLAY ̃By "IiMb@Mb@Mb@ 9V-?{Gz?y&1YhQ?y#=`e@@ 3@)@Y@bDVD8y%<=ٔQ->9Y=]EyDE>Q 5 5?Q 9 5) BYQ?Q E:yb;Q II@DIn:i: 5y]Bɮ A f)f)f)g)f)f1rf1e1re1Ze1:e9*e9mtBɢm6w>)i m?ii)u*k=qqiu}?H=ɧ}@}=i}[GyI[G Z(J@I= @9 @9@=/@9^A5=DAT read: VDAT read: Teledyne Benthos DAT-900 Series E EE,E"E=;*E:VEg4ZEBEIAi ^#,JxLA6E@6D~S@63=ٱ6Ui=6H@Yx?@ʸeĿNtg? ﴿ ?`?i6E@I6];6CY^ŃByb"IIfp<)fbDjϿVDj8yrp%r\=ٔr/9tYt=v]EyvDzgEz>|Q 5 5~t?Q 9  5~)~BYyd;Q II@~'DI~6g;i~g;~C 5y)ɮ-A1fffgffrfereZe:e*eiBɢ>) ?iY)n=顑iFSA=ɧ@駝P=iUH =IUH 0I@IM@I @I@M0@Iԁ^A]Y=ԩIIO>B B B !IB BB B B B ԝ;B oXEE  E E E "E *E h:VE ZE BE 2E JE ;:E ; ^#,dxLA2֏E@2uS@2ê=ٱ2g=2Hw? Ŀ`7v`8?`"RN?`E?i2֏E@I2];2CYNByR "IiUMb@Mb@Mb@QQQQ Q9U7A`? rh?I +YUV?yUC =U9U3@U@ Q)U@QYU@imAAbDmVDm8yм%A=ٔ:h;Q->9Y=]EyD:E>Q 5 5W?Q 9 5)BYV?Q E}:y;Q II@2DI:i: 5ynBɮtAEfffgffrfereZe:e*e^Bɢf>) ?i)r=i%!=ɧ% @%ZE=i%+H%*=->I-+H -[I@I)Ա@ @@90@@@@@IIO>) 9 U^#,Ͱ~xLAE& E&E&+E$"E&a;*E&:VE& [4ZE$a*@a*@a*@a*@>E@>NS@>=ٱ>%=>HKv ?X%Ŀ@w) ?`޸??i>E@I>Ʌ];>CYFByF!IbDR VDR8yV\%ZY=ٔZIw;Q-Z>9\Y\=^]Ey^DbEb>dQ 5f 5f=?Q 9j 5f<)fBYhyj;Q IjI@f) ?i)v=iq=ɧ@S9=iH@YL=IH@ H@I@ @@11@I1IAO>9i &%^#,xLA 2.E@2rS@2=ٱ2=2HQv@?+Ŀ@y@b?p {|?ܻ?i2.E@I2Ȋ];2CY^By^!I ``bDjVDj8yr%rG=ٔred;Q-v>9tYt=z]EyzD}E >!Q 5= 5%!?Q 9E 5%)%BYIyM;Q IUI@%GDI%;i%0;%' 5yufBɮAB*** querying acoustic contact ***ii:DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Dec 5 2025 01:31:09 B9B9B=!IB=vBB9B9B9B=;B=|XEbE·G4jEKJ4rE+/E] E]E])EY"E] ;*E]M:VE]FA4ZEYBE]R) +?i)C{=i=ɧV?#=i%H@%v=!I%H@ %H@I)@ @@T0@ԙA)I9IIOU> l,^#,sgxLA;ɰ;:#wE@:iS@:ɰ=ٱ:C=:H`uo{?W鹿oĿ=|~?@n ?u?i:#wE@I:}];8YFByF!IPiMb@Mb@Mb@ 9-? ףp= ?S㥛Y?U?yQ8=/ݼ`@ I@)@Y=@ ))bD5VD58yE%ED=ٔE$m;Q-E>9IYI=M]EyMDMݮEU>QQ 5] 5U?Q 9e 5U )UBYeU?Q Ee~:ye;Q IeI@URDIU" ;iU#:U|+ 5yubBɮuAuEfffgffrfereZe:e*e;Bɢ>) ?i)ui~=qqiuo}$=ɧ}-?}W=i}H@IH@ H@IIxA)xA1@1 @9@=/5@AD]=D]<Ee EeEe+Ea"Ee ;*Eev:VEe [4ZEaam@am@am@am@AIIOf>! 2^#, DxLABdE@B2WS@B[=ٱB=BH vS?4TcĿ} ?`ö@??iBdE@IB];BCYrByr!I|bD  VD 8y5%5K=ٔ=S;Q-=>9AYI=M]EyM!DM7EU>QQ 5] 5U颊?Q 9e 5U)UBYaye ;Q IeI@U]DIUp:iU:U/ 5ym^BɮuAuEfffgffrfereZe:e*e0BɢY>) ښ?i)M=i4S5=ɧ[?=iG@f=?>IG@ G@IM @Q @Q@UP3@Q)Y^A=E  E E )E "E :*E :VE FA4ZE B= >B9 B= !IB= \BB9 B9 B9 B= ;B= XEBBBBBCk4A ؟AI I Om >ԁ 9^#,xLA2 VE@2HS@2=ٱ2#=2H`v>9?pFĿ`}?t)`\??i2 VE@I2=];2CYRByR!IIT)TiUMb@Mb@Mb@YQQQQ Q9UK?J +?MbYU^Z?yUH=UU@Q Uv@)QQYU@bDuVDuð8yk%E=ٔv;Q->9"?Y"?=]Ey)D E>Q 5 5̢?Q 9 5)BYZ?Q Ex:y:Q II@hDI:iE:2 5yZBɮYAEfffgffrfereZe:e*e%#Bɢ->)) -֚?i))5K[=11i5(E}=ɧE?E=iE?G@EmĊ=IIM?G@ M?G@IQ@ @@/@=LDAT read: Features enabled [Bearing] EDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP EcommRate: 600ԉ^Ak>AIIOn>Ա @?^#,xLADzDAAE EEE"El;*E:VEZEBE`F9IYI=M]EyM1DMEU>ԹQQ 5 5U#?Q 9 5U)UtBYyQ II@UsDIU;iUL;U6 5yɮAfffgffrf e re Ze :e *e=Bɢ=>)9 E?iA)E#_=AAiEhMj=ɧM?M=iUVF@U=QIUVF@ UVF@IY @  @ @ @ ^A>I) IA OM >9 'F^#,JyLA~1E@~D$S@~_=ٱ~\=~HPw?  ÿ߄u?ⷿ ϶??i~1E@I~];~CY%zBy%!IbDmVDm8y!%E=ٔY;Q->9YYa=m]Eym:D E>BBBs!IBCBBBBB;BXEEM EMEIEI"EM;*EM:VEIZEIBEMBr<2EMBr<JEM <:EM )q u ?iq)}=yyi}],=ɧO?駅Ku=iMF@=IMF@ MF@IA9@9 @9@E/@A@A@A@I@Iqԙ I I O >6RL^#,3yLA2E@2!S@2=ٱ2 =2Hw?eÿ@`5d?@J7U??i2E@I2];2CY:xBy:!I <9aYi=m]EymBDmCEm>qQ 5} 5u-y?Q 9 5u)uIBYS?Q E:y;Q II@uDIu ;iu ;u+= 5yRBɮAEfffgffrfereZe:e*eBɢ>a'>) ?i)-`=iE[=ɧÊ?^=iCE@B=QS>ICE@ CE@I q@ @@/@IQIaOm>ԩEE EEEE*EA"EE;*EEv:VEE(N4ZEAaM@aM@aM@aM@ h;S^#,eMyLAJD@JnR@J=ٱJtʲ=JH9hYl=n]EynIDn Er>pQ 5v 5r^?Q 9z 5rf)r7BYxyz;Q IzI@rDIr:ir6:r@ 5yuNBɮ}A}EfffgffrfereZe:e*eBɢ2>) ?i)j=i =ɧt?ӴC=i$E@}n=I$E@ $E@I@ @@@I I!OE>B>BގCBT!IB*BBg =BBB;BXEEU  EU EU 'EQ "EU %;*EU :VEU '4ZEQ BEU K9QYQ=]]Ey]RD]࠻Ee>iQ 5u 5mA?Q 9} 5mI)mBY}5W?Q E}|:y;Q II@mDImI;im4;m:D 5 y%JBɮMEABG]Ex9YtA!fffgffrfereZe:e*eBɢ=>) ?i)E|ڍ=AAiEMB'=ɧM6P?M&=iUE@U=QIUE@ UE@IY*entering command mode5 @1 @1@5/@1QIIOd>y  DAT read:  &DAT read: user:1>  (setting verbose to 3K`^#,y=yLADzD@AE EE,E"E ;*EZ:VEg4ZEa@a@a@a@0vD@v$R@v=ٱvꓯ=vH ^| ?J`$ÿ``h?@fϵ??ivD@Iv"];vCYYyYIe=)e=bDuVDu8yn;%E=ٔ'n;Q->9Y=]EyZDE>Q 5 5[%?Q 9 5!)BYy ) ?i)=项ike=ɧx,? =icD@IcD@ cD@Iԑm@i @i@m/@iԹ&DAT read: user:1> %TDAT read: Verbose | 3 % set verbose to 3-6setting DatVerbose to 27440^AUW>IA Iq O} > Jvf^#,yLA2ČD@2bR@2*=ٱ2=2H~4? 5¿|?1``?Ź?i2ČD@I2Z];2CY:WBy:!IbDF VDFʰ8yNJe%N]=ٔNd;Q-R>9PYP=R^EyRbDV˻EV>XQ 5^ 5Z% ?Q 9^ 5Z`)ZBY`yb4 TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8BA<B>BE] E]E]*EY"E];*E]z:VE](N4ZEYB4!IBBBBBB ;BXE额΀BɢF#>) ?i)l=i)]=ɧ. ?AII O- >- &DAT read: user:3> 5 TDAT read: TxPower | 8 (Max) 5 .set transmit power to 85 6setting local address to 11a +l^#,yLAFcD@F$VR@F(=ٱF:=FH[?@3`kc¿`h(?v $??iFcD@IFܒ];FCYNIByN{!IiMMb@Mb@Mb@IIII I9M-?l?~jtYM?U?yM=MļM@M@ M@)M@IYMQ@bDeVDeư8yuy%}==ٔ}<;Q-}>9yY=^EykD̾E>Q 5 5?Q 9 5)BYU?Q E~:y)  ġ?i ) Ɠ= i=!=ɧ>uI%C@ %C@I! @ @@k1@@@@@A&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11\Setting time to: 1:31:19 And date to:12/5/2025EE EEEE(EA"EE=;*EE1:VEEc44ZEABEEIԡ ]s^#,-yLA2S;D@2-R@2Sv=ٱ2=2HҁC ?@¿@?bմ? ?i2S;D@I2o];0Y:9By:g!I <<@BAbDFVDF8yN%NY=ٔRi;Q-R>9R ?YR ?=R^EyRrDVջEV>XQ 5^ 5Zԡ?Q 9^ 5Z)ZBY\yb vNDAT read: Fri Dec 5, 2025 01:31:19 vfLocal DAT time set to Fri Dec 5, 2025 01:31:19 z2Acoustic response timeoutz6setting remote address to 8f!f)f)g)f)f)rf)e1re1Ze1:e5>@*e5`UN@yBɢ%R+%>)! %?i!)%ӕ=))i-K5~=ɧ5>5]m&DAT read: user:6> BBB!IBBBBBB';BXE% TDAT read: RemoteAddr | 8 - .set remote address to 8= 2Acoustic response timeout= Querying Benthos address 50 with one ping in standard two-way mode.bEjEL4rEI"0Ee  Ee Ee .Ea "Ee ;*Ee Z:VEe ـ4ZEa BEe 6N<2Ee 7N<JEe ';:Ee '; Ʋy^#,yLAɰ4<2D@2R@2R=ٱ2=2H@Ѓ*?@%H չ -԰?٠?f?i2D@I2];0Y@y@i-Mb@Mb@Mb@)))) )9-x?L7A`?L7A`堿Y-KW?y-+=-+)-I@ -@)-@)Y-@bDM VDM8yz%7=ٔL;Q->9"?Y"?=%^Ey%{D%ȻE%>9Q 5E 5=s?Q 9E 5=߫)=BYMW?Q EM|:yMd=Q IMI@=ԶDI=;i=;=V 5y}9BɮAEfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ pTransitioning to terminal guidance at range 30.600000 m @1AereZe:e*e O@mBɢmu">) _?i)7=顑i3=ɧ>駝X;iB@@=IB@ B@IJ>i&DAT read: user:7> BDAT read: Tx time:01:31:19.7181 $Ping request sent.AU>A.AIIO>1Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250376EY  E] E] )EY "EY *E] M:VE] FA4ZEY ae @ae @ae @ae @ऀ^#,zLARqC@RQ@R=ٱR=RHbg?@K#m` 5m?E@2?i?iRqC@IR];PYj7Byje!IbDrVDr8y% X=ٔ [;Q- >9 ?Y ?=^EyDϻE>Q 5% 5֛?Q 9- 5S)BY)y-=Q I-I@޶DI;i;UY 5y55Bɮ5A9fQfYfYgYfYfYrfYbf]@1AeeCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@e eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeeareiZei:ei*em3O@颕Bɢ71>)̇c ?i)=顙it=ɧ<駭!:iB@k=IB@ B@I! @ @@3@QA!I1IAOMS>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502289yԡ wĆ^#,|bzLA2eC@2Q@2=ٱ2g=2H ,5?ƽ19@&? f=? ?i2eC@I2];2CY:By:;!IIB%=)B=bDF VDF8yN-%NS=ٔN-`;Q-R>9PYP=R^EyRDVkEV>XQ 5^ 5Z ?Q 9^ 5Zծ)Z|BYy=Q I%I@ZDIZhUninitialize WaypointComponent.ereZe:e*egO@ B=)% %@i))-=1=98i9Muchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756727ԙBBB IB݂BBE- E)E-&E)"E-7;*E)VE-4ZE)BE-ZAm xAzAm xA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006472A I I O > ^#,|c6zLA2C@2Q@2[@=ٱ2q=2H@$? `?ʳ?`$?i2C@I2-^;2CY>By>4!IiMb@Mb@Mb@ 9l?~jt?X9vYW?y=I@`@ )@Y@AAbDVD8y-%-@=ٔ5E;Q-5>91Y1=5^Ey5D=bxE=>AQ 5M 5Ec?Q 9M 5E)EbBYUW?Q EU{:yUc=Q IUI@EDIE ;iE ;En` 5y] Bɮ]A]Eju^@1MuqM}}B*** querying acoustic contact ***iyi}xh%Q@h%h%;h-L?h)i-g)g)jg1rg5Be1re1Ze1:e9*e=@O@颽BɢX=)? @9i)=i*iC@)L? (kpHeading = 0.800000I; (kiHeading = 0.004000v>IQ@IA -&Changing to mode: 1)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258899@ @@/@E EE)E"E=;*E:VEFA4ZEa@a@a@a@!^A>AzAAA9 Au I I O >o֓^#,PzLA:WC@:~Q@:=ٱ:Q{=:H`)g? H׷@?@l1??i:WC@I:];:Cb?b?bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510416YfByf!IbDr޿VDr8yvν%vP=ٔzC;Q-z>9zYz=~^Ey|~ZĻE~>Q 5  5aH?Q 9  5)JBYy=Q II@DI:id:c 5yBɮFA%Ej1qM=M=hAhAhIhIhIiIgIgIjgQrgQeQreQZeQ:eY*e]O@[}W?[}W?"[}8=*[}T@颉ɢ+=)  i)=顑ieiE@Y>IIQ4/y5@1 @9@=0@9^A:!=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764548BBB IBĂBBh =BBB1;BXEI EE  EE EE &EA "EE ;*EE Z:VEE 4ZEA BEE D^#,izLABiC@B(\Q@B 9=ٱB =BH ׾?@t@r@ ?k8>?е?iBiC@IB];BCYRByR1!IpiMb@Mb@Mb@ 9e;O?L7A`?X9vYT?y+=@@ @)I@Y@bD VD 8y=%%8=ٔ%:Q-%>9)Y)=-^Ey)-(E->9Q 5E 5=*?Q 9U 5=)=/BYe U?Q Ee:ym>Q ImI@= DI=l;i=;=g 5y}Bɮ}A}EjMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLh!h!h!h!h!i!g!g)jg)rg-ՀBe1re1Ze1:e1*e5P@[] U?[] U?"[]i"=*[]}T@uBɢuJ=)q uViq)}V=yyi}iGHII>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014354 .@ @@/@@ =@ =^AuK=IIOj>9a i} AI} A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266570EE  EE EE (EA "EE %;*EE :VEE c44ZEA aM @aM @aM @aM @^#,>ЃzLAFNC@F@Q@F.=ٱF=FH : W2?=<ű?@J"j?`?iFNC@IF];DYNByN#!I TV<bDZ VDZ8yb %bc=ٔb}O:Q-f>9dYd=f^EydjEj>lQ 5r 5n?Q 9r 5n )nBYpyr>Q IvI@nDInQ;in ;nj 5yxɮzAxhhhhhiggjg!rg!e!re!Ze):e)*e-@P@9[Q[Q"[Q*[UT@ɢ3=) 0μi) =i iC/4=IIiI!)%yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518948ԑ @ @@@^A;IIO> ^#,"zLA4C@E'Q@=ٱY=H`m |? I C?;h?@_?i4C@IN7^;CYBy!IԙbDVD8yf%8=ٔ y:Q->9!Y)=5^EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772732B>BB IBBBg =BBB-;BXEyXE>E  E E 'E "E a;*E :VE '4ZE BE hQ I5I@!DI,ByB!IiEMb@Mb@Mb@AAAA A9E/$?X9v?V-YEL?yE9qYq=u^Eyqu;E}>yQ 5 5}SӠ?Q 9 5}e)}BYRL?Q E:y >Q II@}+DI} ;i}L ;}r 5yɮ0AB*** querying acoustic contact ***iihhhhhiggjgrgȀBereZe:e*e@qUP@[RL?[RL?"[<=*[rT@ ɢ ?=)  Ԇi )™=i[i=gԁ% DAT read: 01:31:22.1387 LVL= 23184, 17873, 31602, 30243, AGC= 46, IDX= 341,-0.20,-0.936, 0.190,-1.767,-0.738, PHS=-0.096, 0.972,-1.073, RAW= 358.5, 2.2, CAL= 358.2, -0.6, ROT= 151.8, 0.6 5 Ygot valid direction response: 01:31:22.1387 LVL= 23184, 17873, 31602, 30243, AGC= 46, IDX= 341,-0.20,-0.936, 0.190,-1.767,-0.738, PHS=-0.096, 0.972,-1.073, RAW= 358.5, 2.2, CAL= 358.2, -0.6, ROT= 151.8, 0.6 = PDAT read: Bearing 161.6, 35.8 (Local) = ~Local bearing/azimuth received: Bearing 161.6, 35.8 (Local) E DAT read: Range 11 to 50 : 12.3 m (Round-trip 16.5 ms) speed -0.6 m/s M R#Rx 1: Read range and direction messages.U `direction in FSK: [-0.881255,0.472525,-0.010472]U Fpublishing direction and range infoy  S=3#5=?/;rY DA Z E r{ #v) .I Ľi x? X c9@ nF= @ +) )@I +< ꍱˑEYF6? h) $ I )@i +< m T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԩ d^#,ӡzLAN%C@NÏQ@Nj=ٱNR!=NH ` ?dG@]@m]?ݼy99Y9==^Ey9ER<EE>IQ 5 5MJ?Q 9 5Mع)MBYy=Q II@M6DIM1:iM:Msv 5yBɮAEi)i-zLAj-DA"j-DA:j-u@Rj-` %9P8@Қ|wBj-S=3#5=?/;r*j-)@2j-+<Zj-H^&@\=SS|?Jj-W^փ?p=ltֿ?j- j-5Ai-'v?i-â7+j-sBj-'v?j-j-Brj-ZAzj-$-@M addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "iU9@*iU9@e Added new target pos. range: 12.285053 m, bearing: 339.225352 deg, lat: 36.779543 deg, lon: -121.859810 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ԁ:iDNOT Ignoring new targets: 12.29 m.2iPowering the camera and arming the capture device at range: 12.30 m.lFinal approach. Armed for intercept at range: 12.30 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i ProNav pure pursuit: ac range: 12.285053 m, nav range: 13.675323 m, bearing: 326.185466 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 187.778006 deg, new cmd heading: 326.185466 deg. HeadingCmd: 5.693010 target range: 12.285053 and range: 12.30 m.h$-@hh:h33?hggjg!rg!e!re)Ze):e-(@*e-,?[i[i"[i*[mXT@颽 Bɢ=) ӽi) =ii9)33? (kpHeading = 0.700000I: (kiHeading = 0.001000PW)I$-@Iu&DAT read: user:8> BDAT read: Tx time:01:31:23.4681 $Ping request sent.BߎCB IBBBe =BBFDB ;BXE@=@=^A=IIIYOm> ƻ^#,bzLA2C@2Q@2=ٱ2 >2Ha?)S@z+?Ἷ ? ?i2C@I2^;0YR˂ByR Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245839i5Mb@Mb@Mb@1111 195ˡE?kt?X9vY5G?y5 0=55@5@ 1)5@1Y5@bDMVDM8yNv%A=ٔ"9Q->9Y=^EyX<E>Q 5 5'?Q 9 5)BYeH?Q E:ys^#,< {LA0RD@Rn R@R =ٱRU>RH{`Y?8@n-?`Ѽ9Y!=%^Ey!-> <E->1Q 5E 55܅?Q 9M 55)5BYIyM1Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003088A A AAB #>B CB ` IB dBB d =B B bEFA4jE:4rE˰/EU  EU EU )EQ ^#"E]&:*E]:VE]FA4ZEYBE]h;<2E]h;<JE]j;:E]j;B ;B XE,ff%{LAPQdD@VR@ =ٱ>Hv,?_¿ c?+?q?iQdD@I];YBy IiMb@Mb@Mb@ 9-?:v?lY5>?yT=v@@ I@)@Y(@ <bDVD8ymd%-=ٔ  Q- >9Y=^Ey%{<E%>9Q 5M 5=i?Q 9M 5=)=BYU>?Q EU:yU:Q IUI@=UDI=p;i=v;= 5ymڕBɮmAmE:iDNOT Ignoring new targets: 12.29 m.2i"i}=*i}= ProNav pure pursuit: ac range: 12.285053 m, nav range: 14.371541 m, bearing: 328.961400 deg, approach rate: 0.521196 m/s, LOS rate: 2.007182 deg/s, cmd heading: 327.978608 deg, new cmd heading: 328.961400 deg. HeadingCmd: 5.741459 target range: 12.285053 and range: 12.30 m.h @hhhhggjgrgҀBereZe:e*e)?[=>?[=>?"[=T=*[= IW@M BɢU G=)Q UCiQ)UU=QYirixa)>I @Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253993/@ @@/@@zA@xA^Am#Amp<Am4<IIO > m^#,73?{LA2]D@2R@2M=ٱ2{>2H=r?`¿[ ?`\=?\o?i2]D@I2];0YBByB IbDJ7VDJ߰8yR%Vz=ٔVQ-V ?9TYX=Z^EyXZd<EZ ?\Q 5b 5^U?Q 9b 5^)^nBYdyf:Q IfI@^\DI^`:i^l:^o 5yhɮjAh|:iDNOT Ignoring new targets: 12.29 m.2i"i S=*i S= ProNav pure pursuit: ac range: 12.285053 m, nav range: 14.543128 m, bearing: 329.611492 deg, approach rate: 0.546718 m/s, LOS rate: 2.046870 deg/s, cmd heading: 328.961390 deg, new cmd heading: 329.611492 deg. %HeadingCmd: 5.752806 target range: 12.285053 and range: 12.30 m.h%@h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5?[Q[Q"[Q*[UW@ Bɢ|m=) ^Li)_w=i"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505815i%%!%ڠdI%@I)E EE(E"E;*E:VEc44ZEa@a@a@a@)51@1 @1@505@1^Am CIiIyO8>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757726ԁ S^#,sY{LA6E@6WS@6C=ٱ6>6Hpkw? CÿU?@qa0? Up?i6E@I6];6CYBByB IIF]>)Ft>bDN;VDN8yVԉ%VJ=ٔVШQ-V>9XYX=Z^EyX^Ln<E^>`Q 5f 5b$=?Q 9f 5bS)bWBYdyf+:Q IfI@bfDIb:ibB:b 5ynԕBɮnAlzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 12.29 m.2i"i  =*i  = ProNav pure pursuit: ac range: 12.285053 m, nav range: 14.760085 m, bearing: 330.411607 deg, approach rate: 0.535542 m/s, LOS rate: 1.945930 deg/s, cmd heading: 329.611488 deg, new cmd heading: 330.411607 deg. %HeadingCmd: 5.766770 target range: 12.285053 and range: 12.30 m.h%b@h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=@Y[Y[Y"[Y*[]W@m Bɢun=)q uFfiq)u=yyi}gvi^}  Ib@I54@1 @1@5+2@1ԉ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009757B}'>ByB}4 IB}@BB}c =ByB}GDB};B}jXEBEߎCE EE*E"E~ ;*E :VE(N4ZEBE V #^#,)r{LA6oE@6bS@68-=ٱ6d>6H id2? _nĿM`?6Z?@Ro?i6oE@I6 ];6CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261964YJByJ IiMb@Mb@Mb@ 9Q?X9v?I +YH?y}=94I@@ @)+@Y@-@A-@AbD5 VD5ʰ8yE;%EA=ٔEɺQ-M>9IYI=M^EyIUfe<EU>ԹQ 5 5*!?Q 9 5)^AAxAzAzAEDDAT read: Rx Time:01:31:25.6166 MTRx dataTimestamp_ set to:1764898286.066542]PDAT read: Bearing 164.9, 32.1 (Local) ]~Local bearing/azimuth received: Bearing 164.9, 32.1 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.6 DAT read: 01:31:25.6166 LVL= 25776, 19313, 32754, 32755, AGC= 48, IDX= 451,-0.07,-0.868, 0.378,-1.610,-0.607, PHS=-0.159, 1.030,-1.047, RAW= 355.2, 2.0, CAL= 354.8, -1.0, ROT= 155.2, 1.0 Ygot valid direction response: 01:31:25.6166 LVL= 25776, 19313, 32754, 32755, AGC= 48, IDX= 451,-0.07,-0.868, 0.378,-1.610,-0.607, PHS=-0.159, 1.030,-1.047, RAW= 355.2, 2.0, CAL= 354.8, -1.0, ROT= 155.2, 1.0 R#Rx 1: Read range and direction messages.E EE(E"E:*Eą:VEc44ZEa@a@a@a@ `direction in FSK: [-0.907639,0.419388,-0.017452] Fpublishing direction and range infoyIMv_a mA?W7) ߑYMiAIMdMqKM M)M0IM"iM ׃?MMa@M5=M_(@ M5)M-\-@IM5Z >|CDS ԣ? M;b )M% IM-\-@iM59 0 ^#,XȌ{LAF=E@FS@F=ٱF>FH@\``?EſB0?绿?`nm?iF=E@IF];DYnByn IbDz$VDzΰ8y%N=ٔIQ->9 >Y >= ^Ey D<E>Q 5% 5 ?Q 9% 5)%BY!y%8Q I%I@zDIB:i: 5y5ȕBɮ5IA5ߦEiqiu9B{LAjuRiA"juRiA:juς@Rju`mx*䕗v@fIпBjuv_a mA?W7) ߑ*ju-\-@2ju5<ZjuS_ +@Nx.y#IH?@JjuáK]?.)пSV暶?jus ju^Aiu3'?iu*ju†Bjqju)P]uju܆BrjupAzjuR`@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 2.774823 s, deltaX: 2.300000 m, approachRate: 0.828882 m/s, rangeRepo size: 2  Added new target pos. range: 14.582700 m, bearing: 344.689564 deg, lat: 36.779543 deg, lon: -121.859805 deg, deltaT: 2.774823 s, deltaX: 2.297647 m, approachRate: 0.828034 m/s, posRepo size: 2 :iVStarting intercept timer at range: 14.60 m.DNOT Ignoring new targets: 14.58 m.2i"i*i ProNav: ac range: 14.582700 m, nav range: 15.006718 m, bearing: 333.705383 deg, approach rate: 0.000000 m/s, LOS rate: 2.003001 deg/s, cmd heading: 331.317204 deg, new cmd heading: 332.833671 deg. ie=HeadingCmd: 5.809043 target range: 14.582700 and range: 14.60 m.h@hhhhggjgrgereZe:e@33-@*e@?BɢZ=) =i)M=iD il  I @I checking for new query: numPingsReceived=1, elapsed TxPingTime=2.7658378@ @@/@^A=߽AA(5AI9IaO|>ii9 I= AM DDAT read: Rx Time:01:31:26.1167 M TRx dataTimestamp_ set to:1764898286.569343U PDAT read: Bearing 165.0, 32.1 (Local) Ba Ba Be  IBe BBa Ba Ba Be ;Be `XEu ~Local bearing/azimuth received: Bearing 165.0, 32.1 (Local)  DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.6 Թ  DAT read: 01:31:26.1167 LVL= 25728, 17825, 32754, 32755, AGC= 48, IDX= 500, 0.07,-1.685,-0.458,-2.418,-1.418, PHS=-0.165, 1.005,-1.044, RAW= 355.3, 2.3, CAL= 355.0, -0.6, ROT= 155.0, 0.6  Ygot valid direction response: 01:31:26.1167 LVL= 25728, 17825, 32754, 32755, AGC= 48, IDX= 500, 0.07,-1.685,-0.458,-2.418,-1.418, PHS=-0.165, 1.005,-1.044, RAW= 355.3, 2.3, CAL= 355.0, -0.6, ROT= 155.0, 0.6  R#Rx 2: Read range and direction messages. `direction in FSK: [-0.906258,0.422595,-0.010472] Fpublishing direction and range infoyI M 2Ѥ ?/;rYM 3kAI M dM EI I )I IM (iM ף?M ˡM o@M l$=M D@ M +E  E E 'E "E %;*E :VE '4ZE BE KH`S ?` ,ƿ 6 ]m?Ö?)k?iRF@I];CYyByz I ))iMb@Mb@Mb@ 9/$?)\(? rhY9>Y>=^EyDT<E>ԱQ 5 5蟊?Q 9 55)BYe=?Q E:y8Q II@DI;i#: 5y•BɮHAަEiqiup{LAjujA"jujA:juz@Rju2,2 Ȝ*}z@,ÿBju2Ѥ ?/;r*ju"-@2ju+<ZjuH,@Xx%U@Jju}q??. mпh.?ju,q ju,`Aiu?iuINS,juBju?juINS,jqrju$hAzju{@checking for new query: numPingsReceived=2, elapsed TxPingTime=3.269874 addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502801 s, deltaX: 0.099999 m, approachRate: 0.198885 m/s, rangeRepo size: 3  Added new target pos. range: 14.682588 m, bearing: 344.946035 deg, lat: 36.779545 deg, lon: -121.859773 deg, deltaT: 0.502801 s, deltaX: 0.099888 m, approachRate: 0.198663 m/s, posRepo size: 3 :iTStopped intercept timer at range: 14.70 m.DNOT Ignoring new targets: 14.68 m.2i"i*i ProNav: ac range: 14.682588 m, nav range: 14.508837 m, bearing: 344.946059 deg, approach rate: 0.000000 m/s, LOS rate: 2.003001 deg/s, cmd heading: 332.833670 deg, new cmd heading: 335.118363 deg. iHeadingCmd: 5.848919 target range: 14.682588 and range: 14.70 m.hX*@h h h h g)g)jg1rg5ڀBe1re1Ze9:e=`ff-@*e=f?颅Bɢol=) Ni)=顱ii IX*@I 9@  @ @ ?5@ ^A 7 A OAI I O >o^#,{LA2GF@2T@2=ٱ2+$>2HNH ?@MHǿ'0?`)`g? ah?i2GF@I2?];2CY>_By>Z IbDJ VDJ8yRA%R=ٔRλQ-R(?9V>YV>=V^EyVDZ=EZ(?lQ 5r 5n ؟?Q 9r 5n)nBYpyr8Q IrI@nDIn:in:nK 5ytɮzA]DDAT read: Rx Time:01:31:26.6169 eTRx dataTimestamp_ set to:1764898287.073170mPDAT read: Bearing 165.4, 31.8 (Local) m~Local bearing/azimuth received: Bearing 165.4, 31.8 (Local) }DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.6 DAT read: 01:31:26.6169 LVL= 25520, 17265, 32754, 32755, AGC= 48, IDX= 502, 0.21,-1.483,-0.252,-2.211,-1.211, PHS=-0.170, 1.005,-1.043, RAW= 355.2, 2.4, CAL= 354.8, -0.6, ROT= 155.2, 0.6 Ygot valid direction response: 01:31:26.6169 LVL= 25520, 17265, 32754, 32755, AGC= 48, IDX= 502, 0.21,-1.483,-0.252,-2.211,-1.211, PHS=-0.170, 1.005,-1.043, RAW= 355.2, 2.4, CAL= 354.8, -0.6, ROT= 155.2, 0.6 R#Rx 3: Read range and direction messages.`direction in FSK: [-0.907728,0.419429,-0.010472]Fpublishing direction and range infoyae| "B8?/;rYepAaeceqCa a)aIe{.iaeea@e+=e_(@ a)e-\-@Iaaae9G= l;he"? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503827 s, deltaX: 0.300000 m, approachRate: 0.595443 m/s, rangeRepo size: 4 :iVStarting intercept timer at range: 15.00 m.DNOT Ignoring new targets: 14.68 m.2i"i<*i< ez )ez)Ie-\-@iaaachecking for new query: numPingsReceived=3, elapsed TxPingTime=3.541694D D E EE*E"E ;*Ev:VE(N4ZEa%@a%@a%@a%@= ProNav: ac range: 14.682588 m, nav range: 14.679445 m, bearing: 345.333972 deg, approach rate: 0.631970 m/s, LOS rate: 1.420198 deg/s, cmd heading: 335.118369 deg, new cmd heading: 335.885125 deg. i=q"=EHeadingCmd: 5.862301 target range: 14.682588 and range: 15.00 m.hE@hAhAhAhAgAgAIjgirgieireqZeq:eu.@*eu\6?Bɢ%>=)! %i!)EF=IIiMCiM QQIU@IQ9@  @ @ /@ y^AXA% UAI1IAOM>ԡ %= 4= checking for new query: numPingsReceived=3, elapsed TxPingTime=3.774123 ^#,{LAVG@VyU@V\=ٱV+>VH :`4%? ȿ_n?*>?Sa?iVG@IV];TYbUBybN IbDjVDjɰ8yr@%rF=ٔvݨQ-v>9v>Yv>=z^EyzDz@<Ez>|Q 5 5~ÿ?Q 9 5~)~BY y i7Q I I@~DI~:i~=:~ޙ 5yBɮ3AiiѮ{LAjoA"joA:jTc@Rj=V3+G"@!"ĿBj| "B8?/;r*j-\-@2jZjL,@ G! Yb]hm@Jj$.\?мНy οޭ?j a jfAiΒ{?i&l3)jBjΒ{?jâ7+jrj(mAzj,:@:iDNOT Ignoring new targets: 14.68 m.2i"i[<*i[< ProNav: ac range: 14.682588 m, nav range: 14.938418 m, bearing: 345.916557 deg, approach rate: 0.640256 m/s, LOS rate: 1.415323 deg/s, cmd heading: 335.885126 deg, new cmd heading: 337.029924 deg. i!=HeadingCmd: 5.882282 target range: 14.682588 and range: 15.00 m.h;@hhhhgg!jg!rg!e!re)ZeI:eI*eMA?额BɢʧH=) i)=顡iԩiI;@ImDDAT read: Rx Time:01:31:27.1170 mTRx dataTimestamp_ set to:1764898287.577263PDAT read: Bearing 166.0, 31.2 (Local) ~Local bearing/azimuth received: Bearing 166.0, 31.2 (Local) DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.6 DAT read: 01:31:27.1170 LVL= 27024, 18241, 32754, 32755, AGC= 48, IDX= 503, 0.33,-2.787,-1.543, 2.781,-2.507, PHS=-0.177, 1.010,-1.038, RAW= 354.8, 2.3, CAL= 354.4, -0.6, ROT= 155.6, 0.6 Ygot valid direction response: 01:31:27.1170 LVL= 27024, 18241, 32754, 32755, AGC= 48, IDX= 503, 0.33,-2.787,-1.543, 2.781,-2.507, PHS=-0.177, 1.010,-1.038, RAW= 354.8, 2.3, CAL= 354.4, -0.6, ROT= 155.6, 0.6 B(>BBIBBBBBB;BnXEE5 E5E1E1"E5;*E5:VE1ZE1BE5D PExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=4, elapsed TxPingTime=4.277664I r^#,w{LA2BH@25V@2=ٱ25>2H*}u?" ɿ/?>蹿 ~?U?i2BH@I2];0YRPByRG IiUMb@Mb@Mb@QQQQ Q9U-?Zd;?:vYU?5?yUy=UԼU@UA U@)QQYUG@eAAeAAbDmVDmð8y}ɼ%}A=ٔ}ٻQ->9Y=^EyDt<E>Q 5 5T?Q 9 5 )BY 6?Q E:y 6Q II@DI;i; 5yBɮ,AݦE1ii{LAjrA"jrA:jf@Rj_ٰ+?b@ 5nYĿBj+\#zd{o?/;r*j-@2jZj`%yE-@F 7q@Jj767?˿L?j5R j+jAix?inp%jBjj*jBrjAqAzj}@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504093 s, deltaX: 0.200000 m, approachRate: 0.396752 m/s, rangeRepo size: 4  Added new target pos. range: 15.182006 m, bearing: 347.351447 deg, lat: 36.779544 deg, lon: -121.859773 deg, deltaT: 1.007920 s, deltaX: 0.499418 m, approachRate: 0.495494 m/s, posRepo size: 4 :iTStopped intercept timer at range: 15.20 m.DNOT Ignoring new targets: 15.18 m.2i"i%*i!5 ProNav: ac range: 15.182006 m, nav range: 15.078547 m, bearing: 346.638695 deg, approach rate: 0.000000 m/s, LOS rate: 1.415323 deg/s, cmd heading: 337.029920 deg, new cmd heading: 338.346977 deg. i1=HeadingCmd: 5.905269 target range: 15.182006 and range: 15.20 m.h=@h9h9h9hAgagajgargmˀBeireiZei:em`ff.@*eua?颽BɢN=) %i!)%6=!!i%& i-8))I-@I1Y9@ @@@DDAT read: Rx Time:01:31:27.6173 TRx dataTimestamp_ set to:1764898288.082001PDAT read: Bearing 166.7, 31.1 (Local) ~Local bearing/azimuth received: Bearing 166.7, 31.1 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.5 DAT read: 01:31:27.6173 LVL= 29936, 18033, 32754, 32755, AGC= 49, IDX= 506, 0.47,-1.932,-0.698,-2.652,-1.650, PHS=-0.179, 0.997,-1.046, RAW= 355.0, 2.6, CAL= 354.6, -0.4, ROT= 155.4, 0.4 Ygot valid direction response: 01:31:27.6173 LVL= 29936, 18033, 32754, 32755, AGC= 49, IDX= 506, 0.47,-1.932,-0.698,-2.652,-1.650, PHS=-0.179, 0.997,-1.046, RAW= 355.0, 2.6, CAL= 354.6, -0.4, ROT= 155.4, 0.4 R#Rx 5: Read range and direction messages.`direction in FSK: [-0.909214,0.416271,-0.006981]Fpublishing direction and range infoyYGZk-?a|YyAtqF )1IK7id;?TㅿD@9= @ )^-@I;T\056?  )(9I^-@i;checking for new query: numPingsReceived=5, elapsed TxPingTime=4.547777E5 E5E1E1"E5:*E5:VE1ZE1a=@a=@a=@a=@ԁ ^A= #Ա I1 IA OU >(_#,r|LA2I@2V@2=ٱ2B>2H@ ˿?Gro˿@[@?R,`? bE?i2I@I2c];2CYJByA IbD-VD-8yU̼%]==ٔ]ڻQ-]>9aYa=e^EyeDe <Ee>iQ 5 5m@?Q 9 5mr)mBYyI5Q II@mDIm:im:mT 5yBɮAEchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.781805ii?|LAjMyA"jMyA:jK@Rj B{ zU,*rN@[NػBjYGZk-?a|*j^-@2j;Zjai.@5L .z @JjlJ?ݕiʿ?jN jpAiQ?iYS&jMBjQ?j&l3)jBrjnvAzj.@e addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504738 s, deltaX: 0.400001 m, approachRate: 0.792491 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 15.581532 m, bearing: 347.887141 deg, lat: 36.779544 deg, lon: -121.859772 deg, deltaT: 0.504738 s, deltaX: 0.399527 m, approachRate: 0.791552 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.58 m.2i"i*i ProNav: ac range: 15.581532 m, nav range: 15.401876 m, bearing: 347.489802 deg, approach rate: 0.000000 m/s, LOS rate: 1.415323 deg/s, cmd heading: 338.346972 deg, new cmd heading: 339.453919 deg. iHeadingCmd: 5.924589 target range: 15.581532 and range: 15.60 m.h;@hhhhggjgrge re Ze:e@33/@*e@?]Bɢ]PB=)a eia)=顑ibiǿ񿉧I;@I Թ@ @@@ DDAT read: Rx Time:01:31:28.1174  TRx dataTimestamp_ set to:1764898288.585539 PDAT read: Bearing 168.4, 30.4 (Local)  ~Local bearing/azimuth received: Bearing 168.4, 30.4 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.6 A A B '>B B IB BB b =B B B ؝;B XE^A  DAT read: 01:31:28.1174 LVL= 28992, 18017, 32754, 32755, AGC= 48, IDX= 508,-0.44, 2.607,-2.428, 1.890, 2.881, PHS=-0.172, 1.020,-1.035, RAW= 354.7, 2.1, CAL= 354.3, -0.8, ROT= 155.7, 0.8  Ygot valid direction response: 01:31:28.1174 LVL= 28992, 18017, 32754, 32755, AGC= 48, IDX= 508,-0.44, 2.607,-2.428, 1.890, 2.881, PHS=-0.172, 1.020,-1.035, RAW= 354.7, 2.1, CAL= 354.3, -0.8, ROT= 155.7, 0.8  R#Rx 6: Read range and direction messages.% `direction in FSK: [-0.911314,0.411474,-0.013962]% Fpublishing direction and range infoy  L|)D`fU?4Y |A @q aF ) 0I 0i \? z @ Q = @ d) '-@I d< #IZx=J? ) 'sI '-@i d<EM  EM EM )EI "EM %;*EM :VEM FA4ZEI BEM K checking for new query: numPingsReceived=6, elapsed TxPingTime=5.070484 bT _#,XS+|LA-I@-QW@-u:=ٱ-dK>-Hx)?a̿+ ?]3? 9?i-I@I-1];-CYeDBye9 IimMb@Mb@Mb@iiii i9m`"?Mb?{GzYm7?ym=mףmI@m A m@)m;AiYm3@nManaging dock network, ignoring radio surface power offbD VD8y @м% &=ٔ |һQ->9Y=^EyD<E>aQ 5m 5er?Q 9m 5eq)eBYm8?Q Em:ymn4Q IuI@eDIe:ief:e 5yɮAchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.285682iiyy%|LAj|A"j|A:j@Rj̯6m,vCn@b 4̿BjL|)D`fU?4*j'-@2jd<ZjA7$.@3mGu@Jjy7"K?r1mȿّ|?j@ jtAi}{?i#j!Bj}{?jYS&jBrjyAzjW@e addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503538 s, deltaX: 0.200000 m, approachRate: 0.397189 m/s, rangeRepo size: 4 m Added new target pos. range: 15.781263 m, bearing: 348.864239 deg, lat: 36.779544 deg, lon: -121.859771 deg, deltaT: 0.503538 s, deltaX: 0.199731 m, approachRate: 0.396655 m/s, posRepo size: 4 :iqDNOT Ignoring new targets: 15.78 m.2iZTarget missed at range: 15.80 m. Rolling out.NTransitioning guidance mode to: ROLLOUT i@hhh;hL?hggjgrg݀BereZe:e/@*e?%B%u:=)- -ji))-Ó=)-$F8iIiU俉Q)]L? ](kpHeading = 0.800000I]; ](kiHeading = 0.004000aIaIue9@a @a@m/@iA i  DDAT read: Rx Time:01:31:28.6177  TRx dataTimestamp_ set to:1764898289.089217 PDAT read: Bearing 169.7, 30.0 (Local)  ~Local bearing/azimuth received: Bearing 169.7, 30.0 (Local)  DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.5  DAT read: 01:31:28.6177 LVL= 27968, 17761, 32754, 32755, AGC= 48, IDX= 511,-0.37,-3.003,-1.755, 2.561,-2.734, PHS=-0.167, 1.024,-1.032, RAW= 354.8, 2.0, CAL= 354.4, -1.0, ROT= 155.6, 1.0  Ygot valid direction response: 01:31:28.6177 LVL= 27968, 17761, 32754, 32755, AGC= 48, IDX= 511,-0.37,-3.003,-1.755, 2.561,-2.734, PHS=-0.167, 1.024,-1.032, RAW= 354.8, 2.0, CAL= 354.4, -1.0, ROT= 155.6, 1.0  R#Rx 7: Read range and direction messages. `direction in FSK: [-0.910545,0.413041,-0.017452] Fpublishing direction and range infoy  l 3/#+Eo?W7) ߑY A @m aE ) I +i o?  _(@ 5= .@ 5) -@I 5< R0r⿥u꿧~#鴡?^A E ) I -@i 5<  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.554736EM  EM EM (EI "EM =;*EM :VEM c44ZEI aU @aU @aU @aU @Ii Iy O >_#,G|LALɰN;5J@5\X@5`=ٱ5zO>5H ? Ra7οr9 Y = ^EyMD] =E]>Q 5 5V\?Q 9 5)BYy3Q II@DI :iN: 5yBɮAE1O Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqO5Entering Midcourse tracking update period 60.000000 s sec at 15.800000 m (mode 5.000000 count ).qO5O5M55Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1N=EResuming normal ranging with 1.000000 count pings 15.800000 m (mode 5.000000 count ).1NEqNEiiE|LAjrA"jrA:j33@RjOww-RηԼ@RҿBjl 3/#+Eo?W7) ߑ*j-@2j5<Zjewe-^v/@1>Pq"[@Jj4'`? ǿZR#?j: j{Ai ?i[z#jBjjnp%jBrj}Azj@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503678 s, deltaX: 0.400001 m, approachRate: 0.794159 m/s, rangeRepo size: 4  Added new target pos. range: 16.180790 m, bearing: 349.504242 deg, lat: 36.779544 deg, lon: -121.859771 deg, deltaT: 0.503678 s, deltaX: 0.399527 m, approachRate: 0.793218 m/s, posRepo size: 4 %DNOT Ignoring new targets: 16.18 m.h!h!h!h!h!g!g)jg)rg)q=-z-Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy=- {5@Uninitialize Buoyancy Component.re1Ze1:e5@330@*e5^?`=) /?i9)/4&8iiڿIII!)%xAA9@ @@/@checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792361@@zAi^A FӅA zA A A ԑ iaIamDDAT read: Rx Time:01:31:29.1179 uTRx dataTimestamp_ set to:1764898289.592829}DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.5 }X#Rx 8: Read range message, but no direction.AyiYmAichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.046356IB#>BBIBՁBBd =BBFDB;BXEIO>@_#,df|LAbEmG4jEmFA4rEmS/E* E*E**E("E*:*E*h:VE*(N4ZE(BE*>H ? 1M S#п5y? R̶?9?i~K@I];YU2By]" IiuMb@Mb@Mb@qqqq q9u333333?Q?:vYu9?yu9Y=^Ey <E >1Q 5= 55p;?Q 9= 55)5BY=9?Q E=:y=5Q IEI@5̷DI5:i5:5 5ymBɮmAmEk}N@O}Oj?qNN addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503612 s, deltaX: 0.299999 m, approachRate: 0.595695 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 16.18 m.hhhhhggjgrgBreZe:e0@*e .?A[59?[59?"[5d)=*[5\@]=)Y ]?i]D9)ae˴4eK 9iaim˿iiIiIqUchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.2950179@ @@/@q ^AE IQ Ia Om >5 _#,ހ|LA2$hL@2ZZ@2~=ٱ2wN>2H й3[?10ѿ\`?赿(?J0By> IbDF(VDFѰ8yNVV%N=ٔRWQ-R)?9PYP=R^EyTV\=EV)?XQ 5^ 5Zk,?Q 9^ 5Z)ZzBY\yb4Q IbI@ZҷDIZS:iZ`:ZU 5yfBɮfAfEkpOr1PrjpNvNv~DNOT Ignoring new targets: 16.18 m.h|h|h|h|h|ggjgrgre Ze:e*e @(?[a[a"[a*[el]@DDAT read: Rx Time:01:31:29.6182 TRx dataTimestamp_ set to:1764898290.097237PDAT read: Bearing 171.9, 29.9 (Local) ~Local bearing/azimuth received: Bearing 171.9, 29.9 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.6 DAT read: 01:31:29.6182 LVL= 22000, 13713, 27538, 28211, AGC= 52, IDX= 3,-0.20,-1.999,-0.761,-2.732,-1.738, PHS=-0.159, 1.023,-1.037, RAW= 355.1, 2.0, CAL= 354.8, -1.0, ROT= 155.2, 1.0 Ygot valid direction response: 01:31:29.6182 LVL= 22000, 13713, 27538, 28211, AGC= 52, IDX= 3,-0.20,-1.999,-0.761,-2.732,-1.738, PHS=-0.159, 1.023,-1.037, RAW= 355.1, 2.0, CAL= 354.8, -1.0, ROT= 155.2, 1.0 R#Rx 9: Read range and direction messages.`direction in FSK: [-0.907639,0.419388,-0.017452]Fpublishing direction and range infoyv_a mA?W7) ߑYAU5k 3n)4I"i?jDS@_(@ )-\-@I xaH&R9= z? %{ ) I-\-@i checking for new query: numPingsReceived=9, elapsed TxPingTime=6.562025~=) ?EE EEEE)EA"EE&:*EE҆:VEEFA4ZEAaM@aM@aM@aM@Yie9)ae4eK%9iaimaÿiiIqIqԉ9 @9  @9 @9 @9 Թ 5 =5 <= checking for new query: numPingsReceived=9, elapsed TxPingTime=6.797969 ^A ?΅I I O>8'_#,II|LABkUM@B H[@B=ٱBR>BH"?&!ѿp6A?`ܴ@?`)8?iBkUM@IBS];BCYN4ByN& IIR<)Rp;bDVVDV8y^<%^0=ٔbQ-b>9`Y`=f^Eydf<Ef>!Q 55 5%$?Q 95 5%Q =5tI)%gBY1y53Q I5J@%ݷDI% ;i% ;%z 5yAɮEAA"kQ1P]]tCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1O] ]Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcoursejYNeeCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRMeeAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRi i "9|LAj ևA"j ևA:j [@Rj ٶ.nI{@a\+ҿBj v_a mA?W7) ߑ*j -\-@2j Zj j;0@p etX@Jj ctU?D¿n$2;?j  j Ai D!?i RKj Bj Q?j #j rj Azj @ addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504408 s, deltaX: 0.500000 m, approachRate: 0.991261 m/s, rangeRepo size: 4  Added new target pos. range: 16.979670 m, bearing: 351.579958 deg, lat: 36.779544 deg, lon: -121.859770 deg, deltaT: 1.008020 s, deltaX: 0.798880 m, approachRate: 0.792524 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.98 m.hhhhhggjgrgreZe:e1@*eǶ?[["[*[[^@=)  ?iϱ9)4&5iI9ii-K()1I1I16DDAT read: Rx Time:01:31:30.1183 TRx dataTimestamp_ set to:1764898290.602307B<A<B ">B ߎCB IB ˁBB B B B  ;B XEBCBCBÓCBc =Bc =C825MPDAT read: Bearing 173.0, 29.9 (Local) M~Local bearing/azimuth received: Bearing 173.0, 29.9 (Local) mDAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.6 DAT read: 01:31:30.1183 LVL= 25712, 17121, 32754, 32755, AGC= 49, IDX= 500,-0.15,-2.555,-1.329, 2.985,-2.302, PHS=-0.151, 1.018,-1.040, RAW= 355.5, 2.0, CAL= 355.2, -1.0, ROT= 154.8, 1.0 E EEE"E%;*E:VEZEBEK?W7) ߑŸApdB9 )1IiM?u@a@ ),@IpF U[꿅gù?  ) I,@ichecking for new query: numPingsReceived=10, elapsed TxPingTime=7.105586a^AIIO> checking for new query: numPingsReceived=10, elapsed TxPingTime=7.301784ԙ \-_#,V |LAJ8N@J*\@J=ٱJX>JH}`hg? 5`ҿ@ ?쳿?J1?iJ8N@IJޓ];JCYE#ByM IqiMb@Mb@Mb@ 9M?9Y=^Ey&<E>Q 5 5?Q 9 52)UBY2?Q E:y4Q IJ@DI:i: 5y Bɮ A i1i53|LAj5A"j5A:j5H@Rj5Ye>.#~@~߷ӿBj5tt6|[<>?W7) ߑ*j5,@2j1Zj5ڧ0@}?pm ,Fw@Jj5#]? 8ʲ#O{5_#,|LAJEP@J^@Jl=ٱJ]>JH`9X+?13ངԿ@7?s>r?,?iJEP@IJ6];JCYRByR IbD^VD^ð8yb%bT=ٔf-Q-f>jchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.8057949lYl=n^Eyprɗ=Er>ItQ 5u 5vE➊?Q 9u 5v)vGBYqyu2Q I}J@vDIvgB CB IB BB B B B M;B YEEE  EE EE (EA "EE ;*EE :VEE c44ZEA BEE A2H8?6cտ~o?O?0?i2P@I2];2CYJ ByJIPbDVDɰ8y5q%=ܻٔQ->9Y=^Ey<E>Q 5U 5zž?Q 9] 5[)3BYYy]1Q I]J@DI7@ e)eo+@Iey4D_#,}LA2Q@22_@2?=ٱ2X>2H`y?pAֿ xu?`:? 9?i2Q@I2];2CY@y@bDJVDJİ8ٔzp:Q-z>|9|Y=^Ey=E> Q 5 5 \?Q 9 5 ) &BYy1Q IJ@ DI ;i ; 2 5y%Bɮ%A-Eii!?}LAjӏA"jӏA:j6@Rj&s@$0ۼA{@Ƃp ؿBj(v2FLb&?_2q*jo+@2j<Zjqp1@|&~),a@JjMݍA?9޻Wb[?j(޿ jAiυ?i|jBjj@jʆBrjAzj@u addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504206 s, deltaX: 0.400000 m, approachRate: 0.793326 m/s, rangeRepo size: 4  Added new target pos. range: 17.978462 m, bearing: 354.414195 deg, lat: 36.779545 deg, lon: -121.859765 deg, deltaT: 0.504206 s, deltaX: 0.399521 m, approachRate: 0.792376 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.98 m.hhhhhggjgrgreZe:e2@*e?[["[*[a@?=) i9)59iiIIchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.813652)y@y @y@}/@yYu DDAT read: Rx Time:01:31:32.1190 } TRx dataTimestamp_ set to:1764898292.617745 PDAT read: Bearing 177.5, 30.2 (Local)  ~Local bearing/azimuth received: Bearing 177.5, 30.2 (Local)  DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.6 A AAA @A" fFailed to parse device response: 2,3.90919,3475.36 ^A FӅ I I E%  E% E% ,E! "E% =;*E% ą:VE% g4ZE! a- @a- @a- @a5 @O= > DAT read: 01:31:32.1190 LVL= 24544, 16241, 31602, 32627, AGC= 49, IDX= 507, 0.03,-0.207, 0.958,-0.997, 0.007, PHS=-0.112, 0.996,-1.048, RAW= 357.2, 1.9, CAL= 356.9, -1.0, ROT= 153.1, 1.0  Ygot valid direction response: 01:31:32.1190 LVL= 24544, 16241, 31602, 32627, AGC= 49, IDX= 507, 0.03,-0.207, 0.958,-0.997, 0.007, PHS=-0.112, 0.996,-1.048, RAW= 357.2, 1.9, CAL= 356.9, -1.0, ROT= 153.1, 1.0  T#Rx 14: Read range and direction messages. `direction in FSK: [-0.891662,0.452366,-0.017452] Fpublishing direction and range infoyq u v'~쿞-?W7) ߑYu Aq u _u q?u r{ u s)q Iu B`iu ~?u $u @u =u T@ u 5)u +@Iu 5H,?JF$׿ W`8?ڭ>?E?iR@I];CYByIau@au au@au au@au au@au bD}VD}8yex %m<ٔmQ-m>9qYq=u^Eyqu<Eu>yQ 5 5}X?Q 9 5}m)}BQ A+:YQ Ev:y0Q IJ@}DI};i} ?} 5yɮ~Aii"'}LAjmA"jmA:j@RjU u50Y)Hr @MԿBjv'~쿞-?W7) ߑ*j+@2j5<ZjM1@kxj"@Jj ?B1|PH?j޿ jAiz?iK)jBjz?jjdžBrj-Azj!@e addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504517 s, deltaX: 0.200001 m, approachRate: 0.396420 m/s, rangeRepo size: 4 u Added new target pos. range: 18.178225 m, bearing: 354.466151 deg, lat: 36.779544 deg, lon: -121.859765 deg, deltaT: 0.504517 s, deltaX: 0.199762 m, approachRate: 0.395948 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.18 m.hhhhhggjgrgreZe:e@332@*ev?checking for new query: numPingsReceived=14, elapsed TxPingTime=9.317797an=) <?i9)5y9ii q!I!I1! @!  @! @) @) @5 =@5 = ^AM #IQ u DDAT read: Rx Time:01:31:32.6193 } TRx dataTimestamp_ set to:1764898293.121180 PDAT read: Bearing 178.3, 30.4 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 30.4 (Local)  DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.6  DAT read: 01:31:32.6193 LVL= 24560, 18417, 30706, 30691, AGC= 50, IDX= 510, 0.11, 1.331, 2.482, 0.525, 1.538, PHS=-0.105, 0.989,-1.057, RAW= 357.7, 2.0, CAL= 357.4, -0.9, ROT= 152.6, 0.9  Ygot valid direction response: 01:31:32.6193 LVL= 24560, 18417, 30706, 30691, AGC= 50, IDX= 510, 0.11, 1.331, 2.482, 0.525, 1.538, PHS=-0.105, 0.989,-1.057, RAW= 357.7, 2.0, CAL= 357.4, -0.9, ROT= 152.6, 0.9  T#Rx 15: Read range and direction messages. `direction in FSK: [-0.887706,0.460143,-0.015707] Fpublishing direction and range infoyy } 0h—ar?y&Y} ̔Ay } _} G} w } w)} 2I} = ׽i} /}?} K} @} 5=} @ } )} t*@I} !R_#,H}LA ) 8 I t*@i < E EE&E"E;*E|:VE4ZE(*checking for new query: numPingsReceived=15, elapsed TxPingTime=9.592453Y-By-II54<)1bD=VD=8y %N=ٔQ->9Y=^EyE>Q 5  56|?Q 9  5D) BQ A :YQ EG:yQ IJ@DIv:im?3 5yBɮAEԁi i jG}LAj A"j A:j @Rj  }0ID!@ը:ҿBj 0h—ar?y&*j t*@2j <Zj &Z^gQ2@Ž7}?JB>\@Jj t?>[NtѬ?j  j Ai ԃ?i K; #j ̆Bj ԃ?j j rj Azj '`@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503435 s, deltaX: 0.400000 m, approachRate: 0.794541 m/s, rangeRepo size: 4  Added new target pos. range: 18.577745 m, bearing: 353.983967 deg, lat: 36.779545 deg, lon: -121.859765 deg, deltaT: 0.503435 s, deltaX: 0.399521 m, approachRate: 0.793590 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.58 m.hhhhhgg!jg!rg!re!Ze):e-2@*e-(y?) >i9)  5 9i ie\1I1I9IEyA)EyAԩ@ @@/@-%=-%=5checking for new query: numPingsReceived=15, elapsed TxPingTime=9.822089 ^A I I O >i;X_#,b}LA2T@2&b@2xL=ٱ20G>2H r]?AǾؿ w \?a? }[?i2T@I2O];2CY:By:IbDFڿVDF8yNi<%Nr=ٔR˼Q-R?9PYP=R^EyPV=EV?XQ 5^ 5Zj?Q 9^ 5Z`)ZBQ Ab9Y`Q Eb!:ybG.Q IbJ@Z!DIZ2;iZ?Z 5yjBɮjAjE~DNOT Ignoring new targets: 18.58 m.h|hyhyhyhygygjgrgreZe:e*e ?xL=) >i39)59iiBLIIDDAT read: Rx Time:01:31:33.1194 TRx dataTimestamp_ set to:1764898293.626970PDAT read: Bearing 179.0, 30.9 (Local) ~Local bearing/azimuth received: Bearing 179.0, 30.9 (Local) B(>BBIBBBBBGDBt;B,YE DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.5 =DAT read: 01:31:33.1194 LVL= 23888, 15345, 30050, 30195, AGC= 50, IDX= 511, 0.18, 0.270, 1.396,-0.556, 0.467, PHS=-0.095, 0.974,-1.067, RAW= 358.4, 2.2, CAL= 358.1, -0.7, ROT= 151.9, 0.7 MYgot valid direction response: 01:31:33.1194 LVL= 23888, 15345, 30050, 30195, AGC= 50, IDX= 511, 0.18, 0.270, 1.396,-0.556, 0.467, PHS=-0.095, 0.974,-1.067, RAW= 358.4, 2.2, CAL= 358.1, -0.7, ROT= 151.9, 0.7 E] E]E](EY"E] ;*E]:VE]c44ZEYBE]Lkن>c;? )I)@i+H<checking for new query: numPingsReceived=16, elapsed TxPingTime=10.113639^AU?΅IaIqO}z>M checking for new query: numPingsReceived=16, elapsed TxPingTime=10.325618Q j^_#,Ow|}LAY܁ByIaa aa aa aa iMb@Mb@Mb@ 9~jt?S㥛L7A`堿Y$?y/ݼ+@ A @) AYQ@ bD̿VD}8y]%%8=ٔ-Q-->9)Y1=5^Ey15E5>9Q 5E 5=S?Q 9E 5=s)=BQ AMT:YM$?Q EM:yM1Q IMJ@=*DI=;i=h;= 5yQɮUAYiiG h}LAj8A"j8A:j?@Rj.zs$0cH !@t4]ͿBj39L|$?I:*j)@2j+H<Zj1;.2@][-;+zx@JjƦo?NHz?jjѿ jAip?i{ jzBjz?jK)jBrjAzj@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505790 s, deltaX: 0.199999 m, approachRate: 0.395419 m/s, rangeRepo size: 4  Added new target pos. range: 18.777678 m, bearing: 354.963236 deg, lat: 36.779544 deg, lon: -121.859766 deg, deltaT: 0.505790 s, deltaX: 0.199932 m, approachRate: 0.395287 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.78 m.hhhhhggjgrgǀBreZe:e2@*e Y2?[$?[$?"[@*[`@) = ?i9) `5 |9i i 4IIAY@Y @Y@Y@Y@a@aDDAT read: Rx Time:01:31:33.6197 TRx dataTimestamp_ set to:1764898294.129138PDAT read: Bearing 180.1, 31.2 (Local) ~Local bearing/azimuth received: Bearing 180.1, 31.2 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.5 DAT read: 01:31:33.6197 LVL= 27552, 17585, 32754, 32755, AGC= 54, IDX= 2, 0.23, 1.327, 2.429, 0.480, 1.512, PHS=-0.082, 0.963,-1.076, RAW= 359.2, 2.2, CAL= 358.9, -0.6, ROT= 151.1, 0.6  Ygot valid direction response: 01:31:33.6197 LVL= 27552, 17585, 32754, 32755, AGC= 54, IDX= 2, 0.23, 1.327, 2.429, 0.480, 1.512, PHS=-0.082, 0.963,-1.076, RAW= 359.2, 2.2, CAL= 358.9, -0.6, ROT= 151.1, 0.6 T#Rx 17: Read range and direction messages.E] E]E]&EY"E]%;*E]:VE]4ZEYae@ae@ae@ae@`direction in FSK: [-0.875417,0.483256,-0.010472]Fpublishing direction and range infoy- i쿅H"?/;rY̘AkD )6I什i+v?^y@r@ +)(@I+<]5b࿇,n>u$? ')`I(@i+<ichecking for new query: numPingsReceived=17, elapsed TxPingTime=10.636333^Ae Ii Iy O >ԙ Me_#, ?}LA6pV@6Ncd@6)=ٱ6ԻG>6H&@M?!zڿp`l?`;`?]?i6pV@I6];4YBցByBI DDbDJ˿VDJ|8yVh%V_=ٔVüQ-Z>9XYX=Z^EyX^=E^>`Q 5f 5bB?Q 9f 5b)bBYdyf/Q IjJ@b1DIb:ib:b 5ynBɮnAlchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.829852iiC}LAjA"jA:jF@Rj@GZ0ʠ>p"@.'.ɿBj- i쿅H"?/;r*j(@2j+<Zjqk2@Қ3N)ľA@Jj~Nf?a򕲿}=?jH jAihy?iZ/jfBjjZ/jBrjAzj@M addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.502168 s, deltaX: 0.300001 m, approachRate: 0.597412 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 19.077322 m, bearing: 355.806468 deg, lat: 36.779544 deg, lon: -121.859767 deg, deltaT: 0.502168 s, deltaX: 0.299644 m, approachRate: 0.596702 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.08 m.hhhhhggjgrgreZe:e3@*e}J"?[9[9"[9*[=ab@])=)Y e$?ieȰ9)ae5e9iaimeiqIqIq}?>i}>ԩ%9@! @!@%/0@!B<A<B,>BCByIBBBb =BBBW;BYEDDAT read: Rx Time:01:31:34.1198 TRx dataTimestamp_ set to:1764898294.640164PDAT read: Bearing 181.2, 31.0 (Local)  ~Local bearing/azimuth received: Bearing 181.2, 31.0 (Local) ^AM #IQ Eu  Eu Eu +Eq "Eu ;*Eu B:VEu [4ZEq BEu D DAT read: 01:31:34.1198 LVL= 22176, 15345, 28274, 27587, AGC= 49, IDX= 499, 0.22, 0.100, 1.199,-0.755, 0.276, PHS=-0.074, 0.968,-1.075, RAW= 359.3, 2.1, CAL= 359.0, -0.8, ROT= 151.0, 0.8   Ygot valid direction response: 01:31:34.1198 LVL= 22176, 15345, 28274, 27587, AGC= 49, IDX= 499, 0.22, 0.100, 1.199,-0.755, 0.276, PHS=-0.074, 0.968,-1.075, RAW= 359.3, 2.1, CAL= 359.0, -0.8, ROT= 151.0, 0.8  T#Rx 18: Read range and direction messages. `direction in FSK: [-0.874534,0.484762,-0.013962] Fpublishing direction and range infoyv/GF`X?4YAV;rn k)1IPiw?ū@Q =@ d)+(@Id<d0O)ւN? e)I+(@id<zk_#,&}LARchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.221891}LW@}J?e@}=ٱ} 7H>}H V?@ŽzCۿ`~ y? P?1^?i}LW@I}Ћ];}CYҁByIi5Mb@Mb@Mb@1111 195ףp= ?I +MbY5?y5955@5MA 5@)5@1Y5 @bDMVDM8y`%"=ٔQ->9Y=_EyD<E>Q 5 5)?Q 9 5)BY?Q E:yw.Q IJ@;DI:i:; 5 checking for new query: numPingsReceived=18, elapsed TxPingTime=11.333933y%Bɮ-hA-Eiir}LAjkA"jkA:j@Rjvs0.ax̗"@I"ѿBjv/GF`X?4*j+(@2jd<Zjl3@r:%ސf@Jj%ߚ?i~ ?j j#Ai0sl?i j,Bjhy?jjzBrjAzj%@m addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.511026 s, deltaX: 0.100000 m, approachRate: 0.195686 m/s, rangeRepo size: 4  Added new target pos. range: 19.177397 m, bearing: 356.459551 deg, lat: 36.779544 deg, lon: -121.859767 deg, deltaT: 0.511026 s, deltaX: 0.100075 m, approachRate: 0.195831 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.18 m.hhhhhggjgrgBreZe:e@333@*eD?[5?[5?"[5K@*[53c@E=)A M{?iM9)IM 6m 9iiiu,qyIyIy)Y  DDAT read: Rx Time:01:31:34.6200  TRx dataTimestamp_ set to:1764898295.137407 PDAT read: Bearing 182.1, 31.0 (Local)  ~Local bearing/azimuth received: Bearing 182.1, 31.0 (Local)  DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.5  DAT read: 01:31:34.6200 LVL= 24144, 16881, 30626, 30483, AGC= 50, IDX= 501, 0.17, 0.354, 1.437,-0.503, 0.528, PHS=-0.072, 0.954,-1.075, RAW= 359.6, 2.2, CAL= 359.3, -0.7, ROT= 150.7, 0.7  Ygot valid direction response: 01:31:34.6200 LVL= 24144, 16881, 30626, 30483, AGC= 50, IDX= 501, 0.17, 0.354, 1.437,-0.503, 0.528, PHS=-0.072, 0.954,-1.075, RAW= 359.6, 2.2, CAL= 359.3, -0.7, ROT= 150.7, 0.7  T#Rx 19: Read range and direction messages. `direction in FSK: [-0.872004,0.489346,-0.012217] Fpublishing direction and range infoy  BuqQ?I:Y A P^ A w w) 2I ti X9t? @ nF= ū@ +H) aU(@I +H< :8+࿝Љ3] #ݣ? u) I aU(@i +H< ] checking for new query: numPingsReceived=19, elapsed TxPingTime=11.605710e 9bEFA4jEh=4rE- 0E  E E )E "E ;*E n:VE FA4ZE a @a @a @a @ 9@  @ @ /@ @ =@ =ԉԱ^AI9IIO]?_eu_#,}LA-checking for new query: numPingsReceived=19, elapsed TxPingTime=11.839903Y5ǁBy=Iqu@AbDVD°8ԉy"%=ٔQ->9Y=_EyE> Q 5 5 ?Q 9 5 ) BYyQ IJ@ GDI %:i : < 5y%yBɮ%A%EiiG}LAjЛA"jЛA:j+@Rj/0/#@Ь$.uοBjBuqQ?I:*jaU(@2j+H<ZjUY{M3@hp@Jj݉?2,Y3?j  jkAiA3i?ih jKBjp?j{ jfBrjiAzj=@m addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.497243 s, deltaX: 0.299999 m, approachRate: 0.603325 m/s, rangeRepo size: 4  Added new target pos. range: 19.477043 m, bearing: 356.176412 deg, lat: 36.779542 deg, lon: -121.859768 deg, deltaT: 0.497243 s, deltaX: 0.299646 m, approachRate: 0.602616 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.48 m.hhhhhggjgrgreZe:e3@*e?[["[*[A)I M?iM9)IM26M9iIiuc޾yyIyIyQԱ@ @@/@DDAT read: Rx Time:01:31:35.1201 TRx dataTimestamp_ set to:1764898295.641036PDAT read: Bearing 182.7, 30.5 (Local) ~Local bearing/azimuth received: Bearing 182.7, 30.5 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.5  DAT read: 01:31:35.1201 LVL= 22704, 16449, 29282, 28915, AGC= 49, IDX= 502, 0.08,-1.146,-0.054,-1.994,-0.963, PHS=-0.081, 0.955,-1.075, RAW= 359.3, 2.3, CAL= 359.0, -0.6, ROT= 151.0, 0.6  Ygot valid direction response: 01:31:35.1201 LVL= 22704, 16449, 29282, 28915, AGC= 49, IDX= 502, 0.08,-1.146,-0.054,-1.994,-0.963, PHS=-0.081, 0.955,-1.075, RAW= 359.3, 2.3, CAL= 359.0, -0.6, ROT= 151.0, 0.6  T#Rx 20: Read range and direction messages.% `direction in FSK: [-0.874572,0.484783,-0.010472]% Fpublishing direction and range infoy#?}?/;rYAXA@br p)1IT㥽izt?ū@l$=@ +)+(@I+<9- Q5ZM?? E)x%I+(@i+<E checking for new query: numPingsReceived=20, elapsed TxPingTime=12.106018Bu %>Bu CBu YIBu BBu d =Bq Bu FDBu ;;Bu XEE  E E +E "E :*E :VE [4ZE BE E8{_#,#i}LAYByIi}Mb@Mb@Mb@yyyy y9}~jt?y&1Y}?y}̼}`}@}d A }@)}@yYybD#VDͰ8y%9=ٔQ->9Y=_EyE>EDDAT read: Rx Time:01:31:35.6204 MTRx dataTimestamp_ set to:1764898295.896072echecking for new query: numPingsReceived=20, elapsed TxPingTime=12.348021Q 5 5D?Q 9 5)BY?Q E:y.Q IJ@ODIOJa51H #@R:_ʿBj#?}?/;r*j+(@2j+<Zj|/2L3@X.$d@Jj|K$?!PPo__#,%~LABʹZ@Bkh@B<ٱBy>>BH@, ?@כּP޿o?;@t? np?iBʹZ@IB|];@YjBynIbDvMVDv8y4@%Y=ٔzQ->9!Y!=%_Ey!%>E->QQ 5] 5U蝊?Q 9] 5UI)UBYYy]+Q I]J@UVDIU:iUp:UR 5yerBɮm!AmEii1i5G ~LAj5A"j5A:j5@Rj5z Ѿ1xLW#@Bj59"+0  ?*j5[(@2j5Zj5Ҡ ]3@p 6ɢ@Jj56m?SdD&g*M?j5_h j5Ai5sz?i5_j5Bj1j5Z/j5KBrj5xAzj5@5 addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503964 s, deltaX: 0.400000 m, approachRate: 0.793707 m/s, rangeRepo size: 4 E Added new target pos. range: 20.076027 m, bearing: 359.837105 deg, lat: 36.779542 deg, lon: -121.859767 deg, deltaT: 0.503964 s, deltaX: 0.399523 m, approachRate: 0.792761 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.08 m.hihihihihigigqjgqrgqreqZey:e}4@*e}@'?[["[*[Gf@<) ?i9) 6e:iiII!ԙDDAT read: Rx Time:01:31:36.1205 TRx dataTimestamp_ set to:1764898296.401636PDAT read: Bearing 183.5, 29.8 (Local) ~Local bearing/azimuth received: Bearing 183.5, 29.8 (Local) checking for new query: numPingsReceived=21, elapsed TxPingTime=12.858769 99@ @@@@@ ^A I I O >{ɉ_#, )~LA"DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.5 6DAT read: 01:31:36.1205 LVL= 23312, 15489, 30770, 30003, AGC= 49, IDX= 506,-0.16,-2.360,-1.260, 3.092,-2.150, PHS=-0.107, 0.935,-1.085, RAW= 358.9, 3.0, CAL= 358.6, 0.1, ROT= 151.4, -0.1 :Ygot valid direction response: 01:31:36.1205 LVL= 23312, 15489, 30770, 30003, AGC= 49, IDX= 506,-0.16,-2.360,-1.260, 3.092,-2.150, PHS=-0.107, 0.935,-1.085, RAW= 358.9, 3.0, CAL= 358.6, 0.1, ROT= 151.4, -0.1 :T#Rx 22: Read range and direction messages.>^direction in FSK: [-0.877982,0.478691,0.001745]BFpublishing direction and range infoylr?n p\?YfA[<2x 3u)1I"۽i)\o?H኿r@PwV=G@ :))@I亩/$a{:h`y? =6)TI)@i亩bchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.115700QB'>BBMIBBBBBB8;BXEBaBaBaBed =Bed =Ce[H5E EE*E"ET;*E:VE(N4ZEBEG<2EG<JE;:E;[@{i@ <ٱx=>H`N?h ߿S?}3A?qr?i[@I];CYByzI  <<bDRVD8y%+=ٔʻQ->9Y = _Ey  <E >Q 5 52ӝ?Q 9 5)BYIyM*Q IUJ@`DI  j>AiOu?iHfj Bjj j,BrjwAzjG@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502695 s, deltaX: 0.199999 m, approachRate: 0.397853 m/s, rangeRepo size: 4  Added new target pos. range: 20.275818 m, bearing: 0.797563 deg, lat: 36.779542 deg, lon: -121.859766 deg, deltaT: 0.502695 s, deltaX: 0.199791 m, approachRate: 0.397440 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.28 m.hhhhhggjgrgreZe:eL4@*eV?[A[A"[A*[Eog@u <)q u ?i}m9)y}+6}N:iyiޫIIԩ DDAT read: Rx Time:01:31:36.6208 TRx dataTimestamp_ set to:1764898296.9046905PDAT read: Bearing 183.7, 29.9 (Local) =~Local bearing/azimuth received: Bearing 183.7, 29.9 (Local)  DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.5 u DAT read: 01:31:36.6208 LVL= 25184, 16033, 32114, 30451, AGC= 50, IDX= 509,-0.40,-0.668, 0.426,-1.501,-0.449, PHS=-0.118, 0.920,-1.096, RAW= 359.0, 3.4, CAL= 358.8, 0.8, ROT= 151.2, -0.8 } Ygot valid direction response: 01:31:36.6208 LVL= 25184, 16033, 32114, 30451, AGC= 50, IDX= 509,-0.40,-0.668, 0.426,-1.501,-0.449, PHS=-0.118, 0.920,-1.096, RAW= 359.0, 3.4, CAL= 358.8, 0.8, ROT= 151.2, -0.8  T#Rx 23: Read range and direction messages. ^direction in FSK: [-0.876221,0.481707,0.013962] Fpublishing direction and range infoy  E  H?4?Y A  `b  > r} v) 2I i k? I @ s= Hd@ d<) [(@I d    y{q88ŦbFqGl? $) tsI [(@i d  - checking for new query: numPingsReceived=23, elapsed TxPingTime=13.455829m 9@i  @i @m 5@i checking for new query: numPingsReceived=23, elapsed TxPingTime=13.601695^A?΅IE EE(E"E ;*E:VEc44ZEBER<2ER<JE;:E;IO ?[ _#,>L~LA BS\@BPFj@BS<ٱBZ=>BH S?A߿@.]Y?4?r?iBS\@IB?];@YrByrpIi}Mb@Mb@Mb@yyyy y9}^I +?9Y=_EyH<E>Q 5 5c?Q 9 5 )BY?Q E:yI)Q IJ@jDI:i: 5ymBɮ_Aiiq9~LAjgA"jgA:j<Rj<2aVs=#@Cy?BjE  H?4?*j[(@2jdZjN4@_#W?0Gʂ@Jjo4J?lK? >2?j? j2Ai.W}?i^(4jBjOu?j_jKBrjkAzj+2<% addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.256995 s, deltaX: 0.400002 m, approachRate: 1.556456 m/s, rangeRepo size: 4 5 Added new target pos. range: 20.675343 m, bearing: 1.425315 deg, lat: 36.779543 deg, lon: -121.859757 deg, deltaT: 0.256995 s, deltaX: 0.399525 m, approachRate: 1.554601 m/s, posRepo size: 4 5DNOT Ignoring new targets: 20.68 m.h1h9h9h9h9g9g9jgArgEmBreAZeA:eE@34@*eM?[m?[m?"[m@*[mh@}S<)y }?iR9)顅56R:iiˮIII]DDAT read: Rx Time:01:31:37.1208 mTRx dataTimestamp_ set to:1764898297.408799yt9PDAT read: Bearing 184.3, 30.3 (Local) ~Local bearing/azimuth received: Bearing 184.3, 30.3 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.4 5Z#Rx 24: Read range message, but no direction.yaYaachecking for new query: numPingsReceived=24, elapsed TxPingTime=13.891986i@i @i@m4@qԡ ^A I I O >j_#,g~LA2]@2k@2uw<ٱ2]<>2Ht?@ 6)G?@h `z?t?i2]@I2];2CY>By>eIbDF)VDFҰ8yNA%NU=ٔRQ-R>9PYP=R_EyTV=EV>XQ 5^ 5Z|?Q 9^ 5Z)ZBY\yb~(Q IbJ@ZqDIZ:iZl:ZX 5yffBɮfwAfEeDAT read: 01:31:37.1208 LVL= 26688, 17473, 32498, 31299, AGC= 51, IDX= 509, 0.25,-0.151, 0.924,-0.993, 0.065, PHS=-0.114, 0.904,-1.102, RAW= 359.5, 3.6, CAL= 359.3, 1.2, ROT= 150.7, -1.2 Ygot valid direction response: 01:31:37.1208 LVL= 26688, 17473, 32498, 31299, AGC= 51, IDX= 509, 0.25,-0.151, 0.924,-0.993, 0.065, PHS=-0.114, 0.904,-1.102, RAW= 359.5, 3.6, CAL= 359.3, 1.2, ROT= 150.7, -1.2 Z#Rx 25: Read direction message, but no range.^direction in FSK: [-0.871878,0.489275,0.020942]y15*El@NHP?_2q?15@h5AD5~ 5Cz)53I5xi5lg?5V5^@5=5ū@ 5<)5aU(@I515=54RZ*/F8? 5)5t܁I5aU(@i5=checking for new query: numPingsReceived=25, elapsed TxPingTime=14.139404 E EE.E"E ;*E:GVEـ4 /{AZEa@a@a@a@! 9/{AYAԹB,>BCB@IBzBBc =BBGDBQ;B YEi)i-)Z~LAj)"j):j-c<Rj-i2f[;$@"?Bj-*El@NHP?_2q?*j-aU(@2j-Zj-}4@w\\?BV;m@Jj-E?޺]O?Iz?j-? j-Ai-Gk?i-{j-Bj)j-Hfj-PBrj-Azj-^< addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.675343 m, bearing: 1.709270 deg, lat: 36.779543 deg, lon: -121.859755 deg, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 20.68 m.h1h1h1h1h1g9g9jg9rg9re9ZeA:eA*eE r?[i[i"[i*[mi@uw<) ?iٰ9)2@6:iiII  DDAT read: Rx Time:01:31:37.6210  TRx dataTimestamp_ set to:1764898297.9136975 PDAT read: Bearing 192.1, 27.4 (Local) E ~Local bearing/azimuth received: Bearing 192.1, 27.4 (Local) u DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.4  Z#Rx 26: Read range message, but no direction.y Y A!  = checking for new query: numPingsReceived=26, elapsed TxPingTime=14.401263 9 @  @ @ 0@ @ @ I qDAT read: 01:31:37.6210 LVL= 22992, 17761, 31410, 30291, AGC= 51, IDX= 512, 0.01,-2.287,-1.259,-3.020,-2.221, PHS= 0.036, 1.007,-0.843, RAW= 358.4, -2.5, CAL= 358.1, -5.4, ROT= 151.9, 5.4 Ygot valid direction response: 01:31:37.6210 LVL= 22992, 17761, 31410, 30291, AGC= 51, IDX= 512, 0.01,-2.287,-1.259,-3.020,-2.221, PHS= 0.036, 1.007,-0.843, RAW= 358.4, -2.5, CAL= 358.1, -5.4, ROT= 151.9, 5.4 Z#Rx 27: Read direction message, but no range.`direction in FSK: [-0.878212,0.468922,-0.094108]y7O쿘g?|ӄ{YaEz Sv)It=^A5#IAIYi`?W+@¸2O?Y_#,0K~LA3@ ))@I=,վzI(:7뿫[ڐ )ϕ4=I)@i=checking for new query: numPingsReceived=27, elapsed TxPingTime=14.647813E EE+E"E;*E҆:VE [4ZEBE>CC~H`,ྐ?`` ?2?w?i~^@I~̤];~CY y dII=)i5Mb@Mb@Mb@1111 195-?L7A`堿/$Y5??y5+55@1 1)5@1Y5@bD(VDѰ8y1%<ٔ#Q->9Y=_Ey=E>Q 5 5ȏ?Q 9 5b)BY?Q E:y(Q IJ@}DI:i: 5y mBɮ AEi i zz~LAj fA"j fA:j *k=Rj stx2#@l_DBj 7O쿘g?|ӄ{*j )@2j =Zj  )#5@e&5?Vf?Jj F_#,a~LA2x_@2km@2b<ٱ2]:>2H@ ?s@e7 ?Le>? w?i2x_@I2];2CY>By>fIbDFVDF8yN>;%Rr=ٔR̻Q-R?9TYT=V_EyTV=EV?XQ 5 5Z?Q 9 5Z)ZBYy'Q IJ@ZDIZVBB:IBuBBb =BBBc;B YE-DAT read: 01:31:38.1211 LVL= 22304, 18257, 31938, 30947, AGC= 51, IDX= 513,-0.21, 1.804, 3.096, 0.792, 2.137, PHS=-0.231, 1.004,-1.389, RAW= 358.9, 6.0, CAL= 358.9, 4.8, ROT= 151.1, -4.8 59UYgot valid direction response: 01:31:38.1211 LVL= 22304, 18257, 31938, 30947, AGC= 51, IDX= 513,-0.21, 1.804, 3.096, 0.792, 2.137, PHS=-0.231, 1.004,-1.389, RAW= 358.9, 6.0, CAL= 358.9, 4.8, ROT= 151.1, -4.8 eZ#Rx 29: Read direction message, but no range.e^direction in FSK: [-0.872394,0.481587,0.083678]y!%a]o/T?U]k?!% W%QG%| %x)!I%Dli%?%ʱ%r@%Pw=%r@ %=)%(@I%!%}k4k!B uN? %:)%fֽI%(@i%5checking for new query: numPingsReceived=29, elapsed TxPingTime=15.1820809@ @@/@Ա^AIIO> DDAT read: Rx Time:01:31:38.6212  TRx dataTimestamp_ set to:1764898298.921316 PDAT read: Bearing 185.6, 30.1 (Local) % ~Local bearing/azimuth received: Bearing 185.6, 30.1 (Local)  DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.4  DAT read: 01:31:38.6212 LVL= 26608, 15617, 31378, 30019, AGC= 55, IDX= 2, 0.36, 0.347, 1.425,-0.500, 0.587, PHS=-0.138, 0.883,-1.132, RAW= 359.5, 4.5, CAL= 359.4, 2.5, ROT= 150.6, -2.5  Ygot valid direction response: 01:31:38.6212 LVL= 26608, 15617, 31378, 30019, AGC= 55, IDX= 2, 0.36, 0.347, 1.425,-0.500, 0.587, PHS=-0.138, 0.883,-1.132, RAW= 359.5, 4.5, CAL= 359.4, 2.5, ROT= 150.6, -2.5  T#Rx 30: Read range and direction messages. = ^direction in FSK: [-0.870385,0.490436,0.043619]= Fpublishing direction and range infoy  |0뿿 ͺOc?GU?Y A g = z Cu) 7I O i J b? `吿 ^@ |٠= @ ¸2=) 8(@I ¸2 >dv*࿂%[? Q) 6?I 8(@i ¸2 @_#,n~LA28`@2J+n@2];ٱ2u:>2H)6?`貺 vX?x#6?x?i28`@I2];2CY>ByBbIchecking for new query: numPingsReceived=30, elapsed TxPingTime=15.485062iMb@Mb@Mb@ 9x?y&1QYK?y`弙u@7A I@)@Y\@bD- VD-8yS%.=ٔ;Q->9Y=_Ey<E>Q 5 5{m?Q 9 5)|BY?Q E:y&Q IJ@DIP;i; 5yfBɮAi!i%~LAj%̫A"j%̫A:j%+=Rj%9A2w b%@+(?Bj%|0뿿 ͺOc?GU?*j%8(@2j%¸2Zj%{45@'T? d@Jj%{.}?pj\?.?j%? j%Ai%?h?i%Bj%xBj%Ou?j%^(4j%Brj%Azj%zG= addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503548 s, deltaX: 0.200001 m, approachRate: 0.397183 m/s, rangeRepo size: 4  Added new target pos. range: 21.474745 m, bearing: 4.605533 deg, lat: 36.779543 deg, lon: -121.859754 deg, deltaT: 1.007619 s, deltaX: 0.299770 m, approachRate: 0.297504 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.47 m.hhhhhggjgrgqBreZe:e5@*ef,?[?[?"[@*[{k@m];)q u?iu9)quR^6uM :iqi}yIII3?)8?-checking for new query: numPingsReceived=30, elapsed TxPingTime=15.618407E EE+E"E;*E&p:VE [4ZEBE@x_#,S~LAF`@Fn@HF;ٱF"8>FH`!?`y`Gy%b?௲p ?z?iF`@IFw];FCYBy_I !!bDUVDU8ye%e5=ٔeQ-e>9iYi=m_Eyiu%<Eu>yQ 5 5}TZ?Q 9 5}Q)}wBYy%Q IJ@}DI}Z:i}:} 5yɮA addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504804 s, deltaX: 0.100000 m, approachRate: 0.198097 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 21.47 m.hhhh!h!g!g!jg)rg)re)Ze):e-5@*e5 ~7?[["[*[8l@;) ?i9)g6 :ii=󙷾99IIԹDAT read: 01:31:39.1213 LVL= 22576, 18513, 32562, 32451, AGC= 50, IDX= 499, 0.08,-1.944,-0.875,-2.786,-1.704, PHS=-0.137, 0.874,-1.125, RAW= 359.6, 4.5, CAL= 359.4, 2.6, ROT= 150.6, -2.6 Ygot valid direction response: 01:31:39.1213 LVL= 22576, 18513, 32562, 32451, AGC= 50, IDX= 499, 0.08,-1.944,-0.875,-2.786,-1.704, PHS=-0.137, 0.874,-1.125, RAW= 359.6, 4.5, CAL= 359.4, 2.6, ROT= 150.6, -2.6 Z#Rx 32: Read direction message, but no range.^direction in FSK: [-0.870317,0.490398,0.045363]yT|8 Dدb?99?0XQH2 ~)2II iw_?@ 9=)I9͈8"p,ڷ8? gw)Ii9checking for new query: numPingsReceived=32, elapsed TxPingTime=16.138767BU,>BQBQBQBQBQBQBU;BUGYEEu EuEu*Eq"EuV:*Eux:VEu(N4ZEqBEu9<2Eu9<JEu;:Eu;9a @a  @i @m 1@i  m DDAT read: Rx Time:01:31:39.6216 } TRx dataTimestamp_ set to:1764898299.929535 PDAT read: Bearing 185.4, 29.5 (Local)  ~Local bearing/azimuth received: Bearing 185.4, 29.5 (Local) ^A  I I!%DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.4 MDAT read: 01:31:39.6216 LVL= 25536, 17969, 31602, 32115, AGC= 51, IDX= 502,-0.17,-2.861,-1.765, 2.603,-2.579, PHS=-0.180, 0.859,-1.146, RAW= 358.8, 5.4, CAL= 358.7, 3.9, ROT= 151.3, -3.9 UYgot valid direction response: 01:31:39.6216 LVL= 25536, 17969, 31602, 32115, AGC= 51, IDX= 502,-0.17,-2.861,-1.765, 2.603,-2.579, PHS=-0.180, 0.859,-1.146, RAW= 358.8, 5.4, CAL= 358.7, 3.9, ROT= 151.3, -3.9 UT#Rx 33: Read range and direction messages.Oe>_#,c~LAZ^direction in FSK: [-0.875115,0.479111,0.068015]^Fpublishing direction and range infoyzB©?,::si?Y̰Ac1Fr{ s})3IQ8im[?!Hd@=U@ 'g=))@I'gI$࿐Xזa?GC\:? b)F½I)@i'g]~a@]o@];ٱ]B6>]H`RYP?5( }?Wc ?~?i]~a@I]V];]CY}By}`Ichecking for new query: numPingsReceived=33, elapsed TxPingTime=16.456511ԩiMb@Mb@Mb@ 9ʡE?l~jtY-?yD@A )@Y @bDVD8y-V;%-=ٔ- TQ-5>91Y1=5_Ey1=|<E=>AQ 5m 5ExD?Q 9m 5Ep!)ErBYm?Q Em:yuH&Q IuJ@EDIE:iEE:E 5y}`Bɮ}_A}Eii}~LAjA"jA:jL7=Rj!7Q3$L9&%@o*lИ?BjzB©?,::si?*j)@2j'gZj 0䰧5@u@BQn* @Jjd?W6?wҰ?j&@ j=AiLe?iOj^BjGk?jX.PjBrjhAzj=- addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503415 s, deltaX: 0.500000 m, approachRate: 0.993216 m/s, rangeRepo size: 4 = Added new target pos. range: 22.073954 m, bearing: 6.860275 deg, lat: 36.779542 deg, lon: -121.859749 deg, deltaT: 1.008219 s, deltaX: 0.599209 m, approachRate: 0.594324 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 22.07 m.hYhYhYhahagagajgargmkBreiZei:em6@*em`T?[?[?"[@*[Jk@;) {?io9)r6  :i i II =yA=yAchecking for new query: numPingsReceived=33, elapsed TxPingTime=16.626698bEM(N4jEM(N4rEMT0Eu EuEu'Eq"Eu;*Eu:VEu'4ZEqa@a@a@a@  è95 9@1  @1 @5 /@1 @9 @9 ) eDDAT read: Rx Time:01:31:40.1216 uTRx dataTimestamp_ set to:1764898300.432979PDAT read: Bearing 186.5, 30.4 (Local) ~Local bearing/azimuth received: Bearing 186.5, 30.4 (Local) DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.4 Z#Rx 34: Read range message, but no direction.yiYiichecking for new query: numPingsReceived=34, elapsed TxPingTime=16.899849y^A#IIO%?x_#,SLAFub@Fchp@FC:ٱF T4>FH` $ +?`@t,C?@~wHl?M?iFub@IF];FCYrByreIIz4<)z;bD~VD~°8y-+<%-2=ٔ5hdQ-5>91Y1==_Ey9=<E=>AQ 5m 5E|1?Q 9m 5E%)EnBYqyu%Q IuJ@EDIEq;iE;E 5yyɮ}AAy  addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503444 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 22.07 m.hhhhhggjgrgreZe:e!*e%?ԁ[["[*[l@C:) \?ii9)顝|63 :i9iEAIIIIIԱ DAT read: 01:31:40.1216 LVL= 27056, 18929, 32738, 32755, AGC= 51, IDX= 502, 0.40,-2.625,-1.562, 2.807,-2.367, PHS=-0.157, 0.850,-1.153, RAW= 359.8, 5.4, CAL= 359.7, 3.8, ROT= 150.3, -3.8 Ygot valid direction response: 01:31:40.1216 LVL= 27056, 18929, 32738, 32755, AGC= 51, IDX= 502, 0.40,-2.625,-1.562, 2.807,-2.367, PHS=-0.157, 0.850,-1.153, RAW= 359.8, 5.4, CAL= 359.7, 3.8, ROT= 150.3, -3.8 Z#Rx 35: Read direction message, but no range.%^direction in FSK: [-0.866722,0.494369,0.066274]yy/lX?{S?iI )I iY?B@@ ԇ=)'@Iԇ}0x? >)sI'@iԇ]checking for new query: numPingsReceived=35, elapsed TxPingTime=17.146233B->BB@IBzBBc =BBB;BuYEE EE)E"Ex;*E:VEFA4ZEBEIgc_#,<=LADAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.4 BDAT read: 01:31:40.6219 LVL= 25248, 19217, 32754, 31603, AGC= 51, IDX= 505, 0.04,-1.598,-0.547,-2.460,-1.343, PHS=-0.153, 0.841,-1.161, RAW= 0.2, 5.5, CAL= 0.1, 4.1, ROT= 149.9, -4.1 FYgot valid direction response: 01:31:40.6219 LVL= 25248, 19217, 32754, 31603, AGC= 51, IDX= 505, 0.04,-1.598,-0.547,-2.460,-1.343, PHS=-0.153, 0.841,-1.161, RAW= 0.2, 5.5, CAL= 0.1, 4.1, ROT= 149.9, -4.1 FT#Rx 36: Read range and direction messages.h^direction in FSK: [-0.862937,0.500227,0.071497]Fpublishing direction and range infoy.k? M?YAbK s{)IiKW?d; =: C=)p'@IC2Y߿U^dq? l)tĽIp'@  H@>?D`? `"Q@? ]?a? ȁ?i 9Y=_Ey`&=E>Q 5 5?Q 9 5V))hBY.?Q E:y&Q IJ@DI:i :y 5yYBɮAEiiC<LAjɳA"jɳA:jQ>Rjɂd30{&@E6r?Bj.k? M?*jp'@2jCZj|~6@1@ @JjsYهGW?&b3?\?ve?j7@ jAiwY?ijBj?h?jBjxBrjoAzj= addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.508663 s, deltaX: 0.400000 m, approachRate: 0.786375 m/s, rangeRepo size: 4  Added new target pos. range: 22.473509 m, bearing: 7.435249 deg, lat: 36.779542 deg, lon: -121.859746 deg, deltaT: 1.012107 s, deltaX: 0.399555 m, approachRate: 0.394776 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.47 m.hhhhhggjgrggBreZe:e6@*e0?[5.?[5.?"[5@*[5"sk@e)a e)?ieѱ9)imA6m :iiiIIchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.635017)D=D4=E EE*E"E;*Ez:VE(N4ZEa@a@a@a@ 9Y M 9@I  @Q @U /@Q ԉ DDAT read: Rx Time:01:31:41.1220 TRx dataTimestamp_ set to:1764898301.441777PDAT read: Bearing 186.8, 30.6 (Local) ~Local bearing/azimuth received: Bearing 186.8, 30.6 (Local) DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.4 DAT read: 01:31:41.1220 LVL= 25008, 17137, 29234, 30195, AGC= 51, IDX= 506,-0.31, 1.946, 3.005, 1.095, 2.228, PHS=-0.180, 0.823,-1.177, RAW= 359.9, 6.2, CAL= 359.9, 5.2, ROT= 150.1, -5.2 %Ygot valid direction response: 01:31:41.1220 LVL= 25008, 17137, 29234, 30195, AGC= 51, IDX= 506,-0.31, 1.946, 3.005, 1.095, 2.228, PHS=-0.180, 0.823,-1.177, RAW= 359.9, 6.2, CAL= 359.9, 5.2, ROT= 150.1, -5.2 %T#Rx 37: Read range and direction messages.-^direction in FSK: [-0.863329,0.496436,0.090633]-Fpublishing direction and range infoydlޛ?0L3?YAaB2r u)IQ8i!R?𧖿@k=@ ޹=)ϩ'@I޹VH ` ?S &? X#g?_?e?iVڝd@IV];VCYMByUzIbDe%VDayms=%m(=ٔuQ-u>9qYy=}_Eyy}<E}>Q 5 58?Q 9 5-)cBYy%Q IJ@DI;i: 5ySBɮRAEiiF\LAjbA"jbA:j,@>Rjh3 P&@G$Pp@Bjdlޛ?0L3?*jϩ'@2j޹Zj6@iyI @@JjD+?=byՌ?rWG?jKR@ jAiR3L?ijBjLe?jj^BrjAzj >m addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.500135 s, deltaX: 0.200001 m, approachRate: 0.399894 m/s, rangeRepo size: 4 } Added new target pos. range: 22.673273 m, bearing: 8.462915 deg, lat: 36.779541 deg, lon: -121.859740 deg, deltaT: 0.500135 s, deltaX: 0.199764 m, approachRate: 0.399421 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.67 m.hhhhhggjgrgreZe:e@36@*e 3l?[)[)"[)*[-e+l@]9)Y e ?ie9)aeى6e :iaimiiIiIqchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.138479B]0>BYB]SIB]BB]b =BYBYB]О;B]YEB]CB]CBYB]b =B]b =C]85E EEE"E&:*E$:VEZEBEh;jHI0Q?೛ ?`n? ?v?ijLSe@Ij];jCY-By-Ii5Mb@Mb@Mb@1111 195p= ף?9Y=_EyR<E>Q 5 56?Q 9 50)^BYf?Q E:y^'Q IJ@¸DI;i;C 5y_BɮAEii|LAjȷA"jȷA:j<>Rja3x~'@]U{S?Bj|DW?]1?*jx&@2j`ZjvPx6@@׻\ @JjKM?dh?2hbѾ?j ?@ jƳAi!X?i-jBjwY?jjBrjAzjA>m addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.507912 s, deltaX: 0.299999 m, approachRate: 0.590652 m/s, rangeRepo size: 4 Ա Added new target pos. range: 22.973072 m, bearing: 7.566887 deg, lat: 36.779540 deg, lon: -121.859740 deg, deltaT: 0.507912 s, deltaX: 0.299799 m, approachRate: 0.590258 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.97 m.hhhhhggjgrgoBreZe:e7@*e CU?[5f?[5f?"[5@*[5j@}Fp)y ?i9)額6 :iiIIchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.642487DizDmAAEu EuEu)Eq"Eu;*Eu:VEuFA4ZEqa}@a}@a}@a}@ (9 9@  @ @ 4@ m DDAT read: Rx Time:01:31:42.1223 u TRx dataTimestamp_ set to:1764898302.449781} PDAT read: Bearing 188.7, 31.9 (Local) } ~Local bearing/azimuth received: Bearing 188.7, 31.9 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.4  DAT read: 01:31:42.1223 LVL= 26320, 17345, 30450, 31283, AGC= 52, IDX= 509,-0.16,-3.025,-2.019, 2.371,-2.776, PHS=-0.147, 0.802,-1.181, RAW= 1.4, 6.2, CAL= 1.4, 5.2, ROT= 148.6, -5.2  Ygot valid direction response: 01:31:42.1223 LVL= 26320, 17345, 30450, 31283, AGC= 52, IDX= 509,-0.16,-3.025,-2.019, 2.371,-2.776, PHS=-0.147, 0.802,-1.181, RAW= 1.4, 6.2, CAL= 1.4, 5.2, ROT= 148.6, -5.2  T#Rx 39: Read range and direction messages. ^direction in FSK: [-0.850038,0.518865,0.090633] Fpublishing direction and range infoyi m 蹂3ý?0L3?Ym ̸Ai m fm Cm v m 3z)m 4Im +im OM?m +i m k=m +< m ޹=)m %@Im ޹i i m zp޿lpϏ~? m /u)m xܽIm %@im ޹i i  checking for new query: numPingsReceived=39, elapsed TxPingTime=18.914433 ^AI!I1O=>_#,LA YAyEIbDUVDU8y:%#=ٔQ->9Y=_EyE>Q 5 5?Q 9 5*4)ZBYyQ IJ@˸DI$Rj93a"'@mLƲ@Bj蹂3ý?0L3?*j%@2j޹ZjK?6@eօ @j 'd@JjFͿ6??G>l?jg@@ j AiH?i4jBj!X?jjBrj{Azj !> addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.500092 s, deltaX: 0.100000 m, approachRate: 0.199964 m/s, rangeRepo size: 4  Added new target pos. range: 23.072954 m, bearing: 7.608375 deg, lat: 36.779540 deg, lon: -121.859740 deg, deltaT: 0.500092 s, deltaX: 0.099882 m, approachRate: 0.199728 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.07 m.hhhhhggjgrgreZe:e7@*e*?[["[*[ )  ?i 9)6 :iiII!checking for new query: numPingsReceived=39, elapsed TxPingTime=19.146002BAB.>BBfIBBBBBBٞ;BYEeaGyE EE*E"E;*E:VE(N4ZEBEAz_#, LA.DAT read: 01:31:42.6224 LVL= 29920, 17249, 32754, 28947, AGC= 52, IDX= 510, 0.35,-0.786, 0.180,-1.720,-0.575, PHS=-0.109, 0.800,-1.188, RAW= 2.8, 5.8, CAL= 2.8, 4.7, ROT= 147.2, -4.7 2Ygot valid direction response: 01:31:42.6224 LVL= 29920, 17249, 32754, 28947, AGC= 52, IDX= 510, 0.35,-0.786, 0.180,-1.720,-0.575, PHS=-0.109, 0.800,-1.188, RAW= 2.8, 5.8, CAL= 2.8, 4.7, ROT= 147.2, -4.7 6T#Rx 40: Read range and direction messages.8J^direction in FSK: [-0.837740,0.539887,0.081939]JFpublishing direction and range infoyO`#6 OF??YfAtaC q)Id;߽iL?b+H=4Q=+H= =)l$@Ȋݿ<5)AR`15)? U) нIl$@iZg@Ztu@ZcٱZ0>ZH`,?`7tu9lK?lLs?r?`?iZg@IZ];XYfBchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.440569yfIi5Mb@Mb@Mb@1111 195"~j?Mb{GzY5S?y55#5@1 5I@)11Y5@ԙbDmVDm8y<%#=ٔ Q->9Y=_Ey =E>Q 5  5̜?Q 9  57)TBY ?Q E:y'Q IJ@ӸDI:io:  5y=RBɮ=AEEiiLAj.A"j.A:jT>Rjd2n3(?!)@Â?BjO`#6 OF??*jl$@2jZj3QN6@]7 @Xh@Jj|9?kqک?xT?jM@ jAi}F?ifS jBjR3L?j-jBrjAzj> addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.502892 s, deltaX: 0.199999 m, approachRate: 0.397697 m/s, rangeRepo size: 4  Added new target pos. range: 23.272636 m, bearing: 8.049203 deg, lat: 36.779539 deg, lon: -121.859742 deg, deltaT: 0.502892 s, deltaX: 0.199682 m, approachRate: 0.397068 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.27 m.hhhhhggjg rg Bre Ze :eL7@*e5?[u?[u?"[uAC@*[uirH .``q?N[$?ݓs?`?@?iry8h@Ir+];rCY}By}IbDʿVD{8ye3<%e =ٔe Q-e>9iYi=m_Eyiquw<E}>yQ 5 5}?Q 9 5};)}MBYy,'Q IJ@}ܸDI}l:i}:}# 5yɮAiAiEzLAjEA"jEA:jEN >RjEIj3U#)@_c?BjE{dŦ5??*jEƇ#@2jEQ ZjE[6@Jdon @uR"z@JjE'?nG?1/*?dڭ?jEH@ jEĶAiE+>?iE.ZjEVBjEH?jEfS jArjEAzjE"> addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.500481 s, deltaX: 0.100000 m, approachRate: 0.199809 m/s, rangeRepo size: 4  Added new target pos. range: 23.372519 m, bearing: 7.812273 deg, lat: 36.779538 deg, lon: -121.859742 deg, deltaT: 0.500481 s, deltaX: 0.099882 m, approachRate: 0.199572 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.37 m.hhhhhggjgrgreZe :e `ff7@*e A?[)[)"[)*[-j@=)9 ={?iEIJ9)AE6E] :iAiM󙷾IIIIIQmchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.153803B})>B}CB}yIB}BB}d =ByByB}՞;B}YEԡEE EEEE)EA"EE;*EE:VEEFA4ZEABEEAs_#, LADAT read: 01:31:43.6228 LVL= 27920, 16593, 28738, 25155, AGC= 54, IDX= 2,-0.20, 2.955,-2.408, 2.006,-3.133, PHS=-0.092, 0.771,-1.188, RAW= 3.9, 6.1, CAL= 3.9, 5.1, ROT= 146.1, -5.1 ZYgot valid direction response: 01:31:43.6228 LVL= 27920, 16593, 28738, 25155, AGC= 54, IDX= 2,-0.20, 2.955,-2.408, 2.006,-3.133, PHS=-0.092, 0.771,-1.188, RAW= 3.9, 6.1, CAL= 3.9, 5.1, ROT= 146.1, -5.1 ^T#Rx 42: Read range and direction messages.b^direction in FSK: [-0.826726,0.555537,0.088894]bFpublishing direction and range infoy9=ʊÊtZ??Y=3A9=m=@=Bp =Cb)=6I=ji=B`E?=b='g==^ =='g= =K=)=1#@I=K99=mEaqۿk O쿓T6? =B)=׽I=1#@i=K99=checking for new query: numPingsReceived=42, elapsed TxPingTime=20.458933]rh@]v@]٘ٱ]%0>]H#@?@w g?`Ss??ye"۽eaeA ev@)e@aYe\@bD}VD}8y4=%*=ٔ 9Q->9Y=_Ey4<E>Q 5 5?Q 9 5#>)FBY>Q E:y(Q IJ@DIs:i:' 5yLBɮKAi9i=lLAj=A"j=A:j=JE>Rj=~(?3I4*@ؑ#@Bj=ʊÊtZ??*j=1#@2j=KZj=έu=7@F'6 @⑨ @Jj=҄A'?fst+?^P?j=X@ j=Ai=lN?i=Ƃj=OBj9j=Ƃj=Brj=WAzj=`> addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.506570 s, deltaX: 0.500000 m, approachRate: 0.987030 m/s, rangeRepo size: 4  Added new target pos. range: 23.871672 m, bearing: 8.296175 deg, lat: 36.779538 deg, lon: -121.859743 deg, deltaT: 0.506570 s, deltaX: 0.499153 m, approachRate: 0.985359 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.87 m.hhhhhggjgrgBreZe:e`f7@*e6?[e>[e>"[e @*[eii@٘) ?i9)6:iiII )))echecking for new query: numPingsReceived=42, elapsed TxPingTime=20.660044 E5 E5E5,E1"E5f;*E5|:VE5g4ZE1aE@aE@aE@aE@9@ @@0@1 ^A FӅI I Oe >=`#,,LA|MŨi@Mbw@MSVٱM0>MHO`X?nV9F@`&?Ŋs??"?iMŨi@IMd];IYuByuIbDVD8y]%Z=ٔ~Q->9Y=_Ey<E>DDAT read: Rx Time:01:31:44.1226 TRx dataTimestamp_ set to:1764898304.465264PDAT read: Bearing 193.8, 35.7 (Local) ~Local bearing/azimuth received: Bearing 193.8, 35.7 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.4 DAT read: 01:31:44.1226 LVL= 25248, 16225, 28146, 29747, AGC= 49, IDX= 498, 0.34,-3.037,-2.172, 2.254,-2.894, PHS=-0.042, 0.767,-1.179, RAW= 5.6, 5.4, CAL= 5.5, 4.2, ROT= 144.5, -4.2  Ygot valid direction response: 01:31:44.1226 LVL= 25248, 16225, 28146, 29747, AGC= 49, IDX= 498, 0.34,-3.037,-2.172, 2.254,-2.894, PHS=-0.042, 0.767,-1.179, RAW= 5.6, 5.4, CAL= 5.5, 4.2, ROT= 144.5, -4.2  T#Rx 43: Read range and direction messages.^direction in FSK: [-0.811929,0.579143,0.073238]Fpublishing direction and range infoygR@/W??Y̼Aba?m 3t)1I1,iZD?y閿+== = Q =)vh!@IQ Q 5- 5?Q 9- 5@)@BY1y5'Q I5J@DIHRj @#3EM+@ܽf9?BjgR@/W??*jvh!@2jQ Zj#b$7@4e.L@ 䪢@Jj y1?ijBj}F?j4jBrj~Azj> addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.505540 s, deltaX: -0.299999 m, approachRate: -0.593423 m/s, rangeRepo size: 4  Added new target pos. range: 23.572027 m, bearing: 7.199278 deg, lat: 36.779538 deg, lon: -121.859743 deg, deltaT: 0.505540 s, deltaX: -0.299644 m, approachRate: -0.592722 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.57 m.hhhhhggjgrgreZe:e7@*e2?[["[*[U j@uSV)q } ?i}i9)y}66}B:iyiII!D98>i>9@ @@ 5@QB- *>B) B- IB- BB) B) B) B- ;B- oYEe checking for new query: numPingsReceived=43, elapsed TxPingTime=21.165791E%  E% E% *E! "E% ;*E% :VE% (N4ZE! BE% Dy a `#,3LA6-`j@6Rx@6Oٱ6!1>6HG9dYh=j_Eyhj<Ej>lQ 5r 5n. 5yzEBɮzAzE%DNOT Ignoring new targets: 23.57 m.h!h)h)h)h1g1gAjgIrgIreIZeI:eQ*eUq?Ա[["[*[j@eO) ?i9)顽6:ii!!IIIIDDAT read: Rx Time:01:31:44.6229 TRx dataTimestamp_ set to:1764898304.969778PDAT read: Bearing 195.4, 36.4 (Local) ~Local bearing/azimuth received: Bearing 195.4, 36.4 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.4 5DAT read: 01:31:44.6229 LVL= 26608, 16961, 30818, 32755, AGC= 49, IDX= 501, 0.02,-2.645,-1.810, 2.633,-2.527, PHS=-0.016, 0.762,-1.167, RAW= 6.4, 5.1, CAL= 6.3, 3.7, ROT= 143.7, -3.7 Ei9EYgot valid direction response: 01:31:44.6229 LVL= 26608, 16961, 30818, 32755, AGC= 49, IDX= 501, 0.02,-2.645,-1.810, 2.633,-2.527, PHS=-0.016, 0.762,-1.167, RAW= 6.4, 5.1, CAL= 6.3, 3.7, ROT= 143.7, -3.7 mT#Rx 44: Read range and direction messages.}^direction in FSK: [-0.804248,0.590779,0.064532]}Fpublishing direction and range infoyk^g鿊{?P0?YAgABbx )IoioC?B`=K=z0=  A=) @I A#vꪐٿ3K?  )ഽI @i Achecking for new query: numPingsReceived=44, elapsed TxPingTime=21.460125@ @@4@! ^A9 II IY Om >I`#,MLAchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.669712:k@:y@:~ٱ:2>:H l |? #?@oq?;?`f?i:k@I:>];8Y@yDDn%=Dn=bEijEmP4rEmL/Ev EvEv,Et"Ev ;*Ev:VEvg4ZEtaz@az@az@az@iMb@Mb@Mb@ 9S㥛?)\(y&1Y>yGὙ`e@A X@)n@Yf@bDVD8yR%;=ٔE:Q->9Y=_Eyz<E>Q 5 5~?Q 9 5E)2BY>Q E:y'Q IJ@DI:io:2 5yɮAi i >LAj ſA"j ſA:j u >Rj KDjVrG3vR,@m$[D?Bj k^g鿊{?P0?*j @2j AZj 5Tq7@", @TѬ5@Jj h*K?UR? ?j H@ j Ai 6?i )j Bj +>?j .Zj Brj zAzj nt>M addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504514 s, deltaX: 0.400000 m, approachRate: 0.792841 m/s, rangeRepo size: 4  Added new target pos. range: 23.971561 m, bearing: 7.611663 deg, lat: 36.779537 deg, lon: -121.859745 deg, deltaT: 0.504514 s, deltaX: 0.399534 m, approachRate: 0.791919 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.97 m.hhhhhggjgrgBreZe:e8@*e?[U>[U>"[U4W@*[Uv%j@e~)i m?im9)6T:iiIII9?)Y?w9!)@) @1@5/@1DDAT read: Rx Time:01:31:45.1230 TRx dataTimestamp_ set to:1764898305.473121PDAT read: Bearing 195.5, 37.1 (Local) ~Local bearing/azimuth received: Bearing 195.5, 37.1 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.4 %DAT read: 01:31:45.1230 LVL= 27344, 17905, 29618, 32755, AGC= 50, IDX= 502,-0.35, 1.444, 2.257, 0.430, 1.563, PHS=-0.017, 0.739,-1.178, RAW= 6.9, 5.5, CAL= 6.9, 4.4, ROT= 143.1, -4.4 -Ygot valid direction response: 01:31:45.1230 LVL= 27344, 17905, 29618, 32755, AGC= 50, IDX= 502,-0.35, 1.444, 2.257, 0.430, 1.563, PHS=-0.017, 0.739,-1.178, RAW= 6.9, 5.5, CAL= 6.9, 4.4, ROT= 143.1, -4.4 5T#Rx 45: Read range and direction messages.=^direction in FSK: [-0.797328,0.598651,0.076719]=Fpublishing direction and range infoy\ꥵ4]F%(?.0ۣ?YAjEs )2ICi/=?ȖϢ= =Ϣ= nF=) @InFQÆ*ؿ*fpO0F? )ĽI @inFchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.949663^AE FӅIQ Ia Om >y t`#,gLA2k@2Py@2szٱ22>2Hw- ?,ؽ,G_?`@o?@%?``?i2k@I2];2CYBByBIbDJVDJ8yR%R_=ٔR1:Q-V>9TYT=V_EyTZs<EZ>\Q 5= 5^Dr?Q 9= 5^G)^-BYAyEB'Q IEJ@^DI^GRj E3,@y?Bj \ꥵ4]F%(?.0ۣ?*j @2j nFZj 5u܀7@+y @*@Jj 掉L6? *Q7?H?j _M@ j Ai C4?i 1dj ABj 6?j )j Brj uAzj t >Qu addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503343 s, deltaX: 0.200001 m, approachRate: 0.397345 m/s, rangeRepo size: 4  Added new target pos. range: 24.171324 m, bearing: 7.750859 deg, lat: 36.779536 deg, lon: -121.859749 deg, deltaT: 0.503343 s, deltaX: 0.199762 m, approachRate: 0.396871 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hhhhhggjgrgB+>BCBBBc =BBB;BLYE5checking for new query: numPingsReceived=45, elapsed TxPingTime=22.173817reZeI:eU@338@*eUN?[["[*[_j@sz) ?i9)6:iiIIE EEE"E%;*E:VEZEBEK ¸= V> A=) G@I A i~׿UC7? \) mI G@i A e checking for new query: numPingsReceived=46, elapsed TxPingTime=22.441456^Ae Iq I O > t\ `#,ǃLAryl@rrz@rx^ٱr%0>rH? ;P;?k?<??iryl@Irߤ];rCYzByzI ||iMb@Mb@Mb@ 9"~j?"~j/$YS>yS㽙@A )A@Y@bD=.VD=װ8yEj%M2=ٔMp:Q-M>9QYq=u_Eyq}O<E}>yQ 5 5}b?Q 9 5}J)}$BY>Q E:y&Q IJ@}DԱI}M:i}/;}M9 5y>Bɮ(AEiir~LAjA"jA:j=RjV*3BO%E.@qQ3MD?BjW|鿠wե?P0?*jG@2j AZjo n 07@Que @E^@Jj|R?Vfp"?$?h?j[8@ jAiˉE?iYjBjj1djBrjAzj >M addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504018 s, deltaX: 0.299999 m, approachRate: 0.595215 m/s, rangeRepo size: 4 } Added new target pos. range: 24.471077 m, bearing: 6.857160 deg, lat: 36.779536 deg, lon: -121.859749 deg, deltaT: 0.504018 s, deltaX: 0.299753 m, approachRate: 0.594727 m/s, posRepo size: 4 }DNOT Ignoring new targets: 24.47 m.hyhyhyhhggjgrg|BreZe:e8@*eD?[E>[E>"[E8@*[E|k@}x^) ?i:9)顭6:iiIIEchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.677814E EE)E"ET;*E:VEFA4ZEa @a @a @a @9 % 9@!  @! @% v4@) 9  DDAT read: Rx Time:01:31:46.1233 TRx dataTimestamp_ set to:1764898306.481986 PDAT read: Bearing 196.6, 38.7 (Local) ~Local bearing/azimuth received: Bearing 196.6, 38.7 (Local) %DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.4 EDAT read: 01:31:46.1233 LVL= 25264, 18481, 27266, 29811, AGC= 50, IDX= 505,-0.24, 1.309, 2.062, 0.273, 1.407, PHS= 0.004, 0.700,-1.178, RAW= 8.5, 5.8, CAL= 8.4, 5.0, ROT= 141.6, -5.0 MYgot valid direction response: 01:31:46.1233 LVL= 25264, 18481, 27266, 29811, AGC= 50, IDX= 505,-0.24, 1.309, 2.062, 0.273, 1.407, PHS= 0.004, 0.700,-1.178, RAW= 8.5, 5.8, CAL= 8.4, 5.0, ROT= 141.6, -5.0 UT#Rx 47: Read range and direction messages.]^direction in FSK: [-0.780711,0.618784,0.087156]]Fpublishing direction and range infoyrx` ?O?YAb1Hj st)Io;i333?Ȗ>^AiIqIO>H'`#,LA4Q=Q > ¸=)2+@I¸, lV׿TVщQM? 8)ϽI2+@i¸^checking for new query: numPingsReceived=47, elapsed TxPingTime=22.974602hrX0m@r"{@r<ٱrjV/>rHױ=? <KZ`r?Rg?f? +?irX0m@Ir];pYByIbDu)VDuҰ8y}[%5=ٔ1:Q->9Y=_Ey2<E>Q 5 5S?Q 9 5M)BYy%Q IJ@DI?;i%;S= 5y)ɮ5@A1ii؞LAjA"jA:j>Rj̓.3Fh.@-]!@Bjrx` ?O?*j2+@2j¸Zj<H7@cU @x@Jj)t&?wO?&"K3?jJ@ jZAiuj3?i9jBjC4?jjrjlAzj > addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504847 s, deltaX: 0.100000 m, approachRate: 0.198081 m/s, rangeRepo size: 4 - Added new target pos. range: 24.570961 m, bearing: 7.541968 deg, lat: 36.779536 deg, lon: -121.859749 deg, deltaT: 0.504847 s, deltaX: 0.099884 m, approachRate: 0.197850 m/s, posRepo size: 4 5DNOT Ignoring new targets: 24.57 m.h1h1h1h1h1g9g9jg9rgreZe:e8@*e ?[["[*[O+l@<) ,?iس9)6/:ii%!)I)I)9@ @@/@BAB)>BCBIBBBBBB;BTYEB]CB]CBYB]c =B]c =C]_K5checking for new query: numPingsReceived=47, elapsed TxPingTime=23.181871)E EE(E"E:*E&p:VEc44ZEBE<Q -`#,鹀LA9n@|@ٱr->H@5`$??@ P`@Q?4|`?ѓ?`?in@It];CYBy}IuDDAT read: Rx Time:01:31:46.6234 }TRx dataTimestamp_ set to:1764898306.985136PDAT read: Bearing 198.3, 39.9 (Local) ~Local bearing/azimuth received: Bearing 198.3, 39.9 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.4 DAT read: 01:31:46.6234 LVL= 26960, 19233, 27634, 26355, AGC= 50, IDX= 506, 0.16,-2.779,-2.064, 2.433,-2.719, PHS= 0.042, 0.699,-1.175, RAW= 9.8, 5.3, CAL= 9.7, 4.3, ROT= 140.3, -4.3 Ygot valid direction response: 01:31:46.6234 LVL= 26960, 19233, 27634, 26355, AGC= 50, IDX= 506, 0.16,-2.779,-2.064, 2.433,-2.719, PHS= 0.042, 0.699,-1.175, RAW= 9.8, 5.3, CAL= 9.7, 4.3, ROT= 140.3, -4.3 T#Rx 48: Read range and direction messages.^direction in FSK: [-0.767234,0.636970,0.074979]Fpublishing direction and range infoyquz.\0b?]1?YufAquPiu!Kuk uf)qIu1,=iu2?uffu%/>uq=iMb@Mb@Mb@ 9x?!rh rhYK>yl罙C A I@)v@Yp@bD%VD%8y5`7%5&=ٔ5:Q-=>Y9yYy=}_Ey2=E>Q 5 5B?Q 9 5 Q)BY>Q E:yg#u-\-> u`=)ut@Iu`qqu!ڪֿt6Xm[ȥ? u6)u7CIut@iu`qqchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.506550Q IJ@DI-;i;A 5yDBɮAEiqiux LAju*A"ju*A:juE>RjuLjr>32zg/@,_`?Bjuz.\0b?]1?*jut@2ju`Zju*8@M@8`@Jju]#8?%>N?j`?ju%G@ juWAiu8 7?iu -3juBju 6?ju9juABrjuAzju >u addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.503150 s, deltaX: 0.199999 m, approachRate: 0.397494 m/s, rangeRepo size: 4  Added new target pos. range: 24.770620 m, bearing: 7.336665 deg, lat: 36.779536 deg, lon: -121.859752 deg, deltaT: 0.503150 s, deltaX: 0.199659 m, approachRate: 0.396819 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.77 m.hhhhhggjgrghBreZe:e8@*e`r?[=>[=>"[=)@*[=n@u)q uH!?iu9)q}6}:iyi}󙷾IIԉ1@1 @1@9@9@A@E=% checking for new query: numPingsReceived=48, elapsed TxPingTime=23.685856Ա E  E E ,E "E ;*E h:VE g4ZE a @a @a @a @^AM IY Ii O} >^4`#,^ԀLAY By wII=)=bD% VD%8y5k%5=ٔ5Q-5?99Y9==_Ey9EEE?qAQ 5 5E8?Q 9 5E8S)EBYyQ IJ@EDIE9eB=e¸2> eK=)ea@IeKaaejf,տ%f=/S2,,? e!)e7ѽIea@ieKaachecking for new query: numPingsReceived=49, elapsed TxPingTime=23.953722^A%#I1IAOM>   BC:`#,'퀍LAB'>BBrIBBBe =BBFDB;B^YER90o@R"}@R ٱR->RH? W% A` ?:\?ǡ?'?iR90o@IRn];Pbchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.190634j݂Gxm9iYmAYmBE} E}E}&Ey"E}T;*E}:VE}4ZEyBE}G9Y=_Ey<E>Q 5 5)?Q 9 5]V)BYy"Q I%J@DI`:iK:G 5y-=Bɮ-AMEiiM߀LAjA"jA:j >Rj{.F24/@ɯ@Bj싗jp}|??*ja@2jKZjڿ=,8@$-4 @̙>2lY@Jj+)?:`?'m?jQ@ jeAiEK?ikc6jUBjC4?jYjBrjLAzjI > addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503996 s, deltaX: 0.100000 m, approachRate: 0.198415 m/s, rangeRepo size: 4  Added new target pos. range: 24.870365 m, bearing: 7.716189 deg, lat: 36.779536 deg, lon: -121.859754 deg, deltaT: 0.503996 s, deltaX: 0.099745 m, approachRate: 0.197908 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.87 m.h h hhhggjgrgreZe:e`f8@*e?[["[*[[o@ ) ?im9)顭 6:iiII u9@y @y@/@)iiImAuDDAT read: Rx Time:01:31:47.6237 }TRx dataTimestamp_ set to:1764898307.993352PDAT read: Bearing 200.1, 41.5 (Local) ~Local bearing/azimuth received: Bearing 200.1, 41.5 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.4 DAT read: 01:31:47.6237 LVL= 24384, 16961, 30306, 32755, AGC= 50, IDX= 509, 0.13, 2.881,-2.744, 1.784, 2.913, PHS= 0.069, 0.670,-1.174, RAW= 11.4, 5.4, CAL= 11.3, 4.4, ROT= 138.7, -4.4 Ygot valid direction response: 01:31:47.6237 LVL= 24384, 16961, 30306, 32755, AGC= 50, IDX= 509, 0.13, 2.881,-2.744, 1.784, 2.913, PHS= 0.069, 0.670,-1.174, RAW= 11.4, 5.4, CAL= 11.3, 4.4, ROT= 138.7, -4.4 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.749050,0.658057,0.076719]Fpublishing direction and range infoyquq7Cۓ?.0ۣ?YuAqu@_uABubv u)qIuO=iu+?uEu%K>u=uI> unF=)u@IunFqquX\Կ+0|U? u )uIu@iunFqq checking for new query: numPingsReceived=50, elapsed TxPingTime=24.490223^A I I O% >Q A`#,3LA.1o@.ο}@.κٱ.}->.HQ"?`rwo;?Y??@:?i.1o@I.];.CYBByBrIimMb@Mb@Mb@iiii i9mS?~jty&1Ym>ymĽm`imA m+@)m`@iYm@bD#VDͰ8y%L=ٔν9Q->9Y=_Ey^<E>Q 5 5?Q 9 5QY)BY>Q E:y Q IJ@"DI;i#:uK 5y ɮ A1iiLAjA"jA:jD=Rj5]2!:`0@٤?Bjq7Cۓ?.0ۣ?*j@2jnFZjpԄRBu8@5N@;:@Jj ,7?[ ?>!?j\<@ jAiA)?i# jBjuj3?j -3jBrjzAzj >e addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504220 s, deltaX: 0.200001 m, approachRate: 0.396654 m/s, rangeRepo size: 4 u Added new target pos. range: 25.070129 m, bearing: 6.861670 deg, lat: 36.779536 deg, lon: -121.859754 deg, deltaT: 0.504220 s, deltaX: 0.199764 m, approachRate: 0.396185 m/s, posRepo size: 4 }DNOT Ignoring new targets: 25.07 m.hyhyhyhyhygygjgrgdBreZe:e9@*e?[>[>"[@*[q@κ) ?ik9)6m:iiII I)checking for new query: numPingsReceived=50, elapsed TxPingTime=24.693792E EE)E"E;*EM:VEFA4ZEa@a@a@a@a]9@a @a@e/@iԑ DDAT read: Rx Time:01:31:48.1238  TRx dataTimestamp_ set to:1764898308.497030 PDAT read: Bearing 199.1, 41.9 (Local)  ~Local bearing/azimuth received: Bearing 199.1, 41.9 (Local)  DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.4 Թ  DAT read: 01:31:48.1238 LVL= 25216, 16433, 27250, 27891, AGC= 50, IDX= 510,-0.32, 0.427, 1.074,-0.667, 0.480, PHS= 0.049, 0.640,-1.191, RAW= 11.6, 6.3, CAL= 11.5, 5.7, ROT= 138.5, -5.7  Ygot valid direction response: 01:31:48.1238 LVL= 25216, 16433, 27250, 27891, AGC= 50, IDX= 510,-0.32, 0.427, 1.074,-0.667, 0.480, PHS= 0.049, 0.640,-1.191, RAW= 11.6, 6.3, CAL= 11.5, 5.7, ROT= 138.5, -5.7  T#Rx 51: Read range and direction messages. ^direction in FSK: [-0.745252,0.659344,0.099320] Fpublishing direction and range infoy  jOCX?hܸm?Y A b 1@ rj l) I 9H=i #? r 4QO> z0= M> %=) @I %˽ a~Կ<1S-iL]? >) b߽I @i %˽ M checking for new query: numPingsReceived=51, elapsed TxPingTime=24.971415^A5 #I9 IQ O] >ZH`#,9#LAɰ-q@~@3ٱ },>HMo?@[տ@1@ɼ?@uR?u? ?i-q@I'];Y5By5lIaabDmVDm8yy%==ٔ`:Q->9Y=_Ey`5=E>Q 5 5?Q 9 5\)BYyTQ IJ@(DIK;i;:O 5y7BɮAEiiWLAj\A"j\A:jf >RjpF! 2990@Lh@BjjOCX?hܸm?*j@2j%˽ZjvGR?%c8@;; @u2@Jjr??,3 addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503678 s, deltaX: 0.100000 m, approachRate: 0.198540 m/s, rangeRepo size: 4 U Added new target pos. range: 25.170010 m, bearing: 7.911796 deg, lat: 36.779535 deg, lon: -121.859755 deg, deltaT: 0.503678 s, deltaX: 0.099880 m, approachRate: 0.198302 m/s, posRepo size: 4 UDNOT Ignoring new targets: 25.17 m.hYhYhYhYhYgagajgirgreZe:e@339@*e`?[["[*[r@53)1 5?i59)9=N6=H:i9iEAAIAIaԡA @AA B&>BB`IBBBBBB;BIYEchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.1984549@ @@0@E EE,E"E%;*E҆:VEg4ZEBEK )N`#,}=LAGq@@ٱv,>H @? @~x?rCQ? t? ?iGq@I];CYBybI=DDAT read: Rx Time:01:31:48.6240 ETRx dataTimestamp_ set to:1764898309.001215MPDAT read: Bearing 189.6, 31.2 (Local) M~Local bearing/azimuth received: Bearing 189.6, 31.2 (Local) ]DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.4 DAT read: 01:31:48.6240 LVL= 26528, 17393, 32546, 32755, AGC= 50, IDX= 512, 0.06,-0.247, 0.728,-0.995, 0.154, PHS=-0.299, 0.619,-1.193, RAW= 359.6, 11.1, CAL= 359.8, 12.8, ROT= 150.2, -12.8 Ygot valid direction response: 01:31:48.6240 LVL= 26528, 17393, 32546, 32755, AGC= 50, IDX= 512, 0.06,-0.247, 0.728,-0.995, 0.154, PHS=-0.299, 0.619,-1.193, RAW= 359.6, 11.1, CAL= 359.8, 12.8, ROT= 150.2, -12.8 T#Rx 52: Read range and direction messages.^direction in FSK: [-0.846201,0.484624,0.221548]Fpublishing direction and range infoy9=?@|[?Y=A9=g=C=" =)9I=i=v?=9=@=aF>=B@ =d>)=g'@I=d99=voi:߿-08x_ij? =ۇ)=FI=g'@i=d99checking for new query: numPingsReceived=52, elapsed TxPingTime=25.470198i}Mb@Mb@Mb@yyyy y9}Zd;O?MbX~jtY}~>y}ʽ}ļ}@}zA }@)}X@yY}z@bDVDyc%=ٔ.*9Q->9Y=_Ey<E>Q 5 5G?Q 9 5`)BY9>Q E:yuQ IJ@1DI;in:1T 5yɮ Ai9i=@LAj=A"j=A:j= G>Rj=/Cj5LKD(@9o-@Bj=?@|[?*j=g'@2j=dZj= 6@:!@o@Jj=M6,t?A-?+ѵ ?j=9 A j=-Ai=q?i=ϟxj=͐Bj=EK?j9j=UBrj=Azj=Z(> addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504185 s, deltaX: 0.299999 m, approachRate: 0.595018 m/s, rangeRepo size: 4  Added new target pos. range: 25.469604 m, bearing: 21.293163 deg, lat: 36.779534 deg, lon: -121.859755 deg, deltaT: 0.504185 s, deltaX: 0.299595 m, approachRate: 0.594216 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.47 m.hhhhhggjgrgCBre Ze :e 9@*e  ?A[U9>[U9>"[U?@*[U$r@) (?iH9)額y6":iiIIchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.701759E  E E E "E ;*E :VE ZE a @a @a @a @ 9@  @ @ /@! @) @) q ^AaIIiOu?y!W`#,]LA02@N)r@NE@NńٱN,>NH?5` A` "=?@P?@ ??iN)r@IN];NCYfByjoIbDVD8ydž=%~=ٔ9Q- ?9Y-DDAT read: Rx Time:01:31:49.1240 -TRx dataTimestamp_ set to:1764898309.505211=PDAT read: Bearing 194.2, 35.3 (Local) =~Local bearing/azimuth received: Bearing 194.2, 35.3 (Local) MDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.4 uDAT read: 01:31:49.1240 LVL= 24304, 17297, 29826, 30291, AGC= 49, IDX= 512, 0.47,-1.148,-0.133,-2.235,-0.846, PHS=-0.200, 0.758,-1.433, RAW= 4.1, 9.2, CAL= 4.2, 9.9, ROT= 145.8, -9.9 Ygot valid direction response: 01:31:49.1240 LVL= 24304, 17297, 29826, 30291, AGC= 49, IDX= 512, 0.47,-1.148,-0.133,-2.235,-0.846, PHS=-0.200, 0.758,-1.433, RAW= 4.1, 9.2, CAL= 4.2, 9.9, ROT= 145.8, -9.9 T#Rx 53: Read range and direction messages.^direction in FSK: [-0.814765,0.553714,0.171929]Fpublishing direction and range infoy)-*oG꿍je?!?Y))-^-C-t -Sv)-1I-Li-J B?-l-C=-l$>-Q = -;0>)-4"@I-;0=5_Ey1M;<EM>yQ 5 5}?Q 9 5}c)}BYyQ IJ@}6DI}:i}:}cW 5yɮA))-Tlۿ'dljc? -_i)-%I-4"@i-;0))checking for new query: numPingsReceived=53, elapsed TxPingTime=26.014200i)i-aU`LAj)"j):j->Rj-Y@q4F4,@>@Bj-*oG꿍je?!?*j-4"@2j-;0Zj-D0l7@@ @Jj-}QNQ?x ?f?j-@ j-+Ai- addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503996 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.469604 m, bearing: 16.895869 deg, lat: 36.779533 deg, lon: -121.859755 deg, deltaT: 0.503996 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.47 m.hhhhhgg!jg!rg!re!Ze):eI*eU_?[["[*[77s@ń) a.?i9)6:iiII9@ @@/@B$>BBSIBBBBBB;BKYEchecking for new query: numPingsReceived=53, elapsed TxPingTime=26.205963) E  E E +E "E *E :VE [4ZE BE >CC<]`#,IwLA2Hr@2Q@2*qvٱ2,>2H\>? SOli`X?%N? w? ?i2Hr@I2];2CY>By>iIIF<)F;bDJVDJ8yRnҼ%VS=ٔVE9Q-V>9TYX=Z_EyXb<Eb>lQ 5z 5n)益?Q 9~ 5n6f)nBYyaQ I J@n;DIn;in;njZ 5y-0Bɮ-A1DNOT Ignoring new targets: 25.47 m.hhhhhgg!QjgYrgareiZe:e*e ?[["[*[?s@*qv) +?i9)!6%:i!UDDAT read: Rx Time:01:31:49.6243 ]TRx dataTimestamp_ set to:1764898310.009167ePDAT read: Bearing 199.9, 43.5 (Local) e~Local bearing/azimuth received: Bearing 199.9, 43.5 (Local) uDAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.4 DAT read: 01:31:49.6243 LVL= 32752, 21297, 30418, 30355, AGC= 53, IDX= 3,-0.11, 1.937, 2.533, 0.830, 1.989, PHS= 0.050, 0.589,-1.203, RAW= 13.0, 7.1, CAL= 12.9, 7.0, ROT= 137.1, -7.0 Ygot valid direction response: 01:31:49.6243 LVL= 32752, 21297, 30418, 30355, AGC= 53, IDX= 3,-0.11, 1.937, 2.533, 0.830, 1.989, PHS= 0.050, 0.589,-1.203, RAW= 13.0, 7.1, CAL= 12.9, 7.0, ROT= 137.1, -7.0 T#Rx 54: Read range and direction messages.^direction in FSK: [-0.727083,0.675647,0.121869]Fpublishing direction and range infoyQUpCDtE?UM7P2?YUAQUU1SUv Uv)U5IUL=iU?UUVh>U=Uf> U5=)Uf$@IU5QQU6TZҿM2w[)@ ο? U&$)UIUf$@iU5QQchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.473940iII y9@ @@/@ԩ ^A FӅI I O > checking for new query: numPingsReceived=54, elapsed TxPingTime=26.709703$d`#,`LAD0zD2?AbEqjEu(N4rEu/0E6 E6E6)E4"E6~ ;*E6$:VE6FA4ZE4a:@a:@a:@a:@@>5s@>0@>+yZٱ>/+>>Hy@@? J/1g? %OK?I??i>5s@I>];>CYzByzqIi}Mb@Mb@Mb@yyyy y9}e;O?RQY}>y}½}̼}@y }+@)}n@yY}p@bDVD8yW<%;=ٔK9Q->9Y=_Eyv<E>Q 5 5ٛ?Q 9 5i)BY>Q E:yQ IK@BDI:i:1^ 5yɮvAii1LAjA"jA:j>Rj2D1@{Q @BjpCDtE?UM7P2?*jf$@2j5Zj>8@hgP*?@@Jj?Ợ??jq@ jAi4?iTKjBj4?jsjBrj7Azjo+> addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503956 s, deltaX: 0.500000 m, approachRate: 0.992150 m/s, rangeRepo size: 4  Added new target pos. range: 25.968885 m, bearing: 8.607948 deg, lat: 36.779532 deg, lon: -121.859756 deg, deltaT: 0.503956 s, deltaX: 0.499281 m, approachRate: 0.990723 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.97 m.hhhhhggjgrg_BreZe:e:@*e`?[>[>"[@*[XOu@5+yZ)9 =H!?i=9)9=6=:i9iE󙷾AAIAIIԱ9@ @@3@eDDAT read: Rx Time:01:31:50.1243 eTRx dataTimestamp_ set to:1764898310.513239uPDAT read: Bearing 202.5, 44.7 (Local) u~Local bearing/azimuth received: Bearing 202.5, 44.7 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.4 DAT read: 01:31:50.1243 LVL= 30176, 17873, 31714, 32163, AGC= 52, IDX= 499, 0.13, 3.116,-2.607, 1.973, 3.119, PHS= 0.099, 0.602,-1.190, RAW= 14.2, 6.2, CAL= 14.2, 5.6, ROT= 135.8, -5.6 Ygot valid direction response: 01:31:50.1243 LVL= 30176, 17873, 31714, 32163, AGC= 52, IDX= 499, 0.13, 3.116,-2.607, 1.973, 3.119, PHS= 0.099, 0.602,-1.190, RAW= 14.2, 6.2, CAL= 14.2, 5.6, ROT= 135.8, -5.6 T#Rx 55: Read range and direction messages.^direction in FSK: [-0.713489,0.693838,0.097583]Fpublishing direction and range infoyae8q>.3?A_1?YaaeueEe{ e})e4Ie=ie?eQe}>ek=e}> e+=)e@Ie+ȽaaeTj\PѿTsץ<|? eU)e3QܽIe@ie+Ƚaachecking for new query: numPingsReceived=55, elapsed TxPingTime=26.977875^AM IY Ii O} > NOj`#, >LAɰp;Fs@FӀ@FZlٱFZ(>FHH@j?/*+Ӻ?+M?N? Ɛ?iFs@IF];FCYVByVcIbD^տVD^8yff%fY=ٔjFAQ-j>9hYh=n`EyllrI<Er>tQ 5z 5v͛?Q 9z 5vl)vBYxyzTQ IzK@vHDIv:ivy:v~a 5y)BɮAEiiؠLAj"j:jZ>Rj&NL2H2@|EE@Bj8q>.3?A_1?*j@2j+ȽZjb~3,9@k_ @-$!@JjUt?Zl??jEU@ jaAi?iЛ2jyBjBAB%>BBMIBBBBBB;BYYEjjrjyAzj3"> addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504072 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.968885 m, bearing: 7.541043 deg, lat: 36.779532 deg, lon: -121.859756 deg, deltaT: 0.504072 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 25.97 m.h!h!h!h!h!g)g)jg)rg)re1ZeQ:eQ*eU@Y?[["[*[u@Zl) ?iz9)顭6checking for new query: numPingsReceived=55, elapsed TxPingTime=27.214247:iIiUQQIQIYE EE.E"E;*E:VEـ4ZEBEa2EaJE;a:E;a 9@ @@)5@9^A- IY Iy O >iq Iq  DDAT read: Rx Time:01:31:50.6244  TRx dataTimestamp_ set to:1764898311.021853 PDAT read: Bearing 203.3, 45.4 (Local)  ~Local bearing/azimuth received: Bearing 203.3, 45.4 (Local)  DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.4  DAT read: 01:31:50.6244 LVL= 27376, 17697, 30946, 32755, AGC= 53, IDX= 500, 0.48,-2.370,-1.832, 2.753,-2.382, PHS= 0.114, 0.595,-1.192, RAW= 14.9, 6.1, CAL= 14.9, 5.5, ROT= 135.1, -5.5  Ygot valid direction response: 01:31:50.6244 LVL= 27376, 17697, 30946, 32755, AGC= 53, IDX= 500, 0.48,-2.370,-1.832, 2.753,-2.382, PHS= 0.114, 0.595,-1.192, RAW= 14.9, 6.1, CAL= 14.9, 5.5, ROT= 135.1, -5.5  T#Rx 56: Read range and direction messages. ^direction in FSK: [-0.705079,0.702622,0.095846] Fpublishing direction and range infoy  ^Z{?aVX?Y A j !E x ) 5I x=i Q? u %> ^ = %> =) }@I Ľ l:пC~q"$? z) ٽI }@i Ľ  checking for new query: numPingsReceived=56, elapsed TxPingTime=27.486185 ;7q`#,eŁLA0t@@Nٱ4(>H?9@q?I?`l??i0t@I7];CYByaI iMb@Mb@Mb@ 9 +?EԸ~jtY>yƽļ@dA @)X@Y@bD˿VD|8y%%%=ٔ- h9Q-->9)Y)=5`Ey15q<E5>9Q 5E 5=~?Q 9E 5=!q)=BYM>Q EM:yMQ IMK@=PDI=7 ;i= ;=e 5yU5BɮUAUEii fLAjA"jA:jV>Rj rka29Q2@ʐq@Bj^Z{?aVX?*j}@2j ĽZj! ?J9@|ẹ @>ri\@JjwG ?8 ?/?jM@ jQAiU?ijjU?jTKjrjAzj#> addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.508614 s, deltaX: 0.100000 m, approachRate: 0.196614 m/s, rangeRepo size: 4  Added new target pos. range: 26.068779 m, bearing: 7.246412 deg, lat: 36.779532 deg, lon: -121.859757 deg, deltaT: 0.508614 s, deltaX: 0.099894 m, approachRate: 0.196404 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.07 m.hhhhhggjgrg9BreZe:e:@*e`y?[>[>"[@*[v@N)  .?i 9)  6 :i iIIchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.718374E EE*E"El;*EZ:VE(N4ZEa@a@a@a@@ @@45@1^A FӅI1 a Ia Om >`w`#,ށLA2Yt@2O@2C<ٱ2\(>2H)?X@x4?@(G?V??i2Yt@I2 ^;2CYNByRjIbDZҿVDZ8yb?G=%b=ٔb9Q-f?9dYd=f`Eydj<Ej?lQ 5r 5nQ?Q 9r 5ns)nBYpyrQ IvK@nUDIn ;in;nh 5yxɮzAx-DDAT read: Rx Time:01:31:51.1245 -TRx dataTimestamp_ set to:1764898311.5211995PDAT read: Bearing 201.7, 45.4 (Local) =~Local bearing/azimuth received: Bearing 201.7, 45.4 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.4 DAT read: 01:31:51.1245 LVL= 27360, 18641, 31938, 32755, AGC= 53, IDX= 501,-0.11, 1.153, 1.690, 0.011, 1.174, PHS= 0.082, 0.561,-1.207, RAW= 14.8, 7.2, CAL= 14.7, 7.0, ROT= 135.3, -7.0 Ygot valid direction response: 01:31:51.1245 LVL= 27360, 18641, 31938, 32755, AGC= 53, IDX= 501,-0.11, 1.153, 1.690, 0.011, 1.174, PHS= 0.082, 0.561,-1.207, RAW= 14.8, 7.2, CAL= 14.7, 7.0, ROT= 135.3, -7.0 T#Rx 57: Read range and direction messages.^direction in FSK: [-0.705501,0.698152,0.121869]Fpublishing direction and range infoy)-tw濄uAW?UM7P2?Y-fA)-j-H-| )))I-=i-?-~- A>->-G\> -5=)-!@I-5DNOT Ignoring new targets: 26.07 m.))-DrпM$G$5ō? -)-?I-!@i-5))%checking for new query: numPingsReceived=57, elapsed TxPingTime=28.002405hh!h!h!h)g)g)jg)rg)re11ZeA:eML:@*eMϢ?[["[*[ҕv@C<) 1?is9)顥t7:iiIIaUر9BBBBBBBB;B^YEByByByB}e =B}e =C}ǕB4ԩchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.221760 @  @ @ 2@ @ @ =E  E E 'E "E ;*E :VE '4ZE BE D)~`#,|LA8:@\6u@X@*ٱ'>H=X?@i@]8 nй? wB?Q?D?i6u@I];CYBypI=DDAT read: Rx Time:01:31:51.6247 =TRx dataTimestamp_ set to:1764898312.025300MPDAT read: Bearing 205.8, 46.7 (Local) M~Local bearing/azimuth received: Bearing 205.8, 46.7 (Local) ]DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.4 DAT read: 01:31:51.6247 LVL= 25232, 19121, 32754, 32755, AGC= 52, IDX= 503, 0.18,-2.174,-1.679, 2.928,-2.223, PHS= 0.150, 0.588,-1.177, RAW= 16.2, 5.6, CAL= 16.2, 4.8, ROT= 133.8, -4.8 Ygot valid direction response: 01:31:51.6247 LVL= 25232, 19121, 32754, 32755, AGC= 52, IDX= 503, 0.18,-2.174,-1.679, 2.928,-2.223, PHS= 0.150, 0.588,-1.177, RAW= 16.2, 5.6, CAL= 16.2, 4.8, ROT= 133.8, -4.8 T#Rx 58: Read range and direction messages.^direction in FSK: [-0.689716,0.719229,0.083678]Fpublishing direction and range infoy9=&Β=?U]k?Y=A9=b=J= 9)=4I=>i=+?=𧖿=Ð>=+==Ð> ==)=t@I=99=2N[[οuySn׸? =)=aǽI=t@i=99checking for new query: numPingsReceived=58, elapsed TxPingTime=28.530439iMb@Mb@Mb@ 9?V-QYf>yu@A +@)A@YbDVD8y 9t<% =ٔ }9Q->9Y=`Eyz`<E=>AQ 5M 5Ep?Q 9M 5E5x)EBYM>Q EM:yMQ IUK@E^DIE:iE:Em 5y.BɮnAi9i=LAj=A"j=A:j==Rj=; dS2Pnh3@!g @Bj=&Β=?U]k?*j=t@2j=Zj=0G ]o9@O{@&<@b3@Jj=#]#?@? H?xp}i?j=D@ j=Ai= $?i='j=:Bj=4?j=Л2j=yBrj=TAzj=B> addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 1.003447 s, deltaX: 0.500000 m, approachRate: 0.498282 m/s, rangeRepo size: 4  Added new target pos. range: 26.568203 m, bearing: 6.758253 deg, lat: 36.779532 deg, lon: -121.859764 deg, deltaT: 1.003447 s, deltaX: 0.499424 m, approachRate: 0.497708 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.57 m.hhhhhg g jg rg DBre1Ze1:e5:@*e5U?[u>[u>"[u"@*[uHs@*) .?ib9)顥7:iiII checking for new query: numPingsReceived=58, elapsed TxPingTime=28.726192 @  @ @ 0@! I E  E E ,E "E ;*E :VE g4ZE a @a @a @a @q ^AIIO>Ά`#,LAJ$u@J`ԁ@J߹ٱJ'>JH? _A<@? ;? k?.?iJ$u@IJ1];JCYVByVIbD^VD^8yf=%jf=ٔj9Q-j>9lYl=n`EylnF<En>pQ 5z 5r?Q 9z 5rz)rBYxyzQ I~K@rcDIrR:ir:rp 5y/BɮA-DNOT Ignoring new targets: 26.57 m.h)h)h1h1h1g1g1jg9rg9re9Ze9:e9*e=@?[Y[Y"[Y*[]a t@u߹)q u3?iu9)y}Q7}z:iyiԁIIDDAT read: Rx Time:01:31:52.1248 TRx dataTimestamp_ set to:1764898312.529577PDAT read: Bearing 204.1, 46.9 (Local) ~Local bearing/azimuth received: Bearing 204.1, 46.9 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.4 DAT read: 01:31:52.1248 LVL= 22928, 18481, 31842, 32755, AGC= 50, IDX= 504,-0.38, 0.957, 1.449,-0.218, 0.939, PHS= 0.120, 0.555,-1.201, RAW= 16.2, 6.7, CAL= 16.1, 6.4, ROT= 133.9, -6.4 Ygot valid direction response: 01:31:52.1248 LVL= 22928, 18481, 31842, 32755, AGC= 50, IDX= 504,-0.38, 0.957, 1.449,-0.218, 0.939, PHS= 0.120, 0.555,-1.201, RAW= 16.2, 6.7, CAL= 16.1, 6.4, ROT= 133.9, -6.4 T#Rx 59: Read range and direction messages.^direction in FSK: [-0.689080,0.716061,0.111469] Fpublishing direction and range infoyU} wO? -V:?YAY1Hb| )2I=i{?^|=ޏ> =)W@I佩j‚@<ο̱M\ٽ? )C[IW@i佩-checking for new query: numPingsReceived=59, elapsed TxPingTime=28.9987161@1 @1@5/@1Ա^A?΅I1IAOUu>pG{A9{AYFAAAAAB &>B B YIB BB B B B ;B dYE= checking for new query: numPingsReceived=59, elapsed TxPingTime=29.229883E  E E 'E "E ;*E |:VE '4ZE BE A2H N` -?[ [? %???i22v@I2];2CYRByRIbDZVDZ8yv)/<%vJ=ٔv ,:Q-v>9xYx=z`Eyx~<E~>Q 5  5e?Q 9  5})BY y Q I K@iDI:i`:t 5y)BɮA=Eii!LAjXA"jXA:j >Rj]Da`23@ɋD@BjU} wO? -V:?*jW@2jZjK9@ @ >@Jj+z.?06?Ďj?je@ jAiA?i􌻤j΍BjjjrjmAzj_>5 addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504277 s, deltaX: 0.100000 m, approachRate: 0.198304 m/s, rangeRepo size: 4 E Added new target pos. range: 26.668125 m, bearing: 7.937667 deg, lat: 36.779532 deg, lon: -121.859767 deg, deltaT: 0.504277 s, deltaX: 0.099922 m, approachRate: 0.198149 m/s, posRepo size: 4 MDNOT Ignoring new targets: 26.67 m.hIhihihihqgqgqjgqrgqreyZey:e@3:@*e?[["[*[݉t@M()Q U 5?i]W9)aex 7t:iiII)!DDAT read: Rx Time:01:31:52.6250 TRx dataTimestamp_ set to:1764898313.039007 PDAT read: Bearing 205.4, 47.7 (Local) ~Local bearing/azimuth received: Bearing 205.4, 47.7 (Local) MDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.4 DAT read: 01:31:52.6250 LVL= 25312, 18737, 32754, 32755, AGC= 51, IDX= 506,-0.07, 2.240, 2.704, 1.051, 2.202, PHS= 0.140, 0.547,-1.195, RAW= 17.1, 6.5, CAL= 17.0, 6.1, ROT= 133.0, -6.1 9@ @@05@@!@%zAeYgot valid direction response: 01:31:52.6250 LVL= 25312, 18737, 32754, 32755, AGC= 51, IDX= 506,-0.07, 2.240, 2.704, 1.051, 2.202, PHS= 0.140, 0.547,-1.195, RAW= 17.1, 6.5, CAL= 17.0, 6.1, ROT= 133.0, -6.1 eT#Rx 60: Read range and direction messages.m^direction in FSK: [-0.678137,0.727213,0.106264]mFpublishing direction and range infoyQK jSE?O4?YAbQ1I )3I)\>i1 ?Θ>V=> ^ =)@I^ ڽCxy ֓`#,PLA2v@2L@2X9ٱ2)>2H. _M?ѧ=6?2 p$? z?i2v@I2KZ^;2CYBByBI~4=~=checking for new query: numPingsReceived=60, elapsed TxPingTime=29.734013iMb@Mb@Mb@ 9S㥛?X9v rhY>yC@A @)n@Y@bD-VD-8yET=%EE=ٔE<:Q-M>9IYI=M`EyIU<EU>E EE(E"El;*E҆:VEc44ZEa@a@a@a@)Q 55 5-}?Q 95 5-X)-BY5>Q E5:y5Q I5K@-oDI-;i-;-[x 5yAɮExAAQi i BLAj A"j A:j 7>Rj E=dI2C*d~3@"@Bj QK jSE?O4?*j @2j ^ ڽZj bf:@ @[f H@Jj @8H?d ?'J?j X@ j tAi 9?i Z(j ލBj 9?j j rj Azj E> addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.509430 s, deltaX: 0.299999 m, approachRate: 0.588892 m/s, rangeRepo size: 4  Added new target pos. range: 26.967766 m, bearing: 7.397999 deg, lat: 36.779532 deg, lon: -121.859768 deg, deltaT: 0.509430 s, deltaX: 0.299641 m, approachRate: 0.588188 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.97 m.hhhhhggjgrgrBreZe:e;@*e@'K?[>[>"[l@*[t@X9) #?i9)顝 7{:iiIII@I @Q@U/@YԉDDAT read: Rx Time:01:31:53.1250 TRx dataTimestamp_ set to:1764898313.537082PDAT read: Bearing 208.2, 48.9 (Local) ~Local bearing/azimuth received: Bearing 208.2, 48.9 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.4 DAT read: 01:31:53.1250 LVL= 24416, 17057, 31218, 32755, AGC= 52, IDX= 506, 0.15, 2.790,-3.067, 1.565, 2.703, PHS= 0.189, 0.558,-1.182, RAW= 18.4, 5.5, CAL= 18.4, 4.8, ROT= 131.6, -4.8  Ygot valid direction response: 01:31:53.1250 LVL= 24416, 17057, 31218, 32755, AGC= 52, IDX= 506, 0.15, 2.790,-3.067, 1.565, 2.703, PHS= 0.189, 0.558,-1.182, RAW= 18.4, 5.5, CAL= 18.4, 4.8, ROT= 131.6, -4.8  T#Rx 61: Read range and direction messages. ^direction in FSK: [-0.661598,0.745175,0.083678] Fpublishing direction and range infoy+O60z?U]k?Y`_By )4I7A>i?Kl> =l> =)@Iiuɿrs5 3ᅯw? ])+ŽI@i5 checking for new query: numPingsReceived=61, elapsed TxPingTime=30.0016049 ^A% (I1 IA OM >Y v`#,jLAVw@V&@V:ٱVM:*>VH N Hn?`@@?UC`;.??iVw@IVN^;VCYvByvIbD- VD-8y]<%]H=ٔeG:Q-e>9aYa=m`Eyi<E>Q 5 5cq?Q 9 5Q)BYy#Q IK@uDI:i:{ 5yɮHAii_bLAj"j:j=RjN1K34@† @Bj+O60z?U]k?*j@2jZj6"'A{;:@ @a>@Jj6i9 ?1{,?e?j47@ jAi* ?i#9jߌBjj'jߌBrjrAzj.>= addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.498075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 26.967766 m, bearing: 6.227665 deg, lat: 36.779532 deg, lon: -121.859771 deg, deltaT: 0.498075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 26.97 m.hqhqhqhqhqgqgqjgyrgyreyZey:e*e`Z?B'>BBrIBBBd =BBB;BkYE[!["[*[ t@5:)a e&?ie9)im7m:iiiu󙷾qqIqIq checking for new query: numPingsReceived=61, elapsed TxPingTime=30.238258E EEE"E ;*Ev:VEZEBELy i߹ I߽ A DDAT read: Rx Time:01:31:53.6252  TRx dataTimestamp_ set to:1764898314.046316 PDAT read: Bearing 209.3, 49.4 (Local)  ~Local bearing/azimuth received: Bearing 209.3, 49.4 (Local)  DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.4 E DAT read: 01:31:53.6252 LVL= 25296, 21361, 32754, 32755, AGC= 52, IDX= 508, 0.48,-1.950,-1.540, 3.107,-2.049, PHS= 0.201, 0.554,-1.171, RAW= 18.8, 5.3, CAL= 18.9, 4.5, ROT= 131.1, -4.5 `#,JσLA0FYgot valid direction response: 01:31:53.6252 LVL= 25296, 21361, 32754, 32755, AGC= 52, IDX= 508, 0.48,-1.950,-1.540, 3.107,-2.049, PHS= 0.201, 0.554,-1.171, RAW= 18.8, 5.3, CAL= 18.9, 4.5, ROT= 131.1, -4.5 FT#Rx 62: Read range and direction messages.J^direction in FSK: [-0.655349,0.751240,0.078459]JFpublishing direction and range infoy!%u俢$>) ?5;?Y%A!%b%qS% !)!I%M>i% ?%T㕿%>%q=%[> %|٠=)%p@I%|٠!!%.jZ:ȿ 6B׼7x? %)%II%p@i%|٠!!checking for new query: numPingsReceived=62, elapsed TxPingTime=30.544012ÝByIԉiMb@Mb@Mb@ 9S?HzGZd;OY/>y= j@A @)@Y@bDVDɰ8yL=%)=ٔQ->9Y=`EyE>Q 5 5b?Q 9 5){BY>Q E:yQ IK@|DIJ;i_; 5y"BɮAEi!i%LAj%A"j%A:j%LM=Rj%)xb+25=Mwq4@0Տ=@Bj%u俢$>) ?5;?*j%p@2j%|٠Zj%X :@xS@J3@Jj%X]~/?=ظ?z J?j%*@ j%%Ai%ƃ2?i%sҠAj%Bj%* ?j%Z(j%Brj%9Azj%O > addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.509234 s, deltaX: 0.500000 m, approachRate: 0.981867 m/s, rangeRepo size: 4  Added new target pos. range: 27.467299 m, bearing: 5.687668 deg, lat: 36.779533 deg, lon: -121.859772 deg, deltaT: 0.509234 s, deltaX: 0.499533 m, approachRate: 0.980949 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.47 m.hhhhhggjgrgpBreZeY:e];@*e]dU?Թ[>[>"[^@*[lr@)checking for new query: numPingsReceived=62, elapsed TxPingTime=30.741791 %.?i%ϵ9)!-7-:i)i51E EEE"El;*EZ:VEZEa@a@a@a@1II I) I ) xA @  @ @ /0@ DDAT read: Rx Time:01:31:54.1252 TRx dataTimestamp_ set to:1764898314.545168PDAT read: Bearing 207.5, 49.9 (Local) ~Local bearing/azimuth received: Bearing 207.5, 49.9 (Local) DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.4 DAT read: 01:31:54.1252 LVL= 24688, 18673, 32354, 32755, AGC= 53, IDX= 509,-0.12, 1.782, 2.181, 0.557, 1.709, PHS= 0.175, 0.517,-1.196, RAW= 19.1, 6.5, CAL= 19.0, 6.1, ROT= 131.0, -6.1 %Ygot valid direction response: 01:31:54.1252 LVL= 24688, 18673, 32354, 32755, AGC= 53, IDX= 509,-0.12, 1.782, 2.181, 0.557, 1.709, PHS= 0.175, 0.517,-1.196, RAW= 19.1, 6.5, CAL= 19.0, 6.1, ROT= 131.0, -6.1 %T#Rx 63: Read range and direction messages.-^direction in FSK: [-0.652344,0.750436,0.106264]-Fpublishing direction and range infoy(" 7俔v=?O4?Yp`Hb~ )5I333>iZ?㭪>V=ɩ> ^ =)T@I^ ڽӇǿ Q9u!*ݼ? Z)lIT@i^ ڽMchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.009783A^A}IIO?ɩ`#,kLA -x@-H@-9;ٱ-&>-H@ZS?`<2;@2R?b`Z? \?i-x@I-];-CYmӁBymIԩbDVD8yg<% =ٔBX;Q->9Y=`Ey "<=E >Q 5 5US?Q 9 5)oBYy2Q IK@DI:i :y 5yIɮMyAIii䢂LAj"j:jl=Rj&e 1{Gʜ4@y Y@Bj(" 7俔v=?O4?*jT@2j^ ڽZj P։:@\h @0z@Jj?Zþ?F3?j@S@ jNAi?i4j[Bj9?j4j΍Brj AzjL= addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.498852 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.467299 m, bearing: 7.089909 deg, lat: 36.779532 deg, lon: -121.859777 deg, deltaT: 0.498852 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.47 m.hhhhhggjgrg!re!Ze!:e)*e-`z?BAAE<BM*>BIBMIBMBBIBIBMGDBM;BMjYE[["[*[Vs@9;) 1?i9)顥7:iiIIchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.246284=9@9 @9@=4@9E} E}E}&Ey"E}:*E}҆:VE}4ZEyBE}>1 H`#,h‚LA"DDAT read: Rx Time:01:31:54.6254 *TRx dataTimestamp_ set to:1764898315.053034FPDAT read: Bearing 210.6, 50.5 (Local) N~Local bearing/azimuth received: Bearing 210.6, 50.5 (Local) fDAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.4 DAT read: 01:31:54.6254 LVL= 24944, 18801, 32754, 32755, AGC= 51, IDX= 511, 0.21,-1.830,-1.450,-3.077,-1.946, PHS= 0.218, 0.541,-1.175, RAW= 19.8, 5.3, CAL= 19.8, 4.5, ROT= 130.2, -4.5 Ygot valid direction response: 01:31:54.6254 LVL= 24944, 18801, 32754, 32755, AGC= 51, IDX= 511, 0.21,-1.830,-1.450,-3.077,-1.946, PHS= 0.218, 0.541,-1.175, RAW= 19.8, 5.3, CAL= 19.8, 4.5, ROT= 130.2, -4.5 T#Rx 64: Read range and direction messages.^direction in FSK: [-0.643468,0.761441,0.078459]Fpublishing direction and range infoy$&VF1Jӊ~]?5;?Y&fA$&pa&qI& $)&3I&d;_>i&~ ?&ff&;>&q=u#y@ @A;ٱe&>H` ?? mHfa`Ӷ?4h@C? ?iu#y@I ];CY5ځBy5I&;> &|٠=)&Oo@I&|٠$$&}*=Dƿ [gY? &߿)&(I&Oo@i&|٠$$checking for new query: numPingsReceived=64, elapsed TxPingTime=31.589506iMb@Mb@Mb@ 9Mb?7A`¿{GzY>yף@A +@)X@YbD= VD=8yMh<%M(=ٔU :Q-U>9QYQ=]`EyY]<E]>!Q 5- 5%[E?Q 9- 5%)%cBY5>Q E5;y5!"Q I5K@%DI%n:i%:%߈ 5Ay]Bɮe AeEi$i&dÂLAj&#A"j&#A:j&n=Rj&1$5@Fϖm@Bj&VF1Jӊ~]?5;?*j&Oo@2j&|٠Zj&M^#;@Zؾ@>/~@Jj&/i!?x^(?c?i?j&F@ j&Ai&;)?i&Ɩ<j&Bj&* ?j&#9j&Brj&Azj&v= addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.507866 s, deltaX: 0.299999 m, approachRate: 0.590706 m/s, rangeRepo size: 4  Added new target pos. range: 27.767134 m, bearing: 6.558611 deg, lat: 36.779533 deg, lon: -121.859779 deg, deltaT: 0.507866 s, deltaX: 0.299835 m, approachRate: 0.590383 m/s, posRepo size: 4 %DNOT Ignoring new targets: 27.77 m.h!h!h!h!h!g)g)jg)rg-~Bre1Ze1:e5;@*e5?[u>[u>"[u"@*[uo@A;) .?i59)顭7N:iiIIchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.750469M9@Q @Q@U?5@QyD=D4=bEc44jEȏB4rEȅ0E EE+E"E;*E:VE [4ZEa@a@a@a@ԙ ^A I I O >`#,r݂LA2y@2Ѓ@25n;ٱ2&>2H L,?"s@ Ak?`m`??i2y@I2];0Y:By:IbDBVDBð8yJ1=%N=ٔN;Q-N?9PYP=R`EyPR<ER?TQ 5Z 5V=?Q 9^ 5VK)V]BY\y^!Q I^K@VDIV;iVw;VE 5yb'BɮbAfEzDNOT Ignoring new targets: 27.77 m.hxhxhxhxhxgxgxjg|rg|re|Ze|:e*e-t?[["[*[p@5n;) 6?i9):ii)I)I1=N>i9DDAT read: Rx Time:01:31:55.1255 TRx dataTimestamp_ set to:1764898315.553384PDAT read: Bearing 211.9, 41.8 (Local) ~Local bearing/azimuth received: Bearing 211.9, 41.8 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed -0.4  DAT read: 01:31:55.1255 LVL= 24496, 19361, 32754, 32755, AGC= 50, IDX= 512,-0.22,-2.351,-1.682, 2.816,-2.356, PHS= 0.108, 0.719,-1.155, RAW= 11.4, 4.0, CAL= 11.4, 2.5, ROT= 138.6, -2.5 Ygot valid direction response: 01:31:55.1255 LVL= 24496, 19361, 32754, 32755, AGC= 50, IDX= 512,-0.22,-2.351,-1.682, 2.816,-2.356, PHS= 0.108, 0.719,-1.155, RAW= 11.4, 4.0, CAL= 11.4, 2.5, ROT= 138.6, -2.5 T#Rx 65: Read range and direction messages.-^direction in FSK: [-0.749397,0.660682,0.043619]-Fpublishing direction and range infoytPuO$?GU?Y3A_K )2I/=ib8? ד%K>5=%K> ¸2=)T@I¸2nhԿ\N8?+? q)=IT@i¸2]checking for new query: numPingsReceived=65, elapsed TxPingTime=32.023682@ @@/@^AIIO>IB+>BCBIBƁBBc =BBB;B[YE] checking for new query: numPingsReceived=65, elapsed TxPingTime=32.253750E  E E (E "E ;*E :VE c44ZE BE A2H P?@W`s?`~Fr??i26z@I2];0YRByRI TTbDZVDXyj%nG=ٔr;Q-v>9xY|=`Ey<E>Q 5= 51?Q 9E 5 )SBYIyM!Q IUK@aDIkRj9&|,44M0Ii2@ kr?BjtPuO$?GU?*jT@2j¸2Zjj:@t*@Pp@JjVzn?2+??j7@ jAi꣊?i{mjxBjjjBrjAzj*>= addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.500350 s, deltaX: 0.100000 m, approachRate: 0.199861 m/s, rangeRepo size: 4 M Added new target pos. range: 27.867054 m, bearing: 15.751957 deg, lat: 36.779533 deg, lon: -121.859779 deg, deltaT: 0.500350 s, deltaX: 0.099920 m, approachRate: 0.199701 m/s, posRepo size: 4 mDNOT Ignoring new targets: 27.87 m.hqhqhqhqhqgqgqjgyrgyreyZey:e`f;@*e l?[["[*[q@4;) '6?io9)7G4:iiIIԉDDAT read: Rx Time:01:31:55.6256  TRx dataTimestamp_ set to:1764898316.0644985PDAT read: Bearing 207.4, 47.5 (Local) }~Local bearing/azimuth received: Bearing 207.4, 47.5 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.4 @ @@@eDAT read: 01:31:55.6256 LVL= 23776, 17329, 32754, 32755, AGC= 50, IDX= 513, 0.10,-0.587,-0.024,-2.028,-0.623, PHS= 0.138, 0.644,-1.449, RAW= 16.6, 7.1, CAL= 16.5, 7.0, ROT= 133.5, -7.0 mYgot valid direction response: 01:31:55.6256 LVL= 23776, 17329, 32754, 32755, AGC= 50, IDX= 513, 0.10,-0.587,-0.024,-2.028,-0.623, PHS= 0.138, 0.644,-1.449, RAW= 16.6, 7.1, CAL= 16.5, 7.0, ROT= 133.5, -7.0 T#Rx 66: Read range and direction messages.^direction in FSK: [-0.683224,0.719968,0.121869]Fpublishing direction and range infoyVS忚| ?UM7P2?YA\C )IO >i/$?xV>=r> 5=)@I58GmͿwjy? )I@i5checking for new query: numPingsReceived=66, elapsed TxPingTime=32.575466Ա^A I I O > $`#,k`LA2z@2AT@2(n;ٱ2&>2H{u r?=+@`Lz?mvা??i2z@I2^;2CYNByRI%checking for new query: numPingsReceived=66, elapsed TxPingTime=32.757740i5Mb@Mb@Mb@1111 195Q?ʡEÿy&1Y5µ>y55`15A 5@)5A@1Y5@bDMVDM8DzD@AE EE+E"E ;*E:VE [4ZEa@a@a@a@yP<%9=ٔ;Q->9Y=`Ey <E >Q 5= 5&?Q 9= 5])GBY=>Q E=;y="Q I=K@DI;iW; 5yM BɮMAMEԱi1i5 LAj5A"j5A:j5N>Rj5-3K8 54@('] @Bj5VS忚| ?UM7P2?*j5@2j55Zj51.=:@xUD@H@Jj5&m?&w?"?j5ή@ j5Ai5?i5߮j5oBj5?j54j5Brj5Azj5 > addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.511114 s, deltaX: 0.200001 m, approachRate: 0.391304 m/s, rangeRepo size: 4 5 Added new target pos. range: 28.066818 m, bearing: 11.567814 deg, lat: 36.779532 deg, lon: -121.859777 deg, deltaT: 0.511114 s, deltaX: 0.199764 m, approachRate: 0.390841 m/s, posRepo size: 4 5DNOT Ignoring new targets: 28.07 m.h1h1h1h9h9g9g9jg9rgEBreAZeA:eE<@*eE` ?[>[>"[@*[ro@5(n;)9 E0?iE#9)iu4u:iqiIIy@y @@/@DDAT read: Rx Time:01:31:56.1257 TRx dataTimestamp_ set to:1764898316.561108PDAT read: Bearing 213.3, 52.8 (Local) ~Local bearing/azimuth received: Bearing 213.3, 52.8 (Local)  DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.4  E DAT read: 01:31:56.1257 LVL= 26608, 17505, 23346, 24243, AGC= 55, IDX= 2,-0.49,-0.155, 0.146,-1.439,-0.314, PHS= 0.261, 0.505,-1.169, RAW= 22.2, 5.2, CAL= 22.2, 4.4, ROT= 127.8, -4.4 U Ygot valid direction response: 01:31:56.1257 LVL= 26608, 17505, 23346, 24243, AGC= 55, IDX= 2,-0.49,-0.155, 0.146,-1.439,-0.314, PHS= 0.261, 0.505,-1.169, RAW= 22.2, 5.2, CAL= 22.2, 4.4, ROT= 127.8, -4.4 U T#Rx 67: Read range and direction messages.] ^direction in FSK: [-0.611101,0.787826,0.076719]] Fpublishing direction and range infoy!"-5i5?.0ۣ?YAgaD2[ ^)7Iˡ>iG?ˡa>޹=a> nF=)@InFUP2ضgN~#$ 1? bڿ)ɹI@inF} checking for new query: numPingsReceived=67, elapsed TxPingTime=33.030697^A I I O >9 O`#,S?+LAB/{@B0@B4;ٱB&>BHFB֒?1a?`y¸?Ɠ?iB/{@IB0^;BCYnBynIbDzVDz8yx<%%Y=ٔ% ;Q-%>9)Y)=-`Ey)-<E5>1Q 5] 55?Q 9e 55)5=BYaye4"Q IeK@5DI5G;i5:5 5yiɮmAqi i 2#LAj UA"j UA:j =Rj 3pr61q06@PI@Bj !"-5i5?.0ۣ?*j @2j nFZj qh;@#㺁@T@Jj  J#?P yԹ?VNx?j 5@ j FAi e"?i VaLj Bj j j Brj Azj >- addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.496610 s, deltaX: 0.100000 m, approachRate: 0.201366 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.166702 m, bearing: 5.919813 deg, lat: 36.779532 deg, lon: -121.859777 deg, deltaT: 0.496610 s, deltaX: 0.099884 m, approachRate: 0.201132 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 28.17 m.hahahahahagagajgirgireiAqAqByB}CB}IB}ЁBB}d =ByByB};B}oYEB9B9B9B=d =B=d =C=¸)5Zei:e@33<@*e ?[["[*[o@4;)  i2?i 9))-# 5-N:i1i599I9I9I5checking for new query: numPingsReceived=67, elapsed TxPingTime=33.262375E EEE"E*E:VEZEBEYQ DDAT read: Rx Time:01:31:56.6259  TRx dataTimestamp_ set to:1764898317.0693545 PDAT read: Bearing 214.7, 53.2 (Local) 8`#,CELA~Local bearing/azimuth received: Bearing 214.7, 53.2 (Local) ZDAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 5DAT read: 01:31:56.6259 LVL= 24352, 15537, 30418, 32755, AGC= 50, IDX= 500,-0.07, 1.081, 1.369,-0.219, 0.904, PHS= 0.279, 0.510,-1.167, RAW= 22.7, 4.9, CAL= 22.7, 3.9, ROT= 127.3, -3.9 EYgot valid direction response: 01:31:56.6259 LVL= 24352, 15537, 30418, 32755, AGC= 50, IDX= 500,-0.07, 1.081, 1.369,-0.219, 0.904, PHS= 0.279, 0.510,-1.167, RAW= 22.7, 4.9, CAL= 22.7, 3.9, ROT= 127.3, -3.9 ET#Rx 68: Read range and direction messages.^direction in FSK: [-0.604585,0.793631,0.068015]Fpublishing direction and range infoy15ɠXNme?,::si?Y5A15 _5<5v 5)52I5َ>i5\?5B`5b>5%=5b> 5'g=)5 2@I5'g115Q5+vc"*? 50_ٿ)5qI5 2@i5'g11^{@΄@6;ٱ<&>H`Z?`Kf?`| ? ?i^{@Ih7^;CYByI checking for new query: numPingsReceived=68, elapsed TxPingTime=33.616589iiMb@Mb@Mb@ 9K7A`?jtĿX9vY>y @MA @)n@Y@bDVD8y-%-=ٔ-:Q-5>91Y1=5`Ey1=Cf<E=>aQ 5m 5e?Q 9m 5ej)e-BYm>Q Em;yu#Q IuK@eDIe:ieE:e 5yBɮ[AEi1i5LpDLAj5A"j5A:j5=Rj5)b51&P~6@sRs?Bj5ɠXNme?,::si?*j5 2@2j5'gZj5xC;@?zc?@>A?ϻ@Jj5*'2?eKK?.@D@?j54@ j5Ai5O1?i5oPj5LBj5e"?j5Ɩ<j5LBrj5jAzj5F>- addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.508246 s, deltaX: 0.299999 m, approachRate: 0.590264 m/s, rangeRepo size: 4 E Added new target pos. range: 28.466328 m, bearing: 5.787276 deg, lat: 36.779534 deg, lon: -121.859781 deg, deltaT: 0.508246 s, deltaX: 0.299625 m, approachRate: 0.589528 m/s, posRepo size: 4 MDNOT Ignoring new targets: 28.47 m.hIhIhIhIhIgQgQjgQrg]BreYZeY:e]<@*e]g?ԑ[>[>"[5@*[וn@6;) .?i9)R<5G:ii󙷾IIEchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.766869E EE*E"E;*EVE(N4ZEa @a @a @a @9@ @@@@@ ^Au _ⅾIy I O >`#,i_LA(>(|@> @>M;ٱ>H%>>H`1?¿4N ?@tX??i>(|@I>];>CYZByZIbDbVDb8yj%j=ٔn6;Q-n$?9lYl=r`Eypr<Er$?tQ 5z 5v?Q 9z 5vڛ)v%BY|y~#Q I~K@vDIv;ivB:v 5yɮpA-DNOT Ignoring new targets: 28.47 m.h)h1h1h1h1g1g1jg9rg9re9Ze9:e9*eEs?[i[i"[i*[mo@M;) ,?i9)顅.^5:iiII]DDAT read: Rx Time:01:31:57.1259 eTRx dataTimestamp_ set to:1764898317.570289uPDAT read: Bearing 217.9, 54.5 (Local) u~Local bearing/azimuth received: Bearing 217.9, 54.5 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 DAT read: 01:31:57.1259 LVL= 25280, 16241, 26770, 28947, AGC= 51, IDX= 500, 0.20, 1.061, 1.306,-0.290, 0.831, PHS= 0.333, 0.520,-1.165, RAW= 24.2, 3.9, CAL= 24.2, 2.6, ROT= 125.8, -2.6 %9@! @!@%v0@!eYgot valid direction response: 01:31:57.1259 LVL= 25280, 16241, 26770, 28947, AGC= 51, IDX= 500, 0.20, 1.061, 1.306,-0.290, 0.831, PHS= 0.333, 0.520,-1.165, RAW= 24.2, 3.9, CAL= 24.2, 2.6, ROT= 125.8, -2.6 eT#Rx 69: Read range and direction messages.m^direction in FSK: [-0.584356,0.810229,0.045363]uFpublishing direction and range infoyY] L$d?99?YYY]b]q?]h ]q)]3I]~>i]?]]@>]'g=ԁ]@> ]9=)] @I]9YY]?7(ڹ뇛!U? ] ֿ)]+I] @i]9YYchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.068081Ա x>*C^AMFӅIYIiO}z>}݂Gi9YeAB-,>B-CB-IB-ځBB-c =B)B)B-;B-gYEyed?m`A  checking for new query: numPingsReceived=69, elapsed TxPingTime=34.269711E  E E +E "E ;*E :VE [4ZE BE R9Y=`EyE%>!Q 5- 5%?Q 95 5%=)%BY1y1Q I5K@%DI%;i%;% 5y9ɮ=WAAiidLAj"j:jF=Rj`̥n0vu7@@?Bj L$d?99?*j @2j9Zja1;@ʅMs@2;wBX}@JjU`?7?Ec)v?j@ jLAiA,?i0xcj-BjjVaLjrjAzjK=  addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.500935 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.466400 m, bearing: 4.576584 deg, lat: 36.779534 deg, lon: -121.859787 deg, deltaT: 0.500935 s, deltaX: 0.000072 m, approachRate: 0.000145 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.47 m.h!h!h)h)h)g)g)jg1rg1re1Ze1:e1*e5?[Q[Q"[Q*[Q) M.?im9)顕5 :iiIII)Q@QDDAT read: Rx Time:01:31:57.6262 TRx dataTimestamp_ set to:1764898318.077290PDAT read: Bearing 217.2, 56.0 (Local) ~Local bearing/azimuth received: Bearing 217.2, 56.0 (Local) DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed -0.4  @Q@U"0@Y}DAT read: 01:31:57.6262 LVL= 21584, 16369, 30706, 27891, AGC= 50, IDX= 503,-0.40, 1.043, 1.241,-0.323, 0.811, PHS= 0.334, 0.475,-1.177, RAW= 25.6, 4.7, CAL= 25.5, 3.6, ROT= 124.5, -3.6 Ygot valid direction response: 01:31:57.6262 LVL= 21584, 16369, 30706, 27891, AGC= 50, IDX= 503,-0.40, 1.043, 1.241,-0.323, 0.811, PHS= 0.334, 0.475,-1.177, RAW= 25.6, 4.7, CAL= 25.5, 3.6, ROT= 124.5, -3.6 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.565289,0.822500,0.062791]Fpublishing direction and range infoy̟2⿛mVQ?֏ ?YAPT?w l)2I >i33>𧖿>=> =)^ @IO6x1Z○? ҿ)WI^ @i checking for new query: numPingsReceived=70, elapsed TxPingTime=34.6044209 ^A} I I O >O`#,,LA2&}@2@2n`<ٱ2%>2HPl?(M¿lv@R+? 낿? ?i2&}@I2];0YBByBIbchecking for new query: numPingsReceived=70, elapsed TxPingTime=34.773540iMb@Mb@Mb@ 9 rh?w/ĿMbY>y&@dA @)@Y)-AAbD5޿VD58yE;<%EY=ٔMx;Q-M>9IYI=U`EyQUa(=EU>E EE)E"E ;*Ez:VEFA4ZEa@a@a@a@Q 5% 5I?Q 9% 5q) BY%]>Q E% ;y%"Q I%K@DI:iQ:q 5y1ɮ5EAQiiR򄃍LAjA"jA:j=RjMO_0cU 7@ј?Bj̟2⿛mVQ?֏ ?*j^ @2jZjD{ N<@񴯡@=$@Jj{H'E?x?,p?j@ jpAi1C?iwijBjA,?joPjBrjAzjV= addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.507001 s, deltaX: 0.500000 m, approachRate: 0.986191 m/s, rangeRepo size: 4  Added new target pos. range: 28.965811 m, bearing: 4.223223 deg, lat: 36.779535 deg, lon: -121.859789 deg, deltaT: 0.507001 s, deltaX: 0.499411 m, approachRate: 0.985029 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.97 m.hhhhhgg jgrgBre!QZeQ:e]=@*ee`ob?[]>[]>"[O@*[[o@ n`<)  .?i9)*5 :iiII@ @@0@q}DDAT read: Rx Time:01:31:58.1262 }TRx dataTimestamp_ set to:1764898318.577163PDAT read: Bearing 219.0, 56.6 (Local) ~Local bearing/azimuth received: Bearing 219.0, 56.6 (Local) DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed -0.4  DAT read: 01:31:58.1262 LVL= 21728, 16305, 30978, 29555, AGC= 50, IDX= 503,-0.10,-0.315,-0.137,-1.696,-0.568, PHS= 0.355, 0.476,-1.172, RAW= 26.2, 4.3, CAL= 26.1, 3.1, ROT= 123.9, -3.1  Ygot valid direction response: 01:31:58.1262 LVL= 21728, 16305, 30978, 29555, AGC= 50, IDX= 503,-0.10,-0.315,-0.137,-1.696,-0.568, PHS= 0.355, 0.476,-1.172, RAW= 26.2, 4.3, CAL= 26.1, 3.1, ROT= 123.9, -3.1  T#Rx 71: Read range and direction messages. ^direction in FSK: [-0.556929,0.828798,0.054079] Fpublishing direction and range infoyy} \῅_?ʾ7?Yyy}T}?}y }ss)yI}µ>i}F>ԩ }} >}`=}Z;> }k]=)}e @I}k]yy}v8аk*gȥX? }ѿ)}z暽I}e @i}k]yy^A I I! O5 > checking for new query: numPingsReceived=71, elapsed TxPingTime=35.108444`#,LA2}@2΅@2"<ٱ2%>2H@3`'5?7q¿@$?GPC?J?i2}@I2];2CY>ByBIbDJVDJ8ybr%bS=ٔb:Q-f>9dYd=f`Eydj%<Ej>lQ 5% 5n蚊?Q 9% 5nv)nBY!y%@"Q I%K@nDIn=:in$:n 5y5Bɮ5mA5Eԁii=𤃍LAj"j:j=Rj@U!0!r8@Z?Bj \῅_?ʾ7?*je @2jk]Zj7ObsZ<@x^?`P@Jj}WYR?"?&2:?j? jAi3=>?iψmj BjO1?j0xcjLBrjiAzj= addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.499873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BA<BBBIBՁBBBBB;B;YE% Added new target pos. range: 28.965811 m, bearing: 4.027391 deg, lat: 36.779536 deg, lon: -121.859797 deg, deltaT: 0.499873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 28.97 m.h!h)h)h)h)g)g1jgQrgQreQZeY:eY*e]?[["[*[;o@"<) 8(?i]9)H5 :iiIIchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.278301E EE+E"E=;*EM:VE [4ZEBEI  DDAT read: Rx Time:01:31:58.6264  TRx dataTimestamp_ set to:1764898319.085481 PDAT read: Bearing 221.1, 57.5 (Local)  ~Local bearing/azimuth received: Bearing 221.1, 57.5 (Local) H`#,ƃLAnDAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed -0.4 DAT read: 01:31:58.6264 LVL= 21536, 15153, 29074, 30547, AGC= 50, IDX= 505, 0.10, 2.526, 2.674, 1.107, 2.241, PHS= 0.387, 0.479,-1.177, RAW= 27.2, 3.9, CAL= 27.2, 2.6, ROT= 122.8, -2.6 Ygot valid direction response: 01:31:58.6264 LVL= 21536, 15153, 29074, 30547, AGC= 50, IDX= 505, 0.10, 2.526, 2.674, 1.107, 2.241, PHS= 0.387, 0.479,-1.177, RAW= 27.2, 3.9, CAL= 27.2, 2.6, ROT= 122.8, -2.6 T#Rx 72: Read range and direction messages.^direction in FSK: [-0.541151,0.839701,0.045363]Fpublishing direction and range infoy>Qm;J?99?YfA T1;q Sw)I$>i}?>𧖿>'g=> 9=)>+ @I9y:DHo?ٰȠk? !dϿ)9{I>+ @i95f0~@5@5Zr+<ٱ5h%>5H߿ RV?Q¿ ߿ DM?1n`&??i5f0~@I5];5CYe݁BymI-checking for new query: numPingsReceived=72, elapsed TxPingTime=35.661594iMb@Mb@Mb@ 9-?/$ÿI +Y?>y94@hA @)`@Yz@bD=VD=8yM<%M=ٔU%:Q-U>9QYQ=U`EyY]yq<E]>aQ 5m 5eښ?Q 9m 5eߥ)eBYm>Q Eu;yuQ IuK@eDIe{:ie:et 5yyɮ}AyiixŃLAjA"jA:jW5n=Rj-/)K8@=?Bj>Qm;J?99?*j>+ @2j9Zjy/<@%?|=d@JjI4c?z!=?9j?j? jAiN?iLyjBj3=>?jwij BrjAzjN= addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.508318 s, deltaX: 0.299999 m, approachRate: 0.590180 m/s, rangeRepo size: 4  Added new target pos. range: 29.265471 m, bearing: 3.332113 deg, lat: 36.779537 deg, lon: -121.859800 deg, deltaT: 0.508318 s, deltaX: 0.299660 m, approachRate: 0.589512 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.27 m.hhhhhggjgrgBreZe:eL=@*e?[U>[U>"[U@*[U`s@checking for new query: numPingsReceived=72, elapsed TxPingTime=35.781666 Zr+<) (?i~9)5- :ii!I!I!U]>iU>E EE'E"E;*E:VE'4ZEa@a@a@a@)@ @@-0@@ @ yAQ ^A #I I O >V2`#,a⃍LA:]~@:M@:$4<ٱ:՚%>:H@v߿`s?`3¿:߿?@s??i:]~@I:];:CYn߁ByrIIv%=)v<bDzVDz8y<%=ٔY:Q- ?9 Y =`Ey<E?Q 5% 5Ӛ?Q 9% 5)BY!y%FQ I-K@DI):iy: 5y1ɮ5A1]DNOT Ignoring new targets: 29.27 m.hYhYhahahagagajgargi}DDAT read: Rx Time:01:31:59.1263 }TRx dataTimestamp_ set to:1764898319.585282PDAT read: Bearing 222.2, 57.9 (Local) ~Local bearing/azimuth received: Bearing 222.2, 57.9 (Local) DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.3 DAT read: 01:31:59.1263 LVL= 23840, 16097, 31346, 32755, AGC= 51, IDX= 505, 0.32, 1.394, 1.528,-0.040, 1.094, PHS= 0.402, 0.479,-1.178, RAW= 27.6, 3.7, CAL= 27.6, 2.3, ROT= 122.4, -2.3 Ygot valid direction response: 01:31:59.1263 LVL= 23840, 16097, 31346, 32755, AGC= 51, IDX= 505, 0.32, 1.394, 1.528,-0.040, 1.094, PHS= 0.402, 0.479,-1.178, RAW= 27.6, 3.7, CAL= 27.6, 2.3, ROT= 122.4, -2.3 T#Rx 73: Read range and direction messages.^direction in FSK: [-0.535395,0.843648,0.040132]Fpublishing direction and range infoyy}v!g9)?.='?Y}Ay} ]}>}rz })}3I}>iy}Ȗ}Ϣ>} A=}Ϣ> }l$=)}ܸ@I}l$yy)} nV{Z? }+Uο)}I}ܸ@i}l$yy5checking for new query: numPingsReceived=73, elapsed TxPingTime=36.058395reaZei:em=@*emg?[["[*[s@5$4<)1 5-*?i=#9)9=5E:iAiIIQY@Y @Y@]4@YB%->B!B%IB%ˁBB%d =B!B!B%v;B%1YEԁ% checking for new query: numPingsReceived=73, elapsed TxPingTime=36.285652^A I I O >E  E E +E "E ;*E ą:VE [4ZE BE {TRH`y$߿0?¿p޿@ᄱ?.K ??iRO@IR];RCYفByIbDݿVD8yټ%:=ٔeb:Q-%>9!Y!=%`Ey!-L<E->1Q 5= 55Ț?Q 9= 55k)5BY9y=Q IEK@5ĹDI5K:i5W:5β 5yM BɮMAiԱiiCu働LAjA"jA:j"$=RjS/`޾eo8@:xrѩ?Bjv!g9)?.='?*jܸ@2jl$Zj<1<@5I?@Jjڛ-g?˅Z?kb5?j? j0Ai@,?iyjdBjjψmjBrjAzjK{=] addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.499801 s, deltaX: -0.199999 m, approachRate: -0.400157 m/s, rangeRepo size: 4  Added new target pos. range: 29.065722 m, bearing: 3.724817 deg, lat: 36.779537 deg, lon: -121.859802 deg, deltaT: 0.499801 s, deltaX: -0.199749 m, approachRate: -0.399657 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.07 m.hhhhhggjgrgreZe:e*e`?[ [ "[ *[ Lt@DDAT read: Rx Time:01:31:59.6265 TRx dataTimestamp_ set to:1764898320.093621PDAT read: Bearing 222.9, 58.6 (Local) ~Local bearing/azimuth received: Bearing 222.9, 58.6 (Local) 5DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed -0.3 E}Z:<)I M1'?iM9)Q5^:iiIIDAT read: 01:31:59.6265 LVL= 21088, 17489, 31314, 31651, AGC= 52, IDX= 507,-0.39, 0.715, 0.822,-0.727, 0.405, PHS= 0.412, 0.462,-1.176, RAW= 28.5, 3.8, CAL= 28.4, 2.4, ROT= 121.6, -2.4 Ygot valid direction response: 01:31:59.6265 LVL= 21088, 17489, 31314, 31651, AGC= 52, IDX= 507,-0.39, 0.715, 0.822,-0.727, 0.405, PHS= 0.412, 0.462,-1.176, RAW= 28.5, 3.8, CAL= 28.4, 2.4, ROT= 121.6, -2.4 T#Rx 74: Read range and direction messages. ^direction in FSK: [-0.523526,0.850980,0.041876] Fpublishing direction and range infoyCF9;? ۷p?Y3A`RQDRz {)4I>iD>+>ԇ=> +=)@I+XjkiX; . c'? N̿)oRI@i+)@) @)@-@5@)Mchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.656521 = checking for new query: numPingsReceived=74, elapsed TxPingTime=36.790295A ^Am #Iy I eI O >ga#,~LAbE]T4jE]L4rE]?/E* E*E**E("E*:*E*&p:VE*(N4ZE(a.@a2@a2@a2@}@}ZÆ@}@<ٱ}e%>}H`Y޿@Ы?L¿Cr޿ o5?  ?{?i}@I}J];}CÝByIiMb@Mb@Mb@ 9q= ףp?l¿+Y>y@ @)Y(@bDVD8yo%0=ٔUD:Q->9Y=`Ey+}<E>Q 5 5?Q 9 5/)BY>Q E;yQ IK@ʹDI:i:޶ 5yɮAiiLAjA"jA:j{7n=Rj@./OE8@Ӭ?BjCF9;? ۷p?*j@2j+Zj@<@ˇ[S?wz@Jjz{e???[ c?j? jAiX9?iOjBjjyjrj{Azj= addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.508339 s, deltaX: 0.299999 m, approachRate: 0.590156 m/s, rangeRepo size: 4  Added new target pos. range: 29.365368 m, bearing: 3.332230 deg, lat: 36.779537 deg, lon: -121.859806 deg, deltaT: 0.508339 s, deltaX: 0.299646 m, approachRate: 0.589462 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.37 m.hhhhhggjgrguBreZe:e`ff=@*e  =?[>[>"[@*[,t@@<) +?i9)6:ii󙷾IIUDDAT read: Rx Time:01:32:00.1265 ]TRx dataTimestamp_ set to:1764898320.594260ePDAT read: Bearing 223.9, 59.3 (Local) m~Local bearing/azimuth received: Bearing 223.9, 59.3 (Local) }DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed -0.4 9@ @@4@DAT read: 01:32:00.1265 LVL= 22000, 18545, 32754, 32755, AGC= 52, IDX= 507,-0.14,-0.622,-0.538,-2.070,-0.942, PHS= 0.421, 0.448,-1.173, RAW= 29.2, 3.8, CAL= 29.1, 2.4, ROT= 120.9, -2.4 Ygot valid direction response: 01:32:00.1265 LVL= 22000, 18545, 32754, 32755, AGC= 52, IDX= 507,-0.14,-0.622,-0.538,-2.070,-0.942, PHS= 0.421, 0.448,-1.173, RAW= 29.2, 3.8, CAL= 29.1, 2.4, ROT= 120.9, -2.4 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.513091,0.857312,0.041876]Fpublishing direction and range infoyQUM}=k1o? ۷p?YQQUUUqHU U)QIUP>iUB`>U$Uw?QU"? Q)U @IQQQUE_Kܨ￝ ͠? Uwʿ)UIU @iQQQchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.060207@=@= ^A I I! O- >Ɇ a#,}X0LA06@6B@6?<ٱ6n%>6HXY޿? l¿ +i޿@4?@??G?i6@I6IJ];6CBN+>BNCBNIBNBBLBLBLBN;BNKYEYbʁBybI ddbDj VDj8y3%=ٔ v޸Q-  ?9 Y=`Ey<E?YQ 5e 5]㵚?Q 9e 5])]BYaymQ ImK@]͹DI]B:i]-:] 5yqɮuAqii[&LAj"j:jX=RjbvT".߲!,9@9ZϬ?BjM}=k1o? ۷p?*j @2jZjC<@HV?GN@Jjƴ5f?8c8H? W?j? jAi2?i|RjBjX9?jLyjBrjAzjS= addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.500639 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.365269 m, bearing: 3.021651 deg, lat: 36.779537 deg, lon: -121.859807 deg, deltaT: 0.500639 s, deltaX: -0.000099 m, approachRate: -0.000198 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.37 m.h hhhhggjgrgreZe!:e!*e%?[A[A"[A*[E$t@?<) *?i9)顝#6:iiIIchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.293690E} E}EyEy"E};*E}z:VEyZEyBE}D u DDAT read: Rx Time:01:32:00.6267 u TRx dataTimestamp_ set to:1764898321.097188} PDAT read: Bearing 227.5, 59.8 (Local)  ~Local bearing/azimuth received: Bearing 227.5, 59.8 (Local)  DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed -0.4  DAT read: 01:32:00.6267 LVL= 22896, 16817, 32754, 32755, AGC= 53, IDX= 509, 0.06, 1.902, 1.965, 0.410, 1.534, PHS= 0.470, 0.476,-1.168, RAW= 29.8, 2.7, CAL= 30.0, 1.0, ROT= 120.0, -1.0  Ygot valid direction response: 01:32:00.6267 LVL= 22896, 16817, 32754, 32755, AGC= 53, IDX= 509, 0.06, 1.902, 1.965, 0.410, 1.534, PHS= 0.470, 0.476,-1.168, RAW= 29.8, 2.7, CAL= 30.0, 1.0, ROT= 120.0, -1.0  T#Rx 76: Read range and direction messages.5 ^direction in FSK: [-0.499924,0.865893,0.017452]E Fpublishing direction and range infoyq u %߿݀;f?W7) ߑ?Yu Aq u pYu Aq q sa#,sHJLA)5Iף>iF>%?A= ? 5<) @I5,iΚһ6u? wɿ)CI @i56checking for new query: numPingsReceived=76, elapsed TxPingTime=37.623127X-<@-b5@-A@<ٱ-Z%>-Hݿ ? 8¿Fݿ@a?`?ޔ?i-<@I-];-CYŁByIiMb@Mb@Mb@ 9Zd;?㥛 ¿ˡEY>y'@dA @)A@Y@bDmVDm8y}%}(=ٔ}08Q-}>9Y=`Ey!k<E>Q 5 5?Q 9 5q)BY'>Q E;yZQ IK@ӹDI;i;;ܽ 5yBɮ_A EiiT8FLAjQA"jQA:jr+=RjL-t¿ȯ9@iB2?Bj%߿݀;f?W7) ߑ?*j @2j5Zj7G>=@'.?bRB@JjCuE?rDz1?jf*?j/? jAiYwJ?i$jfBjjOjBrjAzj4=] addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502928 s, deltaX: 0.300001 m, approachRate: 0.596509 m/s, rangeRepo size: 4  Added new target pos. range: 29.664915 m, bearing: 2.404415 deg, lat: 36.779537 deg, lon: -121.859810 deg, deltaT: 0.502928 s, deltaX: 0.299646 m, approachRate: 0.595804 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.66 m.hhhhhggjgrgTBreZe:e@3=@*ee?['>['>"[@*[w@A@<) R8?ih9)= 6=2:i9iEAAIAIAchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.797726D=D<E EE'E"ET;*E:VE'4ZEa@a@a@a@9@ @@@ A ^A I I O >Ia#,dLA6t@6n@6p><ٱ6{}$>6H3ݿ?¿aIJݿjO?͇ x?`?i6t@I6];6CYNByNI V=TbDV˿VDV|8y^%b=ٔbqQ-b?9dYd=f`Eydf<Ef?hQ 5n 5j9?Q 9n 5j)jBYpyrQ IrK@j׹DIj;ijI;j 5ytɮvAtDNOT Ignoring new targets: 29.66 m.hh-DDAT read: Rx Time:01:32:01.1267 -TRx dataTimestamp_ set to:1764898321.6012345PDAT read: Bearing 229.0, 60.4 (Local) =~Local bearing/azimuth received: Bearing 229.0, 60.4 (Local) MDAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed -0.4 mDAT read: 01:32:01.1267 LVL= 23920, 18161, 31090, 32755, AGC= 53, IDX= 509, 0.27, 0.899, 0.938,-0.617, 0.509, PHS= 0.492, 0.474,-1.170, RAW= 30.5, 2.5, CAL= 30.7, 0.7, ROT= 119.3, -0.7 }Ygot valid direction response: 01:32:01.1267 LVL= 23920, 18161, 31090, 32755, AGC= 53, IDX= 509, 0.27, 0.899, 0.938,-0.617, 0.509, PHS= 0.492, 0.474,-1.170, RAW= 30.5, 2.5, CAL= 30.7, 0.7, ROT= 119.3, -0.7 }T#Rx 77: Read range and direction messages.^direction in FSK: [-0.489346,0.872004,0.012217]Fpublishing direction and range infoy)- qQ߿?u?I:?Y))-p]-F-ry )))I-m>i-!>-•-{F?-¸2=->+ ? -+H<)-gB@I-+H))-mTK?qi/-VQ? -ǿ)-22I-gB@i-+H)Թ)checking for new query: numPingsReceived=77, elapsed TxPingTime=38.070667hhhggjgrgreZe:e*e[?[["[*[V4x@p><) 6?i9)i%62:iiII9@ @@/@@@zABBBIBBBBBB;BwYEBUCBUCBQBQBQCU_4checking for new query: numPingsReceived=77, elapsed TxPingTime=38.301785^A II O >E  E E .E "E ;*E $:VE ـ4ZE BE @2H`.ݿ? -¿`>zkܿ`? }`??i2@I2];0YZByZII^=)^=bDfVDf8y5%=C=ٔ=dQ-=>9AYA=E`EyAE<EM>IQ 5U 5M㗚?Q 9] 5M)MBYYy]Q I]K@MݹDIM;iM;MC 5yaɮmAiiYi]zfLAjY"jY:j]T/=Rj]c-w7&.9@51?Bj] qQ߿?u?I:?*j]gB@2j]+HZj]32QE=@eZ?_\ϑ@Jj]ve9?t`ˣ?C?j]|? j].Ai]󬠟:?i]!j]BjYj]|Rj]dBrj]Azj]Q= addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.504046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.664873 m, bearing: 2.452580 deg, lat: 36.779537 deg, lon: -121.859812 deg, deltaT: 0.504046 s, deltaX: -0.000042 m, approachRate: -0.000083 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.66 m.hhhhhggjgrgreZe:e*eOW?[["[*[x@ <<) 2?iִ9)b06W:ii%!!I!I)@ @@0@@@@@UDDAT read: Rx Time:01:32:01.6270 ]TRx dataTimestamp_ set to:1764898322.109517PDAT read: Bearing 207.2, 54.7 (Local) ~Local bearing/azimuth received: Bearing 207.2, 54.7 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.3 IDAT read: 01:32:01.6270 LVL= 23648, 16737, 31346, 32755, AGC= 50, IDX= 512,-0.35,-2.384,-2.088, 2.126,-2.478, PHS= 0.196, 0.436,-1.723, RAW= 24.2, 10.7, CAL= 23.2, 11.6, ROT= 126.8, -11.6 Ygot valid direction response: 01:32:01.6270 LVL= 23648, 16737, 31346, 32755, AGC= 50, IDX= 512,-0.35,-2.384,-2.088, 2.126,-2.478, PHS= 0.196, 0.436,-1.723, RAW= 24.2, 10.7, CAL= 23.2, 11.6, ROT= 126.8, -11.6 T#Rx 78: Read range and direction messages.^direction in FSK: [-0.586789,0.784377,0.201078]Fpublishing direction and range infoyQUݫ)X?o?YUAQU`\UaAUrz Q)U2IU9H>iUd;>UDܿU@>Ut;?>U4Q> U4QO>)U @IU4QOQQUACUZ\L*I+? Uֿ)U|>IU @iU4QOQQ5checking for new query: numPingsReceived=78, elapsed TxPingTime=38.652851IyIO>iԙ %= checking for new query: numPingsReceived=78, elapsed TxPingTime=38.805950_%a#,˗LAE" E"E"+E "E";*E":VE" [4ZE a*@a*@a*@a*@>zހ@>ׇ@>)4<ٱ>L#>>H@%ܿz.?¿H{ܿ? (S??i>zހ@I>γ];>CYNByNIyiMb@Mb@Mb@ 9?V-¿Zd;OY>yhj<@A @)@Y@bD߿VD8yLZ<%4=ٔQ->9Y=`Ey_<E>Q 5 5w?Q 9 5%)zBY>Q E:yQ IK@DI:i:; 5y- Bɮ5hA1iiTLAjPA"jPA:jGK>Rj C#71[7@cB@Bjݫ)X?o?*j @2j4QOZj2;@bw@ ZJ#@Jjl/֒?j0f??j@ j\Ai??iLj'jBjjjBrjAzj= addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.508283 s, deltaX: 0.500000 m, approachRate: 0.983704 m/s, rangeRepo size: 4  Added new target pos. range: 30.164280 m, bearing: 11.374110 deg, lat: 36.779537 deg, lon: -121.859812 deg, deltaT: 0.508283 s, deltaX: 0.499407 m, approachRate: 0.982537 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.16 m.hhhhhggjgrgBBreZe:eM@33>@*eM@?[>[>"[a%@*[{@)4<) q=?i9)!%=6%:i!i-))I)I1ԡ59@1 @1@=/@9MDDAT read: Rx Time:01:32:02.1270 MTRx dataTimestamp_ set to:1764898322.610254]PDAT read: Bearing 229.1, 53.8 (Local) e~Local bearing/azimuth received: Bearing 229.1, 53.8 (Local) }DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.4 IIDAT read: 01:32:02.1270 LVL= 22304, 18657, 32754, 32755, AGC= 49, IDX= 512,-0.09, 2.616, 2.845, 1.479, 2.372, PHS= 0.346, 0.518,-0.937, RAW= 23.8, 1.1, CAL= 24.2, -0.9, ROT= 125.8, 0.9 Ygot valid direction response: 01:32:02.1270 LVL= 22304, 18657, 32754, 32755, AGC= 49, IDX= 512,-0.09, 2.616, 2.845, 1.479, 2.372, PHS= 0.346, 0.518,-0.937, RAW= 23.8, 1.1, CAL= 24.2, -0.9, ROT= 125.8, 0.9  T#Rx 79: Read range and direction messages.O]>e`direction in FSK: [-0.584886,0.810964,-0.015707]eFpublishing direction and range infoyIMbK•j?y&YIIM WMHM I)M1IM&>iM?M;oMȭ>MnF M)M @IMBCBrIBBBc =BBBٞ;BYE>@>F @>,<ٱ>#>>HtܿF? b¿A@J1ܿrS?@FL??i>@I>];>CYNByRITV@AbDZVDZ8y/%j=ٔQ->9Y=`Ey!%<E%>)Q 55 5-?Q 95 5-)-nBY1y5Q I5K@-DI-T:i-;-H 5yAɮEAAiyi}gLAjy"jy:j}+>Rj}#x1I"Vv8@333R޿Bj}bK•j?y&*j} @2j}<Zj}=@4;"@r @Jj}y]S?W^@i4?3 ?j}@ j};Ai}) iI II ] DDAT read: Rx Time:01:32:02.6271 e TRx dataTimestamp_ set to:1764898323.115351} PDAT read: Bearing 221.3, 57.9 (Local)  ~Local bearing/azimuth received: Bearing 221.3, 57.9 (Local)  DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.3  DAT read: 01:32:02.6271 LVL= 23104, 17905, 32754, 32755, AGC= 50, IDX= 513, 0.06,-1.591,-1.454,-2.944,-1.821, PHS= 0.333, 0.412,-1.167, RAW= 27.5, 5.5, CAL= 27.1, 4.7, ROT= 122.9, -4.7  Ygot valid direction response: 01:32:02.6271 LVL= 23104, 17905, 32754, 32755, AGC= 50, IDX= 513, 0.06,-1.591,-1.454,-2.944,-1.821, PHS= 0.333, 0.412,-1.167, RAW= 27.5, 5.5, CAL= 27.1, 4.7, ROT= 122.9, -4.7  T#Rx 80: Read range and direction messages. ^direction in FSK: [-0.541348,0.836796,0.081939]% Fpublishing direction and range infoya e &RKho ??Ye fAa e @Ze Ea a )e 2Ie ~>ie >e B`e >e =e *> e =)e G @Ie a a 2a#,m˄LA4lɰlIB@;@O&<ٱd#>H`v!ܿfZ?¿ýۿ@>?2Äb?`?iIB@Iݿ];Cg}!)[u? ο),ŽIG @i]checking for new query: numPingsReceived=80, elapsed TxPingTime=39.673897YByI Ai=Mb@Mb@Mb@9999 99=~jt?Onÿ{GzY=>y==#=n@=A 9)=X@9Y=G@bD}VD}8ԁyr <%(=ٔ ^Q->9Y=`Ey><E>Q 5 5w?Q 9 5)]BY>Q E;y,Q IK@DI:i: 5yɮAiiaDŽLAjA"jA:jތ>Rj0.b0c;Z7S9@)*@Bj&RKho ??*jG @2jZjDF=@޷@Ѻ@Jjʩ?eo=?"Ab?ju@ j2AiX?iҀ\jBjjҀ\jrj8Azj>m addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.505097 s, deltaX: 0.099998 m, approachRate: 0.197979 m/s, rangeRepo size: 4 } Added new target pos. range: 30.264303 m, bearing: 7.472526 deg, lat: 36.779537 deg, lon: -121.859794 deg, deltaT: 0.505097 s, deltaX: 0.099880 m, approachRate: 0.197745 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.26 m.hhhhhggjgrg3BreZe:eL>@*e@?[>[>"[7@*[y@%O&<)! %B?i-c9))-U6-:i)i511I1I9checking for new query: numPingsReceived=80, elapsed TxPingTime=39.815113Ee EeEe*Ea"EeT;*Ee&p:VEe(N4ZEaam@am@am@am@Թ9@ @@0@IIIiO> 8a#,mY儍LA\DDAT read: Rx Time:01:32:03.1271 TRx dataTimestamp_ set to:1764898323.619153-PDAT read: Bearing 225.9, 59.9 (Local) 5~Local bearing/azimuth received: Bearing 225.9, 59.9 (Local) MDAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.3 Y~By}I)DAT read: 01:32:03.1271 LVL= 23120, 18161, 32754, 32755, AGC= 51, IDX= 513, 0.18,-1.727,-1.661,-2.908,-1.970, PHS= 0.345, 0.354,-0.982, RAW= 29.7, 4.3, CAL= 29.5, 3.0, ROT= 120.5, -3.0 Ygot valid direction response: 01:32:03.1271 LVL= 23120, 18161, 32754, 32755, AGC= 51, IDX= 513, 0.18,-1.727,-1.661,-2.908,-1.970, PHS= 0.345, 0.354,-0.982, RAW= 29.7, 4.3, CAL= 29.5, 3.0, ROT= 120.5, -3.0 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.506843,0.860448,0.052336]Fpublishing direction and range infoyg8࿦bʈ?yoU˪?YPZF )3Iף>bDʿVD{8yE!=%Ec=ٔEQ-M>9IYI=U`EyQi}?>Zd{m?`=? PwV=)@IPwVKfwB.? ɿ)I@iPwVmchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.111740E>Q 5 5wn?Q 9 5?)PBYyQ IK@DI{ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.264303 m, bearing: 4.898956 deg, lat: 36.779535 deg, lon: -121.859794 deg, deltaT: 0.503802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.26 m.hhhAhAhAgAgAjgIrgIreIZeI:eQ*eU෯?[["[*[) 5F?i 9)  b6 :i i󙷾IB%*>B%CB%lIB%BB!B!B!B%;B%YEI!@ @@O0@IIO%>ߵ=߱checking for new query: numPingsReceived=81, elapsed TxPingTime=40.318111Eu  Eu Eq Eq "Eu &:*Eu :VEq ZEq BEu h;2H uۿ ?¿n 1ۿ@㫮?@J?@?i2@I2];2CY]By]I m9Y=`Ey<E>Q 5 5e?Q 9 5)CBYynQ I%K@DI&;i: 5y)ɮ-,A)DNOT Ignoring new targets: 30.26 m.hhhhhggjgrgreZe:e*e@ ?[["[*[sz@<) E?i19)額um6:iiII5DDAT read: Rx Time:01:32:03.6273 5TRx dataTimestamp_ set to:1764898324.124869IMPDAT read: Bearing 233.1, 61.7 (Local) U~Local bearing/azimuth received: Bearing 233.1, 61.7 (Local) DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed -0.3 M9@I @Q@U4@QIIO-N>DAT read: 01:32:03.6273 LVL= 21488, 17825, 24514, 26611, AGC= 56, IDX= 3, 0.32, 2.478, 2.473, 0.929, 2.055, PHS= 0.524, 0.462,-1.170, RAW= 31.8, 2.2, CAL= 32.1, 0.4, ROT= 117.9, -0.4 Ygot valid direction response: 01:32:03.6273 LVL= 21488, 17825, 24514, 26611, AGC= 56, IDX= 3, 0.32, 2.478, 2.473, 0.929, 2.055, PHS= 0.524, 0.462,-1.170, RAW= 31.8, 2.2, CAL= 32.1, 0.4, ROT= 117.9, -0.4 T#Rx 82: Read range and direction messages.U^direction in FSK: [-0.467919,0.883744,0.006981]]Fpublishing direction and range infoy150lЄ`ݿ;G?a|?Y5A15S5E5_ 5g)58I5$?i5D>5•5q?5nF=5l? 5;)5@I5仩115n􂂠?#Y˃{+? 5<Ŀ)5U I5@i5仩11qchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.688984ԡ  checking for new query: numPingsReceived=82, elapsed TxPingTime=40.821659Ea#,LAE EE'E"E:*E:VE'4ZEa.@a.@a.@a.@PPԁY}ʁBy}IiMb@Mb@Mb@ 9HzG?K7lY=>yI @MA @)+@Y@bD% VD%8y5h=%56=ٔ=Q-=>99YA=E`EyAEEE>IQ 5U 5MGZ?Q 9U 5M)M5BY]>Q E]:y]2Q I]K@MDIM#:iM:M 5yaɮeAaiaieLAjeA"jeA:je}E=Rje M,ێ];@0CO?Bje0lЄ`ݿ;G?a|?*je@2jeZjeܵe->@#F>A?!O:|@Jjee2i?` X?@sFY[?je ? jekAie\BI?ieqoje BjajajarjeAzje> addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.505716 s, deltaX: 0.300001 m, approachRate: 0.593221 m/s, rangeRepo size: 4  Added new target pos. range: 30.563818 m, bearing: 2.757401 deg, lat: 36.779535 deg, lon: -121.859794 deg, deltaT: 0.505716 s, deltaX: 0.299515 m, approachRate: 0.592259 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.56 m.hhhhhggjgrgPBreZe:e>@*e&?[>[>"[`@*[!|@) q=?i9)顕Az6:iiIԡIy@y @@4@IIOc>-DDAT read: Rx Time:01:32:04.1274 5TRx dataTimestamp_ set to:1764898324.626330EPDAT read: Bearing 231.8, 61.8 (Local) E~Local bearing/azimuth received: Bearing 231.8, 61.8 (Local) ]DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed -0.3 DAT read: 01:32:04.1274 LVL= 22848, 18257, 32754, 32755, AGC= 52, IDX= 500,-0.46, 0.643, 0.640,-0.892, 0.242, PHS= 0.502, 0.442,-1.179, RAW= 31.8, 2.9, CAL= 31.9, 1.3, ROT= 118.1, -1.3 Ygot valid direction response: 01:32:04.1274 LVL= 22848, 18257, 32754, 32755, AGC= 52, IDX= 500,-0.46, 0.643, 0.640,-0.892, 0.242, PHS= 0.502, 0.442,-1.179, RAW= 31.8, 2.9, CAL= 31.9, 1.3, ROT= 118.1, -1.3 T#Rx 83: Read range and direction messages.^direction in FSK: [-0.470891,0.881900,0.022687]Fpublishing direction and range infoy)-NP]3#޿ 8?NGY;?Y-fA)-@Y-QG- -)-4I-?i-M>-y閿)-4QO=-Ӈ? -޹<)-A@I-޹))-f4J-?Ǎ5"}? -ſ)-MI-A@i-޹))checking for new query: numPingsReceived=83, elapsed TxPingTime=41.099842 A A B! B! B% rIB% BB% d =B! B! B% ;B% YE#La#,2LA2H@2@2<ٱ2">2H ڿ ?`¿-Bڿ 8N?`rH?@9?i2H@I2];0YńBynIIAbD~ VD~8yE_<%]p=ٔ]IQ-]?9aYa=e`Eyae=Em?iQ 5u 5mR?Q 9} 5mg)m*BYyy}{Q I}K@mDIm ;im;m 5yɮAiYi](LAj]A"j]A:j]O=Rj]?ӏw, Z_!;@dU?Bj]NP]3#޿ 8?NGY;?*j]A@2j]޹Zj]6bF>@~ ?8(k@Jj]!}?R,&?z?=?j]e? j]3Ai]*QI?i]\j]Bj]@*ee?}checking for new query: numPingsReceived=83, elapsed TxPingTime=41.325863[["[*[F}@<) 7>?i 9)6:iiIIEE EEEE+EA"EE:*EE|:VEE [4ZEABEE#55 DDAT read: Rx Time:01:32:04.6276 = TRx dataTimestamp_ set to:1764898325.130131M PDAT read: Bearing 231.9, 61.9 (Local) U ~Local bearing/azimuth received: Bearing 231.9, 61.9 (Local) m DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed -0.3  DAT read: 01:32:04.6276 LVL= 23968, 19121, 32754, 32755, AGC= 54, IDX= 502,-0.28, 1.540, 1.537, 0.016, 1.147, PHS= 0.495, 0.435,-1.176, RAW= 31.8, 3.0, CAL= 31.9, 1.5, ROT= 118.1, -1.5  Ygot valid direction response: 01:32:04.6276 LVL= 23968, 19121, 32754, 32755, AGC= 54, IDX= 502,-0.28, 1.540, 1.537, 0.016, 1.147, PHS= 0.495, 0.435,-1.176, RAW= 31.8, 3.0, CAL= 31.9, 1.5, ROT= 118.1, -1.5  T#Rx 84: Read range and direction messages. ^direction in FSK: [-0.470850,0.881825,0.026177] Fpublishing direction and range infoy9 = %)4i"޿XF7?P!Κ?Y= A9 = ]= J9 9 )= 6I= p>i= R>= +9 = PwV=9 = Pw<)9 I= Pwּ9 9 = g8r.?%qnY? = ſ)= XI9 i= Pwּ9 9  checking for new query: numPingsReceived=84, elapsed TxPingTime=41.599274a Sa#,LLA.@ (@x3;ٱ">Huڿ?¿"2ڿ? [FC?r?i.@I0];CY ЁBy I)iuMb@Mb@Mb@qqqq q9uS㥛?M¿Q롿Yu$>yunu\u@uA u@)u@qYu@4AbDVDǰ8yM<%(=ٔ~VQ->9Y=`EyvL<E>Q 5 5F?Q 9 5+)BY>Q E;yiQ IK@ DI;i[;; 5y Bɮ AEiaieTHLAjeA"jeA:je =RjeJs=@-M]ld;@?=?Bje%)4i"޿XF7?P!Κ?*ja2jePwּZjeޗY>@L})L6@b"@JjeQ*#v?pK?vuL?je @ jeRAie#T?ieגjeQBje\BI?jeגjeQBrjeAzje= addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503801 s, deltaX: 0.300001 m, approachRate: 0.595475 m/s, rangeRepo size: 4  Added new target pos. range: 31.063190 m, bearing: 4.030094 deg, lat: 36.779538 deg, lon: -121.859820 deg, deltaT: 0.503801 s, deltaX: 0.299646 m, approachRate: 0.594771 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.06 m.hhhhhggjgrgreZe:e?@*e  ?[M>[M>"[MP@*[MS|@achecking for new query: numPingsReceived=84, elapsed TxPingTime=41.830345x3;) @?iٴ9)顥f6:iiIIbE(N4jEżP4rE).0EU EUEU*EQ"EU;*EU:VEU(N4ZEQa}@a@a@a@@ @@/@IIO>ԉԱ n5Ya#,ǟfLAɰzDDAT read: Rx Time:01:32:05.1276 zTRx dataTimestamp_ set to:1764898325.634231 PDAT read: Bearing 233.3, 62.1 (Local)  ~Local bearing/azimuth received: Bearing 233.3, 62.1 (Local) %DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed -0.3 MDAT read: 01:32:05.1276 LVL= 23024, 19825, 32754, 32755, AGC= 54, IDX= 502,-0.14, 0.628, 0.615,-0.912, 0.219, PHS= 0.510, 0.441,-1.176, RAW= 32.1, 2.7, CAL= 32.2, 1.1, ROT= 117.8, -1.1 UYgot valid direction response: 01:32:05.1276 LVL= 23024, 19825, 32754, 32755, AGC= 54, IDX= 502,-0.14, 0.628, 0.615,-0.912, 0.219, PHS= 0.510, 0.441,-1.176, RAW= 32.1, 2.7, CAL= 32.2, 1.1, ROT= 117.8, -1.1 UT#Rx 85: Read range and direction messages.]^direction in FSK: [-0.466301,0.884418,0.019197]]Fpublishing direction and range infoyxz2ݿ&M?]~?YxxzYzqMx x)xIz\?iz>xzl?zA=z? znF<)zx@IznFxxz;}?5,P? znĿ)zEIzx@iznFxx}checking for new query: numPingsReceived=85, elapsed TxPingTime=42.100895U@O@];ٱ,#>H@.ڿ?$¿ 2ٿ@,?K}bO?`?iU@I ];CYu܁By}I AԑbD$VDΰ8yق=% \=ٔQ->9Y=`EyM<E>!Q 5- 5%=?Q 9 5%$)%BYyQ IK@%DI%=hLAjx"jx:jz.=Rjz<)5,I y;@޲*?Bjz2ݿ&M?]~?*jzx@2jznFZjzvk>@6Y@blY4@Jjz0Ԭ{?[@?;BBIBBBBBB;BYEiII @ @@@IIO>checking for new query: numPingsReceived=85, elapsed TxPingTime=42.333782Ee  Ee Ee -Ea "Ee ;*Ee :VEe t4ZEa BEe D2H ٿ@?¿iE|ٿɒ? O{T㕿Ӈ?4QO=5? <)@I'sW? $D|Bč? vĿ)LI@ichecking for new query: numPingsReceived=86, elapsed TxPingTime=42.623039!I  checking for new query: numPingsReceived=86, elapsed TxPingTime=42.837734DY zD] AAEq  Eu Eu ,Eq "Eq *Eu z:VEu g4ZEq a @a @a @a @ԩ vfa#,LA@a@;ٱN">Hyٿ?+¿VHٿAQ? y 4?%?i@I];YByIimMb@Mb@Mb@iiii i9mX9v?'1ZĿX9vYm>ym"mii m@)mI@iYi }=}<bD<VD8yD=%2=ٔvQ->9Y=aEy><E>Q 5 5*?Q 9 5)BY>Q E ;yQ IK@DIm@v=k@u5Q@Jj2zXu?Wrc2?FwҨ?j'%@ jAizZ@?i!jBjjjrjAzj ڠ=u addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504251 s, deltaX: 0.100000 m, approachRate: 0.198315 m/s, rangeRepo size: 4  Added new target pos. range: 31.163128 m, bearing: 4.814515 deg, lat: 36.779538 deg, lon: -121.859820 deg, deltaT: 0.504251 s, deltaX: 0.099937 m, approachRate: 0.198190 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.16 m.hhhhhggjgrgpBreZe:e@33?@*e?[>[>"[zs@*[y@;) @?iT9)6:iiIIM9@I @I@M/@IIYIqO}8>9DDAT read: Rx Time:01:32:06.1278 TRx dataTimestamp_ set to:1764898326.641169PDAT read: Bearing 235.5, 62.2 (Local) ~Local bearing/azimuth received: Bearing 235.5, 62.2 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.3 DAT read: 01:32:06.1278 LVL= 20384, 18849, 28786, 31731, AGC= 53, IDX= 504, 0.09, 1.939, 1.919, 0.385, 1.511, PHS= 0.530, 0.453,-1.170, RAW= 32.3, 2.3, CAL= 32.6, 0.5, ROT= 117.4, -0.5 Ygot valid direction response: 01:32:06.1278 LVL= 20384, 18849, 28786, 31731, AGC= 53, IDX= 504, 0.09, 1.939, 1.919, 0.385, 1.511, PHS= 0.530, 0.453,-1.170, RAW= 32.3, 2.3, CAL= 32.6, 0.5, ROT= 117.4, -0.5 T#Rx 87: Read range and direction messages.^direction in FSK: [-0.460182,0.887782,0.008727]Fpublishing direction and range infoy=sݿsh?B7߁?YOIrp {)5I?i>•ZQ?l$=? 5<)#@I5vs*?F￾;"PW? lÿ)y"I#@i5checking for new query: numPingsReceived=87, elapsed TxPingTime=43.105640i BY A] <Be *>Ba Be IBe ˁBBe e =Ba Ba Be ;Be YEB-CB-CB)B)B)C- 58la#,LADZۂ@ZՉ@Z`;ٱZ">ZH@g9ٿ?i¿h`ؿh? y9qYq=uaEyq}Lw<E}>Q 5 5"?Q 9 5)BYyQ IK@DI:i: 5yɮVAiiLAjMA"jMA:j=Rj/1l,};@g@˴9:@@JjZ >~c?ál?m?j@ jAi=?i|KIjlBjjjrjAzjt= addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502687 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.163036 m, bearing: 4.475255 deg, lat: 36.779538 deg, lon: -121.859820 deg, deltaT: 0.502687 s, deltaX: -0.000092 m, approachRate: -0.000182 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.16 m.hhhhhggjg rg re Ze :e*er?checking for new query: numPingsReceived=87, elapsed TxPingTime=43.341835E EEE"E=;*E~:VEZEBEI Ȗ ? ¸2= ? d<) G\@I d ?.U8￯F|? Ŀ) <3I G\@i d u checking for new query: numPingsReceived=88, elapsed TxPingTime=43.615334O >}sa#,΅LA @@;ٱJ">H`ؿ`?3¿ { /ؿ?` x>?ธ?i @I];CYByIiMb@Mb@Mb@ 9y&1?(\ſy&1Y`>y.`@MA @)A@YG@bDVDð8yE=%E/=ٔM9IYQ=UaEyQUQ<EU>YQ 5 5]=?Q 9 5]^)]BYn>Q E;yQ IK@]"DI];i]};] 5yɮAiiK[ɅLAjA"jA:j7!=Rj<`&Cu&-`%H.;@bEI?Bj#ݿ||[?4?*jG\@2jdZjW˰>@@@Jjۙo{?D-<5??j.@ jAiաG?i`hjBjաG?jגjBrjAzjd=9M addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.505028 s, deltaX: 0.299999 m, approachRate: 0.594025 m/s, rangeRepo size: 4 ] Added new target pos. range: 31.462681 m, bearing: 5.039392 deg, lat: 36.779538 deg, lon: -121.859820 deg, deltaT: 0.505028 s, deltaX: 0.299644 m, approachRate: 0.593323 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.46 m.hhhhhggjgrgBreZe:e?@*e`?5checking for new query: numPingsReceived=88, elapsed TxPingTime=43.847305[n>[n>"[@*[/ v@;) B?D=D<E EE'E"E ;*E:VE'4ZEa @a @a @a @i=ӵ9)QUS6]!:iYiIIiA @A  @A @E /@A IQ Ia Ou >ԙ ya#,m腍LAFDDAT read: Rx Time:01:32:07.1281 FTRx dataTimestamp_ set to:1764898327.649004JPDAT read: Bearing 235.3, 62.4 (Local) N~Local bearing/azimuth received: Bearing 235.3, 62.4 (Local) VDAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.3 fDAT read: 01:32:07.1281 LVL= 22128, 22049, 32754, 32755, AGC= 52, IDX= 507,-0.40,-0.165,-0.189,-1.707,-0.580, PHS= 0.517, 0.436,-1.172, RAW= 32.5, 2.7, CAL= 32.6, 1.1, ROT= 117.4, -1.1 nYgot valid direction response: 01:32:07.1281 LVL= 22128, 22049, 32754, 32755, AGC= 52, IDX= 507,-0.40,-0.165,-0.189,-1.707,-0.580, PHS= 0.517, 0.436,-1.172, RAW= 32.5, 2.7, CAL= 32.6, 1.1, ROT= 117.4, -1.1 nT#Rx 89: Read range and direction messages.v^direction in FSK: [-0.460115,0.887652,0.019197]vFpublishing direction and range infoyDFGօrݿhsg?]~?YFADFpVF!VF F)DIFZ?iFd;>FF6?FA=F? FnF<)F#@IFnFDDFK>K?߸3? FTÿ)F@IF#@iFnFDDchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.115414v<@5@;ٱ`z">H?ؿi,?¿`Q`FؿP/? xi9??iv<@I<];CyY ByIAAbD"VD̰8y\=%V=ٔQ->9Y=aEy w<E>A]{Aq?9{AYAQ 5 5 ?Q 9 5)BYyQ IK@&DI :iN:v 5yBɮqAEԡiDiFH配LAjFLA"jFLA:jF=RjF}#-:<@hs?BjFGօrݿhsg?]~?*jF#@2jFnFZjF=P;?@ y@@JjF+|r?yݶ???jF4@ jFAiF5,K?iFjFNBjDjF`hB)B)B-IB-߁BB-d =B)B)B-;B-YEjDrjFAzjF=} addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.502807 s, deltaX: 0.200001 m, approachRate: 0.397768 m/s, rangeRepo size: 4  Added new target pos. range: 31.662445 m, bearing: 5.193103 deg, lat: 36.779538 deg, lon: -121.859819 deg, deltaT: 0.502807 s, deltaX: 0.199764 m, approachRate: 0.397298 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.66 m.hhhhhggjgrgreZe:e@3?@*e^?[["[*[iv@5;)1 5E?i5ƶ9)156=!:iAi]YaIaIa@ @@ 0@EDDAT read: Rx Time:01:32:07.6282 UTRx dataTimestamp_ set to:1764898327.902996]checking for new query: numPingsReceived=89, elapsed TxPingTime=44.354385IE  E E )E "E ;*E VE FA4ZE BE Oi@> c@>B;ٱ>V">>H3ؿ@=?¿׿ѫ?Jx 5?`!?i>i@I>];>CYLyLbDZ(VDZѰ8yr5:%vk=ٔvqQ-v?9xYx=zaEyxz2<Ez?|Q 5 5~e?Q 9  5~)~BY y [Q I K@~*DI~:i~:~1 5yɮoADNOT Ignoring new targets: 31.66 m.hhhhhggjgrgreZe:e*e|?[["[*[3v@ B;)  E?i {9)ֳ6+":ii%))I)I1II)MzAPDAT read: Bearing 235.3, 62.5 (Local) ~Local bearing/azimuth received: Bearing 235.3, 62.5 (Local) DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed -0.3 DAT read: 01:32:07.6282 LVL= 22736, 21713, 32754, 32755, AGC= 51, IDX= 508,-0.11,-1.133,-1.161,-2.668,-1.541, PHS= 0.511, 0.426,-1.171, RAW= 32.6, 2.9, CAL= 32.7, 1.3, ROT= 117.3, -1.3 Ygot valid direction response: 01:32:07.6282 LVL= 22736, 21713, 32754, 32755, AGC= 51, IDX= 508,-0.11,-1.133,-1.161,-2.668,-1.541, PHS= 0.511, 0.426,-1.171, RAW= 32.6, 2.9, CAL= 32.7, 1.3, ROT= 117.3, -1.3 T#Rx 90: Read range and direction messages.^direction in FSK: [-0.458532,0.888388,0.022687]Fpublishing direction and range infoyXݿGNmm?NGY;?YfAXT )3I?i>T㕿?4QO=? ޹<)~@I޹p?f`: ǩ? Qÿ)NNI~@i޹checking for new query: numPingsReceived=90, elapsed TxPingTime=44.616535 9@ @@4@I!I1O=>)U DDAT read: Rx Time:01:32:08.1282 ] TRx dataTimestamp_ set to:1764898328.406922m PDAT read: Bearing 238.2, 62.8 (Local) u ~Local bearing/azimuth received: Bearing 238.2, 62.8 (Local)  checking for new query: numPingsReceived=90, elapsed TxPingTime=44.861340ԑ E  E E +E "E T;*E :VE [4ZE a- @a- @a- @a- @Ca#,3LA^D@^@^{;ٱ^n">^H׿ O?~ ÿ@DZ6׿]? 4x`7??i^D@I^)];^CYBy IIieMb@Mb@Mb@aaaa a9eʡE? ףp= ǿyeQ8ete@e7A e@)aaYe@bDVDð8yB=%1=ٔ8Q->9Y=aEyP<E>Q 5 5?Q 9  5)BY >Q E ;y Q I K@/DIS;i;C 5yɮAii LAjA"jA:j=Rjs)+3 -w^{7<@4G0?BjXݿGNmm?NGY;?*j~@2j޹ZjݫI*?@ئ) @/@JjGf?`VY?(-?jMI@ jTAiL:=?ijBjzZ@?jjBrjAzj= addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.502700 s, deltaX: 0.099998 m, approachRate: 0.198923 m/s, rangeRepo size: 4  Added new target pos. range: 31.762407 m, bearing: 5.762823 deg, lat: 36.779537 deg, lon: -121.859819 deg, deltaT: 0.502700 s, deltaX: 0.099962 m, approachRate: 0.198851 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.76 m.hhhhhggjgrgBre Ze :e ?@*e ?[>[>"[B#@*[t@{;) @?i9)%6%":i!i-)1I1I1yDAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed -0.4 DAT read: 01:32:08.1282 LVL= 20912, 18273, 31058, 32211, AGC= 51, IDX= 508, 0.10,-0.981,-1.028,-2.546,-1.426, PHS= 0.547, 0.443,-1.164, RAW= 33.1, 2.1, CAL= 33.4, 0.4, ROT= 116.6, -0.4 Ygot valid direction response: 01:32:08.1282 LVL= 20912, 18273, 31058, 32211, AGC= 51, IDX= 508, 0.10,-0.981,-1.028,-2.546,-1.426, PHS= 0.547, 0.443,-1.164, RAW= 33.1, 2.1, CAL= 33.4, 0.4, ROT= 116.6, -0.4 T#Rx 91: Read range and direction messages.^direction in FSK: [-0.447748,0.894132,0.006981] Fpublishing direction and range infoy1ܿ/?a|?YQaGRy })I1 ?i>h?Q =;? ;)S>@I仩`?ܐBZ/? ¿)IS>@i仩uchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.134007@ @@@5@IIO>ԡA A B% (>B! B% IB% BB! B! B! B% ;B% YE Gߌa#,e5LA:˃@:(Ŋ@:S;ٱ:">:H@o}׿*a?#ÿ ?׿?mJxG?`?i:˃@I:5];:CY^$Byb I f%=dbDjVDjİ8yv=%vl=ٔv}8Q-v?9xYx=zaEyx~#<E~?!Q 5% 5%?Q 9- 5%)%BY)y-7Q I-K@%3DI%:i%y:%I 5y1ɮ]AYii*LAj"j:j=Rj Aiq,6Qf<@ʤ\b?Bj1ܿ/?a|?*jS>@2jZjprvB?@WaIjNc@̵16@Jj8)j~?p7?B[?DDAT read: Rx Time:01:32:08.6284 %TRx dataTimestamp_ set to:1764898328.912059=PDAT read: Bearing 239.3, 62.7 (Local) E~Local bearing/azimuth received: Bearing 239.3, 62.7 (Local) Mchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.367619j;@ jAiV=?i~羛jBjL:=?j`hjBrjLAzj@C=E EEE"E;*E҆:VEZEBE>CCI  DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed -0.3  DAT read: 01:32:08.6284 LVL= 21552, 19361, 31602, 31987, AGC= 51, IDX= 510, 0.34, 0.212, 0.167,-1.361,-0.242, PHS= 0.556, 0.453,-1.163, RAW= 33.0, 1.9, CAL= 33.4, 0.0, ROT= 116.6, -0.0  Ygot valid direction response: 01:32:08.6284 LVL= 21552, 19361, 31602, 31987, AGC= 51, IDX= 510, 0.34, 0.212, 0.167,-1.361,-0.242, PHS= 0.556, 0.453,-1.163, RAW= 33.0, 1.9, CAL= 33.4, 0.0, ROT= 116.6, -0.0  T#Rx 92: Read range and direction messages. ^direction in FSK: [-0.447759,0.894154,0.000000] Fpublishing direction and range infoy  JܿD4J?Y fB 0T K r{ |) I V?i > /ݔ r? = ) I  3WvU?nZWN;b? 8¿) I i  checking for new query: numPingsReceived=92, elapsed TxPingTime=45.622116=̓a#,OLA0@d@;ٱZ#>HD׿s?<ÿ|ֿ@?`xU?@֗?i@Ig];CY By II<);ԁiMb@Mb@Mb@ 9 rh?Clǿ rhYC>yd;C A @)Y@bDVD8y {%!=ٔW9Q->9DDAT read: Rx Time:01:32:09.1285 %TRx dataTimestamp_ set to:1764898329.416036=PDAT read: Bearing 238.3, 62.9 (Local) E~Local bearing/azimuth received: Bearing 238.3, 62.9 (Local) eDAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.3 uZ#Rx 93: Read range message, but no direction.yY3Bchecking for new query: numPingsReceived=93, elapsed TxPingTime=45.878849E EE*E"E:*E|:VE(N4ZEa@a@a@a@ԩY=aEyG3<E>Q 5 5晊?Q 9- 5)BY->Q E-!;y5 Q I5L@9DIg[>"[I@*[Gq@;)! % E?i% 9)! % 6% l$:i! i- ) 1 I1 I1 E C>iE > 9@  @ @ 1@ I I O >Xa#,iLAJDAT read: 01:32:09.1285 LVL= 22352, 18097, 32194, 32755, AGC= 51, IDX= 511,-0.30,-2.991,-3.042, 1.746, 2.860, PHS= 0.534, 0.426,-1.158, RAW= 33.3, 2.4, CAL= 33.5, 0.8, ROT= 116.5, -0.8 RYgot valid direction response: 01:32:09.1285 LVL= 22352, 18097, 32194, 32755, AGC= 51, IDX= 511,-0.30,-2.991,-3.042, 1.746, 2.860, PHS= 0.534, 0.426,-1.158, RAW= 33.3, 2.4, CAL= 33.5, 0.8, ROT= 116.5, -0.8 RZ#Rx 94: Read direction message, but no range.V^direction in FSK: [-0.446154,0.894847,0.013962]y02 ʍܿN?4?02PW2F2} 2`)0I29?i2>2X92,?2+=2? 2d<)2!@I2d02R)?c7>￲uӥ? 2)2:.I2!@i2dnchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.128410E8@Eb1@E;ٱEH[#>EH@ֿ .? )Jÿ(yֿ`? yy`*U? ӗ?iE8@IE];ECY}#By IbDVDȰ8y<%v=ٔ:Q-?9Y=aEy<E5?Q 5 5Eᙊ?Q 9 5)BYyj Q I L@A ڠa#,>LA6j@6d@6y;ٱ6">6H Tֿt?Dÿ`ֿ[?dWy`D? }?i6j@I6];4Y^"By\df@AbDf$VDfΰ8yne%r\=ٔrQ-r>9pYt=vaEytvi<Ev>xQ 5~ 5z,ٙ?Q 9~ 5z)zBYy Q IL@z@DIz;iz@;z 5y ɮ A E addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504961 s, deltaX: 0.299999 m, approachRate: 0.594104 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 32.26 m.hIhIhQhQhQgYgYjgargareiZei:euL@@*eu@bI?[)[)"[)*[-Hr@]y;)q uF?iu=9)qu6ua%:iqi}󙷾yyIIDAT read: 01:32:09.6287 LVL= 23472, 21329, 32754, 32755, AGC= 50, IDX= 513,-0.10, 2.368, 1.904, 1.033, 2.065, PHS= 0.405,-0.116,-1.076, RAW= 50.3, 12.1, CAL= 47.1, 13.8, ROT= 102.9, -13.8 Ygot valid direction response: 01:32:09.6287 LVL= 23472, 21329, 32754, 32755, AGC= 50, IDX= 513,-0.10, 2.368, 1.904, 1.033, 2.065, PHS= 0.405,-0.116,-1.076, RAW= 50.3, 12.1, CAL= 47.1, 13.8, ROT= 102.9, -13.8 Z#Rx 96: Read direction message, but no range.^direction in FSK: [-0.216806,0.946624,0.238533]yimMK˿hJ?iC?im[mQSm i)m2Im)\>imhm^m`?m@X>mqR? mϢv>)m}?ImϢvimn3?YXz? m)mxWIm}?imϢvchecking for new query: numPingsReceived=96, elapsed TxPingTime=46.627480Aر9qI@I @I@M/@QIaIqO}>ԡ = DDAT read: Rx Time:01:32:10.1287 E TRx dataTimestamp_ set to:1764898330.424132] PDAT read: Bearing 254.1, 52.0 (Local) e ~Local bearing/azimuth received: Bearing 254.1, 52.0 (Local)  DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed -0.3  Z#Rx 97: Read range message, but no direction.yA YA A bEu˙T4jEuOS4rEu/E  E E )E "E =;*E :VE FA4ZE a @a @a @a @a#,pLAɰ>checking for new query: numPingsReceived=97, elapsed TxPingTime=46.891964R @R[@RY;ٱRRC">RH`oտ@?>ÿ@rտz?y2?4?iR @IR];RCYn'Byn IyiMMb@Mb@Mb@IIII I9MCl?V-ǿ ףp= YMߏ>yM|?MQ8II M@)M+@IYMG@bDmVD8y<%2=ٔ9Q->9Y=aEyG_<E>Q 5 5Ι?Q 9 5*)uBYX>Q E;yQ IL@DDI;i; 5yBɮAEiqiu$LAju>B"ju>B:ju\@Rju=L<D>@j`@BjuMK˿hJ?iC?*ju}?2juϢvZju|RRa=@珄 s')@JjuQ?iB <>2θ?ju] juAiu?iuILjuOBjuL:=?ju[\juNBrjuAzjutV= addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.503135 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.561344 m, bearing: 353.376335 deg, lat: 36.779537 deg, lon: -121.859820 deg, deltaT: 1.008096 s, deltaX: 0.299652 m, approachRate: 0.297246 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.56 m.hhhhhggjgrgBreZe:e*ee?[MX>[MX>"[ME@*[Mts@Y;) B?i9)顕26(&:iԩiII zAzAiyIyDAT read: 01:32:10.1287 LVL= 23856, 18129, 32754, 32755, AGC= 51, IDX= 513, 0.05,-2.642,-2.434, 1.924, 2.863, PHS= 0.880, 1.030,-0.984, RAW= 26.2, -9.6, CAL= 27.3, -11.1, ROT= 122.7, 11.1 Ygot valid direction response: 01:32:10.1287 LVL= 23856, 18129, 32754, 32755, AGC= 51, IDX= 513, 0.05,-2.642,-2.434, 1.924, 2.863, PHS= 0.880, 1.030,-0.984, RAW= 26.2, -9.6, CAL= 27.3, -11.1, ROT= 122.7, 11.1 Z#Rx 98: Read direction message, but no range.`direction in FSK: [-0.530134,0.825768,-0.192522]y WKl?Mȿ0]F )3IGa?i ׃?m{ >+> aF) @IaF>h߰fm|P2@Cſ ѿ)*>I @iaF>checking for new query: numPingsReceived=98, elapsed TxPingTime=47.136269ʰ9A @A  @A @E /@A IQ Ia Ou >B A <B '>B B IB BB B B B Ȟ;B YE ,a#,ALA>-τ@>|ȋ@>V;ٱ>!>>H տ??ÿ`qbտ-? z'(??i>-τ@I>];>CYJ$ByJ IbDVKVDV8yZOx%Zo=ٔ^z9Q-^?9`Y`=baEy`bm<Ef?dQ 5j 5flǙ?Q 9j 5f)fhBYlynQ InL@fHDIf;ifj;f 5ypɮrAtMDNOT Ignoring new targets: 32.56 m.hQhQhQhYhYgagijgqDDAT read: Rx Time:01:32:10.6289 TRx dataTimestamp_ set to:1764898330.928127PDAT read: Bearing 240.6, 63.6 (Local) %~Local bearing/azimuth received: Bearing 240.6, 63.6 (Local) MDAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.3 ]Z#Rx 99: Read range message, but no direction.yYBuchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.391766yE EE&E"E ;*Eą:VE4ZEBEL9)qu6u&:iqi}yyIIԡ9q @q  @q @q @q  DAT read: 01:32:10.6289 LVL= 20896, 17601, 24514, 26851, AGC= 56, IDX= 3, 0.17, 1.398, 1.317,-0.194, 0.938, PHS= 0.561, 0.424,-1.176, RAW= 34.1, 2.3, CAL= 34.3, 0.7, ROT= 115.7, -0.7  Ygot valid direction response: 01:32:10.6289 LVL= 20896, 17601, 24514, 26851, AGC= 56, IDX= 3, 0.17, 1.398, 1.317,-0.194, 0.938, PHS= 0.561, 0.424,-1.176, RAW= 34.1, 2.3, CAL= 34.3, 0.7, ROT= 115.7, -0.7  \#Rx 100: Read direction message, but no range. ^direction in FSK: [-0.433627,0.901010,0.012217]y  ]+5~ۿoFf?I:? Q D _ h) 8I ?i > + :\? l$= @? +H<) <@I +H {ͮ$? ,Q줬c+? ) D%I <@i +H checking for new query: numPingsReceived=100, elapsed TxPingTime=47.635345I I O > a#,/цLA@!@n;ٱ!>H6տ?@Iÿ`0տ? -z )? ?i@Ic];CY5 By= IiMb@Mb@Mb@ 9~jt?-ƿ/$Y>y?5,@MA @)A@Y@ =<bD:VD8yW%+=ٔϒ8Q->9Y=aEy^X<E>Q 5  5?Q 9  5^)WBY  >Q E';yQ IL@MDI ;i; 5yɮAi!i%ofLAj%qB"j%qB:j%l=Rj%f,4@=@J!#׍?Bj%]+5~ۿoFf?I:?*j%<@2j%+HZj%}L @@P*i7 @y@Jj%B%d?Z%dk'?3ҴI?j%o@ j%Bi%<>Z?i% j%mBj!j!j%mBrj%dBzj%U=m addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503995 s, deltaX: 0.300003 m, approachRate: 0.595250 m/s, rangeRepo size: 4  Added new target pos. range: 32.860931 m, bearing: 6.621395 deg, lat: 36.779537 deg, lon: -121.859820 deg, deltaT: 0.503995 s, deltaX: 0.299587 m, approachRate: 0.594425 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.86 m.hhhhhggjgrgBreZe:e*e@?DDAT read: Rx Time:01:32:11.1289  TRx dataTimestamp_ set to:1764898331.432472%PDAT read: Bearing 241.9, 63.7 (Local) -~Local bearing/azimuth received: Bearing 241.9, 63.7 (Local) [m >[m >"[m@*[ms@E EE*E"El;*E:VE(N4ZEa@a@a@a@UDAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.3 n;) R8?iص9)q6':ii-DAT read: 01:32:11.1289 LVL= 22816, 18417, 32754, 32755, AGC= 52, IDX= 499, 0.30, 0.625, 0.538,-0.973, 0.154, PHS= 0.572, 0.429,-1.172, RAW= 34.3, 2.1, CAL= 34.6, 0.3, ROT= 115.4, -0.3 I1I9]Ygot valid direction response: 01:32:11.1289 LVL= 22816, 18417, 32754, 32755, AGC= 52, IDX= 499, 0.30, 0.625, 0.538,-0.973, 0.154, PHS= 0.572, 0.429,-1.172, RAW= 34.3, 2.1, CAL= 34.6, 0.3, ROT= 115.4, -0.3 ]V#Rx 101: Read range and direction messages.e^direction in FSK: [-0.428929,0.903323,0.005236]eFpublishing direction and range infoy61.sۿ7gQT?sNru?Y YG )4In?i>@?Q =#? ;).@IzF?- TAq? 񙿿)$I.@ichecking for new query: numPingsReceived=101, elapsed TxPingTime=47.935959! Y @  @ @ @ I I! OE >:a#,ꆍLA *checking for new query: numPingsReceived=101, elapsed TxPingTime=48.130287 Y7@ 0@ ;ٱ O"> HwԿ ??`ÿA ؠԿ`&?z'4?!?i Y7@I *]; CYBy IbDUVDUð8yes:%ei=ٔ :Q->9Y=aEyܓ<E>Q 5 5P?Q 9 5$)JBYyQ IL@PDI;i; 5yɮAiAiEۆLAjA"jA:jE=RjE]0,f=@w?BjE61.sۿ7gQT?sNru?*jE.@2jEZjE7."@@/$@k.@JjE/]k?1FZ?TH%F?jE!q@ jEBiEcU?iE jEBjEcU?jAjEBrjEBzjE= addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504345 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.860931 m, bearing: 6.659997 deg, lat: 36.779540 deg, lon: -121.859820 deg, deltaT: 0.504345 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.86 m.hhhhhggjgYrgareaZea:ea*ee;?[["[*[mys@;) :4?i 9)顽M6(:iiIII=)G>9U9IY)]yAB(>BBIBBBe =BBB;BdYEB9B9B9B9B9C=²4@ @@d0@II OK>aDDAT read: Rx Time:01:32:11.6291 -TRx dataTimestamp_ set to:1764898331.936402EPDAT read: Bearing 243.5, 64.5 (Local) M~Local bearing/azimuth received: Bearing 243.5, 64.5 (Local) uDAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed -0.3 \#Rx 102: Read range message, but no direction.y!Y%B!E EE,E"E~ ;*Eh:VEg4ZEBE V6HOwԿ q?qÿQEԿtĦ?z#>??i6h@I6B];6C9Y = aEy |<E>yQ 5 5}5?Q 9 5}$)};BYyCQ IL@}TDI}3=;i}N;} 5yBɮAE  addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.503930 s, deltaX: 0.299999 m, approachRate: 0.595319 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 32.86 m.hhhhhggjgrgreZe:e@@*e?[["[*[s@X;)! %1?i%9)!%6%(:i!i-11I1I1i߁I߁ԩDAT read: 01:32:11.6291 LVL= 21376, 19313, 32754, 31315, AGC= 53, IDX= 500, 0.42, 0.692, 0.572,-0.937, 0.197, PHS= 0.596, 0.419,-1.178, RAW= 35.2, 1.9, CAL= 35.6, 0.2, ROT= 114.4, -0.2 Ygot valid direction response: 01:32:11.6291 LVL= 21376, 19313, 32754, 31315, AGC= 53, IDX= 500, 0.42, 0.692, 0.572,-0.937, 0.197, PHS= 0.596, 0.419,-1.178, RAW= 35.2, 1.9, CAL= 35.6, 0.2, ROT= 114.4, -0.2 \#Rx 103: Read direction message, but no range.^direction in FSK: [-0.413102,0.910678,0.003491]yj[BpڿnF$?QC1ml?SqK Sz)5Iu?i+>ȖnF?=? d;)r?Id(Dn/,?[l? s)j Ir?id5checking for new query: numPingsReceived=103, elapsed TxPingTime=48.6583679@ @@?5@IIO5O> E DDAT read: Rx Time:01:32:12.1291 M TRx dataTimestamp_ set to:1764898332.440894m PDAT read: Bearing 244.3, 65.2 (Local) u ~Local bearing/azimuth received: Bearing 244.3, 65.2 (Local)  DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed -0.3  \#Rx 104: Read range message, but no direction.yI YI I  checking for new query: numPingsReceived=104, elapsed TxPingTime=48.906090D zD @AE  E E )E "E 7;*E :VE FA4ZE a @a @a @a @Ba#,CqLA:2@:@:;ٱ:">:HԿb?`vÿ`ӿ{_?1z#yE33E@E@E7A E@)E+@AYEQ@qqbD}VD}8ytY%3=ٔQ->9Y=aEyM<E>Q 5 5?Q 9 5)*BY0>Q E;yQ IL@YDIC;i;| 5yɮAiyi}7LAj}B"j}B:j}=Rj}a:e+? 2>@'-6?Bj}j[BpڿnF$?QC1ml?*j}r?2j}dZj}ԍK@@tJs @^G@Jj}17ir?H ٻ?Q(J4?j}f@ j}XBi}'^?i}|Ɯj}Bj}<>Z?jyj}Brj}Bzj}= addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504492 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 33.160606 m, bearing: 6.316880 deg, lat: 36.779540 deg, lon: -121.859820 deg, deltaT: 1.008422 s, deltaX: 0.299675 m, approachRate: 0.297172 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.16 m. hh)h)h)h)g)g1jg1rg5|Bre9Ze9:eA*eeI?[0>[0>"[<@*[ w@%;)! -=J?i-9))-6-):i)i511I1I9DAT read: 01:32:12.1291 LVL= 20528, 18545, 30690, 31827, AGC= 52, IDX= 501,-0.43,-2.069,-2.214, 2.593,-2.568, PHS= 0.601, 0.399,-1.167, RAW= 36.0, 2.0, CAL= 36.4, 0.4, ROT= 113.6, -0.4 Ygot valid direction response: 01:32:12.1291 LVL= 20528, 18545, 30690, 31827, AGC= 52, IDX= 501,-0.43,-2.069,-2.214, 2.593,-2.568, PHS= 0.601, 0.399,-1.167, RAW= 36.0, 2.0, CAL= 36.4, 0.4, ROT= 113.6, -0.4 \#Rx 105: Read direction message, but no range.^direction in FSK: [-0.400339,0.916340,0.006981]yV(ٿ'R?a|?0PqHw S|)4I#?iI>B`| ?5="? ;)?I仩d?6tq 8? )b9I?i仝checking for new query: numPingsReceived=105, elapsed TxPingTime=49.1495671-pG=/{AQ A9/{AY~=A% 9a A A B ->B CB IB BB d =B B B ;B ]YE 9@  @ @ /@ I I O >ka#,J8LA4<ɰ:Ņ@:@:;ٱ: !>:H [ӿ@ ?hÿ &o _ӿ ?@y&??i:Ņ@I:h];8Yb BybIAbD)VDҰ8y%Y=ٔ5Q->DDAT read: Rx Time:01:32:12.6292 TRx dataTimestamp_ set to:1764898332.944578%PDAT read: Bearing 245.4, 65.8 (Local) -~Local bearing/azimuth received: Bearing 245.4, 65.8 (Local) ]DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed -0.3 DAT read: 01:32:12.6292 LVL= 19056, 19281, 30322, 31987, AGC= 53, IDX= 503,-0.32,-0.479,-0.647,-2.128,-0.996, PHS= 0.619, 0.394,-1.176, RAW= 36.6, 2.0, CAL= 37.0, 0.3, ROT= 113.0, -0.3 Ygot valid direction response: 01:32:12.6292 LVL= 19056, 19281, 30322, 31987, AGC= 53, IDX= 503,-0.32,-0.479,-0.647,-2.128,-0.996, PHS= 0.619, 0.394,-1.176, RAW= 36.6, 2.0, CAL= 37.0, 0.3, ROT= 113.0, -0.3 V#Rx 106: Read range and direction messages.E EE*E"E~ ;*E:VE(N4ZEBEa2EaJE<;a:E<;a^direction in FSK: [-0.390726,0.920492,0.005236]Fpublishing direction and range info9Yi=maEyqywu1Φٿzߏt?sNru?YBpJQKrv |)5Iv?i^>+Ƈ#?MQ%? ;)q?I>-o?wݧ^i? M)O Iq?iX<E>Q 5 5!?Q 9 5)BYyQ IL@]DI:i:@$ 5yɮ&Achecking for new query: numPingsReceived=106, elapsed TxPingTime=49.456940iis@|l?Bjwu1Φٿzߏt?sNru?*jq?2jZjn5w@@(LL"@хh@Jjj(n~?87B?҆?jA@ jBi.s?iؾj@Bjj|Ɯj@Brj`Bzj,8=E addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503684 s, deltaX: 0.299999 m, approachRate: 0.595610 m/s, rangeRepo size: 4 i Added new target pos. range: 33.460552 m, bearing: 5.234666 deg, lat: 36.779540 deg, lon: -121.859821 deg, deltaT: 0.503684 s, deltaX: 0.299946 m, approachRate: 0.595504 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.46 m.hhhhhggjgrgreZe:e@@*eF{?[I[I"[I*[MTew@];)Y ]$H?i:9)顅O6D*:iiII yAyAԑ checking for new query: numPingsReceived=106, elapsed TxPingTime=49.642002 9  9@!  @! @% 0@! I1 IA OU >Ua#,8.RLAԙ @ @ +;ٱ C!> H`sӿ@L?``ÿ`K|@MDӿb?kwl?1?i @I ]; CY%By%IiMb@Mb@Mb@ 9K7?oʡſI +YI>y-94A )@YbD VDʰ8yl%9=ٔ|DQ->9Y=aEy_<E>Q 5 5?Q 9 5<) BY[>Q E#;y)Q IL@aDIf:i:' 5yɮAUDNOT Ignoring new targets: 33.46 m.hQhQhQhYhYgYgYjgYrgejBreaZea:ea*e?[[>[[>DDAT read: Rx Time:01:32:13.1292 TRx dataTimestamp_ set to:1764898333.4488365PDAT read: Bearing 246.5, 65.9 (Local) 5~Local bearing/azimuth received: Bearing 246.5, 65.9 (Local) UDAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed -0.3 "[\`@*[w@m+;)i m=J?iu9)qu7u*:iqDAT read: 01:32:13.1292 LVL= 19344, 17249, 29458, 29539, AGC= 53, IDX= 503,-0.20,-2.017,-2.196, 2.602,-2.546, PHS= 0.631, 0.395,-1.179, RAW= 36.9, 1.8, CAL= 37.3, 0.2, ROT= 112.7, -0.2 D%=D<E EE.E"Ef;*E:VEـ4ZEa@a@a@a@i}󙷾IIYgot valid direction response: 01:32:13.1292 LVL= 19344, 17249, 29458, 29539, AGC= 53, IDX= 503,-0.20,-2.017,-2.196, 2.602,-2.546, PHS= 0.631, 0.395,-1.179, RAW= 36.9, 1.8, CAL= 37.3, 0.2, ROT= 112.7, -0.2 V#Rx 107: Read range and direction messages. ^direction in FSK: [-0.385904,0.922532,0.003491] Fpublishing direction and range infoy  C)^ؿ/lb?QC1ml?Y   K aC s cs) I 7!?i q=> y閿 $? = r&? d;) 3?I d   'h6?KѾ>? ʬ) &I 3?i d  Uchecking for new query: numPingsReceived=107, elapsed TxPingTime=49.939762ʰ99@ @@5@I!I1O=> 2a#,lLA"checking for new query: numPingsReceived=107, elapsed TxPingTime=50.145817F@F@FE;ٱF!>FHӿ (?Vÿ@@-ҿC? vP ?Κ?iF@IFN];FCY^By^I dfR=bDj VDj8yrU%vp=ٔv(XQ-v?9xYx=zaEyxz^<E~?|Q 5 5~̍?Q 9  5~&)~BY y Q I L@~eDI~:i~:~* 5yBɮAi9i=\LAj9"j9:j==Rj=$p9)R>@9?Bj=C)^ؿ/lb?QC1ml?*j=3?2j=dZj=B1B5IB5BB1B1B1B5;B5PYEM9!@ @@/@IIOF>DDAT read: Rx Time:01:32:13.6294 TRx dataTimestamp_ set to:1764898333.952747IPDAT read: Bearing 247.2, 66.3 (Local) ~Local bearing/azimuth received: Bearing 247.2, 66.3 (Local) DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed -0.3 E EE+E"E ;*EVE [4ZEBEOKr&?=q(? )p?I&G?D!QVZx? ,) Ip?i% checking for new query: numPingsReceived=108, elapsed TxPingTime=50.435875y ga#,兇LA ~uF@~?@~;ٱ~V!>~H@ҿ/3?bÿנҿ`*?tv?l?i~uF@I~];~CY5By=IbDMVDM8y]䨼%]C=ٔe Q-e>9aYa=eaEyim8<Em>qQ 5} 5u?Q 9} 5u)uBYyy}Q IL@uiDIu:iu`:u<. 5yɮAiAiE|LAjE B"jE B:jE=RjE2N)\8ԁԩ = =% DDAT read: Rx Time:01:32:14.1294 - TRx dataTimestamp_ set to:1764898334.4571675 PDAT read: Bearing 247.6, 65.8 (Local) 5 ~Local bearing/azimuth received: Bearing 247.6, 65.8 (Local) M DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed -0.3 m DAT read: 01:32:14.1294 LVL= 20304, 19281, 32018, 32755, AGC= 53, IDX= 505, 0.03,-1.710,-1.887, 2.906,-2.241, PHS= 0.634, 0.399,-1.180, RAW= 36.8, 1.7, CAL= 37.2, 0.1, ROT= 112.8, -0.1 u Ygot valid direction response: 01:32:14.1294 LVL= 20304, 19281, 32018, 32755, AGC= 53, IDX= 505, 0.03,-1.710,-1.887, 2.906,-2.241, PHS= 0.634, 0.399,-1.180, RAW= 36.8, 1.7, CAL= 37.2, 0.1, ROT= 112.8, -0.1 } V#Rx 109: Read range and direction messages.} ^direction in FSK: [-0.387515,0.921862,0.001745] Fpublishing direction and range infoy! % / ؿ3?n p\?Y! ! % PO% QK% } % )% 5I% M"?i% I>% = % l$?% <% 6&? % :)% d?I% 亩! ! % yEz?F"bX!? % ǹ)% SI% d?i% 亩! !  checking for new query: numPingsReceived=109, elapsed TxPingTime=50.921558E  E E *E "E ;*E :VE (N4ZE a @a @a @a @ a#,÷LA=k@=d@=;ٱ=I!>=Hҿ`=?Nkÿ Ӡ3Yҿ#?,Tr ??i=k@I=1];=CYByIԹi=Mb@Mb@Mb@9999 99=ףp= ?/$ſ/$Y=>y=,=,=X@= A 9)=@9Y=f@quAAbD}VD}ǰ8y%!=ٔ~Q->9Y=aEy<E>Q 5 54{?Q 9 5)BYε>Q E;yQ IL@oDIK;i;2 5yɮAiYi]9BLAjY"jY:j]l\=Rj]ẅQ**EøU?@礥%+?Bj]/ ؿ3?n p\?*j]d?2j]Zj]@@=L* @gV@Jj]v?pO?%?j]f@ j]Bi]2:h?i]j]Bj]2:h?jYjYrj]xBzj]Q= addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.504420 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 33.760380 m, bearing: 6.192897 deg, lat: 36.779542 deg, lon: -121.859829 deg, deltaT: 0.504420 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 33.76 m.h!h!h!h!h)g)g)jg)rg5=Bre1Ze1:e1*e5?echecking for new query: numPingsReceived=109, elapsed TxPingTime=51.153828[ε>[ε>"[u+@*[ga|@;) Y?i9) 7,:iiII  B- 0>B) B- IB- ߁BB- c =B) B) B- ;B- lYE= 99 5 9@9  @9 @= /5@A Iy I O >%DDAT read: Rx Time:01:32:14.6296 %TRx dataTimestamp_ set to:1764898334.9583475PDAT read: Bearing 247.7, 66.0 (Local) 5~Local bearing/azimuth received: Bearing 247.7, 66.0 (Local) EDAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed -0.3 mDAT read: 01:32:14.6296 LVL= 21008, 21041, 30370, 32755, AGC= 52, IDX= 507, 0.16,-0.470,-0.652,-2.142,-1.001, PHS= 0.633, 0.394,-1.185, RAW= 37.0, 1.9, CAL= 37.4, 0.2, ROT= 112.6, -0.2 uYgot valid direction response: 01:32:14.6296 LVL= 21008, 21041, 30370, 32755, AGC= 52, IDX= 507, 0.16,-0.470,-0.652,-2.142,-1.001, PHS= 0.633, 0.394,-1.185, RAW= 37.0, 1.9, CAL= 37.4, 0.2, ROT= 112.6, -0.2 uV#Rx 110: Read range and direction messages.}^direction in FSK: [-0.384293,0.923205,0.003491]}Fpublishing direction and range infoy!%+Aؿ_?QC1ml?Y%fB!%R%1R%v !)%4I%J "?i%^>%%MQ%?%=%'? %d;)%?I%d!!%I!b?:ysNڴ? %R)%I%?i%d!!checking for new query: numPingsReceived=110, elapsed TxPingTime=51.422974E EE'E"E:*E҆:VE'4ZEBE6fH ѿIR?`qÿWѿ ?Ci@f$?@?ifC@If];dYrByrIbDz#VDzͰ8y7%T=ٔ H_Q- >9 Y=aEyu<E>YQ 5e 5]@s?Q 9e 5]v )]BYiym,Q ImL@]sDI]:i]p:]6 5yqɮuAqiaieULAje=B"je=B:je=Rje2pb6-**!q?@/To?Bje+Aؿ_?QC1ml?*je?2jedZje!J@@{ @%̂m@JjeP>M,o?>yб?jq51?jeUt@ jeBie8v?iec je%Bje.s?jajeBrjegBzje= addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.501180 s, deltaX: 0.299999 m, approachRate: 0.598586 m/s, rangeRepo size: 4 % Added new target pos. range: 34.060089 m, bearing: 6.509611 deg, lat: 36.779543 deg, lon: -121.859829 deg, deltaT: 0.501180 s, deltaX: 0.299709 m, approachRate: 0.598007 m/s, posRepo size: 4 -DNOT Ignoring new targets: 34.06 m.QhQhYhYhYhYgYgYjgargareiZeq:eu A@*eu/?[["[*[b|@/ZO;) X?i 9)!%#7%,:i!iMIIIIIQ9@ @@/@II!O5>checking for new query: numPingsReceived=110, elapsed TxPingTime=51.657867ԉԩ TSa#,6VևLAYByI AmDDAT read: Rx Time:01:32:15.1296 uTRx dataTimestamp_ set to:1764898335.461257}PDAT read: Bearing 247.7, 66.1 (Local) ~Local bearing/azimuth received: Bearing 247.7, 66.1 (Local) DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed -0.3 DAT read: 01:32:15.1296 LVL= 22368, 24673, 32482, 32755, AGC= 51, IDX= 507, 0.30,-1.571,-1.755, 3.045,-2.099, PHS= 0.630, 0.389,-1.184, RAW= 37.0, 2.0, CAL= 37.4, 0.3, ROT= 112.6, -0.3 Ygot valid direction response: 01:32:15.1296 LVL= 22368, 24673, 32482, 32755, AGC= 51, IDX= 507, 0.30,-1.571,-1.755, 3.045,-2.099, PHS= 0.630, 0.389,-1.184, RAW= 37.0, 2.0, CAL= 37.4, 0.3, ROT= 112.6, -0.3 V#Rx 111: Read range and direction messages.^direction in FSK: [-0.384290,0.923198,0.005236]Fpublishing direction and range infoyqu;5ؿBXՊ?sNru?Yqqu`Wua`u~ q)u3IuG!?iu+>uPqu5=q u;)qIuqqiMb@Mb@Mb@ 9S㥛?'1ZĿktYݤ>y" 0A@A n@)@YbDVD8y ڻ% 4=ٔQ->9Y=aEybE(N4jErO4rE_0E% E%E%,E!"E%=;*E%z:VE%g4ZE!a5@a5@a5@a5@uK?rf["ᅲl~? u])uN IqiuqqEchecking for new query: numPingsReceived=111, elapsed TxPingTime=51.937672=EE>IQ 5U 5M[j?Q 9U 5M )MBY].>Q E];y]Q I]L@MxDIM;iMo;M: 5ymBɮmAmE9iqiu<݇LAjq"jq:jul=Rju&%-*ġoq?@Ë?Bju;5ؿBXՊ?sNru?*jq2juZjusm@@=@&䕩@JjuwTl? ֕z?W摦i?ju}t@ juBium?iub#juABjum?jub#jqrjuBzju0= addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.502910 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 34.060089 m, bearing: 6.515500 deg, lat: 36.779542 deg, lon: -121.859827 deg, deltaT: 0.502910 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.06 m.hhhhhggjgqrgu9BreyZey:ey*e} ?[.>[.>"[vb@*[c@) Y?i9)76-:iiIIa@ @@/@IIO> checking for new query: numPingsReceived=111, elapsed TxPingTime=52.161777ԑ xa#,LA6Ԇ@6͍@6!;ٱ6!>6H ѿ\?hÿVѿ@?/1d?`A?i6Ԇ@I6G];6CY^By^I f=f<bDjVDj8yrGO%r=ٔrTQ-v?9tYt=vaEytz1b<Ez?|Q 5 5~d?Q 9 5~)~BYy yQ I L@~{DI~[;i~&;~< 5y9ɮ=A9eDNOT Ignoring new targets: 34.06 m.hahahahahigigijgirgireqZeq:eq*eu?[["[*[@!;) U?i9)顭N7]-:iiIIqBBBIBځBBBBB;BxYEi@i @i@u81@qIIO=ԡDDAT read: Rx Time:01:32:15.6297 TRx dataTimestamp_ set to:1764898335.965055PDAT read: Bearing 247.9, 66.2 (Local) ~Local bearing/azimuth received: Bearing 247.9, 66.2 (Local) DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed -0.3 DAT read: 01:32:15.6297 LVL= 19776, 21409, 32754, 32755, AGC= 52, IDX= 508, 0.44,-2.230,-2.416, 2.384,-2.757, PHS= 0.629, 0.385,-1.186, RAW= 37.1, 2.0, CAL= 37.5, 0.4, ROT= 112.5, -0.4 Ygot valid direction response: 01:32:15.6297 LVL= 19776, 21409, 32754, 32755, AGC= 52, IDX= 508, 0.44,-2.230,-2.416, 2.384,-2.757, PHS= 0.629, 0.385,-1.186, RAW= 37.1, 2.0, CAL= 37.5, 0.4, ROT= 112.5, -0.4 V#Rx 112: Read range and direction messages.^direction in FSK: [-0.382674,0.923857,0.006981]Fpublishing direction and range infoy_f}ؿ~bΗ%?6'? ;)S?I仩p讯?ĻF;2H+ѿie? aÿMѿ.0?@Z@?w?i2@I2z];0YBByBIbDJVDJ8yr)<%rJ=ٔrtQ-r>9tYt=zaEyx <E>iQ 5u 5m]\?Q 9} 5m)mBYyy}7Q I}L@mDImz;im;mB@ 5yBɮAEiivLAjB"jB:jvX=Rjw$*2'??@Y~?Bj_f}ؿ~b1  DDAT read: Rx Time:01:32:16.1298  TRx dataTimestamp_ set to:1764898336.469078 PDAT read: Bearing 247.8, 66.4 (Local)  ~Local bearing/azimuth received: Bearing 247.8, 66.4 (Local)  DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed -0.3  DAT read: 01:32:16.1298 LVL= 19392, 21105, 30866, 32755, AGC= 53, IDX= 509,-0.45, 2.714, 2.521, 1.050, 2.192, PHS= 0.624, 0.374,-1.186, RAW= 37.3, 2.2, CAL= 37.6, 0.7, ROT= 112.4, -0.7  Ygot valid direction response: 01:32:16.1298 LVL= 19392, 21105, 30866, 32755, AGC= 53, IDX= 509,-0.45, 2.714, 2.521, 1.050, 2.192, PHS= 0.624, 0.374,-1.186, RAW= 37.3, 2.2, CAL= 37.6, 0.7, ROT= 112.4, -0.7  V#Rx 113: Read range and direction messages. ^direction in FSK: [-0.381042,0.924477,0.012217] Fpublishing direction and range infoy  N[bؿ-P?I:?Y B K qR x ) 5I w?i |> r&? nF= '? +H<) ?I +H 4L?\t2M? mEM  EM EM *EI "EM l;*EM :VEM (N4ZEI aU @aU @aU @aU @) , I ?i +H  checking for new query: numPingsReceived=113, elapsed TxPingTime=52.958431Q b#,U#LA2>@2@2N:ٱ2!>2HBCѿ@!n?Pdÿ`^RѿP?bI@D? B?i2>@I2];2CY>By>IIB=)B%=iMb@Mb@Mb@ 9!rh?sh|?ſQ롿Yl>y)\n@ )@YbDVD8yw/=%8=ٔsQ->9Y=aEy%<E%>)Q 55 5-S?Q 95 5-)-BY5>Q E5;y5Q I=L@-DI-;i-;-D 5yAɮEAAii`LAjp B"jp B:j=Rj "[/*Y?@@Ս?BjN[bؿ-P?I:?*j?2j+HZj?ثP@@6W>@CpHx@JjcZ\?T\Vw?h0,?j@ jBiQVi?i%NjɌBjQVi?j%NjABrjBzjް= addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.504023 s, deltaX: 0.200001 m, approachRate: 0.396809 m/s, rangeRepo size: 4  Added new target pos. range: 34.359707 m, bearing: 7.041446 deg, lat: 36.779542 deg, lon: -121.859826 deg, deltaT: 0.504023 s, deltaX: 0.199764 m, approachRate: 0.396340 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.36 m.hhhhhg g jgrgBBreZe:e@33A@*eõ?)[>[>"[@*[;@N:) Y?i9)r7-:ii󙷾II  I)checking for new query: numPingsReceived=113, elapsed TxPingTime=53.169876Q BqBqBqBqBqBqBqBu;BuYEB5CB5CB1B5c =B5c =C5ȳ4ԁ @  @ @ /@ I I O >b#,*=LA&DDAT read: Rx Time:01:32:16.6300 *TRx dataTimestamp_ set to:1764898336.973211.PDAT read: Bearing 248.0, 66.4 (Local) .~Local bearing/azimuth received: Bearing 248.0, 66.4 (Local) 6DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed -0.3 JDAT read: 01:32:16.6300 LVL= 21472, 19041, 32066, 32755, AGC= 51, IDX= 511,-0.38,-2.077,-2.268, 2.550,-2.595, PHS= 0.620, 0.371,-1.182, RAW= 37.3, 2.3, CAL= 37.6, 0.8, ROT= 112.4, -0.8 NYgot valid direction response: 01:32:16.6300 LVL= 21472, 19041, 32066, 32755, AGC= 51, IDX= 511,-0.38,-2.077,-2.268, 2.550,-2.595, PHS= 0.620, 0.371,-1.182, RAW= 37.3, 2.3, CAL= 37.6, 0.8, ROT= 112.4, -0.8 NV#Rx 114: Read range and direction messages.R^direction in FSK: [-0.381033,0.924456,0.013962]VFpublishing direction and range infoy$&ozbؿw$?4?Y& B$&S&aJ&B} $)&3I&R?i&>&K$dE EE,E"E;*E:VEg4ZEBE>CCH.п ?tZÿ|7пQh?G?Y??iU@I];CYByIbDVD8yb-=%?=ٔafQ->9Y=aEy&<E>Q 5 5J?Q 9 5)BYyaQ IL@DI6:i:G 5y-Bɮ-IA)i$i&I>LAj& B"j& B:j&^6>Rj&_G-i*t{@@@.Z?Bj&ozbؿw$?4?*j$2j&dZj&9i@@`@ l@Jj&[S?9RY?^ "J?j&@ j&Bi&A3u?i&2j&Bj&m?j&j&VBrj&]Bzj&>m addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.504133 s, deltaX: 0.299999 m, approachRate: 0.595080 m/s, rangeRepo size: 4  Added new target pos. range: 34.659355 m, bearing: 7.509573 deg, lat: 36.779542 deg, lon: -121.859826 deg, deltaT: 0.504133 s, deltaX: 0.299648 m, approachRate: 0.594383 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.66 m.hhhhhggjgrgreZe:eYA@*e:9?[![!"[!*[%ý@5<)1 5?^?i=D9)9=- 7=-:i9iEAAIAII9@ @@1@I I)O5q>checking for new query: numPingsReceived=114, elapsed TxPingTime=53.673824A b#,qWLA<ɰ<YEByMIiMb@Mb@Mb@ 9Cl?(\ſy&1Y;>y.`X@+@ @)YbD-VD-8y56=%=D=ٔ=Q-=>9AYA=EaEyAIM<UDDAT read: Rx Time:01:32:17.1300 ]TRx dataTimestamp_ set to:1764898337.477449ePDAT read: Bearing 247.6, 66.4 (Local) m~Local bearing/azimuth received: Bearing 247.6, 66.4 (Local) }DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed -0.2 DAT read: 01:32:17.1300 LVL= 18000, 19537, 27362, 29987, AGC= 52, IDX= 511,-0.28, 2.655, 2.463, 0.999, 2.143, PHS= 0.614, 0.365,-1.188, RAW= 37.3, 2.5, CAL= 37.5, 1.0, ROT= 112.5, -1.0 Ygot valid direction response: 01:32:17.1300 LVL= 18000, 19537, 27362, 29987, AGC= 52, IDX= 511,-0.28, 2.655, 2.463, 0.999, 2.143, PHS= 0.614, 0.365,-1.188, RAW= 37.3, 2.5, CAL= 37.5, 1.0, ROT= 112.5, -1.0 V#Rx 115: Read range and direction messages.^direction in FSK: [-0.382625,0.923739,0.017452]Fpublishing direction and range infoyY]e |ؿD?W7) ߑ?YYY]PF]QL]j ]#u)]4I]/?i]H>]bY]¸2=]6'? ]5<E  E E )E "E *E :VE FA4ZE a@a@a@a@A)]S?I]5YY]1>M?:fu_ Y? Y)]2I]S?i]5YYUchecking for new query: numPingsReceived=115, elapsed TxPingTime=53.958935E>Q 5 5A?Q 9 5)BY>Q E;y{Q IL@DI:i:K 5yɮAiYi]^LAjY"jY:j]=>Rj]}*P@@ @[?Bj]e |ؿD?W7) ߑ?*j]S?2j]5Zj]74c3@@,`&@`J p@Jj],L?=}Ռ?IX?j]0@ j]Bi]j?i]֎j]@Bj]j?jYj]ɌBrj]Bzj]dA> addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.504238 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 34.659355 m, bearing: 7.623105 deg, lat: 36.779542 deg, lon: -121.859826 deg, deltaT: 0.504238 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.66 m.hhhhhggjgrgTBreZe:e*e6?[=>[=>"[= @*[=u}@I)I MY?iUM9)QU#7Ux-:iQi]YYIYIay)@) @)@-1@)I9IQO]>ԙ  checking for new query: numPingsReceived=115, elapsed TxPingTime=54.177906 ! - %C BG {A 臿9 {AY Ab#,dqLAYbBybIbDjVDj8yr=%vz=ٔtQ-v?9xYx=zaEyxxEz?|Q 5 5~BBIBBBBBB͞;BYE-9@) @1@5/@1IAIQOe=ԩeDDAT read: Rx Time:01:32:17.6302 mTRx dataTimestamp_ set to:1764898337.981217uPDAT read: Bearing 209.3, 70.3 (Local) u~Local bearing/azimuth received: Bearing 209.3, 70.3 (Local) DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.3 DAT read: 01:32:17.6302 LVL= 18112, 17217, 30482, 29315, AGC= 51, IDX= 513,-0.20, 1.182, 0.810,-0.399, 0.919, PHS= 0.364,-0.064,-1.362, RAW= 43.8, 13.6, CAL= 40.5, 15.2, ROT= 109.5, -15.2 Ygot valid direction response: 01:32:17.6302 LVL= 18112, 17217, 30482, 29315, AGC= 51, IDX= 513,-0.20, 1.182, 0.810,-0.399, 0.919, PHS= 0.364,-0.064,-1.362, RAW= 43.8, 13.6, CAL= 40.5, 15.2, ROT= 109.5, -15.2 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.322129,0.909665,0.262189]Fpublishing direction and range infoyimMÝԿ<?;f$?Ym BimFmACmw mr)m3Im5^>imomVmEC?ms>m4? mԇ>)m?Imԇiim'i?߈H6?E% E%E%(E!"E%l;*E%:VE%c44ZE!BE%`FFH п?`AÿWϿg?Ih?`?s?iF@IF];FCYnByn I ttbDzVDz8y5<%5F=ٔ5ԱQ-=>9AYA=EaEyAEL<EM>IQ 5U 5M3?Q 9] 5M )MlBYYy]Q I]L@MDIMj;iMf;MQ 5yaɮmqAiiiB~LAj B"j B:jh=Rj:cх&?@"T"@BjMÝԿ<?;f$?*j?2jԇZjL:?@|Hh @] +@Jjy(?a?z?jB[@ jAi_4?i6jBjQVi?jjBrjp Bzj >i߹I߹checking for new query: numPingsReceived=116, elapsed TxPingTime=54.682087 addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.503768 s, deltaX: 0.299999 m, approachRate: 0.595511 m/s, rangeRepo size: 4  Added new target pos. range: 34.959160 m, bearing: 6.138277 deg, lat: 36.779542 deg, lon: -121.859826 deg, deltaT: 0.503768 s, deltaX: 0.299805 m, approachRate: 0.595125 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.96 m.hhhhhggjgrgreZe:eA@*e|?[["[*[g~@%MB)! %Vb?i-h9))-4*7--:i)i511I9I99@ @@@IIO> 1u DDAT read: Rx Time:01:32:18.1302 } TRx dataTimestamp_ set to:1764898338.485294 PDAT read: Bearing 275.9, 62.1 (Local)  ~Local bearing/azimuth received: Bearing 275.9, 62.1 (Local)  DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.3  DAT read: 01:32:18.1302 LVL= 17088, 18257, 29874, 29491, AGC= 51, IDX= 513,-0.12,-0.378,-0.630,-2.125,-1.301, PHS= 1.026, 0.716,-0.868, RAW= 38.8, -10.0, CAL= 40.7, -11.2, ROT= 109.3, 11.2  Ygot valid direction response: 01:32:18.1302 LVL= 17088, 18257, 29874, 29491, AGC= 51, IDX= 513,-0.12,-0.378,-0.630,-2.125,-1.301, PHS= 1.026, 0.716,-0.868, RAW= 38.8, -10.0, CAL= 40.7, -11.2, ROT= 109.3, 11.2  V#Rx 117: Read range and direction messages. `direction in FSK: [-0.324220,0.925826,-0.194234] Fpublishing direction and range infoyq u I`Կ[^?mVѫȿYq q u Bu QGu t u 3s)q Iu S?iu K7?u ?5^u -\-?u ¸2u o5? u +H)u -?Iu +H>q q u *Iu -?iu +H>q q  checking for new query: numPingsReceived=117, elapsed TxPingTime=54.949799E-  E- E) E) "E- :*E- :VE) ZE) a5 @a5 @a5 @a5 @ԩ (b#,PLA Z.؇@Z}ю@ZlٱZ >ZH`/Ͽj?Cÿ`# ϿN?tm?@ ?g?iZ.؇@IZa];XYn$Byr Ii=Mb@Mb@Mb@9999 99=5^I ?/$ƿy&1Y=>y=&1999 =n@)=@9Y=p@qbDuѿVDu8yD=%6=ٔ蹺Q->9Y=aEy+<E>Q 5 5*?Q 9 5#)`BY>Q E;y+Q IL@DI#;i7<U 5y=Bɮ=A=EiiLAj"j:j=RjI=&Z>.@@0 <)BjI`Կ[^?mVѫȿ*j-?2j+H>Zj߮fA@p@hHJjH?+҂eF?~ɨj5@ j6 Bis束?i4;j}Bjj?j%Njrj Bzj# > addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 34.959160 m, bearing: 4.646122 deg, lat: 36.779542 deg, lon: -121.859826 deg, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 34.96 m.h)h)h)h)h1g1g1jg1rg5aBre9Ze9:e9*e=`?[}>[}>"[}/@*[}|@l) Ha?ic9)页.7,:iichecking for new query: numPingsReceived=117, elapsed TxPingTime=55.185772IIԩ}9@y @y@y@yIIO_>B<A<BBBIBBBBBBמ;BYE /b#,4򾈍LA"DDAT read: Rx Time:01:32:18.6303 *TRx dataTimestamp_ set to:1764898338.9929712PDAT read: Bearing 249.4, 66.0 (Local) 2~Local bearing/azimuth received: Bearing 249.4, 66.0 (Local) :DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.3 NDAT read: 01:32:18.6303 LVL= 14528, 15089, 24370, 24019, AGC= 54, IDX= 2,-0.04, 2.651, 2.470, 0.998, 2.135, PHS= 0.618, 0.381,-1.180, RAW= 37.0, 2.2, CAL= 37.3, 0.6, ROT= 112.7, -0.6 RYgot valid direction response: 01:32:18.6303 LVL= 14528, 15089, 24370, 24019, AGC= 54, IDX= 2,-0.04, 2.651, 2.470, 0.998, 2.135, PHS= 0.618, 0.381,-1.180, RAW= 37.0, 2.2, CAL= 37.3, 0.6, ROT= 112.7, -0.6 VV#Rx 118: Read range and direction messages.Z^direction in FSK: [-0.385885,0.922488,0.010472]ZFpublishing direction and range infoy$&IB,{Vؿ ?/;r?Y&f B$&8&:&2_ &]Er ErEr)Ep"Er;*Er:VErFA4ZEpBErm&= &MQ%?&nF=&r&? &+<)&3?I&+$$&߇i/?%ɱᅨY? &)&pI&3?i&+$$ checking for new query: numPingsReceived=118, elapsed TxPingTime=55.466625m|@m@mٱmL >mH{Ͽ?<ÿ@ SοU?`7p??Û?im|@Imտ];mCY6By( IbDVD8y=%D=ٔCQ->9 Y =EaEyAM/<EM>YQ 5e 5]"?Q 9e 5]^&)]TBYiyQ IL@]DI]S;i];]Y 5yɮRAi$i&֌LAj&< B"j&< B:j& >Rj&n+T~+@@?~?Bj&IB,{Vؿ ?/;r?*j&3?2j&+Zj& jA@3=4C@;4f@Jj&hfvl addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.507677 s, deltaX: 0.099998 m, approachRate: 0.196973 m/s, rangeRepo size: 4  Added new target pos. range: 35.058987 m, bearing: 8.998321 deg, lat: 36.779542 deg, lon: -121.859825 deg, deltaT: 0.507677 s, deltaX: 0.099827 m, approachRate: 0.196635 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.06 m.hhhhhg!g!jg)rg)re)Ze):e-̌A@*e5|?[i[i"[i*[m>}@) !j?i9)顥17,,:iiIIchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.6898991  '9 8>i > 9@  @ @ 5@ I I O >5b#,؈LA52#@5@5mٱ5 >5H rο2?_9ÿ@ PͿ`4?q???i52#@I5];5CYM3ByM% IiMb@Mb@Mb@ 9rh|?Eȿ/$Y{>yFA )Y@@AbDVD8y@%J=ٔVQ->9Y=aEy ><E >Q 5 5y?Q 9 5d()JBYà>Q E%);y%Q I%L@DI:i:\ 55DDAT read: Rx Time:01:32:19.1302 =TRx dataTimestamp_ set to:1764898339.493163EPDAT read: Bearing 249.5, 66.4 (Local) E~Local bearing/azimuth received: Bearing 249.5, 66.4 (Local) I]DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.3 DAT read: 01:32:19.1302 LVL= 18592, 20401, 31986, 30883, AGC= 52, IDX= 498, 0.04, 2.680, 2.482, 1.015, 2.159, PHS= 0.623, 0.368,-1.188, RAW= 37.5, 2.4, CAL= 37.7, 0.9, ROT= 112.3, -0.9 Ygot valid direction response: 01:32:19.1302 LVL= 18592, 20401, 31986, 30883, AGC= 52, IDX= 498, 0.04, 2.680, 2.482, 1.015, 2.159, PHS= 0.623, 0.368,-1.188, RAW= 37.5, 2.4, CAL= 37.7, 0.9, ROT= 112.3, -0.9 V#Rx 119: Read range and direction messages.^direction in FSK: [-0.379409,0.925096,0.015707]Fpublishing direction and range infoy9=@h\>Hؿa?y&?Y= B9=H=O=| =x)=4I=|?i=j>=b=6'?=+=E EEE"E%;*EM:VEZEa@a@a@a@=q(? =<)=p?I=99=l!P? ?͚&? =])=@'I=p?i=995checking for new query: numPingsReceived=119, elapsed TxPingTime=55.974468y9ɮ=fA9i9i=߈LAj= B"j= B:j=3>Rj=6s*+@@]^V?Bj=@h\>Hؿa?y&?*j=p?2j=Zj=F=J A@AeP@"E@Jj=e'Q8?ӀW?[@&<5?j=@ j=mBi=tT?i=<j==Bj=gXf?j9j==Brj= Bzj=> addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.500192 s, deltaX: -0.099998 m, approachRate: -0.199920 m/s, rangeRepo size: 4  Added new target pos. range: 34.959103 m, bearing: 8.879508 deg, lat: 36.779541 deg, lon: -121.859825 deg, deltaT: 0.500192 s, deltaX: -0.099884 m, approachRate: -0.199691 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.96 m.hhhhhg!g!jg!rg%{Bre)Ze):e-A@*e-`l?[=à>[=à>"[=@*[=mt@mm)i m)\?im&9)qyu57+:iiIIԡ  checking for new query: numPingsReceived=119, elapsed TxPingTime=56.194378 K9 @  @ @ 5@ I I O >L6HͿ?6ÿE aͿ ޤ?Cs?}?K?i6jK@I6=];6CY>?By>3 IbDJ+VDJ԰8yN=%Rp=ٔRXoQ-R?9TYT=VaEyTV$l<EZ?XQ 5^ 5Z?Q 9^ 5Z$*)ZBBY`ybaQ IbL@ZDIZ:BQBQBU IBUBBQBQBQBU;BUYEiZK:Z_ 5ymBɮmAiDNOT Ignoring new targets: 34.96 m.hhhhhggjgrgreZe:e*e@?[["[*[t@E )A Ea?iE9)IM|87MV+:iIiU󙷾QQIQIYIDDAT read: Rx Time:01:32:19.6304 TRx dataTimestamp_ set to:1764898339.997216PDAT read: Bearing 249.8, 66.5 (Local) ~Local bearing/azimuth received: Bearing 249.8, 66.5 (Local) DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed -0.3 -DAT read: 01:32:19.6304 LVL= 18928, 20849, 27986, 28867, AGC= 52, IDX= 500, 0.18,-2.388,-2.588, 2.224,-2.910, PHS= 0.624, 0.367,-1.193, RAW= 37.5, 2.4, CAL= 37.8, 0.9, ROT= 112.2, -0.9 =Ygot valid direction response: 01:32:19.6304 LVL= 18928, 20849, 27986, 28867, AGC= 52, IDX= 500, 0.18,-2.388,-2.588, 2.224,-2.910, PHS= 0.624, 0.367,-1.193, RAW= 37.5, 2.4, CAL= 37.8, 0.9, ROT= 112.2, -0.9 =V#Rx 120: Read range and direction messages.E^direction in FSK: [-0.377794,0.925756,0.015707]MFpublishing direction and range infoyP-ؿ'˟?y&?Y3 BIqQRm p)Iw?im>9[(? )>?I@}?!WZc$s? RI)+I>?ieT****** received valid address query ******eR****** received valid ping request ******imQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E EEE"E ;*E:VEZEBEYQԑ *Cb#, I LA2s@2:m@2V%ٱ2>2H`8Ϳ?`V?ÿ'̿ ?s??`)?i2s@I2u];2C9hYh=jaEyhn6G<En>pQ 5v 5rZ ?Q 9v 5r?,)r7BYtyvQ IvL@rDIrW:ir:rc 5yzBɮ~A~EiicLAj B"j B:j '>Rj.%e!*R@@?BjP-ؿ'˟?y&?*j>?2jZj^m|-A@1iB@|9^=@Jj6U.?RO-?U]v/?j@ jk BiuhZ?ijjBjuhZ?j<jrj' Bzj!>E2Acoustic response timeoutU addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.504053 s, deltaX: 0.299999 m, approachRate: 0.595174 m/s, rangeRepo size: 4  Added new target pos. range: 35.258797 m, bearing: 9.346517 deg, lat: 36.779540 deg, lon: -121.859821 deg, deltaT: 0.504053 s, deltaX: 0.299694 m, approachRate: 0.594569 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.26 m.hhhhhggjgrgreZe:e`fA@*e?[Y[Y"[Y*[]nu@mV%)i mh?im9)顕4<7*:iiIII=)%>u9yԩ9@ @@0@ I)IIOu6>%=R=DDAT read: Rx Time:01:32:20.1304 TRx dataTimestamp_ set to:1764898340.501345 PDAT read: Bearing 249.5, 66.1 (Local)  ~Local bearing/azimuth received: Bearing 249.5, 66.1 (Local)  DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed -0.3 = DAT read: 01:32:20.1304 LVL= 18272, 22081, 30690, 30707, AGC= 52, IDX= 500, 0.40, 1.642, 1.455,-0.018, 1.130, PHS= 0.614, 0.370,-1.192, RAW= 37.2, 2.5, CAL= 37.4, 1.0, ROT= 112.6, -1.0 M Ygot valid direction response: 01:32:20.1304 LVL= 18272, 22081, 30690, 30707, AGC= 52, IDX= 500, 0.40, 1.642, 1.455,-0.018, 1.130, PHS= 0.614, 0.370,-1.192, RAW= 37.2, 2.5, CAL= 37.4, 1.0, ROT= 112.6, -1.0 M R#Rx 1: Read range and direction messages.U ^direction in FSK: [-0.384237,0.923070,0.017452]U Fpublishing direction and range infoy7Uؿ nJɉ?W7) ߑ?Y`GAVw w)I/?ip>u6&?¸2='? 5<)?I5׿?":2H l̿?Gÿ0)̿@;?&t?`?@?i2@I2];2CY>SByBL Ili5Mb@Mb@Mb@1111 195v/?|?5^ɿS㥛Y5xi>y5M5/ݼ15 A 5@)11Y1 U9Y=aEyC*<E>Q 5 5?Q 9 5}.))BY%<>Q E%-;y% Q I%L@DI:i:g 5yIɮMAIi)i-  LAj)"j):j-k3>Rj-|ho+߀5E@@F9?Bj-7Uؿ nJɉ?W7) ߑ?*j-?2j-5Zj-C2+|#A@אE@oPl@Jj-$?(Yx?%C?Z?j-.@ j- Bi-8-J?i-\j-Bj)j-Pԗj)rj- Bzj-[(> addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.504129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 35.258797 m, bearing: 10.039130 deg, lat: 36.779540 deg, lon: -121.859819 deg, deltaT: 0.504129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.26 m.hhhhhggjgrgBre!Ze!M2Acoustic response timeout:e!*ee1B?[<>[<>"[@*[r@W6) )\?i9)?70*:iiII99U9@Q @Y@]/@YIiIyBBB( IB6BBBBHDB;BYEO>a  DDAT read: Rx Time:01:32:20.6307  TRx dataTimestamp_ set to:1764898341.005084 PDAT read: Bearing 250.0, 66.0 (Local)  ~Local bearing/azimuth received: Bearing 250.0, 66.0 (Local) - DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.3 M DAT read: 01:32:20.6307 LVL= 19808, 23633, 32754, 32755, AGC= 52, IDX= 503,-0.32, 1.137, 0.953,-0.518, 0.625, PHS= 0.614, 0.373,-1.188, RAW= 37.1, 2.4, CAL= 37.3, 0.9, ROT= 112.7, -0.9 L5b5%?5+=5r&?fLj@f @ftٱf>fH˿r?@LÿV:*˿@ף? Xt???ifLj@Ifʾ];fCEr ErEr+Ep"Er:*Erą:VEr [4ZEpBEr<9Y=aEyn<E>Q 5 5g?Q 9 550)BYYy]Q I]L@DIRj5Ƭ;++1r@@Q?Bj5ؿ?y&?*j53?2j5Zj5 PA@@r0Wi@Jj5R?QY%J? ?j50@ j5 Bi5O`?i5:R_j5Bj1j5j5jBrj5) Bzj5im*>5 addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.503739 s, deltaX: 0.400002 m, approachRate: 0.794065 m/s, rangeRepo size: 4 E Added new target pos. range: 35.658367 m, bearing: 10.439534 deg, lat: 36.779540 deg, lon: -121.859819 deg, deltaT: 0.503739 s, deltaX: 0.399570 m, approachRate: 0.793209 m/s, posRepo size: 4 MDNOT Ignoring new targets: 35.66 m.hIhIhIhihigqgqjgqrgqreyZey:e}A@*e}-˿?[["[*[^r@-t)1 1i5¼9)15XC75):i1i=9AIAIAi9}9@y @@0@IIO_>]2Acoustic response timeoutԑ lVb#,ZLAԉY-TBy)DDAT read: Rx Time:01:32:21.1307 TRx dataTimestamp_ set to:1764898341.509187PDAT read: Bearing 249.8, 66.2 (Local) ~Local bearing/azimuth received: Bearing 249.8, 66.2 (Local) UDAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.3 uDAT read: 01:32:21.1307 LVL= 19488, 20161, 32754, 32755, AGC= 52, IDX= 503,-0.16,-0.251,-0.438,-1.892,-0.753, PHS= 0.604, 0.360,-1.182, RAW= 37.2, 2.6, CAL= 37.4, 1.2, ROT= 112.6, -1.2 Ygot valid direction response: 01:32:21.1307 LVL= 19488, 20161, 32754, 32755, AGC= 52, IDX= 503,-0.16,-0.251,-0.438,-1.892,-0.753, PHS= 0.604, 0.360,-1.182, RAW= 37.2, 2.6, CAL= 37.4, 1.2, ROT= 112.6, -1.2 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.384211,0.923008,0.020942]Fpublishing direction and range infoyؿmG?_2q?Y LN )I?iQ>K6&?9='? <)?I9=?΀T+Jd? 丿)yGA@E EEE"E;*E:VEZEa@a@a@a@ @)YbD VD8y a:% <ٔQ->9Y=aEyE>!Q 5- 5%?Q 9- 5%A2)%BY->Q E59;y5!Q I5L@%DI%j:i%:% o 5y9ɮ=A9Թii`LAj"j:j0 9>Rjwy2f+:vt@@`?{?BjؿmG?_2q?*j?2jZjlHNA@Jȁ:N@W)@JjB̈́?)?u?RAi?jq@ jr BiU?iڋjBjU?j\jBrj Bzju5> addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.504103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.658367 m, bearing: 10.358324 deg, lat: 36.779540 deg, lon: -121.859816 deg, deltaT: 0.504103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.66 m.hhhhhggjgrgreZe:e*e(_?[U>[U>"[UV@*[U(mp@a)i iimʺ9)額-G7):iiII zAxAe 2Acoustic response timeout +9I ) xA u 9@q  @q @u /@q I I O >\b#,muLA28%@2@2ٱ2H >2Hރʿ P?@qlÿ7N7ʿ?As??~?i28%@I2];0Y:aBy:] IBAA@bDF VDF8yN[=%N=ٔNg:Q-R?9PYP=VaEyTV'=EV?XQ 5^ 5Z`똊?Q 9^ 5Z3)ZBY\y^ Q IbL@BdBdBfA IBfJBBdBdBdBfߞ;BfYEBqBqBqBqBqCu4ZDIZ;iZF;Zq 5yzBɮz&Az&EDNOT Ignoring new targets: 35.66 m.hhh!h!h!g!g!jg)rg)re)Ze):e)*e5 jM?[Q[Q"[Q*[U(q@ԡ )  b?i=9)9EI7](:iYiuqyIIuDDAT read: Rx Time:01:32:21.6309 uTRx dataTimestamp_ set to:1764898342.013038PDAT read: Bearing 249.6, 66.3 (Local) ~Local bearing/azimuth received: Bearing 249.6, 66.3 (Local) DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.3 DAT read: 01:32:21.6309 LVL= 17744, 21537, 31266, 31027, AGC= 53, IDX= 505,-0.03, 1.454, 1.260,-0.195, 0.952, PHS= 0.603, 0.353,-1.191, RAW= 37.4, 2.8, CAL= 37.5, 1.5, ROT= 112.5, -1.5 Ygot valid direction response: 01:32:21.6309 LVL= 17744, 21537, 31266, 31027, AGC= 53, IDX= 505,-0.03, 1.454, 1.260,-0.195, 0.952, PHS= 0.603, 0.353,-1.191, RAW= 37.4, 2.8, CAL= 37.5, 1.5, ROT= 112.5, -1.5 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.382552,0.923563,0.026177]Fpublishing direction and range infoyqu}{ؿ0!Ӎ?P!Κ?YuBquPEu!Tu"z u3y)u5Iu5^?iuj>uru'?u+H=u6'? uPw<)uS?IuPwּqqu(Jr?uAä U>? u)u JIuS?iuPwּqq2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E EEE"E ;*E1:VEZEBER! >cb#,LAɰ4<2R@2K@2랖ٱ2y >2Hɿt?rÿ`W jɿ@le?r??@?i2R@I2];2CYRSByVK Ir2Acoustic response timeoutbD^VD^8yz%zF=ٔz9Q-z>9|Y|=~aEy\<E> Q 5 5 㘊?Q 9 5 W5) BYy Q IL@ DI I;i f; Du 5y!ɮ%A!iiՀLAjB"jB:j]I>RjO+6К@@HO?Bj}{ؿ0!Ӎ?P!Κ?*jS?2jPwּZj_~aA@z(H@{2@JjB*?? `͈?j7@ j BiQU?iVjlBjjڋjBrju BzjA;>u addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.503851 s, deltaX: 0.299999 m, approachRate: 0.595413 m/s, rangeRepo size: 4  Added new target pos. range: 35.958019 m, bearing: 11.246614 deg, lat: 36.779540 deg, lon: -121.859814 deg, deltaT: 0.503851 s, deltaX: 0.299652 m, approachRate: 0.594724 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.96 m.hhhhhggjgrgreZe:eB@*e ?[["[*[DDAT read: Rx Time:01:32:22.1309 TRx dataTimestamp_ set to:1764898342.517049PDAT read: Bearing 250.5, 66.0 (Local) ~Local bearing/azimuth received: Bearing 250.5, 66.0 (Local) DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.3 DAT read: 01:32:22.1309 LVL= 17568, 19233, 30370, 31347, AGC= 53, IDX= 505, 0.07, 1.304, 1.117,-0.346, 0.799, PHS= 0.607, 0.363,-1.189, RAW= 37.2, 2.6, CAL= 37.4, 1.2, ROT= 112.6, -1.2 Ygot valid direction response: 01:32:22.1309 LVL= 17568, 19233, 30370, 31347, AGC= 53, IDX= 505, 0.07, 1.304, 1.117,-0.346, 0.799, PHS= 0.607, 0.363,-1.189, RAW= 37.2, 2.6, CAL= 37.4, 1.2, ROT= 112.6, -1.2 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.384211,0.923008,0.020942]Fpublishing direction and range infoyؿmG?_2q?YD!Kv sz)IZd?i#۹>'16&?9='? <)?I8r?!B-xx? J);1 E  E E ,E "E ;*E Z:VE g4ZE a @a @a @a @I?i 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9 ib#,𨉍LA2ǂ@2|@2Iٱ2>2HRɿ{?@Wjÿ`a@ȿ %?D4s???i2ǂ@I2];2CYBZByBT Ii5Mb@Mb@Mb@1111 195J +?B`"ɿ+Y5H>y5N55X@5A 1)11Y5f@bDUVDQym=%mC=ٔmeQ-u>9qY=bEy^<E>Q 5 5=ۘ?Q 9 57)BY|>Q E:;y"Q IL@úDI;i; y 5y!ɮ%`A!iiULAj"j:jtP>Rj+}EB@@+?BjؿmG?_2q?*j?2jZj&7_A@$@F1_@Jjg2?@M0fw?of)?j@ j BiaOUK?iȌozj BjQU?j:R_jBrj Bzj@> addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.958019 m, bearing: 11.663565 deg, lat: 36.779540 deg, lon: -121.859813 deg, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.96 m.hhhhhggjgrgBre9a}/{AZe:e9/{AY A*e ?2Acoustic response timeout[ |>[ |>"[ br@*[ 6,o@I)! %Y?i%9)!eCQ7e':iiimqqIqIqI} ?)}?9BBBG IBOBBd =BBGDB̞;BYEZ9N>iq @  @ @ <5@ I I O > DDAT read: Rx Time:01:32:22.6310  TRx dataTimestamp_ set to:1764898343.021135 PDAT read: Bearing 251.3, 66.1 (Local)  ~Local bearing/azimuth received: Bearing 251.3, 66.1 (Local)  DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed -0.3  DAT read: 01:32:22.6310 LVL= 16368, 19873, 28146, 30435, AGC= 54, IDX= 506, 0.14, 2.147, 1.956, 0.496, 1.637, PHS= 0.612, 0.363,-1.185, RAW= 37.3, 2.5, CAL= 37.6, 1.1, ROT= 112.4, -1.1  Ygot valid direction response: 01:32:22.6310 LVL= 16368, 19873, 28146, 30435, AGC= 54, IDX= 506, 0.14, 2.147, 1.956, 0.496, 1.637, PHS= 0.612, 0.363,-1.185, RAW= 37.3, 2.5, CAL= 37.6, 1.1, ROT= 112.4, -1.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.381000,0.924376,0.019197] Fpublishing direction and range infoy  汢Nbؿ:Y0|?]~?Y B ? M m v) 6I ?i  r&? ¸2= '? nF<) ?I nF T\"Z?r<$n=? )) 84I ?i nF % 2Acoustic response timeout% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.5pb#,‰LA 2尉@24@2Fٱ2>2HU`ȿ ?hÿiǿWp?r??x?i2尉@I2B];2CEB EBE@E@"EB~ ;*EB1:VE@ZE@BEB V9Y=bEyX<E>Q 5 5Ҙ?Q 9 58)BYy"Q IL@ǺDI:i:| 5yQɮUAQiiiGZLAjB"jB:jtR>Rjhl2^+Pd/@@~O]6?Bj汢Nbؿ:Y0|?]~?*j?2jnFZjƺwA@@V!@byA@JjH=?ѠK?M?j@ j BiUR?i6QyjBjjVjBrjBzjOK> addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.504086 s, deltaX: 0.200001 m, approachRate: 0.396759 m/s, rangeRepo size: 4  Added new target pos. range: 36.157745 m, bearing: 11.775682 deg, lat: 36.779540 deg, lon: -121.859809 deg, deltaT: 0.504086 s, deltaX: 0.199726 m, approachRate: 0.396214 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.16 m.hhhhhggjgrgreZe!:e%B@*e%M*?[["[*[mo@F) W?i9)顽T7'':ii󙷾IIԙ9@ @@/@IIOd>2Acoustic response timeout Jvb#,܉LAHH\։@<А@5Bٱ>Hǿ~?pÿ#q9iǿ@b&?Ahs? ?`P?i։@Il];CYPByH Ii5Mb@Mb@Mb@1111 1951Zd?RQȿZd;OY5"[>y5B5j<15 A 5@)11UDDAT read: Rx Time:01:32:23.1310 ]TRx dataTimestamp_ set to:1764898343.525190ePDAT read: Bearing 251.0, 66.1 (Local) e~Local bearing/azimuth received: Bearing 251.0, 66.1 (Local) uDAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed -0.3 DAT read: 01:32:23.1310 LVL= 19312, 20161, 27234, 28435, AGC= 55, IDX= 506, 0.18, 2.089, 1.896, 0.437, 1.585, PHS= 0.606, 0.356,-1.192, RAW= 37.4, 2.8, CAL= 37.5, 1.4, ROT= 112.5, -1.4 Ygot valid direction response: 01:32:23.1310 LVL= 19312, 20161, 27234, 28435, AGC= 55, IDX= 506, 0.18, 2.089, 1.896, 0.437, 1.585, PHS= 0.606, 0.356,-1.192, RAW= 37.4, 2.8, CAL= 37.5, 1.4, ROT= 112.5, -1.4 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.382569,0.923604,0.024432]Fpublishing direction and range infoyQUkfa|ؿex)?{J?YQQUpKUNUbj Uo)U7IU"?iUE>UuU'?U+H=U6'? U+<)US?IU+ȼQQUYzh?l[lԲӦ? U)U%JEIUS?iU+ȼQQ-2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE+E"EV:*E:VE [4ZEa@a@a@a@Y5@bDVD8y%7=ٔQ->9Y=bEy(<E> Q 5 5 ʘ?Q 9} 5 :) BY}f>Q E}7;y}KQ IL@ ʺDI sRjUy%i+Wz@@+MD?BjUkfa|ؿex)?{J?*jUS?2jU+ȼZjU֕mA@ @Iޤ@JjUQrn?`Yܘ?^N addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.504055 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 36.157745 m, bearing: 12.163961 deg, lat: 36.779539 deg, lon: -121.859807 deg, deltaT: 0.504055 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.16 m.hhhhhggjgrgBreZe:e*e@d?[}f>[}f>"[}ӱ@*[}t@5B) )\?i9){X7&:iiII 9@ @@/@IIO> 2Acoustic response timeout9 |b#,|LA2>@2@2ٱ2>2H@ǿ?`xÿwƿ ؠ?+s? a?.?i2>@I2?^;2CBB2>B@B@B@B@B@BBHDBBȞ;BBYEYNOByNF IbDZVDZ8yvi%v=ٔvQ-v?9xYx=zbEyxzh<E~?aQ 5} 5eĘ?Q 9 5eo<)eBYyQ IL@eͺDIe;ie;e} 5yɮvA=DNOT Ignoring new targets: 36.16 m.h9hAhAhAhIgIgQjgYrgareiZei:eq*e} ?[Y[Y"[Y*[]u@) c[?i[9)页w[73&:iiII IuDDAT read: Rx Time:01:32:23.6312 uTRx dataTimestamp_ set to:1764898344.029632PDAT read: Bearing 251.2, 66.3 (Local) ~Local bearing/azimuth received: Bearing 251.2, 66.3 (Local) DAT read: Range 11 to 50 : 36.5 m (trip time 24.3 ms) speed -0.3 DAT read: 01:32:23.6312 LVL= 19744, 22577, 32754, 32755, AGC= 55, IDX= 508, 0.24,-2.861,-3.063, 1.766, 2.917, PHS= 0.607, 0.348,-1.195, RAW= 37.6, 2.9, CAL= 37.8, 1.5, ROT= 112.2, -1.5 @ @@@ I%Ygot valid direction response: 01:32:23.6312 LVL= 19744, 22577, 32754, 32755, AGC= 55, IDX= 508, 0.24,-2.861,-3.063, 1.766, 2.917, PHS= 0.607, 0.348,-1.195, RAW= 37.6, 2.9, CAL= 37.8, 1.5, ROT= 112.2, -1.5 %R#Rx 1: Read range and direction messages.-^direction in FSK: [-0.377711,0.925553,0.026177]5Fpublishing direction and range infoyqu@k,ؿlK "?P!Κ?YuBqu Mu1Xu u)qIuZd?iu->uu'?u4QO=u[(? uPw<)u>?IuPwּqquз?^A5l￧? u_)u(MIu>?iuPwּqqM2Acoustic response timeoutMQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE)E"E;*Ex:VEFA4ZEBE>CCyԡ }b#,[LA2@2@2yٱ2>2H@ƿ&? |ÿ} hƿo?i^t???i2@I2aS^;0YBIByB? IDDb2Acoustic response timeoutbDJVDJ8yj%jL=ٔjQ-j>9lYl=nbEylr<Er>tQ 5z 5v𽘊?Q 9z 5vB>)vBYxyzQ IzL@vѺDIv:iv):v 5yɮAii~LAjB"jB:j]\>Rjމ p+$@@?Bj@k,ؿlK "?P!Κ?*j>?2jPwּZjA@Ҳ@= @Jj,=L?Lb? р?j@ jp Bi L?ietjBj L?j6QyjPBrjBzja&W>U addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.504442 s, deltaX: 0.299999 m, approachRate: 0.594715 m/s, rangeRepo size: 4 y Added new target pos. range: 36.457443 m, bearing: 12.330132 deg, lat: 36.779539 deg, lon: -121.859806 deg, deltaT: 0.504442 s, deltaX: 0.299698 m, approachRate: 0.594118 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.46 m.hhhhhggjgrgreZe:e@B@*e?[Q[Q"[Q*[UXu@ey)i mJX?imd9)im^7m%:iiiIIԩ@ @@0@I IQO@>}DDAT read: Rx Time:01:32:24.1312 }TRx dataTimestamp_ set to:1764898344.533080PDAT read: Bearing 252.4, 66.2 (Local) ~Local bearing/azimuth received: Bearing 252.4, 66.2 (Local) DAT read: Range 11 to 50 : 36.5 m (trip time 24.3 ms) speed -0.3 DAT read: 01:32:24.1312 LVL= 18080, 19329, 27538, 29827, AGC= 54, IDX= 508, 0.28, 2.134, 1.933, 0.464, 1.616, PHS= 0.620, 0.362,-1.196, RAW= 37.5, 2.5, CAL= 37.8, 1.1, ROT= 112.2, -1.1 Ygot valid direction response: 01:32:24.1312 LVL= 18080, 19329, 27538, 29827, AGC= 54, IDX= 508, 0.28, 2.134, 1.933, 0.464, 1.616, PHS= 0.620, 0.362,-1.196, RAW= 37.5, 2.5, CAL= 37.8, 1.1, ROT= 112.2, -1.1 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.377771,0.925700,0.019197]Fpublishing direction and range infoyy}5f-ؿGEU?]~?Yyy}F}K}k }t)}6I}R?i}X>}}6'?}¸2=y }nF<)yI}nFyy}QWm#?￲~˪ѽ? }5)}5Iyi}nFyy2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E  E E +E "E ;*E ҆:VE [4ZE a @a @a @a @ Xb#,\>*LAɰB8@B2@BWٱBi>BHJƿ!?yÿෂ@ſ?Du??M?iB8@IB9^;BCY^GBy^< IiMb@Mb@Mb@ 9Zd;O?+ǿ&1Y~j>yv>P+@ n@)@Y@bDVD8y%<=ٔoQ->9Y=bEy<E>Q 5 5)?Q 9 5|@)BYJ>Q E1;yQ IL@պDI.;i-; 5yɮAii"LAj"j:j _>RjU+U@@Yҗe?Bj5f-ؿGEU?]~?*j2jnFZj$A@ :@L1t@Jj?܇ܷh?a?j@ j Bi"F?iv%sjBjaOUK?j&Wuj BrjBzj3@]>5 addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.503448 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 36.457443 m, bearing: 12.530400 deg, lat: 36.779539 deg, lon: -121.859805 deg, deltaT: 0.503448 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 36.46 m.hIhIhIhIhQgQgQjgQrg]zBreYZeY:eY*e]?[}J>[}J>"[};@*[}#x@ W) ff?i9)hb7$%:iiI!I! MMIM)M2Acoustic response timeoutAyAyBBB4 IB@BBc =BBB˞;BYEIexA)a9@ @@/@I9 II OU >Y  DDAT read: Rx Time:01:32:24.6314  TRx dataTimestamp_ set to:1764898345.037118 PDAT read: Bearing 250.8, 66.6 (Local)  ~Local bearing/azimuth received: Bearing 250.8, 66.6 (Local)  DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.3  DAT read: 01:32:24.6314 LVL= 16176, 19409, 30098, 31699, AGC= 54, IDX= 510, 0.33, 2.945, 2.738, 1.290, 2.448, PHS= 0.600, 0.335,-1.202, RAW= 37.8, 3.2, CAL= 37.9, 2.0, ROT= 112.1, -2.0  Ygot valid direction response: 01:32:24.6314 LVL= 16176, 19409, 30098, 31699, AGC= 54, IDX= 510, 0.33, 2.945, 2.738, 1.290, 2.448, PHS= 0.600, 0.335,-1.202, RAW= 37.8, 3.2, CAL= 37.9, 2.0, ROT= 112.1, -2.0  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.375995,0.925964,0.034899] Fpublishing direction and range infoy  MؿdW?Xޡ?Y 3B 0? K u {) I ?i > #ۙ [(? d= V)? 5=) o?I 5 ua{g?D\'ۮ? z) 4eI o?i 5  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.b#,DLAX@!R@ٱz>Hſ'?pÿ:kſD`?`qw???iX@I];CE} E}E}*Ey"E}:*E}|:VE}(N4ZEyBE}39Y=bEy<E>Q 5 5Į?Q 9 5B)BY!y%TQ I%L@ٺDI):i:F 5y-Bɮ-A-$E1ii$`BLAjB"jB:jmRjd +c}A@]z`?BjMؿdW?Xޡ?*jo?2j5ZjS%A@@%@Jj"s?I?C"T?j@ j/ BiW M?i%qj+Bj L?jetjPBrjBzjD_> addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.504038 s, deltaX: 0.299999 m, approachRate: 0.595192 m/s, rangeRepo size: 4 - Added new target pos. range: 36.757175 m, bearing: 12.714518 deg, lat: 36.779539 deg, lon: -121.859804 deg, deltaT: 0.504038 s, deltaX: 0.299732 m, approachRate: 0.594662 m/s, posRepo size: 4 5DNOT Ignoring new targets: 36.76 m.h1h1h1h1h1g9g9jg9rg9reAZeA:eE`ffB@*eE?[["[*[x@) `?i˼9)$f7y$:iiII a@ @@+1@IIOB>2Acoustic response timeoutԉ |'b#,^LAUjw@Up@U|IлٱU'>UH@Rſ}-?Ogÿ ZĿ@_?$ z? a??iUjw@IU];UCY4By% I5DDAT read: Rx Time:01:32:25.1314 =TRx dataTimestamp_ set to:1764898345.541142EPDAT read: Bearing 252.4, 66.2 (Local) E~Local bearing/azimuth received: Bearing 252.4, 66.2 (Local) ]DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.3 }DAT read: 01:32:25.1314 LVL= 16432, 19553, 28818, 30883, AGC= 53, IDX= 510, 0.37, 2.135, 1.935, 0.474, 1.624, PHS= 0.612, 0.355,-1.195, RAW= 37.6, 2.7, CAL= 37.7, 1.3, ROT= 112.3, -1.3 Ygot valid direction response: 01:32:25.1314 LVL= 16432, 19553, 28818, 30883, AGC= 53, IDX= 510, 0.37, 2.135, 1.935, 0.474, 1.624, PHS= 0.612, 0.355,-1.195, RAW= 37.6, 2.7, CAL= 37.7, 1.3, ROT= 112.3, -1.3 ԉR#Rx 1: Read range and direction messages.^direction in FSK: [-0.379359,0.924972,0.022687]Fpublishing direction and range infoy9=HiGؿ+]?NGY;?Y99=0@=aL=p =x)=5I=?i=µ>=='?=A==q(? =޹<)=p?I=޹99=3Ms?VϺᅱY? =0)=^BI=p?i=޹992Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.De=Dey|?Y@@ )@Y3@ y}<bDVD8y%%=ٔ姺Q->9Y=bEy;E>Q 5 5?Q 9 5E)yBYC>Q E=!;y=Q I=L@޺DI&ԱRj="Yg+ a@@xs }?Bj=HiGؿ+]?NGY;?*j=p?2j=޹Zj=ߏ5@A@-zl @)@Jj=c'4?OMc?U;?j=gA j=J Bi=$F?i=Smj=3Bj=$F?j=v%sj9rj=Bzj=+d>E addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.504024 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 36.757175 m, bearing: 13.089140 deg, lat: 36.779538 deg, lon: -121.859804 deg, deltaT: 0.504024 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.76 m.hhhhhggjgrgNBreZe:e*eH?[5C>[5C>"[5e@*[5S}@E|Iл)A E3s?im9)im~j7m#:iiiuqqIyIy! @!  @! @% 0@! I1 II OU > 2Acoustic response timeout Lb#,6wLAB3>BB! IB1BBBBBߞ;BYE((F@F茑@FٱFS>FHĿ2? lÿĿ?@A}?`?Ԝ?iF@IFI];FCYN-ByR IbDZ"VDZ̰8y5 B%5=ٔ50Q-5?99Y9==bEy9EF<EE?IQ 5M 5Mh?Q 9U 5MfG)MnBYQyUQ IUL@MDIM:iML:M 5yaɮeDAa}B*** querying acoustic contact ***iyi}DNOT Ignoring new targets: 36.76 m.hhhhhggjgrgreZe:e*e ?[["[*[H}@) o?i9)Um7/#:iiIIi@q @q@u/@qIIO=M&DAT read: user:9> MDAT read: 0 M8unknown deviceResponse_: 0 q MM(Communications Faulta U a U a U a U a U UDAT read: Ok U:unknown deviceResponse_: Ok ](DAT read: user:10> eBDAT read: Tx time:01:32:26.0677 e$Ping request sent.e2HwĿ@6?fÿ PĿ`;?{???i2變@I2J];2C@YB&ByB IIF=)Fa=bDNVDNŰ8yf%fQ=ٔfQ-j>9hYh=jbEyhn <En>pQ 5v 5rD?Q 9v 5rI)r^BYtyvYQ IvL@rDIr:ir:r 5y|ɮ~|A|%DNOT Ignoring new targets: 36.76 m.h!h!h!h!h!g)g)jg)rg)re1Ze1:e1*e5RA[["[*[z}@<)  l?i 9)  q7 S":i i5󙷾19I9I9ԩ@ @@@I&LCommunications Fault in component: DATIO>mPowering downimImmmD zD E  E E *E "E l;*E ҆:VE (N4ZE a @a @a @a @ bb#,LA>WȊ@>@>ٱ>b$>>HuĿ@:?|dÿI@ÿ֠? d? ? ?i>WȊ@I>];>CYNByN Ihi%Mb@Mb@Mb@!!!! !9% r?GzǿˡEY%>y%p=%'%+@%+@ %@)%@!Y%@9=@AbDEVDEư8yM-%UB=ٔUQ-U>9YYY=]bEyYe;Ee>aQ 5m 5e?Q 9u 5eRL)eOBYu{>Q Eu&;yu Q IuL@eDIe ;ie ;e4 5yɮA%DNOT Ignoring new targets: 36.76 m.h!h)h)h)h)g1g1jg1rg5IBE= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE=ETransitioning to midcourse guidance. Received last range of 36.799999 m 29955731.200000 min ago.EE1FEreAZeA:eI*e[{>[{>"[@*[}@) ff?iɽ9)t7P!:iiMIIIIIQ@ @@@II!O-->B2>BB IB'BBBBB;BYEBBBBBCD5)Y PHb#, aŊLAɰEN ENEN(EL"EN;*EN1:VENc44ZELBENbZH ÿ>?[ÿmLÿ? 5 ?`m?*?iZފ@IZB];XYf)Byf IbDnVDnŰ8yv=%vQ=ٔz3(Q-z>9xY|=~bEy|~[;E~>Q 5  5?Q 9  5N)BBYyQ IL@DI%:i: 5yBɮ"A!9MDNOT Ignoring new targets: 36.76 m.hIhIhIhIhIgQgQjgQrgQRg]@1F]]Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE] ]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangereYZea:ea*ea[["[*[-C}@S!) "p?iJ9)顝px7e :iiIIaz9u9@q @q@q@qI&NClearing failed state for component DATq IԡO>Թ cpb#,3ߊLA@"@N1ٱ>H@wkÿA?Xÿ¿j?)?s??i@I];YM(ByU I iiԡbD VD8y Ļ%<=ٔQ->9Y=bEy z;E>)Q 5E 5-?Q 9E 5-NQ)-3BYAyEQ IML@-DI-*b;i-P;-y 5yUBɮULAU-EqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF -Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF5 5Uninitialize.qG5G5G55ZTransitioning guidance mode to: UNINITIALIZED i5?==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA=EInitialize.AE EInitialize.q@EfIfMHBE] E]E]+EY"E];*E]M:VE] [4ZEYae@ae@am@am@rfuL?}Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@}A}}:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630reZe:e*e[["[*[l}@ɢ ?)/ @qAiV:)7iI-A}9@y @@/@IIOf> *C%݂G={AQ9{AY A B% 3>B! B%  IB% !BB% d =B! B! B% -;B% YEb#,LA2d @2@2>?ٱ2>2H;ÿE? Tÿ@&¿W?@?Q? *?i2d @I2{];2CYB,ByB Ii Mb@Mb@Mb@     9 |?5^?RQȿ~jtY ҍ>y B  @ @ A@) n@ Y @ <bD% VD%ʰ8y5T<%5V=ٔ5Q-5>9Y=bEy;E>Q 5 5Z{?Q 9 5S)&BY>Q E;y1Q IL@DI;iO; 5yɮ'AqPAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalP Entering Terminal tracking update period 2.000000 s sec at 36.799999 m (mode 0.000000 count ).P P ff ?fgffrf!q=%z%Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy=% {%[M>"[Mҵ@*[M~@]&Bɢ].m_:)eG=) e@9 }(kpHeading = 0.400000I}: }(kiHeading = 0.001000} I}@ }@I zAyAiI)i!Ee EeEaEa"Ee;*EeZ:VEaZEaBEeAIy b#,LA2_!@2@2)Nٱ2>2H@D¿hI?@Mÿr`j;¿=֡? ʼn? u?M?i2_!@I2:];2CY IbDF"VDF̰8yNx\%NT=ٔRKQ-R>9PYP=RbEyPV;EV>XQ 5^ 5Z~t?Q 9^ 5ZCV)ZBY`ybQ IbL@ZDIZ ;iZC ;Z 5ydɮf,Ad:kr@Pr1QrvB*** querying acoustic contact ***ititfxfxfxg|f|f|rf|e|reZe:e*e[![!"[!*[%@5%Bɢ=is:)9 =@L2H` Z¿ L? Pÿ`@y@?.?? ?i27@I2];0YREByR: IIV=)Vp=i-Mb@Mb@Mb@)))) )9-?RQȿMbY-̌>y)--@-@ -X@)-X@)Y)bDEVDE8yU=%U@=ٔUQ-U>9YYY=]bEyYe-;Ee>iQ 5u 5ml?Q 9u 5m Y)mBYu>Q Eu;y}2Q I}M@mDIm*(;im&;m٭ 5yBɮA,EBk1QqQfffgffrfereZe:e*e[>[>"[@*[C~@$BɢP*;) =i)8ib=ɧ}iy I @ @I ԱBBB IB'BBc =BBBI;BZEq ^A (I I O >9 _b#,FLAE EE)E"E:*E:VEFA4ZEBE<BHP?Mÿ`ep-??m?`?iB'S@IB];BCYJJByJ@ IPRAAbDVVDV8y^&<%^U=ٔ^yQ-b>9`Y`=bbEy`f <Ef>hQ 5n 5jse?Q 9n 5j[)jBYYy]Q I]M@jDIjٓ)I?Uz9-@1@1@9@99IIO>i = Powering up= "Initializing DAT.eb#,`LArIo@rh@r_sٱr4>rH~QT?TSÿ6@@p@?k??`Ӝ?irIo@Ir];rCY5OBy5F IE- E-E-+E)"E- ;*E-:VE- [4ZE)a=@a=@a=@a=@aiMb@Mb@Mb@ 9HzG?FxɿMbY=>yK+@@ +@)n@YbDVD8yo<%!=ٔQ->9Y=bEy;E>Q 5 5[?Q 9 5^)BY>Q E;yQ IM@DI;i; 5y ɮ(Af1f1f1g1f1f1rf9e9re9Ze9:eA*eA[e>[e>"[e@*[eih}@u Bɢuz;)q uԹ=iy)}dj9yyi3=ɧKi/hI@ @I9ԑt'I1IAOUu>Թ B 2>B B ( IB 6BB B B B P;B ZEb#,mVzLA>6@>@>]zٱ>x>>H X?`Wÿd@2?mK?`Z?@?i>6@I> ];!A ib#,1LA2ܪ@2+@2ٱ2>2HnX\?0Sÿ `"??b??i2ܪ@I2(];2CY:iBy:g I V4=VR=bDZVDZ8yft=%fJ=ٔn7Q-n>9pYx=zbEyx~<E~>Q 5% 5=N?Q 9% 5Rc)BY)y-?Q I-M@DI;is;ڻ 5y5 Bɮ5 A1MB*** querying acoustic contact ***iIiIfYfYfYgYfafarfaeareaZei:ei*ei[["[*[L}@额Bɢu.<) B>i)9顡iQ6=ɧ)U駭*iŸ=IH@ H@I9II)O5=IybEșT4jEL4rEַ/EU  EU EU +EQ "EU ;*EU z:VEU [4ZEQ a] @ae @ae @ae @ԡ 1b#,LA2͋@2gƒ@2Zٱ2yp>2H` @`?Rÿg?`?yURU9U@U@ Q)UX@QYU@ybDuVDu8y<%?=ٔAQ->9Y=bEy:!<E>Q 5 5.F?Q 9 5fe)BYė>Q E3;yQ IM@DI:i: 5yɮ AfffgffrfereZe:e*e[ ė>[ ė>"[ tc@*[ ?u@Bɢ%%?<)! %D'>i!)%:!)i--S:=ɧ5js5NBi5h6>11I5@ =@I9-9A=yAzA=yAIIO=ԡBaAe<BiBiBmA IBmJBBmd =BiBmGDBmG;Bm ZE nManaging dock network, ignoring radio surface power off E]  E] E] *EY "E] ;*E] :VE] (N4ZEY BE] L2H0d?cXÿAvk?" ?`L? ?i2@I2!];2CY:vBy:w II><)>;bDF VDF8yN=%NY=ٔNbQ-R>9PYP=RbEyTV<<EV>XQ 5^ 5Z??Q 9^ 5Z@g)ZBY\y^Q IbM@ZDIZ3;iZ;Z 5ydɮf Adftftfxgxfxfxrfxexre|Ze|:e|*e|[["[*[;u@颭Bɢ]<) $:>i)S7:顱i VԹ=ɧ0Xim>I@ @II9IIO]=A b#,ውLAF@Fd@F΢ٱFz>FHѽ@%i?)aÿ;`ڼ` ??Ͻ? ?iF@IF];FCYRsByRs IZ@AZ@AbDZ,VDZհ8ybpb%fI=ٔf(9Q-j>9pYp=rbEytz6<E~>Q 5= 5A7?Q 9E 5Li)BYQyUNQ I]M@DIi)Uc:顡i'?=ɧԕ駵oi:>I(@ (@I9I)I9OM1>aԑBe 1>Ba Be ` IBe dBBa Ba Be HDBe A;Be ZEB!B!B!B%d =B!C%˄5Թ 6b#,LA;ɰ;2bA@2:@2uٱ2">2Hy_n? Zÿ<`VN? ???i2bA@I2E];2CY:By> IiUMb@Mb@Mb@QQQQ Q9UNbX9?5^I ˿S㥛YUE>yUXU/ݼU+@U@ UX@)U@QYU@bDm)VDmҰ8y}=%?=ٔH:Q->9Y=bEyTL<E>Q 5 5P/?Q 9 5,k)BY>Q E8;yQ IM@DI7 ;i :" 5yBɮ# A+EfffgffrfereZe:e*e[>[>"[ @*[r@BԑɢL<) Z>i)_p:项i"U=ɧmiJ>I"? "?I9A<A4<AAE- E-E-)E)"E- ;*E-^:VE-FA4ZE)BE-YQ c#,yLA2z@2 t@23\ٱ2 >2H {? ¿广`S?ϐ?/?v?i2z@I2];2CY>|By>~ I @@bDFVDFǰ8yN*%RZ=ٔRs;Q-R>9V ?YV ?=VbEyVDVԘ<EV>XQ 5^ 5Z<(?Q 9b 5Zl)ZBY`yb=Q IbM@Z!DIZ<;iZY;Zj 5ydɮfQ AheB*** querying acoustic contact ***iaiafqfqfqgqfqfqrfereZe:e*eBɢE<) pS>i)s:i7=ɧyi?I? ?I AE܏AIIIYOm5>E5  E5 E5 ,E1 "E5 =;*E5 ҆:VE5 g4ZE1 a= @a= @a= @a= @I H c#,S/LAF GR/{A`vU9v/{AYzQA%@%ਓ@%Jٱ%Od >%H`Z `r?0a aK?P\?`ԝ?h?i%@I%N];%CY5By5 IiMb@Mb@Mb@ 9K7?B`"ɿyNt@ @)Y(@ %==bD VD8y%M/=%-4=ٔ-`;Q-->95?Y5?=5bEy5D5}h<E=>9Q 5E 5= ?Q 9M 5=n)=BYM>Q EM:;yMQ IMM@=%DI=E:i=M:=b 5yYɮ] AYfyfyfygffrfereZe:e*e颽Bɢ<) Fl>i)V :iҍ=ɧ+IiT?IIU? U?IQB4>BCBs IBsBBb =BBBL;BZEAIIOA>yԩ E=  E= E9 E9 "E= ;*E= :VE9 ZE9 BE= A6H`.?q@?H???i6=݌@I6];6CYZByZ IbDbVDb8yj h<%j_=ٔj):Q-n>9lYl=nbEynDry<Er>tQ 5z 5v~?Q 9z 5vp)vBYxyzWQ I~M@v)DIv;iv;v 5y Bɮ A4Ef!f!f!g!f)f)rf)e)re1Ze1:e1*e1]Bɢ]Eœ<)a eu>ia)e:aaieL ]=ɧ<Ϳ0iz/?Ig? g?IA xAzA wAԁA=AIAIQOe>ԩ Gjc#,KcLA`b@b,@bBdBٱbR& >bH ^`?`v$?bL?@V??ib@Ibd];bCYrByv IbD%VD%8yUx)%UC=ٔeQ-m>9u??Y}??=bEyD?<E>Q 5 5?Q 9 5r)BYYy]Q IeM@,DIi))5\:11i5 =i=ɧEۿE-iEI?AiIm? m?IiIIO>A B 2>B CB  IB }BB c =B B B l;B 2ZEec#,&}LA2/@2Q(@2Cٱ2>2HX?¿p` ?`p?@3?.?i2/@I2S];0Y^Byb IiMMb@Mb@Mb@IIII I9MuV?A`"˿+YMrh>yMYMMA@M@ MA@)MA@IYM@eAAabDeVDe8yu<%uH=ٔ}y3Q-}>9yY=bEyDL<E>Q 5 5_ ?Q 9 5t)tBYF>Q E);yQ IM@0DIm ;i; 5yBɮA3EfffgffrfereZe:e*e Bɢ0<)  9>i ) ;  i !!xv=ɧ;ci(Z?I? ?I!II O>IE EE,E"E~ ;*Ev:VEg4ZEBE V2Ho`?¿|B.3?N? ?r?i2S@I2m];0YBByB IbDJVDJ8yfR%fV=ٔfJQ-f>9hYh=jbEyjDn@<En>pQ 5v 5rA?Q 9v 5rw)rgBYtyv@Q IvM@r4DIr :ir:r% 5y|ɮ~AiB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢ<) ~>i)? ;iQ!=ɧ}ƽi9Fp?I? ?IA0?A>1IYIiO}=aԑE EE*E"El;*E:VE(N4ZEa @a @a @a @Թ +c#,尌LAY~By IiMb@Mb@Mb@ 9Mb?&1ʿ+Y>yP+@@ )Y@bD VD8y<%;=ٔQ->9Y=bEyDE>Q 5 5Z?Q 9 5y)XBYͦ>Q E";yQ IM@8DI:i: 5yɮAfffgffrfereZe!:e!*e!MBɢUۣ<)Q U;>iQ)U;QYi]!]=ɧeeVӽiek?aaIeB? eB?IiԑIqIO=BBB IBBBd =BBBm;BԹE  E E E "E ;*E خ:VE ZE BE eNHQ?M;¿@~॰@&?M}?@c?J?iN꧍@IN8];NCYVByV I \^<bDbVDb8yj%j[=ٔj:Q-n>9lYl=nbEyrDr<Er>tQ 5z 5v?Q 9z 5v|)vLBYxyz:Q I~M@via)eh(;iiimk"u=ɧu uMJ޽iul?qyI}Z? }Z?IyIIO=A ڹ8c#,t䌍LA0Fэ@F=˔@FfٱF>FH`#`M?¿&CX? 6ތ?(?X?iFэ@IFD];FCYN{ByN} IbDZVDZð8y R% G=ٔ ֺQ->9Y=bEyDWL<E>!Q 5- 5%P헊?Q 9- 5%~)%?BY)y5Q I5M@%@DI%:i%:% 5y=Bɮ=A9fffgffrfereZe:e*ebEM(N4jEMR4rEM/E EEE"E ;*E:VEZEa@a@a@a @eBɢe+H<)a e|>ԉi)7;顑i""=ɧs駥Ri-?I? ?IAzAzAAڗAIIO J>Ա B 3>B B  IB }BB c =B B B t;B :ZE>c#,nLA21@2@23uٱ2O>2HUA?¿ Vޫ@|?,?@@?`\?i21@I2];2CY:}By: II@)Bp<bDJVDJ8yN+#<%RR=ٔR0Q-R>9V?YV?=VbEyV DV/c<EZ>X`Q 5b 5Zg旊?Q 9b 5Z))Z2BYdyfQ IfM@ZDDIZ(;iZ(;Z7 5yhɮjAhfxfxfxg|f|f|rf|ereZe:e*e-Bɢ5Ÿ<)1 5z>i1)5BB;99iU#=ɧpiX?I? ?I xAxAE EE)E"E[";*E:VEFA4ZEBEzA Ec#,+PLA2)@2#@2ٱ2>2H刪e?Gq¿[?p? ?@B?i2)@I2u];0Y:|By:~ I@@bDFVDF8yN %RJ=ٔR0Q-R>9Vc?YVc?=VbEyVDVW<EV>XQ 5^ 5ZHߗ?Q 9b 5Z)Z%BY`yb-Q IbM@ZIDIZ:iZs;Z 5ydɮfAhfxfxfxgxfxfxrf|e|re|Ze|:e*e-Bɢ5ج<)1 5Ń>i1)=P;99i=#E=ɧE E6iE­?IIIMo$? Mo$?IIz9AAaIiIyO>yE EE.E"E=;*EP:VEـ4ZEa @a @a @a @Թ 0Kc#,'2LAɰp;:xW@:P@:ҍٱ:+>:H.?Ѵ¿K {??7??i:xW@I:];:CYFwByFx IyiMb@Mb@Mb@ 91Zd?~jtȿ{GzY">yD#@@ X@)X@YG@bDVDȰ8y5%9=ٔ=:Q->9Y=bEyDN<E>Q 5 5ח?Q 9 5*)BY̸>Q E;yQ Q IM@NDI:io: 5yyɮ}AyB*** querying acoustic contact ***iifffgffrfereZe:e*e=BɢMqܢ<)I U>iQ)U2K`;QQiUvf$]l=ɧ]9)]qaiem?aaIe;? e;?Ia-ۺ9A1A1B=2>B9B9B9B=d =B9B9B=l;B=1ZEBBBBc =BC5A]>A]>ԩAIIO k> E  E E *E "E f;*E :VE (N4ZE BE W2H¤l?¿@"@#ʘ?ؒ??ϣ?i2A@I2<];2CY:uBy:u I @@bDFVDF°8yN'%N`=ٔRJDQ-R>9PYP=RbEyR!DV,<EV>XQ 5^ 5Zї?Q 9^ 5Z)Z BYy Q I%M@ZRDIZgi)qbl;i$ [=ɧ 0 x i ?  >I{? {?I1I="?)=R>9 Ae.AIiIyO;>1a Yc#,^eLA2@2?@2@ٱ2J>2Hՠ?Q¿@?? / ?`F?i2@I2v];2CY:wBy:w I B=B<bDFVDF8yN;%NJ=ٔRa@Q-R>9R ?YR ?=RbEyV)DVu<EV>XQ 5^ 5ZC˗?Q 9^ 5Z-)ZBY`yb Q IbM@ZVDIZ;iZ;ZU 5yfBɮfAf2Eftftfxgxfxfxrfxexre|Ze:e*eBɢD<)  >9i)Miz;qyi}yo%DD<E EE(E"E ;*E:VEc44ZEa@a@a@a@x=ɧ7i _? I? ?I1Ml9 %CMÂGam{Ahi9{AYeAAAIIOg>ԉB- 0>B) B- y IB- xBB) B) B- GDB- A;B- ZEԹ 0_c#,[LA:@:@:@ëٱ:m>:H``?@'ÿ` w/?x?E?p?i:@I:];8YF|ByF~ IiMb@Mb@Mb@ 9V-?> ףp=ʿ rhY|>yQC @ )@YQ@bD-VD-8y=<%=@=ٔE,TQ-E>9Ec?YEc?=MbEyM1DMn<EM>QQ 5] 5U×?Q 9] 5UM)UBYe>Q Ee:ye]Q IeM@U\DIU;iU;U 5ymBɮmAm;EfffgffrfereZe:e*eԑ颭Bɢ<) z>i)YE;i&1=ɧ@Ziw?Id? d?I9AyAzAE EE*E"E ;*EB:VE(N4ZEBEYQ fc#,͑LA2!@2@2N9ٱ2g>2H`࿡? )ÿ)s ՙ?Ɩ?`9?` ?i2!@I2];2CYNwByRx IbDZVDZ8yz%zO=ٔz5TQ-z>9~ ?Y~ ?=~cEy~9DZ<E> Q 5 5 ?Q 9 5 ') BYyQ IM@ bDI e:i u: } 5y!ɮ%A!fIfIfIgIfIfIrfQeQreQZeQ:eQ*eY颅Bɢ~<) >i)*;顉i&=ɧH駕 iv-?I? ?I yAyAʰ9$E EE,E"E=;*E:VEg4ZEa@a @a @a @Q ^A #q A I I O >lc#,􆴍LA6[@6T@6UMٱ6y>6H󶍿?Jpÿ@`" ę?`ɗ?cz?\?i6[@I6];4Y>{ByB| Ii=Mb@Mb@Mb@9999 99=|?5^?Q˿QY=>y=(\==@9 9)=+@9Y9QQbD]VD]8ye:s<%m;=ٔm Q-m>9qYq=ucEyuBD}%<E}>Q 5 5?Q 9 5ܙ)BYo>Q E:yJQ IM@hDI ;i;M 5yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢ.<) (>i)x;iN' Î=ɧ R a(i կ?I? ?Iխ9BIBIBIBIBIBIBIBM;BMYEJ^AAIIO=r>! E=  E= E= +E9 "E= ;*E= ҆:VE= [4ZE9 BE= >CC6HR}?ÿij`?@??@B?i6@I6Ҿ];6CY>xByBy IbDJVDJ8yR`%RY=ٔR Q-R>9TYT=VcEyVIDZV<EZ>XQ 5b 5Zk?Q 9b 5Z)ZBY`ybQ IbM@ZnDIZ;iZ;Z 5yjBɮjAhfxfxfxgxf|f|rf|ereZe:e*e 颍Bɢ<) >i) ;顙i'/.=ɧ([駽kS/iP?I,? ,?IL9YyO^ATA?A?ԩ A I I OE >Փyc#,+荍LA2؏@2і@2Eʼٱ2 >2H`MH?? &Ŀ r?٘?`G???i2؏@I2];09TYX=ZcEyZQDZo<EZ>\Q 5b 5^V?Q 9b 5^Z)^BYdyfEQ IfM@^tDI^`:i^K:^" 5yhɮj/Ahf!f)f)g)f)f)rf1e1re1Ze9:e9*eAE EE)E"E=;*E?:VEFA4ZEa5@a5@a5@a=@额܁Bɢ+<) )>i)j;i(ڎ=ɧ&dτ6i [0?19I= ? = ?Iiԩ^A-@"Bi Bi Bm  IBm }BBi Bi Bi Bm ;Bm YE Aa Ii Iy O > {c#,lLAF@F @F.kͼٱFsc">FH@??`=Ŀ`N? e?`?@ 5?@?iF@IF,];FCYXyXpiMb@Mb@Mb@ 9uV?-˿y5^t@@ A@)Y@ %=4=bDVD8yQ%;=ٔ`fQ->9Y=cEyZD<E>Q 5 5ȟ?Q 9 5)BY%?Q E:yQ IM@{DI ;i* ; 5yɮ1AfffgffrfereZe:e*e؁Bɢ1<) >i)ޮ; i l)5=ɧ5Cn5C>i5z?11I5H? =H?I9^A t0E  E E *E "E  ;*E :VE (N4ZE BE {T1a 6c#,eLAY~By~ IbD 8VD 8y7%%T=ٔ%Q-%>9)Y)=-cEy-bD-E->19Q 5E 55&?Q 9E 55A)5BYAyIQ IMM@5DI5G);i5S*;5S 5yQɮUCAQfyfyfygyfyfyrfereZe:e*e颵ԁBɢ:8<) ;>i) ;项i*=ɧ%w=Eit?I? ?I^AAzAiIIO%>ԡbEjErEǓ/E- E-E)E)"E-=;*E-՚:VE)ZE)aU@a]@a]@a]@ cόc#,5LA2ۤ@2*@2Ƽٱ2%$>2H`F?~?Ŀ`$?`O?_՘? l? ?i2ۤ@I2];2CYNByR IIT)VyU;_UQU@ U+@)QQYQbDmKVDm8y<%D=ٔP;Q->9Y=cEyjD%=E>ԙQ 5 5,?Q 9 5J)BY?Q E:yOQ IM@DI:i: 5yBɮdADEB*** querying acoustic contact ***iifffgffrfereZe:e*eЁBɢ'<) >i);!!i%*-=ɧ-Q-NMi-?))I-? -?I1B6>BB IBBBBBHDBӞ;BYE^A-I!I9Om5>DAT read: VDAT read: Teledyne Benthos DAT-900 Series E%  E% E! E! "E% ;*E% :VE! ZE! BE% @@>ܗ@>Iٱ>C">>H ?`?QĿ2?@S? ?9? ̖?i>@I>ܴ];>CYFByJ IPRAAbDRDVDR8yZ!@=%ZX=ٔ^;Q-^>9\Y\=bcEybrDbå<Eb>dQ 5j 5f?Q 9j 5f۵)fBYhyn\Q InM@fDIf2:ifK:fD 5yrBɮrArCEf f f g f f rf ereZe:e*eÉBɢEa =)A E>iA)M0;IIiM+UD=ɧUUTiU6?QYI]=? ]=?IY eeIe)e)^AE<IIOf>Qy Tc#,piLAɰB@BG@BٱB:>BHg?c?ÿ=`;? =?r?? ?iB@IB];BCYRByR IbD^VD^ư8yjs<%jH=ٔj);Q-n>9lYp=rcEyrzDv<Ev>xQ 5 5z\?Q 9 5zҺ)zBYyQ I M@zDIz';izd*;z 5yɮAfafafagafifirfieireqZeq:eq*ey颥ȁBɢ. =) X>i) ;顩iAN,p=ɧ(t[iD?E5 E5E5.E1"E5;*E5z:VE5ـ4ZE1aU@Yae@ae@ae@I(? (?I^A Pz=IqIO>ԁԩB:>BCB IBBB` =BBIDBǞ;BYEBBBBd =BCZ5 ʠc#,]SLAJQ@JJ@J4ٱJ~?>JH@?–?ÿ@F$E?g?P?`zs??iJQ@IJֿ];JCY^By^ I ``iMMb@Mb@Mb@IIII I9MZd;?%C̿yMZdMtM@M@ M@)MA@IYM@bD]VD]8ymE=%m@=ٔuv;Q-u>9yYy=}cEy}D}s<E>Q 5 5~?Q 9 5`)~BY ?Q E:y Q IM@DI?;i ?;" 5yɮAfffgffrfereZe:e*e āBɢ V`=)  >i);iz-ۉ=ɧ%jYci%&?!!I%&? %&?I)Ա^ASk=I IO- >E% E%E%*E!"E%;*E%:VE%(N4ZE!BE%D]H ??¿ ?\ц?@w?i?@1?i]{@I]];]CYuByu I = %=bD VDʰ8yM =%M0=ٔU ~;Q-]>9aYa=ecEyeDm!4<Eu>Q 5 5w?Q 9 5)oBYy{Q IM@DI;i;& 5yɮCAfffgffrfereZe:e*eeBɢe<=:DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Dec 5 2025 01:32:38 )a ?>i)ޫ;i--)=ɧ--5 li-L?))I-L? 5L?I1@>@>A^AMpG(>Ee EeEe)Ea"Ee:*Ee:VEeFA4ZEaa@a@a@a@AIIԩ aG T9 Y eQAO > c#,LA:a@:@:Vٱ:O>:Hw? |?@$¿0@Nc?U? ?`/ ? ?i:a@I:];8Y^By^ I9Y=cEyD,<E>B<AB;>BCB IBBBa =BBBݞ;BYEQ 5 5 q?Q 9 5)dBQ A+:YQ E:yQ IM@DI:iD>N) 5yɮ,AB*** querying acoustic contact ***iif)f)f)g)f1f1rf1e1re1Ze1:e9*e9i颥BɢR'=) =>i)&;顩ik.l=ɧ駽 siPQ?IPQ? PQ?I^AR>ԑA ؟AI&-bCommunications Fault in component: RDI_PathfinderI)O=q> EE  EE EE (EA "EE V:*EE ~:VEE c44ZEA BEE 92HA??z k?`z? ? ?`E?i2@I2];2CY:By: IIB<)B;aB@PPowering downbD VD8yͼ%0=ٔ;Q->9"?Y"?=cEyEDUFQ;EU>YQ 5] 5]i?Q 9e 5])]VBQ Ae :YaQ Ee:ym Q ImM@]DI] ;i]XV?]+ 5yuBɮucAuLEfffgffrfereZe:e*eBɢ =) I>i)<im/ .=ɧ 0 {i ?  I ? ?I^A >A-.AI9IIOe>A 0c#,ꎍLA^@^L@^B(:ٱ^C=^H? ?R濿l@a?`Qiq?D? ɿ??i^@I^M];^CYjByn Ipr@AbDvVDv8|yѥ=%=ٔi)ݯ<i0ϟ=ɧ灀D4=Dp=E EE)E"E;*E:VEFA4ZEa@a@a @a @i9U?  I 9U? 9U?I)%LDAT read: Features enabled [Bearing] 5DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 5commRate: 600^A]>QBQ>BCB IBBB` =BBKDB;BYEAIIO>ԁ xc#,LA(ɰ*4?ڽ` ë?a? c.?Ƚ?@?iN@IN]];NCYZByZ IbDb VDb8yjSU%jM=ٔn_;Q-n>9lYl=rcEyrDrEr>tQ 5z 5v^?Q 9z 5v)vBBQ A~9Y|Q E~):y~Q I~M@vDIvr;ivJ?v. 5yɮAf)f)f)g)f)f)rf)e1re1Ze1:e1*e9YeBɢeZ3=)i m>ii)m wAc#,nLA6f@6`@6.Jٱ62Y=6HY@??X@a??@t?{?@?i6f@I6];4YNByR I TTV:Expecting PD13 message formatbD^VD^8yf<%fK=ٔfC9j"?Yj"?=jcEyjDn/En>pQ 5v 5rX?Q 9v 5r)r6BQ Av9YtQ Ez :yzhQ IzM@rĻDIr4:ir?r 0 5y|ɮ~A|ff!f!g!f!f!rf!e)re)Ze):e)*e)UBɢ]9=)Y ]?iY)eDzDE EE+E"E=;*Ex:VE [4ZEa%@a%@a%@a%@)9 kc#,J8LA2;@24@2Ǻٱ2q=2H^??f@ z?@QGj2X?Qi??i2;@I2*];2CY:By: I B%=@bDFVDF8yN]H=%NN=ٔNJ9PYP=RcEyRDV`YEV>XQ 5Z 5ZQ?Q 9^ 5Z()Z*BQ A~o9Y|Q E~9y~(Q I~M@Z˻DIZ$BECBE IBEBBEZ =BE3DBELDBE;BEYEA II!OM>AiE%  E% E% (E! "E% T;*E% Ar:VE% c44ZE! BE% G IbDFVDF8yN4Q;%NJ=ٔN 9PYP=RcEyRDVsEV>XQ 5Z 5ZJ?Q 9^ 5Zl)ZBQ A^B9Y\Q E^9y^Q IbM@ZһDIZ;iZ0/@Z1 5yfBɮfPAfKErB*** querying acoustic contact ***ipipftfxfxgxfxfxrfxe|re|Ze|:e|*e颥BɢbH=) @?i)$<顩iS2=ɧp iu?Iu? u?IqAIIO% >ԡ c#,DlLA6֐@6@З@6 ;ٱ6=6HD??ݸ@П?epw??i6֐@I6];6CYBByB IIFp<)DbDJVDJ8yRڭ%RI=ٔV9TYT=VcEyVDZ|EZ>\Q 5b 5^C?Q 9b 5^)^BQ Ab9YdQ Ef9yfQ IfM@^ٻDI^:i^8I@^|2 5yhɮjtAhf|f|f|g|f|f|rf|ereZe:e*e5Bɢ59lL=)1 5r?i9)=t+<99i=/3EJr=ɧEJE%oiE?AIIM? M?IID=D<bE]G4jE]I4rE]J0E EE*E"Es:*E:VE(N4ZEa@a@a@a@AIIO=*entering command modeB-u>B-CB- IB-BB-U =B)B-ODB-;B-ZE! dc#,0مLA:@:N@:ۦ<ٱ:P=:HC? ? ﷿`M? '@t?@?i:@I:2];:CYBByF IHHbDN VDN8yV=%VK=ٔVu9XYX=ZcEyZD^ŊE^>`Q 5f 5b m(setting verbose to 3IqQA.AI IO% >E EE(E"E:*Eą:VEc44ZEBE<  TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 27440ԩ ߏc#,LA4<ɰ2td@2]@23Y<ٱ2X;=2H`4;??ﶿ@?`mb9@?'?i2td@I2];2C@YNÂByR IbDZ VDZʰ8y%<%-C=ٔ-95 ?Y= ?==cEy=DEEE>QQ 5] 5UG5?Q 9e 5Uf)UBQ Ae8YaQ Ee@9ymQ ImM@UDIU%L;iU)~@Uv3 5yqɮ}`AyfffgffrfereZe:e*e Bɢ T=) z?i);<idI4R=ɧ%A%Ngi% ?!!I% ? % ?I)ԩAe؟AIiIO>&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8DzDE EE'E"Es:*Ee:VE'4ZEa@a@a@a@ = &DAT read: user:3> E TDAT read: TxPower | 8 (Max) E .set transmit power to 8M 6setting local address to 11Ϳc#,LA2@"@2@2Ј<ٱ2=2H??`x?呿@`(??i2@"@I2];2CYJ‚ByJ I LLhbDVVDVð8yrn%rN=ٔr 9v"?Yv"?=vcEyvDzEz>|Q 5 5~).?Q 9 5~x)~BQ A8YQ E9yQ I M@~DI~:i~@~3 5yBɮ'ATEfffgffrfereZe:e*eBAB>BCB IBBBR =BBPDB;B ZEBCBCBCBZ =BZ =C6Bɢ]=) ?i)RC)&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11\Setting time to: 1:32:47 And date to:12/5/2025Q E  E E )E "E :*E z:VE FA4ZE BE x%9)Y1=5cEy5D58E5>9AQ 5M 5E&?Q 9M 5E)EBQ AM8YIQ EU8yUQ IUM@EDIE:iE՘@E4 5yYɮ]0AYuB*** querying acoustic contact ***iqiqfffgffrfereZe:e*e颽Bɢe=) ?i) K<i>5-=ɧ"gNiJ?IJ? J?IAzA&DAT read: user:5> NDAT read: Fri Dec 5, 2025 01:32:47 fLocal DAT time set to Fri Dec 5, 2025 01:32:47 2Acoustic response timeout6setting remote address to 8A II!O- >iԙ &DAT read: user:6>  TDAT read: RemoteAddr | 8  .set remote address to 8 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. c#,Y폍LA2@2F@2 <ٱ2}ʫ=2H@{?K}@} `Oq??i2@I2\];2CY>ȂBy> IbDF)VDFҰ8yn=%nO=ٔn9pYp=rcEyrDvEv>xQ 5~ 5z1?Q 9~ 5z )zBQ A~[8Y|Q E~8y~Q IM@zDIz;izu@zO4 5y ɮ  A f)f)f)g)f1f1rf1e1re9Ze9:e9*e=56@eBɢeKn=)i m4$?ii)mT&DAT read: user:7> BDAT read: Tx time:01:32:47.6583 $Ping request sent.BCBBBQ =BBQDB;B+ZE ճd#,$LA6U@6kN@6<ٱ6ɩ=6H@Z?M;|U⛿0?`?i6U@I6];6CYBʂByB IIF=)F<bDJVDJ8yfͰ;%jK=ٔj 9hYl=ncEynDnڭEr>pQ 5v 5r?Q 9v 5r)rBQ Az18YxQ Ez8yzQ IzM@rDIr:irO@r~4 5y|ɮ Af!f!f!g!f!f)rf)@- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@-5pTransitioning to terminal guidance at range 36.799999 m @51A5e1re1Ze9:e9*e=P6@i]AI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251377uzBɢuq=)y }'?iy)}\E EE%E"E:*Ek:VE 4ZEBE39] ?Y] ?=]cEy]De<Ee>iQ 5m 5mR?Q 9u 5m3)mBQ Au8YqQ Eu8yu;Q IuM@m DIm;imƿ@m4 5yBɮ^A]Efffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e7@uBɢ^m=) O$?i)e<i]}6K֘=ɧXE EE(E"E:*EVEc44ZEa@a@a@a@I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006868d#,^:LAɰ2@2Ҷ@2=ٱ2=2HM ?@Zݴ`R I=??i2@I2];0YNByR IbDZNVDZ8ybw<%bT=ٔb9dYd=fcEyf DfxEj>hQ 5n 5j?Q 9r 5j )jBQ Ar7YpQ ErX8yrQ IrM@jDIj;ij@j4 5ytɮzEAxqL ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL  Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Entering USBL mode with 120.000000 count pings at 36.799999 m (mode 0.000000 count ).L1MD%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF%-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF--Initialize.F--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G- -Initialize.qG-G-qE-g5h7g5h7F55Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G5jg9rg=fB=$Terminal guidance.qE=GEEInitialize.EdInitializing internal variables to default values.EZTransitioning guidance mode to: UNINITIALIZED iAEDRollout timeout set to 300.00 sec.MVIIR filter is initialized with decay: 0.00.MbTransitioning guidance mode to: TERMINAL_GUIDANCE iM??MUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@U UAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUUUninitialize.AUAUU>Uninitialize WaypointComponent.eQAyA}@AB>BCB IBBBN =BBBV;BkZEreQZe:e*e`^r7@EBE=)E E@iA)Mfey}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258970ԩ E  E E *E "E ;*E Ar:VE (N4ZE BE A9z"?Yz"?=zcEyzDzaE~>Q 5 5a?Q 9  5,)BQ A 7Y Q E /8y sQ I M@DIk:i3@4 5yBɮ-Aj5^@1M5qM55B*** querying acoustic contact ***i1i5xhEҶ@hEhAhAhIgIgIjgIrgIeQreQZeQ:eQ*eU`j7@颅Bɢ4m<)dr ;i)e<顉i86i?)L? (kpHeading = 0.800000I; (kiHeading = 0.004000 >IҶ@IAAzAAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511085ԱAeIiIyO9>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763382d#,nLA2E(@2!@2U =ٱ29fYf=fcEydj޸Ej>tlQ 5E 5n(?Q 9E 5n##)nBQ AE7YAQ EE8yM Q IMM@nDInkB}CByByB}R =ByB}PDB};B}ZEa "d#,jLA6΍@6ǔ@6:{'=ٱ6v=6H_? 6紿 㰿DE?`i?i6΍@I6v];6CYNԂByR IbDZVDZ8yb<%bJ=ٔb;Q-b>9dYd=fcEydf޼Ej>hQ 5r 5j?Q 9r 5j#()jxBQ Arw7YpQ Er7yrQ IvM@j%DIj};ij@j5 5yzBɮzp Az\Ej M  Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL  Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLhhhh!h!g!g!jg!rg)e)re)Ze):e)*e58@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271127ԙɢL<) =i)f<i/5iN?  I I E EEE"E;*E:VEZEBE?CI I O >7(d#,1LA>|@>=v@>x1=ٱ>v\=>H`?p`Б4U- a? ?i>|@I>>];)N4<bDRVDR8yZ-=%Z6=ٔ^H;Q-^>9\Y`=bcEy`b1Eb>dQ 5j 5f喊?Q 9j 5f-)ffBQ AnH7YlQ En7ynTQ InM@f-DIf;ifAf5 5ypɮr# Ath h h h hggjgrgereZe:e*e9@iɢu2<)q ua=iq)u{PgIIO`>  BDAT read: Rx Time:01:32:50.1232  TRx dataTimestamp_ set to:1764898370.932500 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028038B y>B CB IB BB S =B B ODB ;B ZE/d#,LA2A4@2-@2| ?=ٱ2f=2H洿?@E'`.5xߧ9dYd=fcEydj泼Ej>hQ 5e 5jQܖ?Q 9m 5j2)jVBQ Am"7YiQ Eu7yuQ IuM@j3DIjCԩ I I O >5d#,!ؐLAɰ2@2@2N=ٱ2=2H@ ۴?@xֹ e+!.ѩ2?'?i2@I2?];2CYN߂ByR IbDZVDZg8ybR<%bJ=ٔbJ9dYd=fcEydfЧEj>hQ 5n 5joӖ?Q 9r 5j7)jEBQ Ar7YpQ Eru7yrhQ IrM@j:DIjX ;ij Aj$5 5yxɮzg Ax B*** querying acoustic contact ***i i yDAT read: 01:32:50.1232 LVL= 22416, 19697, 28226, 32083, AGC= 56, IDX= 282,-0.25, 0.831, 0.654,-0.818, 0.348, PHS= 0.585, 0.350,-1.210, RAW= 36.9, 3.3, CAL= 36.9, 2.0, ROT= 113.1, -2.0 Ygot valid direction response: 01:32:50.1232 LVL= 22416, 19697, 28226, 32083, AGC= 56, IDX= 282,-0.25, 0.831, 0.654,-0.818, 0.348, PHS= 0.585, 0.350,-1.210, RAW= 36.9, 3.3, CAL= 36.9, 2.0, ROT= 113.1, -2.0 PDAT read: Bearing 247.2, 70.7 (Local) ~Local bearing/azimuth received: Bearing 247.2, 70.7 (Local) DAT read: Range 11 to 50 : 45.5 m (Round-trip 60.7 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.392098,0.919261,0.034899]Fpublishing direction and range infoy˂Sl"ٿ sj?Xޡ?Y6BWLBn S})8I?i33>Hᚿ$?k=$? 5=)?I5}h-Ǿ?R{n1 i? ).jkI?i5T****** received valid address query ******R****** received valid ping request ******5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.] addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 hahahahahagagajgirgieireiZeq:euF@*eu &?ɢ#<) e=i)}h<iR\4iuE@qqIqIqԩ5 &DAT read: user:8> = BDAT read: Tx time:01:32:51.4583 E $Ping request sent.E Iq I O > @> @>_=ٱ>ܳ=>H~ Z?䦹妿߫c?`?i>@I>:^;>CY%By%!I ))bD5VD5e8yER=%EB=ٔE9IYI=McEyIUEU>YQ 5e 5] ʖ?Q 9e 5]<)]3BQ Ae6YaQ EmF7ymQ ImM@]ADI]V:i]FA],5 5yuBɮu AqMAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1NResuming normal ranging with 1.000000 count pings 45.500000 m (mode 1.000000 count ).1NqNiiېLAj5B"j5B:j>Rj,I1W^eD@a?Bj˂Sl"ٿ sj?Xޡ?*j?2j5Zj*xE@m'*@ @Jjɦ:?!qd?sa?jVA j+Biyj줊?i.jBj L?jjBrjM2Bzj9>hhhhhggjgrgereZe:e*e? ÂBɢ .*<)  =i )i<i3i@II!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249896BT>BCBBBW =BBLDB;BZEBCBCBŖCBR =BR =C-\6^A]Ռ>IIO l>)Y = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501938Bd#, LA2${@2st@2o=ٱ21=2H@hr?8 mH@{? ?i2${@I2];2CY:ׂBy: I @B%=bDFVDF8yN5ǽ%NV=ٔN-9PYP=RcEyPVEV>XQ 5^ 5Zl?Q 9^ 5Z:A)Z"BQ A^6Y\Q Eb 7yb_Q IbM@ZHDIZ ;iZeAZ15 5ydɮfk Adj ?qN N hhYhYhYhYgYgajgargaeareiZei:ei*em?ĂBɢA%<) (=i)Dj<iFe3i"6 @II@zA@zA1E5 E5E1E1"E5:*E5:VE1ZE1BE5F8IIOj>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753905ԉԹ %Id#,^&LA2#>@2r7@2L=ٱ2=2H `?n빿Ҽ#KI!>? ?i2#>@I2];2CYN݂ByR IbDZVDZ8yf<%jG=ٔr#9tYt=zcEyxzEz>|Q 5 5~?Q 9 5~0F)~BQ A 6Y Q E 7y Q I M@~ODI~:i~!A~65 5yɮ> Aj)N-N5h9h9hAhAhAgAgAjgIrgIeIreIZeI:eI*eU K?ɢՐ<) `B=i)j<i _2i@11I1I9ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006570U GmzAyP9zAY$A^A]>Em EiEm,Ei"Em;*EiVEmg4ZEiau@au@au@au@IIO checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257946A A B P>B CB IB BB e =B 4DB JDB ;B ZE Pd#,9@LAY ڂBy  II=)?bD-VD-8yME[%MB=ٔUQ-U>9QYY=]cEyYeEm>qQ 5} 5uf?Q 9} 5u6K)uBQ A}b6YyQ E6yQ IM@uVDIuL ;iu'Au:5 5y}Bɮ AdEjNCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRMAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRhhhhhggjgrgereZe:e*e?5łBɢ5<)9 =$=i9)=pqk<99iE,2iUE@YYIYIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509888^A>II)OE>I Eu  Eu Eu +Eq "Eu l;*Eu ]t:VEu [4ZEq BEu `FBy> IllbDrVDrǰ8yve=%vP=ٔz9xY|=~cEy|5E> Q 5 5 B?Q 9 5 O) BQ A%76Y!Q E%6y%Q I%M@ ]DI N;i -A =5 5y)ɮ5 A1MB*** querying acoustic contact ***iIiMechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762017hQhahahahagigijgirgieqreqZeq:eq*e}&@颥ƂBɢR<)F_ w=i)4l<顩i1if@II@=@=Q^A#>A4<A<IAIQOeU>y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013967ԩ b\d#,5sLAD=D<E EE,E"E;*Exv:VEg4ZEa@a@a@a@DVC@V1=@V=ٱVR=VH ¿ Ux?O@q`ÿ~\?q?iVC@IV];TYbByb IbDj/VDjذ8yrۼ%rK=ٔv9tYt=vcEytz/ Ez>YQ 5e 5]?Q 9e 5]T)]BQ Ae6YaQ Ee6yeQ IeM@]cDI]:i]4A]?5 5yuBɮuA AumEhhhhhggjgrgereZe:e*e@@5ǂBɢE<)A M0B=iI)MlBmCBm IBmBBm] =Bm3DBmNDBm";Bm[E^A5> A *@I I O >% DDAT read: Rx Time:01:32:53.6504 - TRx dataTimestamp_ set to:1764898374.2090985 PDAT read: Bearing 242.4, 64.9 (Local) 5 ~Local bearing/azimuth received: Bearing 242.4, 64.9 (Local) E DAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.5 Icd#,ɍLADAT read: 01:32:53.6504 LVL= 22160, 18369, 28274, 30067, AGC= 58, IDX= 193,-0.02, 0.806, 0.890,-0.656, 0.466, PHS= 0.441, 0.469,-1.166, RAW= 29.2, 3.2, CAL= 29.2, 1.6, ROT= 120.8, -1.6 Ygot valid direction response: 01:32:53.6504 LVL= 22160, 18369, 28274, 30067, AGC= 58, IDX= 193,-0.02, 0.806, 0.890,-0.656, 0.466, PHS= 0.441, 0.469,-1.166, RAW= 29.2, 3.2, CAL= 29.2, 1.6, ROT= 120.8, -1.6 FR#Rx 1: Read range and direction messages.J^direction in FSK: [-0.511843,0.858625,0.027922]JFpublishing direction and range infoyQUrZaBy?|p}?YU3=BQUVUGUrn Usu)U:lIU>iU >U}?Uw?Ud=Uw? U<)UV@IU伩QQUk?ϕJ Y￾L? Uʿ)UpdIUV@iU伩QQzchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.555839EJ@E@EW=ٱEň=EH*.ÿ@h?m0^=Ŀ@:BŴ`?`E?iEJ@IEy];ECYUЂByU I bDVD8yÓ%==ٔI;Q->9=Y==cEyDZE>Q 5 5,?Q 9 5Y)BQ A5YQ E`6y` Q IM@kDI~%RjU__/8^ID@-BU?BjUrZaBy?|p}?*jUV@2jUZjUE@$pU1@3O@JjUC]Q?T y?z3׮?jUA jU'-BiU Ѥ?iUjUBjUW M?jQjU+BrjU6BzjU>% addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 2.772904 s, deltaX: 1.799999 m, approachRate: 0.649139 m/s, rangeRepo size: 2 "i)E= E=E=)E9"E=:*E=Ar:VE=FA4ZE9BE=M-hhhhig gjg!rg!e!re!ZeI:eM`fG@*eM?额ɂBɢS{<) _I &Changing to mode: 29}checking for new query: numPingsReceived=1, elapsed TxPingTime=2.7701889@ @@@5@a ^A #>ԑ I I O>VKjd#,f-LAF@F@FJ=ٱFD=FH>Ŀ7Z? mg3{+`ſ׺??{?iF@IF$];FCYV΂ByV I ^=^=bD^VD^8yf ƻ%j>=ٔj9lYl=ndEynDnEn>-DDAT read: Rx Time:01:32:54.1504 5TRx dataTimestamp_ set to:1764898374.712977=PDAT read: Bearing 246.1, 50.1 (Local) =~Local bearing/azimuth received: Bearing 246.1, 50.1 (Local) MDAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.4 uDAT read: 01:32:54.1504 LVL= 24208, 19953, 32754, 32755, AGC= 56, IDX= 513,-0.22, 0.835, 1.435,-0.512, 0.549, PHS= 0.388, 0.931,-1.105, RAW= 15.1, -2.4, CAL= 15.4, -4.4, ROT= 134.6, 4.4 }Ygot valid direction response: 01:32:54.1504 LVL= 24208, 19953, 32754, 32755, AGC= 56, IDX= 513,-0.22, 0.835, 1.435,-0.512, 0.549, PHS= 0.388, 0.931,-1.105, RAW= 15.1, -2.4, CAL= 15.4, -4.4, ROT= 134.6, 4.4 }R#Rx 2: Read range and direction messages.`direction in FSK: [-0.700084,0.709927,-0.076719]Fpublishing direction and range infoy)-g⨹?.0ۣY))-^-M- -)-8I->i-Vn?-p-V>-+-> -nF)-Y@I-nF=))-Hґwп\늸K2 -df)-)=I-Y@i-nF=))checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037350!Q 5% 5%?Q 9- 5%_)%BQ A-5Y)Q E-56y- Q I-M@%sDI%:i%BA%C5 5y=BԹɮ Ai)i-jLAj)"j):j-:?Rj-&>s/@ ē@@ Bj-g⨹?.0ۣ*j-Y@2j-nF=Zj-YrEC@ی-;@|5\B@Jj-v8?q4g?u?j-mA j-+Bi-hw5?i--j-Bj)j-%qj)rj-7Bzj->m addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.503879 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 3  Added new target pos. range: 47.250877 m, bearing: 35.189638 deg, lat: 36.779539 deg, lon: -121.859803 deg, deltaT: 0.503879 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 2 :iDNOT Ignoring new targets: 47.25 m.2iPowering the camera and arming the capture device at range: 47.30 m.i"i*i] ProNav: ac range: 47.250877 m, nav range: 45.878769 m, bearing: 24.159363 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 23.905666 deg, new cmd heading: 23.905666 deg. i]eHeadingCmd: 0.417233 target range: 47.250877 and range: 47.30 m.hahahahahaiagagiDzDE EE+E"ED:*Ek:VE [4ZEa@a@a@a@jgrgereZe:e*e`b?ʂBɢu<) B CB IB BB S =B B QDB 5;B K[E 6@  @ @ /@ A ^A->qDDAT read: Rx Time:01:32:54.6507 TRx dataTimestamp_ set to:1764898375.220204PDAT read: Bearing 243.2, 62.7 (Local) ~Local bearing/azimuth received: Bearing 243.2, 62.7 (Local) DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed -0.4 DAT read: 01:32:54.6507 LVL= 18912, 17521, 17842, 20003, AGC= 57, IDX= 3, 0.46, 0.611, 0.780,-0.809, 0.291, PHS= 0.422, 0.534,-1.144, RAW= 26.6, 2.3, CAL= 26.9, 0.5, ROT= 123.1, -0.5 Ygot valid direction response: 01:32:54.6507 LVL= 18912, 17521, 17842, 20003, AGC= 57, IDX= 3, 0.46, 0.611, 0.780,-0.809, 0.291, PHS= 0.422, 0.534,-1.144, RAW= 26.6, 2.3, CAL= 26.9, 0.5, ROT= 123.1, -0.5 R#Rx 3: Read range and direction messages. ^direction in FSK: [-0.546081,0.837687,0.008727] Fpublishing direction and range infoyy:T?B7߁?Y>BIqDE #N)9Ib>i9?n,>l$=va> 5<IiIO?sd#,BZБLA)u @Iu5qqu_ճb<;&? u п)u#u'Iu @iu5qq&checking for new query: numPingsReceived=3, elapsed TxPingTime=3.574540Zu@Z"o@Z-=ٱZS=ZHDſ@-N?@) msƿ9l`9-??ǭ?iZu@IZ^;ZClY=ՂBy= IbDM!VDM˰8y]<%e=ٔe;Q-e>9iYi=mdEymDm=_Em>qQ 5 5uw?Q 9 5uxe)uBQ A5YQ E6yv Q IM@u|DIu;iuKAuE5 5yɮX AiqiuΑLAju>B"ju>B:ju>Rju5:D C@r4}.B?Bjuy:T?B7߁?*ju @2ju5Zju]tE@ƚ2@et@Jjuv<?KBB?Z8?ju8A juK-BiuN?iu&~juBjuN?ju&~juBrjuzE= E=E=*E9"E=:*E=:VE=(N4ZE9BE=N-I! II OU >fzd#,$`ꑍLA!Y-ƂBy- IbD= VD=ʰ8yM%MJ=ٔUQ-U>9QYQ=]dEy]D]E]>aQ 5m 5em?Q 9m 5e j)euBQ Au5YqQ Eu5yqQ IuM@eDIe':ie9RAeF5 5y}yBɮ} A}lEiIDDAT read: Rx Time:01:32:55.1507 TRx dataTimestamp_ set to:1764898375.721364PDAT read: Bearing 240.8, 61.8 (Local) ~Local bearing/azimuth received: Bearing 240.8, 61.8 (Local) DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed -0.4 DAT read: 01:32:55.1507 LVL= 23680, 21265, 31666, 32755, AGC= 55, IDX= 500, 0.18, 0.262, 0.465,-1.105,-0.024, PHS= 0.388, 0.534,-1.125, RAW= 25.5, 2.6, CAL= 25.7, 0.8, ROT= 124.3, -0.8 Ygot valid direction response: 01:32:55.1507 LVL= 23680, 21265, 31666, 32755, AGC= 55, IDX= 500, 0.18, 0.262, 0.465,-1.105,-0.024, PHS= 0.388, 0.534,-1.125, RAW= 25.5, 2.6, CAL= 25.7, 0.8, ROT= 124.3, -0.8 %R#Rx 4: Read range and direction messages.-^direction in FSK: [-0.563471,0.826018,0.013962]-Fpublishing direction and range infoymi>9=L> d<)- @Id" Rvq￞<? >ӿ)$8I- @idEchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.045945ii*LAj"j:jp>Rjȗ:E addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.501160 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 47.653309 m, bearing: 24.364186 deg, lat: 36.779550 deg, lon: -121.859808 deg, deltaT: 0.501160 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iUmTStopped intercept timer at range: 47.70 m.uDNOT Ignoring new targets: 47.65 m.2iquPowering the camera and arming the capture device at range: 47.70 m.iq"i*i  ProNav: ac range: 47.653309 m, nav range: 47.298687 m, bearing: 23.294319 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 23.905666 deg, new cmd heading: 23.905666 deg. i HeadingCmd: 0.417233 target range: 47.653309 and range: 47.70 m.h1h1h1h1h1i9g9g9jg9rgAeAreAZeA:eA*eM`?Q͂Bɢ]<) `ii)Qm<i6,iai)@IIbE [4jEęT4rE/E= E=E=(E9"E==;*E=|:VE=c44ZE9aM@aM@aM@aM@QQQQԁ} checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282293BE >BE CBE s IBE sBBE Q =BA BA BE ;BE /[Ee 0@a  @a @e 0@a ԩ ^A>IQIiO}?d#,V LAɰYzÂByz I@A@AbDVDð8y=zD%="=ٔ9Q-=>9AYA=EdEyEDIEM>QQ 5] 5U/a?Q 9] 5Uo)UZBQ A]O5YYQ E]5yYQ I]M@UDIU:iUKZAUG5 5yiɮm AiB*** querying acoustic contact ***iiԉ:iDNOT Ignoring new targets: 47.65 m.2iPowering the camera and arming the capture device at range: 47.70 m.i"i;*i;DDAT read: Rx Time:01:32:55.6511 TRx dataTimestamp_ set to:1764898376.225234PDAT read: Bearing 235.0, 59.4 (Local) ~Local bearing/azimuth received: Bearing 235.0, 59.4 (Local) UDAT read: Range 11 to 50 : 48.3 m (trip time 32.2 ms) speed -0.4 uDAT read: 01:32:55.6511 LVL= 26192, 20865, 32754, 32755, AGC= 55, IDX= 504,-0.02, 1.229, 1.521,-0.057, 1.031, PHS= 0.300, 0.535,-1.132, RAW= 22.5, 3.8, CAL= 22.7, 2.5, ROT= 127.3, -2.5 }Ygot valid direction response: 01:32:55.6511 LVL= 26192, 20865, 32754, 32755, AGC= 55, IDX= 504,-0.02, 1.229, 1.521,-0.057, 1.031, PHS= 0.300, 0.535,-1.132, RAW= 22.5, 3.8, CAL= 22.7, 2.5, ROT= 127.3, -2.5 R#Rx 5: Read range and direction messages. ProNav: ac range: 47.653309 m, nav range: 47.522831 m, bearing: 23.467958 deg, approach rate: 0.494154 m/s, LOS rate: 0.381003 deg/s, cmd heading: 23.905666 deg, new cmd heading: 24.251300 deg. iQ.<HeadingCmd: 0.423265 target range: 47.653309 and range: 47.70 m.h2>hhhhigg-^direction in FSK: [-0.605412,0.794716,0.043619]-Fpublishing direction and range infoy 9_㿪 Qn?GU?Y3ABjg!rgAeAreAZeA:eM`f&H@*eMkB?PfQ )I>i?`吿>ԇ=b> ¸2=) 2@I¸29N'y~?x)? 5ٿ)#fI 2@i¸2uchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.591876ςBɢnT<) üi)yl<i{+ip3&@I2>IԹE% E%E%)E!"E%T;*E%x:VE%FA4ZE!BE%G d#,b$LAe@eT@e=ٱe/=eH@yȿ+? ;ƾr@`bɿ\\` CY??ie@Ie];eCYBy IbDVD8yzx%?=ٔ 9Y=dEyD yE> Q 5 5 )V?Q 9 5 t) CBQ A(5YQ E5y7 Q IM@ DI :i !aA H5 5y%Bɮ%rA%uEiiRjh*6=96,C@/@Bj 9_㿪 Qn?GU?*j 2@2j¸2Zj.XE@~R4@S(K!@JjZ8P?g8Wd?qWB?j:A j*Bic?ibUj}Bjin?jOHkjBrj>Bzjq>u addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 0.503870 s, deltaX: 0.599998 m, approachRate: 1.190780 m/s, rangeRepo size: 4  Added new target pos. range: 48.253345 m, bearing: 25.815671 deg, lat: 36.779545 deg, lon: -121.859800 deg, deltaT: 0.503870 s, deltaX: 0.600037 m, approachRate: 1.190856 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 48.25 m.2iPowering the camera and arming the capture device at range: 48.30 m.i"i*i ProNav: ac range: 48.253345 m, nav range: 47.501411 m, bearing: 24.668898 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 24.251300 deg, new cmd heading: 24.578782 deg. iHeadingCmd: 0.428981 target range: 48.253345 and range: 48.30 m.h[>hhhhiggjgrgereZeI:eI*eU"?тBɢVm/<) Xi)?l<i )i"@I[>IDDAT read: Rx Time:01:32:56.1512 TRx dataTimestamp_ set to:1764898376.730229PDAT read: Bearing 233.9, 57.5 (Local) ~Local bearing/azimuth received: Bearing 233.9, 57.5 (Local) DAT read: Range 11 to 50 : 48.5 m (trip time 32.3 ms) speed -0.4 =DAT read: 01:32:56.1512 LVL= 21952, 19633, 30130, 32755, AGC= 55, IDX= 505,-0.23,-0.886,-0.532,-2.126,-1.050, PHS= 0.267, 0.563,-1.120, RAW= 20.5, 3.8, CAL= 20.7, 2.4, ROT= 129.3, -2.4 MYgot valid direction response: 01:32:56.1512 LVL= 21952, 19633, 30130, 32755, AGC= 55, IDX= 505,-0.23,-0.886,-0.532,-2.126,-1.050, PHS= 0.267, 0.563,-1.120, RAW= 20.5, 3.8, CAL= 20.7, 2.4, ROT= 129.3, -2.4 UR#Rx 6: Read range and direction messages.m^direction in FSK: [-0.632825,0.773161,0.041876]mFpublishing direction and range infoy)|+@? ۷p?YBBULu )I9>N,@ @@41@i ?)\0>> +=)m@I+1> ſs~WҤY԰?  >޿)Im@i+ checking for new query: numPingsReceived=6, elapsed TxPingTime=5.079285IEE EEEE'EA"EE:*EEk:VEE'4ZEAau@a}@a}@a}@^A q A tZAI I O >d#,o>LAchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.289900A`AbAABdBdBfS IBfYBBdBdBdBf;Bf[EBBCBCBS =BX =CN 7YBy IQbDm4VDmܰ8y$%==ٔQ->9=>Y=>=EdEyE#DE>Q 5 5IJ?Q 9- 5y)*BQ A55Y9Q E=}5y9Q IEM@DI Rj C>n%B@h;@Bj )|+@? ۷p?*j m@2j +Zj E@I@6@݈)ֺ!@Jj D'Q?+\d?fko/k?j A j x(Bi \|'?i 40j hBj c?j bUj rj >Bzj >5 addTargetRange:: Added new target pos. range: 48.500000 m, deltaT: 0.504995 s, deltaX: 0.200001 m, approachRate: 0.396045 m/s, rangeRepo size: 4 e Added new target pos. range: 48.453136 m, bearing: 27.849567 deg, lat: 36.779541 deg, lon: -121.859791 deg, deltaT: 0.504995 s, deltaX: 0.199791 m, approachRate: 0.395630 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 48.45 m.2iimPowering the camera and arming the capture device at range: 48.50 m.ii"iq*iqԁ ProNav: ac range: 48.453136 m, nav range: 47.640423 m, bearing: 25.955418 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 24.578782 deg, new cmd heading: 24.954909 deg. iHeadingCmd: 0.435545 target range: 48.453136 and range: 48.50 m.h>hhhhiggjgrgereZe:e@H@*e;?-ӂBɢ-<)) -i))-k<11i5(z(i5@9YI]>IaDDAT read: Rx Time:01:32:56.6515 TRx dataTimestamp_ set to:1764898377.234450PDAT read: Bearing 230.4, 56.7 (Local) ~Local bearing/azimuth received: Bearing 230.4, 56.7 (Local) O)@ @@/@DAT read: Range 11 to 50 : 48.9 m (trip time 32.6 ms) speed -0.4 EDAT read: 01:32:56.6515 LVL= 24224, 19585, 29490, 32755, AGC= 54, IDX= 507, 0.46, 1.496, 1.880, 0.278, 1.372, PHS= 0.226, 0.553,-1.138, RAW= 19.5, 4.7, CAL= 19.6, 3.6, ROT= 130.4, -3.6 MYgot valid direction response: 01:32:56.6515 LVL= 24224, 19585, 29490, 32755, AGC= 54, IDX= 507, 0.46, 1.496, 1.880, 0.278, 1.372, PHS= 0.226, 0.553,-1.138, RAW= 19.5, 4.7, CAL= 19.6, 3.6, ROT= 130.4, -3.6 MR#Rx 7: Read range and direction messages.}^direction in FSK: [-0.646841,0.760036,0.062791]}Fpublishing direction and range infoy+ne俩Kh]6R?֏ ?YCB^L2s )6Ilg>ih ?@>=%> =)@I AucAǿE[ش? )0I@ichecking for new query: numPingsReceived=7, elapsed TxPingTime=5.566934ԩEE  EE EA EA "EE ;*EE $:VEA ZEA BEE Ad#,l>]LA(nchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.794051rƈ@r@r"=ٱr=rH`˿H?@0`m`Ϳ >*rKƸ??irƈ@Ir];pYBy IbD-VD-8y <%:=ٔK9^>Y^>=dEy)DE> ??~)BQ A4YQ EM5y Q IM@DI;iJoAy1ɮ5kA1ii;OLAjiCB"jiCB:j#>Rj,t_ǖ?/uB@ K7@Bj+ne俩Kh]6R?֏ ?*j@2jZj(pM>E@bPb5@x'#@JjZl3?x"?Fsۘ?jA j)Bi(;?iU<jyBjjjhBrjY?Bzj>- addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 0.504221 s, deltaX: 0.400002 m, approachRate: 0.793306 m/s, rangeRepo size: 4 = Added new target pos. range: 48.852753 m, bearing: 27.369775 deg, lat: 36.779541 deg, lon: -121.859791 deg, deltaT: 0.504221 s, deltaX: 0.399616 m, approachRate: 0.792542 m/s, posRepo size: 4 :iAmDNOT Ignoring new targets: 48.85 m.2ii}Powering the camera and arming the capture device at range: 48.90 m.ԉi"i*i5 ProNav: ac range: 48.852753 m, nav range: 47.837727 m, bearing: 26.075416 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 24.954909 deg, new cmd heading: 25.271331 deg. iiHeadingCmd: 0.441068 target range: 48.852753 and range: 48.90 m.h>hhhhiggjg)rg)e)re)Ze1:e5@3sH@*e5@?额ՂBɢ<) Ti)$i<顡i'iv@I>IԱM{&@I @I@I@QDDAT read: Rx Time:01:32:57.1515 TRx dataTimestamp_ set to:1764898377.737270PDAT read: Bearing 230.8, 55.1 (Local) ~Local bearing/azimuth received: Bearing 230.8, 55.1 (Local) DAT read: Range 11 to 50 : 48.9 m (trip time 32.6 ms) speed -0.4 DAT read: 01:32:57.1515 LVL= 23280, 22129, 31730, 32755, AGC= 55, IDX= 508, 0.16, 0.955, 1.395,-0.258, 0.836, PHS= 0.220, 0.603,-1.138, RAW= 17.9, 4.0, CAL= 18.1, 2.7, ROT= 131.9, -2.7 Ygot valid direction response: 01:32:57.1515 LVL= 23280, 22129, 31730, 32755, AGC= 55, IDX= 508, 0.16, 0.955, 1.395,-0.258, 0.836, PHS= 0.220, 0.603,-1.138, RAW= 17.9, 4.0, CAL= 18.1, 2.7, ROT= 131.9, -2.7 R#Rx 8: Read range and direction messages.^direction in FSK: [-0.667091,0.743485,0.047106]Fpublishing direction and range infoyXt}X忟B?P7V?YZqV{ )7IGa>i5^?>5=?> A=)nU@IABh\ʿ6]a?  )InU@iA checking for new query: numPingsReceived=8, elapsed TxPingTime=6.062124 q q /{A 5 O95 /{AY= ͂Ay C[? }WA^A5 &>E  E E (E "E :*E :VE c44ZE a5 @a5 @a5 @a5 @ A oAI IO >Nd#,zLAr@r |@r#x=ٱrQ=rH@̿?@a] οFzºܸ?`.?ir@Ir ];pY}By II=);-=-=-checking for new query: numPingsReceived=8, elapsed TxPingTime=6.2981801B>BB. IB;BBBBBٟ;BZEaa aa aa aa aa iMb@Mb@Mb@ 9> ףp=?+ǿV-Y?yv>m@@ @)+@Y@bDmVDm8yf%=ٔ;Q->99>Y9>=dEy1DՁE>Q 5 51?Q 9 5)BQ AT:Y5?Q E:y Q IM@DI;iy;9 5y ɮ A iio/oLAj"j:j>RjŷmK@c@G?")B@{+i@BjXt}X忟B?P7V?*jnU@2jAZj5¥E@:E6@Xtl"@Jjcya(?jp?H8*"?jA j(BiR:?i,j Bj(;?jU<j}Brjh@Bzj8L>Y addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 0.502820 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 48.852825 m, bearing: 28.424758 deg, lat: 36.779537 deg, lon: -121.859780 deg, deltaT: 0.502820 s, deltaX: 0.000072 m, approachRate: 0.000144 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 48.85 m.2iq}Powering the camera and arming the capture device at range: 48.90 m.iy"iy*iy ProNav: ac range: 48.852825 m, nav range: 48.101822 m, bearing: 27.562149 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 25.271331 deg, new cmd heading: 25.685727 deg. iHeadingCmd: 0.448301 target range: 48.852825 and range: 48.90 m.h>hhhhi g g DReached init depth of 65.313324 m.jgrgereZe:e*ej?eׂBɢm;)i m@޽ii)mLhIyԁ DDAT read: Rx Time:01:32:57.6517  TRx dataTimestamp_ set to:1764898378.241256 PDAT read: Bearing 228.1, 51.9 (Local)  ~Local bearing/azimuth received: Bearing 228.1, 51.9 (Local)  DAT read: Range 11 to 50 : 49.2 m (trip time 32.8 ms) speed -0.5 - DAT read: 01:32:57.6517 LVL= 21552, 21025, 32434, 32755, AGC= 53, IDX= 510, 0.03,-0.534, 0.004,-1.670,-0.578, PHS= 0.145, 0.627,-1.137, RAW= 14.7, 4.7, CAL= 14.7, 3.5, ROT= 135.3, -3.5 5 Ygot valid direction response: 01:32:57.6517 LVL= 21552, 21025, 32434, 32755, AGC= 53, IDX= 510, 0.03,-0.534, 0.004,-1.670,-0.578, PHS= 0.145, 0.627,-1.137, RAW= 14.7, 4.7, CAL= 14.7, 3.5, ROT= 135.3, -3.5 5 R#Rx 9: Read range and direction messages.= ^direction in FSK: [-0.709474,0.702083,0.061049]= Fpublishing direction and range infoy  vbi uw?.xA?Y DB 0T !R ~ ) 5I z>i  ? 7 G\> = G\> 5z=) !@I 5z T9lпX._`16ٴ? M) I !@i 5z ] checking for new query: numPingsReceived=9, elapsed TxPingTime=6.566613ԩ EM  EM EM -EI "EM :*EM xv:VEM t4ZEI BEM $5 AuAIIO/?8d#,ɭLA ^;ɰ\%@%@%=ٱ%=%Hο`?@oo4п`FP/ v?@?i%@I%C];%CY=By= IEAEAbDUVDU8y]%e=ٔe2;Q-e>9m@?Ym@?=mdEym;DmEm>qQ 5} 5u!?Q 9 5u)uBYy Q IM@uDIuS:iu:u/? 5yuBɮAtEiqiupLAjuDB"juDB:ju ?Rju`oA.}+AA@G@j@Bjuvbi uw?.xA?*ju!@2ju5zZjuD@ 1OM8@;2#@Jju}v?d@?%?juA ju0%BiuGṣ?iuLwQjuBju\|'?ju40ju BrjuABzju7s> addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.503986 s, deltaX: 0.299999 m, approachRate: 0.595253 m/s, rangeRepo size: 4 % Added new target pos. range: 49.152534 m, bearing: 30.903984 deg, lat: 36.779535 deg, lon: -121.859775 deg, deltaT: 0.503986 s, deltaX: 0.299709 m, approachRate: 0.594678 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 49.15 m.2i)Powering the camera and arming the capture device at range: 49.20 m.i"i*i ProNav: ac range: 49.152534 m, nav range: 48.409252 m, bearing: 28.362536 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 25.685727 deg, new cmd heading: 26.116067 deg. iHeadingCmd: 0.455811 target range: 49.152534 and range: 49.20 m.h`>h h h h i g gjgrgereZe:eH@*e׺?i颅ڂBɢ;)  i)e<顉i\#i@I`>IiAIAUDDAT read: Rx Time:01:32:58.1518 UTRx dataTimestamp_ set to:1764898378.745431]PDAT read: Bearing 224.8, 50.9 (Local) e~Local bearing/azimuth received: Bearing 224.8, 50.9 (Local) uDAT read: Range 11 to 50 : 49.4 m (trip time 32.9 ms) speed -0.4 DAT read: 01:32:58.1518 LVL= 20048, 19233, 27218, 29395, AGC= 51, IDX= 511,-0.10, 2.896,-2.828, 1.819, 2.903, PHS= 0.094, 0.597,-1.129, RAW= 13.5, 5.7, CAL= 13.5, 5.0, ROT= 136.5, -5.0 Ygot valid direction response: 01:32:58.1518 LVL= 20048, 19233, 27218, 29395, AGC= 51, IDX= 511,-0.10, 2.896,-2.828, 1.819, 2.903, PHS= 0.094, 0.597,-1.129, RAW= 13.5, 5.7, CAL= 13.5, 5.0, ROT= 136.5, -5.0 T#Rx 10: Read range and direction messages.^direction in FSK: [-0.722614,0.685735,0.087156]Fpublishing direction and range infoyQUh]:?O?YUEBQUPNU!KURj Ur)U3IU=iU?UU:Fq>U%=U:Fq> U¸=)Ux@IU¸QQU[ ҿ_8LjVW? U)UͽIUx@iU¸QQchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.070055ԑE EE*E"ED:*Eg:VE(N4ZEa@a@a@a@- 0B ?@  @ @ /@  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306134BY A] <Bm >Bm CBm  IBm 'BBm R =Bi Bi Bi Bm ZE ^AՌ>AU4AIYIiO}?d#,R˒LA2ඇ@2/@2=ٱ2ٮ=2HMϿ@V?v пu8$V`H?@?i2ඇ@I2d];2CYRByR Ii-Mb@Mb@Mb@)))) )9-9v?xƿV-Y-?y-K7)-+@-@ ))- A)Y-Q@bDM2VDMڰ8y]%]=ٔ]:Q-]>9e?Ye?=edEyeEDe jEm>qQ 5} 5u?Q 9} 5u+)uBY}?Q E}:y}Q I}M@u¼DIu:iuA:u.D 5yBɮA}EiYi]$LAj]hEB"j]hEB:j]9d ?Rj]LAS@@R4@Bj]h]:?O?*j]x@2j]¸Zj]tX9sD@BI59@ҍI#&@Jj]f ?H LX?i>?j]A j]#Bi]Nմ?i]H"j]Bj]R:?j],j]yBrj]UBBzj]^? addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 0.504175 s, deltaX: 0.200001 m, approachRate: 0.396689 m/s, rangeRepo size: 4  Added new target pos. range: 49.352406 m, bearing: 31.645063 deg, lat: 36.779533 deg, lon: -121.859774 deg, deltaT: 0.504175 s, deltaX: 0.199871 m, approachRate: 0.396432 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 49.35 m.2iPowering the camera and arming the capture device at range: 49.40 m.i"i*i5DDAT read: Rx Time:01:32:58.6521 =TRx dataTimestamp_ set to:1764898379.249081EPDAT read: Bearing 227.9, 49.3 (Local) E~Local bearing/azimuth received: Bearing 227.9, 49.3 (Local) UDAT read: Range 11 to 50 : 49.8 m (trip time 33.2 ms) speed -0.5 }DAT read: 01:32:58.6521 LVL= 18768, 12417, 17778, 18355, AGC= 56, IDX= 2,-0.26,-2.068,-1.450, 3.139,-2.085, PHS= 0.119, 0.680,-1.103, RAW= 12.1, 3.9, CAL= 12.1, 2.3, ROT= 137.9, -2.3 Ygot valid direction response: 01:32:58.6521 LVL= 18768, 12417, 17778, 18355, AGC= 56, IDX= 2,-0.26,-2.068,-1.450, 3.139,-2.085, PHS= 0.119, 0.680,-1.103, RAW= 12.1, 3.9, CAL= 12.1, 2.3, ROT= 137.9, -2.3 T#Rx 11: Read range and direction messages.^direction in FSK: [-0.741378,0.669887,0.040132]Fpublishing direction and range infoy15aCN^$o?.='?Y53GB15PI505rE 5G)58I5F=i5{.?5/5@X>5'g=5@X> 5l$=)5( @I5l$1155'\9ӿx£`~љ^b? 5)5`.I5( @i5l$11checking for new query: numPingsReceived=11, elapsed TxPingTime=7.573931  ProNav: ac range: 49.352406 m, nav range: 48.583065 m, bearing: 28.836177 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 26.116067 deg, new cmd heading: 26.548851 deg. i HeadingCmd: 0.463365 target range: 49.352406 and range: 49.40 m.h)>>hhhhiggjgrgBe!re!ZeA:eE`fH@*eElΡ?颕BɢDe<) 9i)He<顙i!iz?I)>>IE EE,E"E:*EVEg4ZEBE6ԁA]އAIiIO?,d#,쒍LA:%p@:ti@:Y2=ٱ:e>=:H{п`?w ѿX ??i:%p@I:#];:CYBByB IJ=J=bDN8VDN8yV%V'=ٔV98Q-V>9Zd ?YZd ?=ZdEyZMD^ːE^>`Q 5f 5b?Q 9f 5b)bzBYdyfQ IfM@b˼DIb:ib:bsH 5yUzBɮUAYi!i%ϒLAj%GB"j%GB:j%+?Rj%U6[IqB@@Lh:?Bj%aCN^$o?.='?*j%( @2j%l$Zj%i0>D@X:@B "@Jj%g9A?a?xuиK?j%A j%$Bi%΂?i%0)j%Bj%Gṣ?j%LwQj!rj%BBzj%z ? addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.503650 s, deltaX: 0.399998 m, approachRate: 0.794198 m/s, rangeRepo size: 4  Added new target pos. range: 49.752018 m, bearing: 32.584847 deg, lat: 36.779523 deg, lon: -121.859756 deg, deltaT: 0.503650 s, deltaX: 0.399612 m, approachRate: 0.793433 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 49.75 m.2iPowering the camera and arming the capture device at range: 49.80 m.i"i*i ProNav: ac range: 49.752018 m, nav range: 48.692101 m, bearing: 31.247493 deg, approach rate: 0.000000 m/s, LOS rate: 0.381003 deg/s, cmd heading: 26.548851 deg, new cmd heading: 26.932643 deg. iHeadingCmd: 0.470063 target range: 49.752018 and range: 49.80 m.h#>hhhhiggjgrgereZe:e*e@T ?DDAT read: Rx Time:01:32:59.1522 TRx dataTimestamp_ set to:1764898379.753267 PDAT read: Bearing 227.9, 48.3 (Local) ~Local bearing/azimuth received: Bearing 227.9, 48.3 (Local) %DAT read: Range 11 to 50 : 50.0 m (trip time 33.3 ms) speed -0.5 MDAT read: 01:32:59.1522 LVL= 25056, 21585, 32754, 32755, AGC= 55, IDX= 499,-0.40, 3.126,-2.505, 2.054, 3.116, PHS= 0.112, 0.707,-1.106, RAW= 11.2, 3.6, CAL= 11.2, 1.9, ROT= 138.8, -1.9 ]Ygot valid direction response: 01:32:59.1522 LVL= 25056, 21585, 32754, 32755, AGC= 55, IDX= 499,-0.40, 3.126,-2.505, 2.054, 3.116, PHS= 0.112, 0.707,-1.106, RAW= 11.2, 3.6, CAL= 11.2, 1.9, ROT= 138.8, -1.9 ]T#Rx 12: Read range and direction messages.e^direction in FSK: [-0.752001,0.658327,0.033155]eFpublishing direction and range infoy#Ad迃N\^?B3?YHBaQT )7IB`=i4?h+H>=+H> =) @INǠԿE`g<N 2? {)I @ichecking for new query: numPingsReceived=12, elapsed TxPingTime=8.115431颡ɢgyX<) Si)pe<顩i3 i?I#>IIEm EmEm+Ei"Ems:*Emv:VEm [4ZEia}@a}@a}@a}@5@9 @9@=B5@EiB >B B  IB BB Q =B B B ;B [E checking for new query: numPingsReceived=12, elapsed TxPingTime=8.320402^A ԡ A AI I OM >d#,LAj,*@j{#@j=ٱjB=jHѿ.?L`ѿ`P@(?`v?ij,*@Ij];jCYrByv IiiuMb@Mb@Mb@qqqq q9u5^I ?ktƿy&1Yu?yu 0u`eqq u@)uAqYu@ =<bDfVD 8y<%*=ٔӆQ->9 ?Y ?=dEyVD鑼E> Q 5 5 ,?Q 9 5 4) YBY?Q E:yQ IM@ ԼDI :i : L 5y!ɮ%XA)i)i-5LAj-GB"j-GB:j-~?Rj-&/Bɮ8?q@@k8&?Bj-#Ad迃N\^?B3?*j- @2j-Zj-(WD@vE:@=_!@Jj-<Nk?`)?dl?j-WA j-$Bi-h?i-.{j-Bj-΂?j-H"j- Brj-BBzj-P? addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 0.504186 s, deltaX: 0.200001 m, approachRate: 0.396681 m/s, rangeRepo size: 4  Added new target pos. range: 49.951962 m, bearing: 33.010953 deg, lat: 36.779519 deg, lon: -121.859754 deg, deltaT: 0.504186 s, deltaX: 0.199944 m, approachRate: 0.396567 m/s, posRepo size: 4 :i!UDNOT Ignoring new targets: 49.95 m.2iUeZTarget missed at range: 50.00 m. Rolling out.immNTransitioning guidance mode to: ROLLOUT im@hqhqhqhqhuiqgqgqjgyrg}BereZe:eI@*ej?-DDAT read: Rx Time:01:32:59.6525 -TRx dataTimestamp_ set to:1764898380.2611825PDAT read: Bearing 226.9, 48.2 (Local) =~Local bearing/azimuth received: Bearing 226.9, 48.2 (Local) MDAT read: Range 11 to 50 : 50.3 m (trip time 33.5 ms) speed -0.5 mDAT read: 01:32:59.6525 LVL= 22944, 21393, 32754, 32755, AGC= 53, IDX= 502,-0.46,-2.181,-1.536, 3.055,-2.182, PHS= 0.103, 0.691,-1.090, RAW= 11.1, 3.8, CAL= 11.1, 2.2, ROT= 138.9, -2.2 }Ygot valid direction response: 01:32:59.6525 LVL= 22944, 21393, 32754, 32755, AGC= 53, IDX= 502,-0.46,-2.181,-1.536, 3.055,-2.182, PHS= 0.103, 0.691,-1.090, RAW= 11.1, 3.8, CAL= 11.1, 2.2, ROT= 138.9, -2.2 }T#Rx 13: Read range and direction messages.^direction in FSK: [-0.753008,0.656891,0.038388]Fpublishing direction and range infoy)-aX[??.?Y-3IB)-Y-S) ))-5I-=i-`0?--aF>-ԇ=-aF> -nF=)-'@I-nF)ԙ)-ZԿ 5Ae? -K)-(I-'@i-nF))checking for new query: numPingsReceived=13, elapsed TxPingTime=8.586810=) 89i)eqe< Q8ii]?YYIYIe m&Changing to mode: 1E} E}E}(Ey"E};*E}:VE}c44ZEyBE}?C!A-2AIIIO]? d#,0(LAN@N@NL=ٱNTL=NHoѿy?O0Fҿ PG@$"_? j?iN@IN];LYVByV IbDbVDb78yj%j/=ٔjSQ-j>9n?Yn?=ndEyn^Dr%Er>tQ 5z 5vs않?Q 9z 5vz)v9BY|y~Q I~M@vݼDIv-;iv B;vP 5y rBɮ =A |E1O- -Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqO-Entering Midcourse tracking update period 60.000000 s sec at 50.000000 m (mode 5.000000 count ).qOOiQiU5LAjUIB"jUIB:jU?RjUB=PC@@w[Ke?BjUaX[??.?*jU'@2jUnFZjU1:D@}9HW:@Py*0!@JjU@?.%?-CP?jUA jUg'BiU-?iUjUjBjQjUjUBrjUDBzjU?M addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 0.507915 s, deltaX: 0.299999 m, approachRate: 0.590649 m/s, rangeRepo size: 4  Added new target pos. range: 50.251671 m, bearing: 32.186030 deg, lat: 36.779519 deg, lon: -121.859749 deg, deltaT: 0.507915 s, deltaX: 0.299709 m, approachRate: 0.590078 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.25 m.hhhhhiggjgrgq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy= {@Uninitialize Buoyancy Component.reZe:e`f&I@*eXl?%L=)! %!C?i-9)UUP4U|8iQi]y?YYIYIaI xA) xAEDDAT read: Rx Time:01:33:00.1526 ETRx dataTimestamp_ set to:1764898380.767283UPDAT read: Bearing 227.3, 45.8 (Local) U~Local bearing/azimuth received: Bearing 227.3, 45.8 (Local) eDAT read: Range 11 to 50 : 50.4 m (trip time 33.6 ms) speed -0.5 DAT read: 01:33:00.1526 LVL= 20752, 15569, 29922, 29779, AGC= 51, IDX= 503,-0.48, 2.371, 3.095, 1.348, 2.391, PHS= 0.082, 0.750,-1.087, RAW= 9.0, 3.2, CAL= 8.9, 1.2, ROT= 141.1, -1.2 Ygot valid direction response: 01:33:00.1526 LVL= 20752, 15569, 29922, 29779, AGC= 51, IDX= 503,-0.48, 2.371, 3.095, 1.348, 2.391, PHS= 0.082, 0.750,-1.087, RAW= 9.0, 3.2, CAL= 8.9, 1.2, ROT= 141.1, -1.2 T#Rx 14: Read range and direction messages.^direction in FSK: [-0.778072,0.627825,0.020942]Fpublishing direction and range infoyAEfBL8%?_2q?YEIBAEQE<Et ESt)E3IE=iE@?E"E| >Ed=E> E<)E7@IEAAEL=ֿQ?I'z? E)EeIE7@iEAAchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.096236!@ @@0@bEFA4jEmF4rE(0E} E}E})Ey"E}:*E}&p:VE}FA4ZEya@a@a@a@Y^A >A zA A A y A A  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.330912B B B IB BB R =B B B #;B B[EA I I O5>rd#,FLA4YBy IiEMb@Mb@Mb@AAAA A9EʡE?gfffffƿA`"YE?yE33EYEX@E@ A)EAAYE=@bD]VD],8ym<%m=ٔuQ-u>9uYu=}dEyy}E}>Q 5 5ݕ?Q 9 5)BY$?Q E:yXQ IM@DI;i;?U 5yɮ AkN@OOPExceeded connect timeout, disconnecting.ii*1LAjgIB"jgIB:j?Rjh#īCs?@(?BjfBL8%?_2q?*j7@2jZjN>=MD@"<@_ + @Jj}i?:N?P?jA j#BiD\?i ԑjBjh?j0)jjBrjFBzj? addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.506101 s, deltaX: 0.100002 m, approachRate: 0.197594 m/s, rangeRepo size: 4  Added new target pos. range: 50.351501 m, bearing: 34.415405 deg, lat: 36.779518 deg, lon: -121.859744 deg, deltaT: 0.506101 s, deltaX: 0.099831 m, approachRate: 0.197254 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.35 m.hhhh h i g g jgrgBreZe:e@33I@*e`?[=$?[=$?"[=S4@*[=q@) :?is9)4z9iiq?IIuDDAT read: Rx Time:01:33:00.6529 }TRx dataTimestamp_ set to:1764898381.273770PDAT read: Bearing 226.9, 44.4 (Local) ~Local bearing/azimuth received: Bearing 226.9, 44.4 (Local) DAT read: Range 11 to 50 : 50.9 m (trip time 33.9 ms) speed -0.5 DAT read: 01:33:00.6529 LVL= 23024, 18417, 31634, 32755, AGC= 52, IDX= 506,-0.44,-2.934,-2.161, 2.342,-2.897, PHS= 0.065, 0.781,-1.089, RAW= 7.7, 3.0, CAL= 7.6, 0.8, ROT= 142.4, -0.8 Ygot valid direction response: 01:33:00.6529 LVL= 23024, 18417, 31634, 32755, AGC= 52, IDX= 506,-0.44,-2.934,-2.161, 2.342,-2.897, PHS= 0.065, 0.781,-1.089, RAW= 7.7, 3.0, CAL= 7.6, 0.8, ROT= 142.4, -0.8 T#Rx 15: Read range and direction messages.^direction in FSK: [-0.792212,0.610086,0.013962] Fpublishing direction and range infoyy}O Y鿀]҅?4?Y}KBy}Y}G}{ })}4I}=i}G?}Zd} >}PwV=}> }d<)}@I}dyy}@ؿʠv4? })}"WI}@i}dyy5checking for new query: numPingsReceived=15, elapsed TxPingTime=9.607275e@a @a@e/@aE EEE"E:*Ec:VEZEBE3I I O >d#,t_LAJ@J @J#=ٱJ=JHkӿK?@\`ӿױ Zx+?`L?iJ@IJ<];HYZBy^ Ivchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.834386|bD PVD 8y%g=%%d=ٔ-qQ-5>91Y1=5dEy1=ME=>AQ 5M 5Etӕ?Q 9M 5EQ =MtI)EBYIyMy Q IUN@EDIE:iEf:EcX 5y]Bɮ]A]EkqOu1PuiisQLAjgKB"jgKB:jF?Rjfut$D##?@@??BjO Y鿀]҅?4?*j@2jdZj|{GD@)X7<@ ۠0@Jj}(ֻt?K ?J ?jA j:%BiI'Ll?i}Jj4Bjj.{jBrjGBzjE? addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.506487 s, deltaX: 0.500000 m, approachRate: 0.987192 m/s, rangeRepo size: 4  Added new target pos. range: 50.851021 m, bearing: 34.711149 deg, lat: 36.779518 deg, lon: -121.859742 deg, deltaT: 0.506487 s, deltaX: 0.499519 m, approachRate: 0.986243 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.85 m.hhhhhig!g!jg!rgIreIZeI:eM@3sI@*eM2?[["[*[(S@%#=)) -@?i-9)1555}L9i1i=v ?9aIaIi1DDAT read: Rx Time:01:33:01.1530 TRx dataTimestamp_ set to:1764898381.777104PDAT read: Bearing 226.2, 42.6 (Local) ~Local bearing/azimuth received: Bearing 226.2, 42.6 (Local) DAT read: Range 11 to 50 : 51.0 m (trip time 34.0 ms) speed -0.5 DAT read: 01:33:01.1530 LVL= 21216, 22689, 31858, 32755, AGC= 51, IDX= 507,-0.42, 1.383, 2.217, 0.404, 1.453, PHS= 0.032, 0.809,-1.093, RAW= 6.0, 3.1, CAL= 5.9, 0.8, ROT= 144.1, -0.8 Ygot valid direction response: 01:33:01.1530 LVL= 21216, 22689, 31858, 32755, AGC= 51, IDX= 507,-0.42, 1.383, 2.217, 0.404, 1.453, PHS= 0.032, 0.809,-1.093, RAW= 6.0, 3.1, CAL= 5.9, 0.8, ROT= 144.1, -0.8 T#Rx 16: Read range and direction messages. ^direction in FSK: [-0.809963,0.586315,0.013962] Fpublishing direction and range infoyA 7uЏ?4?YLBRXr| )3Io=iO?m狿Pw=k]=B=  u) @Iԁ  Ωuٿ%Ϟ2|DI1IAOM?6d#,LA Bb>BbCB`B`B`B`B`BbD;Bba[EBCBCBCBR =BR =checking for new query: numPingsReceived=16, elapsed TxPingTime=10.339255Cr4mŅ@m0@mE=ٱmFo=mHӿ,?O`F YLԿ@߹?4?imŅ@Im^;mCYBy Iԉ i]Mb@Mb@Mb@YYYY Y9]-?GzǿI +Y]??y]p=]94]@]@ ]@)]MAYY](@bD&VDϰ8yS;% =ٔ(Q->9Y=dEyE > Q 5 5 •?Q 9 5 b) BY?Q E:y% Q I%N@ DI &;i z%; ] 5y-xBɮ-A)"kA1PEEtCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1OE EAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseiiqLAjKB"jKB:j-{ ?RjRDt=@ ?-?BjA 7uЏ?4?*j @2jZjrJVaD@ Q=@LW@JjҔ~?Rw?>?j2A j #Bi3n,?iO;ϳjxBjI'Ll?j jBrjIBzjM?Թ addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 0.503334 s, deltaX: 0.099998 m, approachRate: 0.198672 m/s, rangeRepo size: 4 - Added new target pos. range: 50.950672 m, bearing: 35.917551 deg, lat: 36.779515 deg, lon: -121.859733 deg, deltaT: 0.503334 s, deltaX: 0.099651 m, approachRate: 0.197983 m/s, posRepo size: 4 -DNOT Ignoring new targets: 50.95 m.h)h1h1h1h1i1gQgYjgYrg]FBreYZea:eeI@*ee`)Y?[?[?"[:@*[ @E=) +?it9)L5R9ii?IInManaging dock network, ignoring radio surface power offm"5DDAT read: Rx Time:01:33:01.6532 TRx dataTimestamp_ set to:1764898382.282310PDAT read: Bearing 226.3, 41.4 (Local) ~Local bearing/azimuth received: Bearing 226.3, 41.4 (Local) DAT read: Range 11 to 50 : 51.3 m (trip time 34.2 ms) speed -0.5  DAT read: 01:33:01.6532 LVL= 22752, 18369, 32754, 32755, AGC= 52, IDX= 509,-0.49, 1.875, 2.740, 0.919, 1.958, PHS= 0.018, 0.827,-1.083, RAW= 5.1, 2.9, CAL= 4.9, 0.4, ROT= 145.1, -0.4  Ygot valid direction response: 01:33:01.6532 LVL= 22752, 18369, 32754, 32755, AGC= 52, IDX= 509,-0.49, 1.875, 2.740, 0.919, 1.958, PHS= 0.018, 0.827,-1.083, RAW= 5.1, 2.9, CAL= 4.9, 0.4, ROT= 145.1, -0.4  T#Rx 17: Read range and direction messages. ^direction in FSK: [-0.820132,0.572132,0.006981] Fpublishing direction and range infoy% o$@!  @! @% 5@! j[>^~qN?a|?Y3MBXG )4It`d#,sLAYBy IbD-LVD-8y]<%]k=ٔ]Q-e?9aYa=edEyamEm?qQ 5} 5u緕?Q 9} 5u)uBYyyyQ I}N@uDIu:iul:u` 5yɮAi i ^LAj MB"j MB:j $?Rj Q3 EwlR=@ky?Bj j[>^~qN?a|?*j "@2j Zj < BD@ q>@]NLf@Jj 25L?:"t?8]'?j A j "Bi 4?i j ԑBj D\?j }Jj xBrj JBzj ? addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.505206 s, deltaX: 0.299999 m, approachRate: 0.593816 m/s, rangeRepo size: 4  Added new target pos. range: 51.250381 m, bearing: 36.919387 deg, lat: 36.779513 deg, lon: -121.859729 deg, deltaT: 0.505206 s, deltaX: 0.299709 m, approachRate: 0.593242 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.25 m.hhhhhiggjgrgreZe:e`fI@*e?[["[*[A)A M-?iMô9)IUr5UN9iQie?aiIiIq5checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842759Im"9ԁ '@  @ @ /5@ ԙ )G {A DDAT read: Rx Time:01:33:02.1533  TRx dataTimestamp_ set to:1764898382.788787 PDAT read: Bearing 227.2, 39.8 (Local)  ~Local bearing/azimuth received: Bearing 227.2, 39.8 (Local)  DAT read: Range 11 to 50 : 51.5 m (trip time 34.3 ms) speed -0.5 E DAT read: 01:33:02.1533 LVL= 23584, 19297, 32754, 32755, AGC= 52, IDX= 509, 0.38, 2.397,-2.969, 1.463, 2.478, PHS= 0.021, 0.881,-1.059, RAW= 3.8, 1.9, CAL= 3.6, -0.8, ROT= 146.4, 0.8 M Ygot valid direction response: 01:33:02.1533 LVL= 23584, 19297, 32754, 32755, AGC= 52, IDX= 509, 0.38, 2.397,-2.969, 1.463, 2.478, PHS= 0.021, 0.881,-1.059, RAW= 3.8, 1.9, CAL= 3.6, -0.8, ROT= 146.4, 0.8 M T#Rx 18: Read range and direction messages.Q } Gw9 {AY >sA `direction in FSK: [-0.832840,0.553338,-0.013962] Fpublishing direction and range infoy   L꿳:1?4Y NB \ aK ) I 1Hd#,K趓LAB~C@B<@B7=T)mImƇ#@imd9Y=dEyE>1Q 5u 55T?Q 9u 55 )5BYqyu Q IuN@5 DI5@) \b@JjmO>?j:?#.!]h?jmZA jm]"Bim?im8͙jmЏBjm3n,?jmO;ϳjm4Brjm9KBzjmD!? addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.506477 s, deltaX: 0.200001 m, approachRate: 0.394886 m/s, rangeRepo size: 4 BA<B%>B!B% IB%BB!B!B!B%v;B%[Echecking for new query: numPingsReceived=18, elapsed TxPingTime=11.349407 Added new target pos. range: 51.450188 m, bearing: 37.297274 deg, lat: 36.779508 deg, lon: -121.859722 deg, deltaT: 0.506477 s, deltaX: 0.199806 m, approachRate: 0.394502 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.45 m.hhhhhiggjgrgreZe:eI@*e`_?[["[*[E@%7=)! %/,?i%Y9)IM 5M9iIiUP?QU IQIY 1  S*@  @ @ /0@ @ @ =i! I! - DDAT read: Rx Time:01:33:02.6535 5 TRx dataTimestamp_ set to:1764898383.289387= PDAT read: Bearing 215.2, 48.3 (Local) = ~Local bearing/azimuth received: Bearing 215.2, 48.3 (Local) M DAT read: Range 11 to 50 : 51.8 m (trip time 34.5 ms) speed -0.6 Y u DAT read: 01:33:02.6535 LVL= 26304, 20625, 32754, 32755, AGC= 52, IDX= 512, 0.38,-0.383, 0.289,-1.531,-0.284, PHS= 0.003, 0.617,-1.291, RAW= 11.6, 8.0, CAL= 11.5, 8.2, ROT= 138.5, -8.2  Ygot valid direction response: 01:33:02.6535 LVL= 26304, 20625, 32754, 32755, AGC= 52, IDX= 512, 0.38,-0.383, 0.289,-1.531,-0.284, PHS= 0.003, 0.617,-1.291, RAW= 11.6, 8.0, CAL= 11.5, 8.2, ROT= 138.5, -8.2  T#Rx 19: Read range and direction messages. ^direction in FSK: [-0.741299,0.655846,0.142629] Fpublishing direction and range infoy) - Wv?x0A?Y- 3OB) - f- P) ) )) I- D;i- ?- }?- 4QO>- 5>- M> - C>)- @I- C) ) - 9ӿ-? - w)- I- @i- C) )  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.614729^A II)O=?d#,ؓLAE EE E "E:*E:VE ZE BEF89Y=dEy [E >Q 5 5?Q 9 5U)BYV?Q E:yQ IN@DI;iX;si 5yMsBɮMzAIԁiyi}QғLAj}NB"j}NB:j}?Rj}22Y.Cg hO@@1(,@Bj}Wv?x0A?*j}@2j}CZj}/E@t8@&\ -@Jj} -E?Hw?xhUxB?j}A j}g-Bi}ޣ?i} ~Sj}+Bjyjyjyrj}cLBzj}3!?} addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.500600 s, deltaX: 0.299999 m, approachRate: 0.599279 m/s, rangeRepo size: 4  Added new target pos. range: 51.749863 m, bearing: 29.068862 deg, lat: 36.779508 deg, lon: -121.859722 deg, deltaT: 0.500600 s, deltaX: 0.299675 m, approachRate: 0.598632 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.75 m.hhhhhchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.850089iggjgrgRBreZe:e`fI@*e@t]?[V?[V?"[M}@*[Փ@UK=)Y ](?i]ٱ9)Y]5]j9iYim; ?IIQԱ U @-@Q  @Q @U 0@Y ^A- |>I9 II O] >U DDAT read: Rx Time:01:33:03.1536 U TRx dataTimestamp_ set to:1764898383.793059e PDAT read: Bearing 226.8, 41.7 (Local) e ~Local bearing/azimuth received: Bearing 226.8, 41.7 (Local) u DAT read: Range 11 to 50 : 51.9 m (trip time 34.6 ms) speed -0.5  DAT read: 01:33:03.1536 LVL= 24288, 21425, 32754, 32755, AGC= 53, IDX= 513, 0.31,-0.862,-0.112,-1.713,-0.820, PHS= 0.060, 0.753,-0.937, RAW= 5.9, 1.7, CAL= 5.8, -0.8, ROT= 144.2, 0.8  Ygot valid direction response: 01:33:03.1536 LVL= 24288, 21425, 32754, 32755, AGC= 53, IDX= 513, 0.31,-0.862,-0.112,-1.713,-0.820, PHS= 0.060, 0.753,-0.937, RAW= 5.9, 1.7, CAL= 5.8, -0.8, ROT= 144.2, 0.8  T#Rx 20: Read range and direction messages. `direction in FSK: [-0.810985,0.584901,-0.013962] Fpublishing direction and range infoyQ U ߚp#/с?4YU OBQ U ^U SQ Q )U 5IU u=iU @?U ;oU B=U 9QYY=]dEyY]aE]>aDD%=E EE,E"E;*E:VEg4ZEa@a@a@a@Q 5 5e?Q 9 5e)emBYyQ IN@eDIe@d3z{*Bj ߚp#/с?4*j !@2j d<ԁZj :UYE@ &O<@eilH@Jj fțY?_컯?#l?j BA j *Bi H\c?i Aj Bj j j ԑBrj EMBzj !? addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 0.503672 s, deltaX: 0.100002 m, approachRate: 0.198546 m/s, rangeRepo size: 4  Added new target pos. range: 51.849770 m, bearing: 33.869821 deg, lat: 36.779508 deg, lon: -121.859722 deg, deltaT: 0.503672 s, deltaX: 0.099907 m, approachRate: 0.198357 m/s, posRepo size: 4 EDNOT Ignoring new targets: 51.85 m.hAhIhIhIhQiQgYgijgyrgreZe:e@3I@*e@2?[["[*[2!@U=)Y ]1'?i][9)Y]5ed9iaiu?IIB>BB IB!BBBBB;B[E5checking for new query: numPingsReceived=20, elapsed TxPingTime=12.354019up/@q @y@}/0@y^Am CT>I I O >;:e#,v LA|YBy IiMb@Mb@Mb@ 9 r?"~ʿ~jtY?ySD@ @)AY@bD5VDݰ8y%T=ٔQ->9Y=dEyE>Q 5 5ā?Q 9 5!)UBYb?Q E:y7Q IN@"DI:ik:Jp 5yɮA%DNOT Ignoring new targets: 51.85 m.h!h!h!h!h!i!g!g)jg)rg-cBre)Ze1:e1*e5 a?[Ub?[Ub?"[Uϼ@*[U~@a)i m)?ims9)im5m9iiiuKUq?yyIyIyI)yADDAT read: Rx Time:01:33:03.6539 TRx dataTimestamp_ set to:1764898384.308092PDAT read: Bearing 224.1, 36.5 (Local) ~Local bearing/azimuth received: Bearing 224.1, 36.5 (Local) DAT read: Range 11 to 50 : 52.4 m (trip time 34.9 ms) speed -0.7 DAT read: 01:33:03.6539 LVL= 23952, 19105, 26482, 25555, AGC= 59, IDX= 4, 0.22,-1.788,-0.777,-2.644,-1.623, PHS=-0.063, 0.891,-1.065, RAW= 0.8, 2.8, CAL= 0.6, -0.0, ROT= 149.4, 0.0 Ygot valid direction response: 01:33:03.6539 LVL= 23952, 19105, 26482, 25555, AGC= 59, IDX= 4, 0.22,-1.788,-0.777,-2.644,-1.623, PHS=-0.063, 0.891,-1.065, RAW= 0.8, 2.8, CAL= 0.6, -0.0, ROT= 149.4, 0.0 T#Rx 21: Read range and direction messages.`direction in FSK: [-0.860742,0.509042,-0.000000]Fpublishing direction and range infoy:{2IIO%>E EE)E"E:*E:VEFA4ZEBEa2EaJE;a:E;aQM checking for new query: numPingsReceived=21, elapsed TxPingTime=12.857887ԁ Wi e#,y'LAv*@v.$@v=ٱv"=vH`ֿc?v H׿6( ʠ?.?iv*@Ivq];vCY~By I  = =bDYVD8y%<%%U=ٔ-Q-->9)Y1=5dEy15P E5>9Q 5E 5=u?Q 9M 5=.)=>BQYIy]Q I]N@=)DI=;i=܁;=s 5yaɮmAiiiȷLAjeQB"jeQB:j+?Rj_eFrI?:@Bj:{2IDDAT read: Rx Time:01:33:04.1540 TRx dataTimestamp_ set to:1764898384.801214PDAT read: Bearing 223.7, 35.5 (Local) ~Local bearing/azimuth received: Bearing 223.7, 35.5 (Local) DAT read: Range 11 to 50 : 52.5 m (trip time 35.0 ms) speed -0.5 DAT read: 01:33:04.1540 LVL= 29504, 19489, 32754, 32755, AGC= 57, IDX= 501, 0.20, 3.081,-2.162, 2.242,-3.022, PHS=-0.078, 0.905,-1.064, RAW= 0.0, 2.8, CAL= 359.8, -0.1, ROT= 150.2, 0.1 Ygot valid direction response: 01:33:04.1540 LVL= 29504, 19489, 32754, 32755, AGC= 57, IDX= 501, 0.20, 3.081,-2.162, 2.242,-3.022, PHS=-0.078, 0.905,-1.064, RAW= 0.0, 2.8, CAL= 359.8, -0.1, ROT= 150.2, 0.1 T#Rx 22: Read range and direction messages.`direction in FSK: [-0.867764,0.496973,-0.001745]Fpublishing direction and range infoyC뿮h?n p\YRB@s!L )9Iwig?'1B@ )g'@I:9l߿Oٸ뿌8# ? ()IIg'@i:checking for new query: numPingsReceived=22, elapsed TxPingTime=13.126089I!O-O>ԩDzDE EE'E"E:*Ee:VE'4ZEa@a@a@a@ Ne#,'JALAA,A.@AB2>B0B0B0B0B0B0B2y;B2[Echecking for new query: numPingsReceived=22, elapsed TxPingTime=13.362050@J@=ٱ =H`C׿?@໶׿ f e? g?i@I];CY%By% IԹiMb@Mb@Mb@ 9x&1?zGʿS㥫Y?y W/]n@A @)AY@bD]sVD]8yc%)=ٔqQ->9Y=dEy2E>Q 5 5f?Q 9 5 )BY ?Q E:yQ IN@1DI};i;w 5yrBɮAEiiG3LAjQB"jQB:j3-?Rj*BFC:@Mڊ?oBjC뿮h?n p\*jg'@2j:Zj$o6D@XkyT@@,3@Jj4>H?}?w <4?jB j!BiT׵?iCjBj?j8͙jBrjPBzj'? addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 0.493122 s, deltaX: 0.099998 m, approachRate: 0.202786 m/s, rangeRepo size: 4  Added new target pos. range: 52.449306 m, bearing: 38.932035 deg, lat: 36.779504 deg, lon: -121.859711 deg, deltaT: 0.493122 s, deltaX: 0.099926 m, approachRate: 0.202640 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.45 m.hhhhhiggjgrgRBreZe:e@J@*e?[ ?[ ?"[:y@*[+}@e=)a e?im9)im5m :iiiu0@?qqIqI M6@I @I@M1@I@U=@U=DDAT read: Rx Time:01:33:04.6541 TRx dataTimestamp_ set to:1764898385.305086PDAT read: Bearing 223.5, 35.0 (Local) ~Local bearing/azimuth received: Bearing 223.5, 35.0 (Local) DAT read: Range 11 to 50 : 52.8 m (trip time 35.2 ms) speed -0.5 ^A% L=I1 IA OU >] DAT read: 01:33:04.6541 LVL= 29680, 24481, 32754, 32755, AGC= 56, IDX= 503, 0.18,-2.746,-1.697, 2.706,-2.569, PHS=-0.075, 0.917,-1.052, RAW= 359.7, 2.5, CAL= 359.5, -0.4, ROT= 150.5, 0.4  Ygot valid direction response: 01:33:04.6541 LVL= 29680, 24481, 32754, 32755, AGC= 56, IDX= 503, 0.18,-2.746,-1.697, 2.706,-2.569, PHS=-0.075, 0.917,-1.052, RAW= 359.7, 2.5, CAL= 359.5, -0.4, ROT= 150.5, 0.4  T#Rx 23: Read range and direction messages. `direction in FSK: [-0.870334,0.492412,-0.006981] Fpublishing direction and range infoy 뿙]3 ?a|Y3SBs_ )8Iij?𧆿@¸2=^@ )0(@I;IA `E? R):2I0(@i; checking for new query: numPingsReceived=23, elapsed TxPingTime=13.6546739 E  E E ,E "E :*E :VE g4ZE BE +iԙ  DDAT read: Rx Time:01:33:05.1542  TRx dataTimestamp_ set to:1764898385.809177 PDAT read: Bearing 222.8, 34.1 (Local)  ~Local bearing/azimuth received: Bearing 222.8, 34.1 (Local)  DAT read: Range 11 to 50 : 53.0 m (trip time 35.3 ms) speed -0.5  DAT read: 01:33:05.1542 LVL= 28576, 24641, 32754, 32755, AGC= 58, IDX= 504, 0.15, 1.930, 2.991, 1.127, 2.127, PHS=-0.095, 0.908,-1.044, RAW= 359.1, 2.8, CAL= 358.8, -0.1, ROT= 151.2, 0.1  Ygot valid direction response: 01:33:05.1542 LVL= 28576, 24641, 32754, 32755, AGC= 58, IDX= 504, 0.15, 1.930, 2.991, 1.127, 2.127, PHS=-0.095, 0.908,-1.044, RAW= 359.1, 2.8, CAL= 358.8, -0.1, ROT= 151.2, 0.1  T#Rx 24: Read range and direction messages. `direction in FSK: [-0.876305,0.481753,-0.001745]% Fpublishing direction and range infoy  c _B ?n p\Y TB o A` ) :I \½i rh? ˡ -@ +H= Hd@ ) [(@I : «kk࿢FkFkr0? ;) -EI [(@i : = checking for new query: numPingsReceived=24, elapsed TxPingTime=14.133932e#,tLAN@Nn@Nų=ٱNe=NH׿ f?@?¿` ؿ}Pq@]??iN@IN];LYVByV IIZ%=)Zp;\^AbD-iVD- 8ymI%m<ٔm75Q-m>9qYq=udEyqE>Q 5 5O?Q 9 5)BYyaQ IN@>DI:i:W~ 5ykBɮAEiisLAjSB"jSB:je0?Rj5h3Gα&9@GbBjc _B ?n p\*j[(@2j:ZjRO&I>D@n7@@ӟ'@@Jjw?~d -? ,?jB j!Bid7?i{xjBjT׵?jCjrjxQBzj4.?M addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504091 s, deltaX: 0.200001 m, approachRate: 0.396755 m/s, rangeRepo size: 4 q Added new target pos. range: 52.948826 m, bearing: 39.508344 deg, lat: 36.779495 deg, lon: -121.859702 deg, deltaT: 0.504091 s, deltaX: 0.199810 m, approachRate: 0.396377 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.95 m.hhhhhibE!jE%·G4rE%/E EE(E"EV:*E|:VEc44ZEa@a@a@a@ggjgrgreZe:eJ@*e@$ ?[)[)"[)*[-~|@eų=)a ee?ieH9)am6ms:iiiu?qqIqIqԩBaBaBe IBeBBaBaBaBe;Be[E-checking for new query: numPingsReceived=24, elapsed TxPingTime=14.371521H9M 9@I  @I @M 1@M @U zA@U zA^A% I1 IA OM > ##e#,᎔LAJ@J䥊@Jop=ٱJ$>JH׿ \? Y¿"-*ؿNNǵ`??iJ@IJ5];HYj|Byn~ Ii]Mb@Mb@Mb@YYYY Y9]\(\?J +ɿQY]>y]H]uY]A ]A@)]AYY]@bDu]VDu8y%H=ٔлQ->9Y=dEy/E>Q 5  5qC?Q 9  5)BY ?Q E :yQ IN@EDI ;i ; 5yɮ{AEDNOT Ignoring new targets: 52.95 m.hAhAhAhAhAgIgIjgQrgU]BreQZeQ:eQ*e]?}DDAT read: Rx Time:01:33:05.6545 }TRx dataTimestamp_ set to:1764898386.313211PDAT read: Bearing 223.3, 33.1 (Local) ~Local bearing/azimuth received: Bearing 223.3, 33.1 (Local) DAT read: Range 11 to 50 : 53.4 m (trip time 35.6 ms) speed -0.4 DAT read: 01:33:05.6545 LVL= 21744, 24369, 32722, 32419, AGC= 56, IDX= 507, 0.09, 2.894,-2.298, 2.101, 3.089, PHS=-0.093, 0.941,-1.032, RAW= 358.4, 2.2, CAL= 358.1, -0.7, ROT= 151.9, 0.7 Ygot valid direction response: 01:33:05.6545 LVL= 21744, 24369, 32722, 32419, AGC= 56, IDX= 507, 0.09, 2.894,-2.298, 2.101, 3.089, PHS=-0.093, 0.941,-1.032, RAW= 358.4, 2.2, CAL= 358.1, -0.7, ROT= 151.9, 0.7 T#Rx 25: Read range and direction messages.`direction in FSK: [-0.882061,0.470977,-0.012217]Fpublishing direction and range infoyy}39L|$?I:Y}UBy}T}1_} }~)}8I}vi}`p?}}+@}nF=}3@ }+H)})@I}+H)e#,2LA0RX@R@RG=ٱR>RH׿U?@L<ÿ_u3ؿ@4~?ӟ?iRX@IR];PYrpByro IbD~VD~B8yq%S=ٔQ->9Y!=%dEy!-E->1Q 5E 55D8?Q 9E 55)5BYAyMQ IMN@5KDI5@;i5DA;5G 5yQɮ]AYii LAjdUB"jdUB:j2?Rjq=>G[,: 9@>U4Bj39L|$?I:*j)@2j+H<Zj.؍aFD@eA@,e@Jj,IIԑDDAT read: Rx Time:01:33:06.1546 TRx dataTimestamp_ set to:1764898386.817173PDAT read: Bearing 222.9, 32.9 (Local) ~Local bearing/azimuth received: Bearing 222.9, 32.9 (Local) DAT read: Range 11 to 50 : 53.6 m (trip time 35.7 ms) speed -0.4 DAT read: 01:33:06.1546 LVL= 28976, 19073, 32242, 32755, AGC= 58, IDX= 508,-0.03, 0.891, 1.980, 0.100, 1.092, PHS=-0.099, 0.933,-1.036, RAW= 358.4, 2.4, CAL= 358.1, -0.5, ROT= 151.9, 0.5 Ygot valid direction response: 01:33:06.1546 LVL= 28976, 19073, 32242, 32755, AGC= 58, IDX= 508,-0.03, 0.891, 1.980, 0.100, 1.092, PHS=-0.099, 0.933,-1.036, RAW= 358.4, 2.4, CAL= 358.1, -0.5, ROT= 151.9, 0.5 T#Rx 26: Read range and direction messages.`direction in FSK: [-0.882093,0.470994,-0.008727]Fpublishing direction and range infoy +:ϼN$?B7߁YfVB0qJ} ):Iʽin?+= 5)I5<e3Pbڏ;5j? )b+Ii5< checking for new query: numPingsReceived=26, elapsed TxPingTime=15.142411E9E EE'E"ED:*E n:VE'4ZEa@a@a@a@@ @@?5@^A I I O > B B B IB BB B B B y;B [EB%CB%CB!B!B!C%30e#,+0ÔLA4Vchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.380310^3@^@^;=ٱ^E>^H׿|T?0yÿ&ؿ︗+"@f?j?i^3@I^];^CYmjByuh I==iMb@Mb@Mb@ 9jt?(\ȿx&Y?yG7X@MA X@)AY@bDVD88y%ż%%)=ٔ-Q-->9)Y)=-dEy15$:E5>9Q 5E 5=)?Q 9E 5=)=BYE* ?Q EM:yMQ IMN@=SDI= :i=4:=z 5yUrBɮU>AUEiiimLLAjm1VB"jm1VB:jm3?RjmGڎ89@,ݿBjm +:ϼN$?B7߁*ji2jm5<ZjmMSD@ krSA@=4Z[@JjmsK?JIIUDDAT read: Rx Time:01:33:06.6549 UTRx dataTimestamp_ set to:1764898387.322277ePDAT read: Bearing 222.9, 32.4 (Local) m~Local bearing/azimuth received: Bearing 222.9, 32.4 (Local) }DAT read: Range 11 to 50 : 54.0 m (trip time 36.0 ms) speed -0.4 9DAT read: 01:33:06.6549 LVL= 22992, 16305, 29842, 30835, AGC= 56, IDX= 511,-0.18, 1.206, 2.302, 0.423, 1.412, PHS=-0.104, 0.935,-1.033, RAW= 358.1, 2.4, CAL= 357.8, -0.5, ROT= 152.2, 0.5 Ygot valid direction response: 01:33:06.6549 LVL= 22992, 16305, 29842, 30835, AGC= 56, IDX= 511,-0.18, 1.206, 2.302, 0.423, 1.412, PHS=-0.104, 0.935,-1.033, RAW= 358.1, 2.4, CAL= 357.8, -0.5, ROT= 152.2, 0.5 T#Rx 27: Read range and direction messages. `direction in FSK: [-0.884547,0.466369,-0.008727] Fpublishing direction and range infoyQUMɄ%6Nt?B7߁YUXBQUYU?Ut Usx)U8IUԽiU)\o?  9@  @ @ 83@ @% =@% =UX9U3@QUM@ Q)UP*@IQQQUe࿺1(GӶl? U)Ur+IUP*@iQQQe checking for new query: numPingsReceived=27, elapsed TxPingTime=15.699054^A i7I I O >Eu  Eu Eu +Eq "Eu 2:*Eu Ar:VEu [4ZEq BEu +*2H`#׿ CU? ÿhؿ@I-? T?i2@I2C];2CYNTByRM IbDZVDZ.8lyr%vy=ٔvm:Q-v?9xYx=zdEyxz;E~?AQ 5} 5E?Q 9} 5E)EBYyy}Q IN@EYDIE;iE ;En 5yɮAii0ԔLAjWB"jWB:j5?RjGvvB(9@>M;!޿BjMɄ%6Nt?B7߁*jP*@2jZj{ZD@vB2ndA@p,&>@Jjrt%?0& ?|"?j# B j"Bip?iNZdjsBjqjQ?jmojBrjwUBzjv3? addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.505104 s, deltaX: 0.400002 m, approachRate: 0.791919 m/s, rangeRepo size: 4  Added new target pos. range: 53.947910 m, bearing: 40.511724 deg, lat: 36.779491 deg, lon: -121.859693 deg, deltaT: 0.505104 s, deltaX: 0.399616 m, approachRate: 0.791156 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.95 m.hhhhhggjgrgreZe:eK@*e@L?[![!"[!*[%~@Um=)Q U ?i]9)Y]]A:iYieGi>aaIaIiDDAT read: Rx Time:01:33:07.1549 TRx dataTimestamp_ set to:1764898387.576838PDAT read: Bearing 236.6, 32.1 (Local) ~Local bearing/azimuth received: Bearing 236.6, 32.1 (Local) %checking for new query: numPingsReceived=27, elapsed TxPingTime=15.8960839m9 x> C 9@  @ @ @5@ M Ga m /{A g]9 /{AY =YA^A %,gI I O- >iY I] Au DAT read: Range 11 to 50 : 54.0 m (trip time 36.0 ms) speed -0.4  DAT read: 01:33:07.1549 LVL= 24048, 18001, 32754, 32195, AGC= 56, IDX= 512,-0.46,-2.556,-1.493, 2.816,-2.736, PHS= 0.282, 1.288,-0.775, RAW= 0.8, -8.9, CAL= 0.6, -11.6, ROT= 149.4, 11.6  Ygot valid direction response: 01:33:07.1549 LVL= 24048, 18001, 32754, 32195, AGC= 56, IDX= 512,-0.46,-2.556,-1.493, 2.816,-2.736, PHS= 0.282, 1.288,-0.775, RAW= 0.8, -8.9, CAL= 0.6, -11.6, ROT= 149.4, 11.6  T#Rx 28: Read range and direction messages. `direction in FSK: [-0.843162,0.498644,-0.201078] Fpublishing direction and range infoya e r-#?oɿYa a e ]e QFe  e })a Ie Nb>ie /ݤ?e ffFe da a e {޿qTÿ e )e >Ie &@ie 4QO>a a  checking for new query: numPingsReceived=28, elapsed TxPingTime=16.146685=e#,LAbV̓@bƊ@bh=ٱbP>bHk׿ W?@hĿ`s׿vZ??ibV̓@Ibj];bCYzNByzE I9bDVD18y%/߼%%8=ٔ%Q-%>9)Y)=-dEy)-;E5>E= E=E=(E9"E=s:*E=xv:VE=c44ZE9aE@aE@aE@aE@yQ 5} 5}?Q 9 5})}iBYyEQ IN@}`DI}:i}B:}M 5yɮ!AiiLAj"j:j$?RjEtOFa":@^,? %Bjr-#?oɿ*j&@2j4QO>ZjZAC E@xkK)@@~{) Jjְ@?1,? \>:jJB j),Bi>=?injvBjjjsBrjeVBzj03?= addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.501756 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 53.947910 m, bearing: 36.906145 deg, lat: 36.779491 deg, lon: -121.859693 deg, deltaT: 0.501756 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 53.95 m.hihihihihqgqgqjgqrgqreyZey:ey*e}?[["[*[,~@h=) ?iܯ9)4I:ii-#>19I9IIqB>BCBIBBBBBBi;B[EDDAT read: Rx Time:01:33:07.6552 TRx dataTimestamp_ set to:1764898388.081119PDAT read: Bearing 224.0, 32.2 (Local) ~Local bearing/azimuth received: Bearing 224.0, 32.2 (Local) %checking for new query: numPingsReceived=28, elapsed TxPingTime=16.398178ԙm9 @  @ @ 05@ ^A <-I I O >LCe#,ELA60@6@6{=ٱ6N]>6H`c0׿z\?@tĿ`ؿȒ׿{& .??i60@I6ۻ];6CYBAByB5 IDDi Mb@Mb@Mb@     9 `"?/$ſZd;Y >y , y A@ dA ) 7A Y AAAAbD%VD%-8y5ڋ%5[=ٔ58Q-5>99Y9==dEy9E/<EE>IQ 5U 5M?Q 9U 5MR)MSBYU?Q EU:yUQ I]N@MfDIMy;iM;M~ 5yekBɮePAeEDNOT Ignoring new targets: 53.95 m.hhhhhggԙjgrgBreZe:e*e@K?[?[?"[^@*[ݼ@{=)  ?iO9)Ռ4TO:iiII-DAT read: Range 11 to 50 : 54.5 m (trip time 36.3 ms) speed -0.4 MDAT read: 01:33:07.6552 LVL= 31216, 19633, 32754, 32115, AGC= 61, IDX= 2, 0.14,-2.465,-1.390, 3.022,-2.278, PHS=-0.085, 0.933,-1.028, RAW= 358.7, 2.1, CAL= 358.4, -0.7, ROT= 151.6, 0.7 UYgot valid direction response: 01:33:07.6552 LVL= 31216, 19633, 32754, 32115, AGC= 61, IDX= 2, 0.14,-2.465,-1.390, 3.022,-2.278, PHS=-0.085, 0.933,-1.028, RAW= 358.7, 2.1, CAL= 358.4, -0.7, ROT= 151.6, 0.7 ]T#Rx 29: Read range and direction messages.e`direction in FSK: [-0.879583,0.475589,-0.012217]eFpublishing direction and range infoyIC%X" p?I:YZByL s})=I{in?U@Q =+@ +H)V)@I+H<BJ࿌okU뿒L+? Jt)laIV)@i+H<}checking for new query: numPingsReceived=29, elapsed TxPingTime=16.650471EM EMEM,EI"EM;*EMx:VEMg4ZEIBEMDoJe#,"+LAb@b( @bQQ~=ٱbs >bHֿc?e~ſ`jC׿Rį??ib@IbJ];bCY~8By~* IbDVDB8y%0%%B=ٔ%0Q-%>9)Y)=-dEy)-~2<E5>9Q 5E 5=?Q 9E 5=)=:BYAyEEQ IEN@=mDI=):i=:=. 5yIɮUAQYii%LAj0ZB"j0ZB:j|{5?Rj!OG1/9@?2SBjIC%X" p?I:*jV)@2j+H<Zjk4D@)RA@8Bbx@Jj>?3K6/?{*w?j B j}$BixՆ?idjBj㋢?jnjZBrjWBzj 3? addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.764751 s, deltaX: 0.599998 m, approachRate: 0.784567 m/s, rangeRepo size: 4  Added new target pos. range: 54.547432 m, bearing: 40.617864 deg, lat: 36.779491 deg, lon: -121.859693 deg, deltaT: 0.764751 s, deltaX: 0.599522 m, approachRate: 0.783944 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.55 m.h h1hQhQhQgQgQjgYrgYreYZeY:e]LK@*ee?[["[*[8@QQ~=) e?ip9)顽4V:iiII 9ԡDAT read: 01:33:08.1553 LVL= 31856, 19617, 32754, 32755, AGC= 58, IDX= 499,-0.08, 1.453, 2.546, 0.667, 1.650, PHS=-0.096, 0.940,-1.028, RAW= 358.2, 2.2, CAL= 357.9, -0.7, ROT= 152.1, 0.7 Ygot valid direction response: 01:33:08.1553 LVL= 31856, 19617, 32754, 32755, AGC= 58, IDX= 499,-0.08, 1.453, 2.546, 0.667, 1.650, PHS=-0.096, 0.940,-1.028, RAW= 358.2, 2.2, CAL= 357.9, -0.7, ROT= 152.1, 0.7 Z#Rx 31: Read direction message, but no range.`direction in FSK: [-0.883700,0.467895,-0.012217]yY#DGIQ?I:p|L ):IĽiףp?@nF=@ ))@I}ePcZA410He? L)1I)@ichecking for new query: numPingsReceived=31, elapsed TxPingTime=17.1576429@ @@/@E EE(E"E:*EVEc44ZEa@a@a@a@^Ae I I O- > A) A- ?ABE >BA BE IBE BBE S =BA BA BE P;BE r[E*YQe#,ELA"DDAT read: Rx Time:01:33:08.6555 &TRx dataTimestamp_ set to:1764898389.0969936PDAT read: Bearing 224.8, 31.1 (Local) :~Local bearing/azimuth received: Bearing 224.8, 31.1 (Local) vDAT read: Range 11 to 50 : 54.9 m (trip time 36.6 ms) speed -0.4 ~Z#Rx 32: Read range message, but no direction.y Y"[B checking for new query: numPingsReceived=32, elapsed TxPingTime=17.432631;@5@j=ٱë$>H@Zֿo? ſ@ֿ"o?['v??i;@I];Y"By IiMb@Mb@Mb@ 9X9v?+ÿL7A`尿Y>y+@zA @) AYbDVD^8y;%$=ٔHQ->9!Y!=%dEy!-<E->1Q 5= 55?Q 9= 55 )5BY=-?Q E=:y= Q I=N@5uDI5;i5 ;5 5yaɮeHAai i""5FLAj"c[B"j"c[B:j"9?Rj"_I;Hd9@ \6qBj"Y#DGIQ?I:*j")@2j Zj"JwnD@pzB@w`-@Jj"4OώM?/aW?P ?j"5B j"s#Bi"7c?i"`Tj"Bj"xՆ?j"NZdj"Brj"YBzj".5? addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 0.508209 s, deltaX: 0.300003 m, approachRate: 0.590314 m/s, rangeRepo size: 4 % Added new target pos. range: 54.847336 m, bearing: 41.420736 deg, lat: 36.779490 deg, lon: -121.859688 deg, deltaT: 0.508209 s, deltaX: 0.299904 m, approachRate: 0.590119 m/s, posRepo size: 4 -DNOT Ignoring new targets: 54.85 m.h)h)h)h)h)g)g1jg1rg5Bre1Ze9:e]@3sK@*e]WW?[-?[-?"[O@*[~@j=)  ?i>9)页15>^:iiYYYIYIa myAmyADAT read: 01:33:08.6555 LVL= 23200, 17121, 30770, 32019, AGC= 56, IDX= 501,-0.38, 1.674, 2.762, 0.892, 1.873, PHS=-0.097, 0.933,-1.025, RAW= 358.3, 2.3, CAL= 358.0, -0.6, ROT= 152.0, 0.6 Ygot valid direction response: 01:33:08.6555 LVL= 23200, 17121, 30770, 32019, AGC= 56, IDX= 501,-0.38, 1.674, 2.762, 0.892, 1.873, PHS=-0.097, 0.933,-1.025, RAW= 358.3, 2.3, CAL= 358.0, -0.6, ROT= 152.0, 0.6 Z#Rx 33: Read direction message, but no range.`direction in FSK: [-0.882899,0.469446,-0.010472]ykƵ@فf ?/;rZB2x })8Iƽin?33@l$=@ +))@I+< 'l࿢>H2뿁&? 2):A!I)@i+<checking for new query: numPingsReceived=33, elapsed TxPingTime=17.655756) 9E  E E E "E :*E |:VE ZE BE F8HJWֿ~?ſ @ֿ쇀?Ϊp?`C?i:e@I];YuByu I bDVDe8y ^% =ٔU Q->9Y=dEy?$<E>Q 5 5㔊?Q 9 5y)BYy Q IN@}DI;i: 5ydBɮ,AEiieLAj"j:j:?Rjp[6H2Fs9@J)5aBjkƵ@فf ?/;r*j)@2j+<ZjA߼]D@^B@~a3@Jj V?.JHV!?Mƃ?jB j"BiZK?i4Uj^Bjp?jdjBrjZBzj=6?e addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 0.495945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 54.847336 m, bearing: 41.642022 deg, lat: 36.779490 deg, lon: -121.859688 deg, deltaT: 0.495945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 54.85 m.hyhyhyhyhygygjgrgreZe:e*e@Ή?[["[*[F@MV=) E?iT9)A5e:iiII=DAT read: 01:33:09.1555 LVL= 24560, 16833, 28370, 27251, AGC= 57, IDX= 501, 0.22, 2.322,-2.894, 1.510, 2.506, PHS=-0.082, 0.927,-1.040, RAW= 359.1, 2.3, CAL= 358.8, -0.6, ROT= 151.2, 0.6 EYgot valid direction response: 01:33:09.1555 LVL= 24560, 16833, 28370, 27251, AGC= 57, IDX= 501, 0.22, 2.322,-2.894, 1.510, 2.506, PHS=-0.082, 0.927,-1.040, RAW= 359.1, 2.3, CAL= 358.8, -0.6, ROT= 151.2, 0.6 EZ#Rx 35: Read direction message, but no range.M`direction in FSK: [-0.876259,0.481727,-0.010472]yݠYlO 쿛t^?/;r_An sj)9I什iOm?-@Hd@ )[(@IzKfXXr[@г? )%I[(@imchecking for new query: numPingsReceived=35, elapsed TxPingTime=18.164553 %Ƨ9E%  E% E! E! "E% D:*E% L_:VE! ZE! a5 @a5 @a5 @a5 @ @  @ @ 0@ 9 B >B B IB ځBB R =B B RDB 5;B [[Ei ߭ %=߭ < DDAT read: Rx Time:01:33:09.6558  TRx dataTimestamp_ set to:1764898390.098432PDAT read: Bearing 225.7, 31.3 (Local) %~Local bearing/azimuth received: Bearing 225.7, 31.3 (Local) ^AADAT read: Range 11 to 50 : 55.4 m (trip time 36.9 ms) speed -0.4 IIO>be#,LADAT read: 01:33:09.6558 LVL= 23232, 19633, 32754, 32371, AGC= 57, IDX= 504, 0.04, 2.848,-2.373, 2.032, 3.034, PHS=-0.085, 0.921,-1.046, RAW= 359.3, 2.5, CAL= 359.0, -0.4, ROT= 151.0, 0.4 2Ygot valid direction response: 01:33:09.6558 LVL= 23232, 19633, 32754, 32371, AGC= 57, IDX= 504, 0.04, 2.848,-2.373, 2.032, 3.034, PHS=-0.085, 0.921,-1.046, RAW= 359.3, 2.5, CAL= 359.0, -0.4, ROT= 151.0, 0.4 2T#Rx 36: Read range and direction messages.6`direction in FSK: [-0.874598,0.484798,-0.006981]:Fpublishing direction and range infoyaevDJݵ&ѷ?a|Ye]BaeZeLe es~)aIe{iek?eTㅿeū@e¸2=e@ e)e+(@Ie;aaeBA.^Y%y-UX2J? e)ee2Ie+(@ie;aafchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.471039@f@~B=ٱ%>HֿL? Xſ8ֿ"?{M? ?i@I];CY}By}IԙiMb@Mb@Mb@ 9y&1?99Y9==dEy9Ew+<EM>qQ 5} 5u[֔?Q 9} 5us)uBY}P ?Q E:y Q IN@uDIuo:iu4:u 5yrBɮAEiaieLLAjec]B"jec]B:je7?RjeCš4Hı:@$<,ؿBjevDJݵ&ѷ?a|*je+(@2je;Zje9D@$ B@Ք@@Jjejh1?q U?B~?jeHB je&Bief؀?ie_jeBjef؀?je_jeBrje[Bzjea7?= addTargetRange:: Added new target pos. range: 55.400002 m, deltaT: 0.505494 s, deltaX: 0.500000 m, approachRate: 0.989131 m/s, rangeRepo size: 4 m Added new target pos. range: 55.347477 m, bearing: 40.985153 deg, lat: 36.779490 deg, lon: -121.859686 deg, deltaT: 0.505494 s, deltaX: 0.500141 m, approachRate: 0.989411 m/s, posRepo size: 4 mDNOT Ignoring new targets: 55.35 m.hihqhqhqhqgqgqjgyrg}BreyZey:e@3K@*e˙?[P ?[P ?"[n@*[ć@~B=) \?i9)ok5k:ii!!!I!I)I5;?)5+?echecking for new query: numPingsReceived=36, elapsed TxPingTime=18.654078E ը9E  E E +E "E s:*E :VE [4ZE BE p0=HPտ`ѷ?Ŀ &'lտM^?m`.p? ?i=@I=];=CY ByII<)<bDVDq8y%,=ٔ%UQ-%>9)Y)=-eEy)5F<E5>9Q 5= 5=ʔ?Q 9E 5=)=BYayeF Q IeN@=DI=;i=2;= 5yukBɮuAuE addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 0.503100 s, deltaX: 0.099998 m, approachRate: 0.198765 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 55.35 m.hhhhhggjgrgreZe:eK@*e`}?[1[1"[1*[5@Ex=)I M ?iM$9)IMo5M.p:iQiQQYIYIiIA5DAT read: 01:33:10.1559 LVL= 21184, 18113, 31378, 32339, AGC= 55, IDX= 505,-0.09,-0.264, 0.821,-1.073,-0.046, PHS=-0.116, 0.912,-1.071, RAW= 358.8, 3.2, CAL= 358.5, 0.5, ROT= 151.5, -0.5 =Ygot valid direction response: 01:33:10.1559 LVL= 21184, 18113, 31378, 32339, AGC= 55, IDX= 505,-0.09,-0.264, 0.821,-1.073,-0.046, PHS=-0.116, 0.912,-1.071, RAW= 358.8, 3.2, CAL= 358.5, 0.5, ROT= 151.5, -0.5 =Z#Rx 38: Read direction message, but no range.E^direction in FSK: [-0.878784,0.477141,0.008727]y'x?B7߁?RFz S~)7Ihixi?Hd@d=c9@ 5<)%:)@I5 N SRFz(? f)ژgI%:)@i5echecking for new query: numPingsReceived=38, elapsed TxPingTime=19.1675709!@ @@@bEc44jEȏB4rEȝ/EE  EE EE (EA "EE ;*EE xv:VEE c44ZEA aM @aM @aM @aM @I B >B CB IB ЁBB P =B B B ;B A[E DDAT read: Rx Time:01:33:10.6562  TRx dataTimestamp_ set to:1764898391.104802 PDAT read: Bearing 224.5, 30.7 (Local) ~Local bearing/azimuth received: Bearing 224.5, 30.7 (Local) EDAT read: Range 11 to 50 : 56.0 m (trip time 37.3 ms) speed -0.4 UZ#Rx 39: Read range message, but no direction.y Y `B ԁ^AeFӅIchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.445230IO>!re#,kȕLA%@%@%=ٱ%[ &>%HuԿ?(Ŀ-6@0 տ˖?Tߠ?#?i%@I%];%CY5 By5Ii]Mb@Mb@Mb@YYYY Y9]x&1?333333ÿ:vY]A?y]]TY]A ]@)]@YY]@qu@AbD}VD}t8y^;%!=ٔ=!ԱQ->9Y=eEy{/<E>Q 5 5ؽ?Q 9 5)BY?Q E:yj Q IN@DIi;i; 5yɮAiqiuƕLAju_B"ju_B:ju!>?Rju+"2Hڱ:@T%??Bju'x?B7߁?*ju%:)@2ju5Zju,0qD@{S)B@Â@Jju+kb?B7 ̈?(S?juB ju#BiumE3?iu$aAjuݎBju7c?ju4UjuBrju]BzjuO:? addTargetRange:: Added new target pos. range: 56.000000 m, deltaT: 0.503270 s, deltaX: 0.500000 m, approachRate: 0.993502 m/s, rangeRepo size: 4  Added new target pos. range: 55.947342 m, bearing: 42.641475 deg, lat: 36.779487 deg, lon: -121.859682 deg, deltaT: 1.006370 s, deltaX: 0.599865 m, approachRate: 0.596068 m/s, posRepo size: 4 DNOT Ignoring new targets: 55.95 m.hhhhhggjgrgԀBreZe:eL@*e?[=?[=?"[=@*[=}Z@=) )?i9)顕5t:iiII xA]9DAT read: 01:33:10.6562 LVL= 21408, 17169, 31826, 32755, AGC= 55, IDX= 508,-0.23,-0.181, 0.895,-0.991, 0.043, PHS=-0.122, 0.897,-1.077, RAW= 358.9, 3.6, CAL= 358.7, 1.0, ROT= 151.3, -1.0 Ygot valid direction response: 01:33:10.6562 LVL= 21408, 17169, 31826, 32755, AGC= 55, IDX= 508,-0.23,-0.181, 0.895,-0.991, 0.043, PHS=-0.122, 0.897,-1.077, RAW= 358.9, 3.6, CAL= 358.7, 1.0, ROT= 151.3, -1.0 Z#Rx 40: Read direction message, but no range.^direction in FSK: [-0.877013,0.480150,0.017452]yo|jCȺ?W7) ߑ?SCR| )I#iˡe?#ۉr@=U@ 5<))@I5H{࿮[YZ}X<? 8=)rI)@i5checking for new query: numPingsReceived=40, elapsed TxPingTime=19.674932%9@) @)@)@) E  E E *E "E D:*E :VE (N4ZE BE 2cxe#,<㕍LA-O@-I@-=<ٱ-AG'>-H7Կ?ĿF`$Կ` ?朿??i-O@I-];-CY} By}IDDAT read: Rx Time:01:33:11.1563 TRx dataTimestamp_ set to:1764898391.613871MPDAT read: Bearing 224.7, 31.0 (Local) M~Local bearing/azimuth received: Bearing 224.7, 31.0 (Local) ]DAT read: Range 11 to 50 : 56.1 m (trip time 37.4 ms) speed -0.4 DAT read: 01:33:11.1563 LVL= 20864, 18417, 32754, 32755, AGC= 54, IDX= 509,-0.41,-1.551,-0.498,-2.372,-1.335, PHS=-0.114, 0.882,-1.081, RAW= 359.5, 3.7, CAL= 359.3, 1.3, ROT= 150.7, -1.3 ԩYgot valid direction response: 01:33:11.1563 LVL= 20864, 18417, 32754, 32755, AGC= 54, IDX= 509,-0.41,-1.551,-0.498,-2.372,-1.335, PHS=-0.114, 0.882,-1.081, RAW= 359.5, 3.7, CAL= 359.3, 1.3, ROT= 150.7, -1.3 T#Rx 41: Read range and direction messages.^direction in FSK: [-0.871845,0.489257,0.022687]Fpublishing direction and range infoyj'뿇ýO?NGY;?Yf`BQG )6Ixia?5^^@ A=ū@ ޹<)aU(@I޹k032y2 a蠰? P)EIaU(@i޹=checking for new query: numPingsReceived=41, elapsed TxPingTime=19.971804bDVD8yUo%]8=ٔ].Q-]>9aYi=meEyimX[<Eu>yQ 5 5}?Q 9 5}$)}BYy Q IN@}DI};i}g;} 5yɮAiiI畍LAj0`B"j0`B:j=?RjcܧnH.7k;@QQX?Bjj'뿇ýO?NGY;?*jaU(@2j޹Zj !?D@+-B@EO]@JjDRz?~2jW]?%w1?jB jy$Bi w~e#,LAR@R{@Rp<ٱRp(>RH`CԿ?Ŀ "X@:Կ6?n-?@?iR@IR];RCYbBybI llbDvVDv]8yɻ% j=ٔ xXQ- >9Y=eEy<E?Q 5% 5|?Q 9 5()BYy Q IN@DIlBBBBQ =BBSDB;B[EBEC9AIIBECBABABACE¤m5I=DDAT read: Rx Time:01:33:11.6565 ETRx dataTimestamp_ set to:1764898392.120405ePDAT read: Bearing 225.8, 31.6 (Local) m~Local bearing/azimuth received: Bearing 225.8, 31.6 (Local) DAT read: Range 11 to 50 : 56.3 m (trip time 37.5 ms) speed -0.4 DAT read: 01:33:11.6565 LVL= 23072, 19137, 32754, 32755, AGC= 53, IDX= 511, 0.34, 0.952, 1.984, 0.090, 1.141, PHS=-0.087, 0.888,-1.095, RAW= 0.5, 3.5, CAL= 0.3, 0.9, ROT= 149.7, -0.9 Ygot valid direction response: 01:33:11.6565 LVL= 23072, 19137, 32754, 32755, AGC= 53, IDX= 511, 0.34, 0.952, 1.984, 0.090, 1.141, PHS=-0.087, 0.888,-1.095, RAW= 0.5, 3.5, CAL= 0.3, 0.9, ROT= 149.7, -0.9 T#Rx 42: Read range and direction messages.-^direction in FSK: [-0.863289,0.504465,0.015707]MFpublishing direction and range infoy9=HfH\~d$?y&?Y=3aB9= Z=J9 9)=5I=-i=Sc?=(=5<=5z==; =<)=m7'@I=99=m|h߿ywH!? =(m)=wI=m7'@i=99u9ԑchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.475710@ @@/@Թ^A #I I) O5 >iߩ Iߩ  checking for new query: numPingsReceived=42, elapsed TxPingTime=20.674250 څe#,LLAN@N簌@N9<ٱNr+>NH{ӿn?@aſ }i@ӿ@!h?ꆓ@_?y?iN@IN];NCYZ ByZIi=Mb@Mb@Mb@9999 99=?{GzĿ~jtY=?y=#=D=@=A =@)=+@9Y=\@ M%=M%=bDUVDUg8ye<%eF=ٔm 4Q-m>9iYi=meEyiu<Eu>yQ 5 5} ?Q 9 5}--)}yBY?Q E:yj Q IN@}DI}:i}:} 5yɮAiiLAj`B"j`B:j;?Rj`GH1x_<@d[#E?BjHfH\~d$?y&?*jm7'@2jZj2D@B@r+#@Jj1"ě? G?2*?jB j%Bi6I?i^UjBj6I?j^UjݎBrjw_Bzjl;?e addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 0.506534 s, deltaX: 0.200001 m, approachRate: 0.394842 m/s, rangeRepo size: 4 m Added new target pos. range: 56.247261 m, bearing: 42.029941 deg, lat: 36.779484 deg, lon: -121.859682 deg, deltaT: 0.506534 s, deltaX: 0.200016 m, approachRate: 0.394872 m/s, posRepo size: 4 E} E}E}-Ey"E} ;*E}j:VE}t4ZEyBE}YQA^A5 I9 IQ O] >҇e#,4LA2@2i@2Rt<ٱ2'.>2H`6vӿ?`PAſ{` Vӿ>??@e?i2@I2];0YZByZ IbDbVDbp8yj,=%nC=ٔnN"Q-n>9pYp=reEypr<<Er>tQ 5z 5v?Q 9~ 5v1)vhBY|y~ Q I~N@vDIv2:iv:v> 5ytBɮA EiqiuC'LAjucaB"jucaB:ju@#?RjuxyFR0ll@@MLrBjubNf鿽3r?99*juE/!@2ju9=ZjuKYBF@꫼@@̝ @Jjuk]C?!g| ?q?juB ju4Biu\q?iu{8juBjqjqjqrjuP`BzjuUBBIBځBBP =BBB;B9[E9@ @@@ @5yA@5zAM DDAT read: Rx Time:01:33:12.6568 ] TRx dataTimestamp_ set to:1764898393.126231m PDAT read: Bearing 227.0, 31.3 (Local) u ~Local bearing/azimuth received: Bearing 227.0, 31.3 (Local)  DAT read: Range 11 to 50 : 56.7 m (trip time 37.8 ms) speed -0.4  DAT read: 01:33:12.6568 LVL= 27632, 17505, 30194, 28275, AGC= 57, IDX= 2,-0.06,-0.780, 0.246,-1.651,-0.594, PHS=-0.084, 0.885,-1.102, RAW= 0.8, 3.5, CAL= 0.6, 1.1, ROT= 149.4, -1.1  Ygot valid direction response: 01:33:12.6568 LVL= 27632, 17505, 30194, 28275, AGC= 57, IDX= 2,-0.06,-0.780, 0.246,-1.651,-0.594, PHS=-0.084, 0.885,-1.102, RAW= 0.8, 3.5, CAL= 0.6, 1.1, ROT= 149.4, -1.1  T#Rx 44: Read range and direction messages. ^direction in FSK: [-0.860583,0.508948,0.019197] Fpublishing direction and range infoyQ U )+뿲XFLI?]~?YU bBQ U kU aDU u U sn)U 9IU 1iU \b?U VU dVe#,JQLA2K&@2@20/<ٱ2u/>2H`6 ӿ`? <ſ ҿ Ԥ???i2K&@I2];0Y:By: II><)>=i~Mb@Mb@Mb@|||| |9~V-?/$ƿˡEY~>y~&1~'~@| ~@)~@|Y~@bDVD8y%y;%%4=ٔ-BQ-->9)Y1=5eEy15r<E5>9Q 5E 5=u?Q 9E 5=6)=VBYMi>Q EM:yM Q IMN@=DI= ;i= ;=7 5yUmBɮUA]EiAiE+HLAjEbB"jEbB:jE=>?RjEԛ_HCM$a<@xyQf?BjE)+뿲XFLI?]~?*jE&@2jEnFZjE=}L ͷD@I{5h C@{ @JjER=h?h?=ˋj?jEKB jE%BiE ..?iE2MjEBjE [i>"[K@*[]D@Echecking for new query: numPingsReceived=44, elapsed TxPingTime=21.682009U0/<)Q U?iU9)Q]X6]:iYiaaaIiIiEM EMEM)EI"EM:*EMk:VEMFA4ZEIBEM3še#,B#mLAB^a@BZ@Bm;ٱBA/>BHwҿ`(?hſƝiҿ?{? ?iB^a@IB];BCY~By~ I  AAbD5VD5|8yE<%E8=ٔE9Q-E>9iYi=meEyiu&<Eu>yQ 5 5}|?Q 9 5}H;)}FBYy Q IN@}DI}%:i};} 5yɮAi1i5AFhLAj5ccB"j5ccB:j5!A?Rj5)vHn=qL<@X=77@Bj5 [8?s!D?*j5<&@2j5+HZj5@vD@'NQC@D׿@Jj5y ?}hjؿ?"T?j5B j5#Bi5o?i5,Cj5Bj1j1j5Brj5obBzj5=?m addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 0.503057 s, deltaX: 0.200001 m, approachRate: 0.397571 m/s, rangeRepo size: 4 } Added new target pos. range: 56.846958 m, bearing: 43.350504 deg, lat: 36.779482 deg, lon: -121.859678 deg, deltaT: 0.503057 s, deltaX: 0.199814 m, approachRate: 0.397199 m/s, posRepo size: 4 }DNOT Ignoring new targets: 56.85 m.hyhyhyhhggjgrgreZe:e@3sL@*e`?[["[*[Ԁ@%m;)! %!?i%z9)!- 6-:i)i)11I1I1 Y]yA=checking for new query: numPingsReceived=45, elapsed TxPingTime=22.186043eH9A 9@  @ @ /@ E  E E -E "E a:*E g:VE t4ZE a @a @a @a @B= >B9 B= IB= BB= Q =B9 B9 B= 3;B= ^[Eԁ  DDAT read: Rx Time:01:33:13.6571 - TRx dataTimestamp_ set to:1764898394.135017M PDAT read: Bearing 227.0, 32.5 (Local) U ~Local bearing/azimuth received: Bearing 227.0, 32.5 (Local)  DAT read: Range 11 to 50 : 57.2 m (trip time 38.1 ms) speed -0.4 %DAT read: 01:33:13.6571 LVL= 26832, 19697, 32754, 32755, AGC= 54, IDX= 501, 0.36, 0.528, 1.500,-0.379, 0.702, PHS=-0.072, 0.843,-1.125, RAW= 2.3, 4.2, CAL= 2.2, 2.2, ROT= 147.8, -2.2 -Ygot valid direction response: 01:33:13.6571 LVL= 26832, 19697, 32754, 32755, AGC= 54, IDX= 501, 0.36, 0.528, 1.500,-0.379, 0.702, PHS=-0.072, 0.843,-1.125, RAW= 2.3, 4.2, CAL= 2.2, 2.2, ROT= 147.8, -2.2 5T#Rx 46: Read range and direction messages.=^direction in FSK: [-0.845570,0.532483,0.038388]ԙFpublishing direction and range infoy! % ^뿟s" ?.?Y% dB! % h% L%  ! )! I% ti% W?% % l$=% Q =% nF= % nF=)% %@I% nF! ! % Lݿ¯2B(V̻? % s)% I% %@i% nF! ! checking for new query: numPingsReceived=46, elapsed TxPingTime=22.502663^AIIO%>de#,挖LAYM%ByM IԡiMb@Mb@Mb@ 9Q?(\ȿ/$Y>yG,@A @)@Y @bDEVDEV8y4<% =ٔ Q- >9 Y=eEyE>AQ 5E 5E0p?Q 9M 5E+A)E.BYM]>Q EM:yM'Q IMN@EɽDIE:iE4:EA 5yyɮ}>AyiiLAjdB"jdB:j9?Rjӷ)")Hڭ'm>@;tkŒ@Bj^뿟s" ?.?*j%@2jnFZjal:/E@ 4ZB@k=@Jj(#?d@ ?J?6/?jJB jy)Bi߈b?i dj}Bj6I?j^Ujrj1cBzj`[]>"[@*[@) {?iF9)V6y:ii!I!I! E  E E 'E "E :*E $:VE '4ZE BE 3FH-ѿ a?lĿ NпvS?Go?`?Ň?iF] @IF];FCYb+Byb IbD~VD~C8y3<%1=ٔ Q- >9QYQ=UeEyQU]K=E]>YQ 5e 5]kd?Q 9e 5]E)]BYiymQ IN@]нDI]N;i];]Q 5yfBɮAEԩii+LAjdB"jdB:jC=?Rj@H8,/>@?Bjű꿝?1uG?|p}?*j"$@2jZj:E@''C@PgA@Jj%|?سnRj?6ްKν?j<B j (Bi8?istKVjBj8?jstKVjBrjmcBzjC=?E addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 0.498416 s, deltaX: 0.099998 m, approachRate: 0.200633 m/s, rangeRepo size: 4 U Added new target pos. range: 57.246445 m, bearing: 42.359638 deg, lat: 36.779482 deg, lon: -121.859682 deg, deltaT: 0.498416 s, deltaX: 0.099907 m, approachRate: 0.200449 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 57.25 m.hYhYhYhYhYgagajgrgreZe:e`fL@*e ?[["[*[S@g|) w?ie9)ae 6e=:iaiiiiIqIqchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.194029=9@9 @9@=/@9DzDAAE EEE"E:*Ek:VEZEa@a@a@a@^Aa B A B >B B IB BB B B B +;B T[EIa I 9  DDAT read: Rx Time:01:33:14.6575  TRx dataTimestamp_ set to:1764898395.140926 PDAT read: Bearing 227.0, 33.1 (Local)  ~Local bearing/azimuth received: Bearing 227.0, 33.1 (Local)  DAT read: Range 11 to 50 : 57.8 m (trip time 38.5 ms) speed -0.4  DAT read: 01:33:14.6575 LVL= 22640, 16545, 31842, 31843, AGC= 55, IDX= 505,-0.21,-0.624, 0.313,-1.547,-0.448, PHS=-0.074, 0.807,-1.143, RAW= 3.2, 4.9, CAL= 3.1, 3.3, ROT= 146.9, -3.3  Ygot valid direction response: 01:33:14.6575 LVL= 22640, 16545, 31842, 31843, AGC= 55, IDX= 505,-0.21,-0.624, 0.313,-1.547,-0.448, PHS=-0.074, 0.807,-1.143, RAW= 3.2, 4.9, CAL= 3.1, 3.3, ROT= 146.9, -3.3  T#Rx 48: Read range and direction messages.% ^direction in FSK: [-0.836330,0.545197,0.057564]% Fpublishing direction and range infoy  5564?r?`8.y?Y 3gB pX @ b| c|) 7I Pi N? M d= %= k]= k=) $@I k  Aܿ]st?E/C1ܵ? {) I $@i k E checking for new query: numPingsReceived=48, elapsed TxPingTime=23.471807Om >䑲e#,eʖLAvma@vZ@vٱvA0>vH>п Jr? Ŀa`#^п` L?|? B??ivma@Iv];tYU0ByU IiMb@Mb@Mb@ 9On?J +ɿI +Y>yH94@ +@)@Y@ R=bDVDy8y<%#=ٔѻQ->9Y=eEy 7<E >Q 5 5QX?Q 9 5J) BY>Q E:yQ IN@ؽDI;iq; 5yIɮMAIiiɖLAjfB"jfB:j>?Rj띫*%H+{?@s @Bj5564?r?`8.y?*j$@2jkZjT.E@w^C@(_ @Jj[%F?0~x?%W!|u?jB j(Bi+?iIOjגBj ..?jIOj}BrjdBzjJ>? addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 0.507493 s, deltaX: 0.500000 m, approachRate: 0.985235 m/s, rangeRepo size: 4  Added new target pos. range: 57.745850 m, bearing: 42.686422 deg, lat: 36.779481 deg, lon: -121.859679 deg, deltaT: 0.507493 s, deltaX: 0.499405 m, approachRate: 0.984063 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.75 m.h h h h h ggjgrgBreZe9:e=`fL@*e=@r?[}>[}>"[}L-@*[}#@)  ?i[9)顭4+6:iiIIchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.698433U9@Q @Q@U4@QIE  E E *E "E :*E :VE (N4ZE BE > e#,Ҧ䖍LA@柎@+"ٱ0>Ht*п0? ĿYϿ@O ?`oY? ??i@I;];CY,By IbDVDM8DDAT read: Rx Time:01:33:15.1575 TRx dataTimestamp_ set to:1764898395.641230%PDAT read: Bearing 228.9, 34.3 (Local) Im~Local bearing/azimuth received: Bearing 228.9, 34.3 (Local) }DAT read: Range 11 to 50 : 57.8 m (trip time 38.5 ms) speed -0.4 DAT read: 01:33:15.1575 LVL= 22512, 16209, 30642, 32755, AGC= 57, IDX= 505, 0.29, 0.977, 1.868, 0.008, 1.105, PHS=-0.026, 0.809,-1.141, RAW= 4.8, 4.3, CAL= 4.6, 2.5, ROT= 145.4, -2.5 Ygot valid direction response: 01:33:15.1575 LVL= 22512, 16209, 30642, 32755, AGC= 57, IDX= 505, 0.29, 0.977, 1.868, 0.008, 1.105, PHS=-0.026, 0.809,-1.141, RAW= 4.8, 4.3, CAL= 4.6, 2.5, ROT= 145.4, -2.5 T#Rx 49: Read range and direction messages.^direction in FSK: [-0.822353,0.567303,0.043619]Fpublishing direction and range infoy}ԶPY'?GU?YWQ?w )9IԼiO?J =`=l= ¸2=)i"@I¸2yx%G=ٔ qQ- >9 Y = eEy <E> N<ۿ  쿧n? i)Ii"@i¸2Mchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.022060Q 5M 5N?Q 9U 5N)BYQyUIQ IUN@޽DI;i;0 5y_BɮAii 閍LAj"j:j[9?Rj* !eG&¬4a@@̔&@Bj}ԶPY'?GU?*ji"@2j¸2ZjbiE@]4`qB@<-:@Jju$ ?U7! ?Vźa?jB jK+Bi)g?iMgjpBj8?jstKVjrjeBzjގ=?M addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 0.500304 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 y Added new target pos. range: 57.745850 m, bearing: 41.569826 deg, lat: 36.779482 deg, lon: -121.859682 deg, deltaT: 0.500304 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.75 m.hhhhhggjgrgreZe:e*e ?[["[*[k@%+")) - ?i-'9))-46-v~:i)iaaaIaIia>i>9@ @@4@@@yAԩ checking for new query: numPingsReceived=49, elapsed TxPingTime=24.202141 ^A #I I O% >e#,;LAbE(N4jErO4rE+0E EE+E"Es:*Ega:VE [4ZEa@a@a@a@B\@B@BOٱB0>BHYFϿ+? Ŀ Rο,?@?`?Յ?iB\@IB];@YJ4ByJ& IbDVVDVm8y^U=%^}=ٔ^Q-^ ?9`Y`=beEy`f<Ef ?hQ 5j 5jF?Q 9n 5jQ)jBYlynQ InN@jDIjj;ijD;j 5yvoBɮvAvEDNOT Ignoring new targets: 57.75 m.hhhhhggjgrgreZe:e*e?[["[*[@BQBQBU IBUBBQBQBQBU1;BUZ[E5O) ]?i9)=6}}:ii199IAI)U=U<}DDAT read: Rx Time:01:33:15.6578 TRx dataTimestamp_ set to:1764898396.150631PDAT read: Bearing 229.1, 34.8 (Local) ~Local bearing/azimuth received: Bearing 229.1, 34.8 (Local) DAT read: Range 11 to 50 : 58.2 m (trip time 38.8 ms) speed -0.4 DAT read: 01:33:15.6578 LVL= 22000, 16673, 30386, 31219, AGC= 57, IDX= 508, 0.01, 1.335, 2.196, 0.362, 1.457, PHS=-0.020, 0.785,-1.138, RAW= 5.4, 4.5, CAL= 5.3, 2.9, ROT= 144.7, -2.9 Ygot valid direction response: 01:33:15.6578 LVL= 22000, 16673, 30386, 31219, AGC= 57, IDX= 508, 0.01, 1.335, 2.196, 0.362, 1.457, PHS=-0.020, 0.785,-1.138, RAW= 5.4, 4.5, CAL= 5.3, 2.9, ROT= 144.7, -2.9 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.815092,0.577118,0.050593]Fpublishing direction and range infoyó<aki  checking for new query: numPingsReceived=50, elapsed TxPingTime=24.7059597e#,LA22@2B,@2&xٱ2<0>2H4οR?ĿtpͿ9?r?@?Z?i22@I2W];2CY:3By:$ IiMMb@Mb@Mb@IIII I9MQ?5^I ˿YM\>yMXMLII MX@)Mn@IYIY]@AbDeVDek8yuƻ%u?=ٔ}jQ-}>9yYy=eEy<E>Q 5 5^Q E:yQ IN@DI ;i ; 5yɮAii LAjhB"jhB:jZ;?Rj-PmGe^D@@ȪR\@Bjó<ak[56>"[5D@*[5V@M&x)I M ?i]9)Y]#G6]{:iYiqqqIqIy }}I})}ԉuDDAT read: Rx Time:01:33:16.1579 TRx dataTimestamp_ set to:1764898396.652416PDAT read: Bearing 228.9, 35.5 (Local) ~Local bearing/azimuth received: Bearing 228.9, 35.5 (Local) DAT read: Range 11 to 50 : 58.4 m (trip time 38.9 ms) speed -0.4 DAT read: 01:33:16.1579 LVL= 27968, 18753, 31634, 28499, AGC= 58, IDX= 509,-0.29,-0.859,-0.028,-1.844,-0.738, PHS=-0.019, 0.755,-1.151, RAW= 6.2, 5.1, CAL= 6.1, 3.7, ROT= 143.9, -3.7 Ygot valid direction response: 01:33:16.1579 LVL= 27968, 18753, 31634, 28499, AGC= 58, IDX= 509,-0.29,-0.859,-0.028,-1.844,-0.738, PHS=-0.019, 0.755,-1.151, RAW= 6.2, 5.1, CAL= 6.1, 3.7, ROT= 143.9, -3.7 T#Rx 51: Read range and direction messages.^direction in FSK: [-0.806306,0.587968,0.064532]%Fpublishing direction and range infoyy}|Aq?P0?Y}iBy}@m}AI}{ }So)}:I}㥛i}GA?}S}k=}K=}^ = } A=)} @I} Ayy}7ecۼٿOk)? }A)}탴I} @i} AyyMchecking for new query: numPingsReceived=51, elapsed TxPingTime=24.988495ԱM 9@I  @I @M 4@I ^A1 I9 IQ O] >e#,6LA2n{@2t@2ٱ210>2H@Ϳ ,?Ŀ5(@M̿|?ӑ?`?Ѕ?i2n{@I2 ];2CY:8By:* I <9pYp=reEypvf<Ev>xQ 5~ 5zD2?Q 9~ 5z`Y)zBY|y~dQ IN@zDIz>:iz:zh 5y ɮ A ii/)LAjaiB"jaiB:jh:?Rj"GJ 'A@@ @Bj|Aq?P0?*j @2j AZj!riE@:tQ6C@anu!@JjiP=?aӫ&?|aiF9?jB j,Bi`[?ibfjBjjj Brj)gBzjI{;?] addTargetRange:: Added new target pos. range: 58.400002 m, deltaT: 0.501785 s, deltaX: 0.200001 m, approachRate: 0.398579 m/s, rangeRepo size: 4 m Added new target pos. range: 58.345318 m, bearing: 41.774447 deg, lat: 36.779485 deg, lon: -121.859687 deg, deltaT: 0.501785 s, deltaX: 0.199814 m, approachRate: 0.398206 m/s, posRepo size: 4 uDNOT Ignoring new targets: 58.35 m.hqhqhqhqhqgygyjgyrgyreZe:e@33M@*e@?[["[*[}݀@checking for new query: numPingsReceived=51, elapsed TxPingTime=25.210051Թ) ?i9)P6y:iiIIa@a @a@e/@aE5 E5E5(E1"E5&:*E5M:VE5c44ZE1a=@a=@aE@aE@A9A=@ABU>BQBU IBU,BBUR =BQBURD^AIBUN;BUu[EBCBCBBQ =BQ =C85 IO> DDAT read: Rx Time:01:33:16.6580  TRx dataTimestamp_ set to:1764898397.157193 PDAT read: Bearing 231.9, 36.5 (Local)  ~Local bearing/azimuth received: Bearing 231.9, 36.5 (Local)  DAT read: Range 11 to 50 : 58.5 m (trip time 39.0 ms) speed -0.4  DAT read: 01:33:16.6580 LVL= 22416, 16209, 29058, 27555, AGC= 57, IDX= 510, 0.24, 1.367, 2.152, 0.338, 1.426, PHS= 0.043, 0.771,-1.132, RAW= 7.7, 3.9, CAL= 7.7, 2.1, ROT= 142.3, -2.1  Ygot valid direction response: 01:33:16.6580 LVL= 22416, 16209, 29058, 27555, AGC= 57, IDX= 510, 0.24, 1.367, 2.152, 0.338, 1.426, PHS= 0.043, 0.771,-1.132, RAW= 7.7, 3.9, CAL= 7.7, 2.1, ROT= 142.3, -2.1  T#Rx 52: Read range and direction messages. ^direction in FSK: [-0.790692,0.611116,0.036644] Fpublishing direction and range infoy  ˋYM鿏esC?(א¢?Y jB W Q? q k) 9I 0=i B`E? `吿 > 'g= > Q =) \@I Q  4ؿKp^Nr;D? @) 6H˿ /?`sĿm8 $˿@ʬ?M?? ˄?i6ň@I6b ^;4Y~0By IiMb@Mb@Mb@ 9J +?nʿ:vY>yVT@A +@)Y@bDVDx8y/%0=ٔQ->9Y=eEy<E>Q 5 5O'?Q 9 5])BY>Q E:ySQ IN@DIz:ia:} 5yhBɮ A EiisJLAjiB"jiB:j4?Rjc) G ,A@Q["@BjˋYM鿏esC?(א¢?*j\@2jQ Zj@F@6B@w^@Jjrȹ&?К??jB jp0Bi]?i}jߐBj`[?jbfjrjgBzj:? addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 0.504777 s, deltaX: 0.099998 m, approachRate: 0.198104 m/s, rangeRepo size: 4  Added new target pos. range: 58.444920 m, bearing: 40.469262 deg, lat: 36.779486 deg, lon: -121.859689 deg, deltaT: 0.504777 s, deltaX: 0.099602 m, approachRate: 0.197318 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.44 m.checking for new query: numPingsReceived=52, elapsed TxPingTime=25.713915hhhhhggjgrgBreZe:e@M@*e*?A[>[>"[5c@*[ @Ue)Y ])?i]9)Y]&\6e&w:iaiaiiIiIiE EEE"E:*E n:VEZEBE>Le#,iLADDAT read: Rx Time:01:33:17.1581 TRx dataTimestamp_ set to:1764898397.657284PDAT read: Bearing 231.7, 36.9 (Local) ~Local bearing/azimuth received: Bearing 231.7, 36.9 (Local) *DAT read: Range 11 to 50 : 58.7 m (trip time 39.1 ms) speed -0.4 BDAT read: 01:33:17.1581 LVL= 27792, 18001, 29426, 30547, AGC= 59, IDX= 511,-0.09,-1.385,-0.625,-2.404,-1.320, PHS= 0.038, 0.740,-1.128, RAW= 8.2, 4.3, CAL= 8.1, 2.8, ROT= 141.9, -2.8 Ygot valid direction response: 01:33:17.1581 LVL= 27792, 18001, 29426, 30547, AGC= 59, IDX= 511,-0.09,-1.385,-0.625,-2.404,-1.320, PHS= 0.038, 0.740,-1.128, RAW= 8.2, 4.3, CAL= 8.1, 2.8, ROT= 141.9, -2.8 T#Rx 53: Read range and direction messages.%^direction in FSK: [-0.785995,0.616299,0.048850]%Fpublishing direction and range infoyӀo&S6O?s!D?YjBlQFr Sw);I=ip=?NbC>`=> +H=)@I+H&2ސg׿E:AcOC T? ) ƚI@i+H{@@讼ٱO0>Hʿ?pĿE$ʿ@?`ܕ???i{@I^;CY2By# I =checking for new query: numPingsReceived=53, elapsed TxPingTime=26.025454bD VD 8iyR<%K=ٔϙQ->9Y=eEy~<E>Q 5 5 ?Q 9 5,a)BYyQ IN@DI;i ; 5yɮAiijLAjjB"jjB:jC5?Rj57S G!4DB@얙@BjӀo&S6O?s!D?*j@2j+HZjb_ F@#B@~ @Jj???jOB jZ0BiO?ik7~jABj)g?jMgjrjhBzjd:? addTargetRange:: Added new target pos. range: 58.700001 m, deltaT: 0.500091 s, deltaX: 0.200001 m, approachRate: 0.399929 m/s, rangeRepo size: 4  Added new target pos. range: 58.644730 m, bearing: 40.629034 deg, lat: 36.779487 deg, lon: -121.859689 deg, deltaT: 0.500091 s, deltaX: 0.199810 m, approachRate: 0.399547 m/s, posRepo size: 4 Yu{ADNOT Ignoring new targets: 58.64 m.9{AYrAhhhhhggjgrgreZe:eYM@*e\?[)[)"[)*[-&@]讼)q u}?i}˳9)y}e6}u:iyiIIԑ @  @ @ /@checking for new query: numPingsReceived=53, elapsed TxPingTime=26.218639E  E E ,E "E V:*E |:VE g4ZE a @a @a @a @^AU IY Iq O} > e#,7LA2oA@2:@2&ٱ2/>2Hʿ? Ŀ`Q14ɿH?Gė?\? r?i2oA@I2^;0Yj.Byj IB>BB! IB1BBBBSDBf;B[EIm<)mAbDVD|8y.%Y=ٔbQ->9Y= eEy u:<Eu>yQ 5 5}?Q 9 5}d)}BYyYQ IN@}DI}G:i}:}k 5yɮA]DDAT read: Rx Time:01:33:17.6583 eTRx dataTimestamp_ set to:1764898398.165752PDAT read: Bearing 232.7, 37.8 (Local) ~Local bearing/azimuth received: Bearing 232.7, 37.8 (Local) DAT read: Range 11 to 50 : 59.1 m (trip time 39.4 ms) speed -0.4 DNOT Ignoring new targets: 58.64 m.hhhhhDAT read: 01:33:17.6583 LVL= 27104, 18417, 26770, 25395, AGC= 62, IDX= 1, 0.42, 1.372, 2.101, 0.316, 1.411, PHS= 0.063, 0.735,-1.139, RAW= 9.3, 4.2, CAL= 9.2, 2.7, ROT= 140.8, -2.7 Ygot valid direction response: 01:33:17.6583 LVL= 27104, 18417, 26770, 25395, AGC= 62, IDX= 1, 0.42, 1.372, 2.101, 0.316, 1.411, PHS= 0.063, 0.735,-1.139, RAW= 9.3, 4.2, CAL= 9.2, 2.7, ROT= 140.8, -2.7 ggjg rg re Ze :e *e` ?T#Rx 54: Read range and direction messages.M^direction in FSK: [-0.774084,0.631328,0.047106]MFpublishing direction and range infoyae2^L63?P7V?YeflBaeieGeh e3c)e>Ie%=ie(eQ =el$> eA=)enF@IeAaaeFVAֿٖCZQn? en][i[i"[i*[mc@ )eᕽIenF@ieAaaEchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.569853M&)I M?iM.9)IUo6Ur:iQiQYII1@1 @1@5/@1)  checking for new query: numPingsReceived=54, elapsed TxPingTime=26.721867^A I I O% >Y Ge#,TrLA ɰ";R@RVy@R̼ٱR.>RH/ɿ`v? xĿ!^e:ȿ@8j? ??3?iR@IR];PYf0Byf IE EE.E"Ea;*EVEـ4ZEBEhyLD@A A@)+@Y@bD VD ^8y<%F=ٔ%LJQ-%>9!Y!=-eEy)-U<E->1Q 5= 55f ?Q 9= 55h)5BYE>Q EE:yEQ IEN@5DI5:i5:5 5yMbBɮMAQiiLAj-lB"j-lB:jkm4?RjtNF[HdB@;E@@Bj2^L63?P7V?*jnF@2jAZjHHF@TB@B@Jj/'?ߣc;?[ 75?jB jF2Bi}?i>jBjO?jk7~jBrjiBzjX5? addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 0.508468 s, deltaX: 0.399998 m, approachRate: 0.786672 m/s, rangeRepo size: 4  Added new target pos. range: 59.044636 m, bearing: 40.381757 deg, lat: 36.779493 deg, lon: -121.859699 deg, deltaT: 0.508468 s, deltaX: 0.399906 m, approachRate: 0.786492 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.04 m.hhhhhggjgrgBreZe:ěM@*e?[>[>"[@*[8@̼) #?i_9)x6up:iiI)IiMDDAT read: Rx Time:01:33:18.1583 UTRx dataTimestamp_ set to:1764898398.666320YmPDAT read: Bearing 232.4, 38.4 (Local) m~Local bearing/azimuth received: Bearing 232.4, 38.4 (Local) DAT read: Range 11 to 50 : 59.1 m (trip time 39.4 ms) speed -0.4 DAT read: 01:33:18.1583 LVL= 21520, 16689, 30130, 30387, AGC= 57, IDX= 498,-0.04,-0.927,-0.222,-1.983,-0.885, PHS= 0.060, 0.707,-1.142, RAW= 9.8, 4.7, CAL= 9.8, 3.4, ROT= 140.2, -3.4 Ygot valid direction response: 01:33:18.1583 LVL= 21520, 16689, 30130, 30387, AGC= 57, IDX= 498,-0.04,-0.927,-0.222,-1.983,-0.885, PHS= 0.060, 0.707,-1.142, RAW= 9.8, 4.7, CAL= 9.8, 3.4, ROT= 140.2, -3.4 T#Rx 55: Read range and direction messages.^direction in FSK: [-0.766931,0.638983,0.059306]Fpublishing direction and range infoyIMI YT)qr?Cg]?YIIMTM1AMu Mv)M9IMu=iM4?M-M%/>M=M%/> Ms=)Mۚ@IMsIIMU (+տ;p@Cд? MU)MصIMۚ@iMsIIechecking for new query: numPingsReceived=55, elapsed TxPingTime=27.0110059Q @Q  @Q @Q @Y ԁ Թ ^A ?΅I I O >e#,1LAchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.225956:@:乐@:׼ٱ:o->:H ȿ?Ŀ@jt;ǿU??`??i:@I:];:CYB&ByB ItvAAbDzVDzu8y~I%F=ٔcQ->9 Y = eEy  c<E>Q 5 5?Q 9% 5k)}BY!y%/Q I%N@ DI:i:{ 5y)ɮ5A1iiLAj"j:jD84?Rj ?F"L@B@ @BjI YT)qr?Cg]?*jۚ@2jsZj-^CF@sB@B :!@JjW!?3}?L?j;B j2Bis?i)j`Bjs?j}jABrjjBzjLi5?} addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 0.500568 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 59.044636 m, bearing: 40.335286 deg, lat: 36.779494 deg, lon: -121.859700 deg, deltaT: 0.500568 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.04 m.hhhhhggjgrgreZe:e*e ?[["[*[4x@׼) ?i9)6m:ii I IiEM EIEM'EI"EM:*EIVEM'4ZEIaU@aU@aU@aU@9@ @@0@BA<ԙB>BB( IB6BBBBRDB};B[E DDAT read: Rx Time:01:33:18.6585 TRx dataTimestamp_ set to:1764898399.1730605PDAT read: Bearing 233.2, 39.6 (Local) E~Local bearing/azimuth received: Bearing 233.2, 39.6 (Local) }DAT read: Range 11 to 50 : 59.4 m (trip time 39.6 ms) speed -0.4 ^AII1 OM >m DAT read: 01:33:18.6585 LVL= 26176, 17841, 28834, 29331, AGC= 59, IDX= 500, 0.41, 1.483, 2.148, 0.401, 1.503, PHS= 0.082, 0.691,-1.146, RAW= 11.0, 4.7, CAL= 11.0, 3.4, ROT= 139.0, -3.4 u Ygot valid direction response: 01:33:18.6585 LVL= 26176, 17841, 28834, 29331, AGC= 59, IDX= 500, 0.41, 1.483, 2.148, 0.401, 1.503, PHS= 0.082, 0.691,-1.146, RAW= 11.0, 4.7, CAL= 11.0, 3.4, ROT= 139.0, -3.4 u T#Rx 56: Read range and direction messages. ^direction in FSK: [-0.753381,0.654904,0.059306] Fpublishing direction and range infoyv'ȟ?Cg]?YmB@fEp r);I=i`0?! D> D> )C@IuOԿv( ô? |)FIC@i checking for new query: numPingsReceived=56, elapsed TxPingTime=27.541597 ce#,ӗLA2|@2@2@ٱ2Y+>2H1ǿ?bĿ?uKƿ$-?8?@\?`?i2|@I2];2CY^$By^ IiEMb@Mb@Mb@AAAA A9EK7? rȿ:vYE>yECETE@A A)AAYEp@bD]VD]8ym%mD=ٔm?Q-u>9qYq=ueEyq}_<E}>Q 5 5?Q 9 5o)mBY>Q E:yq Q IN@DI,:i: 5yɮAiIiMj˗LAjM`mB"jM`mB:jMѽ0?RjM(ZF:h'nC@'b' @BjMv'ȟ?Cg]?*jMC@2jIZjM2F@HB@1'r!@JjM??`g?ʚuY(?݀?jMB jM5BiM ࢊ?iMFjMBjM]?jM>jIrjMjBzjM*5? addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 0.506740 s, deltaX: 0.300003 m, approachRate: 0.592026 m/s, rangeRepo size: 4  Added new target pos. range: 59.344040 m, bearing: 39.556799 deg, lat: 36.779494 deg, lon: -121.859701 deg, deltaT: 0.506740 s, deltaX: 0.299404 m, approachRate: 0.590844 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.34 m.hhhhhggjg rg Bre Ze :e @3M@*eR?[->[->"[-@*[-1W@@) H!?i9)Ȇ6|j:iiIIp>i]checking for new query: numPingsReceived=56, elapsed TxPingTime=27.7306009@ @@0@@=@=Ee EeEe)Ea"Ee:*Ee:VEeFA4ZEaBEe3 DDAT read: Rx Time:01:33:19.1586  TRx dataTimestamp_ set to:1764898399.673753% PDAT read: Bearing 231.5, 40.0 (Local) % ~Local bearing/azimuth received: Bearing 231.5, 40.0 (Local) = DAT read: Range 11 to 50 : 59.6 m (trip time 39.7 ms) speed -0.4 m DAT read: 01:33:19.1586 LVL= 27024, 18609, 29778, 31283, AGC= 58, IDX= 501,-0.06,-1.701,-1.058,-2.771,-1.655, PHS= 0.056, 0.643,-1.159, RAW= 11.4, 5.8, CAL= 11.3, 5.1, ROT= 138.7, -5.1 } Ygot valid direction response: 01:33:19.1586 LVL= 27024, 18609, 29778, 31283, AGC= 58, IDX= 501,-0.06,-1.701,-1.058,-2.771,-1.655, PHS= 0.056, 0.643,-1.159, RAW= 11.4, 5.8, CAL= 11.3, 5.1, ROT= 138.7, -5.1  T#Rx 57: Read range and direction messages. ^direction in FSK: [-0.748290,0.657389,0.088894] Fpublishing direction and range infoy  *翑DGT ??Y fnB  i H Rt  3z) :I B`e=i $? Z %K> 4Q= I>  K=) @I K   -KUԿӪ* m?  ت) нI @i K   checking for new query: numPingsReceived=57, elapsed TxPingTime=28.005188Q ;e#,o헍LAb7@bC1@bٱb *>bHJƿ@h? NĿ@\@cſ{ ?`w?B?ˊ?ib7@Ib];bCY~!By~ IbD%VD%p8y%G=ٔAQ->9Y=eEy,<E>Q 5 58?Q 9 5qs)^BYy Q IN@DI:il: 5yrBɮAEi9i=뗍LAj=,nB"j=,nB:j=Y2?Rj=x,GF)\C@D$,@Bj=*翑DGT ??*j=@2j=KZj=p}{F@lfB@gL$@Jj=)?J~A7?Oa.o?j=wB j=3Bi=X ?i=V& j=Bj=}?j=)j=`Brj=kBzj=H64? addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.500693 s, deltaX: 0.199997 m, approachRate: 0.399440 m/s, rangeRepo size: 4 )5 Added new target pos. range: 59.543846 m, bearing: 39.917040 deg, lat: 36.779495 deg, lon: -121.859704 deg, deltaT: 0.500693 s, deltaX: 0.199806 m, approachRate: 0.399059 m/s, posRepo size: 4 =DNOT Ignoring new targets: 59.54 m.h9h9h9h9h9gAgAjgArgAreiZei:emM@*emൽ?[["[*[!@) J?in9)60g:iiIIe9@a @a@e0@aechecking for new query: numPingsReceived=57, elapsed TxPingTime=28.234087aDm =Dm <Eu  Eu Eu +Eq "Eu :*Eu :VEu [4ZEq a} @a} @a} @a} @^A FӅԉ I I O B >B CB ! IB 1BB S =B B B ;B [Ef#,LA,RGu@Rn@RٱR*>RHYſ#?`EUĿoĿ ?z??? ?iRGu@IR];RCY^By^ I b%=b4=bDfVDf8ynּ%nX=ٔr*Q-r>9pYp=reEytv<Ev>xQ 5~ 5z꓊?Q 9~ 5zw)zPBY|y Q IN@zDIz:iz:z 5y lBɮ A EuDNOT Ignoring new targets: 59.54 m.hqhqhqhqhqgygyjgyrgyreZe:e*ez?DDAT read: Rx Time:01:33:19.6588 TRx dataTimestamp_ set to:1764898400.182324PDAT read: Bearing 234.2, 41.1 (Local) ~Local bearing/azimuth received: Bearing 234.2, 41.1 (Local) DAT read: Range 11 to 50 : 59.9 m (trip time 39.9 ms) speed -0.4 [["[*[΃@ԉ) ?i9)顽6d:iiDAT read: 01:33:19.6588 LVL= 26352, 18465, 32754, 32755, AGC= 58, IDX= 503, 0.27, 1.467, 2.083, 0.338, 1.461, PHS= 0.109, 0.667,-1.167, RAW= 12.7, 4.9, CAL= 12.7, 3.7, ROT= 137.3, -3.7 Ygot valid direction response: 01:33:19.6588 LVL= 26352, 18465, 32754, 32755, AGC= 58, IDX= 503, 0.27, 1.467, 2.083, 0.338, 1.461, PHS= 0.109, 0.667,-1.167, RAW= 12.7, 4.9, CAL= 12.7, 3.7, ROT= 137.3, -3.7 T#Rx 58: Read range and direction messages.II m^direction in FSK: [-0.733383,0.676746,0.064532]mFpublishing direction and range infoy w?P0?YoBf!H )Id;=i*?B`b>%=b>  A=)]@I A{0#ҿWr !;o? )rI]@i Achecking for new query: numPingsReceived=58, elapsed TxPingTime=28.582436@ @@0@Աm checking for new query: numPingsReceived=58, elapsed TxPingTime=28.737997^A I I O >df#,/!LAE EEE"E~ ;*E:VEZEBE VƮ@>@>Vٱ>9+>>H&vĿ u,?hĿaÿ ?i?K? ?i>Ʈ@I>];>CYJ!ByJ IIR<)R<\i%Mb@Mb@Mb@!!!! !9%K7?J +ɿ ףp= Y%I>y%H%Q8%@%zA !)%@!Y%@bD=VD=8yM<%MD=ٔMrQ-U>9QYQ=]eEyY]<E]>aQ 5} 5eᓊ?Q 9 5e{)eBBY>Q E:y Q IO@e"DIe [>"[Ws@*[aǃ@%=DDAT read: Rx Time:01:33:20.1589 TRx dataTimestamp_ set to:1764898400.682654PDAT read: Bearing 231.9, 41.6 (Local) ~Local bearing/azimuth received: Bearing 231.9, 41.6 (Local)  DAT read: Range 11 to 50 : 60.0 m (trip time 40.0 ms) speed -0.4 =DAT read: 01:33:20.1589 LVL= 29984, 18609, 30626, 30787, AGC= 59, IDX= 504,-0.26,-0.781,-0.182,-1.898,-0.750, PHS= 0.071, 0.613,-1.192, RAW= 13.0, 6.4, CAL= 12.9, 5.9, ROT= 137.1, -5.9 eYgot valid direction response: 01:33:20.1589 LVL= 29984, 18609, 30626, 30787, AGC= 59, IDX= 504,-0.26,-0.781,-0.182,-1.898,-0.750, PHS= 0.071, 0.613,-1.192, RAW= 13.0, 6.4, CAL= 12.9, 5.9, ROT= 137.1, -5.9 mT#Rx 59: Read range and direction messages.u^direction in FSK: [-0.728663,0.677115,0.102793]uFpublishing direction and range infoyi >4Q,}׺?zBP?YpB uHw Cx);V) .?ix9)顥6`:iiIIIsh=i?uVh>=f> B=)f$@IBҽ#ҿPlhO{? )@WIf$@iBҽchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.023252Y@Y @Y@]0@Y@ezA@ezAA ^Ay I I O >(f#,`;LAchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.2420816S@6@6|ٱ6*>6HȒÿ@5?`iĿ˦¿? ?@CB?#?i6S@I6ŭ];6CYb)Byb IbDjVDj8ye3=%O=ٔ >Q- >9 Y = eEy <E>AQ 5M 5Eٓ?Q 9U 5E~)E5BYyy} Q IO@E(DIE 4Q,}׺?zBP?*j f$@2j BҽZj aF@whB@ 9Nx&@Jj 2V,?q ?)Έp?j KB j 5Bi _?i j Bj _?j Fj Brj ^lBzj 2?} addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 0.500330 s, deltaX: 0.099998 m, approachRate: 0.199865 m/s, rangeRepo size: 4  Added new target pos. range: 59.943146 m, bearing: 39.684892 deg, lat: 36.779496 deg, lon: -121.859710 deg, deltaT: 0.500330 s, deltaX: 0.099903 m, approachRate: 0.199674 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.94 m.hhhhhggjgrgreZe:eN@*e m?[["[*[@D)zD-?AbEFA4jEKJ4rEA0E5 E5E5(E1"E5V:*E5҆:VE5c44ZE1aE@aE@aE@aE@m|)q u2?iuy9)qu6u]:iqiyyyII I)IBM>BMCBIBIBIBIBIBM;BM[EqDDAT read: Rx Time:01:33:20.6590 TRx dataTimestamp_ set to:1764898401.189177-PDAT read: Bearing 233.9, 42.7 (Local) 5~Local bearing/azimuth received: Bearing 233.9, 42.7 (Local) DAT read: Range 11 to 50 : 60.2 m (trip time 40.1 ms) speed -0.4 I @Q  @Q @U /@Y  DAT read: 01:33:20.6590 LVL= 24528, 16881, 30562, 31731, AGC= 57, IDX= 505, 0.09, 0.314, 0.875,-0.835, 0.303, PHS= 0.114, 0.617,-1.182, RAW= 14.3, 5.7, CAL= 14.2, 4.9, ROT= 135.8, -4.9  Ygot valid direction response: 01:33:20.6590 LVL= 24528, 16881, 30562, 31731, AGC= 57, IDX= 505, 0.09, 0.314, 0.875,-0.835, 0.303, PHS= 0.114, 0.617,-1.182, RAW= 14.3, 5.7, CAL= 14.2, 4.9, ROT= 135.8, -4.9  T#Rx 60: Read range and direction messages. ^direction in FSK: [-0.714291,0.694617,0.085417] Fpublishing direction and range infoy_wkM:?b$ݵ?YpB_Abw {)9Ix=i?Kr>%=}> %=)@I%$Aѿ}&Y,6dD? )/)wʽI@i% checking for new query: numPingsReceived=60, elapsed TxPingTime=29.567020ԡ ^A _ⅾI I O >f#,9XLA2 @2@2kٱ2c*>2H ¿_>?bĿBL? L?@0?Š?i2 @I2C];2CYyFtMA +@)Y=@bDVD8ٔ-Q-->9)Y1=5eEy15w<E5>9Q 5E 5={Г?Q 9E 5=)=(BYM>Q EM:yM Q IMO@=.DI= ;i=;= 5yQɮQQiizLLAjpB"jpB:jʖ,?checking for new query: numPingsReceived=60, elapsed TxPingTime=29.745821RjYUbzEqgcD@왹@Bj_wkM:?b$ݵ?*j@2j%ZjgpG@|eOzB@S9%@Jj/[?3 䦩?2$?jB j8Bi؄ ?iIjcBj ࢊ?jjBrj=mBzjq0?u addTargetRange:: Added new target pos. range: 60.200001 m, deltaT: 0.506523 s, deltaX: 0.200001 m, approachRate: 0.394850 m/s, rangeRepo size: 4  Added new target pos. range: 60.143166 m, bearing: 38.627430 deg, lat: 36.779500 deg, lon: -121.859715 deg, deltaT: 0.506523 s, deltaX: 0.200020 m, approachRate: 0.394888 m/s, posRepo size: 4 9EDNOT Ignoring new targets: 60.14 m.hAhAhAhIhIgIgQjgQrg]BreaZea:emN@*emt??[>[>"[@*[@k) :?E EE+E"E:*E]t:VE [4ZEBE$5 = > =) ww@I 뽩 C^пk1V;5;@{? ) vnI ww@i 뽩  checking for new query: numPingsReceived=61, elapsed TxPingTime=30.016314^AE IQ Ia Om >f#,dqLAF?Z@FS@FٱF]q)>FH @nG?fPĿ`m̫? Fp??@?iF?Z@IF߯];FC\Yn*Byn I ppv=v=bDzVDzU8y%$;%%<ٔ%W1Q-->9)Y)=-eEy)5<E5>YQ 5e 5]bȓ?Q 9e 5]ކ)]BYaye2 Q ImO@]3DI]:i]-:] 5yueBɮuAqii(lLAjpB"jpB:j.?RjFY<`Eg_nmD@pX@Bj+h:=?NZl?*jww@2jZj`F@'B@n(@Jjճ1Q?g>u?0C;?jB j7BiW ڢ?i`jܚBjW ڢ?jSjcBrjpmBzj0? addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 0.500771 s, deltaX: 0.099998 m, approachRate: 0.199689 m/s, rangeRepo size: 4 - Added new target pos. range: 60.243069 m, bearing: 39.070087 deg, lat: 36.779499 deg, lon: -121.859716 deg, deltaT: 0.500771 s, deltaX: 0.099903 m, approachRate: 0.199499 m/s, posRepo size: 4 UDNOT Ignoring new targets: 60.24 m.hYhYhahahiggjgrgreZe:e`f&N@*ee?[["[*[~@ ) n;?ik9)6V:ii!I!I!9@ @@?5@checking for new query: numPingsReceived=61, elapsed TxPingTime=30.251728D=D<E EE*E"Es:*E҆:VE(N4ZEa@a@a@a@^A IA I B >B B B B R =B B SDB ;B [EBBBBR =BR =Cɟ5I Oe >"f#,ƾLA*DDAT read: Rx Time:01:33:21.6593 *TRx dataTimestamp_ set to:1764898402.1936702PDAT read: Bearing 233.8, 44.2 (Local) 2~Local bearing/azimuth received: Bearing 233.8, 44.2 (Local) :DAT read: Range 11 to 50 : 60.6 m (trip time 40.4 ms) speed -0.4 NDAT read: 01:33:21.6593 LVL= 26672, 17057, 32754, 32755, AGC= 59, IDX= 508, 0.01,-0.359, 0.149,-1.523,-0.376, PHS= 0.118, 0.569,-1.191, RAW= 15.7, 6.4, CAL= 15.6, 6.0, ROT= 134.4, -6.0 ^Ygot valid direction response: 01:33:21.6593 LVL= 26672, 17057, 32754, 32755, AGC= 59, IDX= 508, 0.01,-0.359, 0.149,-1.523,-0.376, PHS= 0.118, 0.569,-1.191, RAW= 15.7, 6.4, CAL= 15.6, 6.0, ROT= 134.4, -6.0 bT#Rx 62: Read range and direction messages.n^direction in FSK: [-0.695830,0.710559,0.104528]rFpublishing direction and range infoy(*p;>D]r?4ޮ`º?Y*frB(*0h*B(  ! ()*;I*=i*?*r*K>*=*'g> *Pw=)*Q @I*Pwֽ((*:xa `ϿZ2\$Ԡ? *)*I*Q @i*Pwֽ((=checking for new query: numPingsReceived=62, elapsed TxPingTime=30.556507Y+ByIiMb@Mb@Mb@ 9Mb?J +ɿMbY>yH@A )@Y@bDVDT8y%;%%=ٔ-Q-->9)Y)=5eEy15E5>9Q 5e 5=?Q 9e 5=)=BYm>Q Em:ym Q ImO@=:DI=;i=;=E 5yqɮuAqi(i*eLAj*,rB"j*,rB:j*(?Rj*ՈbEpaE@TdfP@Bj*p;>D]r?4ޮ`º?*j*Q @2j*PwֽZj*\G1RtG@e ±-B@9'@Jj*T'?똭a7?WWM?j*mB j*;Bi*d.?i*rj*Bj*?j*`j* Brj*mBzj*-?  addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 0.503722 s, deltaX: 0.299999 m, approachRate: 0.595565 m/s, rangeRepo size: 4 q} Added new target pos. range: 60.543472 m, bearing: 37.777744 deg, lat: 36.779503 deg, lon: -121.859723 deg, deltaT: 0.503722 s, deltaX: 0.300404 m, approachRate: 0.596368 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.54 m.hhhhhggjgrgBreZechecking for new query: numPingsReceived=62, elapsed TxPingTime=30.754021:eLN@*e@??[>[>"[g@*[@ )  R8?i ߳9)! % 6% Q:i i I I ԩ E  E E 'E "E ;*E Ar:VE '4ZE BE si ?EC>z0=>^A%I)I9OM?*f#,識LAX B=)&X@IBҽ$bͿ^`R P2? f)I&X@iBҽ=checking for new query: numPingsReceived=63, elapsed TxPingTime=31.066673I @@$ٱ7(>H$ ^^? RĿt?O?@'?ō?iI @Iw];CY6By( IibDVDX849Y1AyA=%/=ٔ+:Q->9Y=eeEyae:=Ee>iQ 5u 5mr?Q 9u 5m")mBYqy} Q I}O@mADIm:im):mk 5yvBɮAEiiƨLAjrB"jrB:j+?Rj-@DB)eE@@Bj!hUpzآ,?zBP?*j&X@2jBҽZj!FT_G@xqB@ P?'@JjY/(?:dn?$tF?jB j:Bi^Y?iij3Bj؄ ?jIjBrjoBzj[-? addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.504131 s, deltaX: 0.200001 m, approachRate: 0.396724 m/s, rangeRepo size: 4  Added new target pos. range: 60.743286 m, bearing: 38.279296 deg, lat: 36.779504 deg, lon: -121.859723 deg, deltaT: 0.504131 s, deltaX: 0.199814 m, approachRate: 0.396353 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.74 m.hhhhhggjgrgreZe:e`ffN@*e#?[["[*[;@$)! %=?i%9)!%)6%'N:i!i))1I1IQ9@ @@@checking for new query: numPingsReceived=63, elapsed TxPingTime=31.259701!E  E E .E "E ;*E z:VE ـ4ZE a% @a% @a% @a- @1 ^A5 I B >B CB . IB ;BB P =B B B ;B [EII O >2f#,;ȘLA>I@>B@>Uٱ>K.(>>H6 d? `Ŀ Nu?@2?(? ?i>I@I>?];>CYF5ByF' IIJ4=)Jp;LNAPbDVVDV[8y^ϻ%^p=ٔ^ +;Q-b?9`Y`=beEy`f <Ef?hQ 5j 5j ?Q 9n 5j<)jBYlyn, Q InO@jEDIj;ij;jS 5yvpBɮvAvEDNOT Ignoring new targets: 60.74 m.hhhhhggjgrgre!Ze!:e!*e%b?[A[A"[A*[Ey@UU)Y ]h=?i]9)YeE6eK:iaiaiiIiIi DDAT read: Rx Time:01:33:22.6596 TRx dataTimestamp_ set to:1764898403.202310EPDAT read: Bearing 235.9, 46.2 (Local) E~Local bearing/azimuth received: Bearing 235.9, 46.2 (Local) }DAT read: Range 11 to 50 : 61.1 m (trip time 40.7 ms) speed -0.4 DAT read: 01:33:22.6596 LVL= 27632, 18001, 32754, 32755, AGC= 59, IDX= 511,-0.03,-0.899,-0.455,-2.094,-0.958, PHS= 0.161, 0.548,-1.180, RAW= 17.7, 6.0, CAL= 17.6, 5.5, ROT= 132.4, -5.5 Ygot valid direction response: 01:33:22.6596 LVL= 27632, 18001, 32754, 32755, AGC= 59, IDX= 511,-0.03,-0.899,-0.455,-2.094,-0.958, PHS= 0.161, 0.548,-1.180, RAW= 17.7, 6.0, CAL= 17.6, 5.5, ROT= 132.4, -5.5 T#Rx 64: Read range and direction messages.%^direction in FSK: [-0.671198,0.735056,0.095846]%Fpublishing direction and range infoy  ;mtz忊ё?aVX?Y ftB  k QF  ) ;I /$>i I ? = 2+> Pw= nF>  =) h@I  Ľ   J)˿}w>Co? ) gRؽI h@i  Ľ  echecking for new query: numPingsReceived=64, elapsed TxPingTime=31.588610}w9J>i@ @@@ checking for new query: numPingsReceived=64, elapsed TxPingTime=31.761837) ^A I I O% >"8f#,h☍LA4<ɰ4<2/@2@2ygٱ2:P(>2H`dD j?tĿ7W? ???i2/@I2#];2CY>?By>4 IEN ENEN)EL"EN=;*EN˭:VENFA4ZELBENIyPԼA A@)@Y@bDVDW8y-`*=%-+=ٔ-I;Q-->91Y1=5eEy1=C<E=>aQ 5e 5e?Q 9m 5es)eBYm+>Q Em;ym Q ImO@eLDIe:ie:e 5yqɮ}Ayiiim̘LAjm,tB"jm,tB:jm(?Rjm2w|D&j%moF@엠2g@Bjm;mtz忊ё?aVX?*jmh@2jm ĽZjmK;]\G@vɵxVB@`YV'@JjmUV?FL9?^[2?jmB jmJ=Bimn8?imXwjmBjm^Y?jmijirjmxoBzjmw+? addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 0.504509 s, deltaX: 0.299999 m, approachRate: 0.594636 m/s, rangeRepo size: 4 M Added new target pos. range: 61.043697 m, bearing: 37.775784 deg, lat: 36.779506 deg, lon: -121.859730 deg, deltaT: 0.504509 s, deltaX: 0.300411 m, approachRate: 0.595453 m/s, posRepo size: 4 UDNOT Ignoring new targets: 61.04 m.hQhQhQhQhQYgygyjgrgŀBreZe:ěN@*e`?[+>[+>"["K@*[8G@%yg)! %q=?i-89))-6-G:i)EDDAT read: Rx Time:01:33:23.1595 ETRx dataTimestamp_ set to:1764898403.705195UPDAT read: Bearing 239.3, 47.2 (Local) U~Local bearing/azimuth received: Bearing 239.3, 47.2 (Local) eDAT read: Range 11 to 50 : 60.9 m (trip time 40.6 ms) speed -0.4 DAT read: 01:33:23.1595 LVL= 25184, 21089, 32754, 32755, AGC= 54, IDX= 511, 0.50,-1.543,-1.131,-2.780,-1.660, PHS= 0.219, 0.574,-1.164, RAW= 18.9, 4.7, CAL= 19.0, 3.7, ROT= 131.0, -3.7 Ygot valid direction response: 01:33:23.1595 LVL= 25184, 21089, 32754, 32755, AGC= 54, IDX= 511, 0.50,-1.543,-1.131,-2.780,-1.660, PHS= 0.219, 0.574,-1.164, RAW= 18.9, 4.7, CAL= 19.0, 3.7, ROT= 131.0, -3.7 T#Rx 65: Read range and direction messages.^direction in FSK: [-0.654691,0.753137,0.064532]Fpublishing direction and range infoyAEXʓ;/kű?P0?YEsBAE`bEaRA A)E6IEA`>iE?EE[>E=Eɩ> E A=)ET@IE AAAEP")슨ȿMjNJXx ?i1II E)EmIET@iE AAAchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.037937ԉ 9Ա 9@  @ @ /@  checking for new query: numPingsReceived=65, elapsed TxPingTime=32.265976 ^AIIO?@f#,MgLAE EE*E "ET;*E~:VE(N4ZE a@a@a@a@>ƌ@>U@>Tٱ>%(>>H X p?}Ŀ@`X۶:?ɜ?t? ?i>ƌ@I>L];>C1YmCByu7 I==BBB4 IB@BBBBB;B[EbDVDt8ydC<%!=ٔ;Q->9Y=eEys<E>Q 5 5ݚ?Q 9 5ߛ)BYy Q IO@RDIP;i ; 5yɮiAii!혍LAj`sB"j`sB:jL#?RjvLC󟣿sF@exFi@BjXʓ;/kű?P0?*jT@2j AZjs2mOH@A@cHz$@Jj65W?9%?Nۊ?jB j@BiNw?itjBjd.?jrjrj5pBzj)?E addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 0.502885 s, deltaX: -0.199997 m, approachRate: -0.397699 m/s, rangeRepo size: 4 U Added new target pos. range: 60.844009 m, bearing: 36.548319 deg, lat: 36.779508 deg, lon: -121.859734 deg, deltaT: 0.502885 s, deltaX: -0.199688 m, approachRate: -0.397085 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 60.84 m.hYhYhYhYhYgagajgargareiZei:em@3sN@*em`k?[["[*[I@T) >?i9)顥6TD:iiIIYDDAT read: Rx Time:01:33:23.6598 TRx dataTimestamp_ set to:1764898404.209280PDAT read: Bearing 239.2, 48.9 (Local) ~Local bearing/azimuth received: Bearing 239.2, 48.9 (Local) DAT read: Range 11 to 50 : 61.4 m (trip time 40.9 ms) speed -0.4 %DAT read: 01:33:23.6598 LVL= 19056, 12913, 19314, 17235, AGC= 59, IDX= 2,-0.01,-1.228,-0.869,-2.475,-1.354, PHS= 0.228, 0.530,-1.165, RAW= 20.4, 5.3, CAL= 20.4, 4.4, ROT= 129.6, -4.4 =Ygot valid direction response: 01:33:23.6598 LVL= 19056, 12913, 19314, 17235, AGC= 59, IDX= 2,-0.01,-1.228,-0.869,-2.475,-1.354, PHS= 0.228, 0.530,-1.165, RAW= 20.4, 5.3, CAL= 20.4, 4.4, ROT= 129.6, -4.4 =T#Rx 66: Read range and direction messages.E^direction in FSK: [-0.635546,0.768242,0.076719]EFpublishing direction and range infoylcVdVp?.0ۣ?YuBpJq2rK SC);Ixi>i?K>q=K> nF=)@InFQcbIſk63l? D޿)騻I@inFechecking for new query: numPingsReceived=66, elapsed TxPingTime=32.538895ԉw9 @  @ @ /@ Ա } checking for new query: numPingsReceived=66, elapsed TxPingTime=32.771118 ^AI)I9OM>Gf#,h[!LAY DBy: IE5 E5E5,E1"E5:*E5:VE5g4ZE1BE5$5y Wn@MA @)@Y@bDVDn8y] ;%m(=ٔQ->9Y=eEyE>Q 5 5?Q 9 5 )BYZ>Q E;y Q IO@XDI':io:G" 5yɮ[Aiid LAj_uB"j_uB:jl?RjJD?pI~CT7G@δ*@BjlcVdVp?.0ۣ?*j@2jnFZjd<ݠH@eA@q;}&@Jj%?yT%?$k/w?j( B jEBiTǣ?i j˜Bjn8?jXwjBrjqBzjF)? addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.504085 s, deltaX: 0.500000 m, approachRate: 0.991896 m/s, rangeRepo size: 4  Added new target pos. range: 61.343548 m, bearing: 35.233434 deg, lat: 36.779509 deg, lon: -121.859735 deg, deltaT: 0.504085 s, deltaX: 0.499538 m, approachRate: 0.990981 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.34 m.hh1h1h9h9g9g9jgArgEĀBreAZeI:eM@3N@*eM`?DDAT read: Rx Time:01:33:24.1598 TRx dataTimestamp_ set to:1764898404.713291PDAT read: Bearing 241.1, 50.2 (Local) ~Local bearing/azimuth received: Bearing 241.1, 50.2 (Local) DAT read: Range 11 to 50 : 61.4 m (trip time 40.9 ms) speed -0.4 -DAT read: 01:33:24.1598 LVL= 24560, 15217, 28578, 32483, AGC= 56, IDX= 498, 0.40,-1.241,-0.922,-2.512,-1.403, PHS= 0.263, 0.526,-1.153, RAW= 21.7, 4.7, CAL= 21.7, 3.7, ROT= 128.3, -3.7 5Ygot valid direction response: 01:33:24.1598 LVL= 24560, 15217, 28578, 32483, AGC= 56, IDX= 498, 0.40,-1.241,-0.922,-2.512,-1.403, PHS= 0.263, 0.526,-1.153, RAW= 21.7, 4.7, CAL= 21.7, 3.7, ROT= 128.3, -3.7 5T#Rx 67: Read range and direction messages.=^direction in FSK: [-0.618487,0.783141,0.064532]EFpublishing direction and range infoyr{ڥO|?P0?Y_q;o ~)8I>i?>=>  A=)O@I A?|0f¿|d ޿? Xۿ)CIO@i A]checking for new query: numPingsReceived=67, elapsed TxPingTime=33.038792[Z>[Z>"[E@*[@) @?i,9)顽62@:iiIII=))>i9! Y @Y  @a @a @a @m =@m =I  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.274929^A FӅI I O >Nf#,x>LAFJ@F(D@Fz̼ٱFk&>FH 6|? sĿ\벿!??`??iFJ@IF@];FCYRJByR@ IbDZVDZl8yb<%b]=ٔf 9dYd=feEydj6=Ej>lQ 5r 5n&?Q 9r 5n)nBYpyr Q IvO@n]DIn:in:nk% 5yziBɮzAxԑii-LAj"j:j -?RjӡXBQ2H@K@Bjr{ڥO|?P0?*jO@2j AZj>H@0' &4A@2%@Jj^?5O?u[1%n?j B jFBig࣊?iHjʗBjNw?jtj˜Brj2qBzj#? addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 61.343548 m, bearing: 34.730183 deg, lat: 36.779516 deg, lon: -121.859748 deg, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 61.34 m.h1h1h1h1h9g9g9jg9rg9reAZeA:eA*eEO?E EEE"E:*Eą:VEZEa@a@a@a@[["[*[@BE>BABEG IBEOBBABABETDBEo;BE[Ez̼) B?i9) 6 =:i i IIU9@Q @Q@U/@Q߅%=߅<DDAT read: Rx Time:01:33:24.6600 TRx dataTimestamp_ set to:1764898405.223839PDAT read: Bearing 241.2, 51.0 (Local) ~Local bearing/azimuth received: Bearing 241.2, 51.0 (Local) DAT read: Range 11 to 50 : 61.7 m (trip time 41.1 ms) speed -0.4  DAT read: 01:33:24.6600 LVL= 23536, 17441, 32754, 32755, AGC= 55, IDX= 500,-0.08,-2.440,-2.145, 2.567,-2.603, PHS= 0.265, 0.503,-1.157, RAW= 22.4, 5.1, CAL= 22.4, 4.2, ROT= 127.6, -4.2 } Ygot valid direction response: 01:33:24.6600 LVL= 23536, 17441, 32754, 32755, AGC= 55, IDX= 500,-0.08,-2.440,-2.145, 2.567,-2.603, PHS= 0.265, 0.503,-1.157, RAW= 22.4, 5.1, CAL= 22.4, 4.2, ROT= 127.6, -4.2  T#Rx 68: Read range and direction messages. ^direction in FSK: [-0.608507,0.790162,0.073238] Fpublishing direction and range infoyx?I??YvB[!D )7I>i?+>K=+> Q =)Ӈ@IQ DϘ?Xc@ӎ? ڿ)IӇ@iQ  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.6385089 ^A #I I O >Uf#,JXLA2I@2@2rٱ27h'>2H!5?Ŀ@` ??`?@?i2I@I2#];0Y^MBy^E IIf<)f4ym/]im@mA m@)m@iYm@bDVDv8yփ<%>=ٔr;Q->9Y=eEy<E>Q 5 5с?Q 9 5)BY >Q E ;y Q IO@bDIa;i;,) 5yɮAiiaSNLAjvB"jvB:jF?Rj3$WB<%ZH@4@Bjx?I??*jӇ@2jQ ZjAH@b )A@h'@Jj.Nc??:%W7?jN B jGBi*?iԪjOBjTǣ?j jrj_rBzj? addTargetRange:: Added new target pos. range: 61.700001 m, deltaT: 0.510548 s, deltaX: 0.299999 m, approachRate: 0.587602 m/s, rangeRepo size: 4 % Added new target pos. range: 61.643497 m, bearing: 34.528693 deg, lat: 36.779524 deg, lon: -121.859760 deg, deltaT: 0.510548 s, deltaX: 0.299950 m, approachRate: 0.587505 m/s, posRepo size: 4 -DNOT Ignoring new targets: 61.64 m.h)h)h)h)h)g1g1jg1rg=Bre9Ze9:e=N@*e=J?checking for new query: numPingsReceived=68, elapsed TxPingTime=33.782516[% >[% >"[%@*[%d@Er)A EG?iMu9)im6mm;:iiiqqyIyIyIA9@ @@/@E EE-E"EV:*E|:VEt4ZEBE9 DDAT read: Rx Time:01:33:25.1600  TRx dataTimestamp_ set to:1764898405.725077 PDAT read: Bearing 244.5, 52.4 (Local)  ~Local bearing/azimuth received: Bearing 244.5, 52.4 (Local)  DAT read: Range 11 to 50 : 61.7 m (trip time 41.1 ms) speed -0.4  DAT read: 01:33:25.1600 LVL= 21024, 16017, 29810, 29331, AGC= 55, IDX= 500, 0.23,-1.438,-1.187,-2.767,-1.659, PHS= 0.323, 0.517,-1.151, RAW= 23.9, 4.0, CAL= 24.0, 2.7, ROT= 126.0, -2.7  Ygot valid direction response: 01:33:25.1600 LVL= 21024, 16017, 29810, 29331, AGC= 55, IDX= 500, 0.23,-1.438,-1.187,-2.767,-1.659, PHS= 0.323, 0.517,-1.151, RAW= 23.9, 4.0, CAL= 24.0, 2.7, ROT= 126.0, -2.7  T#Rx 69: Read range and direction messages. ^direction in FSK: [-0.587133,0.808119,0.047106] Fpublishing direction and range infoy  !~⿙4?P7V?Y R > rt r) I B`>i Z? S > 5= Pw> A=) L @I A (|(rEű? ֿ) eLI L @i A  checking for new query: numPingsReceived=69, elapsed TxPingTime=34.049744 J[f#,'rLABˍ@BĔ@BٱB '>BH`$4?Ŀ@ ~/!?`??`"?iBˍ@IBA];BCYNTByNM IbDUVDUf8y =%K=ٔ3;Q->9Y=eEyȟ<E>Q 5 5y?Q 9 5ϩ)BYy Q IO@gDIy:id:, 5yDBɮ~AiignLAj"j:j<?RjkSX\BtHZH@ t:@Bj!~⿙4?P7V?*jL @2jAZj2u"ͭpI@[@@p$@Jj˗v!i?w 3D? f8?jB jKBiã9?i>jŖBjg࣊?jHjʗBrjrBzj? addTargetRange:: Added new target pos. range: 61.700001 m, deltaT: 0.501238 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 61.643497 m, bearing: 33.177442 deg, lat: 36.779527 deg, lon: -121.859766 deg, deltaT: 0.501238 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.64 m.hhhhhggjgrgreZe:e*e`?[9[9"[9*[=?@u)q u8K?iuI9)qu;6}"9:iyiyII yAxAchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.2872099IyA)bEU [4jEUY4rEUI"0E EE+E"E:*Ei:VE [4ZEa @a @a @a @ @  @ @% /@! ) @ @ yABA BA BE M IBE TBBA BA BE SDBE {;BE [EQ  DDAT read: Rx Time:01:33:25.6603  TRx dataTimestamp_ set to:1764898406.229137 PDAT read: Bearing 244.6, 53.6 (Local)  ~Local bearing/azimuth received: Bearing 244.6, 53.6 (Local)  DAT read: Range 11 to 50 : 62.1 m (trip time 41.4 ms) speed -0.4  DAT read: 01:33:25.6603 LVL= 28576, 18033, 32754, 32755, AGC= 57, IDX= 503,-0.27,-1.759,-1.544,-3.086,-1.983, PHS= 0.326, 0.484,-1.147, RAW= 25.0, 4.4, CAL= 24.9, 3.2, ROT= 125.1, -3.2  Ygot valid direction response: 01:33:25.6603 LVL= 28576, 18033, 32754, 32755, AGC= 57, IDX= 503,-0.27,-1.759,-1.544,-3.086,-1.983, PHS= 0.326, 0.484,-1.147, RAW= 25.0, 4.4, CAL= 24.9, 3.2, ROT= 125.1, -3.2  T#Rx 70: Read range and direction messages. ^direction in FSK: [-0.574109,0.816874,0.055822] Fpublishing direction and range infoy  h _⿬j#?ᢔ?Y fxB o qF  ) 9I y>i > В f> nF= /> d=) @I d zNjb7G2/? eQԿ) UPI @i d %checking for new query: numPingsReceived=70, elapsed TxPingTime=34.556297^A-IYIiO >=df#,LǑLA8-L@-F@-Mٱ-+'>-H Z ?oĿ`p@љ?a)??`Α?i-L@I-ī];)YYByS I==ԙiMb@Mb@Mb@ 9A`"?}?5^I̿L7A`堿Y>yMb+n@dA @)@Y@bDVDb8ydž<% =ٔ=;Q-=>99Y9==fEyAE<EE>IQ 5] 5Mn?Q 9] 5M.)MBY]>Q E];yeQ IeO@MnDIMQ>;iM=;M1 5ym>Bɮm'AmEi i .LAj ,xB"j ,xB:j NQ?Rj IAp6WI@ލ] @Bj h _⿬j#?ᢔ?*j @2j dZj !zًI@,ƶ@@~ &@Jj z^!Z?oȼ=?oꬼ?j B j ^LBi *o@?i ¦>j dBj *?j Ԫj dBrj sBzj 1? addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.504060 s, deltaX: 0.399998 m, approachRate: 0.793552 m/s, rangeRepo size: 4  Added new target pos. range: 62.043037 m, bearing: 33.195203 deg, lat: 36.779529 deg, lon: -121.859768 deg, deltaT: 0.504060 s, deltaX: 0.399540 m, approachRate: 0.792644 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.04 m.h h h h h g1g1jg1rg=ހBre9Ze9:e= O@*e=)?5checking for new query: numPingsReceived=70, elapsed TxPingTime=34.790558[%>[%>"[%@*[%苁@}M)y }q=?i}9)y顅6[6:iiIIE=  E= E= )E9 "E= :*E= ]t:VE= FA4ZE9 BE= 'yulgu,quA u@)qqYu@bDVDt8ys%=ٔt;Q->9Y=fEyi<E>Q 5 5[?Q 9% 5 )yBY%/>Q E% ;y% Q I%O@zDIl;i;: 5y)ɮ5A1i(i*-ϙLAj*^yB"j*^yBy:j*d- ?Rj* @:S@J@})0h?Bj*$,<6H^?P!Κ?*j* @2j(Zj*jMJJ@WXXP@@ͬNfM#@Jj*?vN-pu?G?j*BB j*WRBi*c5?i* _jj*Bj**o@?j*¦>j*ŖBrj*uBzj* ? addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 0.504124 s, deltaX: 0.300003 m, approachRate: 0.595098 m/s, rangeRepo size: 4 - Added new target pos. range: 62.342457 m, bearing: 31.373313 deg, lat: 36.779537 deg, lon: -121.859781 deg, deltaT: 0.504124 s, deltaX: 0.299419 m, approachRate: 0.593940 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 62.34 m.hYhahahahagagajgirgm̀BreqZe:e@33O@*e?checking for new query: numPingsReceived=72, elapsed TxPingTime=35.798080[/>[/>"[ڴ@*[L@%-7^)! %G?i%9))-m6-2:i)iQQYIYIYIu?)u:?ԩ E  E E (E "E ;*E z:VE c44ZE BE Ai} %> @ @@0@@%=@%=DDAT read: Rx Time:01:33:27.1606 TRx dataTimestamp_ set to:1764898407.741090PDAT read: Bearing 250.4, 56.9 (Local) ~Local bearing/azimuth received: Bearing 250.4, 56.9 (Local) DAT read: Range 11 to 50 : 62.4 m (trip time 41.6 ms) speed -0.4 DAT read: 01:33:27.1606 LVL= 22000, 17713, 29554, 31043, AGC= 56, IDX= 506,-0.12,-2.414,-2.299, 2.450,-2.731, PHS= 0.418, 0.476,-1.146, RAW= 28.2, 3.2, CAL= 28.3, 1.6, ROT= 121.7, -1.6 Ygot valid direction response: 01:33:27.1606 LVL= 22000, 17713, 29554, 31043, AGC= 56, IDX= 506,-0.12,-2.414,-2.299, 2.450,-2.731, PHS= 0.418, 0.476,-1.146, RAW= 28.2, 3.2, CAL= 28.3, 1.6, ROT= 121.7, -1.6 T#Rx 73: Read range and direction messages.^direction in FSK: [-0.525267,0.850479,0.027922] Fpublishing direction and range infoy\)Kǟ 7?|p}?YU1Ers Cy)I>iF>!d>d='> <)@I伩]5c.*pWZ? Ϳ)dI@i伩%checking for new query: numPingsReceived=73, elapsed TxPingTime=36.065739) )-CÂG/{A^AI I!=Fi9=/{AY=dAO]?|f#,LA$$bH@b@b<ٱb&>bH~?ĿK.A???` ?xibH@Ib];`Y-gByMe IbDeVDen8yB=%0=ٔl;Q->9Y=fEy<E>Q 5 59S?Q 9 5)gBYy Q IO@DI|:ip:> 5yɮ;AiinLAj"j:j  ?RjPy<_@eRYJ@8?Bj\)Kǟ 7?|p}?*j@2jZj L^gJ@Wa?@|B#@JjdV?Q#A9?I-f?jA jB B ` IB dBB B B B ;B [E @  @ @ /@ q  DDAT read: Rx Time:01:33:27.6608  TRx dataTimestamp_ set to:1764898408.245092 PDAT read: Bearing 254.2, 57.9 (Local)  ~Local bearing/azimuth received: Bearing 254.2, 57.9 (Local)  DAT read: Range 11 to 50 : 62.7 m (trip time 41.8 ms) speed -0.4  DAT read: 01:33:27.6608 LVL= 24336, 17553, 29938, 31699, AGC= 58, IDX= 508, 0.15, 1.061, 1.142,-0.423, 0.684, PHS= 0.479, 0.503,-1.151, RAW= 29.3, 2.1, CAL= 29.6, 0.1, ROT= 120.4, -0.1  Ygot valid direction response: 01:33:27.6608 LVL= 24336, 17553, 29938, 31699, AGC= 58, IDX= 508, 0.15, 1.061, 1.142,-0.423, 0.684, PHS= 0.479, 0.503,-1.151, RAW= 29.3, 2.1, CAL= 29.6, 0.1, ROT= 120.4, -0.1  T#Rx 74: Read range and direction messages. ^direction in FSK: [-0.506033,0.862512,0.001745] Fpublishing direction and range infoy  ?Ol1c?n p\?Y zB _ D t {) :I }?>i ? S ? Q = A? :) |@I 亩 6牿zQ?#SB? ʿ) I |@i 亩  checking for new query: numPingsReceived=74, elapsed TxPingTime=36.581886ԩ ^AeN؅IIO>f#,LAu@ł@wٱ%h&>H G֓?:Ŀ q@ v(?@~? v?ד?iu@I];CY)y-d I iMb@Mb@Mb@ 9n?Zd;OͿˡEY>y~j'MA @)YQ@bDVDU8yH%=ٔi;Q->9!Y!=-fEy)5<E5>aQ 5m 5e]H?Q 9u 5e1)eQBY}>Q E} ;y}+Q I}O@eDIe\*[ >"[ Dճ@*[ @=w)9 ==J?iE|9)AEu7E0:iAiIIIIIIQ1Em EmEm&Ei"Em:*Em:VEm4ZEiBEmN-i > 񒿩 ? l$= V?  ;) a@I 仩   5fAKh}i?  E!ɿ) R$I a@i 仩   checking for new query: numPingsReceived=75, elapsed TxPingTime=37.086609ԁ^A#I!I9OE?f#,6LAB,ŏ@B|@BົٱB&>BHZ`?&Ŀ F@"x?` \w?_?`o?iB,ŏ@IB-];BCYboBybn IbDrVDrL8yz=%z<=ٔ~H;Q-~>9|Y=fEy*<E> Q 5 5 @?Q 9 5 v) ABYy Q IO@ DI `:i K: ZG 5y!ɮ%A!iYi]g/LAj]^{B"j]^{B:j]?Rj]9@@:?CK@(,?Bj]/9߿b~!?a|?*j]a@2j]Zj]޽KJ@7HW1?@:߫G"@Jj]7cd?ۿc?@$r?j]A j]/WBi]v?i]j]Bj] _?j]Cfzj]GBrj]wBzj]͢ ?i} addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 0.504017 s, deltaX: 0.200001 m, approachRate: 0.396814 m/s, rangeRepo size: 4  Added new target pos. range: 62.842270 m, bearing: 30.107829 deg, lat: 36.779550 deg, lon: -121.859807 deg, deltaT: 0.504017 s, deltaX: 0.199814 m, approachRate: 0.396443 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.84 m.hhhhhggjgrgreZe:e@3sO@*e?[["[*[n3@ົ) UN?im9)7w/:iiIIchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.310047ԙ-9E EE+E"ED:*Ex:VE [4ZEa@a@a@a@9@ @@/@AiAiB>BBZ IB^BBBBTDBѠ;B\E = DDAT read: Rx Time:01:33:28.6610 E TRx dataTimestamp_ set to:1764898409.253920U PDAT read: Bearing 255.5, 59.3 (Local) U ~Local bearing/azimuth received: Bearing 255.5, 59.3 (Local) ^Aa m DAT read: Range 11 to 50 : 63.0 m (trip time 42.0 ms) speed -0.4 I I O >f#,P6QLADAT read: 01:33:28.6610 LVL= 22288, 16225, 28370, 28531, AGC= 57, IDX= 510,-0.10,-1.288,-1.245,-2.772,-1.674, PHS= 0.488, 0.473,-1.142, RAW= 30.4, 2.3, CAL= 30.7, 0.4, ROT= 119.3, -0.4 Ygot valid direction response: 01:33:28.6610 LVL= 22288, 16225, 28370, 28531, AGC= 57, IDX= 510,-0.10,-1.288,-1.245,-2.772,-1.674, PHS= 0.488, 0.473,-1.142, RAW= 30.4, 2.3, CAL= 30.7, 0.4, ROT= 119.3, -0.4 T#Rx 76: Read range and direction messages.R;ɰR;ԑ^direction in FSK: [-0.489371,0.872048,0.006981]Fpublishing direction and range infoy Q߿+9+?a|?Y|BWa?n so)9I#>i->-?>+ ? )gB@I ]Cb?Hav?`?0Ŀ@3y?h?]o? ??iq@I ];YpByo IԹi Mb@Mb@Mb@     9 S?uVͿJ +Y />y rh H   )  Y bDEVDEp8yUTJ;%u=ٔ}R;Q-}>9Y=fEy/R<E>Q 5 586?Q 9 5)(BY>Q E ;ye Q I O@DI LqK@* m?Bj Q߿+9+?a|?*jgB@2jZjߊZJ@W51H#?@BT"@Jj%%j?r?e#⺣?jA jWBi2u?iLjŔBj 뤊?jAL?jŔBrjyBzj? addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 0.504811 s, deltaX: 0.099998 m, approachRate: 0.198091 m/s, rangeRepo size: 4 5checking for new query: numPingsReceived=76, elapsed TxPingTime=37.814045= Added new target pos. range: 62.942516 m, bearing: 30.005017 deg, lat: 36.779556 deg, lon: -121.859812 deg, deltaT: 0.504811 s, deltaX: 0.100246 m, approachRate: 0.198582 m/s, posRepo size: 4 =DNOT Ignoring new targets: 62.94 m.h9hAhAhAhAgAgAjgirgm܀BreiZei:euO@*eu?[>[>"[@*[\@) =J?i Z9)   7 .:i iII ر9EE  EE EE )EA "EE :*EE Ar:VEE FA4ZEA BEE $5\c ?= ? )Ԗ@IO?ߛf#,qLAI:>[? yH? Nƿ)!0IԖ@i:checking for new query: numPingsReceived=77, elapsed TxPingTime=38.094269;@.5@- ٱ%>HFR??ĿNম?w?~a?ण?ɔ?i;@I];CYmyBymz IbDVDi8y*.=%T=ٔ;Q->9Y=fEy<E%>)Q 5- 5-9/?Q 95 5-F)-BY1y5 Q I5O@-DI-:i->:-O 5yeCBɮeSAeEiivpLAj"j:j?RjnC9>-LEךK@UP{BjwA޿Q?n p\*jԖ@2j:ZjtMK@Br>@;?au!@Jj0ث?͈v?x?jA jrXBiԃ?iHdjBjv?jjBrj zBzj1'? addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 0.503286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 62.942516 m, bearing: 29.762563 deg, lat: 36.779557 deg, lon: -121.859815 deg, deltaT: 0.503286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.94 m.h h h h h g g jgrgreZe:eY*e]?[["[*[k@- ) qN?i9)页 7.:iiII9@ @@/@@@ checking for new query: numPingsReceived=77, elapsed TxPingTime=38.318123AD =D =E  E E E "E :*E i:VE ZE a5 @a= @a= @a= @^A I I B >B CB ` IB dBB B B B ޠ;B \EO >Թ *f#,|LA2t@2km@2s ٱ2@%>2H@0? ?uĿ h?e`A?$??i2t@I29];2CY:qBy:q IbDDVDDyJ{%J]=ٔN.;Q-N>9PYP=RfEyPRA<EV>TQ 5Z 5V(?Q 9Z 5V))VBY\y^ Q I^O@VDIVdi #>b0 ?I>0? ^ Z>)*'@I^ Z-HؖH?sː]:"? Vſ)`JI*'@i^ Zchecking for new query: numPingsReceived=78, elapsed TxPingTime=38.608028^A#I!I9OEs> - checking for new query: numPingsReceived=78, elapsed TxPingTime=38.821949I 9f#,lLA<<Ef EfEf+Ed"Ef:*Efk:VEf [4ZEdBEf6H@'W?`?@EzĿ`Ӛ?uuT P|?_?iT@I];CYsBys IiuMb@Mb@Mb@qqqq q9uCl?uVͿ+Yuߏ>yquqq u@)u@qYu@bDVDa8y5;%+=ٔO;Q->9Y=fEyo<E>Q 5 5 ?Q 9 5)BY>Q E;y Q IO@DI:;i8;W 5)yɮ~AiiƐLAj|B"j|B:j\?RjPu?!?iyEJ@ͻ*@Bj._߿ B?\ ?*j*'@2j^ ZZj$8 mH@Ez)@@cжb5@Jjg]3?ْZ?P, ?jHB j8GBiq?i[7}jBjjjrj'{Bzj? addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 0.504936 s, deltaX: 0.299999 m, approachRate: 0.594133 m/s, rangeRepo size: 4 E Added new target pos. range: 63.242527 m, bearing: 32.981308 deg, lat: 36.779557 deg, lon: -121.859815 deg, deltaT: 0.504936 s, deltaX: 0.300011 m, approachRate: 0.594156 m/s, posRepo size: 4 EDNOT Ignoring new targets: 63.24 m.hAhIhIhIhIgIgIjgQrgUڀBreQZeQ:e]`fO@*e]j?[>[>"[kQ@*[@-J:)) 5L?i5η9)15X75.:i1iYYaIaIaDDAT read: Rx Time:01:33:30.1613 TRx dataTimestamp_ set to:1764898410.769892PDAT read: Bearing 251.9, 56.1 (Local) ~Local bearing/azimuth received: Bearing 251.9, 56.1 (Local) DAT read: Range 11 to 50 : 63.5 m (trip time 42.3 ms) speed -0.3 DAT read: 01:33:30.1613 LVL= 24688, 20033, 28866, 31043, AGC= 60, IDX= 513,-0.28, 1.787, 1.996,-0.069, 1.396, PHS= 0.493, 0.644,-1.509, RAW= 26.4, 3.6, CAL= 26.4, 2.2, ROT= 123.6, -2.2 Ygot valid direction response: 01:33:30.1613 LVL= 24688, 20033, 28866, 31043, AGC= 60, IDX= 513,-0.28, 1.787, 1.996,-0.069, 1.396, PHS= 0.493, 0.644,-1.509, RAW= 26.4, 3.6, CAL= 26.4, 2.2, ROT= 123.6, -2.2 T#Rx 79: Read range and direction messages.^direction in FSK: [-0.552984,0.832307,0.038388]QFpublishing direction and range infoyi B?.?Y~Bp`ANp Cy)Ij>i/$?&>=> nF=) @InF@ @@/@@yA@\ xpnj$? ѿ)9I @inFchecking for new query: numPingsReceived=79, elapsed TxPingTime=39.126160ԁ ^A N؅I I O >wf#,a3LA02{@2ߗ@2T.;ٱ2Mj%>2H=??jĿ`S`2̠?te G?R?i2{@I2];0YNzByR| IbDZVDZt8yb"=%br=ٔb#;Q-f?9dYd=ffEydj<Ej?lQ 5r 5n?Q 9r 5nN)nBYpyr Q IvO@nDIn;in;nY 5yzTBɮzAzʧEchecking for new query: numPingsReceived=79, elapsed TxPingTime=39.330002iiELAj}B"j}B:j!?Rj01AjfJ@[{@Bji B?.?*j @2jnFZj;AI@GJGV?cB@gA%@Jj3Ŷz?Q?.,?jB jJBiAc?iN juBjjjŔBrj{Bzj? addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 0.507750 s, deltaX: 0.200001 m, approachRate: 0.393896 m/s, rangeRepo size: 4  Added new target pos. range: 63.442345 m, bearing: 36.055124 deg, lat: 36.779557 deg, lon: -121.859815 deg, deltaT: 0.507750 s, deltaX: 0.199818 m, approachRate: 0.393536 m/s, posRepo size: 4 DNOT Ignoring new targets: 63.44 m.hhhhhggjgrg re Ze :e O@*e !7?[)[)"[)*[-Â@ET.;)A E:P?iE 9)IM77M.:iIiQQYIYIiԙDzD@AbEu÷G4jEuL4rEuí<0E EE-E"E:*Ez:VEt4ZEa%@a%@a-@a-@9@9 @9@E1@AB<A<B>BBf IBiBBP =BBBҠ;B \EԹ^AmIIO>ߵ=ߵ%=DDAT read: Rx Time:01:33:30.6615 TRx dataTimestamp_ set to:1764898411.273399PDAT read: Bearing 260.9, 62.0 (Local) ~Local bearing/azimuth received: Bearing 260.9, 62.0 (Local) DAT read: Range 11 to 50 : 63.8 m (trip time 42.5 ms) speed -0.3  DAT read: 01:33:30.6615 LVL= 21952, 17841, 24050, 27747, AGC= 63, IDX= 3,-0.09,-0.873,-0.909,-2.417,-1.320, PHS= 0.550, 0.456,-1.141, RAW= 32.8, 1.7, CAL= 33.2, -0.2, ROT= 116.8, 0.2  Ygot valid direction response: 01:33:30.6615 LVL= 21952, 17841, 24050, 27747, AGC= 63, IDX= 3,-0.09,-0.873,-0.909,-2.417,-1.320, PHS= 0.550, 0.456,-1.141, RAW= 32.8, 1.7, CAL= 33.2, -0.2, ROT= 116.8, 0.2  T#Rx 80: Read range and direction messages. `direction in FSK: [-0.450875,0.892580,-0.003491] Fpublishing direction and range infoy=PH"ܿI~?QC1mlY3BUE] cl)?I ?ix>J C?<V? d)w@Id;ODKO?v:P~;? ¿)`zIw@id;5 checking for new query: numPingsReceived=80, elapsed TxPingTime=39.598110) f#,ٚLA2@2h@2qт;ٱ2(&>2H?? Ŀ@:`?q@+Zp`5?m?i2@I2ϩ];0YNByR I|iMb@Mb@Mb@ 9@5^I ?)\(̿{GzYb>yGa#A @)@Y@bDVD|8y3.=%+=ٔ7;Q->9 Y = fEy 5f<E5>9Q 5E 5=?Q 9E 5=)=BYED>Q EE;yE Q IEO@=DI=:i=q:=%^ 5yqɮu|Aqii_њLAj~B"j~B:jE?Rj@'l%*"@Jj4y?a ?$r[D>"[ܳ@*[e@qт;) E?i9)  7 r/:i iII I)E EE(E"ET;*Ei:VEc44ZEBEG - ? +< ,? ) Z@I ; 8O'~x?M;6!Xt? ¿) HżI Z@i ; E checking for new query: numPingsReceived=81, elapsed TxPingTime=40.102524ԩ ^AFӅIIO>sf#,#kLA4<ɰv)@vy@v;ٱv@$>vH`ի?@?@ooĿr?o`4{??iv)@Ivl];tYBy I)-A 15%=bD=VD=@8ym&:%m<=ٔm<;Q-u>9qYq=ufEyq}=E}>Q 5 5h ?Q 9 5R)BYy. Q IO@DI;i;a 5yNBɮLAiYi]ULAjY"jY:j]7?Rj]LأBBl IBnBBO =BBUDBʠ;B\EBCBCBBQ =BP =CǥC5A^A V݅I I O >i 5 DDAT read: Rx Time:01:33:31.6617 = TRx dataTimestamp_ set to:1764898412.281156E PDAT read: Bearing 263.0, 62.1 (Local) Sf#,t%LA~Local bearing/azimuth received: Bearing 263.0, 62.1 (Local) DAT read: Range 11 to 50 : 64.1 m (trip time 42.7 ms) speed -0.3 .DAT read: 01:33:31.6617 LVL= 23280, 22209, 32754, 32755, AGC= 58, IDX= 501, 0.25, 1.156, 1.117,-0.430, 0.678, PHS= 0.580, 0.483,-1.152, RAW= 32.8, 1.1, CAL= 33.3, -0.8, ROT= 116.7, 0.8 ^ɑ@bYgot valid direction response: 01:33:31.6617 LVL= 23280, 22209, 32754, 32755, AGC= 58, IDX= 501, 0.25, 1.156, 1.117,-0.430, 0.678, PHS= 0.580, 0.483,-1.152, RAW= 32.8, 1.1, CAL= 33.3, -0.8, ROT= 116.7, 0.8 fT#Rx 82: Read range and direction messages.f`direction in FSK: [-0.449275,0.893284,-0.013962]jFpublishing direction and range infoyquÚܿɕ?4Yu3BquZuVq q)u:Iuz?rPExceeded connect timeout, disconnecting.iuK>utuC?unF^Hj?m?ASĿ`M4\?@fdl?Ö?i^ɑ@I^{];^CYMByM IbDaVD8ayO<%4=ٔ8;Q-5>99YA=EfEyIs<E>Q 5 5?Q 9% 5)BYIyM Q IMO@DI\`ԏf#,L,LAB@BJ@B<ٱB$>BHo??KĿ @ְ?]‚k? ?iB@IB];BCY^By^ IiMb@Mb@Mb@ 9 r?Cl˿lY>y;_X@A @)+@Y@bDlVD8y &=% V=ٔF;Q->9Y=fEyI<E>!Q 5- 5%?Q 9- 5%)%BYU>Q EU;yU Q IUO@%DI%W;i%;%3i 5yYɮ] AYԉDNOT Ignoring new targets: 64.04 m.hhhhhggjgrgBreZe:e*ed ?DDAT read: Rx Time:01:33:32.1618 TRx dataTimestamp_ set to:1764898412.785221PDAT read: Bearing 262.9, 62.9 (Local) ~Local bearing/azimuth received: Bearing 262.9, 62.9 (Local) DAT read: Range 11 to 50 : 64.2 m (trip time 42.8 ms) speed -0.4 uG{A9{AYHADAT read: 01:33:32.1618 LVL= 22384, 21265, 32754, 32755, AGC= 57, IDX= 502,-0.46,-1.725,-1.785, 2.990,-2.190, PHS= 0.567, 0.450,-1.147, RAW= 33.5, 1.6, CAL= 33.9, -0.2, ROT= 116.1, 0.2 %Ygot valid direction response: 01:33:32.1618 LVL= 22384, 21265, 32754, 32755, AGC= 57, IDX= 502,-0.46,-1.725,-1.785, 2.990,-2.190, PHS= 0.567, 0.450,-1.147, RAW= 33.5, 1.6, CAL= 33.9, -0.2, ROT= 116.1, 0.2 %T#Rx 83: Read range and direction messages.-`direction in FSK: [-0.439936,0.898022,-0.003491]-Fpublishing direction and range infoy'ܿ\O?QC1mlYfBpWS )9I&?iff>В?<ww? d)X@Id;[>[>"[@*[@U<)Q UL?iU79)Y]d#7]2:iYM5s6D?4PӸ]? <)IX@id;}checking for new query: numPingsReceived=83, elapsed TxPingTime=41.147892iIIIxA)yA=9@9 @9@=0@9@A@EzA^A] Ii  checking for new query: numPingsReceived=83, elapsed TxPingTime=41.346066I O > rxf#,*FLAE EE(E"E:*E~:VEc44ZEa5@a5@a5@a5@]E8@]1@]0'<ٱ]$#$>]H(?M?`FĿ ?儿@m??i]E8@I]];]CYmBym IByByB}s IB}sBByByByB}͠;B} \E=a=bDQVD8yO4%P=ٔC.;Q->9Y=fEy<E>Q 5 5?Q 9 5S)BYy Q IO@DI^;i;l 5yOBɮ Ai i A2LAj HB"j HB:j ?Rj j^7<m;L@pԻ̿Bj 'ܿ\O?QC1ml*j X@2j d;Zj n -QK@'@@{"@Jj HA?y3?%nɊz?j 8B j ZBi ?i ӝj Bj j ӝj rj ~Bzj 4? addTargetRange:: Added new target pos. range: 64.199997 m, deltaT: 0.504065 s, deltaX: 0.099998 m, approachRate: 0.198384 m/s, rangeRepo size: 4  Added new target pos. range: 64.142570 m, bearing: 30.595856 deg, lat: 36.779559 deg, lon: -121.859816 deg, deltaT: 0.504065 s, deltaX: 0.099930 m, approachRate: 0.198248 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.14 m.hhhhh g g jg rgreZe:e P@*e\?[Q[Q"[Q*[UG@0'<) K?i9)額}&73:iiII9@A @A@E@5@ADDAT read: Rx Time:01:33:32.6619 TRx dataTimestamp_ set to:1764898413.289891PDAT read: Bearing 264.6, 64.1 (Local) ~Local bearing/azimuth received: Bearing 264.6, 64.1 (Local) DAT read: Range 11 to 50 : 64.4 m (trip time 42.9 ms) speed -0.3 EDAT read: 01:33:32.6619 LVL= 21952, 21169, 31650, 32755, AGC= 58, IDX= 503,-0.18,-2.637,-2.735, 2.062,-3.123, PHS= 0.588, 0.433,-1.142, RAW= 34.6, 1.5, CAL= 35.1, -0.3, ROT= 114.9, 0.3 MYgot valid direction response: 01:33:32.6619 LVL= 21952, 21169, 31650, 32755, AGC= 58, IDX= 503,-0.18,-2.637,-2.735, 2.062,-3.123, PHS= 0.588, 0.433,-1.142, RAW= 34.6, 1.5, CAL= 35.1, -0.3, ROT= 114.9, 0.3 MT#Rx 84: Read range and direction messages.`direction in FSK: [-0.421030,0.907032,-0.005236]Fpublishing direction and range infonManaging dock network, ignoring radio surface power offyG*7'ڿ$g?sNruỲBUR{ ):I+?i->-#?Pw< ? )3X@I;,L?~cw)i? ꯾)TӼI3X@i;checking for new query: numPingsReceived=84, elapsed TxPingTime=41.634983I ^Am V݅I I O >f#,{_LA2op@2i@2?7<ٱ29#>2H?V}?p:Ŀ/?ʟ`(`+i?`?i2op@I2];0YBByB Ii-Mb@Mb@Mb@)))) )9-Q?A`"˿y-Y-t)) -n@)-A@)Y)bDUAVDU8ye0i<%mO=ٔm &;Q-m>9iYq=ufEyqu<Eu>yQ 5 5}?Q 9 5})}BY>Q E$;yk Q IO@}DI}:i}:}p 5yɮ Ai!i%RLAj%B"j%B:j%?Rj%(yO;%'.M@6֭տBj%G*7'ڿ$g?sNru*j%3X@2j%;Zj%^o3K@dFW{?@=ڍ"@Jj%y`|?cp?ct?j%A j%]Bi%#?i% j% Bj%B ?j%!5j!rj%{~Bzj%? addTargetRange:: Added new target pos. range: 64.400002 m, deltaT: 0.504670 s, deltaX: 0.200005 m, approachRate: 0.396308 m/s, rangeRepo size: 4  Added new target pos. range: 64.342392 m, bearing: 29.764212 deg, lat: 36.779559 deg, lon: -121.859820 deg, deltaT: 0.504670 s, deltaX: 0.199821 m, approachRate: 0.395945 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.34 m.hhhhhggjg rg re Ze :e P@*e`V?[5>[5>"[5@*[5-ڂ@e?7<)i uL?iu9)y})7},4:iyi!I!YIaE! E%E!E!"E!*E%Ar:VE!ZE!BE%$5z|?<nF? );@I: Yk?16Ty;? zU)I;@i:m checking for new query: numPingsReceived=85, elapsed TxPingTime=42.117634ԩ ^AE #IQ Ia Ou >Lf#,#yLA2|@2̣@2G<ٱ2#>2H'?9dYd=ffEydf<Ej>hQ 5~ 5j뒊?Q 9 5j)jyBYy Q IO@jľDIj;ij;jjs 5y IBɮ Q AɧEi)i-7rLAj)"j):j-\?Rj-|-f+:3BI4M@Bj-x¶ Kڿi ?n p\*j-;@2j-:Zj-ªK@}Y)%?@&an{#@Jj-c?f[?6U?j-A j-H\Bi-uf ?i-Ԡj-Bj)j)j-Brj-~Bzj-O?= addTargetRange:: Added new target pos. range: 64.400002 m, deltaT: 0.503213 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 64.342392 m, bearing: 30.071961 deg, lat: 36.779559 deg, lon: -121.859820 deg, deltaT: 0.503213 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 64.34 m.hIhqhqhqhqgqgqjgyrgyreyZey:e*e?[["[*[o@5G<)1 =7S?i=y9)9=,7=5:i9iAAAIAIIԩMchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.354034E EE)E"E%;*E$:VEFA4ZEa%@a%@a%@a%@1ByB}CB}y IB}xBByByByB}Ƞ;B}\E+9;>i>) @)  @) @- 0@) @1 @1 A = < DDAT read: Rx Time:01:33:33.6621  TRx dataTimestamp_ set to:1764898414.297355 PDAT read: Bearing 266.9, 64.5 (Local)  ~Local bearing/azimuth received: Bearing 266.9, 64.5 (Local) % DAT read: Range 11 to 50 : 64.7 m (trip time 43.1 ms) speed -0.3 M DAT read: 01:33:33.6621 LVL= 22352, 21489, 32754, 32755, AGC= 57, IDX= 505, 0.21,-0.571,-0.684,-2.188,-1.086, PHS= 0.617, 0.447,-1.146, RAW= 35.0, 1.0, CAL= 35.5, -0.7, ROT= 114.5, 0.7 U Ygot valid direction response: 01:33:33.6621 LVL= 22352, 21489, 32754, 32755, AGC= 57, IDX= 505, 0.21,-0.571,-0.684,-2.188,-1.086, PHS= 0.617, 0.447,-1.146, RAW= 35.0, 1.0, CAL= 35.5, -0.7, ROT= 114.5, 0.7 U T#Rx 86: Read range and direction messages.] `direction in FSK: [-0.414662,0.909893,-0.012217]e Fpublishing direction and range infoy  ũӉڿĬ?I:Y fB  PW S  ) 9I ?i /> ! a? 5< ?  +H) ?I +H<   $_?Xq9&?  3ܽ) I ?i +H<  M checking for new query: numPingsReceived=86, elapsed TxPingTime=42.648411q ^A ?΅I I O >|df#,,LA2@2/ݙ@2Z~U<ٱ2L#>2H1?t?8Ŀ&?`US?^?i2@I2X];2CYBy II<)=AbDuVDu8yB&%% =ٔ%:Q-->91Y1=5fEy1=X<E=>Q 5 5㒊?Q 9 50)eBYy Q IO@ɾDIy;i;x 5yɮg AiiLAjHB"jHB:ju?Rj={:M' 5hM@oĀEBjũӉڿĬ?I:*j?2j+H<ZjoXK@ˢ@@8X!@JjnՋi?I> ?k?jB j]Bii?iݝjmBjuf ?jݝjrjbBzj ? addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 0.504251 s, deltaX: 0.299995 m, approachRate: 0.594933 m/s, rangeRepo size: 4  Added new target pos. range: 64.642235 m, bearing: 30.130168 deg, lat: 36.779559 deg, lon: -121.859822 deg, deltaT: 0.504251 s, deltaX: 0.299843 m, approachRate: 0.594630 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.64 m.hhhhhggjgrgreZe:e,P@*e@7?[["[*[yJ@-Z~U<)1 UQ?iU9)QU07UR7:iYiYYaIaIachecking for new query: numPingsReceived=86, elapsed TxPingTime=42.85856699@ @@2@E EEE"E*Eą:VEZEBEKJf#,ZLA6@6@6`<ٱ6$$>6H5?`Qn?<%Ŀ/Q?Mwm?`8?i6@I6-];6CYZByZ Ii=Mb@Mb@Mb@9999 99=e;O?Q˿{GzY=t>y=(\=#=n@=MA =X@)=@9Y=@bDU$VDUΰ8eDDAT read: Rx Time:01:33:34.1621 mTRx dataTimestamp_ set to:1764898414.801170uPDAT read: Bearing 267.2, 65.3 (Local) u~Local bearing/azimuth received: Bearing 267.2, 65.3 (Local) DAT read: Range 11 to 50 : 64.7 m (trip time 43.1 ms) speed -0.4 DAT read: 01:33:34.1621 LVL= 19264, 18609, 27874, 29523, AGC= 57, IDX= 505, 0.48,-1.708,-1.848, 2.945,-2.225, PHS= 0.619, 0.422,-1.157, RAW= 35.8, 1.4, CAL= 36.3, -0.3, ROT= 113.7, 0.3 Ygot valid direction response: 01:33:34.1621 LVL= 19264, 18609, 27874, 29523, AGC= 57, IDX= 505, 0.48,-1.708,-1.848, 2.945,-2.225, PHS= 0.619, 0.422,-1.157, RAW= 35.8, 1.4, CAL= 36.3, -0.3, ROT= 113.7, 0.3 T#Rx 87: Read range and direction messages.`direction in FSK: [-0.401942,0.915650,-0.005236]Fpublishing direction and range infoyimTҦkٿ:gM?sNruYiim@KmHml mSs)iImv?imb>mm?m+9Y=fEy<E>Q 5  57ޒ?Q 9  5)WBY ݥ>Q E #;y  Q IO@;DI:i:0{ 5yɮ5 AQiiim_FLAji"ji:jm?RjmN>9=8GM@ߒfտBjmTҦkٿ:gM?sNru*jm?2jm;ZjmK@PC[?@yRv"@Jjmeo7vG}?]]d?LK|?jmA jm^Bimj%?im'PjmBjmi?jmԠjm Brjm#Bzjm.k? addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 0.503815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 64.642235 m, bearing: 29.725728 deg, lat: 36.779561 deg, lon: -121.859823 deg, deltaT: 0.503815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.64 m.hhhhhggIjgIrgMBreQZeQ:eQ*eU'?[ݥ>[ݥ>"[@*[A@%`<)! -\O?i-9))-37-8:i)i111I1I9y9@ @@$5@ checking for new query: numPingsReceived=87, elapsed TxPingTime=43.361935Ա ^Ae I I O >E  E E (E "E s:*E Ar:VE c44ZE a @a @a @a @B <A B% >B! B%  IB% }BB% P =B! B! B% ;B% \Enf#,3ʛLA>T@>M@>km<@ٱ>T#>>HT?h?>Ŀ?@N6 9@Xh?@W?i>T@I>Қ];>CYJByJ IbDVVDV8y^<%^`=ٔ^} ;Q-^>9`Y`=bfEy`f<Ef>dQ 5j 5fؒ?Q 9n 5f)fIBYlyn+ Q InO@fоDIf^;if;f`~ 5yvZBɮv AvҧEDNOT Ignoring new targets: 64.64 m.hhhhhggjgrgreZe!:e!*e%^J?[["[*[Lz@km<) Q?i9)679:iiII 9@ @@/@Ա@zA@}DDAT read: Rx Time:01:33:34.6624 }TRx dataTimestamp_ set to:1764898415.305733PDAT read: Bearing 269.5, 65.7 (Local) ~Local bearing/azimuth received: Bearing 269.5, 65.7 (Local) DAT read: Range 11 to 50 : 65.1 m (trip time 43.4 ms) speed -0.4 DAT read: 01:33:34.6624 LVL= 21040, 20401, 31122, 32147, AGC= 57, IDX= 508,-0.20,-1.908,-2.066, 2.739,-2.449, PHS= 0.643, 0.428,-1.140, RAW= 36.3, 0.8, CAL= 36.9, -0.9, ROT= 113.1, 0.9 Ygot valid direction response: 01:33:34.6624 LVL= 21040, 20401, 31122, 32147, AGC= 57, IDX= 508,-0.20,-1.908,-2.066, 2.739,-2.449, PHS= 0.643, 0.428,-1.140, RAW= 36.3, 0.8, CAL= 36.9, -0.9, ROT= 113.1, 0.9 T#Rx 88: Read range and direction messages.`direction in FSK: [-0.392289,0.919708,-0.015707]Fpublishing direction and range infoyy}^}둿}0"?}d<}$? })}?I} % checking for new query: numPingsReceived=88, elapsed TxPingTime=43.865910f#,s䛍LAN-@N}@Nv<ٱNZ#>NH½?@ic?HÿǼ?0ՎT? ?iN-@IN8];NCpYBy  I ))====E EEE"El;*E]t:VEZEBEaFyZdHA@ n@)+@YbD!VD˰8yb%,=ٔě:Q->9Y=fEym<E>Q 5U 5Sђ?Q 9U 57)4BY]>Q E]#;y] Q I]O@վDI=[>"[sl@*[@ v<)! %\O?i%_9)!-:7-;:i)i)11I1I19@ @@@9y}4=DDAT read: Rx Time:01:33:35.1624 TRx dataTimestamp_ set to:1764898415.810001PDAT read: Bearing 269.6, 65.9 (Local) ~Local bearing/azimuth received: Bearing 269.6, 65.9 (Local) DAT read: Range 11 to 50 : 65.1 m (trip time 43.4 ms) speed -0.3 DAT read: 01:33:35.1624 LVL= 22832, 23217, 32754, 32755, AGC= 57, IDX= 508,-0.01,-2.504,-2.667, 2.135,-3.045, PHS= 0.642, 0.423,-1.148, RAW= 36.5, 1.0, CAL= 37.0, -0.7, ROT= 113.0, 0.7 Ygot valid direction response: 01:33:35.1624 LVL= 22832, 23217, 32754, 32755, AGC= 57, IDX= 508,-0.01,-2.504,-2.667, 2.135,-3.045, PHS= 0.642, 0.423,-1.148, RAW= 36.5, 1.0, CAL= 37.0, -0.7, ROT= 113.0, 0.7 T#Rx 89: Read range and direction messages.`direction in FSK: [-0.390702,0.920436,-0.012217]Fpublishing direction and range infoy?wBٿ!6t?I:Y0YZ )IZ$?iu>񒿩e#?5<MQ%? +H)q?I+H<Đ?X2đ? F)!Iq?i+H< checking for new query: numPingsReceived=89, elapsed TxPingTime=44.135933a ^A I I O >f#,^LA20œ@2@20<ٱ2">2H@f?]?@ÿz? "ɡ ;?@?i20œ@I2m];0Y>By> IbDF,VDFհ8yn`=%nq=ٔr:Q-r?9pYp=vfEytv<Ev?xQ 5~ 5z$̒?Q 9~ 5zu)z%BYy Q IO@zپDIz;iz:z{ 5y UBɮ K A iiLA9j"j:ji?RjMxi99B2M@*mBj?wBٿ!6t?I:*jq?2j+H<ZjYK@'e ~/@@+ut&"@Jj:$dd?)&u=?Hx4?j{B j^Bit+! ?i jҔBjt+! ?j jҔBrjπBzj1? addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: 0.504268 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 65.041870 m, bearing: 30.172967 deg, lat: 36.779561 deg, lon: -121.859824 deg, deltaT: 0.504268 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.04 m.hhhhhggjgrgreZe:e!*e%@>!?[a[a"[a*[eɂ@checking for new query: numPingsReceived=89, elapsed TxPingTime=44.3701130<) T?i$9)=74=:ii!!I!I!yD=D<bE%:4jE%C4rE%0E EE)E"E:*E:VEFA4B>BCB IBBBBBB#;Bc\EZEBE><2E><JE;:E;@ @@@ԉ^A% #I) IA OM > DDAT read: Rx Time:01:33:35.6625  TRx dataTimestamp_ set to:1764898416.313074 PDAT read: Bearing 270.7, 66.0 (Local)  ~Local bearing/azimuth received: Bearing 270.7, 66.0 (Local)  DAT read: Range 11 to 50 : 65.4 m (trip time 43.6 ms) speed -0.4 Թ  DAT read: 01:33:35.6625 LVL= 20288, 21617, 32594, 32755, AGC= 58, IDX= 510, 0.20,-0.620,-0.790,-2.280,-1.176, PHS= 0.658, 0.431,-1.148, RAW= 36.6, 0.7, CAL= 37.2, -1.0, ROT= 112.8, 1.0  Ygot valid direction response: 01:33:35.6625 LVL= 20288, 21617, 32594, 32755, AGC= 58, IDX= 510, 0.20,-0.620,-0.790,-2.280,-1.176, PHS= 0.658, 0.431,-1.148, RAW= 36.6, 0.7, CAL= 37.2, -1.0, ROT= 112.8, 1.0  T#Rx 90: Read range and direction messages. `direction in FSK: [-0.387457,0.921723,-0.017452] Fpublishing direction and range infoy  WߦؿNa~?W7) ߑY ̂B @O qT R ) :I r(?i > Ƈ#? +H< 6&? 5) d?I 5< R?#ܿae? B) HI d?i 5<  checking for new query: numPingsReceived=90, elapsed TxPingTime=44.639740ݫg#,LAB@B@B!<ٱB">BHg??W?ÿ ? uD A?@?iB@IB];@YJByJ IbDVԿVDV8y~M%~H=ٔ39:Q->9Y= fEy  <E >Q 5 5Œ?Q 9 5/)BԡYy! Q IO@ݾDIBjWߦؿNa~?W7) ߑ*jd?2j5<ZjaK@3X@@n!@Jj 8:^?@?2-a'@?jB j_Biv"+?i8jABjj%?jjmBrj'Bzj ?U addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 0.503073 s, deltaX: 0.300003 m, approachRate: 0.596341 m/s, rangeRepo size: 4 e Added new target pos. range: 65.341446 m, bearing: 30.330220 deg, lat: 36.779562 deg, lon: -121.859824 deg, deltaT: 0.503073 s, deltaX: 0.299576 m, approachRate: 0.595492 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.34 m.hhhhhggjgrgreZe:eYP@*e@?[["[*[@!<) wP?i߹9)-A7=?:iiAAIAIA IIII)Ichecking for new query: numPingsReceived=90, elapsed TxPingTime=44.874107E EEE"Es:*E|:VEZEBEp0<2Eq0<JEe;:Ee; 9@  @ @ 5@ @ @ =  DDAT read: Rx Time:01:33:36.1625  TRx dataTimestamp_ set to:1764898416.817125 PDAT read: Bearing 270.1, 66.1 (Local)  ~Local bearing/azimuth received: Bearing 270.1, 66.1 (Local)  DAT read: Range 11 to 50 : 65.4 m (trip time 43.6 ms) speed -0.3  DAT read: 01:33:36.1625 LVL= 21536, 22673, 32754, 32755, AGC= 58, IDX= 510, 0.48,-2.014,-2.179, 2.623,-2.552, PHS= 0.640, 0.418,-1.152, RAW= 36.5, 1.1, CAL= 37.0, -0.6, ROT= 113.0, 0.6  Ygot valid direction response: 01:33:36.1625 LVL= 21536, 22673, 32754, 32755, AGC= 58, IDX= 510, 0.48,-2.014,-2.179, 2.623,-2.552, PHS= 0.640, 0.418,-1.152, RAW= 36.5, 1.1, CAL= 37.0, -0.6, ROT= 113.0, 0.6 IuT#Rx 91: Read range and direction messages.`direction in FSK: [-0.390710,0.920454,-0.010472]Fpublishing direction and range infoy ^A%I1IIOU?8U g#,7LAPicٿ\t?/;rY TX )I #?i>te#?nFUHac?'P?!ÿ )?\ e L?I?iU/@IU];QYmBym IIu<)u;!imMb@Mb@Mb@iiii i9mʡE?%C̿Ymo>yimLim7A mX@)mA@iYm @bDVD8y;% =ٔe9Q->9Y=fEy/<E>Q 5 5?Q 9 5>)BYw>Q E";y% Q IO@DId;i;> 5y!ɮ%t A!iiK4LAj"j:jS" ?RjU9e hN@mxNBjPicٿ\t?/;r*jq?2j+<Zj1xѾK@/I@@n"@Jj[5M,?kQF?x1(?jB j]Bi~?iQj+j1BjjjҔBrj~Bzj4? addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 65.341446 m, bearing: 30.916013 deg, lat: 36.779562 deg, lon: -121.859824 deg, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.34 m.hhhhhQgQgQjgYrg]BreYZeY:ea*ee;?[w>[w>"[@*[}@checking for new query: numPingsReceived=91, elapsed TxPingTime=45.378178%/1<)) -{T?i59)9=E7=tA:iAiqyyIIԁE EE.E"E;*E:VEـ4ZEa@a@a@a@AAAAB>BB IBBBBBTDBX;B\EBBBBP =BC4} 9@y  @y @} /5@y ԩ ߥ %=ߥ < DDAT read: Rx Time:01:33:36.6627  TRx dataTimestamp_ set to:1764898417.321396 PDAT read: Bearing 167.1, 54.7 (Local)  ~Local bearing/azimuth received: Bearing 167.1, 54.7 (Local)  DAT read: Range 11 to 50 : 65.7 m (trip time 43.8 ms) speed -0.3  DAT read: 01:33:36.6627 LVL= 19920, 21041, 32610, 32755, AGC= 58, IDX= 512,-0.24,-0.409,-0.892,-1.527,-0.103, PHS=-0.204,-0.744,-1.469, RAW= 55.2, 37.9, CAL= 51.6, 43.8, ROT= 98.4, -43.8 ^AI I%Ygot valid direction response: 01:33:36.6627 LVL= 19920, 21041, 32610, 32755, AGC= 58, IDX= 512,-0.24,-0.409,-0.892,-1.527,-0.103, PHS=-0.204,-0.744,-1.469, RAW= 55.2, 37.9, CAL= 51.6, 43.8, ROT= 98.4, -43.8 %T#Rx 92: Read range and direction messages.-^direction in FSK: [-0.105437,0.714017,0.692143]-Fpublishing direction and range infoy   -PT;?f &?Y fB M 1R b ) I `Pi v> 1 Ϣv? V)? f? EC?) ?I EC ȵ~?VW[uS? Ґ) %)I ?i EC Mchecking for new query: numPingsReceived=92, elapsed TxPingTime=45.651192OU>>g#,VLAD=b@=\@=߃<ٱ==Hn0?`H?ÿ@˫? {=R? ?i=b@I= ];9YBy IbDVD8Աy-A<%-(=ٔ5g39Q-5>91Y1==fEy9=W<E=>AQ 5m 5Eȵ?Q 9m 5E)EBYqyu Q IuO@EDIE:iEp:Es 5yyɮ}@ AyiiTLAjHB"jHB:jq >Rj̻ ۜ-oG@gxcF@Bj -PT;?f &?*j?2jECZjhb aB@jc#"'@y3J@Jji rm?Uܬ?ʂJ?j9A j3BioK'?iGj{Bjt+! ?jjrjBzj\?- addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 0.504271 s, deltaX: 0.299995 m, approachRate: 0.594909 m/s, rangeRepo size: 4 5 Added new target pos. range: 65.640663 m, bearing: 17.015560 deg, lat: 36.779561 deg, lon: -121.859824 deg, deltaT: 0.504271 s, deltaX: 0.299217 m, approachRate: 0.593366 m/s, posRepo size: 4 =DNOT Ignoring new targets: 65.64 m.h9h9hYhahagagajgargireiZei:emlP@*em?[["[*[ @߃<) W?i9)H7mC:iiIIchecking for new query: numPingsReceived=92, elapsed TxPingTime=45.8852969@ @@4@E  E E )E "E l;*E Ar:VE FA4ZE BE aF^g#,oLA2@2@2; <ٱ23">2H ?PB?ÿ>n?X@? ?i2@I2];0Y:By: IxiMb@Mb@Mb@ 9n?"~j̿ktYV>ySc 0A A@)+@Y@ y> CbD-VD-8y<%|= G ٔ8Q-?!9)Y1=EfEM9QYUiAyAU<E]?YuDDAT read: Rx Time:01:33:37.1627 uTRx dataTimestamp_ set to:1764898417.825185PDAT read: Bearing 314.5, 60.2 (Local) ~Local bearing/azimuth received: Bearing 314.5, 60.2 (Local) DAT read: Range 11 to 50 : 65.7 m (trip time 43.8 ms) speed -0.3 DAT read: 01:33:37.1627 LVL= 21632, 22401, 32642, 31571, AGC= 58, IDX= 512,-0.04,-0.859,-1.145,-2.144,-1.732, PHS= 0.975, 0.632,-0.456, RAW= 43.3, -17.5, CAL= 46.8, -18.2, ROT= 103.2, 18.2 Ygot valid direction response: 01:33:37.1627 LVL= 21632, 22401, 32642, 31571, AGC= 58, IDX= 512,-0.04,-0.859,-1.145,-2.144,-1.732, PHS= 0.975, 0.632,-0.456, RAW= 43.3, -17.5, CAL= 46.8, -18.2, ROT= 103.2, 18.2 T#Rx 93: Read range and direction messages.`direction in FSK: [-0.216927,0.924873,-0.312335]Fpublishing direction and range infoyqu&B˿ 輎?IKӿYqquTuWu uS{)qIuy?iu!?ux龩u\wA?uauQ? u)u?Iu>qqu©$a?+02ӿ u`jQ 5 5]?Q 9 5])u>Iu?iu>qq-checking for new query: numPingsReceived=93, elapsed TxPingTime=46.190643)]BYE>Q EE,;yE Q IEO@]DI]}=i]}=]j 5yQɮU AyiqiutLAjq"jq:ju >Rju|z,WZN@.z4Bju&B˿ 輎?IKӿ*ju?2ju>Zju$06,N@AU7@ $Jjuz?k?$' ?@XmJĿjuA jugqBiuK?iu :ju[BjqjqjqrjuׁBzjue?% addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 0.503789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 65.640663 m, bearing: 21.379478 deg, lat: 36.779561 deg, lon: -121.859824 deg, deltaT: 0.503789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.64 m.hhhhhggjgrgBreZe:e!*e%`׾?[>[>"[@*[@; <)  W?i9)2L7@E:iiII)Q9@ @@4@@@@@ checking for new query: numPingsReceived=93, elapsed TxPingTime=46.385990y IQ Ii Ou >V"g#,̉LABB>B@B@B@BBQ =B@B@BBQ;BB\EER ERER*EP"ER&:*ER&p:VER(N4ZEPBERi;<2ERi;<JERz;:ERz;^Ȕ@^/›@^<ٱ^\">^H`/?`;? ÿ3?x@_@55?4?i^Ȕ@I^ݙ];^CYfByf I hhbDrVDr8yz+%zX=ٔzuQ-~>9|Y|=~fEy|<E> Q 5 5 3?Q 9 5 ) BYy Q IO@ DI ;i ^;  5y%OBɮ% A%ѧE1UDNOT Ignoring new targets: 65.64 m.hQhQhQhQhQgQgYjgYrgYreYZeY:ea*ee?[["[*[D@<)  U?i~9)顝N7BF:iiII)9@ @@/@IIO>YeDDAT read: Rx Time:01:33:37.6629 eTRx dataTimestamp_ set to:1764898418.329152mPDAT read: Bearing 270.8, 66.2 (Local) u~Local bearing/azimuth received: Bearing 270.8, 66.2 (Local) DAT read: Range 11 to 50 : 66.0 m (trip time 44.0 ms) speed -0.3 DAT read: 01:33:37.6629 LVL= 14304, 14497, 21346, 22467, AGC= 60, IDX= 2, 0.09,-1.638,-1.799, 3.023,-2.160, PHS= 0.625, 0.406,-1.144, RAW= 36.5, 1.4, CAL= 37.0, -0.3, ROT= 113.0, 0.3 Ygot valid direction response: 01:33:37.6629 LVL= 14304, 14497, 21346, 22467, AGC= 60, IDX= 2, 0.09,-1.638,-1.799, 3.023,-2.160, PHS= 0.625, 0.406,-1.144, RAW= 36.5, 1.4, CAL= 37.0, -0.3, ROT= 113.0, 0.3 T#Rx 94: Read range and direction messages.`direction in FSK: [-0.390726,0.920492,-0.005236]Fpublishing direction and range infoyaewu1Φٿzߏt?sNruYeBae7e8ebS eW)e<Ie ?ie;>enee#?e+2H ۃ?`3?]ÿ@L?sϤ%@B3?Q?i2e@I2k];2CYJByJ Ibchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.889805ԡiMb@Mb@Mb@ 9%C?uVͿ~jtYZd>yrhD7A )Yf@bDVD8y%0=ٔ Q->9Y=fEy!Q<E>Q 5 5;?Q 9 5)BYĤ>Q E$;y Q IO@DI ;i; 5yɮ AiiLAjB"jB:j(?RjI7o9@YN@>wֿBjwu1Φٿzߏt?sNru*jq?2j;ZjI#@Jj?%8q?AA?v'F?j B jo\Bi@+Ȥ?i} qjBj~?j8j1BrjBzj# ?e addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 0.503967 s, deltaX: 0.300003 m, approachRate: 0.595283 m/s, rangeRepo size: 4 } Added new target pos. range: 65.940033 m, bearing: 32.346165 deg, lat: 36.779558 deg, lon: -121.859821 deg, deltaT: 0.503967 s, deltaX: 0.299370 m, approachRate: 0.594027 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.94 m.hhhhhggE EE+E"EV:*Ei:VE [4ZEa @a @a @a @jgirgmBreiZei:euP@*eu ?[Ĥ>[Ĥ>"[@*[/@<) Y?iº9)R7ZH:iiII@ @@/@IIOd>}DDAT read: Rx Time:01:33:38.1629 }TRx dataTimestamp_ set to:1764898418.833087PDAT read: Bearing 270.8, 66.4 (Local) ~Local bearing/azimuth received: Bearing 270.8, 66.4 (Local) DAT read: Range 11 to 50 : 66.0 m (trip time 44.0 ms) speed -0.3 DAT read: 01:33:38.1629 LVL= 18912, 19105, 31730, 30323, AGC= 58, IDX= 498, 0.29,-2.590,-2.758, 2.060,-3.113, PHS= 0.625, 0.400,-1.154, RAW= 36.7, 1.6, CAL= 37.1, -0.1, ROT= 112.9, 0.1 Ygot valid direction response: 01:33:38.1629 LVL= 18912, 19105, 31730, 30323, AGC= 58, IDX= 498, 0.29,-2.590,-2.758, 2.060,-3.113, PHS= 0.625, 0.400,-1.154, RAW= 36.7, 1.6, CAL= 37.1, -0.1, ROT= 112.9, 0.1 T#Rx 95: Read range and direction messages.`direction in FSK: [-0.389123,0.921184,-0.001745]Fpublishing direction and range infoyy}7peؿid'Vz?n p\Yyy}I}J}{ }sv)}:Iyi}>}F}(#?}<}%? })}8?I}:yy} %?{9ᅮsӛ? }))}޼I}8?i}:yychecking for new query: numPingsReceived=95, elapsed TxPingTime=47.157803 Ȧ.g#,sLAYBy IbD-VD-8y=<%=h=ٔ=Q-E>9AYA=EfEyAMEM>QQ 5] 5U𞒊?Q 9] 5Ua )UBYYyYQ I]O@UDIU;iU;U 5yiɮm AiiiLQLAj"j:j?Rj/9J,h_N@0 WvBj7peؿid'Vz?n p\*j8?2j:ZjW&RK@ΰeA@y#@Jja?VG?+?j- B j\BiYŤ?iog4vjoBj@+Ȥ?jQj+jBrjUBzjTz ? addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 0.503935 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 65.940033 m, bearing: 32.254784 deg, lat: 36.779552 deg, lon: -121.859817 deg, deltaT: 0.503935 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 65.94 m.h)h)h1h1h1g1g1jg9rg9re9Ze9:e9*e= ?[Y[Y"[Y*[Yq)q u [?iuT9)q}U7}I:iyiyIIDDAT read: Rx Time:01:33:38.6632 TRx dataTimestamp_ set to:1764898419.088220checking for new query: numPingsReceived=95, elapsed TxPingTime=47.400063!ByAyB>BCB IBBBBBBJ;B\E+9E EE*E"E ;*E5:VE(N4ZEBEOy PDAT read: Bearing 269.4, 66.5 (Local)  ~Local bearing/azimuth received: Bearing 269.4, 66.5 (Local) ԙ  DAT read: Range 11 to 50 : 66.5 m (trip time 44.3 ms) speed -0.3  DAT read: 01:33:38.6632 LVL= 17904, 20113, 30418, 31299, AGC= 58, IDX= 501,-0.43, 2.901, 2.735, 1.282, 2.400, PHS= 0.603, 0.380,-1.162, RAW= 36.7, 2.2, CAL= 37.0, 0.6, ROT= 113.0, -0.6  Ygot valid direction response: 01:33:38.6632 LVL= 17904, 20113, 30418, 31299, AGC= 58, IDX= 501,-0.43, 2.901, 2.735, 1.282, 2.400, PHS= 0.603, 0.380,-1.162, RAW= 36.7, 2.2, CAL= 37.0, 0.6, ROT= 113.0, -0.6  T#Rx 96: Read range and direction messages. ^direction in FSK: [-0.390710,0.920454,0.010472] Fpublishing direction and range infoyy } Picٿ\t?/;r?Y} By } E} N} v } Cz)y I} 5^?i} \>} jy } nF=} MQ%? } +<)} q?I} +y y } M;?-j,~ʆ.s? } -)} I} q?i} +y y % checking for new query: numPingsReceived=96, elapsed TxPingTime=47.667500 5g#,LלLA2Y@2)S@2v<ٱ2">2HR?#?`ÿ$@Tm?`dg`*Î`??@?i2Y@I2];2CY^By^ I ddbDfVDf8yrk<%rP=ٔrQ-r>9tYt=vfEytv<Ez>QQ 5] 5U?Q 9] 5U )UBYaye Q IeO@UDIU:iUl:UC 5yiɮm Aiii|՜LAjB"jB:j?Rj1Ja9~1ēN@Ms4g~C?BjPicٿ\t?/;r?*jq?2j+ZjI)xK@q^~A@~+%@JjP\v?(Z;?Uqе?jBy j[Bi6uϮ?i_j2BjYŤ?jog4vjoBrjBzj8O? addTargetRange:: Added new target pos. range: 66.500000 m, deltaT: 0.502656 s, deltaX: 0.500000 m, approachRate: 0.994716 m/s, rangeRepo size: 4  Added new target pos. range: 66.439384 m, bearing: 33.071516 deg, lat: 36.779552 deg, lon: -121.859805 deg, deltaT: 0.502656 s, deltaX: 0.499352 m, approachRate: 0.993426 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.44 m.hhhhhggjgrgreZe:eP@*e~?[["[*[瑃@ v<)  \?i q9)Y7K:iiIIYԙ=9DDAT read: Rx Time:01:33:39.1631 TRx dataTimestamp_ set to:1764898419.592912PDAT read: Bearing 268.9, 66.5 (Local) %~Local bearing/azimuth received: Bearing 268.9, 66.5 (Local) =checking for new query: numPingsReceived=96, elapsed TxPingTime=47.909225@ @@@II!OE>E  E E .E "E :*E Ar:VE ـ4ZE a @a @a @a @ 9;g#,#LAYBy IiMb@Mb@Mb@ 9?ʡEͿ&1Yff>yoPA X@)Y @bDVDǰ8y=%==ٔQ->9Y=fEyE>Q 5 5?Q 9 5){BY?>Q E!;y Q IO@DIa;iz; 5yɮ A DNOT Ignoring new targets: 66.44 m.h hhhhggjgrgBreZe!:e!*e%` ?EDAT read: Range 11 to 50 : 66.3 m (trip time 44.2 ms) speed -0.3 mDAT read: 01:33:39.1631 LVL= 21776, 21921, 32754, 32755, AGC= 61, IDX= 501,-0.23, 1.725, 1.560, 0.096, 1.229, PHS= 0.598, 0.375,-1.177, RAW= 36.6, 2.5, CAL= 36.9, 1.0, ROT= 113.1, -1.0 uYgot valid direction response: 01:33:39.1631 LVL= 21776, 21921, 32754, 32755, AGC= 61, IDX= 501,-0.23, 1.725, 1.560, 0.096, 1.229, PHS= 0.598, 0.375,-1.177, RAW= 36.6, 2.5, CAL= 36.9, 1.0, ROT= 113.1, -1.0 }T#Rx 97: Read range and direction messages.^direction in FSK: [-0.392277,0.919681,0.017452]Fpublishing direction and range infoy15<ٿ<n?W7) ߑ?Y5B15U5U5 5)5=I5?i5>5𧖿5Ƈ#?5¸2=5$? 55<)5?I55115Z~?QNEj? 5D)5[u?>"[uDM@*[u=@) {T?ik9)顭\7M:iiIIIp=)=+9=9@9 @9@=/@9IIIaOmV>)  DDAT read: Rx Time:01:33:39.6633  TRx dataTimestamp_ set to:1764898420.095872% PDAT read: Bearing 269.5, 66.6 (Local) - ~Local bearing/azimuth received: Bearing 269.5, 66.6 (Local) M DAT read: Range 11 to 50 : 66.6 m (trip time 44.4 ms) speed -0.3 ] Z#Rx 98: Read range message, but no direction.y Y 3B } checking for new query: numPingsReceived=98, elapsed TxPingTime=48.419685Bg#, LAB>BB IBBBBBB5;Bo\EEB EBEB*E@"EB~ ;*EB:VEB(N4ZE@BEB VfH`l?@?ÿt(?`O@p3? ?ifb@If];fCYBy IbD- VD-8y˼%L=ٔ0Q->9Y=fEyO<E>Q 5 5?Q 9 5)hBYy Q IP@DI^;i;k 5y[Bɮ5 AڧEi9i="LAj=B"j=B:j=f<?Rj= I :zN@)Nꏔ?Bj=<ٿ<n?W7) ߑ?*j=?2j=5Zj= zj)=K@~KDB@3^7V&@Jj= 3?Ϙ3/?{?j=%B j=YBi=J{?i=ײPj= Bj9j=} qj9rj=OBzj=bY?u addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 0.760129 s, deltaX: 0.099998 m, approachRate: 0.131555 m/s, rangeRepo size: 4  Added new target pos. range: 66.539253 m, bearing: 33.848363 deg, lat: 36.779552 deg, lon: -121.859803 deg, deltaT: 0.760129 s, deltaX: 0.099869 m, approachRate: 0.131384 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.54 m.hhhhhggjgrgreZe:e`fP@*e@G?[["[*[[@5gmd<)9 EQ?iE9)IM`7mrN:iiiqqqIqIy-9I=yA)9uDAT read: 01:33:39.6633 LVL= 24208, 22833, 32754, 32755, AGC= 61, IDX= 503,-0.08,-2.883,-3.054, 1.767, 2.900, PHS= 0.602, 0.374,-1.177, RAW= 36.8, 2.4, CAL= 37.0, 0.9, ROT= 113.0, -0.9 Ygot valid direction response: 01:33:39.6633 LVL= 24208, 22833, 32754, 32755, AGC= 61, IDX= 503,-0.08,-2.883,-3.054, 1.767, 2.900, PHS= 0.602, 0.374,-1.177, RAW= 36.8, 2.4, CAL= 37.0, 0.9, ROT= 113.0, -0.9 Z#Rx 99: Read direction message, but no range.^direction in FSK: [-0.390683,0.920391,0.015707]yIMٿ+is?y&?IM^M1YI I)IIM?iM|>IMl$?M+=MMQ%? M<)Mq?IMIM!;S? ipf? M)M~-IMq?iMchecking for new query: numPingsReceived=99, elapsed TxPingTime=48.667183@ @@/0@IIOF>I Hg#,$LAfDDAT read: Rx Time:01:33:40.1633 jTRx dataTimestamp_ set to:1764898420.603962 PDAT read: Bearing 270.6, 66.8 (Local) ~Local bearing/azimuth received: Bearing 270.6, 66.8 (Local) ]DAT read: Range 11 to 50 : 66.6 m (trip time 44.4 ms) speed -0.4 q\#Rx 100: Read range message, but no direction.yhYhh@ߜ@[<ٱcm">H'?` ?ÿ`l?쥿 {@p7? n?i@Echecking for new query: numPingsReceived=100, elapsed TxPingTime=48.940239I];YBy IE EEE"E:*E~:VEZEa@a@a@a@ԑiMb@Mb@Mb@ 9Q?tVο&1Y(\>yrX@A A@)Yf@bD$VDΰ8yMI%M=ٔUFtQ-U>9QYQ=UfEyQ]Y)<E]>aQ 5m 5e?Q 9m 5ej)eNBYm>Q Eu#;yuj Q IuP@eDIe;ie;eO 5yyɮ}c AyihijP&LAjh"jh:jjC?Rjj9N@/n?Bjjٿ+is?y&?*jjq?2jjZjj%2Y^,K@ bB@Vc&@Jjj["?!*s?NkC?jjB jjbYBij&rg?ij=JaNjjʘBjj6uϮ?jj_jj2BrjjBzjjc?- addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 0.508090 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 66.539253 m, bearing: 34.078687 deg, lat: 36.779549 deg, lon: -121.859795 deg, deltaT: 0.508090 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 66.54 m.h9h9h9h9hAgAgjgrgBreZe:e*eH?[>[>"[v_@*[ڂ@[<) Y?i9)d7kP:iiIeDAT read: 01:33:40.1633 LVL= 17632, 20417, 32754, 30627, AGC= 59, IDX= 503, 0.02,-3.104, 3.001, 1.534, 2.669, PHS= 0.612, 0.377,-1.179, RAW= 36.9, 2.3, CAL= 37.2, 0.7, ROT= 112.8, -0.7 mYgot valid direction response: 01:33:40.1633 LVL= 17632, 20417, 32754, 30627, AGC= 59, IDX= 503, 0.02,-3.104, 3.001, 1.534, 2.669, PHS= 0.612, 0.377,-1.179, RAW= 36.9, 2.3, CAL= 37.2, 0.7, ROT= 112.8, -0.7 u\#Rx 101: Read direction message, but no range.}^direction in FSK: [-0.387487,0.921794,0.012217]yAEvؿKV?I:?AEDEOA Ew)E;IE?iE%>Ey閿E$?El$=E6&? E+H<)Ed?IE+HAEERU?PtiK5b? Ea)Et #IEd?iE+Hchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.167816I yAzAy  @  @ @ /@ I1 IA O] >Ng#,I>LA2@2@2(T<ٱ2#>2Hl?@?ÿb ]T?5\K?`?i2@I2];0YUÂByU IbDmVDm8y!>%=ٔlQ-3?9Y=fEy<E3?Q 5 57?Q 9 5)CBYy Q IP@ DI :iP:{ 5yɮ ADNOT Ignoring new targets: 66.54 m.hhhhhggjgrgreZe:e*e iO?[)[)"[)*[- @=(T<)9 =c?i=B9)AEE+Q:iAiIIIIIIQM 9i߱IߵADDAT read: Rx Time:01:33:40.6634 TRx dataTimestamp_ set to:1764898421.105272PDAT read: Bearing 270.9, 67.0 (Local) ~Local bearing/azimuth received: Bearing 270.9, 67.0 (Local) uDAT read: Range 11 to 50 : 66.8 m (trip time 44.5 ms) speed -0.3 \#Rx 102: Read range message, but no direction.yYBchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.4500629@! @!@%75@!I1IAOM1>AA@AB!B!B% IB%BB%R =B!B!B%;B%W\EDzDbEM(N4jEM [4rEMƈ0E EE-E"E;*E:VEt4ZEBE@] P] 6&?] +=] 6'? ] <)] S?I] Y ] n?"}fL? ] )] o*I] S?i]  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.671986Ա eUg#,XLA2G@2A@2K<ٱ2|*#>2H;?@V? ÿ$Y&?,r|N??i2G@I2p];2CYfByf IbD]VD]ǰ8y;%G=ٔQ->9Y=fEyl<E >Q 5% 5y?Q 9% 5)/BY)y- Q I-P@DI#=;iN; 5yiɮm Aiqi i ǼFLAj zB"j zB:j [?Rj bh9(%ZN@팇O?Bj 5}ؿ:|?y&?*j S?2j Zj ft0K@^S7B@0PD&@Jj &ɬ?&\?I5ͮZ?j 4B j YBi `?i .PKj Bj J{?j ײPj ʘBrj Bzj W? addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 0.501310 s, deltaX: 0.200005 m, approachRate: 0.398964 m/s, rangeRepo size: 4  Added new target pos. range: 66.738998 m, bearing: 34.267971 deg, lat: 36.779544 deg, lon: -121.859789 deg, deltaT: 0.501310 s, deltaX: 0.199745 m, approachRate: 0.398446 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.74 m.hhhhhggjgrg!re!Ze!:e-@3P@*e-ປ?[i[i"[i*[mC?@}K<)y }_?ԡi9)顥R~4R:iiIIIm>)mr?DDAT read: Rx Time:01:33:41.1634 TRx dataTimestamp_ set to:1764898421.608785PDAT read: Bearing 271.6, 67.0 (Local)  ~Local bearing/azimuth received: Bearing 271.6, 67.0 (Local) EDAT read: Range 11 to 50 : 66.8 m (trip time 44.5 ms) speed -0.3 U\#Rx 104: Read range message, but no direction.yYmchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.935272E  E E ,E "E :*E :VE g4ZE a @a @a @a @E 9M R>iM > 9@  @ @ /@ I I O >\g#,'frLA;ɰ2 z@2Ys@2oD<ٱ2">2HWl?@? ÿ N ?nA? )?i2 z@I2];2CYN‚ByN IieMb@Mb@Mb@aaaa a9eK7?X9vοJ +YeI>yeseHeA@a a)e@aYe@bD}5VD}ݰ8y=%N=ٔQ->9Y=fEyހ<E>Q 5 5s?Q 9 5O)BY)>Q E);y6Q IP@DIA:iL; 5yɮ A addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 0.503513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 66.74 m.hhhhhggjgrgBreZe:e*e`I?}DAT read: 01:33:41.1634 LVL= 19024, 21425, 30930, 32755, AGC= 59, IDX= 504, 0.18, 3.132, 2.947, 1.496, 2.622, PHS= 0.612, 0.370,-1.170, RAW= 37.2, 2.3, CAL= 37.5, 0.8, ROT= 112.5, -0.8 Ygot valid direction response: 01:33:41.1634 LVL= 19024, 21425, 30930, 32755, AGC= 59, IDX= 504, 0.18, 3.132, 2.947, 1.496, 2.622, PHS= 0.612, 0.370,-1.170, RAW= 37.2, 2.3, CAL= 37.5, 0.8, ROT= 112.5, -0.8 \#Rx 105: Read direction message, but no range.^direction in FSK: [-0.382646,0.923789,0.013962]yF}ؿ?4?PJSx )I?i•l$= d<)IdtQ?!){uO? )ψ"Iidchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.183544[)>[)>"[@*[@%oD<)! %^?i%39)!-4-S:i)iQQQIQIY9@ @@4@IIOF>9  DDAT read: Rx Time:01:33:41.6636  TRx dataTimestamp_ set to:1764898422.112874 PDAT read: Bearing 271.9, 67.1 (Local)  ~Local bearing/azimuth received: Bearing 271.9, 67.1 (Local) E DAT read: Range 11 to 50 : 67.1 m (trip time 44.7 ms) speed -0.3 U \#Rx 106: Read range message, but no direction.y Y 3B m checking for new query: numPingsReceived=106, elapsed TxPingTime=50.437824B% >B! B% IB% BB% Q =B! B! B% ;B% P\EBCBCBBQ =BQ =C˯4q ^H+%?? `ÿ!E4? ?#?t?i^G@I^];^CYn̂Byn IbDv?VDv8yE=%O=ٔ%Q-%>9!Y!=-fEy)-o<E->1Q 5] 55m?Q 9] 55)5 BYaye Q IeP@5DI5:i56:5 5ymVBɮmN Am٧EiiT9LAjB"jB:j&*?Rjv9c: N@o|?BjF}ؿ?4?*j2jdZj!OK@#B@r%@Jj?.?y?(*3?jB jXBi F?i9:jBj&rg?j=JaNjrjBzj? addTargetRange:: Added new target pos. range: 67.099998 m, deltaT: 0.504089 s, deltaX: 0.299995 m, approachRate: 0.595124 m/s, rangeRepo size: 4 % Added new target pos. range: 67.038849 m, bearing: 34.951466 deg, lat: 36.779542 deg, lon: -121.859788 deg, deltaT: 1.007602 s, deltaX: 0.299850 m, approachRate: 0.297588 m/s, posRepo size: 4 -DNOT Ignoring new targets: 67.04 m.h)h)hIhIhQgQgQjgQrgQreYZeY:e]`fP@*e]?[["[*[#@8<) c?i9)+5 U:i iII9@ @@/@IIO%>-DAT read: 01:33:41.6636 LVL= 18208, 22257, 31378, 32755, AGC= 58, IDX= 506, 0.31,-2.218,-2.409, 2.422,-2.731, PHS= 0.615, 0.368,-1.174, RAW= 37.3, 2.3, CAL= 37.6, 0.8, ROT= 112.4, -0.8 5Ygot valid direction response: 01:33:41.6636 LVL= 18208, 22257, 31378, 32755, AGC= 58, IDX= 506, 0.31,-2.218,-2.409, 2.422,-2.731, PHS= 0.615, 0.368,-1.174, RAW= 37.3, 2.3, CAL= 37.6, 0.8, ROT= 112.4, -0.8 5\#Rx 107: Read direction message, but no range.=^direction in FSK: [-0.381033,0.924456,0.013962]yozbؿw$?4? GVz ):Ip?ij>Er&?'? )?IGJ?[W4Prڼ֒? 7)$I?iUchecking for new query: numPingsReceived=107, elapsed TxPingTime=50.6802759i )ig#,vnLARDDAT read: Rx Time:01:33:42.1636 VTRx dataTimestamp_ set to:1764898422.621288jPDAT read: Bearing 272.5, 67.0 (Local) n~Local bearing/azimuth received: Bearing 272.5, 67.0 (Local) |}DAT read: Range 11 to 50 : 67.1 m (trip time 44.7 ms) speed -0.3 DAT read: 01:33:42.1636 LVL= 19824, 22337, 32754, 32035, AGC= 59, IDX= 506, 0.44, 1.936, 1.747, 0.295, 1.422, PHS= 0.616, 0.370,-1.171, RAW= 37.3, 2.2, CAL= 37.6, 0.7, ROT= 112.4, -0.7 Ygot valid direction response: 01:33:42.1636 LVL= 19824, 22337, 32754, 32035, AGC= 59, IDX= 506, 0.44, 1.936, 1.747, 0.295, 1.422, PHS= 0.616, 0.370,-1.171, RAW= 37.3, 2.2, CAL= 37.6, 0.7, ROT= 112.4, -0.7 V#Rx 108: Read range and direction messages.^direction in FSK: [-0.381042,0.924477,0.012217]Fpublishing direction and range infoyPRN[bؿ-P?I:?YPPRpMRAWR R#})R;IR-?iRp>| @@Q$<ٱ !>H`l?@I?@Vÿc/?3@#@_"??i| @IR];CYςBy IRT㕿PRnF=P R+H<)PIR+HPPR9}*>?SX3￱b~? RCø)RNIPiR+HPPchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.011112EM EMEM+EI"EMV:*EM:VEM [4ZEIa]@a]@a]@a]@iiMb@Mb@Mb@ 9RQ?mͿJ +YB>yn7A )Y@@A@AbDVD8y 9<% =ٔ9Q->9Y=gEyػ<E>!Q 5- 5%&f?Q 9- 5%")%BY5>Q E5.;y5 Q I5P@%DI%,:i%k:% 5y9ɮ=5 AAiPiR/çLAjP"jP:jR?RjR k9_VN@W \5?BjRN[bؿ-P?I:?*jR?2jR+HZjR8J@ҍ#֒[5>"[5@*[5LP@]Q$<)Y e)\?ie79)ael5e~V:iaiiiqIqIqy5checking for new query: numPingsReceived=108, elapsed TxPingTime=51.178432 9@  @ @ 25@ I I) O5 > pg#,:LALYr΂Byr Iv=tbDz VDz8y%%%=ٔ%Q-%"?9)Y)=-gEy)-E5"?1Q 5= 55b?Q 9E 55#)5BYAyAQ IEP@5DI5;i5;5 5yIɮM> AQuDNOT Ignoring new targets: 67.04 m.hyhyhyhyhygygyjgrgreZe:e*eީ?[["[*[) [?i(9)5W:iiIIu9@y @y@}/@yDDAT read: Rx Time:01:33:42.6639 TRx dataTimestamp_ set to:1764898423.124842PDAT read: Bearing 272.4, 66.9 (Local) ~Local bearing/azimuth received: Bearing 272.4, 66.9 (Local) II)O5 >EDAT read: Range 11 to 50 : 67.5 m (trip time 45.0 ms) speed -0.3 DAT read: 01:33:42.6639 LVL= 19728, 22865, 32178, 32755, AGC= 58, IDX= 509,-0.35, 1.433, 1.246,-0.206, 0.925, PHS= 0.610, 0.365,-1.175, RAW= 37.3, 2.4, CAL= 37.5, 0.9, ROT= 112.5, -0.9 Ygot valid direction response: 01:33:42.6639 LVL= 19728, 22865, 32178, 32755, AGC= 58, IDX= 509,-0.35, 1.433, 1.246,-0.206, 0.925, PHS= 0.610, 0.365,-1.175, RAW= 37.3, 2.4, CAL= 37.5, 0.9, ROT= 112.5, -0.9 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.382636,0.923766,0.015707]Fpublishing direction and range infoy5}ؿ:|?y&?YBMQY} ):I(?iH>ff+=6'? <)S?Iٔ0?lݶᅮ6? Uи),IS?ichecking for new query: numPingsReceived=109, elapsed TxPingTime=51.471684B>BCB IBBBBBB$;B]\EDYzD]?AEa EeEe*Ea"Ea*Ee:VEe(N4ZEaBEe9 H`n?Y?bÿ$?`&>l2? ?i ]?@I Q]; Y]ՂBy] IbD}VD}8y =%D=ٔ Q->9Y=gEyn<E>Q 5 5\?Q 9 5[&)BYy Q IP@"DIG:i: 5yɮ AiiiǝLAjB"jB:j ?Rjf9q5P&O@q; ?Bj5}ؿ:|?y&?*jS?2jZj,z4J@ԟm&C@ $;&@Jjn?Ȭ -?>X?j|B j.WBiaԁ a|g#,LAZr@Z(l@Z  <ٱZ">ZH@7??fÿ-`٪?T 9?Ę?iZr@IZ];ZCY~ӂBy~ IYiMb@Mb@Mb@ 9S?i|?5ο~jtY/>yqD A X@)+@Yf@ <<bDVD8y`%H=ٔtںQ->9Y=gEy{<E>Q 5 5U?Q 9 5()BY:>Q E3;yiQ IP@%DI;i;@ 5yɮ A}DAT read: 01:33:43.1639 LVL= 20192, 23393, 32754, 32755, AGC= 59, IDX= 509,-0.22,-0.020,-0.211,-1.668,-0.534, PHS= 0.616, 0.368,-1.178, RAW= 37.3, 2.3, CAL= 37.6, 0.80.8 unknown deviceResponse_: 01:33:43.1639 LVL= 20192, 23393, 32754, 32755, AGC= 59, IDX= 509,-0.22,-0.020,-0.211,-1.668,-0.534, PHS= 0.616, 0.368,-1.178, RAW= 37.3, 2.3, CAL= 37.6, 0.80.8 q (Communications Faulta  a  a  a  a  checking for new query: numPingsReceived=110, elapsed TxPingTime=52.204456DNOT Ignoring new targets: 67.44 m.hhhhhggjgrgBreZe:e*eRA[=:>[=:>"[=ܪ@*[=ۀ@u  <)q }Y?i}9)y}25Y:iiIIԉ9@ @@/@I&LCommunications Fault in component: DATIOK>Ա B >B CB IB BB B B B B \\EIg#, LAE EEE"E7;*E:VEZEBEZH?ª?`ÿ ~t?,`h9?`՘?i@I];CԹY%ЂBy% II)))bD]VD]8ymG%m?=ٔmQ-m>Powering downiߕIߕߝߝ9qY=gEyo<E>Q 5 5eO?Q 9 55+)BYyQ I%P@)DIm{A tg#,'LA2՗@2&Ϟ@2G$;ٱ2w ">2H[??`RÿT`/?'ky|+?`p?i2՗@I24];2CYNςByR Ii%Mb@Mb@Mb@!!!! !9%-?ʡEͿ:vY%?5>y%o%T%+@%+@ %n@)%@!Y%p@bDEVDE8yUZ%e^=ٔe1Q-e>9iYi=mgEyiu[<Eu>Q 5  5I?Q 9  5{-)BY >Q E 2;y1Q IP@-DI;i+;] 5y9ɮE AADNOT Ignoring new targets: 67.44 m.hhhhhggjgrg BRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangereZe:e*e[>[>"[@*[O@E5 E5E5&E1EG$;)I"E5:*E5x:VE54ZE1aM@aM@aM@aM@ MHa?iU9)QU5]Z:iYiYaaIaIau{>iu>@ @@ 0@II)O5.>Aiԙ [g#,ALAfw@f@f;ٱf=r!>fH 9?`?@1>ÿ/?emCy ?=?ifw@Ifu];fCYnԂByn IbDvVDv8y~Q<%P=ٔ Q->9 Y = gEy  x<E >Q 5 5vD?Q 9% 5/)BY!y% Q I%P@0DIU;i; 5y)ɮ- A1qLEMAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDUUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1EU UAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFUUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFU UUninitialize.qGUGUG]]ZTransitioning guidance mode to: UNINITIALIZED i]?]]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@] ]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAeeInitialize.Ae eInitialize.q@efafmHBrfmL?uNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@uAuu:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630reZe:e*e[["[*[(@ɢ ?)&. vAili:)6iCS&IAqu9@q @q@u1@qIIO>BM>BIBIBIBIBIBIBM;BMU\EԹEE EEEE+EA"EE:*EE~:VEE [4ZEABEE.H D??7ÿ`S?lu@^??i5@I3];Y}̂By} I bDVD8y%>=ٔ!Q->9Y=gEyg[<E>Q 5 5M>?Q 9 5N2)zBYym Q IP@4DI;i;f 5ycBɮ AEqPAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalP%Entering Terminal tracking update period 2.000000 s sec at 67.500000 m (mode 0.000000 count ).P%P%f-f5@?f1g1f1f1rf1q==z=Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy== {=)> (kpHeading = 0.400000I: (kiHeading = 0.001000 It? t?II)iIi&}NClearing failed state for component DATq IO[>! EU  EU EU 1EQ "EU ;*EU ՚:VEU -4ZEQ a] @a] @a] @a] @g#,Y5uLAve@ve^@v08;ٱv!>vH?{?`0ÿ .?d 'r ?@Ú?ive@Iv];vCY%قBy% IiUMb@Mb@Mb@QQQQ Q9U/$?tVο:vYU,>yUrQQU A UX@)U@QYU@bDVD8yz=%>=ٔ Q->9Y=gEy}Z<E>Q 5 57?Q 9 54)fBY>Q E3;yQ IP@8DI[;i-e;3 5y ɮ K A :k-@P51Q5=B*** querying acoustic contact ***i9i9f f f g ffrfereZe:e*e[=>[=>"[=y@*[='@颍Bɢ p) ]i)]5顑i$&u˜=ɧe駝i ?I? ?IIIO%+>! BM >BM CBM IBM BBI BI BI BM ';BM `\EbEjEOS4rEg0E]  E] E] 'EY "E] D:*E] :VE] '4ZEY BE] 2rH`G?`n?tBÿ? ^ok#??irN@Ir];rCYBy I %=%p=bD-VD-ð8ye'=%m^=ٔm>Q-m>9qYq=ugEyqt<E>Q 5 52?Q 9 57)UBYyQ IP@;DI:i:t 5yɮ ABk1QqQfffgffrfere Ze :e *e [I[I"[I*[Mm@}Bɢ}˒J) i)3顁ik&*=ɧ#駵/i?IJź? Jź?I NJκ1i ^A sI1 IQ Ou >ѩg#,{/LAɰ4zHK?@`?jÿO_`?~|csH? y?iz@Iz>];zCYBy% IAIUp<)UQUAiMb@Mb@Mb@ 9w/?q= ףpͿ~jtY&>ykD@@ @)Y3@bDVD8yM;%@=ٔQ->9Y=gEy%W<E%>)Q 55 5-,?Q 95 5-f9)-CBY5i>Q E=9;y=]Q I=P@-?DI-;i- ;- 5yE^BɮE AEEJkYqQ]]rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqP]]Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalfififigififqE EE*E"E&:*EL_:VE(N4ZEa@a@a@a@rfe re Ze :e1*e1[ui>[ui>"[u@*[u@颅Bɢf) i)Ix顉i &g=ɧ8Y-i2?I;n? ;n?Iievԑ^A I I O > ӹg#,g ÞLAVQ@V@V:ٱV#>VH`?(T?`$qÿ8 ? cT7M?`L?iVQ@IVi];VCY|y~ IbD5VD58ym7:%mU=ٔuX>Q-u>9qYy=}gEyy}{c<E}>Q 5 5_'?Q 9 5;)3BYyQ IP@BDI:i2:ԙr 5yɮ AfffgffrfereZe:e*e[["[*['@ Bɢ 4 )  Pi )Ђi&=ɧTi5,E?!!I%? %?I!M@Q@Q@Y@YBA<B>BCBBBR =BBSDB,;Ba\EBBBBBC4D!zD%@AE- E-E-+E)"E-:*E-:VE- [4ZE)BE-$5 jg#,KܞLA%>@%P7@%kٱ%b >%H ~?`>?v2ÿ*Y?@ΦbxM? ??i%>@I%+];!Y=By= IMAAMAAbDM VDM8y];%]K=ٔeQ-e>9aYi=mgEyim<Em>q}Powering up}"Initializing DAT.Q 5 5u!?Q 9 5u=)u"BYyY Q IP@uFDIus;iut;u 5yɮ AfYfifqgqfqfqrfyeyreyZey:ey*e[["[*[b@颵BɢG') hi))项i%_a=ɧԝ|i[?I͹? ͹?I)8 II O%>QE  E E )E "E V:*E xv:VE FA4ZE a @a @a @a @ - ݂GE v|Aa y 9 v|AY @ g#,LAYBy I !!iMb@Mb@Mb@ 9E?v/ͿS㥫YF>yxi/]@+@ A@)@YbD VD8y?%C=ٔQ->9Y=gEyE> YQ 5 5 y?Q 9 5 @) BY>Q E.;y|Q IP@ JDI [>"[G[@*[Q@颽BɢHf) Mi) i<%8=ɧ`fios?I? ?Iԉ!!!!ԩI) I9 OM >B >B B IB ĂBB B B B ;B M\E D D E%  E% E% *E! "E% :*E% :VE% (N4ZE! BE% +BH?3?ÿ@? _?@!?:?iBf@IB];@YbByf!IbDEVDE8yUy_=%US=ٔU.Q-U>9YYY=]gEyYeT<Ee>iQ 5u 5m?Q 9u 5m3C)mBYqyu)Q I}P@mMDIm8;imf;m 5yɮ AfffgffrfereZe:e*e[["[*[/{@Bɢ}D) @i);i$%=ɧȾϣi?I>? >?IԱIIO5= 9 !g#,N*LAj^@j@jL3yٱj !>jH Qw??>ÿ{@$C?\d&o?_ ?՚?ij^@Ij];hYzByz!IiMb@Mb@Mb@ 9kt?v/ͿMbY 0>y@@7A @)@Y 4=R=bD(VDѰ8yY%B=ٔJQ->9Y=gEyj<E>Q 5 5?Q 9 5E)BY1>Q E7;ys Q IP@QDI:i: 5y ɮ  A f)f1f1g1f1f1rf1e9re9Ze9:e9*e9[]1>[]1>"[]fz@*[]Qփ@uBɢu{)y }pYiy)}jyyi}%=ɧ駅iH?I? ?IEU EUEU,EQ"EU:*EUz:VEUg4ZEQa]@a]@a]@a]@IiIyO=9a 9 g#,mXDLAɰ;,R@RXڠ@RגٱR}!>RH?R ?Kÿn?Zr?J?A?iR@IR];RCYZByZ !IIb4<)bp;bDfVDfð8yn<%n\=ٔrQ-r>9pYp=rgEytve<Ev>xQ 5~ 5zL ?Q 9~ 5zH)zBYy Q IP@zTDIz<;iz;z 5y YBɮ S A Ef)f)f1g1f1f1rf1e9re9Ze9:e9*e9[Y[Y"[Y*[]@mBɢu&)q u(Oiq)}T(yyi}%-=ɧ駅^ļi7?I{? {?IIyIO=ԉAaAeAABm>BiBm IBm΂BBiBiBiBm;BmN\EEe EeEe(Ea"Ee+$;*Ee:VEec44ZEaBEe;}NH*? z? ÿ`^?@릿 Rr? U?n?iN@IN÷];NCYZByZ !I`bDfVDfİ8yn\<%nK=ٔr7Q-r>9pYp=rgEypv<Ev>xQ 5~ 5z?Q 9~ 5z{J)zBY|y Q IP@zXDIz;iz;zu 5y ɮ C A f)f)f)g1f1f1rf1e1re9Ze9:e9*e9[a[a"[a*[e3@u Bɢu,ԉ)y }heiy)}砹yyi%~=ɧ7駍ּi@?I\? \?IA4AIIO*>Eu  Eu Eu *Eq "Eu s:*Eu 1:VEu (N4ZEq a} @a} @a} @a} @A [g#,txLAJP@JRI@J$xٱJ>JH$??`)K j?jo?@? ?iJP@IJN];HYRByV !IiMb@Mb@Mb@ 9gfffff?)\(̿Zd;OY33>yGaj<@@ A@)@Y@@A@AbDVD8y%<=ٔ=:Q->9?Y?=gEyfD<E>Q 5 5?Q 9  5,M)BY ؑ>Q E :;yQ IP@\DIf;i-e;H 5yɮS A!fAfAfAgAfAfArfIeIreIZeI:eI*eQBɢ Ѣ) i)¹!!i%%-:=ɧ-]-i- ѫ?IIIUf? Uf?IQIA2AIIOB>qBm >Bi Bm IBm ؂BBi Bi Bi Bm ';Bm Z\Eԡ Cg#,㑟LAD=D<E. E.E.'E,"E. ;*E.:VE.'4ZE,BE.L9?Y?=gEymDE>Q 55?Q 95O)BYyQ IP@_DI::i:5yɮ AB*** querying acoustic contact ***iifffgf!f!rf!e!re!Ze):e)*e)UBɢ] @)Y ](viY)]ڹYaie%e=ɧmmUim|?iiImZ̷? mZ̷?Iq }zA}zAԩ}Z9A܏AIIO> Ӄg#,TLAY-By5!IԩiMb@Mb@Mb@ 9#~j?!rh̿ˡEY%>ylg'@@ +@)@Y@bD!VD˰8y};%E=ٔQ->9?Y?=gEytDE> Q 55 ?Q 95 R) BY>Q E<;y Q IP@ cDI a:i Q: i5y%lBɮ% A%EfIfIfIgIfQfQrfQeQreQZeY:eY*eY颅Bɢ5) i)h顉i%ζ=ɧm'駝Ki#1?I{? {?IE EE*E"E:*E[:VE(N4ZEa@a@a@a@l9A AII)OER>1 DZg#,XşLAF2ܚ@Fա@FٱFlL>FHˣ?|? Dou? [`.p?@??ຮ?iF2ܚ@IF];FCYjByj!I r=r<bDv)VDvҰ8y~ =%~^=ٔ~G\Q-~>9??Y??=gEy{D>=E > Q 55 ?Q 95 DT) BYy Q IP@ fDI ;i y:  5y)ɮ-b A)fIfIfIgIfQfQrfQeQreQZeY:eY*eY颅Bɢb) i)顉i{%t=ɧ1駝 i?I6? 6?I)K9AyAzAzABA<B>BCB IBBBBBB;B@\EAIIOE0>YDzDbEjEKJ4rE5/E EEE"E=;*E:VEZEBEI6H? 1?@ִ?.qr?@[?`?i6m @I6];6CYr Byr/!IbDzLVDz8yhy=%J=ٔ Q- >9 Y = gEy D_<E>Q 5%5?Q 9%5V)~BY!y- Q I-P@jDI:i:' 5y5fBɮ5 A5EfYfYfagafafarfaeareiZei:ei*ei额$Bɢԑر9A0AI)IQO}7>E  E E ,E "E ;*E :VE g4ZE a @a @a @a @9 Vg#,QLAFF:@F3@FMٱF+>FHyT?x?@"¿ ?@It???iFF:@IF];FCYVByV1!IiMb@Mb@Mb@ 9Q?Zd;OͿ rhY(>y~jC @@ )n@YG@bDtVD8y/<%>=ٔ}Q->9?Y?=gEyDjc<E>Q 55{鑊?Q 95NY)oBY>Q E:;y2 Q IP@mDI,:iV:5yɮ Aff!f!g!f!f!rf!e)re)Ze):e)*e)](Bɢ]8 )Y ]@Uia)e)aaie%m͕=ɧm7Hm, imKR?iqIu? u?Iqu9AIIOF>9i B >B B !IB BB B B B ;B 4\EBBBBR =BR =Cgo4h#,V+LA$:9n@:g@:|ٱ:>:H`?y??"¿?@Cèt?`t&??i:9n@I:/];EB EBEB*E@"EB:*EB|:VEB(N4ZE@BEB69hYh=jgEyjDj*<Ej>pQ 5r5r䑊?Q 9v5r[)rbBYtyvQ IvP@rqDIr:ir:r%5yxɮz A|fffgff!rf!e!re!Ze!:e)*e)U,BɢU3䷻)Y ]iY)]Y*Yaieh%e4~=ɧm%Rm8(im n?iiImW? mW?IqH9A?A>qI IO-,>ԙ 2 h#,-LA@@Lbԣ@b$@b(ٱbf>bH?@?@9 ¿C?. t?j?`%?ibԣ@Ib];`Yn Byn0!Ir=r=iMb@Mb@Mb@ 9:v?!rh̿~jtYT>ylgD )X@Y@bDVDX8yb<%;=ٔ8Q->9Y=gEyD u<E>Q 55/?Q 95^)QBY+>Q E*;yYQ IP@uDI ;i;5yɮ AB*** querying acoustic contact ***iifffgf!f!rf!e!re!Ze):e)*e)U1Bɢ])Y ]iY)]N+;YYie %e1=ɧeZm.imZι?iiImH? uH?Iq}9E EE)E"E:*Eą:VEFA4ZEa@a@a@a@ G{A 09 {AY -AI!I9OUT> h#,FLA>s՛@>΢@>%Vٱ>+>>H@Fv? m?¿r>?nྪt??@?i>s՛@I>؞];>CYFByF@!IbDRVDRF8yZ=%Z^=ٔZ8Q-Z>9\Y\=^gEy^Db<Eb>dQ 5j5fQܑ?Q 9j5f[a)fABYhyjQ IjP@fxDIf:if:f.5ypɮrg Ap|f f f g f f rfereZe:e*eE4BɢED)A EWiI)MHEIIiMw%U6ǔ=ɧUaUc4iUƁ?YYI]"? ]"?IaII1O}=AAAAB>BB!IBBBS =BBB;B \E)DzDE EEE"E;*E:VEZEBED6H?@[?^¿ >@}?@qV`Xs?@4;?@?i6e@I6];6CY^ Byb1!I ddbDjVDjU8yrj% E=ٔ :Q- >9Y=gEyDEb<E>!Q 5-5%ב?Q 9-5%Zd)%0BY1y5,Q I5P@%|DI%:i%:%5y9ɮ= AAYfafafigififirfieireqZeq:eq*eq颥8BɢBػ) `i)=W顩iP%c=ɧmi駵 :iά?I]? ]?IIIO=ԉE  E E *E "E =;*E :VE (N4ZE a @a @a @a @ qh#,zLAɰVy7@V0@VUٱV->VH@,?G?`8¿@?`wHUr?@Ur?Ҡ?iVy7@IV];VCY^By^9!IIb<)byunu,u@u@ q)u@qYu@bDVDh8y=%A=ٔ|_:Q->9Y=gEyDNq<E>ԹQ 55ӑ?Q 95g) BYҥ>Q E#;yQ IP@DI:i:"5yɮ AfffgffrfereZe:e*e5B B (!IB BB B B B ֠;B \E9 $h#,rLAD2%=D2R=E6 E4E6,E4"E6;*E4VE6g4ZE4BE4a:2E4a:JE6;a::E6;a>Vo@Vh@V3ٱV*>VH? /?5]¿Nj@xR?[]fp?૭??iVo@IV];TY~By~@!IbDVDA8y%?<%%S=ٔ%ş:Q-%>9)Y)=-gEy-D-<E5>1Q 5=55ϑ?Q 9E55j)5BYAyEQ IEP@5DI5D;i5;5%5yMaBɮU< AUEfffgffrfereZe!:e!*e!m@Bɢm4ɻ)i u@iq)}'9yyyi}%=ɧw駥@Fi.G?I.G? .G?IIyIO=Aqԡ Y +h#,VLA@ڥ@kVٱ>H`n? !?Jt¿(tu?#yj???i@I];CY%ByN!IqiMb@Mb@Mb@ 9\(\?tVοI +Yz>yr94@ A@)@Y=@bDqVD8y-K?=%--=ٔ5s:Q-5>91Y1=5gEy5D=b<E=>AQ 5M5Eˑ?Q 9M5Enn)EBYU>Q EU;yURQ IUP@EDIE ;iEL ;E*5yYɮ] AYEu EuEu*Eq"Eu;*Eu:VEu(N4ZEqa}@a}@a}@a}@B*** querying acoustic contact ***iifffgffrfereZe:e*eDBɢLj) {i)كi %=ɧ~ȣKi?I? ?I I)ԙA AI) I9 OE > 1h#,=)ȠLAr@rߣ@r_.ٱr} >rHm?-?w¿ ]`#?@D`e?`??ir@Ir];rCY%By%F!I ))bD59VD58yE%Ep=ٔM:Q-M?9Mc?YMc?=UgEyUDU<EU?Q 55Ǒ?Q 95Wq)BYylQ IP@DIY;iw;-5ytBɮ AEfffgffrfereZe:e*eGBɢp)! %hi!)%(!!i% %-c=ɧ--"{Oi5O?11I5O? 5O?I9BU>BQBU.!IBU BBQBQBQBU ;BU[EA.AIIO (>DyzD}?AE EEE"E:*Eg:VEZEBEF8FH?]?\¿C` ?@௿`ɗY?$??iF&@IF];FCYR)ByRS!IbD^VD^İ8ybd=%fS=ٔf9;Q-f>9j ?Yj ?=jgEyjDj<Ej>pQ 5r5r^đ?Q 9v5r}t)rBYtyveQ IvP@rDIr:iru:rb05yxɮzW A|f!f!f!g!f!f)rf)e)re)Ze):e1*e1]KBɢ]Ž)a e`ia)eaaie%mZ=ɧm"mjSiugʴ?qqIugʴ? ugʴ?Iy1AIIO>aE  E E (E "E *E ]t:VE c44ZE a @a @a @a @ԙ F>h#,&LA0Bd@B+^@B8ٱB~">BHV??F¿>*M?X&C?@H?@}?iBd@IB];BCYHyHiEMb@Mb@Mb@AAAA A9EM?V-ͿZd;OYEn>yEmEj9qYq=}gEy}D}<E}>Q 55X?Q 95lx)BY>Q E;y1Q IP@DI:i4:45yɮ[ AfffgffrfereZe:e*eNBɢɻ) i)i% =ɧ B 7Ui?I? ?IA)zA-xAԉA)I9IIOU>ԹBU >BQ BU 4!IBU BBQ BQ BQ BU ՠ;BU [E S/Eh#,4LAbEIjEMP4rEMϚ/E" E"E",E "E"l;*E":VE"g4ZE BE"aFZH? \?v¿`q?$]= [??iZ@IZ];ZCYj"ByjJ!IIn<)n9Y=gEyD <E >Q 55?Q 95|)BYy4Q IP@DIגA [Kh#,3/LA5@5<ݤ@5ڸ:ٱ5TB$>5HyoP@@ @)n@Y@bDVD8y%=%%9=ٔ%;Q-%>9)Y)=-gEy-D5<E5>9Q 5E5=]?Q 9E5=)=BYEZ>Q EE;yEݿQ IMP@=DI=A:i=:=^;5yQɮUP AQfqfqfygyfyfyrfyeyreZe:e*e颵UBɢ7) |i))ib%=ɧ8Ui?I? ?IEU EUEU)EQ"EUO;*EU~:VEUFA4ZEQa]@a]@ae@ae@AAI I!O5.>iԡ &@Rh#,pILA>#*@>s#@>8';ٱ>%>>H@?w?`p¿X?sd? ?i>#*@I>];>CY^&BybP!IddbDjVDj8yr*%rb=ٔrP;Q-v>9tYt=vgEyvDz<Ez>|Q 55~?Q 95~W)~BYyۿQ I P@~DI~;i~_:~>5yɮn A-B*** querying acoustic contact ***i)i)f1f9f9g9f9f9rfAeAreAZeA:eA*eIuXBɢu;g )q uŽiqy)}RQ顁i]A%ȟ=ɧ駍Ti?I? ?IA?A>B>BBBBBBB;B*\EBCBCBBS =BS =C·(4AIIO=ԡEe EaEe(Ea"Ee:*EaVEec44ZEaBEe>VH@J3?mZ?s¿ι? Lm?@O?iVl@IV];VCY $By L!IbD%VD%8y5^%5E=ٔ5e ;Q-=>99Y9=EgEyEDEY<EE>IQ 5U5M?Q 9U5M)MBYQy]ڿQ I]P@MDIM;iM;M'B5yaɮe AafffgffrfereZe:e*e[Bɢ~)  ޽i)ºi%/=ɧA՛Si1?I1? 1?IA)I1IIO]>  CAaq79Y4Ay% d?% `AEu  Eu Eu -Eq "Eu D:*Eu ]t:VEu t4ZEq a} @a} @a} @a} @a s^h#,'}LAZ洞@Z6@Zѝ;ٱZX(>ZH?9?t¿`lF?۳`Ss?s?iZ洞@IZ];XYf*ByfT!IiuMb@Mb@Mb@qqqq q9uʡE?̿I +Yu->yuffu94qu@ u+@)uX@qYuQ@bDVD8y<%D=ٔ!3;Q->9Y=gEyD+<E>Q 55f?Q 95)tBY]>Q E:y]ԿQ IP@DI ;i:E5yɮR AfffgffrfereZe:e*e-^Bɢ-* )) -нi1)5hBͺ119i=`$E2=ɧEKExPiEN?AAIEN? MN?IIAIIO>aԉB>BBBBR =BBB;BC\E |eh#,LAD=D4=E EE(E"E:*E:VEc44ZEBEN-H5?s? |y¿ x@? (@fw"? q?iO@IH];CY%)By%S!I QU4=bD] VD]8ymb%m>=ٔm;Q-m>ԑ9Y=hEy D<E>Q 556?Q 95)bBYy6ӿQ IP@DIa;iΡ;I5yBɮ AEfqfqfqgqfqfqrfyeyreyZey:ey*ey颭aBɢ) i)Vں顱iί$I=ɧ 駽BLiʹ?Iʹ? ʹ?IAzAwAA9IAIQOeU> kh#,[ LAXɰZp;]E@] ?@];ٱ]l+>]Ha? D? U¿@uW`ylg'@ )n@YG@bD5 VD58yE<%EK=ٔMB;Q-M>9IYI=MhEyMDU^<EU>YQ 5m5]?Q 9m5];)]RBYmh>Q Em:ymοQ IuP@]DI]=;i]<;]M5yyɮ} AyfffgffrfereZe:e*edBɢ) ֽi)iB}$ =ɧOz?Hi?I? ?IE5 E5E5)E1"E5;*E5:VE5FA4ZE1aE@aE@aE@aE@A)I1IIOU2> 1 % DAT read: - VDAT read: Teledyne Benthos DAT-900 Series Frh#,9ʡLA j@jᎦ@j<ٱj@->jH]C?B?@¿ 1?@)!h?@NJ?ij@Ij_];hYv1Byv]!IbD~VD~8y ~<% b=ٔ`;Q->9Y=hEyD<E>!Q 5-5%?Q 9-5%N)%CBY1y5ͿQ I5Q@%DI%:i%:%:P5y=Bɮ= A9UB*** querying acoustic contact ***iQiQfafafagafifirfieireiZei:eq*eq额gBɢq) |Խi)D顡iH$č=ɧt駵߸Ci' ?I' ? ' ?IBAB>BBBBBBB;B/\EqAAIQIaOm>D9zD=@AEE EEEE*EA"EE:*EE:VEE(N4ZEABEEF8bH??(¿ uA?@ڶ @?ƈ?ib@Ib];`Y%4By%`!I11bD=VD=8yMo=<%MF=ٔM?;Q-M>9QYQ=UhEyU!DUݸ<E]>aQ 5m5e?Q 9m5e)e1BYiym[̿Q ImQ@eƿDIe:ie2:eS5yyɮ} AyfffgffrfereZe:e*eiBɢ5) սi)i $)=ɧm;>i0?I0? 0?IA?A?AaIqIO>EU  EU EU &EQ "EU :*EU n:VEU 4ZEQ a] @a] @a] @a] @A ~h#,nLAr63@r,@r!<ٱr_/>rHW??=v¿ ?9? ?ir63@IrY];rCY%-By%X!I)-=ieMb@Mb@Mb@aaaa a9eK7A?̿{GzYe >yeffe#e@e+@ e@)e@aYabD}VD}8y%8=ٔ;Q->9Y=hEy*DC<E>Q 55?Q 95 )BY>Q E:yɿQ IQ@̿DI:iH;W5yɮ AfffgffrfereZe:e*e颵lBɢ$) i)V项i#w=ɧ>ee7i`?I`? `?IIAYIaIqOY>qBBBBBBBB;B*\Eԡ Ʌh#,GLADD%=E EE*E"E:*Ega:VE(N4ZEBE3%H`6?`E\?@r¿O?A R`?>?i%@I%];%CYE7ByEd!IbDeVDe8yusS=%u^=ٔui:Q-u>y9Y=hEy1DN<E>Q 55?Q 95A)BYyjȿQ IQ@ѿDI ;i;Z5yɮ AfAfAfIgIfIfIrfIeIreQZeQ:eQ*eQ额oBɢf\#) P޽i) 项i}#@h=ɧ]Ai1iL?IL? L?IԩA؟AI IO-->:DAT read: MF Frequency Band  vDAT read: Directional Acoustic Transponder version 8.15.0  BDAT read: Dec 5 2025 01:33:56  h#,+P2LAנ@-ѧ@;<ٱ2>Hq:?1?`+r¿ʓ?>q`@?@?iנ@ID];Y:Byh!IiMb@Mb@Mb@ 9> ףp=?Q˿/$Y>y(\,@ @)Y@ =<bD VD8yK<%5=ٔ\;Q->9"?Y"?=hEy;D<E>Q 55絑?Q 95)BY>Q E:yLQ IQ@ؿDI] ;i;^5yɮ{ AE! E%E%)E!"E!*E%&p:VE%FA4ZE!a-@a-@a5@a5@fQfQfQgQfYfYrfaeareaZei:ei*ei颭qBɢ) Xݽi)(i0# =ɧP'iص?Iص? ص?IAzAAIIOg>I mܒh#,LLAɰ4ZH?>?@¿)d8?- ljC?`?iZ4@IZ ];ZCY`yfg!IIj<)hbDnVDn8yv%vq=ٔz\;Q-z?9xYx=~hEy~BD~=E?Q 5 5󶑊?Q 9 5)BYyϾQ IQ@ݿDI:i:a5yBɮ* A%E5B*** querying acoustic contact ***i9i9fffgffrfereZe:e*eA=@AA=?AB=>B9B9B9B=S =B9B9B=;B=(\EQsBɢ]/)Y ]DiY)]uaaie"m=ɧmFmimd?iiImd? md?IqA.AIIO$>abEFA4jEŏB4rE5/Eu EuEqEq"Eu ;*Eu:VEqZEqBEuOFH`??`¿2 ׄ?@ 豋@?{?iF@IF];DYbABybq!IbDjVDj8yr=%rK=ٔr;Q-v>9v ?Yv ?=vhEyvJDz,<Ez>|Q 55~`?Q 95~)~BYyMQ I Q@~DI~%:i|~^e5yɮ Af1f1f9g9f9f9rf9e9reAZeA:eA*eAmuBɢut)q uнiq)})yyi}" z=ɧ:駅%i`?I`? `?IԑA%؟AI)I9OM>uLDAT read: Features enabled [Bearing] }DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP }commRate: 600E=  E9 E9 E9 "E= :*E9 VE9 ZE9 aE @aM @aM @aM @ 0h#,_LAB@B@BB[j<ٱB9>BH *? ? ¿`?ջ&KJ?@x?iB@IB];BCYR?ByRn!Ii%Mb@Mb@Mb@!!!! !9%㥛 ?$C˿I +Y%>y%Z%94!%7A !)%@!Y%=@9=BAbDEVDE8yM%UD=ٔUd:Q-U>9U"?Y]"?=]hEy]RD]?<Ee>aQ 5m5eQ Eu:yuZQ IuQ@eDIe:ie;ei5yɮ AfffgffrfereZe:e*exBɢ#) i)1 iL"0=ɧ+ i#?I#? #?IA ?A A .AII!O5 >B=>B=CB=;!IB=BB=Q =B9B9B=۠;B= \EBBBBR =BR =C4Q h#,죙LAEZ EZEZ*EX"EZV:*EZ]t:VEZ(N4ZEXBEZ9 H w{?f? 1w¿ Md? `JI? Xv?i Q@I  ]; CY%JBy%{!I ))bD=%VD=ϰ8yEV=%MJ=ٔM5;Q-M>9U ?YU ?=UhEyUZD]q<E]>YQ 5e5]:?Q 9m5]x)]BYiymԸQ ImQ@]DI]:i];]l5yyɮ} AyfffgffrfereZe:e*ezBɢD) ؾi).#%i!Y=ɧi?I? ?IA]؟AIiIyO> 9 lFh#,F|LA]ÂGy89Y5Aeү@e"@e4ǀ<ٱe<>eH?C3?@b¿`xi? >Z`)p?vt?ieү@Ie{];eCYuHByuy!Ii}Mb@Mb@Mb@yyyy }B9}B`"?Q˿+Y}>y}(\}}@y y)yyY}@bDVD8y%*=ٔ~:Q->9"?Y"?=hEydD.<E>E EE(E"E:*E:VEc44ZEa@a@a@a@Q 55l?Q 95%)BY*>Q E:yQ IQ@DI/;iˁ;p5yɮ Af f f g f frfereZe:e*eE|BɢE)I MxϽiI)M@+IIiM!U=ɧU) Ui] *h#,G͢LAB.@B~ @Bʈ<ٱB!>>BH??U¿bbM?V鐐?#r?iB.@IB ];BCYJRByJ!I R=RR=bDVVDV8yZ=%^=ٔ^:Q-b?9`Y`=bhEybjDf=Ef?hQ 5n5j?Q 9n5j)jBYpyr%Q IrQ@jDIj ;ij!;jns5ytɮve Ax B*** querying acoustic contact ***i i fffgffrfere!Ze!:e!*e!M~BɢM)Q UiQ)U[.QQiUT!]=ɧeOeJмie ?aaIe ? e ?IiAyzA}xAB<A<B>BCBA!IBBBR =BBBˠ;B[EA.AIIO>E} E}E}+Ey"E}V:*E}ą:VE} [4ZEyBEya2EyaJE}";a:E}#;aPExceeded connect timeout, disconnecting.AY Th#,"碍LAɰ;:_w@:p@:`<ٱ:?>:H.n?`?@B¿ h'B?K ?o?i:_w@I:}];:CYfQByf!IIj=)j=bDr VDr8yz!%zG=ٔzS:Q-z>9~ ?Y~ ?=hEyrD<E> Q 55 9‘?Q 95 ) BYyQ IQ@ DI ;i #; w5y!ɮ%r A!fAfIfIgIfIfIrfIeQreQZeQ:eQ*eQ颍BɢZ) 4i)3顑iN  P=ɧl駥Vi?I? ?IԙA ؟AII!O5 >E  E E *E "E :*E Ar:VE (N4ZE a @a @a @a @ *entering command mode 6HE??>¿LX?oп)̑?-l?i6@I6];6CYBWByB!Ii=Mb@Mb@Mb@9999 =A9=~jt?A`"˿Zd;OY=>y=Y=j<=@=A 9)=@9Y=@bDM&VDMϰ8y]<%eC=ٔeg:Q-e>9m"?Ym"?=mhEym{Dm<Em>qQ 5}5u[ő?Q 95u)uoBY">Q E:yQ IQ@uDIu; ;iu :uz5yՔBɮ AEfffgffrfereZe:e*eBɢ, ) i)Og8iɠ &=ɧ"¾{NiC?IC? C?I DAT read: &DAT read: user:1> (setting verbose to 3AqIyIO>B>BBG!IB BBS =BBB;B[EI e &DAT read: user:1> u TDAT read: Verbose | 3 u set verbose to 3} 6setting DatVerbose to 27440EE  EE EA EA "EE ;*EE L_:VEA ZEA BEE @FH?@WD?t8¿@k?[_be=c?h?iFZK@IFJ];DYRBy!IAA=nManaging dock network, ignoring radio surface power offbD]VD]8ymȼ%mJ=ٔm:Q-m>9qYq=uhEyuD=E>Q 55ȑ?Q 95)[BYy Q IQ@ DI:i:A~5yɮ AfffgffrfereZe :e *e uBɢud)y }Ľiy)}=yyi}@ =ɧK駍8{i?I? ?IA?A ?IAI IO-,>y&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8ԡ h#,x4LAXK@@ї<ٱ,AF>Hp? ?`H%¿KiM??`e?iK@Ihw];CYQye!I bDVD8y;%C=ٔ:Q->9 Y e&DAT read: user:3> mTDAT read: TxPower | 8 (Max) m.set transmit power to 8u6setting local address to 11=hEyDX<E>Q 55j̑?Q 95)FBYyMQ IQ@DI%;i9;5yɮ AE EEE"EV:*Ez:VEZEa@a@a@a@f!f!f!g!f)f)rfieqreqZeq:eq*eqBɢ) -Tʽi))5+C11i5=`=ɧ=h=N:i=}z?9AIE}z? E}z?IAAIIOg> &DAT read: user:4>  TDAT read: LocalAddr | 11  .set local address to 11 ZSetting time to: 1:34:5 And date to:12/5/2025I xh#,zNLA6%@66@6`<ٱ6aG>6H0?@*?``&P?@/`r`?c?i6%@I6k];6CYb`Byb!I!iuMb@Mb@Mb@qqA}AAA}@AB>BBM!IB%BBBBBs;B[Eqq q9u5^I ?nʿ ףp= Yu>yuVuQ8u@uA q)u@qYqbDVD8y=%L=ٔ:Q->9Y=hEyD=E>Q 55ϑ?Q 95q)4BY5>Q E:yQ IQ@DI:i:^5yɮ A B*** querying acoustic contact ***i i fffgffrfereZe!:e!*e!MBɢMr )Q UiQ)UGYYi]4eۊ=ɧeT"eie ?aaIe ? e ?IiIAIIO">m&DAT read: user:5> uNDAT read: Fri Dec 5, 2025 01:34:05 }fLocal DAT time set to Fri Dec 5, 2025 01:34:05 2Acoustic response timeout6setting remote address to 8DzDE EE+E"E:*E?:VE [4ZEBE$56H ?`{?`1?௕ x?a?i6'@I6lw];6Cb&DAT read: user:6> fTDAT read: RemoteAddr | 8 f.set remote address to 8j2Acoustic response timeoutjQuerying Benthos address 50 with one ping in standard two-way mode.Yr[Byr!I xz<bDVD8y}¼%V=ٔ4:Q->9!Y!=%hEy%D-*=E->1Q 5E55Wӑ?Q 9E55)5"BYAyMQ IMQ@5DI56;i5P';55yUڔBɮ] A]EyfffgffrfereZe:e*e@6@Bɢ0) i)vKiy%MҊ=ɧTi`?I`? `?I ԩAE.AIQIaOm5>&DAT read: user:7> BDAT read: Tx time:01:34:05.6587 $Ping request sent.6H s?5?·?@`{?_?i6@I6];6CY^ZBy`Ib=)b=iuMb@Mb@Mb@qqqq q9u&1?Cl˿{GzYu>yu;_u#u@uA u@)u@qYu@bDݿVD8yiI%B=ٔia:Q->9 ?Y ?=hEyDU=E>Q 55֑?Q 95)BY>Q E:yVQ IQ@$DI:ib:f5yɮ Afffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ pTransitioning to terminal guidance at range 67.500000 m @ 1A e reZe:e*e`oy6@EBɢEe<)A EܹiA)MgPIIiMU&ъ=ɧU-U\ iUۺ?YYI]ۺ? ]ۺ?IYR=p=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249391A؟AIIO$>B}>B}CB}T!IB}*BB}R =ByByB}y;B}[E9a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500839bE(N4jEJJ4rEˮ1/E%  E% E% (E! "E% :*E% x:VE% c44ZE! BE! a5 2E! a5 JE% ;a5 :E% ;a5 h#,!LAJv@Jp@J<ٱJeL>JHg??@OP I?`]s¿`? [?iJv@IJ{];JCYROByR!IbD^οVD^~8yfIt%fY=ٔf:Q-j>9j"?Yj"?=jhEyjDn=En>tQ 5v5v\ڑ?Q 9z5vJ)vBYxyzQ IzQ@v*DIv:ivh:v5yBɮ AEf!f!f!g!f!f!rf)bf-@1A--Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@- -Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangee)re1Ze1:e1*e5@6@Bɢ};) i)0YViU5׊=ɧ`q=A;iN?IN? N?I!1Am.AIqIO>achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752493ԉԹ rh#,LAZz@Z@Zݐ<ٱZhN>ZH@ "?? I"?¿ ?(X?iZz@IZ5];ZCY~NBy|15@AbDUٿVDU8yE%>=ٔ?9Q->Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0066489e ?Ym ?=uhEyuD<E>ԙQ 55ޑ?Q 95)BYyQ IQ@1DI:i:5yɮ AE EE&E"E&:*E|:VE4ZEa@a@a@a@qL~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalD55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E5 =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF==Initialize.F==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G= =Initialize.qG=GEqEEgEh7gEh7FEMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GMmDReached init depth of 65.653778 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*e U7@NBݐ<) `i) ZV"7iI A]؟AIiIyOZ> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256286 2h#,ϣLA6_@6VX@6A<ٱ6PP>6H y?R?@Lj ض`?tKÿU?SU?i6_@I6];6CYnTByn!I ppBA<B%>B!B!B!B%Q =B!B%TDB%;B%[EBBBBBC_5iMb@Mb@Mb@ 95^I ?-˿J +Y>y5^H@A @)@Yz@bDVD8yq<%H=ٔ$':Q->9"?Y"?=hEyD9=E>Q 55⑊?Q 95)BY?>Q E:ygQ IQ@6DI; ;iP;5yɮ AB*** querying acoustic contact ***iih@hhhhggjg!rg%Be!re!Ze!:e)*e-`b7@TBɢrU)v@ 9i)XVi i"k?) L?  (kpHeading = 0.800000I ;  (kiHeading = 0.004000 I@IAAzAAAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508229E EE)E"E;*E҆:VEFA4ZEBEDI h#,飍LAJ֧@J Ю@Jl<ٱJR>RF?RV?Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761283JH`?r? EeAD?!ÿ@0X?@wR?iJ֧@IJ5u];JCYbLByf~!IbDrVDr8y~%~X=ٔ:Q->9 Y = hEy s=E>Q 55瑊?Q 95)BYyQ IQ@[E?>"[Eݹ@*[Ep@Yɢ]7)Y ]biY)]WaaieLim?iiIiIiII1O==Q qqGMG9IYMhDAԁ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015029E EE(E"E&:*E$:VEc44ZEa@a@a@a@ԩ *i#,ڎLA@Y~NBy~!IiMb@Mb@Mb@ 97A`?}?5^I̿:vY>yMbTA @)@Y@ bDVD8yy;%>=ٔQ->9Y=hEyE>Q 55>쑊?Q 95)BY>Q E:yQ IQ@BDIM:i:5yɮ Ahhhhhggjgrg%Be!re!Ze!:e!*e-`&8@[M>[M>"[MÇ@*[M$@]SBɢ]e)a e`)ia)eRWaaieNdim0?iiIqIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264103Աr  4Initializing EZServoServo.B%>B!B!B!B!B!B!B%Ơ;B%[E u 8Initializing DockingStepper.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516260E  E E E "E *E i:VE ZE BE i;"i#,"LA4<ɰ4<2Э@2 @2Ș<ٱ20b>2Ham?[?n¿`i@?@bſ`x!?A6?i2Э@I2Ly];0Y>JBy>{!IIB>)B=bDJVDJ8yR%R9=ٔR5Q-R>9TYT=VhEyTZs=EZ>\Q 5b5^?Q 9b5^)^BY`yb矿Q IbQ@^IDI^:i^:^5yjBɮj^ AjEhxh|h|h|h|g|g|jgrgereZe:e *e @8@[)[)"[)*[-@颹ɢu) i)Xi im?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768931@o!^A I I O% >Q Hi#,;LA}BDAT read: Rx Time:01:34:08.1621 :TRx dataTimestamp_ set to:1764898448.949686EN ELEN,EL"EN:*ELVENg4ZELa^@a^@a^@a^@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.056384,@h%@^f<ٱ}e>H? ?a_¿?x?ſ̒`fz?B1?i,@Iٛ];YBByq!I1iMb@Mb@Mb@ 9Q?S˿A`"Y\>y/]YA +@)@YbDVD8y%)=ٔQ->9Y!=%hEy!%=E%>)Q 555-?Q 9=5- )-wBY=>Q E=:y=NQ I=Q@-PDI-:i-4:-(5yAɮE AIhhhhhggjgrgzBereZe:e*eo9@[=>[=>"[= b@*[=2|@mRBɢH) hi)Z顉ii?IIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272228ԉA @AA AAB >B CB M!IB %BB R =B B SDB ;B \E ^AU FӅIY Iq O} >Bi#,VLAY59yYy=}hEyyE>Q 55!?Q 95)cBYyQ IQ@UDIZS;i4T;F5y Bɮ}A"EB*** querying acoustic contact ***iihhhhhggjgrgiereZe:e*e9@DAT read: 01:34:08.1621 LVL= 16256, 23713, 23394, 24803, AGC= 61, IDX= 164,-0.07, 0.256,-0.795,-1.578,-0.721, PHS= 1.080,-0.028,-0.901, RAW= 63.9, -1.8, CAL= 64.5, -4.1, ROT= 85.5, 4.1 Ygot valid direction response: 01:34:08.1621 LVL= 16256, 23713, 23394, 24803, AGC= 61, IDX= 164,-0.07, 0.256,-0.795,-1.578,-0.721, PHS= 1.080,-0.028,-0.901, RAW= 63.9, -1.8, CAL= 64.5, -4.1, ROT= 85.5, 4.1  PDAT read: Bearing 43.8, 70.4 (Local)  ~Local bearing/azimuth received: Bearing 43.8, 70.4 (Local) DAT read: Range 11 to 50 : 74.4 m (Round-trip 99.2 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [0.078258,0.994366,-0.071497]%Fpublishing direction and range infoyͦ$=?g? MY̔B?\b[ `)=Iq=?iB`弉f?)? C)C?IC=)i?7f,_iƟ z)>  BDAT read: Tx time:01:34:09.5087  $Ping request sent. gi#,0oLA:%@:N@:ߓ<ٱ:Qk`>:Hs?V? G ?`xſ@{`?:?i:%@I:I];8YRCByRr!I TTbD^VD^8yvE=%vT=ٔvQQ-v>9xYx=zhEyx~J=E~>Q 5 5K?Q 9 5E)OBY y Q I Q@ZDI):i:5yɮLAii[LAjB"jB:j=?Rj%D@czR@NBBjͦ$=?g? M*jC?2jC=Zj+ "K@ĦրH@ =،%@Jj ]?pq^??jFB jYBi~ޣ?i ;jϘBj?j#.jϘBrjBzjT6?e addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "ii*im} Added new target pos. range: 74.331116 m, bearing: 42.446976 deg, lat: 36.779534 deg, lon: -121.859774 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iyDNOT Ignoring new targets: 74.33 m."i*i ProNav pure pursuit: ac range: 74.331116 m, nav range: 72.856613 m, bearing: 40.956943 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 311.341496 deg, new cmd heading: 40.956943 deg. HeadingCmd: 0.714833 target range: 74.331116 and range: 74.40 m.hT6?hhhhggjgrgereZe:eR@*e@p?[["[*[n@]QBɢ]#-)a eia)eC^aaimimN?iqIuT6?IQiAIA-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258769yE EE)E"E*Ez:VEFA4ZEa@a@a@a@^A#IIOn>ԩ ,P"i#,LA@Y~5By~a!Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506023iMb@Mb@Mb@ 9x&?:vʿS㥫Y7>yT/]A @)@Yf@bD VD8y%>=ٔQ->9Y=hEyE>Q 55?Q 95)7BYU>Q E:yQ IQ@`DI;i;b5yɮA:iDNOT Ignoring new targets: 74.33 m."i;*i; ProNav pure pursuit: ac range: 74.331116 m, nav range: 72.920525 m, bearing: 41.095366 deg, approach rate: 0.142709 m/s, LOS rate: 0.308815 deg/s, cmd heading: 40.956942 deg, new cmd heading: 41.095366 deg. HeadingCmd: 0.717249 target range: 74.331116 and range: 74.40 m.h7?hhhhggjgrgBereZe:e*e@L?[U>[U>"["|@*[t@ɢT) `i)%Wa!!i%_i-Rj?))I-7?I1ԱBu>BqBuA!IBuBBuS =BqBqBuߠ;Bu \E^AFӅII O> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757878D =D <E  E E *E "E D:*E ~:VE (N4ZE BE 22H??Կ@v?@jſ ?@L?i2@I2];2CYN?ByRn!I TV=bDZVDZ8ly~Z=%W=ٔQ->9 Y = hEy  =E >Q 55X ?Q 9%5)#BY!y%Q I%Q@fDI{;iU;5y)ɮ-hA1:iQUDNOT Ignoring new targets: 74.33 m."i];*i];m ProNav pure pursuit: ac range: 74.331116 m, nav range: 72.973297 m, bearing: 41.218835 deg, approach rate: 0.147111 m/s, LOS rate: 0.343939 deg/s, cmd heading: 41.095367 deg, new cmd heading: 41.218835 deg. uHeadingCmd: 0.719404 target range: 74.331116 and range: 74.40 m.hu*8?hqhqhqhqgqgyjgyrgyereZe:e*e௴?[["[*[7k@颽PBɢ) 0i)birijW?I*8?I mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009962^AI!I1OEQ>AԱ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264236׶.i#,ELAE EE+E"E1;*E҆:VE [4ZEa*@a*@a*@a*@ɰ;QM,@M}|@M̻<ٱMՎQ>MH [?@f?Q^?`(ſE7?S?iM,@IME];MCYm=Bymk!II=) ?ieMb@Mb@Mb@aaaa a9e~jt?Clɿ:vYe>yeOeTen@eA a)e@aYep@bD}VD}8yg)%2=ٔQ->9Y=hEyP<E>Q 55?Q 95#) BY>Q E:yהQ IQ@lDI;i;5yBɮA#E:iDNOT Ignoring new targets: 74.33 m."iյ;*iյ; ProNav pure pursuit: ac range: 74.331116 m, nav range: 73.033508 m, bearing: 41.364994 deg, approach rate: 0.131086 m/s, LOS rate: 0.317940 deg/s, cmd heading: 41.218836 deg, new cmd heading: 41.364994 deg. HeadingCmd: 0.721955 target range: 74.331116 and range: 74.40 m.h8?hhhhggjgrgzBereZe:e*eO?ԁ[>[>"[@*[٣@颵OBɢ ̻) i)JJe项ii[D?I 8?I Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513867ԩ^A ƂA yAzA zABE <AA BE >BA BA BA BA BA BA BE Ӡ;BE [EIa Iq O > 5i#,CפLAN@NV@N<ٱNL>NH? ?Vg?`Ŀcvo?[?iN@INT];LYb;Bybh!IbDrɿVDrz8yV7%k=ٔ Q- >9Y=hEy%#=E%>1Q 5=55?Q 9E55:')5BYAyE&Q IEQ@5qDI54;i5%;5̺5yQɮUAYuB*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 74.33 m."i';*i'; ProNav pure pursuit: ac range: 74.331116 m, nav range: 73.078163 m, bearing: 41.477512 deg, approach rate: 0.125788 m/s, LOS rate: 0.316754 deg/s, cmd heading: 41.364995 deg, new cmd heading: 41.477512 deg. HeadingCmd: 0.723919 target range: 74.331116 and range: 74.40 m.hR9?hhhhggjgrgereZe:e*e?[["[*[BF@NBɢ׻) `i)fiiu1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018008Y Y;i#,-$LA2Gi@2b@261~<ٱ2J>2Hz?@ܽ?%~ @)c?YĿ@ŏ%?W_?i2Gi@I2];2CY8y:i!I@B@AbDFпVDF8yNx:%NQ=ٔNͼQ-R>9PYP=RhEyPV=EV>XQ 5^5Z?Q 9^5Z-+)ZBY\y^eQ IbQ@ZvDIZ;iZ{;Z/5ydɮfAd:itzDNOT Ignoring new targets: 74.33 m."izp;*izp; ProNav pure pursuit: ac range: 74.331116 m, nav range: 73.125504 m, bearing: 41.601787 deg, approach rate: 0.122929 m/s, LOS rate: 0.322497 deg/s, cmd heading: 41.477512 deg, new cmd heading: 41.601787 deg. HeadingCmd: 0.726088 target range: 74.331116 and range: 74.40 m.h 9?h h hhggjgrgereZe:e*e@@[["[*[j@MBɢƻ) i)hiriM7?I9?I  &Changing to mode: 199@ @@/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271937E} E}E}+Ey"E}:*E}xv:VE} [4ZEya@a=@a=@a=@^AԉA އAI I O >Թ Bi#, LAY~=By~k!IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521961iMb@Mb@Mb@ 9|?5^?J +ɿS㥫Y>yH/]A +@)@Y@bDܿVD8y<%9=ٔQ->9d ?Yd ?=hEyDE>Q 55N%?Q 95/)BY>Q E:y/Q IQ@|DIG ;i8: 5yɮA:iDNOT Ignoring new targets: 74.33 m."i?;*i?;- ProNav pure pursuit: ac range: 74.331116 m, nav range: 73.175262 m, bearing: 41.748545 deg, approach rate: 0.112864 m/s, LOS rate: 0.332652 deg/s, cmd heading: 41.601787 deg, new cmd heading: 41.748545 deg. -HeadingCmd: 0.728650 target range: 74.331116 and range: 74.40 m.h5Lj:?h1h1ԑh1hggjgrgpBereZe:e*e@@-LBɢ-Ƶ)Q UiQ)U{jQQiUGAi]JR8?YYIeLj:?IaB%>B%CB!B!B!B!B%RDB%Ѡ;B%[EBBBBS =BCy5@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773901 E  E E E "E ;*E :VE ZE BE AA > A5 AIA IQ O] >Hi#,)$LA>*Z@>{S@> ]v<ٱ>ƿI>>H@?*?< P@?ſXˎ ?@`?i>*Z@I>{n];>CYFCByFs!IbDRVDR8yZ=%Z\=ٔZӨQ-Z>9^ ?Y^ ?=^hEy^DbR=Eb>dQ 5f5f+?Q 9j5f3)fBYlynoQ IrQ@fDIfq;if;fG5y~(Bɮ~(A,E:i!-DNOT Ignoring new targets: 74.33 m."i-;*i-;= ProNav pure pursuit: ac range: 74.331116 m, nav range: 73.212883 m, bearing: 41.872844 deg, approach rate: 0.100362 m/s, LOS rate: 0.331425 deg/s, cmd heading: 41.748544 deg, new cmd heading: 41.872844 deg. EHeadingCmd: 0.730819 target range: 74.331116 and range: 74.40 m.hE;?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*e]`y @颅KBɢ ) i)~4k顉ii;?I;?I)@) @)@-0@1MBDAT read: Rx Time:01:34:12.0127 MTRx dataTimestamp_ set to:1764898452.716708Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027139^AM=ÂGQq 9YAA A} 2AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280106E  E E )E "E :*E Ar:VE FA4ZE a @a @a @a @Թ W!Pi#,֋@LAvխ@v/ϴ@vnw<ٱv0K>vH`?`?`ʺQ=?wſ :?V^?ivխ@Ivj}];vCYAByq!IiMb@Mb@Mb@ 9T㥛 ? rȿ/$Y>yC,@A )@Y@bD VD8yxջ%0=ٔ&9Q->9?Y?=hEyD=E>Q 553?Q 957)BYr>Q E:y艿Q IQ@DI ;i;W5y-Bɮ`A-E:i  DNOT Ignoring new targets: 74.33 m."iQ;*iQ;% ProNav pure pursuit: ac range: 74.331116 m, nav range: 73.258614 m, bearing: 42.019867 deg, approach rate: 0.099220 m/s, LOS rate: 0.318790 deg/s, cmd heading: 41.872844 deg, new cmd heading: 42.019867 deg. %HeadingCmd: 0.733385 target range: 74.331116 and range: 74.40 m.h%;?h)h)h)h)g)g)jg1rg5Be1re1Ze9:e9*e=`) @eJBɢeԩ) Pi)*liin:?I;?II5xA)5yA:@ @@P5@DAT read: 01:34:12.0127 LVL= 14256, 21873, 25938, 29075, AGC= 56, IDX= 427,-0.13,-2.603, 2.308, 1.929, 2.771, PHS= 1.011,-0.418,-0.887, RAW= 76.3, 3.5, CAL= 75.2, -0.3, ROT= 74.8, 0.3 Ygot valid direction response: 01:34:12.0127 LVL= 14256, 21873, 25938, 29075, AGC= 56, IDX= 427,-0.13,-2.603, 2.308, 1.929, 2.771, PHS= 1.011,-0.418,-0.887, RAW= 76.3, 3.5, CAL= 75.2, -0.3, ROT= 74.8, 0.3 PDAT read: Bearing 85.4, 68.0 (Local) ~Local bearing/azimuth received: Bearing 85.4, 68.0 (Local) DAT read: Range 11 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.262186,0.965003,-0.005236]Fpublishing direction and range infoyqu66Eť?W:N?sNruYu̕Bqu7uqUuRe uq)u8Iush?iu־uocut?u5z=u? u)u?Iu;qqu;?z{濅? uXC)uTxIu?iu;qqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AFӅ A) A) B= >B= CB9 B9 B= T =B9 B9 B= ܠ;B= \EA1 IA Ia Om >1 GVi#,VZLA2 O@2[H@2x<ٱ2L>2H?y@?g`?jſTs?w[?i2 O@I2%k];2CYRIByRz!IIV0>)V4=bDZ VDZʰ8yb=%f[=ٔf8Q-f>9hYh=jhEyjDj"=Ej>lQ 5r5n9?Q 9v5n;)nBYtyvQ IvQ@nDIn:in:n5yxɮ~%A|iiNLAjB"jB:j.?Rjx/3@1~ R@ dVٿBj66Eť?W:N?sNru*j?2j;Zj ~L@PzUG@gZ+@JjC-w?׷d?'RCe?j8B jdBiS?iʓ{jBjjjrjBzjpF BDAT read: Tx time:01:34:13.2587 $Ping request sent.q\i#,Y1tLA 2ʮ@2cõ@2|<ٱ2N>2H Z??%l?@<ƿ!`??@X?i2ʮ@I2];2CYLyPbDZVDZ8ybR:%bK=ٔb::Q-f>9f?Yf?=fhEyfDj=Ej>lQ 5r5nA?Q 9r5n^?)nBYpyvQ IvQ@nDIn? ;in ;n5yz]BɮzAx B*** querying acoustic contact ***i i :i!%DNOT Ignoring new targets: 74.83 m."i%D;*i-D;5 ProNav: ac range: 74.829651 m, nav range: 73.328812 m, bearing: 42.266292 deg, approach rate: 0.088640 m/s, LOS rate: 0.320448 deg/s, cmd heading: 42.260665 deg, new cmd heading: 42.516784 deg. i5YYci#, LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955PR^D@R=@R'k<ٱRxP>RH@?`x?@n@@? ƿ8- ?U?iR^D@IRpj];RCYn=Byrk!IimMb@Mb@Mb@iiii i9mMb?GzǿktYm>ymp=m 0m@mzA i)m@iYmp@yybDVD°8y]%>=ٔh_:Q->9??Y??=hEyD =E>Q 55H?Q 95YC)vBY>Q E:yQ IQ@DIz ;i ;5yɮA:iamDNOT Ignoring new targets: 74.83 m."im;*im; ProNav: ac range: 74.829651 m, nav range: 73.361954 m, bearing: 42.402641 deg, approach rate: 0.074361 m/s, LOS rate: 0.305788 deg/s, cmd heading: 42.516784 deg, new cmd heading: 42.789356 deg. i <HeadingCmd: 0.746815 target range: 74.829651 and range: 74.90 m.hG/??hhhhggB>BCBG!IB BBS =BBSDB;B\EjgrgzBereZe:e *e  ?}EBɢ}옻)y }0iy)l顁imiG/??IG/??It>i>%9@! @!@-0@)@9@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880Eu EuEu)Eq"Eu&:*Eu n:VEuFA4ZEqBEuh;^ii#,LA2-Ư@2~@2<ٱ2oR>2H?7?`ظSF?ǿ`Аf!?ZR?i2-Ư@I2Ž];2CY:JBy:|!I <<bDFVDFİ8yNt=%NZ=ٔN:Q-R>9PYP=RiEyVDV,=EV>XQ 5^5ZO?Q 9^5ZF)ZfBY`ybpQ IbQ@ZDIZ:iZK:Z*5ydɮfAdt:i|~DNOT Ignoring new targets: 74.83 m."i;*i ; ProNav: ac range: 74.829651 m, nav range: 73.388718 m, bearing: 42.521711 deg, approach rate: 0.074305 m/s, LOS rate: 0.330454 deg/s, cmd heading: 42.789356 deg, new cmd heading: 43.027407 deg. i1<-HeadingCmd: 0.750970 target range: 74.829651 and range: 74.90 m.h-?@?h)h)h1h1g1g1jg9rg9e9reAZeI:eI*eU@.? DBɢ M-) O checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513084E  E E ,E "E :*E &p:VE g4ZE a @a @a @a @{npi#,dLACD@=@ad<ٱS>H)? E?#n?=rǿSG?BP?iCD@Iq];CY5FByUv!IQiMb@Mb@Mb@ 9 +?ktƿQ롿Yȶ>y 0\@A A@)@Y@bD;VD8y일%6=ٔ *:Q- >9 ?Y?=iEyD =E>Q 5%5X?Q 9%5J)TBY->Q E-;y-t{Q I-Q@DI ;i] ;5y5cBɮ=A=.E:iYeDNOT Ignoring new targets: 74.83 m."ie;*ie;u ProNav: ac range: 74.829651 m, nav range: 73.415703 m, bearing: 42.656717 deg, approach rate: 0.060316 m/s, LOS rate: 0.301648 deg/s, cmd heading: 43.027408 deg, new cmd heading: 43.297319 deg. iu <HeadingCmd: 0.755681 target range: 74.829651 and range: 74.90 m.hLtA?hhhhggjgrgBereZe:e*e[?eBBɢe|J)a ;i)k顩ikiLtA?ILtA?Iԉy@y @y@}0@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763282ԩBAB>BCBM!IB%BBQ =BBUDB;B(\E^A  A ڗAI I) O= >%vi#,rۥLA:?ư@:@:e<ٱ:NS>:Hl?`;?"z V?2ǿ}8?P?i:?ư@I:b];8YFHByFy!I LNa=bDR5VDRݰ8yV2<%Ve=ٔZ(;Q-Z>9^?Y^?=^iEy^D^76=Eb>`Q 5f5b^?Q 9j5bM)bFBYhyjnwQ IjQ@bDIb<;ib7;b25ynBɮrAp:i DNOT Ignoring new targets: 74.83 m."i r;*i r; ProNav: ac range: 74.829651 m, nav range: 73.435295 m, bearing: 42.764314 deg, approach rate: 0.054920 m/s, LOS rate: 0.301531 deg/s, cmd heading: 43.297320 deg, new cmd heading: 43.512457 deg. i% <%HeadingCmd: 0.759436 target range: 74.829651 and range: 74.90 m.h%`jB?h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=@e@BɢeE")i m`n checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266843Q |i#,v7LA2F@2"@@2<ٱ2|U>2H? ?Ky ?ȿ%`}?@,M?i2F@I2z];0Y:UBy:!IIB=)BC=bDFVDFɰ8yN=%NL=ٔR ;Q-R>9PYP=ViEyVDV =EV>XQ 5^5Zaf?Q 9^5ZP)Z7BY`ybWsQ IbQ@ZDIZ;iZ;Z5yfBɮfAf7EvB*** querying acoustic contact ***itit:i DNOT Ignoring new targets: 74.83 m."i;*i;= ProNav: ac range: 74.829651 m, nav range: 73.455116 m, bearing: 42.885220 deg, approach rate: 0.049195 m/s, LOS rate: 0.300000 deg/s, cmd heading: 43.512458 deg, new cmd heading: 43.754201 deg. i=B Bɢ]P?)Y e5=ia)ehaaiei~C?I~C?I 9@  @ @0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522641E} E}E})Ey"E}:*E}҆:VE}FA4ZEya@a@a@a@Ա^A5#A5xAzA5xAAA II IY Om > 엃i#,oLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770937>ɱ@>W¸@>.Ԣ<ٱ>}V>>HB?@?ӝ5߿@B?sȿ-ZC?\K?i>ɱ@I>Rf];>CYFSByJ!IiMb@Mb@Mb@ 9`"?oʡſ+Yη>y-7A X@)@Y @bD- VD-8y=&%E@=ٔE8;Q-E>9AYI=MiEyMDMO=EM>QQ 5]5Un?Q 9e5UsT)U%BYe">Q Ee;ye{lQ IeQ@UDIU ;iU ;Ug5yiɮmAq:iDNOT Ignoring new targets: 74.83 m."ia;*ia; ProNav: ac range: 74.829651 m, nav range: 73.472092 m, bearing: 43.013870 deg, approach rate: 0.040242 m/s, LOS rate: 0.304908 deg/s, cmd heading: 43.754202 deg, new cmd heading: 44.011441 deg. i <HeadingCmd: 0.768145 target range: 74.829651 and range: 74.90 m.hD?hh1h1h1g1g9jg9rg=Be9reAZeA:eA*eEष@B>BBT!IB*BBO =BBTDB;B \EQ ĉi#,(LA2L@2:F@2<ٱ2׷V>2H@~-?` ?@ۡM޿+?6ȿ`@?J?i2L@I2'];2CY:LBy:~!IbDFVDF8y~K%~O=ٔ%;Q->9 Y = iEy D:&=E>Q 5-5v?Q 9-5W)BY)y5_hQ I5Q@DI;iw;5yEBɮEaAE8E:iy}DNOT Ignoring new targets: 74.83 m."i;*i; ProNav: ac range: 74.829651 m, nav range: 73.485832 m, bearing: 43.134347 deg, approach rate: 0.034236 m/s, LOS rate: 0.300123 deg/s, cmd heading: 44.011441 deg, new cmd heading: 44.252349 deg. iP <HeadingCmd: 0.772349 target range: 74.829651 and range: 74.90 m.hE?hhhhggjgrgereZe:e*e @;BɢO)  =i)ׂdi]iE?IE?II ) 1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2755859@ @@0@@yA@yAY^AFӅԁ I I O >= DAT read: 01:34:15.7632 LVL= 17264, 26865, 31042, 32755, AGC= 57, IDX= 448,-0.43,-2.970, 1.932, 1.781, 2.492, PHS= 0.923,-0.514,-0.755, RAW= 82.4, 4.4, CAL= 81.2, 0.9, ROT= 68.8, -0.9 E Ygot valid direction response: 01:34:15.7632 LVL= 17264, 26865, 31042, 32755, AGC= 57, IDX= 448,-0.43,-2.970, 1.932, 1.781, 2.492, PHS= 0.923,-0.514,-0.755, RAW= 82.4, 4.4, CAL= 81.2, 0.9, ROT= 68.8, -0.9 M PDAT read: Bearing 104.1, 63.8 (Local) M ~Local bearing/azimuth received: Bearing 104.1, 63.8 (Local) ] DAT read: Range 11 to 50 : 75.2 m (Round-trip 100.3 ms) speed -0.1 m/s e R#Rx 1: Read range and direction messages.E  E E (E "E D:*E n:VE c44ZE a @a @a @a @ \direction in FSK: [0.361580,0.932209,0.015707] Fpublishing direction and range infoy  ` $?]?y&?Y fB pC h By ) 9i#,2BLA,I5Il?i55GA5X?5nF=5 g? 5<)5`?I5115 D?z Y޳? 5$()5I5`?i5115T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.EP@EI@E\<ٱE?T>EH?@y)?et 4ܿ?@ȿJ `d?M?iEP@IEj];ECYqyq yy=ԁiMb@Mb@Mb@ 9i|?5?w/ĿˡEY>y&'@ +@)A@Y@bDVDð8y-ݺ%- =ٔ-[;Q-5>91Y1=5iEy5!D]}=E]>aQ 5m5eL?Q 9m5e[)eBYmh>Q Eu ;yu_Q IuQ@eDIe:ie:eZ5yyɮ}dAyi1i5v@LAj5CB"j5CB:j5X9?Rj5̗0*;@EԁQ@?Bj5` $?]?y&?*j5`?2j5Zj5߇4yK@H4;eqH@ ]-@Jj5kWcr?̼:?0C?j5CB j53\Bi5K?i5Uj5CBj1j1j5Brj5Bzj5eA?  addTargetRange:: Added new target pos. range: 75.199997 m, deltaT: 3.781762 s, deltaX: 0.299995 m, approachRate: 0.079327 m/s, rangeRepo size: 3 = Added new target pos. range: 75.132492 m, bearing: 41.605660 deg, lat: 36.779534 deg, lon: -121.859774 deg, deltaT: 3.781762 s, deltaX: 0.302841 m, approachRate: 0.080079 m/s, posRepo size: 3 :i9=DNOT Ignoring new targets: 75.13 m."iE*iAU ProNav: ac range: 75.132492 m, nav range: 73.496918 m, bearing: 43.284688 deg, approach rate: 0.000000 m/s, LOS rate: 0.300123 deg/s, cmd heading: 44.252348 deg, new cmd heading: 44.564786 deg. iq}HeadingCmd: 0.777802 target range: 75.132492 and range: 75.20 m.h} G?hyhyhyhyggjgrgBereZe:eR@*ew?8Bɢߋ)  =i)aii G?I G?IU(DAT read: user:10> ]BDAT read: Tx time:01:34:17.1087 ]$Ping request sent.]BCBZ!IB/BBR =BBSDB;B\EBMCBMCBMȔCBMR =BICM{6 ^A  IQ Ia Ou >)ii#,D_LAJchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250828YZKByZ}!IbDfFVDf8y~{%s=ٔQ-?E EE)E"E&:*EAr:VEFA4ZEBEh; % G= GyAU MA 9 GyAY ٛAci#,xLAY=9iYi=miEym0DqEu>yQ 55}?Q 95}i=9@9 @A@A@A@I@M=yԱ ^Aa I I O >e >e &@e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007057ri#,eLA2X@2Q@2]_<ٱ2=S>2H ?\?1 ףڿh?`F&ɿ@VK@J? N?i2X@I2l];0@YBBByBq!IIF%=)Fl>B%>B!B%T!IB%*BB!B!B!B%Ϡ;B%[EiMb@Mb@Mb@ 9-?333333ÿ{GzY?>y#@A A@)@Y@bDrVD8y<%E=ٔ4;Q->9Y=iEy8DT=E>Q 55?Q 955d)BY>Q E ;yMQ IQ@DID;i;~5yɮA:iDNOT Ignoring new targets: 75.13 m."ie;*i%e;E ProNav: ac range: 75.132492 m, nav range: 73.512993 m, bearing: 43.625743 deg, approach rate: -0.002335 m/s, LOS rate: 0.294445 deg/s, cmd heading: 45.002484 deg, new cmd heading: 45.246840 deg. iE i#,+LA2״@2Gѻ@2<ٱ2C0T>2HJ?z?L Hٿ@?@^Sɿ`S?kN?i2״@I2];2CYR?ByVn!IbDfVDf<8yjN%nY=lٔr[:Q-r>9pYp=viEyv?Dv)=Ev>xQ 5~5z&?Q 9~5zfQ =~tI)zBYyIQ IR@zDIz;izn;z5y ɮ A :iDNOT Ignoring new targets: 75.13 m."i];*i]; ProNav: ac range: 75.132492 m, nav range: 73.510185 m, bearing: 43.736944 deg, approach rate: -0.007168 m/s, LOS rate: 0.283903 deg/s, cmd heading: 45.246841 deg, new cmd heading: 45.469250 deg. i<HeadingCmd: 0.793588 target range: 75.132492 and range: 75.20 m.h(K?hhhhggjgrgereZe:e*eD? /Bɢ P) =%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511357i!)%[!!i-i-(K?)1I5(K?I1@ @@@ 1^A?΅II)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762810EM  EM EM 'EI "EM V:*EM :VEM '4ZEI aU @aU @a] @a] @a Mi#,ʊƦLAZ!@Zr@Z<ٱZNU>ZH=?Б?̫d׿.? ɿ`}@|?`L?iZ!@IZy];ZCYdyd!iUMb@Mb@Mb@QQQQ Q9U/$?ףp= ÿktYU&>yUU 0QUA UX@)Un@QYU@bDmkVDm8ٔ}W:Q-}>9Y=iEyGD=E>Q 55?Q 95i)BY\>Q E ;y!FQ IR@DI;i?;5y ɮ:i1=DNOT Ignoring new targets: 75.13 m."i=0;*i=0;M ProNav: ac range: 75.132492 m, nav range: 73.504875 m, bearing: 43.864562 deg, approach rate: -0.012527 m/s, LOS rate: 0.301075 deg/s, cmd heading: 45.469249 deg, new cmd heading: 45.724502 deg. iM B CB M!IB %BB S =B B B Ġ;B [Eԁ^Aԩ A .AI I O >i#,8঍LAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266955bf@b`@bE<ٱbV>bH@b?@Z?pֿ,-?Nɿh@؟?`?J?ibf@Ib\];`YnCByns!I ppbDz*VDzӰ8E EEE"E:*E:VEZEBE<9% ?Y- ?=-iEy-OD-*(=E->1Q 5=55?Q 9=55kl)5BYAyEBQ IER@5DI5b;i5 ;55yMĕBɮMAM:E:iquDNOT Ignoring new targets: 75.13 m."i};*i}; ProNav: ac range: 75.132492 m, nav range: 73.498436 m, bearing: 43.973754 deg, approach rate: -0.017110 m/s, LOS rate: 0.290158 deg/s, cmd heading: 45.724500 deg, new cmd heading: 45.942901 deg. i<HeadingCmd: 0.801855 target range: 75.132492 and range: 75.20 m.h]FM?hhhԙhggjgrgereZe:e*e/s@*Bɢ9) PL=i)d1Wii]FM?I]FM?I@ @@@^A5>5%==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519764AA II IY Om >! ؽi#,LAF@F @FҬ<ٱF)Y>FH ?`?@#տ@V?bʿ딙?E?iF@IFR];DYLyPbDZ5VDZݰ8yb%bP=ٔb9Q-b>9dYd=fiEyfWDj%=Ej>lQ 5r5n?Q 9r5no)nBYpyr=Q IrR@nDIn;in8;nX5yxɮz Ax:iDNOT Ignoring new targets: 75.13 m."i;*i;- ProNav: ac range: 75.132492 m, nav range: 73.489624 m, bearing: 44.087382 deg, approach rate: -0.022471 m/s, LOS rate: 0.289792 deg/s, cmd heading: 45.942902 deg, new cmd heading: 46.170184 deg. i-<5HeadingCmd: 0.805822 target range: 75.132492 and range: 75.20 m.h5UJN?h1h1h9h9g9g9jgArgAeAreAZeA:eI*eM@@额'Bɢ:) ^=i).AT顡iTiUJN?IUJN?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771122E EE,E"E;*Exv:VEg4ZEa-@a-@a5@a5@9@ @@@1Y^A- FӅE BDAT read: Rx Time:01:34:19.6134 M TRx dataTimestamp_ set to:1764898460.276544M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023883Ay ԁ I I O >]i#,LABb>BbCBbA!IBbBB`B`BbTDBb;Bb[EUl@U1f@U<ٱU=\>UH:?@?`觿`.Կ|?ʿ@SO?`@?iUl@IU];UCY:Byh!IQiMb@Mb@Mb@ 9 rh?jtĿlY>y A A@)@Y\@ =<bDVD8yp%/=ٔa8Q->9Y=iEy`D_ =E>Q 55CȒ?Q 95 r)zBYJ>Q E;y%>Q IR@DIv;iz;m 5yBɮ/ACEB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 75.13 m."i~;*i~; ProNav: ac range: 75.132492 m, nav range: 73.479836 m, bearing: 44.220221 deg, approach rate: -0.020933 m/s, LOS rate: 0.284124 deg/s, cmd heading: 46.170183 deg, new cmd heading: 46.435895 deg. i%<%HeadingCmd: 0.810459 target range: 75.132492 and range: 75.20 m.h%BzO?h)h)h)h)g)g1jg1rg5Be1re9Ze9:e9*e=1S @e$BɢmxĹ)! -.=i))-Q))i-^i5BzO?11I=BzO?I9Ia)exAԁ@ @@@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275188E EE)E"E;*Ex:VEFA4ZEBE@i#,˟-LA|@@TU<ٱ]>He??x ӿ0?!˿?=?i|@I];CY?Byn!II>)p;bDVD8ya<%W=ٔ~Q- >=DAT read: 01:34:19.6135 LVL= 15776, 25329, 26594, 28483, AGC= 59, IDX= 434, 0.23, 1.608, 0.148, 0.059, 0.746, PHS= 0.965,-0.553,-0.730, RAW= 84.5, 4.0, CAL= 83.4, 0.4, ROT= 66.6, -0.4 EYgot valid direction response: 01:34:19.6135 LVL= 15776, 25329, 26594, 28483, AGC= 59, IDX= 434, 0.23, 1.608, 0.148, 0.059, 0.746, PHS= 0.965,-0.553,-0.730, RAW= 84.5, 4.0, CAL= 83.4, 0.4, ROT= 66.6, -0.4 MPDAT read: Bearing 115.1, 61.9 (Local) U~Local bearing/azimuth received: Bearing 115.1, 61.9 (Local) ]DAT read: Range 11 to 50 : 75.3 m (Round-trip 100.5 ms) speed 0.0 m/s eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.397138,0.917732,0.006981]mFpublishing direction and range infoy  !gj? ^?a|?Y B  = b g Co) ;I = w?i h H: ZƼ? 5= AQ? ;) ,ɔ?I 仩   Q{5?6>}܃Y,ʱ? d) -sI ,ɔ?i 仩  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9Y=iEyhD'=E>IQ 5U5Mђ?Q 9]5Mt)MjBYYy]9Q I]R@MDIM$:iM:M 5yBɮ6ADEi i 1LAj vB"j vB:j aT?Rj A=@2BQ@\;|?Bj !gj? ^?a|?*j ,ɔ?2j Zj .LH@eDK@;W:-@Jj  -&?_WL2?z+=?j #ZB j FBi J/?i Uj yBj a  BDAT read: Tx time:01:34:20.8088  $Ping request sent. i#,KLA2Rw@2p@2 <ٱ2^>2H ??ݤ` ҿ`f?G˿@`?b!Ii5Mb@Mb@Mb@1111 195tV?+ÿy55t11 1)5n@1Y5Q@bDMVDM8y]z2%]7=ٔ]Q-]>9aYa=eiEyeqDm4=Em>qyQ 5}5}ے?Q 95}Nw)}YBY>Q E ;y1Q IR@}DI}:i}:}5yɮA:iDNOT Ignoring new targets: 75.23 m."iŹ;*iŹ; ProNav: ac range: 75.231216 m, nav range: 73.688210 m, bearing: 44.808797 deg, approach rate: -0.039605 m/s, LOS rate: 0.324829 deg/s, cmd heading: 46.698164 deg, new cmd heading: 46.935443 deg. i<HeadingCmd: 0.819178 target range: 75.231216 and range: 75.30 m.hQ?hhhhggjgrgBereZe:e*e@-?Bɢs9) %7=i!)%ZK!!i%i-Q?))I5Q?I15checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2517939@ @@/@ԙAAB>BCB4!IBBBP =BBB;B[E^AFӅA I! I1 OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502770 bE:4jEmF4rEuf0E]  E] EY EY "E] :*E] $:VEY ZEY BE] $5RH??@C4ѿ ?Xr˿!c`?`;?iR"@IRx];RCYZ+By^U!IbDfVDf8ynU%nQ=ٔn7Q-r>9pYp=riEyryDv(=Ev>xQ 5~5zn咊?Q 9~5zy)zJBYy-Q IR@zDIz;iz;z 5y ɮ A :i15DNOT Ignoring new targets: 75.23 m."i=f;*i=f;M ProNav: ac range: 75.231216 m, nav range: 73.672318 m, bearing: 44.922026 deg, approach rate: -0.040828 m/s, LOS rate: 0.290959 deg/s, cmd heading: 46.935445 deg, new cmd heading: 47.161950 deg. iMi>@ @@@@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754649^A#!IA IQ OY 9 !i#,tLA2Ɓ@2{@2 <ٱ2 _>2H??@~п?@˿ !@?:?i2Ɓ@I2']];0Y:ABy:p!I <<bDFVDF8yN?=%NN=ٔR$Q-R>9PYP=RiEyVDV)=EV>XQ 5^5ZT?Q 9^5Z"|)Z:BY`yb)Q IbR@ZDIZ;iZo;Z5ydɮf*Ad:ixzDNOT Ignoring new targets: 75.23 m."i~>;*i~>;iyIychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007007 ProNav: ac range: 75.231216 m, nav range: 73.654007 m, bearing: 45.036996 deg, approach rate: -0.046284 m/s, LOS rate: 0.290684 deg/s, cmd heading: 47.161951 deg, new cmd heading: 47.391947 deg. i<HeadingCmd: 0.827146 target range: 75.231216 and range: 75.30 m.hϿS?hhhhggE EE,E"El;*E:VEg4ZEa%@a%@a%@a%@)jgqrgqeyreZe:e*e`?额Bɢ& ;) =i)./E顡iiϿS?IϿS?IA]9@Y @Y@]5@aq5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258663^AA B >B CB .!IB BB B B B ;B [EBBBʓCBBCM5Թ I9 IQ O] > i#,gaLA2j @2@2q<ٱ2`>2H`??ObϿ4?\˿՘`?`8?i2j @I2]j];2CY:-By:X!Ii-Mb@Mb@Mb@)))) )9-x&1?7A`¿lY->y---@-MA -X@)-+@)Y)bDMVDM8y]L%]>=ٔ]=1Q-]>9aYa=eiEyeDe=Em>qQ 5}5uK?Q 9}5u~)u)BY}>Q E};y}Q I}R@uDIu:iu:uC5yBɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 75.23 m."i|;*i|; ProNav: ac range: 75.231216 m, nav range: 73.622169 m, bearing: 45.168270 deg, approach rate: -0.073961 m/s, LOS rate: 0.305094 deg/s, cmd heading: 47.391947 deg, new cmd heading: 47.654607 deg. i <HeadingCmd: 0.831730 target range: 75.231216 and range: 75.30 m.h>T?hhhhggjgrgBereZe:e*e?BɢPa?:) B=i)+Ci%i%>T?!)I->T?I)ԉ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511479D=DR=E EE(E"E:*E:VEc44ZEBEN- 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762708t3i#,,LAF@Fi@F1<ٱFv_>FH8?@?FAͿW?f˿1?@d;?iF@IFY];FCYn7Bynd!I v=v<bDzVDz8yF=%Q=ٔ Q- >9 Y = iEy D+=E>Q 5%5T?Q 9%5)BY!y%Q I%R@DIG:i:5y1ɮ5A1aGe{AA:iDNOT Ignoring new targets: 75.23 m.9{AYA"i;*i; ProNav: ac range: 75.231216 m, nav range: 73.590950 m, bearing: 45.287770 deg, approach rate: -0.071946 m/s, LOS rate: 0.275506 deg/s, cmd heading: 47.654605 deg, new cmd heading: 47.893705 deg. i;HeadingCmd: 0.835903 target range: 75.231216 and range: 75.30 m.hU?hhh1h1g1g1jg9rg9e9re9ZeA:eA*eE1@颵Bɢ:)  =i)>项ii#,%ͧLA;ɰ4)v>ieMb@Mb@Mb@aaaa a9eS㥛? rhyeC ete@e A en@)en@aYe=@bD VD8yYI%B=ٔQ->9Y=iEyDE>Q 55?Q 95I) BY>Q E;y~ Q IR@DI] ;i;a"5yBɮAEE:iDNOT Ignoring new targets: 75.23 m."i;*i; ProNav: ac range: 75.231216 m, nav range: 73.551819 m, bearing: 45.417664 deg, approach rate: -0.103043 m/s, LOS rate: 0.342228 deg/s, cmd heading: 47.893707 deg, new cmd heading: 48.153631 deg. i< HeadingCmd: 0.840439 target range: 75.231216 and range: 75.30 m.h  'W?h h h h ggjgrgBereZe:e*e @Bɢ6;) @=i):checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266775QiU)i] 'W?YYI] 'W?IaBqAu<B>BCBBBR =BBSDB;B[Em9@i @i@m/@iy^AI AI zAM zAԹ I I O >iߡ Iߡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518927E!  E% E! E! "E! *E% xv:VE! ZE! BE% F82HnW??+ɿ? ˿`(? O:?i2ՠ@I2f];2CY:2By:^!I@bDF VDF8yNL%R[=ٔRGĺQ-R>9TYT=ViEyVDV=EV>XQ 5^5Z?Q 9b5Z=)ZBY`ybQ IbR@Z DIZ;iZ ;Z%5ydɮjAh:ix~DNOT Ignoring new targets: 75.23 m."i~w;*i~w;  ProNav: ac range: 75.231216 m, nav range: 73.512787 m, bearing: 45.531208 deg, approach rate: -0.104811 m/s, LOS rate: 0.305057 deg/s, cmd heading: 48.153633 deg, new cmd heading: 48.380841 deg. i  <HeadingCmd: 0.844405 target range: 75.231216 and range: 75.30 m.h*X?hhhhggjgrgereZe:e*e"@ Bɢ-;) =i)6i'i*X?I*X?I!ԩ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773035^AII Ia Om > [.j#,nLA2(@2!@2텾<ٱ2ߛ`>2H`q? ?5௓ǿ3?˿0З`?@9?i2(@I2C];2CY:;By:i!I@BAAbDFVDFŰ8yN3=%NK=ٔR%Q-R>9PYP=RiEyRDV(=EV>XQ 5^5Z)?Q 9^5ZL)ZBY\y^YQ IbR@ZDIZi:iZ;Z))5ydɮfAdl:ix~DNOT Ignoring new targets: 75.23 m."i~;*i~;  ProNav: ac range: 75.231216 m, nav range: 73.468155 m, bearing: 45.653916 deg, approach rate: -0.110393 m/s, LOS rate: 0.303690 deg/s, cmd heading: 48.380839 deg, new cmd heading: 48.626402 deg. i  <HeadingCmd: 0.848691 target range: 75.231216 and range: 75.30 m.hCY?hhhhggjg!rg!e!re!Ze!:e)*e-' @UBeBDAT read: Rx Time:01:34:23.3130 eTRx dataTimestamp_ set to:1764898464.056626mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023829ɢUj;)i m=ii)u2qqiu׬i}CY?yyI}CY?IE EE'E"E:*E|:VE'4ZEa@a@a@a@=9@9 @A@A@A1^A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275469A ؟AI I O >Bq Bq Bq Bq Bu S =Bq Bq Bu ;Bu [Eԑ |Zj#,LAYm@m@mc<ٱma>mH@u?`?@ @hſ? ̿g\ ? L7?im@Ima];mCY2By^!I i}Mb@Mb@Mb@yyyy y9} ףp= ?HzGS㥛Y}Q>y}= }/ݼy}A y)yyY}@bD1VDڰ8y%-=ٔuQ->9"?Y"?=iEyD=E>Q 557?Q 95)BYV>Q E ;ygQ IR@DI;i;H-5yBɮ0AFEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 75.23 m."i;*i ; ProNav: ac range: 75.231216 m, nav range: 73.420822 m, bearing: 45.788731 deg, approach rate: -0.100419 m/s, LOS rate: 0.286202 deg/s, cmd heading: 48.626401 deg, new cmd heading: 48.896203 deg. i<HeadingCmd: 0.853400 target range: 75.231216 and range: 75.30 m.hhxZ?h!h!h!h!g!g!jg)rg-Be)re1Ze1:e1*e5` @]BɢezX;)a et=ia)mR,iiim_iuhxZ?qqIuhxZ?IqԁDAT read: 01:34:23.3130 LVL= 18912, 25793, 26642, 27299, AGC= 58, IDX= 431,-0.47,-0.243,-1.966,-1.618,-1.063, PHS= 0.922,-0.857,-0.598, RAW= 97.7, 6.5, CAL= 98.0, 5.9, ROT= 52.0, -5.9 Ygot valid direction response: 01:34:23.3130 LVL= 18912, 25793, 26642, 27299, AGC= 58, IDX= 431,-0.47,-0.243,-1.966,-1.618,-1.063, PHS= 0.922,-0.857,-0.598, RAW= 97.7, 6.5, CAL= 98.0, 5.9, ROT= 52.0, -5.9 PDAT read: Bearing 141.8, 50.0 (Local) ~Local bearing/azimuth received: Bearing 141.8, 50.0 (Local) DAT read: Range 11 to 50 : 75.0 m (Round-trip 100.1 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.E EE.E"E;*Ee:VEـ4ZEBEA (DAT read: user:12>  BDAT read: Tx time:01:34:24.6087  $Ping request sent.% 9Y=iEyDE>!Q 5-5%A?Q 9-5%p)%BY1y1Q I5R@%DI%A;i%;%05y9ɮ=AAii#LAjܕB"jܕB:jF5?Rjv F@]M@MjL@BjUȘ?fL0?zBP?*jVh?2jBҽZj!H@~K@ޖ&G@ruQ3@Jj2|?iy?4m?jYi)#%i)i u[?Iu[?I%9@! @!@!@)}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251051E EE,E"E:*E~:VEg4ZEa@a@a@a@^A- I A .AI I O >ij#,MNLA2IԽ@2@2y<ٱ2t1c>2H?!.?ElJ?G̿n(?G5?i2IԽ@I2m];2CY:8By:e!Ii-Mb@Mb@Mb@)))) )9-rh|?:v~jtY->y-Խ-ļ-@- A -@)-@)Y-@bDEBVDE8yUa'%UW=ٔ] Q-]>9] ?Ye ?=eiEyeDex=Ee>iQ 5u5mL?Q 9u5m)mBY}>Q E} ;y}ǾQ I}R@mDIme;im;m35yɮA:iDNOT Ignoring new targets: 74.93 m."i̜;*i̜; ProNav: ac range: 74.930000 m, nav range: 73.122612 m, bearing: 43.962234 deg, approach rate: -0.153803 m/s, LOS rate: 0.274168 deg/s, cmd heading: 49.117895 deg, new cmd heading: 49.324317 deg. i;HeadingCmd: 0.860872 target range: 74.930000 and range: 75.00 m.hb\?hhhhggjgrgBereZe:e*e5?Bɢ;) =i)$ !!i% i%b\?))I-b\?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5036609@ @@0@@@=AA@AB>BBBBBBBѠ;B[EA^A#iA% ؟AI) IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755041E  E E *E "E l;*E n:VE (N4ZE BE aF2H??GqFm o?̿@:?9?i2f@I2]];2CYR;ByRh!IIV=)V=bDZVVDZ8yf[<%fT=ٔf Q-f>9j"?Yj"?=jiEyjDj==En>pQ 5v5rwX?Q 9v5rG)rBYxyzQ IzR@r$DIr;ir;rU75yBɮAGE:i9EDNOT Ignoring new targets: 74.93 m."iE;*iM;e ProNav: ac range: 74.930000 m, nav range: 73.061661 m, bearing: 44.066366 deg, approach rate: -0.156411 m/s, LOS rate: 0.267444 deg/s, cmd heading: 49.324317 deg, new cmd heading: 49.532755 deg. ie;mHeadingCmd: 0.864510 target range: 74.930000 and range: 75.00 m.hmP]?hihqhqhqgqgqjgyrgyereZe:e*e'?Bɢ;) >i)piiP]?IP]?Iq9@ @@/@ԡ ?4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007353^AFӅA% .AI) I9 O] > { j#,2LA2@2@2jݪ<ٱ2V`>2Hh? s?ЉL⸿ ?˿G[@?s:?i2@I2ډ];2CY:9By>g!IbDFVDF8yN$%NM=ٔRӾQ-R>9R ?YR ?=RiEyRDV7=EV>XQ 5^5Z]d?Q 9^5Z)ZBY\ybQ IbR@Z(DIZ;iZ;Z:5ydɮf(Ad:ixzDNOT Ignoring new targets: 74.93 m."iz;*i~;  ProNav: ac range: 74.930000 m, nav range: 72.996712 m, bearing: 44.172923 deg, approach rate: -0.164723 m/s, LOS rate: 0.270489 deg/s, cmd heading: 49.532754 deg, new cmd heading: 49.746057 deg. i ;HeadingCmd: 0.868232 target range: 74.930000 and range: 75.00 m.h|D^?hhhhggechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263167jgrgereZe:e*e e?E EE,E"E:*Ex:VEg4ZEa@a@a@a@Bɢw;)  >i),ixi%|D^?!!I%|D^?I)5:@1 @1@9@9^Am checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515095I B B B 4!IB BB R =B B B Ϡ;B [EA ؟AI I O >Q {&j#,蛨LA>]@>@><ٱ>o_>>H[??le?Z ?~˿ ޔ ?);?i>]@I>Zu];>CYF7ByFd!IiMb@Mb@Mb@ 9d;O?/$yt A @)n@Y@)-@AbD-VD-8y=G%E@=ٔEfQ-E>9M"?YM"?=MiEyMDM +=EM>QQ 5]5Up?Q 9e5U֐)UBYe>Q Ee;yezQ IeR@U-DIU:iU7:U>5ym BɮuLAuQE:iDNOT Ignoring new targets: 74.93 m."i0;*i0; ProNav: ac range: 74.930000 m, nav range: 72.922935 m, bearing: 44.278701 deg, approach rate: -0.173228 m/s, LOS rate: 0.248620 deg/s, cmd heading: 49.746057 deg, new cmd heading: 49.957826 deg. i;UHeadingCmd: 0.871929 target range: 74.930000 and range: 75.00 m.hU6_?hQhQhQhQgYgYjgYrg]ہBeareaZea:ea*ee$E?Bɢj;)  >i)M ihi%6_?!!I%6_?)IiiIiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768102bEM [4jEM [4rEMJv0E EE/E"E:*Eg:VEJ4ZEBE> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019107,j#,=LA4V@V9@V$<ٱV^>VH? |t?*y?ns-?˿``?=?iV@IVl];TYj;Byjh!I ppbDQVDQyee<%eH=ٔeQ-e>9m ?Ym ?=miEymDu6=Eu>yQ 55}|?Q 95})}BYyAQ IR@}2DI}:i}:}B5yɮ.AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 74.93 m."i;*i; ProNav: ac range: 74.930000 m, nav range: 72.850082 m, bearing: 44.379349 deg, approach rate: -0.178295 m/s, LOS rate: 0.246565 deg/s, cmd heading: 49.957827 deg, new cmd heading: 50.159324 deg. i;HeadingCmd: 0.875445 target range: 74.930000 and range: 75.00 m.h0`?hhhhggjgrgereZe:e*e@%Bɢ%t<)! %B>i))-w))i-Ei50`?11I50`?I9ԉ9@ @@0@Թ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271077E EE,E"E:*E:VEg4ZEa@a@a@a@^AMFӅ A I I O- >3j#,:ϨLA6~@6Ϫ@6<ٱ6=]>6H?? M? M r8?Y˿@To?@?i6~@I6Փ];6CY@yBi!I`iMb@Mb@Mb@ 9^I +?x&I +YX>y79 n@)@Y3@bD-VD-8y=:%=M=ٔ=@Q-=>9AYA=EiEyEDM7=EM>QQ 5U5U?Q 9]5U)UBY]Ӽ>Q E];y].WQ IeR@U7DIUm ;iU ;UE5yiɮm,Ai:iDNOT Ignoring new targets: 74.93 m."i;*i; ProNav: ac range: 74.930000 m, nav range: 72.769516 m, bearing: 44.475015 deg, approach rate: -0.202496 m/s, LOS rate: 0.240712 deg/s, cmd heading: 50.159325 deg, new cmd heading: 50.350866 deg. iC;HeadingCmd: 0.878788 target range: 74.930000 and range: 75.00 m.hG`?hhhhggQjgYrg]ԁBeYreYZeY:ea*ee@@Bɢ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523122) &>i)i i=G`?9AIEG`?IIBA<B>BB;!IBBBT =BBB;B[EBCBCBBS =BS =Cl59@ @@/@^A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775456E  E E 'E "E &:*E c:VE '4ZE BE h;9j#,n騍LANLD@N=@N<ٱNe\>NH??@x8?E ??` k˿B\?@A?iNLD@IN>];LYZ5By^a!IbDjVDj8yv%vO=ٔzB|Q-z>9|Y|=~iEyD9=E>!Q 5%5?Q 9-5p)BY)y-DQ I-R@;DI;i;I5y='BɮEAERE:iqDNOT Ignoring new targets: 74.93 m."i;*i;- ProNav: ac range: 74.930000 m, nav range: 72.687485 m, bearing: 44.569182 deg, approach rate: -0.204816 m/s, LOS rate: 0.235384 deg/s, cmd heading: 50.350867 deg, new cmd heading: 50.539414 deg. i-c;-HeadingCmd: 0.882079 target range: 74.930000 and range: 75.00 m.h5a?h1h1h1hQgQgYjgYrgYeYreaZea:ea*eeR @-Bɢ-<)  #>i)o顑iia?Ia?II)Ia@a @a@a@a@i@m=BDAT read: Rx Time:01:34:27.1124 TRx dataTimestamp_ set to:1764898467.841955 C%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031386݂G=/{AIyR9/{AY"A^Ai ԩ A ؟AI I O >@j#,IKLA2@2@@2<ٱ2[>2HN?O?/T?K~ {C?I˿gc`C?`B?i2@I2z^;2CY::By:h!IIZt>)Zp;bDb VDb8yf<%jL=ٔj@Q-j>9n"?Yn"?=niEynDrC;=Er>pQ 5v5r͠?Q 9z5r)rBYxyz?2Q IzR@r@DIr_:ir:rL5yɮdA:i!-DNOT Ignoring new targets: 74.93 m."i-;*i-;i9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279463M ProNav: ac range: 74.930000 m, nav range: 72.602814 m, bearing: 44.663110 deg, approach rate: -0.214896 m/s, LOS rate: 0.238669 deg/s, cmd heading: 50.539414 deg, new cmd heading: 50.727489 deg. iMe;UHeadingCmd: 0.885362 target range: 74.930000 and range: 75.00 m.hUb?hQhQhQhQgYgYjgYrgaeareaZea:ea*em:L @yE EEE"E:*Ee:VEZEa@a@a@a@颭߂Bɢ ><) 5>i)lZѺ项i ib?Ib?I59@1 @1@5^0@1Ա^AUFӅE DAT read: 01:34:27.1124 LVL= 22912, 32753, 32754, 32755, AGC= 59, IDX= 439, 0.07, 1.536,-0.356, 0.436, 0.839, PHS= 0.799,-1.151,-0.447, RAW= 110.9, 9.4, CAL= 112.4, 10.6, ROT= 37.6, -10.6 ] Ygot valid direction response: 01:34:27.1124 LVL= 22912, 32753, 32754, 32755, AGC= 59, IDX= 439, 0.07, 1.536,-0.356, 0.436, 0.839, PHS= 0.799,-1.151,-0.447, RAW= 110.9, 9.4, CAL= 112.4, 10.6, ROT= 37.6, -10.6 m PDAT read: Bearing 162.1, 37.4 (Local) u ~Local bearing/azimuth received: Bearing 162.1, 37.4 (Local)  DAT read: Range 11 to 50 : 74.6 m (Round-trip 99.5 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.778769,0.599733,0.183951] Fpublishing direction and range infoy+Y?*w1? =η?B >B B B B R =B B B ;B [EA I I O >Y3BY );IDL?iS/侩?'>? q=>)'?Iq=Ge,?Kj}Ŀ3? ")`'I'?iq= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. Fj#,)LA>o@>2<>h<ٱ>Ҥ[>>H?I{@"?!S?&D?7˿@C3=? B?i>o@I>p];>CYn1Byn\!IiMb@Mb@Mb@ 9I +?Mbyt@ A @)n@Y@bDVD8y*%7=ٔ׹Q->9Y!=%iEy%D% (=E%>)Q 555-?Q 9=5-)-{BY=i>Q E=;y=ZQ I=R@-EDI-3;i-&;-iP5yAɮEAIi!i%fLAj%B"j%B:j%%?Rj%O4bM@ƷGeYF@u k+@Bj%+Y?*w1? =η?*j%'?2j%q=Zj%hʽM@ $D@*4W5@Jj%bcU?1v?cz/?j%%B j% hBi%!Ʀ?i% Tj%ӮBj%S?j%ʓ{j%CBrj%Bzj%r*A? addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.785018 s, deltaX: -0.400002 m, approachRate: -0.105680 m/s, rangeRepo size: 4  Added new target pos. range: 74.530472 m, bearing: 35.506618 deg, lat: 36.779559 deg, lon: -121.859807 deg, deltaT: 3.785018 s, deltaX: -0.399529 m, approachRate: -0.105555 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 74.53 m."i*i ProNav: ac range: 74.530472 m, nav range: 72.469414 m, bearing: 43.232755 deg, approach rate: 0.000000 m/s, LOS rate: 0.238669 deg/s, cmd heading: 50.727491 deg, new cmd heading: 50.942223 deg. iHeadingCmd: 0.889109 target range: 74.530472 and range: 74.60 m.hc?hhhhggjgrgereZe:e`fR@*e?ڂBɢm<)  ,>i ) diiic?Ic?IU(DAT read: user:13> ]BDAT read: Tx time:01:34:28.4087 e$Ping request sent.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250700Mj#, 7LAY5$By=L!IE@AEAAbDIVDIyu(%uU=ٔ}Q-}>9} ?Y} ?=}iEy DE>Q 55h?Q 95L)tBYyQ IR@JDI;i;S5y-BɮLAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 74.53 m."i;*i; ProNav: ac range: 74.530472 m, nav range: 72.385529 m, bearing: 43.318108 deg, approach rate: -0.220789 m/s, LOS rate: 0.224911 deg/s, cmd heading: 50.942221 deg, new cmd heading: 51.113123 deg. i;HeadingCmd: 0.892092 target range: 74.530472 and range: 74.60 m.h)`d?hhhhggjgrgereZe:e*e$?15ւBɢ5F<)9 = >i9)=ks99i=iE)`d?AAIM)`d?II 9@  @ @ 0@ Y]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501844E EE'E"E:*Ek:VE'4ZEa@a@a@a@^A5#ԉA ؟AI I O >Թ Tj#,PLA:@:IC=:<ٱ:Vj_>:H@M?ȥ@?e?@C6?˿ޒ?oyT@ A @)X@YbD-VD-8y=嗼%=N=ٔ=WQ-E>9E"?YE"?=EiEyEDM0=EM>QQ 5]5Uœ?Q 9]5U)UlBYe|>Q Ee;yeQ IeR@UNDIU ;iU ;U9W5yiɮmjAi:iDNOT Ignoring new targets: 74.53 m."iJn;*iJn; ProNav: ac range: 74.530472 m, nav range: 72.292450 m, bearing: 43.400457 deg, approach rate: -0.235170 m/s, LOS rate: 0.208329 deg/s, cmd heading: 51.113123 deg, new cmd heading: 51.278033 deg. i;HeadingCmd: 0.894971 target range: 74.530472 and range: 74.60 m.he?hhhhggjgrgāBereZe:e*e i)˱iވi e?19I=e?I9AQAUAAB]>BYB].!IB] BB]S =BYBYB];B][E9@ @@~0@^AFӅA?A>ii Im Au checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006980E  E E *E "E :*E :VE (N4ZE BE $5 /Zj#,jLAF6@F=F<ٱF`>FH??`C?1-?0˿Ւ@?D;?iF6@IFx];DYV"ByVJ!IbD`VD`y C<% M=ٔQ->9 ?Y ?=iEyD?=E>!Q 5-5%Г?Q 9-5%ٕ)%dBY1y5eQ I5R@%RDI%:i%:%Z5y=4Bɮ=AESE:iaeDNOT Ignoring new targets: 74.53 m."imj;*imj;} ProNav: ac range: 74.530472 m, nav range: 72.196983 m, bearing: 43.482147 deg, approach rate: -0.239603 m/s, LOS rate: 0.205297 deg/s, cmd heading: 51.278035 deg, new cmd heading: 51.441630 deg. i}ۻ;HeadingCmd: 0.897826 target range: 74.530472 and range: 74.60 m.he?hhhhggjgrgereZe:e*e7?͂Bɢ,M3<) *>i)7iOqie?Ie?I9@ @@?5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259885!^AI A ؟AI I O- >Caj#,OLA2O@2@=2aѕ<ٱ2|c>2H0? ? ?`n?U˿繒&?6?i2O@I2փ];0Y>By>B!I F%=DbDFVDF8yNA%NR=ٔRۍQ-R>9R"?YV"?=ViEyV#DV$B=EV>XQ 5^5Z|ܓ?Q 9^5Z)Z]BY`yb>Q IbR@ZWDIZ:iZT:Z^5ydɮfAd:ixzDNOT Ignoring new targets: 74.53 m."i~Rg;*i~Rg;  ProNav: ac range: 74.530472 m, nav range: 72.101959 m, bearing: 43.560782 deg, approach rate: -0.244063 m/s, LOS rate: 0.202236 deg/s, cmd heading: 51.441631 deg, new cmd heading: 51.599109 deg. i ;HeadingCmd: 0.900574 target range: 74.530472 and range: 74.60 m.h f?hhhh%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509951gg!jg)rg)e)re)Ze1:e1*e5S??E EE+E"ED:*E n:VE [4ZEa@a@a@a@ȂBɢ0N-<) &>i)yiXi  f?  I  f?I9Y@ @@@@@y^A8?(?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763079Bu >Bu CBu (!IBu BBq Bq Bu TDBq Bu [Eԩ Ae .AIi Iy O >cAgj#,rnLA2h@2@e=2`<ٱ2d6f>2H?@ɸ?S?l ? $̿ޒ?~0?i2h@I2u];2CY:By:y55ļ5@1 1)11Y5@bDMVDM8y]%]?=ٔ]<9Q-e>9e ?Ye ?=ejEye,Dm4=Em>qQ 5}5ua铊?Q 9}5uA)uSBY}>Q E};yqQ IR@u\DIu/;iuw;ua5yɮA:iDNOT Ignoring new targets: 74.53 m."icn;*icn; ProNav: ac range: 74.530472 m, nav range: 71.997398 m, bearing: 43.649914 deg, approach rate: -0.244138 m/s, LOS rate: 0.208416 deg/s, cmd heading: 51.599108 deg, new cmd heading: 51.777630 deg. i;HeadingCmd: 0.903690 target range: 74.530472 and range: 74.60 m.h=Xg?hhhhggjgrgBereZe:e*e@@ÂBɢ$(<) J'>i)ɀT!i%:i%=Xg?))I-=Xg?I)Ա5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014089I@I @I@M25@IE EE)E"E:*Ez:VEFA4ZEBE> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266672slmj#,MLA20@2i=2.<<ٱ2g>2Ho? ]` 8?7? ?@;̿>¹?-?i20@I2];2CY:By:>!IbDFVDF8yNϹ;%NW=ٔN=9Q-R>9R"?YR"?=RjEyR4DVEH=EV>XQ 5^5Z?Q 9^5Ze)ZJBY`ybD%Q IbR@Z`DIZ" ;iZ ;Z*e5yf:BɮfAfTEl:ix~DNOT Ignoring new targets: 74.53 m."i~`j;*i`j;  ProNav: ac range: 74.530472 m, nav range: 71.903000 m, bearing: 43.727763 deg, approach rate: -0.248143 m/s, LOS rate: 0.204907 deg/s, cmd heading: 51.777632 deg, new cmd heading: 51.933533 deg. i ;HeadingCmd: 0.906411 target range: 74.530472 and range: 74.60 m.h h?hhhhggjg!rg!e!re!Ze):e)*e-@UBɢRB<) 2>i)1iR%i h?I h?I@ @@4@ Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520658YE EE,E"ED:*E]t:VEg4ZEa@a@a@a@^AAE .AII IY Om >ԁ ~Wtj#,5ҩLAB@B >B<ٱBf>BH ?@~:?`?? ˿O=`W?0?iB@IBy];BCYNByN5!IiMb@Mb@Mb@ 9tV?i|?5/$Y>yqz A @)@Yz@bD5VD58yE%E?=ٔM9Q-M>9M ?YM ?Q=UjEyUaQ 5m5e?Q 9m5ep)eABYm>Q Em;ym(Q IuR@eeDIe;ie;eh5yɮLAB*** querying acoustic contact ***ii:iQ]DNOT Ignoring new targets: 74.53 m."ieU;*ieU;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770031 ProNav: ac range: 74.530472 m, nav range: 71.795334 m, bearing: 43.811720 deg, approach rate: -0.239294 m/s, LOS rate: 0.186879 deg/s, cmd heading: 51.933535 deg, new cmd heading: 52.101699 deg. i;HeadingCmd: 0.909346 target range: 74.530472 and range: 74.60 m.hh?hhhhggjgrgBereZe:e*e C@B<A<B>BCB!IBBBP =BBUDB;B[EmBɢmL-<)q u/>iq)u{qqiui}h?yyI}h?II)yAԁY@Y @Y@]/5@Y@exA@ezAԩ^A E BDAT read: Rx Time:01:34:30.9115 E TRx dataTimestamp_ set to:1764898471.620478M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022857bE%ʷG4jE%#E4rE%0E  E E (E "E :*E &p:VE c44ZE BE <:zj#,n쩍LAB#@B`!>B <ٱB&Xe>BHȘ?ÿ`A??? γ˿0~l?1?iB#@IB>];BCYNByN4!I PPbDZVDZð8y^%bN=ٔbz+:Q-b>9b"?Yf"?=fjEyfDDf5=Ej>hQ 5n5j? ?Q 9r5ji)j9BYpyrF;Q IrR@jiDIj:ijP:jZl5ytɮzSAx:iDNOT Ignoring new targets: 74.53 m."i}k;*i}k;- ProNav: ac range: 74.530472 m, nav range: 71.694221 m, bearing: 43.888189 deg, approach rate: -0.271847 m/s, LOS rate: 0.205882 deg/s, cmd heading: 52.101701 deg, new cmd heading: 52.254855 deg. i-d;5HeadingCmd: 0.912019 target range: 74.530472 and range: 74.60 m.h5zi?h1h1h9h9g9g9jg9rgAeAreAZeA:eA*eM' @i}Bɢ}S<)y }(7>iy)}&̹顁iizi?Izi?I%9@! @!@%0@!ԙU%=U%=]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274118^AE?΅A I I O > j#,B^LA2@2 3>2"<ٱ2d>2H?`Fſ+?`U[? U?`˿t`b_?2?i2@I2~];0Y:By:&!IbDFVDF8yN^%NN=ٔNaQ-R>9PYP=RjEyRLDV7=EV>XQ 5^5Z?Q 9^5vDAT read: 01:34:30.9115 LVL= 31712, 32753, 32754, 32755, AGC= 65, IDX= 430,-0.13, 1.746,-0.126, 0.873, 1.177, PHS= 0.671,-1.258,-0.349, RAW= 118.1, 11.2, CAL= 119.1, 12.4, ROT= 30.9, -12.4 ~Ygot valid direction response: 01:34:30.9115 LVL= 31712, 32753, 32754, 32755, AGC= 65, IDX= 430,-0.13, 1.746,-0.126, 0.873, 1.177, PHS= 0.671,-1.258,-0.349, RAW= 118.1, 11.2, CAL= 119.1, 12.4, ROT= 30.9, -12.4 PDAT read: Bearing 175.4, 31.2 (Local) ~Local bearing/azimuth received: Bearing 175.4, 31.2 (Local)  DAT read: Range 11 to 50 : 73.9 m (Round-trip 98.6 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.E% E%E%+E!"E%a:*E%xv:VE% [4ZE!a-@a-@a-@a-@5\direction in FSK: [0.838048,0.501562,0.214735]5Fpublishing direction and range infoy`btJ? ?h`r|?Yb̓B`b{`` `)bAIb+?ib%b!bA@b+H>b6 @ bk]>)b ?Ibk]``b m[_? ?0,? bU)b%HIb ?ibk]``T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZR)Z1BYy@i)x)rii5Fj?99I=Fj?II :@ @@?5@@=@=1u(DAT read: user:14> }BDAT read: Tx time:01:34:32.1587 }$Ping request sent.}j#,!LAfI@fdF>fa<ٱf?d>fHCe?ǿ&?ȣ??`N˿ `SJ?3?ifI@Ifp];fCY~ By~,!IqiMMb@Mb@Mb@IIII I9MGz?p= ף/$YM>yMIM@M A M@)MX@IYM@ ]=Y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251142bDeVDe8y<% =ٔ%BQ9Q-%>9E ?YE ?=EjEyMWDM.=EM>QQ 5]5U3(?Q 9]5U4)U&BY]>Q E];Em EmEm(Ei"Ems:*Em1:VEmc44ZEiBEmp0i)XiRi%U!k?!!I%U!k?I!9@ @@@E G] zAu MA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503111 /9 zAY A ^AU #A ؟AI I O >aj#,܂>LA6@6X>86B<ٱ69c>6HG?`حɿx?!?d? ˿ @`*?5?i6@I6S];6CYNByN!IIRa=)R<bDVVDV8y^]%b]=ٔbN9Q-b>9f"?Yf"?=fjEyf^DfnF=Ef>hQ 5n5j2?Q 9r5j)jBYpyr-=Q IrR@jxDIj:ij:jw5yvGBɮvuAzUE:iDNOT Ignoring new targets: 73.83 m."iU;*iU;- ProNav: ac range: 73.834366 m, nav range: 70.518661 m, bearing: 42.333694 deg, approach rate: -0.274318 m/s, LOS rate: 0.186309 deg/s, cmd heading: 52.624876 deg, new cmd heading: 52.758294 deg. i-{;5HeadingCmd: 0.920806 target range: 73.834366 and range: 73.90 m.h5k?h1h1h9h9g9g9jg9rgAeAreAZeA:eA*eM?uBɢuK>P<)q }>*>iy)}~G8yyi}ik?Ik?IE9@I @I@M/@Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756851E% E%E%*E!"E%V:*E%:VE%(N4ZE!a-@a-@a-@a-@^A-N؅Aa I I O > ˕j#,LXLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007100A A B&>B&CB&!IB&BB&P =B$B$B&;B&[EF <F<ٱF>b>FH@'?˿Us?`5?To?ʿ`@ ?`7?iF <yeYe`ee@e A a)en@aYe(@bDVD8yd=%.=ٔt8Q->9Y=jEyhD=E>Q 5-5@?Q 955)BY5޳>Q E5;y5&=Q I5R@}DI;iu;{5yAɮEAA}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 73.83 m."iA;*iA; ProNav: ac range: 73.834366 m, nav range: 70.386467 m, bearing: 42.415362 deg, approach rate: -0.273494 m/s, LOS rate: 0.169278 deg/s, cmd heading: 52.758294 deg, new cmd heading: 52.921936 deg. i;HeadingCmd: 0.923662 target range: 73.834366 and range: 73.90 m.hul?hhhhggjgrgBereZe:e*e-? %Bɢ-"=e<)) -c>i))-/911i5i5ul?99I=ul?I99@ @@@5@@%yA@!9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259913E5 E5E5+E1"E5:*E5:VE5 [4ZE1BE53j#,tLA-h<-E}>-<ٱ-x1c>-H?οy?2O?`L?ʿ`֓T)?5?i-h9Y=jEypD5=E>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862Q 5%5L?Q 9-5F)BY)y-=Q I-R@DIi)9i~im?Im?IQ@ @@@y iߡ Iߡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764399E%  E% E% (E! "E% ;*E% n:VE% c44ZE! a= @a= @a= @a= @^A ?΅Ա A I I O >j#,hLA=ZS><ԩٱbc>H? 5ѿ 螴?L??/aʿ▔4?4?i=Ir];CYMByM4!I QQU=U=-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015108B5>B1B1B1B5Q =B1B5TDB5ɠ;B5\EiMb@Mb@Mb@ 9x?{GzI +YK>y#94@z A )X@Y@bD VD y<%=ٔ%w:Q-%>9!Y!=-jEy-{D-=E->1Q 5]55\?Q 9]55V)5 BYe>Q Ee;ye6:>Q IeR@5DI5u;i5;55ymNBɮmAmVE:iDNOT Ignoring new targets: 73.83 m."i6;*i6; ProNav: ac range: 73.834366 m, nav range: 70.106834 m, bearing: 42.568257 deg, approach rate: -0.311194 m/s, LOS rate: 0.159772 deg/s, cmd heading: 53.057015 deg, new cmd heading: 53.228347 deg. i3;HeadingCmd: 0.929010 target range: 73.834366 and range: 73.90 m.hm?hhhhggjgrgBereZe:e*e@颕Bɢ+;<) >i)B:顙i nim?Im?I  9@  @ @ 0@  PExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129E=  E= E= )E9 "E= D:*E= g:VE= FA4ZE9 BE= 2^<ٱ^b>^H@.?@0Iҿ$?@??`yʿ`? i7?i^=I^ڇ];^CYjByj7!IbDVD8y&F<%P=ٔ~h:Q->9Y!=%jEy%D%7;=E%>)Q 5U5-h?Q 9U5-)-BYYy]~L>Q I]R@-DI-O;i-;-b5yiɮmAԩ:iDNOT Ignoring new targets: 73.83 m."i` ;*i` ;  ProNav: ac range: 73.834366 m, nav range: 69.986176 m, bearing: 42.627926 deg, approach rate: -0.283044 m/s, LOS rate: 0.140213 deg/s, cmd heading: 53.228347 deg, new cmd heading: 53.347890 deg. i M;HeadingCmd: 0.931096 target range: 73.834366 and range: 73.90 m.hT\n?hhhhggjg!rg!e!reaZei:ei*emO%@ߍ>ߍ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519330Bɢ܉<) ">i)}:iiiT\n?IT\n?I9@ @@.0@ ^A= #= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771209E  E E +E "E V:*E xv:VE [4ZE a @a @a @a @1 Ai Iy I O >j#,vR̪LABϥ=B>Bn&<ٱBb>BH^?[Zӿ???ɿiD? h6?iBϥ=IBu];@YjByh ppbDtVDty ;%F=ٔ%G:Q-%>9!Y!=-jEy-D- 3=E->QQ 5]5Ut?Q 9]5U)UBYaye^>Q IeR@UDIU:iU:U5ymTBɮmAmWE:iDNOT Ignoring new targets: 73.83 m."i8;*i8; ProNav: ac range: 73.834366 m, nav range: 69.856583 m, bearing: 42.689687 deg, approach rate: -0.338249 m/s, LOS rate: 0.161501 deg/s, cmd heading: 53.347889 deg, new cmd heading: 53.471640 deg. iȓ;HeadingCmd: 0.933256 target range: 73.834366 and range: 73.90 m.hn?hhhhggjgrgereZe:e*e = @Bɢ <) >i)iO:ihi%n?!!I%n?I)B=<A=<eBDAT read: Rx Time:01:34:34.6600 eTRx dataTimestamp_ set to:1764898475.401343mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025179BE>BABABABABABABEԠ;BE \E9@ @@ 0@! ^A FӅ nManaging dock network, ignoring radio surface power offq AI IQ Ia Ou >:j#,E認LANchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275092^a=^Xm>^}^<ٱ^~6d>^H@,?{vԿ@Ʋ?B?@{?'ɿkK@H?3?i^a=I^];^CYnBynE!IE~ E~E~)E|"E~a:*E~ n:VE~FA4ZE|BE~(yt`@ A @)n@Yp@bDVD8y {/=%"=ٔb^8Q->9Y=jEyD=E>IQ 5M5M?Q 9U5M])MBYU>Q EU;yU>Q IUR@MDIM:iM:Mo5yYɮAB*** querying acoustic contact ***ii:iEDNOT Ignoring new targets: 73.83 m."iM ;Y*iU ; ProNav: ac range: 73.834366 m, nav range: 69.693237 m, bearing: 42.754709 deg, approach rate: -0.301648 m/s, LOS rate: 0.120357 deg/s, cmd heading: 53.471642 deg, new cmd heading: 53.601991 deg. iD\;HeadingCmd: 0.935531 target range: 73.834366 and range: 73.90 m.h ~o?h h h hqgqgqjgyrgہBereZe:e*e @={Bɢ=7Ө<)9 =\>i9)Ec:AAiEgi ~o?  I ~o?I uDAT read: 01:34:34.6600 LVL= 31072, 32753, 32754, 32755, AGC= 64, IDX= 431, 0.03, 0.514,-1.376,-0.224,-0.069, PHS= 0.685,-1.263,-0.200, RAW= 123.0, 9.2, CAL= 123.7, 10.4, ROT= 26.3, -10.4 Ygot valid direction response: 01:34:34.6600 LVL= 31072, 32753, 32754, 32755, AGC= 64, IDX= 431, 0.03, 0.514,-1.376,-0.224,-0.069, PHS= 0.685,-1.263,-0.200, RAW= 123.0, 9.2, CAL= 123.7, 10.4, ROT= 26.3, -10.4 ԁPDAT read: Bearing 184.4, 26.3 (Local) ~Local bearing/azimuth received: Bearing 184.4, 26.3 (Local) DAT read: Range 11 to 50 : 72.8 m (Round-trip 97.1 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.881758,0.435792,0.180519]Fpublishing direction and range infoyIMɦD]7?|e?lE@?YMBIM`yII I)M@IM)\/?iMMLMod @Ml$>M, @ M9>)M>IM9IIM4$K?7Su? J,S? MBW=)M\G%IM>iM9IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9@  @ @ /@ Ա ^A A zA AII(DAT read: user:15> %BDAT read: Tx time:01:34:35.9587 %$Ping request sent.%^`%>^<ٱ^e>^H`?տ1ܸ? 6g?F?Ͻɿ`5u?1?i^ >I^y];^CYf&ByjP!IbDVD8y=%/=ٔ:Q->9Y=jEyD'=E>IQ 5U5M?Q 9]5M)MBYYy]e>Q I]R@MDIM:iM:M̓5ye@BɮeAmNEiiLAjwB"jwB:jjOD?Rj:P@G9o?@,1 B*@BjɦD]7?|e?lE@?*j>2j9Zjo|'SI@.gH@mqZ~2@Jj`BI?DMy?fBh#E?j?ij#BjjjrjBzjN??} addTargetRange:: Added new target pos. range: 72.800003 m, deltaT: 3.780012 s, deltaX: -1.099998 m, approachRate: -0.291004 m/s, rangeRepo size: 4  Added new target pos. range: 72.734238 m, bearing: 43.936510 deg, lat: 36.779568 deg, lon: -121.859832 deg, deltaT: 3.780012 s, deltaX: -1.100128 m, approachRate: -0.291038 m/s, posRepo size: 4 :i-DNOT Ignoring new targets: 72.73 m."i5*i9 ProNav: ac range: 72.734238 m, nav range: 69.529999 m, bearing: 42.816895 deg, approach rate: 0.000000 m/s, LOS rate: 0.120357 deg/s, cmd heading: 53.601989 deg, new cmd heading: 53.718260 deg. iHeadingCmd: 0.937560 target range: 72.734238 and range: 72.80 m.hp?hhhhggjgrge re Ze :e @33R@*e `yW?颽tBɢ<) J>i)ޤ:i|rip?Ip?IB=>B9B= !IB=BB9B9B9B=۠;B=\Eߕ=ߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252006)m9@i @i@m/@iY ^A FӅԁA.AIIO>j#,")LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503312bE!jE%G4rE%/ER ERER(EP"ER;*ERz:VERc44ZEPBER@yeee@e A e@)e@aYaAA@AbDVD8y Ӽ%  =ٔQ->9 ?Y ?=jEyDE>!Q 5-5%?Q 9-5%/)%BY5'>Q E5;y5B>Q I5R@%DI%:i%t:%5y9ɮ= Aa:iDNOT Ignoring new targets: 72.73 m."i;*i; ProNav: ac range: 72.734238 m, nav range: 69.354958 m, bearing: 42.877235 deg, approach rate: -0.331716 m/s, LOS rate: 0.114637 deg/s, cmd heading: 53.718260 deg, new cmd heading: 53.839244 deg. iQ;HeadingCmd: 0.939672 target range: 72.734238 and range: 72.80 m.hYp?hhhhggjgrg܁BereZe:e*eK?=nBɢ=<)9 =>i9)E;AAiEiMYp?IIIMYp?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755495M9@I @I@M0@I! Q ^Au AIIO>S)j#,ILA((Djchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006760E EE*E"E:*E&p:VE(N4ZEa@a@a@a@%H>>/<ٱ!g>HJ? ؿ ??!?&ɿ`ڣ?\.?i%H>I?];CY-ByX!IbDVD8y =% A=ٔ :Q- >9Y=jEyD>E>Q 5M5O?Q 9M5)BYIyM>Q IMR@DI;i;H5yYɮ]AY:i)5DNOT Ignoring new targets: 72.73 m."i5:*i5:e ProNav: ac range: 72.734238 m, nav range: 69.217133 m, bearing: 42.917619 deg, approach rate: -0.312540 m/s, LOS rate: 0.091759 deg/s, cmd heading: 53.839243 deg, new cmd heading: 53.920171 deg. im';mHeadingCmd: 0.941085 target range: 72.734238 and range: 72.80 m.hmp?hqhqhqhqgqgqjgyrgyereZe:e*e t?ԹhBɢ<) >i)!';iܙip?Ip?I9@ @@/@AA@AB >B B !IB BB B B B ;B 3\EBCBCBǓCBQ =BQ =Cn4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258851 ^A A ?A >A% ؟AI) I9 A OM >Kj#,bdLA2q\>2>2Z<ٱ2f>2H~ ?`ٿ?4?_? ȿ*`m?.?i2q\>I2L];0Y-*By-T!IiMb@Mb@Mb@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946 9x?L7A`?Mb`?YK>y+=;@ A @)Y@E- E-E-)E)"E-D:*E-:VE-FA4ZE)BE-29e"?Ye"?=ejEyeDmI=Em>qQ 55u?Q 95u?)uBY>Q E;y?Q IS@uDIu;iud;u5yGBɮAOE:iDNOT Ignoring new targets: 72.73 m."i:*i:- ProNav: ac range: 72.734238 m, nav range: 69.037949 m, bearing: 42.952050 deg, approach rate: -0.363200 m/s, LOS rate: 0.069972 deg/s, cmd heading: 53.920170 deg, new cmd heading: 53.989211 deg. i-;-HeadingCmd: 0.942289 target range: 72.734238 and range: 72.80 m.h59q?hhhhggjgrgBereZe:e*e@?iaBɢ<) >i)bA;ii9q?I9q?I }Wy>}CG {A 9 @  @! @- 05@) M 9M {AYM Aԙ ߝ ?ߝ W? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763161 ^AE #Au.AIIO?[j#,LA(Bo>Bn>BV<ٱBpf>BH@{?@ڿ? ?` ?`ȿ@}?.?iBo>IB];@Y\y\Ib=)bx>`bAbDfVDf8y~A:%@=ٔL:Q->9  ?Y  ?= jEy Dz8=E>Q 55Ĕ?Q 952)YyT ?Q IS@DIP:i:q5yɮAB*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 72.73 m."i=S:*i=S:m ProNav: ac range: 72.734238 m, nav range: 68.889542 m, bearing: 42.978270 deg, approach rate: -0.351392 m/s, LOS rate: 0.062215 deg/s, cmd heading: 53.989210 deg, new cmd heading: 54.041762 deg. iu:uHeadingCmd: 0.943207 target range: 72.734238 and range: 72.80 m.huuq?hyhyhyhygygyjgrgechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014942reZe:e*e0@E EE*E"E*E:VE(N4ZEa@a@a@a@ԁ[Bɢ<) ~>i)[X;iLiuq?Iuq?IԱ@ @@?5@B >B CB !IB BB R =B B B ;B P\E e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266851^Aq A ؟AI I O >X?j#,LAY]-By]X!IiiMb@Mb@Mb@ 9X9v?I +?I +?Y>y94=94<@MA @)Y@bDVD8yM3<% =ٔ Q- >9"?Y"?=jEyDE>Q 5M5<є?Q 9M5)BYM4>Q EM;yM ?Q IMS@DI;i%;˨5y]NBɮ]AYMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519410:iQ]DNOT Ignoring new targets: 72.73 m.E EEE"E*Ek:VEZEBEa2EaJEּ;a:Eּ;a"ik:*ik: ProNav: ac range: 72.734238 m, nav range: 68.716339 m, bearing: 43.005078 deg, approach rate: -0.332323 m/s, LOS rate: 0.051567 deg/s, cmd heading: 54.041761 deg, new cmd heading: 54.095513 deg. i:HeadingCmd: 0.944145 target range: 72.734238 and range: 72.80 m.hyq?hhhhgg!jg!rg%Be!re)Ze):e)*e-r@ԙUBɢn<) U>iQ)UlDt;YYi]Jieyq?aaIeyq?IaI)xAM9@I @I@M~0@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770827 ^Am FӅAq zAq AIIO>_j#,)LA,B>B$&>BM<ٱB)c>BH`F8?-!ݿ@? p$?@?aǿ <A?3?iB>IB];BCY^6By^c!IbDf VDf8y=t1=%=?=ٔ=9Q-=>9AYA=EjEyEDM=EM>qQ 5}5u۔?Q 9}5uu)uBYyy}?Q I}S@uDIu|:iuF:u5yɮA:iDNOT Ignoring new targets: 72.73 m."iM:*iM: ProNav: ac range: 72.734238 m, nav range: 68.567719 m, bearing: 43.023257 deg, approach rate: -0.366485 m/s, LOS rate: 0.044924 deg/s, cmd heading: 54.095511 deg, new cmd heading: 54.131948 deg. i n:5HeadingCmd: 0.944781 target range: 72.734238 and range: 72.80 m.h5&q?h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE c @ԉPBɢ=) >i)o;iiE&q?AAIE&q?IIBDAT read: Rx Time:01:34:38.4584 TRx dataTimestamp_ set to:1764898479.185389checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024884E% E%E!E!"E%s:*E%Z:VE!ZE!a5@a5@a5@a5@9@ @@K1@Ա^A  B >B CB "!IB BB Q =B B B ;B U\EA I I) O5 >zj#,,۫LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274715BCV>Bu?Bc<ٱBd>BHJ?k,޿IB];BCY^-By^X!I ``f=f=xiUMb@Mb@Mb@QQQQ Q9U?x&?Mb?YU>yU7=U9Y=jEyD,=E>1Q 5=553甊?Q 9=55)5BYE>Q EE ;yEh-?Q IES@5DI5o;i5;55yɮA:iDNOT Ignoring new targets: 72.73 m."i 9*i 9  ProNav: ac range: 72.734238 m, nav range: 68.392250 m, bearing: 43.034085 deg, approach rate: -0.379826 m/s, LOS rate: 0.023500 deg/s, cmd heading: 54.131947 deg, new cmd heading: 54.153660 deg. i ,:HeadingCmd: 0.945160 target range: 72.734238 and range: 72.80 m.hq?hhhhgg!jgIrgMBeQreYZe!:e)*e- @颕JBɢ5=) T>i);顙iIIiq?Iq?IaDIzDM?AEU EUEU)EQ"EU:*EU~:VEUFA4ZEQBEUF88@ 6&>)>I6&,8W?o$&?\ ? !Q>)I>i6&T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@0@y ^A A >A >ԩ A9IAIYOe?,j#,CsLA2(DAT read: user:16> 6BDAT read: Tx time:01:34:39.7087 6$Ping request sent.6%̄ ?%\<ٱ%af>%HJ?#@A?!?`?ƿq@]? /?i%t>I%];%CqY}'ByQ!IbDVD8y%ݾ%%)=ٔ% Q-%>9)Y)=-jEy5D5Ϧ=E5>9Q 5E5=?Q 9E5=t})=BYAyn7?Q IS@=DI=m*2j56&Zj5G@8I@lo-@Jj5&N?>bF?T( L?j5MB j5>Bi5V?i56j5Bj1j1j1rj5lBzj5-M@? addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.784514 s, deltaX: -1.100006 m, approachRate: -0.290660 m/s, rangeRepo size: 4 - Added new target pos. range: 71.635498 m, bearing: 47.124350 deg, lat: 36.779568 deg, lon: -121.859832 deg, deltaT: 3.784514 s, deltaX: -1.098740 m, approachRate: -0.290325 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 71.64 m."i5*i1 ProNav: ac range: 71.635498 m, nav range: 68.212494 m, bearing: 43.039305 deg, approach rate: 0.000000 m/s, LOS rate: 0.023500 deg/s, cmd heading: 54.153660 deg, new cmd heading: 54.177334 deg. iHeadingCmd: 0.945573 target range: 71.635498 and range: 71.70 m.hr?hhhhggjgrgeԙreZe:eQ@*e )?MDBɢM =)I MC>iQ)U'm;QQiUuvir?#=a{Ir?I{>i>9@ @@0@i I Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250153EU EUEQEQ"EU&:*EU:VEQZEQa]@a]@a]@a]@ ^A N؅)A5.AIqIB>BB(!IBBBBBUDB;BN\EO>ik#,LAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501877z[>zx?z7<ٱz 6f>zH??`p7?`?ƿ`? /?iz[>Iz];zCY-*By-T!IQiuMb@Mb@Mb@qqqq q9uX9v?+?I +?Yu>yu=u949 ?Y ?=jEyD=E>Q 55?Q 95y)BY/>Q E ;yC?Q IS@DI=:ig:+5y)ɮ5UA1B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 71.64 m."i*im ProNav: ac range: 71.635498 m, nav range: 68.017357 m, bearing: 43.037237 deg, approach rate: -0.393340 m/s, LOS rate: -0.004182 deg/s, cmd heading: 54.177334 deg, new cmd heading: 54.173184 deg. imuHeadingCmd: 0.945500 target range: 71.635498 and range: 71.70 m.huQ r?hqhqhqhygygyjgrgBereZe:e*el?5>Bɢ5w =)1 =x>i9y)4&;顙iiQ r?s^=`pnIQ r?I@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754043D%=D<E EE'E"E:*E]t:VE'4ZEBEa2EaJE;a:E;a^Agq~A1 IA IQ O > k#,5LAR3>R?R/<ٱRrg>RHz?- 3? ?1?Vƿ`~`?`-?iR3>IRk];RCYZ By^H!I`bAbDf VDf8ynQV%nl=ٔrqQ-r?9pYp=rjEyvDvq=Ev?xQ 5~5z@?Q 9~5z~w)zBYyH?Q IS@zDIz:iz:z)5y ɮ A :i15DNOT Ignoring new targets: 71.64 m."i=N*i=NM ProNav: ac range: 71.635498 m, nav range: 67.887657 m, bearing: 43.033651 deg, approach rate: -0.408292 m/s, LOS rate: -0.011308 deg/s, cmd heading: 54.173184 deg, new cmd heading: 54.166000 deg. iMUHeadingCmd: 0.945375 target range: 71.635498 and range: 71.70 m.hUr?hQhQhQhQgYgYjgYrgYeYreaZea:ea*ee`?-;Bɢ5*=)1 5>i1)5;11i=i=r?=0=E]IEr?IAԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006243A@A @A@E\0@A^ANB{AyAzAwA A I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257840E  E E (E "E &:*E i:VE c44ZE a @a @a @a @1 k#,NLAbV>bu?b <ٱbf>bHE?^@?oA?@G?`'ſ@*?`/?ibV>Ibb];bCYjByn8!IbD VD 8y4~%mG=ٔuA8Q-u>9qYq=}jEy}D}6=E}>Q 55?Q 95yt) BYyM?Q IS@DI:ih:ؿ5yɮA:iDNOT Ignoring new targets: 71.64 m."i*i ProNav: ac range: 71.635498 m, nav range: 67.728249 m, bearing: 43.026676 deg, approach rate: -0.378008 m/s, LOS rate: -0.016579 deg/s, cmd heading: 54.165999 deg, new cmd heading: 54.152016 deg. i򹝏HeadingCmd: 0.945131 target range: 71.635498 and range: 71.70 m.hq?hhhhggjgrgereZe1:e1*e=s?颍6Bɢ=) z>i!)% ;!!i- iq?D=NIq?I-9@) @1@5P0@1AAB>BCB"!IBBBP =BBB ;BL\E^A5.oAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510221IQIiOu>q k#,XhLA Y~By~>!IiMb@Mb@Mb@ 9RQ?Dl?Mbp?Y>yO=; A @)@YbDVDɰ8yO<%>=ٔQ->9Y=jEyDE>Q 5 5N?Q 9 5yq) BY >Q E  ;y G?Q I S@DI:i:5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761750bEFA4jEB4rE/E] E]E])EY"E]l;*E]:VE]FA4ZEYBE]aFi)-X<;))i-Ai5q?5K=5QI5q?I99@ @@g0@@=@=ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014238 ^A p\I I O >F k#,LA2>2A%?2 <ٱ2Ud>2H@ ?@s;?=?? ? dĿ@ @L?;3?i2>I2ײ];2CY> By>.!I @@B=B=bDJ VDJʰ8LyR%Ra=ٔVF9Q-V>9TYT=ZjEyZDZ<=EZ>\Q 5b5^]!?Q 9b5^n)^BYdyfQ?Q IfS@^DI^:i^:^5yjABɮjAjGE:i|~DNOT Ignoring new targets: 71.64 m."i޹*i޹ ProNav: ac range: 71.635498 m, nav range: 67.426598 m, bearing: 43.014664 deg, approach rate: -0.423008 m/s, LOS rate: -0.024347 deg/s, cmd heading: 54.144013 deg, new cmd heading: 54.127941 deg. i;2HeadingCmd: 0.944711 target range: 71.635498 and range: 71.70 m.hq?hhhhggjgrgereZe:e*e=@颕-BɢD =) q>i)I;顙itiq?9=-Iq?Im:@i @i@u@5@q-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266342^AE0VEm EmEiEi"Ema:*Em&p:VEiZEiau@au@au@au@IIOA>) B B B !IB BB B B B ;B I\EBBBBBC&5&k#,cLABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517814V.>V)?VV<ٱVb>VH`3?`&q?`?@G?@yaĿ[@?+7?iV.>IV];VCYbByb$!I|iMb@Mb@Mb@ 9(\?x&?Y>y7=@ @)@Yf@bDVD8y%:=ٔ8Q->9Y=jEyDY(=E>Q 55C+?Q 95ik)BY>Q E%;y%_T?Q I%S@DIn$i);项ii̽q?^6=&!I̽q?)II9)=yA9@ @@@Y5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769759Eu EuEu,Eq"EuD:*Euk:VEug4ZEqBEu2,k#,>LAZ Gf/{AnA 9 /{AY A5@>5j.?5<<ٱ54^>5H?@.?@1&?^?ÿ@"ǖ &?=?i5@>I5Y];5CYMByM&!IY ]=]%=bDeVDe8yu};%uO=ٔ}9Q-}>9yYy=}jEy&D7=E>Q 553?Q 95Uh)BYyX?Q IS@DI;i;5yHBɮAHEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 71.64 m."iu*iu ProNav: ac range: 71.635498 m, nav range: 67.097717 m, bearing: 42.990090 deg, approach rate: -0.405796 m/s, LOS rate: -0.033760 deg/s, cmd heading: 54.104538 deg, new cmd heading: 54.078674 deg. i"wHeadingCmd: 0.943851 target range: 71.635498 and range: 71.70 m.h7q?hhhhggjgrgereZe:e*eg @-$Bɢ-!=)) -5>i1)5 ;11i5i=7q?=[s==AIE7q?IABDAT read: Rx Time:01:34:42.2065 TRx dataTimestamp_ set to:1764898482.965721checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0242899@ @@3@ԉ^ALI IO-,>Ա E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273659E  E E +E "E *E i:VE [4ZE a @a @a @a @3k#,~ЬLA2a>22?2<ٱ2dZ>2H=?e~?`? ?ÿῖ]%?C?i2a>I2t];2CYRByR!IbDZVDZ8yvO%vT=ٔv6Q-v>9xYx=zjEyz.Dz7=E~>!Q 5%5%ki)'B<i; i}q?}=I}q?IBqAqB>BB!IBBBBBB;B7\EDAT read: 01:34:42.2065 LVL= 27968, 32753, 32754, 32755, AGC= 69, IDX= 429,-0.42,-2.252, 2.146,-2.467,-2.808, PHS= 0.658,-1.283, 0.297, RAW= 139.9, 3.7, CAL= 139.8, 4.4, ROT= 10.2, -4.4 Ygot valid direction response: 01:34:42.2065 LVL= 27968, 32753, 32754, 32755, AGC= 69, IDX= 429,-0.42,-2.252, 2.146,-2.467,-2.808, PHS= 0.658,-1.283, 0.297, RAW= 139.9, 3.7, CAL= 139.8, 4.4, ROT= 10.2, -4.4 PDAT read: Bearing 202.3, 9.4 (Local) ~Local bearing/azimuth received: Bearing 202.3, 9.4 (Local) %DAT read: Range 11 to 50 : 70.2 m (Round-trip 93.7 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.=\direction in FSK: [0.981295,0.176563,0.076719]EFpublishing direction and range infoy.f?lߕJ?.0ۣ?YfB@m )EIr(?iX9b>E@ A=y(@ nF=)K6>InF&9? 1?X<%? >)IK6>inF]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.m9@q @q@u5@q^AUU#A]>A]>II O >ԑ :k#,b鬍LABi>BC7?B<ٱB$[>BH u#?1h[?? ?¿m-?C?iBi>IB];BCYRByR!IiMb@Mb@Mb@ 9Cl?~jt?Mb?Yd>y=<+@ @)@Y\@bD VD8y%?=ٔ 9Q->9Y=jEy6D$=E>Q 55D?Q 95a)BYn>Q E ;yPi?Q IS@DI:i:5yɮA(DAT read: user:17> BDAT read: Tx time:01:34:43.5086 $Ping request sent.2jnFZjĬmF@II^J@s`@Jj15rw?Fm?j5(?j*VB jo3Bib?ijBjwa>?jj#Brj5BzjE?E= E=E9E9"E=:*E= n:VE9ZE9BE=x%i)<顙iX@iXq?ˁ= ]I Xq?I ԁ9@ @@4@Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251409^A \\! A I I O >c@k#,LA>?>u;?>i<ٱ>G Z>>H?`0?cc? \?`8¿@/` ?D?i>?I>];9\Y\=^jEy^>DbK4=Eb>dQ 5j5fK?Q 9j5f_)fBYhyjm?Q IjS@fDIf:if6:fW5yrGBɮrAp:i  DNOT Ignoring new targets: 70.14 m."ik*ik% ProNav: ac range: 70.137764 m, nav range: 67.467941 m, bearing: 44.097660 deg, approach rate: -0.380553 m/s, LOS rate: -0.051549 deg/s, cmd heading: 54.015591 deg, new cmd heading: 53.978391 deg. i%-HeadingCmd: 0.942101 target range: 70.137764 and range: 70.20 m.h--q?h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eE@u,?mBɢm#=)i uw>iq)uF B >B B IB ؂BB B B B ;B ;\E9 0Gk#,LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754744v3?vo??vLi<ٱv W>vH@t?+A?M? ?;`9?I?iv3?IvD];vCY~By I  iMb@Mb@Mb@ 9rh|?S㥫?Mb?Y>y/]=@z A @)Yp@bDVD8y'%8=ٔQ:Q->9"?Y"?=jEyGD=E>Q 55dT?Q 95[)BY>Q E;yb?Q IS@DI:i:75y MBɮ\AIE:i1=DNOT Ignoring new targets: 70.14 m."i=l(*i=l(M ProNav: ac range: 70.137764 m, nav range: 67.304703 m, bearing: 44.081399 deg, approach rate: -0.368643 m/s, LOS rate: -0.036812 deg/s, cmd heading: 53.978391 deg, new cmd heading: 53.945790 deg. iMUHeadingCmd: 0.941532 target range: 70.137764 and range: 70.20 m.hU8q?hQhQhYhYgYgYjgargeBeareaZea:ea*em^*?颕Bɢ=) >i)<顙iJi8q?D=*I8q?I e9@a @a@e/@a^A=9Am.AIyIO~>i I Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007068EU EUEU-EQ"EU;*EUx:VEUt4ZEQBEU@:Hl#?ཱྀ@l?`??,`_ϗ`? K?i:Y ?I:Ь];:CY^Byb!IbDj VDjʰ8yr<%r\=ٔr3:Q-r>9v ?Yv ?=vjEyvNDz=Ez>|Q 55~[?Q 95~X)~BYyf?Q IS@~DI~;i~;~t5yɮ9A-B*** querying acoustic contact ***i)i):i9EDNOT Ignoring new targets: 70.14 m."iE=*iE=U ProNav: ac range: 70.137764 m, nav range: 67.168350 m, bearing: 44.066039 deg, approach rate: -0.367421 m/s, LOS rate: -0.041475 deg/s, cmd heading: 53.945790 deg, new cmd heading: 53.915007 deg. iUΗ]HeadingCmd: 0.940994 target range: 70.137764 and range: 70.20 m.hep?hahahahagagajgirgieireiZeq:eq*eu?额Bɢ!=) >i)1<顡iip?=Ip?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259032y}9@ @@/@ԙ^AA ؟A I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510746Ee  Ee Ee *Ea "Ee :*Ee M:VEe (N4ZEa am @am @am @am @$Tk#,`QLAɰ;2c?2F?2$<ٱ2T>2Hn?@`?-l?q?/ f?M?i2c?I2];0LYPyR!I Z=Z<bD^VD^°8yf ;%fL=ٔf`:Q-f>9j"?Yj"?=jjEyjVDj=En>pQ 5v5r;c?Q 9v5rU)r BYtyvDj?Q IvS@r DIr:ir):r5yxɮ~5A|:iDNOT Ignoring new targets: 70.14 m."itJ*itJ ProNav: ac range: 70.137764 m, nav range: 67.021194 m, bearing: 44.047538 deg, approach rate: -0.351201 m/s, LOS rate: -0.044250 deg/s, cmd heading: 53.915007 deg, new cmd heading: 53.877925 deg. i%HeadingCmd: 0.940347 target range: 70.137764 and range: 70.20 m.h%p?h!h!h!h!g!g)jg)rg)e)re1Ze1:eQ*eUH ? Bɢ=) A>i)<ii p?~=Ip?I9@ @@@AAB1B1B5 IB5΂BB1^A^ӽB1B1B5;B5Y\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766404AII O>A OZk#,>kLAB@?B J?B։<ٱB+T>BH ͈?Sh?@? ?+?r@0S?N?iB@?IB];BCYRByR I!iUMb@Mb@Mb@QQQQ Q9UZd;?p= ף?~jtx?YU>yU=U;QU A U@)Un@QYU@bDmVDm8y%?=ٔ9Q->9Y=jEy_D<E>Q 55k?Q 95AR)"BY>Q E ;ykt?Q IS@DI:i:5yɮiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014977:iDNOT Ignoring new targets: 70.14 m."i#*i# ProNav: ac range: 70.137764 m, nav range: 66.861992 m, bearing: 44.021867 deg, approach rate: -0.387114 m/s, LOS rate: -0.062570 deg/s, cmd heading: 53.877926 deg, new cmd heading: 53.826461 deg. i庝HeadingCmd: 0.939449 target range: 70.137764 and range: 70.20 m.hp?hh h h g g jgE EE(E"E:*E:VEc44ZEBE3ii)m A>AII1O=r>q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266786ԡ 6ak#,LA2wE?2M?26<ٱ2`U>2H C?_@???I^x?L?i2wE?I2];2CY:By: IbDFVDF8yJ<%N[=ٔN9Q-N>9PYP=RjEyRgDV?=EV>TQ 5Z5Vq?Q 9^5V1O)V$BY\y^lw?Q I^S@VDIV;iV;V5yf:BɮfAf@E:itzDNOT Ignoring new targets: 70.14 m."izX*izXy ProNav: ac range: 70.137764 m, nav range: 66.723305 m, bearing: 43.997953 deg, approach rate: -0.372754 m/s, LOS rate: -0.064409 deg/s, cmd heading: 53.826460 deg, new cmd heading: 53.778532 deg. i뺝HeadingCmd: 0.938612 target range: 70.137764 and range: 70.20 m.hHp?hhhhggjgrgereZe:e*e@^O@Bɢ%)=) A>i)y&<ivi%Hp?%|=-?I-Hp?I)@ @@0@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518809E- E-E-*E)"E-:*E-x:VE-(N4ZE)a5@a5@a5@a5@^ALA I I O >B% >B! B% IB% BB! B! B! B% &;B% h\Eԡ dgk#,LA*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772926DF@b5?b*P?br<ٱb^T>bH?*3?9?ۥ? ]￿ m]?M?ib5?Ib)];bCY~By~ IiMb@Mb@Mb@ 9/$?V-?Mbp?Y1>ym=;@ @)YbDVD8y%7=ٔ,9Q->9Y=kEypD<E>)Q 5E5-z?Q 9E5-WK)-%BYMd>Q EM;yMYt?Q IMS@-DI-;i-G;-5yYɮ]AYi:iDNOT Ignoring new targets: 70.14 m."iۏ*iۏ ProNav: ac range: 70.137764 m, nav range: 66.546989 m, bearing: 43.969295 deg, approach rate: -0.385880 m/s, LOS rate: -0.062885 deg/s, cmd heading: 53.778533 deg, new cmd heading: 53.721066 deg. i,溝HeadingCmd: 0.937609 target range: 70.137764 and range: 70.20 m.h-p?hhhhggjgrgBereZe:e*e@Bɢ$=) >i)E,<ii-p?|=,I-p?I9@ @@/@^A}#ԡAIIO>BDAT read: Rx Time:01:34:46.0045 TRx dataTimestamp_ set to:1764898486.748447checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027797bE(N4jEǼP4rE/E5 E5E5)E1"E5:*E5|:VE5FA4ZE1BE1a=2E1aEJE5e;aE:E5e;aE xmk#,ӸLA2?28R?2$<ٱ2֟P>2H$? @D ?r?n? ʾ`&˜?9T?i2?I2];0YNByN!IbDVֿVDV8yv<%v[=ٔz b:Q-z>9xY|=~kEy~wD~<E>Q 5 5?Q 9 57H)'BYyv?Q IS@DI:i:5yɮ%A!=B*** querying acoustic contact ***i9i9:iIMDNOT Ignoring new targets: 70.14 m."iUM*iUMe ProNav: ac range: 70.137764 m, nav range: 66.405327 m, bearing: 43.944849 deg, approach rate: -0.390036 m/s, LOS rate: -0.067450 deg/s, cmd heading: 53.721067 deg, new cmd heading: 53.672070 deg. iemHeadingCmd: 0.936754 target range: 70.137764 and range: 70.20 m.hm"o?hihihihigqgqjgqrgqeyreyZey:ey*e@ @颭Bɢ6=) >i)A2<顱ii"o?Y{=I"o?I]>i>U4=U<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275302i@i @q@u0@q^AE#@AqIIOc>) - DAT read: 01:34:46.0045 LVL= 22960, 29809, 24002, 32755, AGC= 67, IDX= 424, 0.16,-1.877, 2.737,-1.677,-2.211, PHS= 0.436,-1.290, 0.490, RAW= 151.5, 4.2, CAL= 150.6, 4.1, ROT= 359.4, -4.1 5 Ygot valid direction response: 01:34:46.0045 LVL= 22960, 29809, 24002, 32755, AGC= 67, IDX= 424, 0.16,-1.877, 2.737,-1.677,-2.211, PHS= 0.436,-1.290, 0.490, RAW= 151.5, 4.2, CAL= 150.6, 4.1, ROT= 359.4, -4.1 EE  EE EE ,EA "EE D:*EE x:VEE g4ZEA aM @aM @aM @aM @e PDAT read: Bearing 212.9, -1.2 (Local) e ~Local bearing/azimuth received: Bearing 212.9, -1.2 (Local) m DAT read: Range 11 to 50 : 68.7 m (Round-trip 91.7 ms) speed 0.4 m/s u R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.997386,-0.010445,0.071497]} Fpublishing direction and range infoy  Vdi  H> %:)@ Q = 8(@ C=) @I C Mij3?{??/͙? { ?) &I D+i C  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.stk#,qҭLA EfT?EU?E :<ٱEL>EHɇ?h '? %?8?ϱ l?NZ?iEfT?IE=];ECYy IbDVD8y%%%8=ٔ-\:Q-->9)Y1=5kEy5DU<E]>YQ 5e5]?Q 9m5]]D)](BYiymy?Q ImS@]"DI]:i]:] 5yɮAi1i5ϭLAj5GB"j5GB:j5xN?Rj5flQ@6 N@Bj5Vdi1)=y9<99i=a4iE o?EXz=EIE o?IiB>BB IBBBBBB1;Bs\EBCBCBBP =BP =Cw49@  @ @ 0@u(DAT read: user:18> ԁBDAT read: Tx time:01:34:47.2586 $Ping request sent.Ezk#,LA ɰ"p;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242894YBy!IEU EUEU)EQ"EUl;*EUAr:VEUFA4ZEQBEUaFy%ף=%ף<%A@%z A !)!!Y%@ 15<bD=VD=8yMv<%M>=ٔUQ-U>9QYQ=UkEyUD]E]>aQ 5m5e?Q 9m5e@)e.BYm>Q Eu ;yu?Q IuS@e(DIei ;ieM:e5y}ABɮ}A}AE:iDNOT Ignoring new targets: 68.64 m."i*i ProNav: ac range: 68.639160 m, nav range: 68.149521 m, bearing: 46.053139 deg, approach rate: -0.388103 m/s, LOS rate: -0.074602 deg/s, cmd heading: 53.609041 deg, new cmd heading: 53.548022 deg. iHeadingCmd: 0.934589 target range: 68.639160 and range: 68.70 m.h>Ao?hhhhgg jgrgBereZe:e*e% 6J?Bɢ7=) >i)o@@<il{i>Ao? ?y= QTI >Ao?I  imCyAE9EyAYEA9@ @@0@@@yA)^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.495111AIIO >Y ҁk#,ۥLA 2!?2EWY?2)<ٱ2%D>2H#? 6zh? ??@i? g?i2!?I2];0YR܂ByR IIV%=)Vp;bDZVDZư8yb#%bh=ٔf:Q-f>9dYd=jkEyjDj?=Ej>)Q 555-ߖ?Q 955-=)-2BY9y=܅?Q I=S@-,DI-;i-];-5yAɮE'AI:iimDNOT Ignoring new targets: 68.64 m."iu/*iu/ ProNav: ac range: 68.639160 m, nav range: 68.015038 m, bearing: 46.025175 deg, approach rate: -0.373846 m/s, LOS rate: -0.077891 deg/s, cmd heading: 53.548021 deg, new cmd heading: 53.491981 deg. iHeadingCmd: 0.933611 target range: 68.639160 and range: 68.70 m.h%o?hhhhggjgrgereZe:e*e?BɢB=)Un* >i)>\E<iʺi%o?^y=፻I%o?Iq9@ @@05@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747503Eu EuEu,Eq"Eu:*Eu]t:VEug4ZEqa}@a}@a}@a}@^A}bިA>A>ԙA.AIIO k> B! B! B! B! B! B! B! B% 4;B% v\E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001706Ek#,ߊ!LALR|#?ROG[?R?H<ٱRdA>RH`?#4@?`+?=?ަP`?`k?iR|#?IRd];PY^By^ IiEMb@Mb@Mb@AAAA A9EK7?RQ?~jt?YEI>yE=E9m ?Ym ?=ukEyuD,<E>Q 55㝕?Q 95x9)8BY9>Q E;y?Q IS@2DI;i;5yɮA:i)-DNOT Ignoring new targets: 68.64 m."i5ֺ*i5ֺE ProNav: ac range: 68.639160 m, nav range: 67.845833 m, bearing: 45.984997 deg, approach rate: -0.394419 m/s, LOS rate: -0.093889 deg/s, cmd heading: 53.491982 deg, new cmd heading: 53.411426 deg. iE+MHeadingCmd: 0.932205 target range: 68.639160 and range: 68.70 m.hMn?hIhIhIhIgQgQjgQrgUBeYreYZeY:eY*e]?颍Bɢ9=) >i)(L<顑iin?x=:In?I 9@  @ @ /5@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251127E EE'E"Es:*E|:VE'4ZEBEp0'k#,\;LA6I%?6T]?6C<ٱ6=>6H?@\? DQ?:??К?p?i6I%?I6];4YBByB!IDDbDJ2VDJڰ8yRSR=%RX=ٔV;Q-V>9V"?YV"?=ZkEyZDZ <EZ>\Q 5b5^ģ?Q 9b5^5)^=BYdyf׊?Q IfS@^6DI^u:i^u:^5yhɮjAhzB*** querying acoustic contact ***ixix|:iDNOT Ignoring new targets: 68.64 m."i ܺ*i ܺ ProNav: ac range: 68.639160 m, nav range: 67.702362 m, bearing: 45.949805 deg, approach rate: -0.392351 m/s, LOS rate: -0.096443 deg/s, cmd heading: 53.411427 deg, new cmd heading: 53.340895 deg. i0%HeadingCmd: 0.930974 target range: 68.639160 and range: 68.70 m.h%TTn?h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5࿀?eBɢe7M=)a e?ia)mDRQM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755049E  E E )E "E D:*E :VE FA4ZE a @a @a @a @ԙ k#,>ULAYFW$'?F^?F+6<ٱF:>FHY?jY?`w?c?`Qи%`6?9u?iFW$'?IF]];DYmByu!IbD"VD̰8y%;=ٔVD:Q->9Y=kEyD<Em>Q 55[?Q 95n1)CBYy̋?Q IS@=DI:i :5y ɮA:iamDNOT Ignoring new targets: 68.64 m."iu*iuẝ ProNav: ac range: 68.639160 m, nav range: 67.515038 m, bearing: 45.902323 deg, approach rate: -0.387926 m/s, LOS rate: -0.098603 deg/s, cmd heading: 53.340895 deg, new cmd heading: 53.245667 deg. it4B>BB IBBBBBB8;B|\EԉHeadingCmd: 0.929312 target range: 68.639160 and range: 68.70 m.hgm?hhhhggjgrgereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009988颥Bɢ3=) ?i)[<ii5gm?=w==p6HkM?>3? ??Cy s?@}?i6M*?I6s];6CY>By>!Ii5Mb@Mb@Mb@1111 195S?A`"?I +?Y5>y5=59<5A@5MA 5@)5@1Y5@ IM9iYq=ukEyuDuѠ<Eu>yQ 55}?Q 95}R+)}LBY>Q E:y?Q IS@}EDߕ>ߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511587I}:i}A;}, 5y.BɮA8E:iDNOT Ignoring new targets: 68.64 m."i9*i9 ProNav: ac range: 68.639160 m, nav range: 67.268753 m, bearing: 45.834496 deg, approach rate: -0.421377 m/s, LOS rate: -0.116472 deg/s, cmd heading: 53.245665 deg, new cmd heading: 53.109515 deg. i(UHeadingCmd: 0.926936 target range: 68.639160 and range: 68.70 m.hKm?hhhhggjgrgBereZe:e*e@J@5݁Bɢ5tD=)1 5( ?i1)5ld<99i=i=Km?Ew=EdM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763117E  E E )E "E s:*E VE FA4ZE a @a @a @a @ =k#,ƗLA2+?26c?2@<ٱ21>2H'?_`p?i? ?R ~? f?i2+?I2n];2CY\y^!IbDjVDj8yr:%rT=ٔr:Q-r>9tYt=vkEyvDvAz<Ez>xQ 55z5?Q 95zN')zQBYyZ?Q IS@zJDIz;iz;z5y ɮA:i1=DNOT Ignoring new targets: 68.64 m."i=F*i=FM ProNav: ac range: 68.639160 m, nav range: 67.107841 m, bearing: 45.788965 deg, approach rate: -0.420046 m/s, LOS rate: -0.119140 deg/s, cmd heading: 53.109516 deg, new cmd heading: 53.018235 deg. iM ZUHeadingCmd: 0.925343 target range: 68.639160 and range: 68.70 m.hUDl?hQhQhYhYgYgYjgargaeareaZea:ei*em U[ @颕ځBɢ-\=)  ?i)ֵk<顙iDiDl?uLw=m=IDl?IԹB>BB IBĂBBBBBA;B\EBDAT read: Rx Time:01:34:49.7526 TRx dataTimestamp_ set to:1764898490.528291checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0212729@ @@/@@@^A r1k#,ᵴLALf6-?fce?f"<<ٱf,L/>fH?-~)v4y=/<X@A @)A@Y(@bDVD8yE: ;%E=ٔMh:Q-M>9QYQ=UkEyUDU-)<EU>YQ 5e5]RÕ?Q 9e5]!)][BYm_>Q Em:ym?Q ImS@]RDI] ;i] ;]-5yqɮ}Ay:iDNOT Ignoring new targets: 68.64 m."i*i ProNav: ac range: 68.639160 m, nav range: 66.883835 m, bearing: 45.717342 deg, approach rate: -0.421883 m/s, LOS rate: -0.135342 deg/s, cmd heading: 53.018237 deg, new cmd heading: 52.874513 deg. iwHeadingCmd: 0.922834 target range: 68.639160 and range: 68.70 m.h>l?hhhhggjgrgBereZe:e*e? @ցBɢDH=)  g?i ) xu<  iǛi>l?Z w=Vu=I>l?I)i->9@ @@0@DAT read: 01:34:49.7526 LVL= 22384, 28593, 23842, 32755, AGC= 68, IDX= 421,-0.37, 1.443,-0.135, 1.823, 1.299, PHS= 0.246,-1.389, 0.479, RAW= 156.6, 7.6, CAL= 156.1, 7.8, ROT= 353.9, -7.8 Ygot valid direction response: 01:34:49.7526 LVL= 22384, 28593, 23842, 32755, AGC= 68, IDX= 421,-0.37, 1.443,-0.135, 1.823, 1.299, PHS= 0.246,-1.389, 0.479, RAW= 156.6, 7.6, CAL= 156.1, 7.8, ROT= 353.9, -7.8 PDAT read: Bearing 221.8, -6.2 (Local) ~Local bearing/azimuth received: Bearing 221.8, -6.2 (Local) DAT read: Range 11 to 50 : 67.3 m (Round-trip 89.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.985138,-0.105281,0.135716]Fpublishing direction and range infoyAE0̟w@?;A󺿪 M _?YEBAEpWEo^AmiEʱE}?>E.@E>E].@ E'g >)E@IE'g AAEb94y?onW?r? Eg#?)E IEi ڽiE'g AAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IIO>! 1kk#,VήLA2w.?2Tf?2<ٱ2,>2H`?km:? ? ?@Ǵ,??i2w.?I2S];2CY>By<bDJVDJ8yR%V=ٔVD;Q-V ?9XYX=ZkEyZDZ<EZ?`Q 5f5bȕ?Q 9f5b )b`BYdyf?Q IjS@bWDIb:ib:b5ylɮnAliiLAj{B"j{B:jE?RjAGtpP@/f QrmM@"@Bj0̟w@?;A󺿪 M _?*ji ڽ2j'g Zjl@ G@Vn_G@VB/0@Jj| ?,Q??|4?j:B j?Bi?i iPjBjjjBrjBzjL?- addTargetRange:: Added new target pos. range: 67.300003 m, deltaT: 3.780763 s, deltaX: -1.399994 m, approachRate: -0.370294 m/s, rangeRepo size: 4 = Added new target pos. range: 67.240555 m, bearing: 44.250529 deg, lat: 36.779561 deg, lon: -121.859778 deg, deltaT: 3.780763 s, deltaX: -1.398605 m, approachRate: -0.369927 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 67.24 m."iE*iI] ProNav: ac range: 67.240555 m, nav range: 66.751190 m, bearing: 45.673984 deg, approach rate: 0.000000 m/s, LOS rate: -0.135342 deg/s, cmd heading: 52.874513 deg, new cmd heading: 52.787997 deg. iYeHeadingCmd: 0.921324 target range: 67.240555 and range: 67.30 m.hek?hahahahagagijgirgieireiZeq:eu@3P@*eu?(DAT read: user:19> BDAT read: Tx time:01:34:51.0586 $Ping request sent.B9B= IB=ɂBB9B9B9B=O;B=\Eq^Am@o= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253344I I O >1 k#,(讍LAYBy !IiMb@Mb@Mb@ 9S?n?Mb?Y>yV>=7A @)@Yp@bD׿VD8y};%}0=ٔ}Q-}>9Y=kEyDE>Q 55rΕ?Q 95 )jBY>Q E:yR?Q IS@]DI:i4:5ysBɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 67.24 m."i&.*i&. ProNav: ac range: 67.240555 m, nav range: 66.560341 m, bearing: 45.604383 deg, approach rate: -0.416294 m/s, LOS rate: -0.152255 deg/s, cmd heading: 52.787998 deg, new cmd heading: 52.648397 deg. iRHeadingCmd: 0.918888 target range: 67.240555 and range: 67.30 m.h<Qy {k#,LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795640?6h?6ȋ=ٱ6E&>6H d?2a?r:?@/?`w䲿Р??i640?I6P];6CYbByb!I ddbDjVDj8y м% e=ٔc;Q->9Y=kEyD_<E>!Q 5-5%>ӕ?Q 9-5%)%rBY1y5?Q I5S@%bDI%:i%:%5y={Bɮ=IA=9E:iaeDNOT Ignoring new targets: 67.24 m."im1*im1} ProNav: ac range: 67.240555 m, nav range: 66.413452 m, bearing: 45.549036 deg, approach rate: -0.411688 m/s, LOS rate: -0.155464 deg/s, cmd heading: 52.648396 deg, new cmd heading: 52.537458 deg. i}BHeadingCmd: 0.916952 target range: 67.240555 and range: 67.30 m.hXj?hhhhggjgrgereZe:e*e?́Bɢp=) -?i)V<i%iXj?>v=b=IXj?Iq9@ @@05@ԡ^A;6=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007151IYIyO>E  E E +E "E :*E :VE [4ZE a @a @a @a @ 0k#,LLA2z1?2i?2, =ٱ2">2H`2? 8'? WN? Xu?ٱs y(?`?i2z1?I2Ҫ];0YbByb !IbDj VDj8Br>BpBr IBr΂BBrO =BpBpBrW;Br\EBBBBBCH4y 6% J=ٔJ;Q->9Y=kEyD"<E%>!Q 5-5%ؕ?Q 955%)%zBY1y5'?Q I5S@%hDI%:i%G:%!5y9ɮEeAA:iamDNOT Ignoring new targets: 67.24 m."im54*im54} ProNav: ac range: 67.240555 m, nav range: 66.247719 m, bearing: 45.485497 deg, approach rate: -0.409921 m/s, LOS rate: -0.157549 deg/s, cmd heading: 52.537460 deg, new cmd heading: 52.410064 deg. i}*HeadingCmd: 0.914728 target range: 67.240555 and range: 67.30 m.h+j?hhhhggjgrgereZe:e*e2X?ʁBɢg=) ?i)2<ii+j?v=s=I+j?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261456e9@i @i@u5@q^AgW=I IO-->)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511645EM  EM EM (EI "EM ;*EM :VEM c44ZEI Ak#,05LADBE}Dye>ej9Y=kEyDE>Q 55@ߕ?Q 9 5 )BY >Q E :y L?Q IS@oDIv*iA> ProNav: ac range: 67.240555 m, nav range: 66.042007 m, bearing: 45.405904 deg, approach rate: -0.428561 m/s, LOS rate: -0.166333 deg/s, cmd heading: 52.410063 deg, new cmd heading: 52.250382 deg. i4HeadingCmd: 0.911941 target range: 67.240555 and range: 67.30 m.hti?hhhhggjgrgBereZe:e*e9?ǁBɢr\=) i?i)%sA >A1 IA IQ O] >k#,OLA: p3?::k?:{=ٱ:s>:Hf? ?Yk?W?`.ʮR.&? ?i: p3?I:];:CYFByF!IbDNVDN8yV9%Vm=ٔZ <\Q-^?9\Y\=bkEybDb<Eb?dQ 5j5f㕊?Q 9j5f)fBYlyn,?Q InS@fuDIf0;if ;f(5ypɮrAp:i  DNOT Ignoring new targets: 67.24 m."i\R*i\R% ProNav: ac range: 67.240555 m, nav range: 65.895020 m, bearing: 45.347643 deg, approach rate: -0.462958 m/s, LOS rate: -0.183912 deg/s, cmd heading: 52.250384 deg, new cmd heading: 52.133601 deg. i%J-HeadingCmd: 0.909903 target range: 67.240555 and range: 67.30 m.h-gh?h)h)h)h)g)g1jg1rg1e9re9Ze9:e9*e=G @uāBɢu<=)y }?iy)痐<顁iYochecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016363igh?3v=D=Igh?IIq)uwAE EEE"E:*E n:VEZEa@a@a@a@9@ @@0@^Aw=B>BB IBɂBBBBB];B\EA .AII)OUu>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668149 Qk#,piLA24?2k?2 =ٱ2>2H W?@Y?`&v?L?@L`a?෤?i24?I2];2CYVByV!IiMb@Mb@Mb@ 9q= ףp?@5^I ?I +?Y>yb>9<A @)@Yz@bDVD8yQ<%:=ٔ;Q->9 ?Y ?=kEyDY;E>Q 55:ꕊ?Q 95)BY>Q E:y?Q IS@{DI:i:m,5yɮA:i!%DNOT Ignoring new targets: 67.24 m."i-B*i-B= ProNav: ac range: 67.240555 m, nav range: 65.702194 m, bearing: 45.273110 deg, approach rate: -0.439525 m/s, LOS rate: -0.170387 deg/s, cmd heading: 52.133601 deg, new cmd heading: 51.984099 deg. i=電EHeadingCmd: 0.907294 target range: 67.240555 and range: 67.30 m.hEfDh?hAhAhAhAgIgIjgIrgMBeQreQZeQ:eQ*e]@颅Bɢ2Hj=) t?i)nɔ<顉imifDh?Fv=pB=IfDh?IIm9@i @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519343E EE)E"E;*E:VEFA4ZEBEA] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770836 k#,^dLA24?2Gil?2`'=ٱ2>2HH?(`?`S? @?9KG ?A?i24?I2J];2CY:߂By> IbDFVDF8yr%vY=ٔv;Q-v>9xYx=zkEyz D~;E~>Q 55?Q 9 5s)BY y ?Q I S@DI;i;/5yɮA5B*** querying acoustic contact ***i1i1:iAEDNOT Ignoring new targets: 67.24 m."iMD*iMD] ProNav: ac range: 67.240555 m, nav range: 65.536949 m, bearing: 45.208413 deg, approach rate: -0.438623 m/s, LOS rate: -0.172164 deg/s, cmd heading: 51.984098 deg, new cmd heading: 51.854378 deg. i]eHeadingCmd: 0.905030 target range: 67.240555 and range: 67.30 m.heg?hahahahagagiqjgqrgqeqreqZey:ey*e}@BɢZq=) /?i)N<i ig?w==Ig?II@I @I@I@I@U=@U=^A%ۋ=ԙAM؟AIYIiOuX>BDAT read: Rx Time:01:34:53.5505 TRx dataTimestamp_ set to:1764898494.310777checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030971E EE+E"El;*E|:VE [4ZEa@a@a@a@ Mk#,&LA6%5?6|l?6 /=ٱ6$>6H):?`5e??6?iA@j⥿`Q??i6%5?I6E];4BB>B@BB IBBĂBBBP =B@B@BBT;BB\EYN҂ByR IbDZVDZ8yb%bN=ٔb;Q-b>9f"?Yf"?=fkEyfDj#;Ej>lQ 5r5ni >5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277540E9@A @I@M/@Q^A=1A I I O > DAT read: 01:34:53.5505 LVL= 28400, 32753, 25522, 32755, AGC= 69, IDX= 415,-0.20, 1.268,-0.295, 1.722, 1.166, PHS= 0.203,-1.416, 0.512, RAW= 158.6, 7.9, CAL= 158.1, 8.1, ROT= 351.9, -8.1 % Ygot valid direction response: 01:34:53.5505 LVL= 28400, 32753, 25522, 32755, AGC= 69, IDX= 415,-0.20, 1.268,-0.295, 1.722, 1.166, PHS= 0.203,-1.416, 0.512, RAW= 158.6, 7.9, CAL= 158.1, 8.1, ROT= 351.9, -8.1 - PDAT read: Bearing 224.0, -9.5 (Local) 5 ~Local bearing/azimuth received: Bearing 224.0, -9.5 (Local) = DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.7 ms) speed 0.4 m/s EE  EE EE *EA "EE :*EE :VEE (N4ZEA BEE F8i }? o? m(1@ 0 > r0@ >) @I  Kg?k?ː?>X? 3a,?) ʛ I i   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.k#,LA4<ɰ4<2e5?2Wm?2&6=ٱ2 >2Hy/?@`0!?H?.? e:+? ͭ?i2e5?I2z];2CY=΂By= I1ieMb@Mb@Mb@aaaa a9eʡE?K7?Mb?Ye->yeI >e9AYA=EkEyEDM9U;EM>qQ 5}5u?Q 9}5u)uBY}C>Q E}:y}֙?Q IS@uDIu:iu:uv75yɮAii鸳LAjHB"jHB:jD?RjEޯP@a]CP"SaQ8"@Bj&:\]?:N ?*j2jZjtO.„G@v#F@gq@G@Jj~%?Ф.?w1pdų?j6B j& 5BDAT read: Tx time:01:34:54.8586 5$Ping request sent.5k#,;ӯLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251077Er ErEr+Ep"Er:*Er҆:VEr [4ZEpav@av@av@av@~5?~m?~a<=ٱ~U>~Hr$? EJ ?ę?&?@৙c?v?i~5?I~];~CŶBy IbD%VD%8y5%5Z=ٔ= ;Q-=>9= ?Y= ?==kEy="DEU;EE>IQ 5U5M?Q 9U5MY)MBYQy]?Q I]S@MDIM:iM;M:5yeMBɮeAe'EԱ:iDNOT Ignoring new targets: 65.64 m."iM*iM ProNav: ac range: 65.642059 m, nav range: 64.975502 m, bearing: 44.988947 deg, approach rate: -0.458650 m/s, LOS rate: -0.179815 deg/s, cmd heading: 51.539791 deg, new cmd heading: 51.409104 deg. iHeadingCmd: 0.897258 target range: 65.642059 and range: 65.70 m.he?hhhhggjgrgereZe:e*e@U?颭Bɢbx=)  ?i)y<顱iiie?ɒw=y=Ie?I@ @@@Be>BaBe IBeBBaBaBaBe2;Bev\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501848^Aا=A ؟AI I O >1 !k#,}LA2}A6?2 n?2BD=ٱ2U>2H@?P@J??!?+`^??i2}A6?I2];2CY:By: IIB4=)B<@BAiMb@Mb@Mb@ 9Zd;?rh|?I +?Y>y=94<@ )@Y@AAAAbDVD8y-%-K=ٔ5;Q-5>95"?Y5"?==kEy=*D=6;E=>AQ 5M5E?Q 9M5Ep)EBYU?Q EU:yU?Q IUS@EDIE:iE:E6>5yYɮ]AY:iDNOT Ignoring new targets: 65.64 m."i3*i3 ProNav: ac range: 65.642059 m, nav range: 64.787933 m, bearing: 44.921428 deg, approach rate: -0.435355 m/s, LOS rate: -0.157168 deg/s, cmd heading: 51.409102 deg, new cmd heading: 51.273674 deg. iяHeadingCmd: 0.894894 target range: 65.642059 and range: 65.70 m.he?hhhQhQgQgYjgYrgepBearei}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754312Ze:e*e`o0?E EEE"E;*E:VEZEBE?Ci)/@<顑i!zie?w==Ie?IA=9@A @A@A@Ai^A% ٦=% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005842ԡ AQ Ia Iq O} >Nl#,6LA@:v6?:\An?: M=ٱ:I2>:H? U?@??@Z`U?@?i:v6?I:];8Y^By^ IbDfVDfŰ8yn(<%nM=ٔrܫ;Q-r>9pYp=vkEyv3Dv;Ev>|Q 55~G?Q 95~)|Yy?Q IS@~DI~:i~:~A5y ɮA-B*** querying acoustic contact ***i)i):i9=DNOT Ignoring new targets: 65.64 m."iEV*iEV  ProNav: ac range: 65.642059 m, nav range: 64.601906 m, bearing: 44.853870 deg, approach rate: -0.513738 m/s, LOS rate: -0.187107 deg/s, cmd heading: 51.273673 deg, new cmd heading: 51.138168 deg. i6HeadingCmd: 0.892529 target range: 65.642059 and range: 65.70 m.h|d?hhhhggjg!rg!e!re!Ze!I:e)*e]?Bɢ l=) E?iA)M&IBA BE IBE BBA BA BA BE ";BE c\EA .AI I O > l#, LA26?2Vn?26U=ٱ2>2H@3?U??@? ¡J?0?i26?I2];2CY:By: IbDf"VDf̰8y~V;%~I=ٔ~(;Q->9 ?Y ?=kEy;D \Q:E >Q 55?Q 95)BY!y%"?Q I%S@DIP#;i*$;?E5y-UBɮ-[A):iQUDNOT Ignoring new targets: 65.64 m."ieFC*ieFCm ProNav: ac range: 65.642059 m, nav range: 64.413040 m, bearing: 44.784780 deg, approach rate: -0.465328 m/s, LOS rate: -0.170723 deg/s, cmd heading: 51.138169 deg, new cmd heading: 50.999585 deg. iu8uHeadingCmd: 0.890111 target range: 65.642059 and range: 65.70 m.h}Kc?hyhyhyhygygjgrgereZe:e*e`?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509962Bɢi=) y>i)C<ifiKc?Nx==IKc?IԹ9@ @@/@^A=! u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762307bEuəT4jEu(N4rEuJv/E  E E +E "E :*E ]t:VE [4ZE BE N-9 l#,:LA2Kx6?2Bn?2^^=ٱ2>2H?Sj?@?"?Hӫ+?&?i2Kx6?I2];2CYNByR I TTi%Mb@Mb@Mb@!!!! !9%-?T㥛 ? rh?Y%?>y%>%C<%@%MA %@)!!Y%@bDEVDE8yUQ%UE=ٔU;Q-U>9"?Y"?=kEyDDN4E>!Q 5-5%?Q 9-5%P)%BY5>Q EU:yU1?Q IUS@%DI%;i%);%I5y]BɮeAa:iDNOT Ignoring new targets: 65.64 m."iA*iA ProNav: ac range: 65.642059 m, nav range: 64.212463 m, bearing: 44.709186 deg, approach rate: -0.448330 m/s, LOS rate: -0.169496 deg/s, cmd heading: 50.999585 deg, new cmd heading: 50.847925 deg. iHeadingCmd: 0.887464 target range: 65.642059 and range: 65.70 m.h0c?hhhhggjgrgXBereZe:e*e@ @Bɢ̯Y=) $>i!)%gl#,TLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265854(:G6?:n?:{%h=ٱ:=:H?`Q@?@? )?`ѿ?8?i:G6?I:ū];:CDV=DV=E^ E^E^*E\"E^:*E^Ar:VE^(N4ZE\ab@ab@ab@ab@Y By  IbD%VD%8yM/%ML=ٔU;Q-U>9QYQ=UkEy]KD]E]>aQ 55e"?Q 95e)eBYy?Q IT@eDIei )( <iji\b?jx=->=I-\b?I1ԉ9@ @@0@B>BCB IBBBQ =BBTDBB`\EBBBBBCĹ4ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517803^A% +W= Am .AIq I O >: l#,NnLA2 6?2 m?2q=ٱ2N=2H?O@?T?T0?y7??i2 6?I2];2CY:By: I\iMb@Mb@Mb@ 9/$?V-?~jt?Y>y=D<zA @)@Y@bD)VDҰ8y-}%-N=ٔ-(;Q-->95 ?Y5 ?=5kEy5SD5E=>AQ 5M5E)?Q 9M5E.)AYUw>Q EU:yUە?Q IUT@EDIE:iE:EO5yɮRA:i)-DNOT Ignoring new targets: 65.64 m.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769857"iu**iu*} ProNav: ac range: 65.642059 m, nav range: 63.865456 m, bearing: 44.579219 deg, approach rate: -0.401227 m/s, LOS rate: -0.149068 deg/s, cmd heading: 50.717255 deg, new cmd heading: 50.587286 deg. igHeadingCmd: 0.882915 target range: 65.642059 and range: 65.70 m.hb?hhE EE)E"El;*Eg:VEFA4ZEBEaF Ci)<i pG!9et9aYe'Aimb?u*Fy=}g=Ib?yş?AI!59@9 @9@=/@9A  BDAT read: Rx Time:01:34:57.3483  TRx dataTimestamp_ set to:1764898498.084661 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022982^A] S=q A ؟AI I O >"l#, LA^<5?^wm?^Nr{=ٱ^=^H'?I`?,@)jp;bDrVDrð8yz2H%59=ٔ5ĩ;Q-=>9="?Y="?==kEy=\DEEE>IQ 5U5M*0?Q 9U5M)MBYQyU?Q I]T@MDIM;iM;MS5yeBɮe*AeE}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 65.64 m."i~T*i~T ProNav: ac range: 65.642059 m, nav range: 63.667812 m, bearing: 44.505851 deg, approach rate: -0.498903 m/s, LOS rate: -0.185777 deg/s, cmd heading: 50.587287 deg, new cmd heading: 50.440094 deg. iHeadingCmd: 0.880346 target range: 65.642059 and range: 65.70 m.hV^a?hhhhggjgrgereZe:e*e^ @Bɢc,f=) >i),=<iyiV^a?>y=l=IV^a?I G>i >@ @@-1@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274128E} EyE},Ey"E}:*EyVE}g4ZEya@a@a@a@^Am!=I A B B B f IB iBB B B B ;B T\EI) IA OM >(l#,ԤLAbDAT read: 01:34:57.3483 LVL= 25136, 29825, 22130, 32755, AGC= 68, IDX= 424, 0.15, 0.856,-0.710, 1.306, 0.766, PHS= 0.191,-1.431, 0.496, RAW= 158.4, 8.3, CAL= 158.1, 8.7, ROT= 351.9, -8.7 jYgot valid direction response: 01:34:57.3483 LVL= 25136, 29825, 22130, 32755, AGC= 68, IDX= 424, 0.15, 0.856,-0.710, 1.306, 0.766, PHS= 0.191,-1.431, 0.496, RAW= 158.4, 8.3, CAL= 158.1, 8.7, ROT= 351.9, -8.7 nPDAT read: Bearing 225.0, -10.8 (Local) p%~Local bearing/azimuth received: Bearing 225.0, -10.8 (Local) DAT read: Range 11 to 50 : 64.1 m (Round-trip 85.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.978632,-0.139280,0.151261]Fpublishing direction and range infoy02"=P?+jni\?Y23B020b2t2rV 0)2DI2C>i2+2>2;0@2V>0 2|>%5P5?%m?%d=ٱ%=%H`p0?UC:?@ن?I? `P@?@?i%5P5?I%];!)0I2|002jC?d?O|? 2+?)2I0i2|00Y~By I T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iUMb@Mb@Mb@QQQQ Q9U{Gz?S㥻?/$?YU>yU/=U9Y=kEyhDZ(E>Q 558?Q 95)BY >Q E :y ?Q I T@DI:i:X5y֕BɮAi0i2LAj2B"j2B:j2bD?Rj2=VO@"3!_#@Bj2"=P?+jni\?*j02j2|Zj2mXF@|Ϻk7F@Y J@Jj2G2z?73?3 IG?j21B j27Bi2{_T?i2Ft45j2Bj2{_T?j2Ft45j2Brj2Bzj2 D? addTargetRange:: Added new target pos. range: 64.099998 m, deltaT: 3.779592 s, deltaX: -1.599998 m, approachRate: -0.423326 m/s, rangeRepo size: 4 - Added new target pos. range: 64.042191 m, bearing: 44.073744 deg, lat: 36.779567 deg, lon: -121.859777 deg, deltaT: 3.779592 s, deltaX: -1.599869 m, approachRate: -0.423291 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 64.04 m.9"i]*iYm ProNav: ac range: 64.042191 m, nav range: 63.878613 m, bearing: 44.073518 deg, approach rate: 0.000000 m/s, LOS rate: -0.185777 deg/s, cmd heading: 50.440093 deg, new cmd heading: 50.227514 deg. iimHeadingCmd: 0.876635 target range: 64.042191 and range: 64.10 m.hu/k`?hqhqhhggjgrg_BereZe:e`fP@*em?(DAT read: user:21> BDAT read: Tx time:01:34:58.7086 %$Ping request sent.%iQ)UD9= ?Y= ?==kEy=pDEEE>Q 55??Q 95d)BYyQ IT@DI2:i:0\5yɮA:iDNOT Ignoring new targets: 64.04 m."i<*i< ProNav: ac range: 64.042191 m, nav range: 63.705296 m, bearing: 44.009848 deg, approach rate: -0.446385 m/s, LOS rate: -0.164430 deg/s, cmd heading: 50.227514 deg, new cmd heading: 50.099828 deg. ivHeadingCmd: 0.874407 target range: 64.042191 and range: 64.10 m.h"_?hhhhggjgrgereZe:e*e`C?%Bɢ%d=)! %O>i!)%)<))i-i-"_?5Uz=5K=I5"_?I1@ @@0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954EE EEEE&EA"EE&:*EE&p:VEE4ZEAaM@aM@aM@aU@^A/=q A ؟AI I) O5 >B5 >B1 B5 G IB5 OBB1 B1 B1 B5 .;B5 k\E 8l#,ᰍLA0Fr4?F=l?F>3=ٱF=FHD?`5%?-t?@c?悱|S?d?iFr4?IF];DYNjByRh I TTbDZ VDZ8yb%bS=ٔf7F9f"?Yf"?=fkEyfxDjEj>lQ 5z5nE?Q 95n6)lY y ?Q I T@nDIn";inV;n_5yɮeA:iAEDNOT Ignoring new targets: 64.04 m."iE/*iM/U ProNav: ac range: 64.042191 m, nav range: 63.544193 m, bearing: 43.950837 deg, approach rate: -0.418638 m/s, LOS rate: -0.153735 deg/s, cmd heading: 50.099827 deg, new cmd heading: 49.981505 deg. i]eHeadingCmd: 0.872342 target range: 64.042191 and range: 64.10 m.heQ_?hahahahagagajgirgieireiZeq:eq*eu@?额BɢZ=) >i)<顡iiiQ_?z==IQ_?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754745-9@1 @1@5O0@1ԙԹ^AZ=AI IQ Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006921 Eu  Eu Eu ,Eq "Eu :*Eu :VEu g4ZEq BEu 6l#,LA;ɰ2Z3?2k?2q=ٱ2e=2H[Q?,?`6i?hr? /ػ?8?i2Z3?I2];2CYBfByBc I`ieMb@Mb@Mb@aaaa a9e/$?S㥻?I +?Ye>yae9=ٔ!;Q->9Y=kEyD㙻E>Q 55"L?Q 95U)Y>Q E:yr?Q IT@DI:ib:Bc5yɮA:iDNOT Ignoring new targets: 64.04 m."i-7*i-7 ProNav: ac range: 64.042191 m, nav range: 63.354874 m, bearing: 43.883028 deg, approach rate: -0.445790 m/s, LOS rate: -0.160145 deg/s, cmd heading: 49.981504 deg, new cmd heading: 49.845483 deg. iHeadingCmd: 0.869968 target range: 64.042191 and range: 64.10 m.h5^?hhhhgg jg rg \Be reZe:e*e ?EBɢE[V=)A E>iA)MEl#,yLAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511107jm2?jj?j翙=ٱj=jH`h?@|c?@S? ?p ^3?@?ijm2?Ij(];jCYv^ByvZ IE EE&E"E:*E~:VE4ZEa @a @a @a @bD VDʰ8y-"%-Q=ٔ-891Y1=5kEy5D5!E=>AQ 5E5ER?Q 9M5E)AYIyM?Q IMT@EDIE:iE:Ef5yUޕBɮ]AYuB*** querying acoustic contact ***iqiq:iDNOT Ignoring new targets: 64.04 m."iB4*iB4 ProNav: ac range: 64.042191 m, nav range: 63.182213 m, bearing: 43.821445 deg, approach rate: -0.440643 m/s, LOS rate: -0.157595 deg/s, cmd heading: 49.845481 deg, new cmd heading: 49.721978 deg. i5HeadingCmd: 0.867812 target range: 64.042191 and range: 64.10 m.h(^?hhhhggjgrgereZe:e*eJ?BɢY=) >i) ><iZi(^?Q{=K=I(^?IM9@I @I@M51@IaB>BB( IB6BBR =BBBE;B\Eq5>5i?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763520^AiA .A I I) OU >HKl#,T/LAY~\By~W II>)>  ԩiMb@Mb@Mb@ 9/$?V-?I +?Yy=@A @)AY@bD=VD=8yM0%M9=ٔMQ-M>9U ?YU ?=UkEyUD]E]>aQ 5m5eY?Q 9m5eخ)aYm>Q Em:ym?Q IuT@eDIe;ied;ej5y}ȕBɮ}]A}E:iDNOT Ignoring new targets: 64.04 m."i=*i= ProNav: ac range: 64.042191 m, nav range: 62.988300 m, bearing: 43.748506 deg, approach rate: -0.439868 m/s, LOS rate: -0.165964 deg/s, cmd heading: 49.721977 deg, new cmd heading: 49.575650 deg. iݗHeadingCmd: 0.865258 target range: 64.042191 and range: 64.10 m.h]?hhhhggjgrgkBereZe:e*e@Bɢ4T=) >i) ,<  i wchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014763i]?{==I]?IE EEE"Es:*E n:VEZEBEp09 "?Y "?= kEy DbһE>!Q 555%a?Q 9=5%G)%BY9y=?Q IET@%DI%|;i%o;%n5yQɮUAYa:iDNOT Ignoring new targets: 64.04 m."i @<*i @< ProNav: ac range: 64.042191 m, nav range: 62.774345 m, bearing: 43.668173 deg, approach rate: -0.436850 m/s, LOS rate: -0.164581 deg/s, cmd heading: 49.575651 deg, new cmd heading: 49.414438 deg. i%HeadingCmd: 0.862445 target range: 64.042191 and range: 64.10 m.h%,\?h!h!h!h!g)g)jg)rg)e)re1Ze1:e1*e5@@eBɢeHN=)a e>ia)mB5CB5 IB5BB5P =B1B5UDB5@;B5\E9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770828 ^AE :=IqIO>W[l#,OoLA2 1?2i?2s=ٱ2Vb=2H`H?`*`?@<;??5`ډ? +?i2 1?I2];0Y:JBy:@ Ii Mb@Mb@Mb@     9 e;O?/$?~jt?Y >y 1> < @ A @) A Y @bDVD8yMDE%U=ٔ}VR;Q->Թ9Y=kEyD"E>1Q 5U55ij?Q 9]55)1YmT>Q E:y?Q IT@5DI5>?ug )FID>iL7}?>A`0@|>x 0@ ">):@I"( ?l0r?MP.J? F)?)Ii"T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ProNav: ac range: 64.042191 m, nav range: 62.527084 m, bearing: 43.568392 deg, approach rate: -0.439433 m/s, LOS rate: -0.178032 deg/s, cmd heading: 49.414438 deg, new cmd heading: 49.214088 deg. i袻HeadingCmd: 0.858948 target range: 64.042191 and range: 64.10 m.h[?hhhhggjgrg}BereZe:e*e @BɢD=) >i)6<i%i[?|=p=I[?I     = 9@A  @A @E 4@A m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse9 ^AeZ=iI I!O5?dl#,LAɰ;:1?:wLi?:J =ٱ:=:H@[? @/?@z4?`7? W1?`(?@?i:1?I: ];:CYDyFA IJ=J= LLbDR VDR8yZ^:%Z=ٔZD;Q-Z>9\Y\=^kEy^D^Eb>`Q 5f5b;r?Q 9j5bݜ)`Yhyjz?Q IjT@bDIb\:ib:bw5ynϕBɮn)ArE:i DNOT Ignoring new targets: 64.04 m."i ]*i ] ProNav: ac range: 64.042191 m, nav range: 62.306576 m, bearing: 43.478976 deg, approach rate: -0.476225 m/s, LOS rate: -0.193793 deg/s, cmd heading: 49.214088 deg, new cmd heading: 49.034623 deg. iT%HeadingCmd: 0.855816 target range: 64.042191 and range: 64.10 m.h%[?h!h!h!h)g)g)jg)rg)e1re1Ze1:e1*e=f@YeBɢez"X=)i m >ii)mB>BCBIBBBB2DBVDBB\EBCBBŔCBQ =BQ =C065Ա T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse Qjl#,ELA~,1?~\h?~N=ٱ~)=~H@5? P2?`M-? `?8? M#??i~,1?I~t];~CY;By. IԱiMb@Mb@Mb@ 9K7A`?S㥛?y&1?Y>y$>`<@A @)zAY@bDVD8y%6=ٔQ7;Q->9!Y!=%lEy%D-c<E5>9Q 55=1y?Q 95=)=BY>Q E:y?Q IT@=DI=miA)Mql#,cDZLA"T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseB 1?B.h?B<=ٱBh~=BH`?OO?*? ? :?rv)??iB 1?IB];BCYJ4ByN& IbDVVDVð8y^ %^d=ٔ^p:Q-b>9`Y`=blEybDf,Ef>hQ 5n5j~?Q 9n5ju)hYlyn?Q IrT@j DIj;ij;j~5ytɮvAt:i DNOT Ignoring new targets: 64.04 m."i_*i_% ProNav: ac range: 64.042191 m, nav range: 61.953667 m, bearing: 43.332979 deg, approach rate: -0.468984 m/s, LOS rate: -0.195024 deg/s, cmd heading: 48.870888 deg, new cmd heading: 48.741788 deg. i-u-HeadingCmd: 0.850705 target range: 64.042191 and range: 64.10 m.h-Y?h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE_F@颕}BɢA`=) [>i)<顙iiY?}==IY?I9@ @@/@^ASk=II)AO=/>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEu EuEu(Eq"Eu;*Eu:VEuc44ZEqa}@a@a@a@ԁԙ B <A B >B CB IB BB N =B B B `;B \Elwl#,@ᱍLA20?2 h?2Bh=ٱ2=2H~? &X?6)??^>?@3?q?i20?I2ۚ];2CYN,ByR IbDXVDXyb!%bJ=ٔbG:Q-b>9dYd=flEyfDjEj>hQ 5r5j焖?Q 9r5j)jBYpyr?Q IrT@jDIj;ij;ja5yzBɮzlAz E:iDNOT Ignoring new targets: 64.04 m."iP*iP- ProNav: ac range: 64.042191 m, nav range: 61.777126 m, bearing: 43.259363 deg, approach rate: -0.435997 m/s, LOS rate: -0.182325 deg/s, cmd heading: 48.741787 deg, new cmd heading: 48.594136 deg. i-֦5HeadingCmd: 0.848128 target range: 64.042191 and range: 64.10 m.h5Y?h1h1h9hggjgrgereZe:e*e@O@zBɢO=)1 5>i1)=l%<99i=4iEY?E6~=E#=IEY?IIqU=U4=]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse-9@) @)@)@)ԡ^Aut=II O > 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 ~:VE g4ZE BE 3yu\>u+=u@uA u+@)uAqYu@bD:VD8y%==ٔ:Q->9Y=lEyDE>Q 55}?Q 95)BY>Q E:ya?Q IT@DI;i;'5yɮA:iDNOT Ignoring new targets: 64.04 m."i~[*i~[  ProNav: ac range: 64.042191 m, nav range: 61.586266 m, bearing: 43.176729 deg, approach rate: -0.441857 m/s, LOS rate: -0.191897 deg/s, cmd heading: 48.594136 deg, new cmd heading: 48.428355 deg. i  HeadingCmd: 0.845234 target range: 64.042191 and range: 64.10 m.hFaX?hhhhggjgrgBere!Ze!:e!*e%`J@MxBɢUP=) >i)Ev<iBiFaX?>~==IFaX?I9@ @@@@zA@zAeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse^A=) A I1 II O] >Q l#,TLA2E0?2eh?2=ٱ2=2H ? '=? !??~K? ׵S\??i2E0?I2j];2CY:By: IbDF!VDF˰8yN6%N\=ٔNH:Q-N>9PYP=RlEyRDVZEV>XQ 5Z5Z+?Q 9^5Z/)ZBY\y^H?Q I^T@Z DIZ';iZ#;Zf5yfBɮfAAfE:itzDNOT Ignoring new targets: 64.04 m."izr\*i~r\- ProNav: ac range: 64.042191 m, nav range: 61.422062 m, bearing: 43.105320 deg, approach rate: -0.441990 m/s, LOS rate: -0.192728 deg/s, cmd heading: 48.428357 deg, new cmd heading: 48.285156 deg. i-[5HeadingCmd: 0.842735 target range: 64.042191 and range: 64.10 m.h=zW?h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE= E=E=(E9"E=:*E= n:VE=c44ZE9aE@aE@aE@aE@uvBɢu#L=)q uH>iq)}4BBIBځBBM =BBWDBk;B\EY^A w=m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseԙ AY Ii I O >#-l#,z.LA0YBy I !!-=-=iMb@Mb@Mb@ 9I +?Dl?:v?Y9>yO ><+@MA )AYzA <bD)VDҰ8y4%+=ٔQ->9Y=lEyDE>Q 55Ø?Q 95i)Y>Q E:yi) <顙iξi4V?=%r=I%4V?I!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEM EMEM*EI"EM:*EM:VEM(N4ZEIBEMN-:l#,XILA4v_/?vg?vf=ٱvc=vH q?e?? ?a?/K 2? U?iv_/?Iv];vCY~ By~IbD'VDа8y%%d=ٔ%;Q-%>9)Y)=-lEy-D5 E5>9Q 5=5=?Q 9E5={)9YAyEږ?Q IET@=-DI=Y;i=;=5yQɮUAQ:iDNOT Ignoring new targets: 64.04 m."iwY*iwY ProNav: ac range: 64.042191 m, nav range: 61.044361 m, bearing: 42.943528 deg, approach rate: -0.442945 m/s, LOS rate: -0.190123 deg/s, cmd heading: 48.099572 deg, new cmd heading: 47.960553 deg. iHeadingCmd: 0.837070 target range: 64.042191 and range: 64.10 m.h1JV?hhhhggjgrge!re!Ze!:e)*e-@uqBɢuJ=)q u$>iy)}AM AAAI BU >BQ BU IBU ˁBBU N =BQ BQ BU w;BU \EZl#,R cLAlYrByrIbDzVDz8y%%-K=ٔ-Q-->91Y1=5lEy5D5E5>AQ 5E5E񤖊?Q 9M5E8v)AYIyIQ IMT@E3DIE:iE:E65yQɮUAY:iyDNOT Ignoring new targets: 64.04 m."ic*ic ProNav: ac range: 64.042191 m, nav range: 60.862446 m, bearing: 42.865166 deg, approach rate: -0.461326 m/s, LOS rate: -0.199317 deg/s, cmd heading: 47.960554 deg, new cmd heading: 47.803361 deg. ibHeadingCmd: 0.834326 target range: 64.042191 and range: 64.10 m.hdU?hhhhggjgrgereZe:e*e@@oBɢ"G=) >i) <i$idU?B6=W=IdU?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@05@%PExceeded connect timeout, disconnecting.A^A]=A I I! O- >a iߡ Iߡ  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% ;*E% ]t:VE! ZE! BE% Aymn>m/9Y=lEyDw0E>Q 55?Q 95(q)BY[>Q E:y?Q IT@:DI;i;ޗ5yɮQA:iDNOT Ignoring new targets: 64.04 m."ic*ic ProNav: ac range: 64.042191 m, nav range: 60.674271 m, bearing: 42.782202 deg, approach rate: -0.449834 m/s, LOS rate: -0.198939 deg/s, cmd heading: 47.803360 deg, new cmd heading: 47.636920 deg. i HeadingCmd: 0.831421 target range: 64.042191 and range: 64.10 m.h T?h h hhggjgrgBereZe:e*e@mBɢfJ>=) >i )&{<if0iT?)v=_=IT?I!i:@ @@:5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ^A=A>A>A I I O >8nl#,ǖLAJt&.?Je?J÷=ٱJKt=JH`2? ̸@p;?`? ?({?ﶿȹ?9hYh=jlEyjDnhEn>pQ 5v5r?Q 9v5rl)pYxyzi?Q IzT@r@DIr\:ir:r-5y~Bɮ|E:i!%DNOT Ignoring new targets: 64.04 m."i-d*i-d= ProNav: ac range: 64.042191 m, nav range: 60.503815 m, bearing: 42.706932 deg, approach rate: -0.450292 m/s, LOS rate: -0.199402 deg/s, cmd heading: 47.636919 deg, new cmd heading: 47.485954 deg. i=vEHeadingCmd: 0.828786 target range: 64.042191 and range: 64.10 m.hEV+T?hAhAhAhAgIgIjgIrgIeQreQZeQ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse:ea*ee@@颍lBɢЦ?=) V{>ԑi)<顙iҮiV+T? =i=IV+T?IE EE&E"ED:*Ez:VE4ZEa@a@a@a@9@ @@>4@@yA@B >B CB IB BB B B B ;B \E^A= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAA IQ Ia Om >% nManaging dock network, ignoring radio surface power off1 Vl#,~LAYByiMb@Mb@Mb@ 9i|?5?n?Zd;O?Y>yV>j<n@ A )AY=AbD VD8y_t:%/=ٔQ->9Y=lEy DE>Q 55︖?Q 95f)BY3>Q E:yĖ?Q IT@GDI ;iX:?5yɮOAB*** querying acoustic contact ***ii:i  DNOT Ignoring new targets: 64.04 m."i`*i`% ProNav: ac range: 64.042191 m, nav range: 60.295471 m, bearing: 42.615501 deg, approach rate: -0.446317 m/s, LOS rate: -0.196541 deg/s, cmd heading: 47.485954 deg, new cmd heading: 47.302462 deg. i%س-HeadingCmd: 0.825584 target range: 64.042191 and range: 64.10 m.h-tYS?h)h)h)h)g)g1jg1rg5Be1re9Ze9:e9*e= @mjBɢm8=)i m>ii)u4rEm0E EE+E"E:*E҆:VE [4ZEBE+q  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseal#,ʲLABK,?Bѕd?BE=ٱBC=BH ?@@??1?c?`I` ?? j?iBK,?IB6];@YJՁByJI LLR=R=bDVVDV8y^ %^p=ٔ^ ;Q-b?9`Y`=blEybDfEf?hQ 5n5jh?Q 9n5jb)jBYpyr?Q IrT@jMDIj:ijS:j85ytɮvAt:iDNOT Ignoring new targets: 64.04 m."iS*iS ProNav: ac range: 64.042191 m, nav range: 60.143135 m, bearing: 42.549096 deg, approach rate: -0.423579 m/s, LOS rate: -0.185112 deg/s, cmd heading: 47.302461 deg, new cmd heading: 47.169314 deg. ic HeadingCmd: 0.823260 target range: 64.042191 and range: 64.10 m.h (R?h h hhggjgrgereZe:e*e%J!@IhBɢ25=)e~ X>i)<imi(R?(=M=I(R?Ia9@ @@/@yuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseE EE'E"E:*E:VE'4ZEa@a@a@a@ ^A] m=B A <B >B CB fIB BB L =B B XDB ;B \EBCBCBʓCBN =BM =C/5I9 II O] > l#,^䲍LA6 ,?6Fc?6.=ٱ6=6H4 ??`7?B?u?>ܸ?.?i6 ,?I6];6CYBҁByBIbDNVDN8yRT%RL=ٔV;Q-V>9TYX=ZlEyZDZԻE> Q 5 5  Ŗ?Q 95  ^) BYy˕?Q IT@ SDI w;i r; Υ5y!ɮ% A!:iAMDNOT Ignoring new targets: 64.04 m."iMyk*iMyk] ProNav: ac range: 64.042191 m, nav range: 59.959209 m, bearing: 42.468967 deg, approach rate: -0.471097 m/s, LOS rate: -0.205868 deg/s, cmd heading: 47.169314 deg, new cmd heading: 47.008565 deg. ieaeHeadingCmd: 0.820454 target range: 64.042191 and range: 64.10 m.heJ R?hihihihigigijgqrgqeqreqZey:ey*e}"@颥gBɢ-5=) ~V>i)k<顩iiJ R?^==IJ R?IԩT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsem9@i @q@q@q^AEQ=IIO!> C )G! 9 e m9a Ym UiA 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% a:*E% n:VE% (N4ZE! BE% (y>9<@z A @) AY\AbDVD8yԽ%;=ٔQ->9Y=lEy$DE>Q 55̖?Q 95X)BY?Q E:y,?Q IT@ZDI:ik:5yɮA:iy}DNOT Ignoring new targets: 64.04 m."iP*iP ProNav: ac range: 64.042191 m, nav range: 59.761494 m, bearing: 42.388632 deg, approach rate: -0.446222 m/s, LOS rate: -0.181907 deg/s, cmd heading: 47.008565 deg, new cmd heading: 46.847364 deg. itHeadingCmd: 0.817641 target range: 64.042191 and range: 64.10 m.hPQ?hhhhggjgrgBereZe:e*e "@%eBɢ%Rq%=)) -b+>iI)Mܺl#,tLA06ɔ*?6O_b?6+=ٱ6E=6H@y1?Xt ? ?i?j?N\?=?i6ɔ*?I6];4Y>By>~IIB%=)BR=DFAbDJVDJ8yR%R]=ٔRD;Q-V>9TYT=VlEyV+DZEZ>\Q 5b5^/Ӗ?Q 9f5^uT)^BYdyfk?Q IfT@^`DI^;i^ ;^Ŭ5yjBɮjx AnE:i|DNOT Ignoring new targets: 64.04 m."i_*i_ ProNav: ac range: 64.042191 m, nav range: 59.589817 m, bearing: 42.319550 deg, approach rate: -0.484258 m/s, LOS rate: -0.195423 deg/s, cmd heading: 46.847363 deg, new cmd heading: 46.708802 deg. iҲET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseHeadingCmd: 0.815222 target range: 64.042191 and range: 64.10 m.hjP?hhhhggjgrgereZe:e*e`O#@E EEE"E;*E:VEZEa@a@a@a@udBɢ}L"=)y }>iy)}<顁i_e ijP?ځ=O=IjP?IԉB>BBGIBBBJ =BBB;B\E;Թm9@q @q@u/@qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A = I I O >;l#,#5LA2)?2Ka?2&=ٱ2=2H D?`0dy?@S?`}?'S?`I :??i2)?I2a];2CYJByNyIiMb@Mb@Mb@ 9Zd;?Zd;?/$?Y>y=<@ A @) AYAbD5VD58yE䅼%M,=ٔM:Q-M>9IYQ=UlEyU5DU~׻EU>YQ 5e5]6ܖ?Q 9m5]N)]BYm^?Q Em:ymގ?Q ImT@]hDI];i]j;]5yuBɮuA}EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 64.04 m."iQ*iQ ProNav: ac range: 64.042191 m, nav range: 59.363064 m, bearing: 42.232731 deg, approach rate: -0.476610 m/s, LOS rate: -0.183181 deg/s, cmd heading: 46.708802 deg, new cmd heading: 46.534501 deg. iHeadingCmd: 0.812180 target range: 64.042191 and range: 64.10 m.h O?hhhhggjgrgBereZe:e*e$@a额bBɢC=)  >i)<顡i i O?8==I O?IiIԹu DAT read: u 2Acoustic response timeout Ƈl#,NLA6)?6*`?6=ٱ6=6HV?S3?@Z?Ԑ?t?`hU? ?i6)?I6Ѽ];6CYBByBhIbDJVDJ8yR%RW=ٔR$;Q-V>9TYT=VlEyV=DZaEZ>\Q 5b5^x㖊?Q 9b5^J)^BY`yb|?Q IfT@^nDI^n;i\^?5yhɮjb Ah:iDNOT Ignoring new targets: 64.04 m."i%O*i-OE ProNav: ac range: 64.042191 m, nav range: 59.181793 m, bearing: 42.163416 deg, approach rate: -0.473542 m/s, LOS rate: -0.181630 deg/s, cmd heading: 46.534502 deg, new cmd heading: 46.395448 deg. iM3UHeadingCmd: 0.809753 target range: 64.042191 and range: 64.10 m.hUKO?hQhQhYhYgagajgirgieireqZeq:eq*e}@;b%@=aBɢ==)A E=iA)E>B= CB= !IB= `BB= M =B9 B= WDB= ;B= \E^A =A yAzA zAY  2Acoustic response timeoutA I I O>l#,8lLAɰ49hYh=jlEyjFDjػEn>lQ 5v5ne얊?Q 9v5n{D)nBYtyv?Q IvT@nvDIn:inl:nN5y|ɮ~ A|:i!%DNOT Ignoring new targets: 64.04 m."i-bR*i-bR= ProNav: ac range: 64.042191 m, nav range: 58.960117 m, bearing: 42.078782 deg, approach rate: -0.479959 m/s, LOS rate: -0.183933 deg/s, cmd heading: 46.395446 deg, new cmd heading: 46.225543 deg. i=OEHeadingCmd: 0.806788 target range: 64.042191 and range: 64.10 m.hMN?hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]@PK&@y颕`Bɢ=) =i)E<顙i iN?= =IN?I-9@1 @9@=/@9ԱE2Acoustic response timeout^A]=E EEE"E:*EAr:VEZEBE3 pel#,4ۅLA2u'?2*@_?2^=ٱ2u=2H@m|?3@c9?b?? ?踿^ ??i2u'?I2];2CY:By:OIi~Mb@Mb@Mb@|||| |9~v?Zd;?/$?Y~>y||~@~ A ~@)~3 A|Y~AbDVD8y%+%-F=ٔ-:Q-->9)Y1=5lEy5OD5E5>Q 55c?Q 95k?)BYc?Q E:ym?Q IT@}DIm ;i3: 5yBɮA!A:iDNOT Ignoring new targets: 64.04 m."iwO*iwO ProNav: ac range: 64.042191 m, nav range: 58.760853 m, bearing: 42.001541 deg, approach rate: -0.466338 m/s, LOS rate: -0.181381 deg/s, cmd heading: 46.225542 deg, new cmd heading: 46.070536 deg. iHeadingCmd: 0.804083 target range: 64.042191 and range: 64.10 m.hZM?hhhhgg!jg!rg%Be!re)Ze):e)*e-`2&'@]_Bɢ]=)Y ]=iY)ewE  E E -E "E %;*E |:VE t4ZE a @a @a @a @y ?l#,4LAF&?Fs^?F; =ٱF =FH@?$@O?Q??? ??iF&?IF];DYRvByR;IbDZVDZ8yb%bQ=ٔbr1:Q-b>9dYd=flEyfWDjEj>lQ 5r5nt?Q 9r5n:)nBYpyr ?Q IrT@nDIn;inl:nT5yxɮz!Ax:iDNOT Ignoring new targets: 64.04 m."iN*i%N- ProNav: ac range: 64.042191 m, nav range: 58.585625 m, bearing: 41.933746 deg, approach rate: -0.466167 m/s, LOS rate: -0.180897 deg/s, cmd heading: 46.070534 deg, new cmd heading: 45.934539 deg. i-5HeadingCmd: 0.801709 target range: 64.042191 and range: 64.10 m.h5BABEIBE=BBEN =BABABE;BE]Eh1hYhYhYgYgYjgargaeareaZea:ei*em W'@5^Bɢ==)9 =>=i9)=<9AiE8< iEAM>ԱAa I I O > l#,SLA2)%?2]?2'=ٱ2=2H?`@?`A??Ս? X x?`?i2)%?I2^;2CY:`By: IIB<)B@BA%2Acoustic response timeoutiEMb@Mb@Mb@AAAA A9EK?p= ף?Zd;O?YE^>yE>Ej9qYq=ulEyu_D}mE}>Q 55_?Q 955)BY?Q E:y^?Q IT@DI8:i: 5yBɮ=!AE EE)E"E:*EZ:VEFA4ZEBE$59 l#,mӳLA>;1%?>\?>s=ٱ>=>H *?@? w3? ;? ?XN?@k?i>;1%?I> ^;>CYJOByJ IbDRVDRɰ8yZ%ZW=ٔZ<8Q-^>9\Y\=blEybgDbCEb>dQ 5j5fz ?Q 9j5fR1)fBYhyj ?Q InT@fDIf:if:f_5ypɮr!Ap:i  DNOT Ignoring new targets: 64.04 m."i@Z*i@Z5 ProNav: ac range: 64.042191 m, nav range: 58.207798 m, bearing: 41.782112 deg, approach rate: -0.474090 m/s, LOS rate: -0.190808 deg/s, cmd heading: 45.773742 deg, new cmd heading: 45.630286 deg. i5=HeadingCmd: 0.796399 target range: 64.042191 and range: 64.10 m.hK?hhhhggjgrgereZe:e*e@)@颅\Bɢ<) ˼i)<顉isEiK?==IK?I5RDAT read: user:23>Tx time:01:35:11.1586 5DAT read: =2Acoustic response timeoutE EE/E"Es:*Ek:VEJ4ZEa@a@a@a@e9@a @i@m0@i@q@uxAB=<A=<BE>BECBEIBEBBEL =BABEXDBE;BEO]E^A )  2Acoustic response timeoutI I O >l#,GLA2$?2\?2$o=ٱ2 L=2H@ž??C)??zr?@#c?@?i2$?I2^;2CY:?By:IbDFVDFȰ8yJ!%NL=ٔN}:Q-N>9PYP=RlEyRoDVEV>XQ 5Z5Z?Q 9^5Z,)ZBY\y^ʎ?Q I^T@ZDIZ#;iZ;Z5yf|Bɮf!AfE:iDNOT Ignoring new targets: 64.04 m."iM*iM ProNav: ac range: 64.042191 m, nav range: 58.020016 m, bearing: 41.706667 deg, approach rate: -0.444795 m/s, LOS rate: -0.179283 deg/s, cmd heading: 45.630284 deg, new cmd heading: 45.478906 deg. i HeadingCmd: 0.793757 target range: 64.042191 and range: 64.10 m.h3K?hhhhggjgrgereZe:e*e_*@][Bɢ]a<)a e_ia)mKsm#,;LA2f$?2[?2h=ٱ2Q=2H? G%?`? ??`@B?`t?i2f$?I2>d^;2CY:/By:I <y~x=~t<~A~ A ~+@)~MA|Y~ AbDVDǰ8y%%%A=ٔ--Q-->91Y1=5lEy5xD5!E=>9Q 5E5=D?Q 9M5=')=}BYM>Q EM:QyM?Q IUT@=DI=x1;i=[0;=5yYɮ]k"AY:iDNOT Ignoring new targets: 64.04 m."iU'P*iU'Pe ProNav: ac range: 64.042191 m, nav range: 57.822693 m, bearing: 41.633533 deg, approach rate: -0.489337 m/s, LOS rate: -0.181983 deg/s, cmd heading: 45.478907 deg, new cmd heading: 45.332139 deg. iemHeadingCmd: 0.791195 target range: 64.042191 and range: 64.10 m.hmËJ?hihqhqhqgqgqjgyrg}vBeyreyZey:e*e@6+@2Acoustic response timeout颱ɢ<)0f i)|<项ibiËJ?@==IËJ?IR>i=9@A @A@E?5@AԁIIO%>ԩ= 2Acoustic response timeout E  E E ,E "E :*E :VE g4ZE a @a @a @a @m#, LA2=g#?21[?2=ٱ2q=2H R?` H?E?@b?Z?w?_?i2=g#?I2y^;2CYR)ByRIbDZVDZ8ybټ%bR=ٔf_9Q-f>9dYd=flEyjDjEj>Br>BpBrIBrBBrK =BpBrYDBr;Br]EBCBCBCBL =BL =C05lQ 5 5n!?Q 9 5n #)nyBY y ?Q I T@nDIn:in9:n5yɮ"A:iAEDNOT Ignoring new targets: 64.04 m."iEC*iMCU ProNav: ac range: 64.042191 m, nav range: 57.641148 m, bearing: 41.566341 deg, approach rate: -0.461248 m/s, LOS rate: -0.171251 deg/s, cmd heading: 45.332140 deg, new cmd heading: 45.197333 deg. i]eHeadingCmd: 0.788842 target range: 64.042191 and range: 64.10 m.heI?hahahahagagajgirgieireiZeq:eq*eu +@颥ZBɢ?<) ½i)"<顩idziI?Թ0#=~=II?Iu9@q @q@uX4@qIIO>2Acoustic response timeoutA G  - 9) Y- ACm#, :LA2Acoustic response timeoutYBy%IE EE)E"ED:*E:VEFA4ZEBE2y=9<3 A A)dAYAbDVD8y-L%9=ٔQ->9Y=lEyDE>Q 5 5(*?Q 9 5)vBYy>Q E:yM?Q IT@DIc2;il0;5y%{Bɮ%"A!=B*** querying acoustic contact ***iAiA:iIMDNOT Ignoring new targets: 64.04 m."iUQ*iUQe ProNav: ac range: 64.042191 m, nav range: 57.439423 m, bearing: 41.486306 deg, approach rate: -0.460224 m/s, LOS rate: -0.183237 deg/s, cmd heading: 45.197332 deg, new cmd heading: 45.036700 deg. iemHeadingCmd: 0.786039 target range: 64.042191 and range: 64.10 m.hm9I?hihihihigqgqjgyrg}uBeyreyZey:e*e,@)ɢ-ij<)I MiQ)UEA?AIIO<>i2Acoustic response timeoutԙ m#,9TLA2W"?2"Z?2g=ٱ2F=2H?@u6?`?2?%R?c(@ ??i2W"?I2 ^;2CYbBybIIf%>)f>bDnڿVDn8yvn%v\=ٔvR:Q-z>9xYx=zlEyzD~V7E~>Q 5 51?Q 9 5)sBY y Ȍ?Q IT@DI:i`:5yBɮ#A:iAEDNOT Ignoring new targets: 64.04 m."iMiO*iMiOU ProNav: ac range: 64.042191 m, nav range: 57.270111 m, bearing: 41.419460 deg, approach rate: -0.457937 m/s, LOS rate: -0.181331 deg/s, cmd heading: 45.036700 deg, new cmd heading: 44.902614 deg. i]eHeadingCmd: 0.783698 target range: 64.042191 and range: 64.10 m.hevH?hahahahagagijgirgieireiZeq:eq*euҐ-@颥YBɢk#<) R#i)Y<顩iKhivH?Ř=,=IvH?Iq 2Acoustic response timeoutE EE(E"E;*E|:VEc44ZEa@a@a@a@ԡǼAAB>BCBxIB׀BBBBB;B]E9@ @@@5@ 2Acoustic response timeout^A = AIIQIaOu>;(m#,rLA2!?2wY?2=ٱ2=2H?1?? >?? 7??i2!?I2"^;2CY8y<bDF޿VDF8ٔN]:Q-N>9PYP=RlEyRDRPEV>TxQ 5 5V9?Q 9 5Vq)VpBYy?Q IT@VDIVW#m#,A،LA:BDAT read: Rx Time:01:35:13.6388 >TRx dataTimestamp_ set to:1764898514.215290>2Acoustic response timeoutngZ!?n$Y?n=ٱn=nH9?<7,?`?>J?U?`2 ?N?ingZ!?In^;nCYzByzIAam@am ieMb@Mb@Mb@aaaa a9eX9v?X9v?~jt?Ye>ye=e9Y=lEyD[E>Q 55B?Q 95)mBY%>Q E:yl?Q I T@DI ;iL ;O5ypBɮ$AE:i1=DNOT Ignoring new targets: 64.04 m."i=/X*i=/XU ProNav: ac range: 64.042191 m, nav range: 56.839619 m, bearing: 41.248730 deg, approach rate: -0.473524 m/s, LOS rate: -0.189002 deg/s, cmd heading: 44.734891 deg, new cmd heading: 44.559863 deg. iU򬻝UHeadingCmd: 0.777716 target range: 64.042191 and range: 64.10 m.h]kG?hYhYhYhYgYgYjgargaeareiZei:ei*ems/@频ɢ>H<) bRi)<顙iikG?"==IkG?I52Acoustic response timeoutE EE)E"E:*Exv:VEFA4ZEa@a@a@a@9@ @@s1@@=@=B >B B LIB BB J =B B ZDB $;B ]E ^A =A xAzA xAIA9IAIQOu?)*m#,8LA2@ ?62Acoustic response timeout2ŚX?2=ٱ2S=2H?`)?@?@W? ?2 t? k?i2@ ?I2:+_;2CY>ByBIbDJVDJ8yRAY%R:=ٔVRQ-V>9XYX=ZlEyZDZEZ>\Q 5b5^K?Q 9f5^ )^kBYdyf'?Q IfT@^DI^;i^;^5yhɮjd$Al:i|~DNOT Ignoring new targets: 64.04 m."iyQ*iyQM ProNav: ac range: 64.042191 m, nav range: 56.641350 m, bearing: 41.169757 deg, approach rate: -0.458179 m/s, LOS rate: -0.183137 deg/s, cmd heading: 44.559864 deg, new cmd heading: 44.401365 deg. iU -HeadingCmd: 0.774950 target range: 64.042191 and range: 64.10 m.h5 cF?h9hYhahagigqjgrgereZe:e*e 60@Yɢ]֚m<)a ejia)e3Tx time:01:35:14.7085 }R#Rx 1: Read range and direction messages.^direction in FSK: [0.984634,-0.074035,0.158158]Fpublishing direction and range infoy?8U@\~>?YdBzd )EI\>iη>3,@>E EE+E"E:*E:VE [4ZEBE.'2m#,t ɴLAYԀBytIiaa iMb@Mb@Mb@ 9/$?X9v?~jt?Y&>y<QA~A ) AY AbDVD8y%-=ٔQ->9 ?Y ?=lEyDE>Q 55S?Q 95)gBY>Q E:y?Q IT@DI:iA:85yxBɮ!%AEiYi]4LAj]cB"j]cB:j]A?Rj]DS< L@)< "@Bj]?8U@\~>?*j])2j]"Zj]g&_D@DlC@^tE'@Jj]sG7?.?dc$?j]SB j]H%Bi]?i]DPj]݆BjYjYj]Brj]aBzj]7?DAT read: 2Acoustic response timeout addTargetRange:: Added new target pos. range: 57.000000 m, deltaT: 16.384226 s, deltaX: -7.099998 m, approachRate: -0.433344 m/s, rangeRepo size: 4  Added new target pos. range: 56.955132 m, bearing: 43.404586 deg, lat: 36.779567 deg, lon: -121.859777 deg, deltaT: 16.384226 s, deltaX: -7.087059 m, approachRate: -0.432554 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"i *i  ProNav: ac range: 56.955132 m, nav range: 56.427616 m, bearing: 41.083027 deg, approach rate: 0.000000 m/s, LOS rate: -0.183137 deg/s, cmd heading: 44.401366 deg, new cmd heading: 44.226799 deg. iHeadingCmd: 0.771903 target range: 56.955132 and range: 57.00 m.hEtE?hAhAhAhAiAgAgIjgIrgMmBeIreQZeQ:e]L@*e]?QɢUcB<)Q }iy)}B CB 'IB BB B B B .;B ]EA!I)IiOu>Da9m#,W納LA61?6V?6=ٱ6=6H`H?`S"? k? ?9? 蒸`??i61?I67`;6CY>ByBQIbDJVDJ8yRT%R<=ٔRѷQ-V>9TYT=VlEyVDZ>EZ>\Q 5b5^-\?Q 9b5^)^cBY`yb?Q IfT@^DI^I;i^U;^5yhɮj&AhvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 56.96 m.2i|Powering the camera and arming the capture device at range: 57.00 m.i"i 0R*i 0R ProNav: ac range: 56.955132 m, nav range: 56.230488 m, bearing: 41.004034 deg, approach rate: -0.456979 m/s, LOS rate: -0.183761 deg/s, cmd heading: 44.226800 deg, new cmd heading: 44.068261 deg. i&HeadingCmd: 0.769136 target range: 56.955132 and range: 57.00 m.h%D?h!h!h!h!i!g)g)jg)rg)e1re1Ze1:e1*e5?ɢ;) ġi) <i,i%D?%R=%j=I-D?I)2Acoustic response timeout8@ @@5@^Aط=A>A>A A I1 IA Oe >- 2Acoustic response timeoutE  E E )E "E O:*E z:VE FA4ZE BE y=>=9<=A= A =QA)= A9Y= AbDUVDU8ye6;%e@=ٔeM[Q-m>9iYi=mlEymDuOӻEu>yQ 55}c?Q 95})}aBY>Q E:y?Q IT@}DI},:i}:}5yɮ%A:iDNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"i5U*i5U ProNav: ac range: 56.955132 m, nav range: 56.040489 m, bearing: 40.925033 deg, approach rate: -0.446781 m/s, LOS rate: -0.186401 deg/s, cmd heading: 44.068261 deg, new cmd heading: 43.909723 deg. iHeadingCmd: 0.766369 target range: 56.955132 and range: 57.00 m.h0D?hhhhiggjgrgWBereZe:e*e೵?颙ɢ;) i)z<顡iZi0D?-==I0D?I]>i>QM5@I @Q@U4@Q^A%=y2Acoustic response timeoutAU؟AIiIO~>ԩ fFm#,ULA6K?6mU?6<=ٱ6۶=6H j?kLu? ?`?ie?췿 ??i6K?I6n`;4@YBByB?IbDNVDN8yVP%VW=ٔVqCQ-V>9Z"?YZ"?=ZlEyZDZڻE^>`Q 5b5bk?Q 9f5b~)b_BYdyf?Q IfU@bDIb:ib6:b5yhɮn|&Al:i|DNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"i  U*i  U ProNav: ac range: 56.955132 m, nav range: 55.870754 m, bearing: 40.854473 deg, approach rate: -0.446683 m/s, LOS rate: -0.186254 deg/s, cmd heading: 43.909722 deg, new cmd heading: 43.768173 deg. in%HeadingCmd: 0.763899 target range: 56.955132 and range: 57.00 m.h%ގC?h!h!h!h!i!g)g)jg)rg)e1re1Ze1:e1*e5?eXBɢe,;)a mEii)mlBQBUIBUrBBQBQBU[DBU8;BU]E^Aa=AI IQ Ia Ou > 2Acoustic response timeout ːLm#,54LA2 ?2\T?27=ٱ2w=2Hx?_`S? ??5?֓@|?Լ?i2 ?I2`;2CY:By:8IbDFVDF8yJʼ%JK=ٔN\Q-N>9PYP=RlEyRDREV>TQ 5Z5Vrr?Q 9Z5V)V]BY\y^j?Q I^U@VDIV;iV;V5ybBɮf&Adl:ixzDNOT Ignoring new targets: 56.96 m.2ix~Powering the camera and arming the capture device at range: 57.00 m.i|"i}T*iT ProNav: ac range: 56.955132 m, nav range: 55.691292 m, bearing: 40.779862 deg, approach rate: -0.446016 m/s, LOS rate: -0.186027 deg/s, cmd heading: 43.768173 deg, new cmd heading: 43.618471 deg. i9HeadingCmd: 0.761286 target range: 56.955132 and range: 57.00 m.hB?hhhhiggjgrgereZe:e*e}?ɢ,;)  2Acoustic response timeoutbE ŷG4jE ŔK4rE ./E EE*E"ED:*E:VE(N4ZEBE2Tm#,TLA4<ɰ;>w?>AT?>=ٱ>y=>H@?@S;???и?Cu{?JQ?`?i>w?I> a;>CYJByJ-IN=Na=iMb@Mb@Mb@ 9(\??~jt?Y>y><~AA A)AY3 AbD5VD58yE|%E=ٔMQ-M>9IYI=UlEyUD]*E]>aQ 5e5eD|?Q 9m5e")eZBYm>Q Em:ym ?Q IuU@eDIe ;ie~ ;e5y}nBɮ}&A}Eԑ:iDNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"imQ*imQ ProNav: ac range: 56.955132 m, nav range: 55.458321 m, bearing: 40.685041 deg, approach rate: -0.447979 m/s, LOS rate: -0.183096 deg/s, cmd heading: 43.618473 deg, new cmd heading: 43.428036 deg. iHeadingCmd: 0.757962 target range: 56.955132 and range: 57.00 m.h B?hhhhiggjgrgfBereZe:e*ex@iɢmST;)i mii)uLBuCBuIBuSBBqBqBqBue;Bu]EBECBECBEǓCBEJ =BEJ =CEE5^A  A I I O > [m#,MnLA2?2}S?2]=ٱ2=2H?C<?~o??ev?@ﶿ ??i2?I2 a;2CY:By:IbDFVDF8yN%NW=R2Acoustic response timeoutٔVmQ-V>9XYX=^lEy^DbXEb>hQ 5v5j?Q 9z5j)jWBYy?Q IU@jDIj;ij;jy5yɮ'AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 56.96 m.2i Powering the camera and arming the capture device at range: 57.00 m.i "i B*i BE ProNav: ac range: 56.955132 m, nav range: 55.285744 m, bearing: 40.614863 deg, approach rate: -0.415931 m/s, LOS rate: -0.169667 deg/s, cmd heading: 43.428037 deg, new cmd heading: 43.287242 deg. iEAMHeadingCmd: 0.755505 target range: 56.955132 and range: 57.00 m.hMhA?hIhIhIhIiIgQgjgrgereZe:e*e`>@ɢ5) ;i)<iEihA?%+=%=I%hA?I!+@ @@/@@yA@yA 11QE9AYMʦAuBDAT read: Rx Time:01:35:17.1867 }TRx dataTimestamp_ set to:1764898518.000627}2Acoustic response timeoutԁE EEE"E:*E:VEZEBE.ԙ am#,(LA>?>lR?>W=ٱ>D<=>H?g5@?`??r?[F??i>?I>Ub;>CYF}ByF IbDRVDR8yVᆽ%ZI=ٔZI=Q-Z>9Z ?Y^ ?=^lEy^D^H߻Eb>`Q 5f5bA?Q 9f5bR)bUBYhyjd?Q IjU@bDIb:ibu:b5ylɮr'Ap:i DNOT Ignoring new targets: 56.96 m.2i  Powering the camera and arming the capture device at range: 57.00 m.i "iXb*iXb% ProNav: ac range: 56.955132 m, nav range: 55.105278 m, bearing: 40.541562 deg, approach rate: -0.485608 m/s, LOS rate: -0.197887 deg/s, cmd heading: 43.287243 deg, new cmd heading: 43.140162 deg. i%-HeadingCmd: 0.752938 target range: 56.955132 and range: 57.00 m.h-@?h)h)h)h)i)g1g1jg1rg1e9re9Ze9:e9*eE@ @iɢmN)mʩ mT۾iq)u DAT read: 01:35:17.1867 LVL= 20288, 26017, 23250, 28227, AGC= 64, IDX= 418,-0.22,-1.373,-2.965,-1.048,-1.501, PHS= 0.230,-1.419, 0.409, RAW= 155.1, 9.0, CAL= 154.8, 9.6, ROT= 355.2, -9.6  Ygot valid direction response: 01:35:17.1867 LVL= 20288, 26017, 23250, 28227, AGC= 64, IDX= 418,-0.22,-1.373,-2.965,-1.048,-1.501, PHS= 0.230,-1.419, 0.409, RAW= 155.1, 9.0, CAL= 154.8, 9.6, ROT= 355.2, -9.6  8DAT read: $Error in header  *Received a bad header X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.982538,-0.082506,0.166769]ya e p?8_X?a e @Oe ee Z e Cn)e @Ie k>ie ˡe sh>e ?-@e | >e ,@E%  E% E% ,E! "E% 2:*E% xv:VE% g4ZE! a- @a- @a- @a- @) e +>)e a@Ie +a hm#,LA9j"?Yj"?=nmEynDB%>B!B%IB%5BB%I =B!B!B%;B%^E]gE]>aQ 5m5ed?Q 9m5e)eSBYiyu?Q IuU@eDIe:ie:e5yuBɮ(AE:iDNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"i K*i K= ProNav: ac range: 56.955132 m, nav range: 54.914837 m, bearing: 40.464224 deg, approach rate: -0.437126 m/s, LOS rate: -0.178133 deg/s, cmd heading: 43.140161 deg, new cmd heading: 42.984949 deg. i==HeadingCmd: 0.750229 target range: 56.955132 and range: 57.00 m.hE@?hAhAhAhAiAgAgIjgIrgIeIreQZeq:ey*e}`0 @ɢ_) i)Y<i i@?բ=y=I@?I&@ @@/@2Acoustic response timeout^A1p=I A I I O5 >1Jnm#,ﻵLA]?]Q?]v =ٱ]ι=]H?`z?@G??c)`{,??i]?I]c;]CYmnBymIonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.48, 83.48, 92.00 a@a a@a a@a a@a bD VDʰ8yм%:=ٔ0Q->9Y=mEyD"E>Q 55?Q 95)QBQ A+:YQ E:y?Q I U@DI:i>2Acoustic response timeout5yɮ>(A:iAEDNOT Ignoring new targets: 56.96 m.2iAMPowering the camera and arming the capture device at range: 57.00 m.iI"iU|V*iU|V] ProNav: ac range: 56.955132 m, nav range: 54.724369 m, bearing: 40.386879 deg, approach rate: -0.460177 m/s, LOS rate: -0.187519 deg/s, cmd heading: 42.984949 deg, new cmd heading: 42.829720 deg. ieeHeadingCmd: 0.747520 target range: 56.955132 and range: 57.00 m.her]??hihihihiiigigqjgqrgqeqreyZey:ey*e}.@E EE(E"E:*E:VEc44ZEBEF8$um#,յLA2O$?2P?20q=ٱ2=2H`(? v? ;?@?X@g"??i2O$?I2d;2CY:gBy:IbDBYVDB8HyN%Nd=ٔNkgQ-R>9R ?YR ?=RmEyR DV&׻EV>XQ 5^5Z?Q 9^5Z)ZOBQ A^ :Y\Q Eb:ybq?Q IbU@Z DIZ:iZH?Z 5ydɮfq(Ad:ixzDNOT Ignoring new targets: 56.96 m.2ix~Powering the camera and arming the capture device at range: 57.00 m.i|"i~Q*iQ  ProNav: ac range: 56.955132 m, nav range: 54.563183 m, bearing: 40.321431 deg, approach rate: -0.450679 m/s, LOS rate: -0.183534 deg/s, cmd heading: 42.829719 deg, new cmd heading: 42.698436 deg. i񧻝HeadingCmd: 0.745228 target range: 56.955132 and range: 57.00 m.hH>?hhhhiggjg!rg!e!re!Ze):e)*e- @QɢU=0)Y ]iY)]Β?e=m:R=ImH>?IE2Acoustic response timeoutvE EE*E"E;*E]t:VE(N4ZEa%@a%@a%@a%@->i->B-<A)B9B9B=IB= BB9B9B9B=;B=A^E @ @@@ ^A G=A zA wA 2Acoustic response timeoutY A}؟AIIO>v|m#,oFLA2U?2 P?2=ٱ2=2H@?k#?@*?`?c ?`%?i2U?I2e;0Y:XBy:IbDF[VDF8yNz%R*=ٔR8@Q-R>9V"?YV"?=VmEyVDVF׻EV>\Q 5^5^ݫ?Q 9b5^)^MBQ Ab9Y`Q Ebj:yb ?Q IbU@^DI^:i^?^ 5ydɮj(AhvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 56.96 m.2i|Powering the camera and arming the capture device at range: 57.00 m.i"i Q*i Q ProNav: ac range: 56.955132 m, nav range: 54.347248 m, bearing: 40.233913 deg, approach rate: -0.449324 m/s, LOS rate: -0.182832 deg/s, cmd heading: 42.698436 deg, new cmd heading: 42.522706 deg. iMHeadingCmd: 0.742161 target range: 56.955132 and range: 57.00 m.hG=?h!h!h!h!i!g!g!jg)rg)e)re)Ze1:e1*e5 @ɢ׻) i)z<i^O߼iG=?\=]=IG=?ISe@i @i@q@q 2Acoustic response timeoutE EE0E"ET;*Exv:VE4ZEBEGQ ]m#,LAYzRBy~IQU%=]2Acoustic response timeoutaa aa aa aa iMb@Mb@Mb@ 9x?q= ףp??YK>y=<AIA 7A)AYp AbD"VD̰8y%W%%4=ٔ%Q-->)91Y1=5mEy5D=E=>9Q 5E5=z?Q 9M5=e)=LBQ AMT:YM>Q EM:yM9?Q IUU@=DI=;i= ;=5y]lBɮ](A]ܧE:iyDNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"iH*iH ProNav: ac range: 56.955132 m, nav range: 54.134434 m, bearing: 40.154570 deg, approach rate: -0.469136 m/s, LOS rate: -0.175596 deg/s, cmd heading: 42.522705 deg, new cmd heading: 42.363395 deg. iHeadingCmd: 0.739381 target range: 56.955132 and range: 57.00 m.hH=?hhhhiggjgrgereZe:e*e@Y@ZBɢ$) i)<iܼiH=?j=Q>IH=?IM@ @@/@@@ 2Acoustic response timeout E  E E ,E "E ;*E :VE g4ZE a @a @a @a @B >B B xIB BB J =B B B ʢ;B [^E9 ^A A >A >AIIO%>m#,-LA2?2N?2=ٱ2H=2HM ? * Z??@6/?"r ;꧶?@!?i2?I2f;2CYnDBynIbDVDɰ8y"q%1=ٔ%Q-%>9)Y)=5mEy5&D=/E=>AQ 5U5Ed?Q 9U5E,)EKBYYy]?Q IeU@E#DIEg;iE'[;E5yyɮ}@)A2Acoustic response timeout:iDNOT Ignoring new targets: 56.96 m.2iPowering the camera and arming the capture device at range: 57.00 m.i"iC*iC ProNav: ac range: 56.955132 m, nav range: 53.916527 m, bearing: 40.073904 deg, approach rate: -0.460860 m/s, LOS rate: -0.171291 deg/s, cmd heading: 42.363395 deg, new cmd heading: 42.201413 deg. iHeadingCmd: 0.736554 target range: 56.955132 and range: 57.00 m.hǎM 2Acoustic response timeout EE  EE EE +EA "EE :*EE :VEE [4ZEA BEE F8ґm#,ץGLA@2U?2: N?2=ٱ2=2H@? e?~?>?wX??i2U?I2_g;2CY:@By>IPiMb@Mb@Mb@ 9-?T㥛 ??Y?>y>AA )IAYAbDIVD8y-%-J=ٔ-۞Q-5>95 ?Y5 ?=5mEy5.D=pE=>AQ 5M5EǗ?Q 9M5E)AYM>Q EM:yM9?Q IUU@E*DIE:iE:E5yɮ`)A:i9=DNOT Ignoring new targets: 56.96 m.2i9EPowering the camera and arming the capture device at range: 57.00 m.ElFinal approach. Armed for intercept at range: 57.00 m.E\Transitioning guidance mode to: FINAL_APPROACH iE@"iMuL*iMuL} ProNav: ac range: 56.955132 m, nav range: 53.729702 m, bearing: 39.999576 deg, approach rate: -0.447729 m/s, LOS rate: -0.178749 deg/s, cmd heading: 42.201413 deg, new cmd heading: 42.052239 deg. i}HeadingCmd: 0.733950 target range: 56.955132 and range: 57.00 m.h&;?hh:h33?hggjgrgiBereZe:e*e@!ɢ%Nyz)! % i!)-<))i-H׼iU&;?U=)U33? U(kpHeading = 0.700000I]: ](kiHeading = 0.001000] =I]&;?IY2Acoustic response timeoutE@A @A@E/@A^A a=1 A= ؟AIA IY Oe >] 2Acoustic response timeoutjm#,ޓaLABƸ?BIM?BsV=ٱBƴ=BH *? ??K?d}"F`퀶? ?iBƸ?IBvh;BCYJ0ByJIbDVRVDV8y^%^Q=ٔ^hQ-^>9b"?Yb"?=bmEyb6DfȻEf>En EnEn)El"En;*En҆:VEnFA4ZElar@ar@ar@ar@hQ 5v5jϗ?xQ 9~5j-)hY|y~?Q I~U@j0DIj;ij(4;j5yɮ)A :i)-DNOT Ignoring new targets: 56.96 m.2i)"i5_*i5_E ProNav: ac range: 56.955132 m, nav range: 53.548206 m, bearing: 39.927364 deg, approach rate: -0.489908 m/s, LOS rate: -0.195582 deg/s, cmd heading: 42.052238 deg, new cmd heading: 41.907325 deg. iEMHeadingCmd: 0.731421 target range: 56.955132 and range: 57.00 m.hMe>;?hIhIhQhQgQgQjgYrgYeYreYZeY:ea*eec@颍\BɢMu) i)<<顑iJռie>;?=Zt=Ie>;?IAAB>BBeIBBBI =BBB;Bs^E@ @@/@1^A=AzAA)I9QIaO{>2Acoustic response timeouty 'm#,F\{LA25?2L?2Õ=ٱ2A =2H@7?A 1?@I?V?݂ 9F?4?i25?I2(j;2CY:1By:IbDFnVDF8yJٍ;%NM=ٔNQ-N>9PYP=RmEyR>DR3EV>TQ 5Z5Vח?Q 9Z5V)TY\y^?Q I^U@V6DIV8;iVf;Vj5ybtBɮf*AfݧEzB*** querying acoustic contact ***ixix:i DNOT Ignoring new targets: 56.96 m.2i"i#T*i#TaU2Acoustic response timeout] ProNav: ac range: 56.955132 m, nav range: 53.362938 m, bearing: 39.853566 deg, approach rate: -0.463996 m/s, LOS rate: -0.185464 deg/s, cmd heading: 41.907326 deg, new cmd heading: 41.759219 deg. i]HeadingCmd: 0.728836 target range: 56.955132 and range: 57.00 m.h:?hhhhggjgrgereZe:e*e@L@bE}ÙT4jE}Y4rE}í<0E EE+E"E:*E:VE [4ZEBE>"m#,LAYvByvI ||ԑiMb@Mb@Mb@ 9-?(\?~jt?Yyz><MAzA d A)AY3AbDVD38y❽%6=ٔQ->9Y=mEyGDE>Q 55?Q 95m)LBYD?Q E:y]?Q IU@=DI;i!;T#5yɮ*A:i!%DNOT Ignoring new targets: 56.96 m.2i!"i-o*i-o= ProNav: ac range: 56.955132 m, nav range: 53.155525 m, bearing: 39.760799 deg, approach rate: -0.467127 m/s, LOS rate: -0.209742 deg/s, cmd heading: 41.759220 deg, new cmd heading: 41.572962 deg. i=쿻EHeadingCmd: 0.725585 target range: 56.955132 and range: 57.00 m.hE9?hAhAhAhAgAgIjgIrgMlBeQreQZeQ:eQ*eU ]@^Bɢ) zi)<i^ϼi9?*==I%9?IAԹ@ @@0@2Acoustic response timeoutE EEE"EV:*E:VEZEa@a@a@a@B>BBLIBBBBBB;B^EBUCBUCBQBUI =BUI =CU>4^A =! I I O > Km#,]LANg?N72L?N=ٱN~=NH@&L? ӭ@D?? e?zNjPS?$?iNg?INPk;NCYf Byf|IbDvYVDv8y~%X=ٔUjQ->9Y = mEy OD E >Q 55/藊?Q 9%5)MBY!y%?Q I%U@CDIy:i:&5y-cBɮ-*A5ӧEm2Acoustic response timeout:iDNOT Ignoring new targets: 56.96 m.2i"ija*ija- ProNav: ac range: 56.955132 m, nav range: 52.980831 m, bearing: 39.682749 deg, approach rate: -0.439641 m/s, LOS rate: -0.197072 deg/s, cmd heading: 41.572961 deg, new cmd heading: 41.416346 deg. i-T5HeadingCmd: 0.722852 target range: 56.955132 and range: 57.00 m.h5 9?h1h9h9h9g9g9jgArgAeAreAZeA:eI*eM ^@u_Bɢu߼)y }*iy)}A?QIIO>E 2Acoustic response timeoutE  E E (E "E l;*E VE c44ZE BE aFy|~ף<~A~A ~z A)~A|Y~AbDEVD8yEL%MF=ٔMػQ-M>9QYQ=UmEyUXD]T`E]>aQ 5e5eP?Q 9m5e6)aYm>Q Em:yiQ ImU@eJDIe:ie=:e>*5y}kBɮ}-+A}ԧE:iDNOT Ignoring new targets: 56.96 m.2i!"i%p*i%pI] ProNav: ac range: 56.955132 m, nav range: 52.789780 m, bearing: 39.596750 deg, approach rate: -0.466240 m/s, LOS rate: -0.210630 deg/s, cmd heading: 41.416344 deg, new cmd heading: 41.243725 deg. i]eHeadingCmd: 0.719839 target range: 56.955132 and range: 57.00 m.he[G8?hahahahagagijgrgkBereZe:e*em @e`Bɢeyɼ)! %-i!)-<))i-ʼi5[G8?5(K=59=I5[G8?I9ߥ=ߥ=2Acoustic response timeoutԁ@ @@0@ԩ^A =Ia Iq O > U 2Acoustic response timeoutgm#,)@㶍LA2ô?2EK?2~=ٱ2~B=2H@&^?-Vo?#?`r?ВUׯ 'ն?n?i2ô?I2l;2CY:By:eII>=)>p<EF EFEF,ED"EF;*EF:VEFg4ZEDaJ@aJ@aJ@aN@LNAbDR(VDRѰ8yZ刽%ZS=ٔ^Q-^>9\Y\=^mEy^_Db^Eb>dQ 5j5f?Q 9j5f)fNBYlynȊ?Q InU@fPDIf:if:f-5ypɮr+AtB->B-CB-:IB-BB)B)B)B-4;B-^E:iQUDNOT Ignoring new targets: 56.96 m.2iQ"i]t*i]tm ProNav: ac range: 56.955132 m, nav range: 52.610790 m, bearing: 39.515880 deg, approach rate: -0.470558 m/s, LOS rate: -0.213327 deg/s, cmd heading: 41.243725 deg, new cmd heading: 41.081436 deg. im4ûuHeadingCmd: 0.717006 target range: 56.955132 and range: 57.00 m.hu7?hqhqhqhqgqgyjgyrgyereZe:e*e`xK!@EaBɢM.)I M4iI)M&s m#,LA2e?2a0K?2)s=ٱ2 =2H+f?`К 4?`B?Jx?``a϶??i2e?I2rl;2CY:By:XIbDZ VDZ8ybR%bK=ٔfQ-f>9dYd=fmEyfhDj DEj>lQ 5r5n?Q 9r5n)lYxyz?Q IU@nWDIn9;in;n%15y)ɮ5+A1UB*** querying acoustic contact ***iQiQ:iaeDNOT Ignoring new targets: 56.96 m.2ia"imp*imp} ProNav: ac range: 56.955132 m, nav range: 52.425072 m, bearing: 39.431619 deg, approach rate: -0.460890 m/s, LOS rate: -0.209848 deg/s, cmd heading: 41.081436 deg, new cmd heading: 40.912318 deg. i}HeadingCmd: 0.714055 target range: 56.955132 and range: 57.00 m.hI6?hhhhggjgrgereZe:e*e"@E2Acoustic response timeoutQ颥cBɢH) :i) !<D=D<E EE*E"E;*E:VE(N4ZEBE@ 2Acoustic response timeoutsm#,#LA2m?2J?20i=ٱ2=2H p?ے~??`??Ö:Ѷ?`?i2m?I2By>KIi%Mb@Mb@Mb@!!!! !9%i|?5?S?y%>%t<%d A%A % A)%A!Y%QAbD= VD=8yMH%UA=ٔUQ-U>9QYY=]mEy]pD]LtE]>aQ 5m5e?Q 9u5e)eOBYu>Q Eu:yuf?Q IuU@e]DIeX;iem ;e45yyɮA,A:i!%DNOT Ignoring new targets: 56.96 m.2iA"iM6t*iM6t] ProNav: ac range: 56.955132 m, nav range: 52.232464 m, bearing: 39.340094 deg, approach rate: -0.447659 m/s, LOS rate: -0.213508 deg/s, cmd heading: 40.912317 deg, new cmd heading: 40.728592 deg. i]_ûeHeadingCmd: 0.710848 target range: 56.955132 and range: 57.00 m.he#5?hahahhggjgrgSBereZe:e*ew"@ dBɢ ` )  @i ))^<iFüi#5?Q|=~=I#5?IAԡ@ @@/@52Acoustic response timeoutE EE+E"E:*E:VE [4ZEa@a@a@a@B5>B1B5!IB5BB1B1B5\DB5J;B5^E^Aa= A I I) O5 >Wm#,0LA:?:J?:K_`=ٱ:=:H5w?](?w?8?m@R??i:?I:FNn;:CYFByF*I HHbDR$VDRΰ8yj l%rT=ٔrŻQ-r>9tYt=vmEyvxDv7Ev>xQ 55zd?Q 95z)zQBY y B?Q I U@zcDIz5;izb6;z=85yɮ-Aߝ=ߙ2Acoustic response timeout:iDNOT Ignoring new targets: 56.96 m.2i"ix*ix ProNav: ac range: 56.955132 m, nav range: 52.055832 m, bearing: 39.255767 deg, approach rate: -0.452836 m/s, LOS rate: -0.216924 deg/s, cmd heading: 40.728592 deg, new cmd heading: 40.559367 deg. iƻHeadingCmd: 0.707895 target range: 56.955132 and range: 57.00 m.h85?hhhhggjgrgereZe:e*e #@eBɢ%#)! %Ni!)%"oI585?I1@ @@/@ 9^Au=u 2Acoustic response timeoutD zD AAE  E E )E "E T;*E |:VE FA4ZE BE G~m#,vJLA6}m?67J?6=bX=ٱ6θ=6HV~?ܹ??@?@ ?`I?i6}m?I6o;6CYRtByVI9iMMb@Mb@Mb@IIII I9Mm?V-?Q?YM>yMh>Mu9} ?Y} ?=}mEy}D .E>Q 55?Q 95Ւ)Y>Q E:yl?Q IU@jDI ;i ;;5ysBɮ-AէE:iDNOT Ignoring new targets: 56.96 m.2i"iy*iye ProNav: ac range: 56.955132 m, nav range: 51.865936 m, bearing: 39.167966 deg, approach rate: -0.469116 m/s, LOS rate: -0.217697 deg/s, cmd heading: 40.559367 deg, new cmd heading: 40.383122 deg. im4ǻHeadingCmd: 0.704818 target range: 56.955132 and range: 57.00 m.hn4?hhhhggjgrg%BereZe:e*eʏ$@颽fBɢ) I n4?Ii2Acoustic response timeout@ @@@ԑ^Am =Am >Am > A ؟AI I O >] 2Acoustic response timeoutCm#,ddLA2`"?2I?2 N=ٱ2_¸=2H`?9@o?@? ?z0ک?G?i2`"?I2p;2CEN ENEN+EL"EN;*EN$:VEN [4ZELaR@aR@aR@aR@YZ^ByZ IAnAAAlBn>BlBnIBnMBBlBlBlBnh;Bn_EbDEVDE8yuQ%uJ=ٔuQ-u>9}"?Y}"?=}mEy}Dz9E>ԑQ 55b?Q 95A)RBYyF?Q IU@pDI*;i;x?5ybBɮ-A˧E:i DNOT Ignoring new targets: 56.96 m.2i"ik*ik% ProNav: ac range: 56.955132 m, nav range: 51.683945 m, bearing: 39.083432 deg, approach rate: -0.440792 m/s, LOS rate: -0.205465 deg/s, cmd heading: 40.383121 deg, new cmd heading: 40.213460 deg. i%-HeadingCmd: 0.701857 target range: 56.955132 and range: 57.00 m.h-3?h)h)h)h1g1g1jg1rg1e9re9Ze9:e9*eEV%@颭gBɢ:) [i)<顱i>i3?ͱ=;i>I3?I@ @@@iߩIߩ2Acoustic response timeout^A >> A I I) O5 >m#,}LA2>?2I?2E=ٱ2~X=2H?`{ݸ?¤??wsܶ?`?i2>?I2Ir;2CYFGByFIIj=)j4<bDnVDn8yv9p%vU=ٔzλQ-z>9xY|=~mEy~D~E~>Q 5 5&?Q 9 5)SBYy?Q IU@vDI ;i ;B5yɮ-A!=B*** querying acoustic contact ***i9i9:iAMDNOT Ignoring new targets: 56.96 m.2iI"iU%u*iU%ue ProNav: ac range: 56.955132 m, nav range: 51.511688 m, bearing: 39.003147 deg, approach rate: -0.458307 m/s, LOS rate: -0.214322 deg/s, cmd heading: 40.213459 deg, new cmd heading: 40.052352 deg. ieĻeHeadingCmd: 0.699045 target range: 56.955132 and range: 57.00 m.hm2?hihihihigigqjgqrgqeyreZe:e*e@&@hBɢA) #bi)햇<i0i2?‰=xO>I2?I]2Acoustic response timeoutE EE,E"E&:*E]t:VEg4ZEBEi;<@ @@/@aU2Ej;iA} .AI I O > 2Acoustic response timeoutԑ Am#,藷LAJ6?JBI?J3=ٱJO^=JH `?~q?@̙?S?@`_Z޶?d?iJ6?IJs;HYR.ByRIi-Mb@Mb@Mb@)))) )9- +? rh?~jth?Y->y-C >-D;)) - A)))Y-zAbDEVDE8yU[u%UC=ٔ]+Q-]>9] ?Y] ?=emEyeDexEe>iQ 5u5mx/?Q 9u5m)mRBY}6?Q E}:y}}?Q I}U@m}DIm3:im:mxF5yɮ].A:iIMDNOT Ignoring new targets: 56.96 m.2iI"iU/b*iU/be ProNav: ac range: 56.955132 m, nav range: 51.317078 m, bearing: 38.916896 deg, approach rate: -0.444492 m/s, LOS rate: -0.197745 deg/s, cmd heading: 40.052352 deg, new cmd heading: 39.879196 deg. ai򴻝HeadingCmd: 0.696023 target range: 56.955132 and range: 57.00 m.h.2?hhhhggjgrg BereZe:e*eL&@iBɢ^.) ii ) uv<  i ~|i.2?Mى=F>I=.2?IYԑ@ @@/@@=@>U2Acoustic response timeoutE EE(E"Ex;*E$:VEc44ZEa@a@a@a@BBBIBBBBBB;B!_E^Au Y>Ay zAy Ii Iy O >R m#,bLA2?2H?24*=ٱ2[/=2H,?g ??@?I E 5?`?i2?I2Ft;2CYRByRIbDZVDZ8yb%bN=ٔbٱQ-b>9dYd=jmEyjDjEj>lQ 5r5n7?Q 9r5n)nQBYpyv=?Q IvU@nDIn:in:nI5yzjBɮzS/Az̧E:iDNOT Ignoring new targets: 56.96 m.2i"i%z*i%z5 ProNav: ac range: 56.955132 m, nav range: 51.132221 m, bearing: 38.834775 deg, approach rate: -0.490294 m/s, LOS rate: -0.218596 deg/s, cmd heading: 39.879197 deg, new cmd heading: 39.714362 deg. i5Ȼ=HeadingCmd: 0.693146 target range: 56.955132 and range: 57.00 m.h= r1?h9h9h9h9gAgAjgArgAeIU2Acoustic response timeoutreQZeQ:eY*e]'@颁ɢ Tn) ti)8wv<顉iMi r1?=ն>I r1?Iaԙ)@) @)@-/@) 2Acoustic response timeoutbE [4jER4rEͰ/E}  E} E} +Ey "E} :*E} :VE} [4ZEy BE} < I) I9 OM >amm#,_ηLAfE?fH?fH!=ٱfU=fH?*_ ?`t?? F'@a?@?ifE?Ift;fCYz~ByzI  = p=iMb@Mb@Mb@ 9/$?X9v?Y>y= AA  A)3AYAbD#VDͰ8yEi%E)=ٔEPQ-M>9IYI=UmEyUDUkEU>YQ 5e5]A?Q 9e5][{)]OBYe>Q Em:ym=?Q ImU@]DI] ;i]?;],N5yqɮuj/Aq:iDNOT Ignoring new targets: 56.96 m.2i"i V*i V ProNav: ac range: 56.955132 m, nav range: 50.916084 m, bearing: 38.744495 deg, approach rate: -0.446114 m/s, LOS rate: -0.187132 deg/s, cmd heading: 39.714360 deg, new cmd heading: 39.533034 deg. i<HeadingCmd: 0.689982 target range: 56.955132 and range: 57.00 m.h0?hhhhggjgrgBereZe:e*e(@jBɢ^A) vi)/g<  i i 0?I=x>I0?IBDAT read: Response Not Received *response not receivedBDAT read: Tx time:01:35:27.1585 $Ping request sent.B B IB ~BB J =B B [DB ;B N_EB]CB]CBYBYBYC]'4^A G>I I O >0Lm#,0뷍LA`b1?b}G?b5=ٱb=bH?`S.?x?`?@% k?`?ib1?Ibt;bCYn~BynIbDVD8y%%%F=ٔ-'Q-->9)Y)=-mEy5D5E5>9Q 5E5=0J?Q 9E5=v)=MBYIyM?Q IMU@=DI=K ;i=6;=Q5yQɮU/AQ:iy}DNOT Ignoring new targets: 56.96 m.2i"iYV*iYV ProNav: ac range: 56.955132 m, nav range: 50.731625 m, bearing: 38.667320 deg, approach rate: -0.446289 m/s, LOS rate: -0.187397 deg/s, cmd heading: 39.533032 deg, new cmd heading: 39.378123 deg. izHeadingCmd: 0.687278 target range: 56.955132 and range: 57.00 m.hr/?hhhhggjgrgereZe:e*e )@)ɢ-r^)1 5}i1)5yY<99i=iiMr/?M=MQ>IMr/?IQaaaa  !a@a @a@e/@a@mzA@mzA)GGyAMAo9GyAYiAI ^A <>A >A ?I IY O >On#,LAER ERER+EP"ER:*ER:VER [4ZEPBER$5ym/=m;m Ai mMA)iiYmAbD VD8yZ%3=ٔQQ->9Y=mEyDE>Q 55S?Q 95;r)Y>Q E:y?Q IU@DI:i(:U5y=qBɮ=0A=ͧE]B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 56.96 m.2i"ia=*ia= ProNav: ac range: 56.955132 m, nav range: 50.533497 m, bearing: 38.588414 deg, approach rate: -0.414105 m/s, LOS rate: -0.165569 deg/s, cmd heading: 39.378124 deg, new cmd heading: 39.219692 deg. iHeadingCmd: 0.684513 target range: 56.955132 and range: 57.00 m.h:I:I9 II OU >q Lpn#,33LAB?B|fF?BF=ٱB=BHJ?=*?`?)?ܭ`?@?iB?IB7u;BCYN~ByNIIR=)RN?TTTVAAbDZVDZ8yb>%bn=ٔfۿQ-f?9dYd=fmEyjDj=ʻEj?lQ 5r5nZ?Q 9r5nn)lYtyvW?Q IvU@nDIn6:in:nX5yzbBɮzV0AzçE:iDNOT Ignoring new targets: 56.96 m.2i"i%R*i%R5 ProNav: ac range: 56.955132 m, nav range: 50.385124 m, bearing: 38.529288 deg, approach rate: -0.461019 m/s, LOS rate: -0.184253 deg/s, cmd heading: 39.219691 deg, new cmd heading: 39.101092 deg. i5=HeadingCmd: 0.682443 target range: 56.955132 and range: 57.00 m.h=.?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM+@Yyɢ7K) i)><顉i`i.?;=ty>I.?I@ @@@5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE)E"ET;*EVEFA4ZEa@a@a@a@B>BBIB~BBBBB;B_Eԉ^A=>ԹIIO> E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseؚ n#,9LAY~BybD-BVD-8yU,I;%UA=ٔ]Q-]>9aYa=emEyeDeEm>iQ 5u5mMc?Q 9}5mgj)mNBYyyyQ I}U@mDIm;imf;my\5yɮQ0A:iDNOT Ignoring new targets: 56.96 m.2i"i{GԹ*i{G ProNav: ac range: 56.955132 m, nav range: 50.202026 m, bearing: 38.455814 deg, approach rate: -0.433029 m/s, LOS rate: -0.174401 deg/s, cmd heading: 39.101091 deg, new cmd heading: 38.953608 deg. iHeadingCmd: 0.679869 target range: 56.955132 and range: 57.00 m.h .?hhhhggjgrgereZe:e*e}+@lBɢΥu) i)Z0<iȆi% .?%*P=%¨ >I% .?I)@ @@55@@=@=T****** received valid address query ******R****** received valid ping request ******E EE*E"E;*E|:VE(N4ZEBE7NA1zA1Ae ؟AIq I O >9 Jn#,pRLA>z ?>EE?>]<ٱ>[=>H`;?%ִ?G?L?R L7'??i>z ?I>v;>CYF~ByJIiMb@Mb@Mb@ 9/$?B`"۹?{Gz?Y>y=#<A  A)YbD-"VD-̰8y=%=L=ٔEQ-E>9E"?YE"?=MmEyMDM4EM>QQ 5]5Ufk?Q 9]5U|f)UOBYe>Q Ee:yer?Q IeU@UDIUa;iUT;U_5yiɮm0Ai:iDNOT Ignoring new targets: 56.96 m.2i"i:*i: ProNav: ac range: 56.955132 m, nav range: 50.034111 m, bearing: 38.390656 deg, approach rate: -0.419149 m/s, LOS rate: -0.163194 deg/s, cmd heading: 38.953607 deg, new cmd heading: 38.822853 deg. iTHeadingCmd: 0.677587 target range: 56.955132 and range: 57.00 m.hQv-?hT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhQhQgQgYjgYrg]׀BeYreaZea:ea*ee,@颩ɢ|) |i)!<iiQv-? e=>IQv-?Im@i @i@m05@iAq^Aa >߽ %?B >B B IB ~BB I =B B \DB ;B _EE  E E E "E ;*E :VE ZE BE A<2E A<JE <:E <߹  T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseA I I O >ԙ n#,lLAY-~By-I 99E>E=bDU!VDU˰8yuX%uG=ٔuQ-}>9Y=mEyDE>Q 55s?Q 95ob)PBYyQ IU@DIe;i%g;c5yjBɮ0AħE:iDNOT Ignoring new targets: 56.96 m.2i"iT;*iT; ProNav: ac range: 56.955132 m, nav range: 49.860733 m, bearing: 38.322891 deg, approach rate: -0.417575 m/s, LOS rate: -0.163777 deg/s, cmd heading: 38.822853 deg, new cmd heading: 38.686853 deg. iݕ HeadingCmd: 0.675213 target range: 56.955132 and range: 57.00 m.h ,?h hhhggjgrgereZe!:e!*e%`!-@IɢM )Q UɆiQ)U=Ie,?Iaq@ @@3@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԡ^A~>Ae .AIi Iy O > !n#,LA:T****** received valid address query ******:R****** received valid ping request ******:received new query, but waiting for acoustic response period to elapseDLDNR=E\ E^E^,E\"E\*E^:VE^g4ZE\ar@ar@ar@ar@UzB ?U D?U0<ٱU=UH? @?A,?O?1禿CE@+?@?iUzB ?IUvy;UCYm~BymIiMb@Mb@Mb@ 9-?MbX?I +?Y5>y=94<~ A A A)AYGAbDVD8y=F %=0=ٔE=Q-E>9E ?YM ?=MmEyMDM(EM>QQ 5]5UL}?Q 9]5U])URBYe>Q Ee:ye|?Q IeU@UDIU,:iUՓI0,?IU@Q @Q@U?5@Q@]yA@YBDAT read: Rx Time:01:35:29.6291 TRx dataTimestamp_ set to:1764898530.369212T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse! ^Au a >A} >Ay Q A I I O >~(n#,LA28 ?2C?2<ٱ2 =2H??@ ?@v?`C1-? ?i28 ?I2y;2CY:~By:IbDFVDF8yN=%N_=ٔNQ-N>9PYP=RmEyRDR-EV>TQ 5Z5V?Q 9^5V^Z)VTBY\y^+|?Q I^U@VDIV;iV;Vj5y`ɮf0Ad:itvDNOT Ignoring new targets: 56.96 m.2ix"iu"I*iu"I ProNav: ac range: 56.955132 m, nav range: 49.511349 m, bearing: 38.190077 deg, approach rate: -0.460950 m/s, LOS rate: -0.175845 deg/s, cmd heading: 38.538202 deg, new cmd heading: 38.420278 deg. i蠻HeadingCmd: 0.670560 target range: 56.955132 and range: 57.00 m.hة+?hhԱhhggjgrgereZe:e*e H/@BBBxIBn~BBBBBܣ;B_ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE5 E5E5)E1"E5;*E5z:VE5FA4ZE1BE5?CIة+?I@ @@D2@^A> DAT read: 01:35:29.6291 LVL= 27888, 32305, 27250, 32755, AGC= 68, IDX= 357,-0.10,-1.770, 2.945,-1.357,-1.916, PHS= 0.248,-1.378, 0.515, RAW= 157.5, 7.0, CAL= 156.9, 7.0, ROT= 353.1, -7.0  Ygot valid direction response: 01:35:29.6291 LVL= 27888, 32305, 27250, 32755, AGC= 68, IDX= 357,-0.10,-1.770, 2.945,-1.357,-1.916, PHS= 0.248,-1.378, 0.515, RAW= 157.5, 7.0, CAL= 156.9, 7.0, ROT= 353.1, -7.0  PDAT read: Bearing 215.5, -7.6 (Local)  ~Local bearing/azimuth received: Bearing 215.5, -7.6 (Local)  DAT read: Range 11 to 50 : 49.8 m (Round-trip 66.5 ms) speed 0.4 m/s  R#Rx 2: Read range and direction messages. ^direction in FSK: [0.985358,-0.119241,0.121869] Fpublishing direction and range infoy  z ?hKUM7P2?Y 3GB l 1~ rj ) DI }>i Nb ? /@ 5= LB/@ 5=) P5@I 5 PH 4?f6wT?g`("? ~'?) ~I i 5 ] T****** received valid address query ******] R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.Y A] ؟AIi Iy O >.n#,nLAr ?rZB?rx<ٱr=rH`)?7??@A?`'i@??ir ?Irnz;rCY~~By~II>)4<  AbDVD8yE%E@=ٔE+Q-M>9M"?YM"?=MmEyMDUxȻEU>yQ 55}э?Q 95}/V)}VBYy{?Q IU@}DI}:i}:}n5yɮ0Aii LAj GB"j GB:j !?Rj;&z\H@Lj+zB@Bjz ?hKUM7P2?*j2j5Zj)c(D@bp==@Yή@Jj5ᶟ?fs?vt?jA j Biw?iUj>Bj;Ix?j EjrjEBzjtY&?1E addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 15.903798 s, deltaX: -7.200001 m, approachRate: -0.452722 m/s, rangeRepo size: 4 u Added new target pos. range: 49.762722 m, bearing: 36.155307 deg, lat: 36.779571 deg, lon: -121.859784 deg, deltaT: 15.903798 s, deltaX: -7.192410 m, approachRate: -0.452245 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 49.76 m.2i"i*i ProNav: ac range: 49.762722 m, nav range: 49.280926 m, bearing: 37.230938 deg, approach rate: 0.000000 m/s, LOS rate: -0.175845 deg/s, cmd heading: 38.420279 deg, new cmd heading: 38.263330 deg. iHeadingCmd: 0.667821 target range: 49.762722 and range: 49.80 m.hS*?hhhhggjgrgereZe:e`fH@*e@Q?1ɢ5 )1 5LJi9)=;99i=iES*?E}=EW>IES*?Ii@ @@/@DAzDAEe EeEe-Ea"Ee&:*Ee:VEet4ZEaa@a@a@a@ԙDAT read: BDAT read: Tx time:01:35:30.9085 $Ping request sent.A .AI I O >ߋ5n#,_C׸LA2V ?2{!B?2n<ٱ2 =2H+:? յ??.?@[~ ?O?i2V ?I2p-{;0Y>~By>IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.229853ieMb@Mb@Mb@aaaa a9eMbX9?&1? rh?Ye>ye=eC9 ?Y ?=mEyDE>Q 55|?Q 95#R)ZBY>Q E:yA{?Q IU@DI:i:!r5yrBɮZ1AŧE:iDNOT Ignoring new targets: 49.76 m.2i"iM*iM ProNav: ac range: 49.762722 m, nav range: 49.105965 m, bearing: 37.160621 deg, approach rate: -0.446244 m/s, LOS rate: -0.179985 deg/s, cmd heading: 38.263331 deg, new cmd heading: 38.122196 deg. iHeadingCmd: 0.665358 target range: 49.762722 and range: 49.80 m.hT*?hhhhg g jg rg рBereZeq:eq*eul,?ԱkBɢ) Di)";i|͙iT*?ʊ=S>I%T*?I!a@a @a@e/@aBA<B>BBkIBY~BBJ =BBB;B_E5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.481714EU EUEU.EQ"EU ;*EU:VEUـ4ZEQBEULAU yAzAU xAA I I O 9 ;n#,u"LA2֩ ?2XtA?2|<ٱ2=2HDI?7?? 9PYP=RmEyRDR'EV>TQ 5Z5Vk?Q 9^5VtN)V]BY\y^z?Q I^U@VDIVI;iVD;Vcu5ybbBɮf'1AfE:iimDNOT Ignoring new targets: 49.76 m.2ii"iu=*iu= ProNav: ac range: 49.762722 m, nav range: 48.946354 m, bearing: 37.096553 deg, approach rate: -0.410469 m/s, LOS rate: -0.165298 deg/s, cmd heading: 38.122195 deg, new cmd heading: 37.993643 deg. iAHeadingCmd: 0.663114 target range: 49.762722 and range: 49.80 m.h)?hhhhggjgrgereZe:e*e 7C?ɢ) gi)~;iPi)?܊=W>I)?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.734012@ @@@9^A>q A ؟AI I O- >bE˙T4jE [4rE˲/E}  E} E} *Ey "E} ;*E} :VE} (N4ZEy a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988261+Bn#, LA~& ?~@?~@x<ٱ~`=~HT?`oα?N?F?`? ?i~& ?I~|;~CY~ByI %=%=iMb@Mb@Mb@ 9%C?"~j?yS=t< AA A)AYAbDMVDMð8yev=%e0=ٔmWQ-m>9u"?Yu"?=umEyuDu鍻E}>yQ 55};?Q 95}I)}bBY>Q E:yH~?Q IU@}DI}" ;i} ;}qy5yɮ0AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 49.76 m.2i"iMY*iMY] ProNav: ac range: 49.762722 m, nav range: 48.745781 m, bearing: 37.011585 deg, approach rate: -0.447125 m/s, LOS rate: -0.190194 deg/s, cmd heading: 37.993644 deg, new cmd heading: 37.823009 deg. i] eHeadingCmd: 0.660136 target range: 49.762722 and range: 49.80 m.he(?ahahhhggjgrgBereZe:e*e z?ɢ)  i ) fn;  i Fi(?=>I(?I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237725ԡ^A ~> A .AI I) O5 >THn#, $LA2}?2O@?2OS<ٱ2=2Hb?`_K?? S?cyt@ϵ??i2}?I2};2CY>~By>IbDF VDF8yNI;%No=ٔRٻQ-R?9R ?YR ?=RmEyRDVXEV?XQ 5^5Zx?Q 9^5ZNF)ZfBY\yb}?Q IbU@ZDIZ:iZ:Zl|5ydɮf0Ad:ii}DNOT Ignoring new targets: 49.76 m.2iy"i I*i I ProNav: ac range: 49.762722 m, nav range: 48.598259 m, bearing: 36.949088 deg, approach rate: -0.413649 m/s, LOS rate: -0.175774 deg/s, cmd heading: 37.823009 deg, new cmd heading: 37.697635 deg. iנHeadingCmd: 0.657948 target range: 49.762722 and range: 49.80 m.hEo(?hhhhggjgrgereBBBBBI =BBB;B_EByByByByByC}Ã4Ze:e*e?jBɢr) ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489904)  O?;i iEo(?%g=%U>I%Eo(?I!E5 E5E1E1"E5V:*E5:VE1ZE1BE59A>A? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741804A II G /{Aԩ A 9 /{AY AI O >Nn#,n>LA2t?2??2.<ٱ2= =2HWn?C??]?`Q ҅ܵ??i2t?I2k1~;2CY:~By:IbDFVDF8yJ[=%NK=ٔN`Q-N>9PYP=RmEyRDVEV>XQ 5Z5Z ?Q 9^5Z>B)ZjBY\y^$}?Q I^U@ZDIZ;iZ@;Z5yfjBɮf0AfE:itzDNOT Ignoring new targets: 49.76 m.2ix"iz[*iz[ ProNav: ac range: 49.762722 m, nav range: 48.424217 m, bearing: 36.875311 deg, approach rate: -0.450182 m/s, LOS rate: -0.191520 deg/s, cmd heading: 37.697634 deg, new cmd heading: 37.549550 deg. i @ HeadingCmd: 0.655363 target range: 49.762722 and range: 49.80 m.h '?hhhhggjgrgereZe!:e!*e%@IɢMgt)Q UʅiQ)U#K ;QQyiUTi'?=>I'?I)m@i @i@i@iԩE] E]E]-EY"E];*E]:VE]t4ZEYa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995948^A>A ؟AI I  O >Un#,bLXLA:?:X??Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.245694:O <ٱ:=:Hx?r?`e?f?`V`@ ?@D?i:?I:'7~;:CYJ~ByNIIRJ>)Ry%>%u<% A%A %A)%A!Y%AbD=VD=8yMǼ%M?=ٔM5Q-M>9U"?YU"?=UmEyU&D]BE]>aQ 5m5eg?Q 9m5e=)eoBYm>Q Em:ym?Q IuU@eDIe:ie:e5yyɮ}0Ay:iDNOT Ignoring new targets: 49.76 m.2i"ii*ii ProNav: ac range: 49.762722 m, nav range: 48.230488 m, bearing: 36.788475 deg, approach rate: -0.453745 m/s, LOS rate: -0.204200 deg/s, cmd heading: 37.549549 deg, new cmd heading: 37.375180 deg. iںHeadingCmd: 0.652320 target range: 49.762722 and range: 49.80 m.hq&?hhhhggjgrgBereZe:e*e@iBɢ)  i ) ]:  iiq&?-=$ >Iq&?I@ @@/0@A@AABBBxIBn~BBBBB;B_E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498331AEU EUEU*EQ"EU;*EUz:VEU(N4ZEQBEUR\I I O >Y [n#,%rLA21(?2>?2U/;ٱ2=2H`€?{F?/?m?쭿{@??i21(?I2sF~;2CY:~By:IbDFֿVDF8yND =%NV=ٔRӯQ-R>9PYP=RmEyR.DVЄEV>XQ 5^5Zɘ?Q 9^5Z9)ZsBY\yb[?Q IbU@ZDIZ{;iZf;Z5ydɮf0Ad:ixzDNOT Ignoring new targets: 49.76 m.2ix"i~Xj*i~Xj  ProNav: ac range: 49.762722 m, nav range: 48.057407 m, bearing: 36.710614 deg, approach rate: -0.453804 m/s, LOS rate: -0.204880 deg/s, cmd heading: 37.375181 deg, new cmd heading: 37.218900 deg. i yHeadingCmd: 0.649592 target range: 49.762722 and range: 49.80 m.hK&?hhhhggjgrge!re!Ze!:e!*e%`6@UhBɢU)Q UiQ)]^c9aaieieK&?m?=m >ImK&?Ii1m@q @q@u4@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750917a^AAwAzAԉI I O >] BDAT read: Rx Time:01:35:33.3770 Eu  Eu Eq Eq "Eu :*Eu :VEq ZEq a @a @a @a @ TRx dataTimestamp_ set to:1764898534.166021 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018345 bn#,VLA>?]>??;ٱ=H s??^??vy?@Gr`>??i>?I~;Y~ByIiMb@Mb@Mb@ 9Q?333333?{Gz?Y>y>ף< A )YAbDVD8y%*=ٔQ->9Y=mEy7DE>Q 5 5NӘ?Q 9 5F4){BY >Q E :y[?Q IU@DI;i;35yrBɮ31AE5B*** querying acoustic contact ***i1i1:iAMDNOT Ignoring new targets: 49.76 m.2iI"iM*iM] ProNav: ac range: 49.762722 m, nav range: 47.847252 m, bearing: 36.599163 deg, approach rate: -0.436908 m/s, LOS rate: -0.232722 deg/s, cmd heading: 37.218899 deg, new cmd heading: 36.995019 deg. i]ԻeHeadingCmd: 0.645685 target range: 49.762722 and range: 49.80 m.heK%?hahahihigigijgqrguBeqreqZeq:eq*e} Gh @%gBɢ%܊)! %̆i!)-h))i-ui5K%?5 Y=5 >I5K%?I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2542969 ^A%  >I I O >oin#,ڥLA 6?6=?6^;ٱ6q=6H ?@?q?`?@𦯿c=??i6?I6Μ};6CYB~ByBI DDJ=Jp=bDNVDN8yZa<%Zx=ٔZ˻Q-Z?9\Y\=^nEy^>DbQEb?dQ 5j5f٘?Q 9j5f0)fBYhyj?Q InU@fDIf%:if:f5ypɮr1Ap:i  DNOT Ignoring new targets: 49.76 m.2i "i*i% ProNav: ac range: 49.762722 m, nav range: 47.702709 m, bearing: 36.522261 deg, approach rate: -0.438089 m/s, LOS rate: -0.233786 deg/s, cmd heading: 36.995020 deg, new cmd heading: 36.840750 deg. i%ջ-HeadingCmd: 0.642992 target range: 49.762722 and range: 49.80 m.h-&$?h)h)h)h)g)g1jg1rg1e1re1Ze9:e9*e= @Be >BaBeIBe~BBeJ =BaBaBe;Be_E颅fBɢͦ) 兿i)顉iAi&$?|i=5 >I&$?IE% E!E%(E!"E%&:*E!VE%c44ZE!BE%i;bֿA7X?Y@BPn!~h )CIHz>iSff?'0@=/@ =)j @I?hՒFCo?;dZr? b(?)5IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@,4@iԙ^A( >IaIqO{> (DAT read: user:26>  BDAT read: Tx time:01:35:34.7085  $Ping request sent. 9|Y|=~nEy~GDE> Q 55 ☊?Q 95 %,) BYy?Q IU@ DI :i ; 5y%dBɮ%0A%Ei)i-MLAj-@B"j-@B:j->?Rj-jXG@iSj @Bj-M?>bֿA7X?*j-2j-Zj-uñC@i 0;@(@Jj-{o+?=v6?q?j-A j-Bi-J٥?i- aj-Bj)j)j-Brj->Bzj-"?m addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 3.779881 s, deltaX: -1.599998 m, approachRate: -0.423293 m/s, rangeRepo size: 4  Added new target pos. range: 48.164162 m, bearing: 34.614956 deg, lat: 36.779571 deg, lon: -121.859784 deg, deltaT: 3.779881 s, deltaX: -1.598560 m, approachRate: -0.422913 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 48.16 m.2i"i*i ProNav: ac range: 48.164162 m, nav range: 47.522419 m, bearing: 36.426086 deg, approach rate: 0.000000 m/s, LOS rate: -0.233786 deg/s, cmd heading: 36.840749 deg, new cmd heading: 36.646112 deg. iHeadingCmd: 0.639595 target range: 48.164162 and range: 48.20 m.h#?hhhhggjgrgereZe:eH@*euT?eBɢ) i)i ioi#?]=} >I#?I@ @@/@E= E=E=)E9"E=:*E=]t:VE=FA4ZE9a]@ae@ae@ae@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253536 ^A2 >A>A>II)O5>! vn#,ٹLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804|Y~ByIiMb@Mb@Mb@ 9/$?~jt?{Gz?Y&>y> )bAYAbDVDð8yO%<=ٔQ->9Y=nEyODE>Q 55 똊?Q 95@')BY>Q E:y?Q IU@DI:i:|5yɮ0A:i9=DNOT Ignoring new targets: 48.16 m.2i9"iEڊ*iEڊM ProNav: ac range: 48.164162 m, nav range: 47.325668 m, bearing: 36.321963 deg, approach rate: -0.456877 m/s, LOS rate: -0.242790 deg/s, cmd heading: 36.646113 deg, new cmd heading: 36.437003 deg. iU*޻]HeadingCmd: 0.635946 target range: 48.164162 and range: 48.20 m.h]V"?hYhYhYhYgYgYjgargeBeareaZei:ei*em`S?额dBɢyЙ) i)EH顡im}iV"?=>IV"?I)M@I @I@I@IQBe >BaBeIBe~BBaBaBaBe;Be_E>:?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755813E= E=E=*E9"E=;*E=v:VE=(N4ZE9BE=@ԁ A I I O >B|n#,lLA6?6*q9dYd=jnEyjWDj *Ej>lQ 5r5n?Q 9r5n#)nBYtyv?Q IvU@n DIn:in:n5yzlBɮz0AzE:i%DNOT Ignoring new targets: 48.16 m.2i!"i-}*i-}5 ProNav: ac range: 48.164162 m, nav range: 47.159119 m, bearing: 36.233970 deg, approach rate: -0.453430 m/s, LOS rate: -0.240406 deg/s, cmd heading: 36.437003 deg, new cmd heading: 36.260397 deg. i=ۻEHeadingCmd: 0.632863 target range: 48.164162 and range: 48.20 m.hET"?hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU ?Y颅cBɢ) i)gz顉iiT"?=>IT"?I@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007720ԁ^A5>ԱAe .AIq I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261159EE  EE EE (EA "EE :*EE :VEE c44ZEA aM @aM @aU @aU @=/n#,[[ LAub!?u;?uٱuZҭ=uH@? ^W#?o??` t??g?iub!?IuUx;qY~ByIԱiMb@Mb@Mb@ 9{Gz?sh|??Q?Y>y)>u< AA fA)AY=AbD- VD-8y=†%=4=ٔEQ-E>9E ?YE ?=EnEyE`DMEM>QQ 5]5UQ Ee:ye4?Q IeV@UDIU:iU:U5y ɮ T1A 5B*** querying acoustic contact ***i1i1:iAEDNOT Ignoring new targets: 48.16 m.2iA"iM*iM] ProNav: ac range: 48.164162 m, nav range: 46.966221 m, bearing: 36.118745 deg, approach rate: -0.405402 m/s, LOS rate: -0.243155 deg/s, cmd heading: 36.260395 deg, new cmd heading: 36.029001 deg. i]޻eHeadingCmd: 0.628825 target range: 48.164162 and range: 48.20 m.he ?hahahahagigijgirgmBeqreqZeq:eq*eu`?颥bBɢiꕽ) &i)E顩ii ?ċ=c>I ?I]@Y @Y@Y@Y@e=@e=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922 ^A >A xAzA A A ؟AI I O >Tn#,"'LAB >BCBIB~BBI =BBB;B_EY~ByIbD-2VD-ڰ8yu27=%uY=ٔuQ-}>9"?Y"?=nEyhDE>Q 55B?Q 95)BYyQ IV@DITA;i,3;5yɮ1Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763557E EE,E"E;*Eą:VEg4ZEBEa2Ea%JE#;a%:E#;a%:i9=DNOT Ignoring new targets: 48.16 m.2iA"iE*iMe ProNav: ac range: 48.164162 m, nav range: 46.805283 m, bearing: 36.021799 deg, approach rate: -0.436018 m/s, LOS rate: -0.263554 deg/s, cmd heading: 36.029002 deg, new cmd heading: 35.834443 deg. ie*񻝏mHeadingCmd: 0.625429 target range: 48.164162 and range: 48.20 m.hm ?hihihihqgqgyjgyrgyereZe:e*e@RO@颽aBɢp) i)VηiU}i ? ڋ=C>I ?IE@A @A@A@IaPExceeded connect timeout, disconnecting.q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014875^A .>ԙ A I I O 9AYA=EnEyEpDIEM>QQ 5]5U ?Q 9]5U)UBYYyYQ IeV@UDIU;iU;Uk5yiɮm1Ai:iDNOT Ignoring new targets: 48.16 m.2i"i(*i( ProNav: ac range: 48.164162 m, nav range: 46.637337 m, bearing: 35.919829 deg, approach rate: -0.439495 m/s, LOS rate: -0.267804 deg/s, cmd heading: 35.834444 deg, new cmd heading: 35.629771 deg. iHeadingCmd: 0.621857 target range: 48.164162 and range: 48.20 m.h2?hhhhggjgrgereZe:e*eV@_Bɢ?{) si)kһi1pyi2?J=>I2?Iq@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267020DzD?AbE(N4jEļP4rE./E  E E E "E &:*E h:VE ZE a=@a=@a=@a=@ԩ^Aur>A I I O > in#,ZLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5190526?6o:?6L'ٱ6=6H`?@i>Ŵ? L??`fƱ?|??i6?I6*t;6CYBk~ByBvIbonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 86.90, 95.59, 91.58 ab@ab ab@ab ab@ab ab@ab bDf VDf8yn߳%rP=ٔrhUQ-r>9tYt=vnEyvxDvqEv>xQ 5~5z?Q 95z>)zBQ A+:YQ E:y{?Q IV@z"DIz:iz^>z35y tBɮ1AE:i1=DNOT Ignoring new targets: 48.16 m.2i9"i=^*i=^M ProNav: ac range: 48.164162 m, nav range: 46.469929 m, bearing: 35.818810 deg, approach rate: -0.425492 m/s, LOS rate: -0.257679 deg/s, cmd heading: 35.629771 deg, new cmd heading: 35.427006 deg. iM뻝UHeadingCmd: 0.618318 target range: 48.164162 and range: 48.20 m.hUJ?hYhYhYhYgYgYjgargaeareaZea:ei*em{@^Bɢs) 1i)E<iui%J?%=%F>I%J?I)@ @@@AAAAB >BBIB~BBJ =BBB;B_EBBBBJ =BJ =CNc4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771554E EE+E"E:*Ey:VE [4ZEBE3A=>A=?) A} .AI I O >Zn#,[tLAbnManaging dock network, ignoring radio surface power offY~l~By~wIbDVD8y% N;%%G=ٔ%Q-%>9- ?Y- ?=-nEy-D-E5>1Q 5}55?Q 955 )5BQ A :YQ E:yQ IV@5(DI5(I-U?I) y>eBDAT read: Rx Time:01:35:37.1749 eTRx dataTimestamp_ set to:1764898537.933801mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025569qÂG@ @@00@)U9QYUYAԙ^A> Ae ؟AIi Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274956E%  E% E% )E! "E% :*E% Ar:VE% FA4ZE! a5 @a5 @a5 @a5 @,|n#, LAPYmB~Byu]II%>)<AAaa aa aa aa iMb@Mb@Mb@ 9!rh?l?~jthYl>y>D AA 3A)AYAAAbDVD8yc%=ٔQ->9"?Y"?=nEyDE > Q 55 a#?Q 95 ) BQ AT:Y>Q E%:y%?Q I-V@ 0DI ;i  ; 25yIɮM&2AQmB*** querying acoustic contact ***iiii:iq}DNOT Ignoring new targets: 48.16 m.2i"i*i ProNav: ac range: 48.164162 m, nav range: 46.064846 m, bearing: 35.584160 deg, approach rate: -0.435988 m/s, LOS rate: -0.244110 deg/s, cmd heading: 35.213491 deg, new cmd heading: 34.955623 deg. i_߻HeadingCmd: 0.610091 target range: 48.164162 and range: 48.20 m.h.?hhhhggjgrgŀBereZe:e*e@DAT read: 01:35:37.1749 LVL= 29440, 32497, 27026, 32755, AGC= 66, IDX= 425, 0.14, 2.618, 1.027, 3.059, 2.472, PHS= 0.247,-1.401, 0.542, RAW= 158.1, 6.8, CAL= 157.5, 6.7, ROT= 352.5, -6.7 Ygot valid direction response: 01:35:37.1749 LVL= 29440, 32497, 27026, 32755, AGC= 66, IDX= 425, 0.14, 2.618, 1.027, 3.059, 2.472, PHS= 0.247,-1.401, 0.542, RAW= 158.1, 6.8, CAL= 157.5, 6.7, ROT= 352.5, -6.7 PDAT read: Bearing 213.3, -6.3 (Local) ~Local bearing/azimuth received: Bearing 213.3, -6.3 (Local) DAT read: Range 11 to 50 : 46.6 m (Round-trip 62.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.984674,-0.129635,0.116671]Fpublishing direction and range infoyY]5.r?(3,ߗmu"޽?Y]f:BY]s]~]i Y)]BI]|>iY] ?]r0@]=]/@ ]|=)]@I]|ゥYY]kmV?\?mS? ][9*?)]U1I] i]|ゥYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.%ZBɢ-C)) -Ei))mqqiuli}.?}C=}<>I}.?I @  @ @ /@  B B B IB ~BB I =B B B ۣ;B _E^A- 2>A1 zA5 zAQ (DAT read: user:27> BDAT read: Tx time:01:35:38.4585 $Ping request sent.9Y=nEyDQE>Q 55+?Q 95s)BYy?Q IV@7DI8;i;߰5y ɮ 2AiiG䛺LAjC:B"jC:B:j?RjF@@Bj5.r?(3,ߗmu"޽?*j 2j|Zj*wSC@؛?\9@M P@JjΏ?2m?lAR=ë?jA jBiU奊?i:\ZgjLBjw?jUjrj8Bzj|n?e addTargetRange:: Added new target pos. range: 46.599998 m, deltaT: 3.780150 s, deltaX: -1.600002 m, approachRate: -0.423264 m/s, rangeRepo size: 4 m Added new target pos. range: 46.565716 m, bearing: 33.271855 deg, lat: 36.779578 deg, lon: -121.859791 deg, deltaT: 3.780150 s, deltaX: -1.598446 m, approachRate: -0.422853 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 46.57 m.2iq"i*i ProNav: ac range: 46.565716 m, nav range: 46.191067 m, bearing: 34.339772 deg, approach rate: 0.000000 m/s, LOS rate: -0.244110 deg/s, cmd heading: 34.955624 deg, new cmd heading: 34.750541 deg. iHeadingCmd: 0.606511 target range: 46.565716 and range: 46.60 m.hTD?hhhhggjgrg!e!re!Ze!:e%LG@*e-`~?Ա颽XBɢx) +i)5)iiiTD?[=>ITD?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250068@ @@/@ ^A% ,>1 AQ IY Ii } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501943O >Mn#,l̺LAE EE*E"E:*E:VE(N4ZEa&@a&@a&@a&@>7?4Rٱj=H@,(?d??i ?P ʑ?ɦ??i>In;CY&~ByLIi]Mb@Mb@Mb@YYYY Y9]%C?Zd;?~jtY]Z>y]=]D] A]A ]bA)]AYY]AbDu*VDuӰ8y‚%!=ٔQ->9Y=nEyDz<E>Q 556?Q 95O)BY>Q E:y{?Q IV@>DIr;i;O5yBɮ4AE:i)-DNOT Ignoring new targets: 46.57 m.2i1"i5dz*i5dzE ProNav: ac range: 46.565716 m, nav range: 45.973404 m, bearing: 34.230124 deg, approach rate: -0.432509 m/s, LOS rate: -0.218908 deg/s, cmd heading: 34.750541 deg, new cmd heading: 34.530208 deg. iEPȻMHeadingCmd: 0.602666 target range: 46.565716 and range: 46.60 m.hMOH?hIhIhIhQgQgQjgYrg]BeYreYZeY:ea*ee?颍VBɢj) i):顑idiOH?w=ʪ>IOH?I M@I @I@M/@I^A=^>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7544269 A .AI I O >4n#,溍LA F:>F/6?FbٱF2=FH`:???@:??@ ?w?[?iF:>IF5Xn;DYN ~ByRHI TTbDZ)VDZҰ8yb%b=ٔfQ-f?9f ?Yf ?=fnEyjDj;Ej?lQ 5r5nu=?Q 9r5nE)nBYtyvz?Q IvV@nCDIn:in:n5yxɮz4Ax:i%DNOT Ignoring new targets: 46.57 m.2i!"i-w*i-w= ProNav: ac range: 46.565716 m, nav range: 45.844307 m, bearing: 34.165208 deg, approach rate: -0.429476 m/s, LOS rate: -0.216567 deg/s, cmd heading: 34.530209 deg, new cmd heading: 34.400013 deg. i=+ƻEHeadingCmd: 0.600393 target range: 46.565716 and range: 46.60 m.hEc?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU??BA<BBB~IBx~BBBBBBETBɢEӽ)A MiI)Mw*FIIiUaic?==W>Ic?II)wAE5 E5E1E1"E5D:*E5&p:VE1ZE1BE52 A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264137n#, LAHR;(>R^5?RUٱR2F=RH@tK?? T?@0???b?m?iR;(>IRm;RCYZ ~ByZ<IbDbVDbð8yj?%nH=ٔnQ-n>9r"?Yr"?=rnEyrDr0Er>tQ 5~5vYF?Q 9~5v))vBY|y~z?Q I~V@vIDIv ;iv ;v5yɮ h4A :i1=DNOT Ignoring new targets: 46.57 m.2i9"i=v*i=vM ProNav: ac range: 46.565716 m, nav range: 45.669331 m, bearing: 34.077400 deg, approach rate: -0.428563 m/s, LOS rate: -0.215890 deg/s, cmd heading: 34.400012 deg, new cmd heading: 34.223723 deg. iMŻUHeadingCmd: 0.597317 target range: 46.565716 and range: 46.60 m.hU?hQhYhYhYgYgYjgargaeareaZea:ei*em?颕RBɢ-ս)  i)U顙i]i?=>I?I@ @@0@D1D5%=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.519170Em EmEm&Ei"EmT;*Em:VEm4ZEia@a@a@a@^Am*_>9 A I I O >)n#,0LA2A>2|k4?2 ٱ2ڢ=2H@_?k?? D?@ܲ ?`T?j?i2A>I2m;0Y:~By:9Ii-Mb@Mb@Mb@)))) )9-n?Zd;O?MbY-V>y-j=--5 A-KA -A)-A)Y-zAAEBAbDEVDE8yU9%]C=ٔ] Q-]>9aYa=enEyeDeEe>iQ 5u5mO?Q 9}5m)mBY}>Q E};y}n?Q I}V@mNDIm;imL;m*5yɮ{4AB*** querying acoustic contact ***iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.770059:iDNOT Ignoring new targets: 46.57 m.2i"iwD*iwD ProNav: ac range: 46.565716 m, nav range: 45.505573 m, bearing: 34.005540 deg, approach rate: -0.390020 m/s, LOS rate: -0.171765 deg/s, cmd heading: 34.223722 deg, new cmd heading: 34.079484 deg. i,HeadingCmd: 0.594799 target range: 46.565716 and range: 46.60 m.hD?hhhhggjgrgyBereZe:e*e`7A@%PBɢ%5)! %i!)-_e))i-YiD?J= >ID?II@ @@1@q^A>B1 B1 u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022165B5 YIB5 ;~BB1 B1 B1 B5 ;B5 _EE]  E] E] )EY "E] ;*E] :VE] FA4ZEY BE] ?CTn#,A3LA@2`>>2i3?2ٱ2G=2H`s?`ġ?n?`X?i`e?@>I2w0n;2CYN~ByN@IbDVVDV8y^<%^T=ٔbP'Q-b>9b ?Yb ?=fnEyfDf'Ef>hQ 5n5j#W?Q 9n5j))jBYpyrm?Q IrV@jSDIjY;ij3;j5yvBɮv)4AvE:iDNOT Ignoring new targets: 46.57 m.2i"i%'D*i%'D- ProNav: ac range: 46.565716 m, nav range: 45.355354 m, bearing: 33.939973 deg, approach rate: -0.391606 m/s, LOS rate: -0.171491 deg/s, cmd heading: 34.079485 deg, new cmd heading: 33.947918 deg. i5윻=HeadingCmd: 0.592503 target range: 46.565716 and range: 46.60 m.h=F?h9h9h9h9gAgAjgArgAeAreIZeI:eI*eMP@q颅NBɢLĽ) @i)s顉iIUiF? ό= @>I F?I@ @@?5@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.275399^A(>AwAzAyA A ؟AI! I1 OM >@n#,HMLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527187EZ EZEZ+EX"EZ;*EZ|:VEZ [4ZEXBEZ@<2EZ@<JEZe;:EZf;u>;2?zٱ=H?? ?i?5, n#?@s-?j?iu>In;CYU}By]1IiMb@Mb@Mb@ 9> ףp=?yt= AA A)dAYA =<bDVD8y?%!=ٔQ->9"?Y"?=nEyD'ջE>Q 55b?Q 95)BY+>Q E:yR_?Q IV@ZDI;i;5y ɮ4A:i1=DNOT Ignoring new targets: 46.57 m.2i9"iE'*iE'M ProNav: ac range: 46.565716 m, nav range: 45.152248 m, bearing: 33.865853 deg, approach rate: -0.399939 m/s, LOS rate: -0.146609 deg/s, cmd heading: 33.947918 deg, new cmd heading: 33.799011 deg. iU'UHeadingCmd: 0.589904 target range: 46.565716 and range: 46.60 m.hU?hQhYhYhYgYgYjgargeBeareaZei:ei*em_@颕KBɢ) i)a顡iQi?= >I?IQ@Q @Q@U@5@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.777876!^AU %|>Q A I I O >n#,21?29xٱ2o =2H?Vo@0S?Qr?@?`4 v? ??i2*l>I2Zn;0Y:~By:5IbDFVDF8yN͠<%N=ٔN>Q-N?9PYP=RnEyRDRI]EV?TQ 5^5Vi?Q 9^5VT)VBY`ybA^?Q IbV@V^DIV.';iV(;V5ydɮfr4AdAA@A:iDNOT Ignoring new targets: 46.57 m.2i"ir*ir ProNav: ac range: 46.565716 m, nav range: 45.028931 m, bearing: 33.821218 deg, approach rate: -0.376857 m/s, LOS rate: -0.136778 deg/s, cmd heading: 33.799010 deg, new cmd heading: 33.709495 deg. iQzHeadingCmd: 0.588342 target range: 46.565716 and range: 46.60 m.h?hhhhggjgrgeB- >B)B-LIB-'~BB-J =B)B)B-;B-_EreYZeY:ea*ee* @BDAT read: Rx Time:01:35:40.9226 TRx dataTimestamp_ set to:1764898541.722426checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033569Ee EeEe*Ea"Ee:*Ee&p:VEe(N4ZEaBEe><2Ee><JEez;:Eez;IBɢʽ)  =i ) S  i Mi?=K>I?I@ @@5@)^A r> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282148a A .AI1 IY O >n#, LA%>%F0?%G3üٱ%=%H঳?-QnM? T? ?@ye?`5? ?i%>I%n;%CY5~By5:I iim=m=bDuVDuȰ8y<%6=ٔeBQ->9 ?Y ?=nEyD.E>Q 55s?Q 95)BYy]?Q IV@dDI%:i:5ԱyBɮ4AE:iDNOT Ignoring new targets: 46.57 m.2i"i+*i+ ProNav: ac range: 46.565716 m, nav range: 44.848671 m, bearing: 33.756701 deg, approach rate: -0.418166 m/s, LOS rate: -0.150267 deg/s, cmd heading: 33.709497 deg, new cmd heading: 33.579945 deg. iHeadingCmd: 0.586081 target range: 46.565716 and range: 46.60 m.ha ?hhhhggjg rg e re Ze:e*eZp @=GBɢE*˽)A EiA)E~IIiMJiMa ?U=U>IUa ?IYa @  @ @ /@ DAT read: 01:35:40.9226 LVL= 26864, 28001, 24130, 31683, AGC= 65, IDX= 418,-0.01,-1.029,-2.598,-0.613,-1.223, PHS= 0.297,-1.329, 0.566, RAW= 157.6, 5.3, CAL= 156.7, 4.9, ROT= 353.3, -4.9 Ygot valid direction response: 01:35:40.9226 LVL= 26864, 28001, 24130, 31683, AGC= 65, IDX= 418,-0.01,-1.029,-2.598,-0.613,-1.223, PHS= 0.297,-1.329, 0.566, RAW= 157.6, 5.3, CAL= 156.7, 4.9, ROT= 353.3, -4.9 bEjEKJ4rE/E EE)E"EV:*E:VEFA4ZEa@a@a@a@PDAT read: Bearing 209.7, -5.2 (Local) ~Local bearing/azimuth received: Bearing 209.7, -5.2 (Local) DAT read: Range 11 to 50 : 44.9 m (Round-trip 59.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.989541,-0.116245,0.085417] Fpublishing direction and range infoyimAQ?;C7½b$ݵ?Ym3BimhmammB^ m{)mAImb>imm`?mx 0@mq=m /@ m%=)mQ@Im%iimpD?~HRi?=~*? m'?)m|vIm|im%ii-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.^A5W>A} ؟AI I O >9 Yn#,LA2Q>2)C/?2˼ٱ2&j=2H?8yU?`:?.?ן*r?@T&? ?i2Q>I2Un;2CYB ~ByB=Ir(DAT read: user:28> vBDAT read: Tx time:01:35:42.2584 v$Ping request sent.vy}= A )A1YAQUAAbD]VD]8yma5<%m>=ٔKQ->9"?Y"?=nEyDE>Q 55}?Q 95)BY>Q E;yV?Q IV@jDI;i);^5yɮ4AiibLAjw3B"jw3B:jT?Rjv2F@i@BjAQ?;C7½b$ݵ?*j|2j%Zj$-B@syʓ7@IV @JjXb?W?ehU?jA j.Bi?i`pj BjJ٥?j aj>Brj2BzjA<? addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 3.788960 s, deltaX: -1.699997 m, approachRate: -0.448671 m/s, rangeRepo size: 4  Added new target pos. range: 44.866745 m, bearing: 32.146980 deg, lat: 36.779581 deg, lon: -121.859796 deg, deltaT: 3.788960 s, deltaX: -1.698971 m, approachRate: -0.448400 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 44.87 m.2i"i*i ProNav: ac range: 44.866745 m, nav range: 44.737827 m, bearing: 32.952988 deg, approach rate: 0.000000 m/s, LOS rate: -0.150267 deg/s, cmd heading: 33.579945 deg, new cmd heading: 33.443734 deg. iHeadingCmd: 0.583703 target range: 44.866745 and range: 44.90 m.hm?hhhhggjgrg-Be)re)Ze):e5@3sF@*e5`?}DBɢ}1%) Qi)i,顡iFim?+.=>Im?Ia=@9 @A@E0@ABBBRIB1~BBBBB;B_EBCBCBBI =BI =Cǟ4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251791ԡE EE-E"E&:*E҆:VEt4ZEBEi; A I I O >Cn#,LA2>24.?2d_Ӽٱ2O =2H@G?;ҝ?k ??`,k? `? H?i2>I2fn;2CY>~By>CIbDJ%VDJϰ8yN<%Ra=ٔR+Q-R>9PYT=VnEyVDVL=EZ>XQ 5^5Z-?Q 9^5ZD)ZBY`ybT?Q IbV@ZoDIZ:iZ:Z5ydɮjY4AhvB*** querying acoustic contact ***ititGyAb9yAYuA:i)-DNOT Ignoring new targets: 44.87 m.2i)"i5n*i5nE ProNav: ac range: 44.866745 m, nav range: 44.595943 m, bearing: 32.905098 deg, approach rate: -0.375499 m/s, LOS rate: -0.127146 deg/s, cmd heading: 33.443734 deg, new cmd heading: 33.347649 deg. iEhMHeadingCmd: 0.582026 target range: 44.866745 and range: 44.90 m.hM?hIhQhQhQgQgQjgYrgYeYreYZeY:ea*ee?ABɢͽ) si)]ϠilBi?@=1 >I?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503140@ @@/@9a^At>A .A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755454I! I9 OE >Em  Em Ei Ei "Em ;*Em :VEi ZEi au @au @au @au @ԉ $n#,t`ѻLAQQEoV>E,?E#ټٱE=EH?`JC?Z??#?T??iEoV>IEOn;AY],~By]OIeAeAqiMb@Mb@Mb@ 9yxi=ף;z AA A)MAYQAbDVD8y(=%)=ٔTQ->9 ?Y ?=nEyD$E%>!Q 5-5%ӑ?Q 955%p)%BY5y>Q E5:y5O?Q I5V@%uDI%3;i%H;%5y=BɮEL4AEE:iDNOT Ignoring new targets: 44.87 m.2i"i *i  ProNav: ac range: 44.866745 m, nav range: 44.400837 m, bearing: 32.844204 deg, approach rate: -0.425656 m/s, LOS rate: -0.133432 deg/s, cmd heading: 33.347647 deg, new cmd heading: 33.225326 deg. i2t%HeadingCmd: 0.579891 target range: 44.866745 and range: 44.90 m.h%s?h!h!h!h!gagijgirgmBeqreqZeq:eq*eu@A?>BɢҐ)! %i!)- ))i->i5s?5X=5  >I5s?I9ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0081671@9 @9@9@9@E=@E=^A]  > B9 A= <B B B _IB E~BB I =B B B ;B _EA ؟AI I O >9n#,fkLAE EE)E"ET;*E:VEFA4ZEBEGNZ+?NǹܼٱN"N=NH@ ??@?N?@tڳ ^?`?C?iN!>INm;NCYV9~ByVXI \^p=bDb VDb8yj-=%jW=ٔjɖQ-n>9n"?Yn"?=nnEynDr9Er>tQ 5z5v?Q 9z5vm)vBYxyzN?Q I~V@vzDIv;ivj;v 5yɮ4AI:iDNOT Ignoring new targets: 44.87 m.2i"i*i ProNav: ac range: 44.866745 m, nav range: 44.246738 m, bearing: 32.796630 deg, approach rate: -0.400907 m/s, LOS rate: -0.124200 deg/s, cmd heading: 33.225325 deg, new cmd heading: 33.129846 deg. iLcHeadingCmd: 0.578225 target range: 44.866745 and range: 44.90 m.h?hh!h!h)g)g)jg)rg)e1re1Ze1:e1*e=)?颥;Bɢ} ǽ) i)깯顁iq:i?jl= >I?Iy@ @@@ԡiI checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511126^A] > A .AI I O >o#,(LA2#>2d*?2ٱ2G=2H? Ŀ? ?a?`?n??i2#>I2m;0Y:P~By>eIbD^VD^8yf}\=%fL=ٔjGQ-j>9j ?Yj ?=nnEynDnEn>pQ 5v5rפ?Q 9v5rC)rBYxyzM?Q IzV@rDIrP:ir:r5y|ɮ~3A:i!%DNOT Ignoring new targets: 44.87 m.2i!"i-*i-= ProNav: ac range: 44.866745 m, nav range: 44.083927 m, bearing: 32.746869 deg, approach rate: -0.426610 m/s, LOS rate: -0.130871 deg/s, cmd heading: 33.129846 deg, new cmd heading: 33.029955 deg. i=oEHeadingCmd: 0.576481 target range: 44.866745 and range: 44.90 m.hEJ?hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU#?颅9Bɢ5Ƚ) Si)鵼顉ic7iJ?}|=E>IJ?I=@9 @9@=/@9EU EUEU(EQ"EU ;*EUą:VEUc44ZEQa]@a]@ae@ae@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763004^A]*>A ؟AI I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014882A Qo#,"LA;ɰ6BR>6)?6Yٱ6C4=6H~1?@g??%?2<3*?:??i6BR>I61m;6CYNT~ByRhIV=V=i%Mb@Mb@Mb@!!!! !9%9"?Y"?=nEyDE>Q 55󮙊?Q 95)BYT>Q E:yX?Q IV@DI:i:R5yɮ3A:iDNOT Ignoring new targets: 44.87 m.2i"i  +*i  +% ProNav: ac range: 44.866745 m, nav range: 43.909542 m, bearing: 32.682404 deg, approach rate: -0.403110 m/s, LOS rate: -0.149609 deg/s, cmd heading: 33.029955 deg, new cmd heading: 32.900514 deg. i%戻%HeadingCmd: 0.574222 target range: 44.866745 and range: 44.90 m.h-;?h)h)h)h)g)g)jg1rg5Be1re9Ze9:e9*e= @m6Bɢm=)i mii)m/qqiue3i};?}=}3>I};?I!@! @!@%/@!B!B!B%~IB%x~BAB%J =B!B!B%;B%_EEe EeEe+Ea"EeT;*Ee n:VEe [4ZEaBEaam2EaamJEe;au:Ee;auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266947^A]>qA}>AyA I I O >ԙ IFo#,/;LA2>2~)?2mٱ2j=2H B? c?`U?6&?[`?H??i2>I2#m;2CY:~By:IXXbD^VD^8yf!>%fZ=ٔf Q-f>9hYh=jnEyjDj&En>pQ 5r5r?Q 9v5r)rBYtyvX?Q IvV@rDIr:irP:r5yzBɮ~2A~EB*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 44.87 m.2i!"i-G**i-G*= ProNav: ac range: 44.866745 m, nav range: 43.758160 m, bearing: 32.626741 deg, approach rate: -0.403472 m/s, LOS rate: -0.148870 deg/s, cmd heading: 32.900512 deg, new cmd heading: 32.788801 deg. i=9EHeadingCmd: 0.572273 target range: 44.866745 and range: 44.90 m.hEt?hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU@颅3Bɢ뾽) ui)ü顉i0it?*=>It?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519030q@ @@;0@ԡ^A [>AM .AIQ Ia Eu  Eu Eu ,Eq "Eu l;*Eu :VEu g4ZEq a} @a} @a} @a} @O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771012 2o#,ULA P> ((? ٱ = HU?`?/?`.9?KU???i P>I l; CY~ByIiMb@Mb@Mb@ 91Zd?Mb?Q?Y">y=z A A)AYQAbDVDȰ8y!<%;=ٔͺQ->9 ?Y ?=nEyD E>Q 55(™?Q 95)BY}>Q E:y^?Q IV@DI;i;m5yɮ2A:i!%DNOT Ignoring new targets: 44.87 m.2i!"i-C*i-C= ProNav: ac range: 44.866745 m, nav range: 43.575359 m, bearing: 32.552193 deg, approach rate: -0.417415 m/s, LOS rate: -0.170939 deg/s, cmd heading: 32.788801 deg, new cmd heading: 32.639081 deg. i=kEHeadingCmd: 0.569659 target range: 44.866745 and range: 44.90 m.hE3?hAhAhAhAgIgIjgQrgUBeQreQZeQ:eY*e]@ @颅/BɢE) ri )  ɼ  i -i3?궍=o >I3?IBDAT read: Rx Time:01:35:44.7204 TRx dataTimestamp_ set to:1764898545.500677checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024129@ @@0@^A >) Aa Ae AAB >B B IB ~BB B B B ;B _EA ؟AI I O >I wZo#,oLAE EEE"E:*Eą:VEZEBEF8j?'?jٱj=jHe?sg.?p?I?m@X? ??ij>Ij-k;jCY ~By IbDVDŰ8y-8=%-U=ٔ-$غQ-5>95"?YU"?=UnEy] D].E]>aQ 5m5ec˙?Q 9m5eZ)eBYiyu]?Q IuV@eDIe:ie;e5yɮ?2A:iDNOT Ignoring new targets: 44.87 m.2i"i>*i> ProNav: ac range: 44.866745 m, nav range: 43.413601 m, bearing: 32.486475 deg, approach rate: -0.409398 m/s, LOS rate: -0.166948 deg/s, cmd heading: 32.639080 deg, new cmd heading: 32.507154 deg. iĘ%HeadingCmd: 0.567357 target range: 44.866745 and range: 44.90 m.h%M>?h!h!h!h!g!g)jg)rg)e)reQZeQ:eQ*eU@ @1颵,Bɢ0) liQ)]Z'мYYi]UY*ieM>?mˍ=mS>ImM>?Ii@ @@ 0@Y]DAT read: 01:35:44.7204 LVL= 24912, 26817, 23538, 32755, AGC= 61, IDX= 412, 0.37,-1.294,-2.878,-0.948,-1.554, PHS= 0.362,-1.279, 0.562, RAW= 155.7, 4.1, CAL= 154.7, 3.6, ROT= 355.3, -3.6 eYgot valid direction response: 01:35:44.7204 LVL= 24912, 26817, 23538, 32755, AGC= 61, IDX= 412, 0.37,-1.294,-2.878,-0.948,-1.554, PHS= 0.362,-1.279, 0.562, RAW= 155.7, 4.1, CAL= 154.7, 3.6, ROT= 355.3, -3.6 mPDAT read: Bearing 206.1, -2.7 (Local) u~Local bearing/azimuth received: Bearing 206.1, -2.7 (Local) }DAT read: Range 11 to 50 : 43.3 m (Round-trip 57.8 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.994671,-0.081777,0.062791]Fpublishing direction and range infoy)-~W?m[vU﴿֏ ?Y-3-B)-Pa-h-[ -)-=I-X>i-F-;?-'-@-C=-3,@ -=)-o@I-))-C?B6?ӺUQ? -m?)-ĪI-i-))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉ ^A A xAzA wAA I I1 O= >6"o#,HLA8N`>N0&?NFٱN}=NH`Mr?`d@V!?@T`?U?ݩ&H?ȳ?Y?iN`>INk;NCYV~ByVIbDbVDb8yjW=%jR=ٔjGQ-j>9lYl=nnEyn(DrֻEr>tQ 5z5vԙ?Q 9z5v)vBY|y~=]?Q I~V@vDIv;iv;v-5yBɮ1AEiqiuLAju-B"ju-B:ju_?RjuNM&̄E@dN {U@Bju~W?m[vU﴿֏ ?*ju2juZju3D̑6B@0n 7@ܧk@Jjud=g֤?\ ?3\1}?juOA juBiu+ҥ?iuiejuBjqjuiejqrju,Bzju?U addTargetRange:: Added new target pos. range: 43.299999 m, deltaT: 3.787046 s, deltaX: -1.600002 m, approachRate: -0.422493 m/s, rangeRepo size: 4 e Added new target pos. range: 43.268066 m, bearing: 32.312472 deg, lat: 36.779581 deg, lon: -121.859798 deg, deltaT: 3.787046 s, deltaX: -1.598679 m, approachRate: -0.422144 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 43.27 m.2ia"im*ii ProNav: ac range: 43.268066 m, nav range: 43.172085 m, bearing: 32.252380 deg, approach rate: 0.000000 m/s, LOS rate: -0.166948 deg/s, cmd heading: 32.507155 deg, new cmd heading: 32.379790 deg. iHeadingCmd: 0.565134 target range: 43.268066 and range: 43.30 m.h?hhhhggjgrgereZe:e`fE@*ePk?额)Bɢ) bi)sռik'i?ڍ=I?IEM EMEM+EI"EMl;*EM~:VEM [4ZEIaU@aU@aU@a]@߭%=߭=(DAT read: user:29> BDAT read: Tx time:01:35:46.0584 $Ping request sent. A .AI I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251611Z(o#,[ LA2#>2R%?2.ٱ2:=2H?`cQO?\M?c?ʹ@?`س?@?i2#>I2k;2CYr~ByrI|iuMb@Mb@Mb@qqqq q9u!rh?Mb?Q?Yul>yu>qud AuzA uA)uMAqYu(AbDVDɰ8y<%?=ٔ~Q->9 ?Y ?=nEy1DݻE>Q 55ޙ?Q 95ɾ) BY>Q E:yk?Q IV@DI ;i;5yɮ1A:iDNOT Ignoring new targets: 43.27 m.2i"i ~*i ~  ProNav: ac range: 43.268066 m, nav range: 42.984386 m, bearing: 32.158646 deg, approach rate: -0.442804 m/s, LOS rate: -0.222095 deg/s, cmd heading: 32.379789 deg, new cmd heading: 32.191504 deg. i :˻ HeadingCmd: 0.561848 target range: 43.268066 and range: 43.30 m.hA?hhhhggjgrgӀBe!re!Ze!:e!*e%a?%Bɢ) _i)ۼiz$iA?%X=%>I%A?I!QB >BBIB~BBBBB;B_E@ @@5@Ee EeEe)Ea"Ee ;*EeP:VEeFA4ZEaBEeL.o#,似LA4<ɰ4<:m>:70%?:wqٱ:^=:HU?@ћ?`I:j;8YF~ByFIbDR7VDR߰8yVz=%V[=ٔZ Q-Z>9Z"?Y^"?=^nEy^8D^%Eb>`Q 5f5b癊?Q 9f5b )bBYhyj.k?Q IjV@bDIb:ibS:b/5ylɮn1Ap~B*** querying acoustic contact ***i|i|:i DNOT Ignoring new targets: 43.27 m.2i "i{*i{% ProNav: ac range: 43.268066 m, nav range: 42.820347 m, bearing: 32.076657 deg, approach rate: -0.438292 m/s, LOS rate: -0.219904 deg/s, cmd heading: 32.191505 deg, new cmd heading: 32.026898 deg. i%9ɻ-HeadingCmd: 0.558975 target range: 43.268066 and range: 43.30 m.h-?h)h)h)h)g)g)jg1rg1e1re1Ze9:eA*eE^?m"Bɢm)i uWiq)uqqiu!yi?9=>I?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757579@ @@/@@zA@yAԩ^A5>A=?A=>Am .AbE [4jEY4rEȝ/Eu  Eu Eu +Eq "Eu =;*Eu ?:VEu [4ZEq a @a @a @a @I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009390 Yp5o#,ּLAuK>u~p$?ue ٱud=uH ?@ .L?@(?@ ?r촿6>?`r??iuK>IuFi;qY~ByIi5Mb@Mb@Mb@1111 195i|?5?y5t>594<5z A1 1)5A1Y5AbDMVDM8y](%]&=ٔeQ-e>9m ?Ym ?=mnEymBDmi»Eu>qQ 5}5u?Q 9}5u)uBY>Q E:yo?Q IV@uDIu] ;iu;u}5yBɮ1AE:iDNOT Ignoring new targets: 43.27 m.2i"i*i ProNav: ac range: 43.268066 m, nav range: 42.594826 m, bearing: 31.956590 deg, approach rate: -0.457665 m/s, LOS rate: -0.244949 deg/s, cmd heading: 32.026897 deg, new cmd heading: 31.785493 deg. i$ໝHeadingCmd: 0.554762 target range: 43.268066 and range: 43.30 m.h?hhhhggjgrgBereZe:e*e?Bɢ) WViEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261561)fAIiMiM?U=UE>IU?IQ@ @@5@)B% <A% <B >B B IB BB B B B ;B _EBYBYBYB]J =B]J =C]ʀN4Y ^Aq E}  E} E} ,Ey "E} ;*E} Ar:VE} g4ZEy BE} 7NX6#?6 ٱ6Zw=6H ??:?`?`? ~?Ƴ? ?i6'>I6ih;4XYZ~ByZIbDfVDf8y~A=%~Z=ٔ~Q->9"?Y"?=nEyJD 6E >Q 55!?Q 95)!BYy%n?Q I%V@DI:i:5y)ɮ-1AI:iDNOT Ignoring new targets: 43.27 m.2i"i%*i% ProNav: ac range: 43.268066 m, nav range: 42.423447 m, bearing: 31.865238 deg, approach rate: -0.448063 m/s, LOS rate: -0.239802 deg/s, cmd heading: 31.785494 deg, new cmd heading: 31.602052 deg. inۻHeadingCmd: 0.551560 target range: 43.268066 and range: 43.30 m.h3 ?hhhhggjgrgereZe:e*e?MBɢUtA)Q U9PiQ)U QYi]i]3 ?e%=eL>Ie3 ?Ia Y]CpG/{A-@) @)@-/@)]ڢ9/{AYɟAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765351 ^A@o>A1 9 IA IQ Oe >;Co#,X LAB>B 0#?B^ٱB]=BH?  w?@p?`? hX ?p?@#?iB>IB9eh;@YN~ByNIPRAbDVVDV8y^z<%^O=ٔb=1Q-b>9`Y`=fnEyfRDfEf>hQ 5n5j?Q 9n5j)j)BYpyrn?Q IrV@jDIjm ;ij ;j65yvBɮv 1AzE:iDNOT Ignoring new targets: 43.27 m.2i"i%*i%5 ProNav: ac range: 43.268066 m, nav range: 42.242821 m, bearing: 31.768618 deg, approach rate: -0.467163 m/s, LOS rate: -0.250961 deg/s, cmd heading: 31.602052 deg, new cmd heading: 31.407988 deg. i5廝=HeadingCmd: 0.548173 target range: 43.268066 and range: 43.30 m.h=U ?h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM@}Bɢ}\)y },Miy)顁iiU ?7=R>IU ?IE EE)E"El;*EZ:VEFA4ZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017459EY>iE>@ @@@Iy^A > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269693A9 II IY O >ԙ cIo#,c'LA2]>2."?2{-ٱ2䭞=2H਽?`@O??`?dm?Vͳ?`?i2]>I2j=g;0Y>~By>IiMb@Mb@Mb@ 9sh|??/$?y&1|?Y>y>`;d AA A)3 AYA <bDVD8y-%-D=ٔ-Q-5>91Y1=5nEy5ZDyE>Q 55?Q 95)1BY>Q E:yt?Q IV@DI[;i Z;5yzBɮ7AEBiBiBmIBm9BBiBiBiBmۣ;Bm_E:iDNOT Ignoring new targets: 43.27 m.2i"i*i ProNav: ac range: 43.268066 m, nav range: 42.050739 m, bearing: 31.657145 deg, approach rate: -0.418714 m/s, LOS rate: -0.244108 deg/s, cmd heading: 31.407990 deg, new cmd heading: 31.184026 deg. i_߻HeadingCmd: 0.544264 target range: 43.268066 and range: 43.30 m.hT ?hhhhggjgrg؀BereZe:e*e@颕Bɢl) Ki)6.顙iҚԩE EE0E"E*E~:VE4ZEBEaFIT ?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521628y@y @y@y@^A t> A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773420I O >oPo#,BLA2f>2!?2Pٱ22=2Hz? ˆ?b?@? wȢ?ウ??i2f>I2PUf;0Y>By>IbDFVDF8yNכ<%NH=ٔN/Q-R>9PYP=RnEyVcDVaŻEV>XQ 5^5Z4?Q 9^5Zt)Z8BY\y^\t?Q IbV@ZDIZS:iZ:Zn 5ydɮf7AdvB*** querying acoustic contact ***itit:ixzDNOT Ignoring new targets: 43.27 m.2i|"i~a*i~a  ProNav: ac range: 43.268066 m, nav range: 41.877422 m, bearing: 31.556289 deg, approach rate: -0.470947 m/s, LOS rate: -0.275185 deg/s, cmd heading: 31.184024 deg, new cmd heading: 30.981479 deg. i HeadingCmd: 0.540729 target range: 43.268066 and range: 43.30 m.h4m ?hhhhggjgrgaereZe:e*e@Bɢ) Hi)ހi9i4m ?_=e >I4m ?I]@Y @Y@Y@YԑE% E%E%*E!"E%&:*E%҆:VE%(N4ZE!a-@a5@a5@a5@^A}>BDAT read: Rx Time:01:35:48.5183 TRx dataTimestamp_ set to:1764898549.294125Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.029468A I I O > Vo#,`\LAZ;ɰXY~ByIi%Mb@Mb@Mb@!!!! !9%ףp= ?(\?Y%>y%z>%!%dA !)% A!Y!bDu VDu8y`3%0=ٔQ->9Y=nEylDE>Q 55$?Q 95)?BY>Q E:yAt?Q IV@DI;i:5yɮ%8A:iDNOT Ignoring new targets: 43.27 m.2i"i*i  ProNav: ac range: 43.268066 m, nav range: 41.681328 m, bearing: 31.441207 deg, approach rate: -0.421069 m/s, LOS rate: -0.248275 deg/s, cmd heading: 30.981479 deg, new cmd heading: 30.750234 deg. i /㻝checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277522HeadingCmd: 0.536693 target range: 43.268066 and range: 43.30 m.hd ?hhh!h!g!g!jg!rg-ҀBe)re)Ze1:e1*e5@I @]Bɢ])a eKia)e)3aaim:limd ?uv=u: >Iud ?Iq@ @@/@@yA@zA1AA?AB >BBIBCBBBBB;B_Ea^A a >EU  EU EU +EQ "EU V:*EU :VEU [4ZEQ BEU 9i `? ?-@ ԇ= !,@ s=) @I s 5TX#?U?P~,? ?) .I ii s = T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.y A I I O >\o#,>vLA5~> !?d*ٱp=H?%x?t? d?@>㵿???i5~>Ie;Y5~By5I@AbD#VDͰ8yh<%X=ٔQ->9Y!=%nEy%tD%E%>)QQ 5]5-I-?Q 9]5-)-DBYYy]Ns?Q IeV@-DI-;i-Q;-5yiɮm7AiiirLAj&B"j&B:j ?Rj9dD@byW@BjmT?NnVmECg]?*ji2jsZj9A@χA5@@g@Jjf?#fûջ?;{?jRA j? Biռ̥?i_j Bjjj Brj&Bzj ?U addTargetRange:: Added new target pos. range: 41.700001 m, deltaT: 3.783997 s, deltaX: -1.599998 m, approachRate: -0.422833 m/s, rangeRepo size: 4 e Added new target pos. range: 41.669250 m, bearing: 31.677852 deg, lat: 36.779581 deg, lon: -121.859798 deg, deltaT: 3.783997 s, deltaX: -1.598816 m, approachRate: -0.422520 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 41.67 m.2ii"i*i ProNav: ac range: 41.669250 m, nav range: 41.518211 m, bearing: 31.345561 deg, approach rate: 0.000000 m/s, LOS rate: -0.248275 deg/s, cmd heading: 30.750232 deg, new cmd heading: 30.545697 deg. iHeadingCmd: 0.533123 target range: 41.669250 and range: 41.70 m.hz?hhhhggjgrgereZe:eD@*e`4?% Bɢ%ʭ)I MGiI)MIIiMGiUz?Uo=]- >I]z?IYԁ@ @@/@i)I)5(DAT read: user:30> =BDAT read: Tx time:01:35:49.8084 =$Ping request sent.= A .AI I O >dco#,rLA2>2 I ?2ٱ2t՞=2H ? ƌ?? ?Hൿzޣ?`ѳ? 9?i2>I29e;2CYR~ByRIbDZ7VDZ߰8yb4&%b[=ٔb1Q-f>9f ?Yf ?=fnEyf{DjEj>D~=D~<E EEE"E;*E:VEZEa @a @a @a@lQ 5u5ne5?Q 9u5nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248909)nIBYyr?Q IV@nDInMI-R?I)Թ@ @@-0@^AD > = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501705A% ؟AI) I9 OM >9 jo#,fLAY=~By=IBm >BiBmIBm9BBiBiBiBm;Bm_EiEMb@Mb@Mb@AAAA A9E+?/$?{GzYE>yE1>E#EQAEA EA)E AAYEAbD]\VD]8ymv%m2=ٔuQ-u>9u"?Y}"?=}oEy}D}E}>Q 55@?Q 95*)NBY>Q E:y,l?Q IV@DII}?IyE EEE"El;*Eą:VEZEBEaFAi zAm yAE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005157A .Aԙ I I O >qo#,5ĽLA2>2R?2/#ٱ2C=2H?@3՘?@?? Id? o??i2>I2e;2CY^~By^I dfp=bDj@VDj8yrs]=%r^=ٔr6Q-v>9v ?Yv ?=zoEyzDz Ez>|Q 55~H?Q 95~)~QBYy j?Q I V@~DI~:i~;~B5yɮ8A5B*** querying acoustic contact ***i1i1:i9EDNOT Ignoring new targets: 41.67 m.2iA"iE*iEU ProNav: ac range: 41.669250 m, nav range: 41.015358 m, bearing: 31.063877 deg, approach rate: -0.432922 m/s, LOS rate: -0.237171 deg/s, cmd heading: 30.151255 deg, new cmd heading: 29.980015 deg. iUٻ]HeadingCmd: 0.523250 target range: 41.669250 and range: 41.70 m.h]?hYhYhahagagajgargieireiZei:eq*eu1?额Bɢ() Ki) y 顡i i?Ǝ= >I?I%@! @!@%35@!^A >1AM؟AIQIaOuX>D?AzDE EEE"E ;*E:VEZEa@a@a@a@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256723a Awo#,n޽LA4:>:P?:#%ٱ:'}=:Hf?x?y?@k? ?`? '?i:>I:@3f;:CYB~ByBIi Mb@Mb@Mb@     9 A`"?Mb?QY >y = u A A  A)  Y fAbD%RVD%8y5=%5F=ٔ5Q-=>9="?Y="?==oEyEDE EE>IQ 5U5MR?Q 9U5M+)MSBYU}>Q EU:y]V?Q I]V@MDIMD;iMz;M5yeBɮe8AeE:iDNOT Ignoring new targets: 41.67 m.2i"iK*iK ProNav: ac range: 41.669250 m, nav range: 40.844009 m, bearing: 30.991066 deg, approach rate: -0.416034 m/s, LOS rate: -0.177527 deg/s, cmd heading: 29.980016 deg, new cmd heading: 29.833783 deg. irHeadingCmd: 0.520698 target range: 41.669250 and range: 41.70 m.hrL?hhhhggjgrgBereZe:e*e@?BɢD) TKi)U'i'ci}rL?}%܎=}P >I}rL?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511580ԑ@ @@05@ԹB<AB  >B B IB %BB B B B ;B _E^A>E  E E ,E "E :*E VE g4ZE BE >Em}o#,PLAɰ6>6?6!(ٱ6=6H )?mo?a?T ?W b??/?i6>I6_f;4YB~ByBI\bDJVDJ8yf<%fQ=ٔfJQ-j>9hYh=joEyjDnkEn>pQ 5v5rl\?Q 9v5r݊)rUBYtyv*U?Q IzV@rDIr:irC:rF#5y|ɮ~8A|:i!-DNOT Ignoring new targets: 41.67 m.2i)"i-I*i5IE ProNav: ac range: 41.669250 m, nav range: 40.681290 m, bearing: 30.922221 deg, approach rate: -0.415396 m/s, LOS rate: -0.176451 deg/s, cmd heading: 29.833781 deg, new cmd heading: 29.695542 deg. iEvEHeadingCmd: 0.518285 target range: 41.669250 and range: 41.70 m.hES?hIhIhIhIgIgIjgQrgQeQreYZeY:eY*e]@颅Bɢ@) Gi)z顉iiS?=w >IS?I@ @@:4@@@xA^A >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012686AII On>A To#,c'LA2>2^?2(ٱ2*=2H@I2f;2CY:~By:IbE jE b4rE 0EB EBEB-E@"EBT;*EB:VEBt4ZE@aJ@aJ@aJ@aJ@bDV VDV8yZ%^L=ٔ^ԽQ-b>9`Y`=boEybDf ,Ef>hQ 5j5jZf?Q 9n5j|)jWBYlynT?Q InV@jDIjb;ij ;j&5ytɮv8At~N?~4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265131:i!%DNOT Ignoring new targets: 41.67 m.2i!"i-G*i-G ProNav: ac range: 41.669250 m, nav range: 40.514198 m, bearing: 30.852014 deg, approach rate: -0.414339 m/s, LOS rate: -0.174814 deg/s, cmd heading: 29.695542 deg, new cmd heading: 29.554547 deg. iHeadingCmd: 0.515824 target range: 41.669250 and range: 41.70 m.h ?hhhhggjgrgereZe:e*eb@颽Bɢ~) Hi)i">i ?1= >I ?IQ@ @@1@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517287^A| >ԡ A9 IA IQ Oe >o#, ,LABV >BVCBVIBVBBTBTBTBV;BV_EBiBiBiBiBiCm U4 > ? Eh*ٱ U= H`O?5?@2*?`1?dwvK?j??i >I f; CY%~By%IqiMb@Mb@Mb@ 9|?5^?㥛 ?MbY>y=7A ~A) AY AbDVD8y %9=ٔQ->9Y=oEyD/E>Q 55aq?Q 95)XBYb>Q E:y0H?Q IV@DI;i;*5yBɮ9AE:i)-DNOT Ignoring new targets: 41.67 m.2i)"iM%*iM%] ProNav: ac range: 41.669250 m, nav range: 40.335213 m, bearing: 30.788835 deg, approach rate: -0.408638 m/s, LOS rate: -0.144881 deg/s, cmd heading: 29.554546 deg, new cmd heading: 29.427629 deg. i]eHeadingCmd: 0.513609 target range: 41.669250 and range: 41.70 m.he{?haE EE(E"E:*E?:VEc44ZEBE<I%{?I!@ @@4@݂G9YA^A v >  BDAT read: Rx Time:01:35:52.2661  TRx dataTimestamp_ set to:1764898553.072547 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021820I I! O5 >ؑo#,GLA2>2?2\+ٱ2EԞ=2Hb?m?g?)E?iny?г?0?i2>I2ag;2CY>~By>IIB>)Bp<bDFVDF8yNKX;%NP=ٔR+jQ-R>9PYP=RoEyVDV]+EV>xQ 55{?Q 95)ZBYy"G?Q I%V@DIq:i\:,.5y)ɮ-z9A)EB*** querying acoustic contact ***iAiA:iquDNOT Ignoring new targets: 41.67 m.2iq"i}!*i}! ProNav: ac range: 41.669250 m, nav range: 40.170460 m, bearing: 30.731198 deg, approach rate: -0.402265 m/s, LOS rate: -0.141307 deg/s, cmd heading: 29.427628 deg, new cmd heading: 29.311880 deg. iMHeadingCmd: 0.511589 target range: 41.669250 and range: 41.70 m.h|?hhhhggjgrge!re!Zei:ei*em < @EBɢE4$)I MHiI)MGIIiMci]|?t,=>I|?IQ@Q @Y@]/@Y@e=@e=E EE+E"E*E҆:VE [4ZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272808I^Ae >y IY Ii Ou >o#,,aLA23>2?2;,ٱ2M=2H``u?}??0X?yg ?2?D?i23>I2,:h;2CY>~By>IiMb@Mb@Mb@ 97A`??~jtY>yL=A )~ AY AbDVD8y%<%-B=ٔ-Q-->91Y1=5oEy5D5E5>DAT read: 01:35:52.2661 LVL= 27792, 32753, 30898, 32755, AGC= 66, IDX= 416, 0.14, 2.349, 0.666, 2.598, 1.992, PHS= 0.459,-1.282, 0.561, RAW= 152.8, 2.9, CAL= 151.7, 2.5, ROT= 358.3, -2.5 Ygot valid direction response: 01:35:52.2661 LVL= 27792, 32753, 30898, 32755, AGC= 66, IDX= 416, 0.14, 2.349, 0.666, 2.598, 1.992, PHS= 0.459,-1.282, 0.561, RAW= 152.8, 2.9, CAL= 151.7, 2.5, ROT= 358.3, -2.5 PDAT read: Bearing 198.8, 0.7 (Local) ~Local bearing/azimuth received: Bearing 198.8, 0.7 (Local) DAT read: Range 11 to 50 : 40.1 m (Round-trip 53.5 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.998608,-0.029638,0.043619]Fpublishing direction and range infoyܟə?P>M9YGU?Yf Blx )BI >i?*@4QO=Us)@ ¸2=)@I¸2N? d jR?.Zf? {?)HSIi¸2-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.AQ 55?Q 95})YD>Q E:y7?Q IV@DI:i:25yɮ\9AiizeLAjG B"jG B:j ?Rj:JD@݆~sq)?Bjܟə?P>M9YGU?*j2j¸2ZjeOM@@1BBIBBBBBB&;B_EBɢ) Di)i/i%]?%B=%>I%]?I)@ @@!4@ԑE EE*E"E:*E:VE(N4ZEBEF8 u BDAT read: Tx time:01:35:53.6084 } $Ping request sent.} Ia Iq O} >;o#,Ȳ{LAY~ByIbDVD8y0<%:=ٔQ->9!Y!=%oEy%D%E->YQ 5e5]u?Q 9e5]z)][BYaiyyQ I}V@] DI]Ѭ;i]6;]55yBɮ9AE:iDNOT Ignoring new targets: 40.07 m.2i"iZ*iZ ProNav: ac range: 40.070309 m, nav range: 39.743065 m, bearing: 30.699624 deg, approach rate: -0.439396 m/s, LOS rate: -0.116585 deg/s, cmd heading: 29.177595 deg, new cmd heading: 29.089064 deg. i\UHeadingCmd: 0.507700 target range: 40.070309 and range: 40.10 m.h?hhhhggjgrgereZe:e*e@?%Bɢ%Ƚ)! -Ai))-v))i-i5?5fQ=5;>I5?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251274@ @@/@ԙ^A G>Ia Iy O >E  E E ,E "E l;*E :VE g4ZE a @a @a @a @ U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502617 $o#,:LA6,;>6h?6d/ٱ6-=6H?~??@~??۳?@?i6,;>I6i;4Y>~By>I @@bDJVDJ8yR%Rf=ٔRQ-R>9TYT=VoEyVDVüEZ>\Q 5b5^훚?Q 9b5^(x)\Y`yb5?Q IbV@^DI^:i^G:^85ydɮj9Ah:iDNOT Ignoring new targets: 40.07 m.2i"i޺*i޺m ProNav: ac range: 40.070309 m, nav range: 39.597210 m, bearing: 30.662628 deg, approach rate: -0.382505 m/s, LOS rate: -0.097378 deg/s, cmd heading: 29.089065 deg, new cmd heading: 29.014802 deg. iu62HeadingCmd: 0.506404 target range: 40.070309 and range: 40.10 m.h?hhhhggjgrgereZe:e*e`.T?mBɢmQ)q uKBiq)uԥ qqiui}?}b=>I?II)yAU@Q @Q@Q@QiߩI߭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754970A ^A} >I I O- >B >B CB IB BB B B B ,;B _E@Ho#,3RLA J< >JP?J&1ٱJ=JH .?`0y?{?/?@h9?ڶ??iJ< >IJ4i;JCYV~ByVIi5Mb@Mb@Mb@1111 195:v?:v?y&1|Y5>y5<5`5 A5A 5A)5h A1Y5z AIMAAbDUVDU8y=%;=ٔ Q->9Y=oEyD%HE%>)Q 555-?Q 955-0u)-^BY5p>Q E=:y=%?Q I=V@-DI-;i-D;-<5yUBɮ]9AaE} E}E}*Ey"E};*E}~:VE}(N4ZEyBE}7NAzAIIO%M>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586640o#,j/ɾLA28k>2?2[ 2ٱ2Z=2H 8?H>u?Vx?@%?U??ni?`?i28k>I2^i;2CPYR~ByVIbD^VD^8yf$/=%f[=ٔfQ-f>9hYh=joEyjDn{hEn>AQ 5M5E?Q 9U5Er)EaBYYyD$?Q IV@EDIE) A I I O >Zo#, 㾍LA|YByII =) > A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762836iMb@Mb@Mb@ 9|?5^?Q?Mb`?Y>y\=; A )AYQ AbD}VD}8y<%1=ٔQ->9Y=oEyDE>Q 55}?Q 95o)fBY>Q E;y)?Q IW@#DI;i;C5yBɮ|8AE:iDNOT Ignoring new targets: 40.07 m.2i"i ߽*i ߽ ProNav: ac range: 40.070309 m, nav range: 39.070374 m, bearing: 30.572894 deg, approach rate: -0.437059 m/s, LOS rate: -0.083000 deg/s, cmd heading: 28.904923 deg, new cmd heading: 28.834520 deg. i%HeadingCmd: 0.503257 target range: 40.070309 and range: 40.10 m.h%y?h!h!h!h!g)g)jg1rg5qBe1re1Ze1:e9*e=}@eրBɢmB)i m*iq)udw'qqiuzջi}y?ܒ=X9=Iy?I)BIBIBMIBM9BBIBIBIBM$;BM_Ea@a @i@m0@i^A==aAiIyIE EE*E"E;*E|:VE(N4ZEBE@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014768ԁ Io#,LA23>2?25ٱ2=2H?JNk???`2?SG@Ρ?5? ?i23>I2di;2CYNByNI V=V=bDZVDZ8ybu=%bl=ٔb Q-b?9dYd=foEyfDjżEj?lQ 5r5nȚ?Q 9r5nrm)njBYtyvv'?Q IvW@n(DIn:in:nF5yxɮz'8Ax:iDNOT Ignoring new targets: 40.07 m.2i"i%*i%5 ProNav: ac range: 40.070309 m, nav range: 38.930313 m, bearing: 30.547921 deg, approach rate: -0.409471 m/s, LOS rate: -0.073271 deg/s, cmd heading: 28.834521 deg, new cmd heading: 28.784397 deg. i5=HeadingCmd: 0.502383 target range: 40.070309 and range: 40.10 m.h=$?h9h9h9hAgAgAjgArgAeIreIZeI:eI*eMCQ@ԁEҀBɢEX8)I M#iI)M d)IIiMHBѻi$?=*=I$?I%@) @)@-t3@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266727ԡ^AMɯ=AU>AQAy I I O > E  E E .E "E :*E &p:VE ـ4ZE a @a @a @a @= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518744mo#,LA2j>24?2J7ٱ2=2Hy?0a?!??@; ?` ??i2j>I2Eii;2CY:*By:IbDFVDF8yJH=%NM=ٔNֺQ-N>9PYP=RoEyRDR2EV>TQ 5Z5VӚ?Q 9^5Vj)VoBY\y^[&?Q I^W@V-DIV;iV;VRJ5ybBɮf+8AfE:iDNOT Ignoring new targets: 40.07 m.2i"i*i ProNav: ac range: 40.070309 m, nav range: 38.766930 m, bearing: 30.519619 deg, approach rate: -0.391030 m/s, LOS rate: -0.068022 deg/s, cmd heading: 28.784398 deg, new cmd heading: 28.727555 deg. iHeadingCmd: 0.501390 target range: 40.070309 and range: 40.10 m.h[?hhhhggjgrgereZe :e *e  :@u΀Bɢ}Ӻ)y }iy)}Cl+yyimͻi[?==I[?Iq@q @q@}05@y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706969^A=A I) I9 BE >BA BE IBE lBBA BA BA BE ;BE _EY Om >Ֆo#,̛0LAɰ6 >6?69ٱ6]=6H4 ?$[? `? ?Jb-? '??i6 >I6vi;6CY>IBy>IF=F=iMb@Mb@Mb@ 9|?5^?)\(?Mb?YyGa=<A ~A)Yz AbD%VD%8y-H=%5A=ٔ5Q-5>99Y=oEyDE>Q 55ߚ?Q 95g)vBY>Q E:yr1?Q IW@3DI];i;4N5y!ɮ%7A!1:iIE] E]E](EY"E];*E]:VE]c44ZEYBE]AhhhhggjgrgBereZe:e*e @ʀBɢ,BDAT read: Rx Time:01:35:56.0640 TRx dataTimestamp_ set to:1764898556.856633checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023865)) 5i1)5c-11i5|ɻi=2>==="@=I=2>IAi@ @@5@@xA@yAaԑ^A- = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275640Ay I I O >Թ ~o#,vJLAQ>&?};ٱ<=H`)?`]W?@ ? ?m?m}?`?iQ>IJk;CY`By I!%@AbD-VD-8y=M=%=:=ٔ=vQ-E>9AYA=EoEyE DMEM>QQ 5]5U,뚊?Q 9]5Ud)U|BYYy]/?Q IeW@U8DIU2:iU:UQ5yiɮmU7AiB*** querying acoustic contact ***iiԑ:iDNOT Ignoring new targets: 40.07 m.2i"iܺ*iܺ ProNav: ac range: 40.070309 m, nav range: 38.414238 m, bearing: 30.436204 deg, approach rate: -0.412947 m/s, LOS rate: -0.096391 deg/s, cmd heading: 28.639670 deg, new cmd heading: 28.559960 deg. ih0HeadingCmd: 0.498465 target range: 40.070309 and range: 40.10 m.h6>hhhhggjgrgereZe:e*ehf @ƀBɢb)  i)'6/i{^Żi6> ^Ǐ=  =I 6>I @ @@/@bE(N4jEęT4rEĂL0Eu EuEqEq"Eu=;*Eu~:VEqZEqa}@a}@a}@a@5DAT read: 01:35:56.0640 LVL= 23760, 26449, 27490, 32755, AGC= 62, IDX= 427,-0.17,-2.048, 2.564,-1.897,-2.414, PHS= 0.468,-1.260, 0.473, RAW= 150.2, 3.7, CAL= 149.3, 3.7, ROT= 0.7, -3.7 =Ygot valid direction response: 01:35:56.0640 LVL= 23760, 26449, 27490, 32755, AGC= 62, IDX= 427,-0.17,-2.048, 2.564,-1.897,-2.414, PHS= 0.468,-1.260, 0.473, RAW= 150.2, 3.7, CAL= 149.3, 3.7, ROT= 0.7, -3.7 EPDAT read: Bearing 196.8, 3.7 (Local) E~Local bearing/azimuth received: Bearing 196.8, 3.7 (Local) MDAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]\direction in FSK: [0.997841,0.012192,0.064532]]Fpublishing direction and range infoy }P?M=?P0?YB\Qgbk )>I>iG->g'@ A= &@  A=)+H o#,HRdLAY~yBy~Ie(DAT read: user:32> eBDAT read: Tx time:01:35:57.4084 m$Ping request sent.my=t< AA A)YbDVD8y9~=%N=ٔQ- >9 Y = oEy DE>Q 5%5i?Q 9%5a)BY%,>Q E%:y%>9?Q I-W@>DI8:i:QU5y5BɮC7Ai1i5WLAj5B"j5B:j5?Rj5f1C@B ]?m'Ɓ@Bj5 }P?M=?P0?*j5+H<2j5 AZj5T+@@.QK}d4@a@Jj5t?@BL?ta?j5#A j5^Bi5c՛?i5C`Ij5DBj5ռ̥?j5_j1rj5"Bzj5 ?% addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.780217 s, deltaX: -1.599998 m, approachRate: -0.423256 m/s, rangeRepo size: 4 U Added new target pos. range: 38.471725 m, bearing: 32.232319 deg, lat: 36.779580 deg, lon: -121.859796 deg, deltaT: 3.780217 s, deltaX: -1.598583 m, approachRate: -0.422881 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 38.47 m.2iY"i]*ia ProNav: ac range: 38.471725 m, nav range: 38.283653 m, bearing: 30.680568 deg, approach rate: 0.000000 m/s, LOS rate: -0.096391 deg/s, cmd heading: 28.559960 deg, new cmd heading: 28.472764 deg. iHeadingCmd: 0.496943 target range: 38.471725 and range: 38.50 m.h`o>hhhhggjgrgBB >BCB:IBBBBBBB_EBBBBBC64ere Ze :e @C@*e?=Bɢ=rg)9 =tia)el51aaieim`o>m ֏=ma=Iu`o>Iq!@ @@4@Eu EuEqEq"Eul;*Eu$:VEqZEqBEuaFn!o#,7LAbCé>b ?b>ٱbߟ=bHlB?LR?ั?0%? < ܧ?1?-?ibCé>Ib*m;`YBy,IbD% VD%8y5{=%=E=ٔ=Q-=>9AYA=EoEyEDEdEE>IQ 5U5M5?Q 9]5M^)MBYYy]7?Q I]W@MDDIMj;iM#;MX5yaɮe6AiL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEntering USBL mode with 120.000000 count pings at 38.500000 m (mode 2.000000 count ).L1M:iDNOT Ignoring new targets: 38.47 m.2i"i!*i! ProNav: ac range: 38.471725 m, nav range: 38.100880 m, bearing: 30.629890 deg, approach rate: -0.506865 m/s, LOS rate: -0.141213 deg/s, cmd heading: 28.472764 deg, new cmd heading: 28.370922 deg. i7HeadingCmd: 0.495166 target range: 38.471725 and range: 38.50 m.hf>hhhhggjgrgereZe:e*e?Bɢ() i)2is)if>ߏ==If>II)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503852%@! @!@%/@!@-=@-=a^AEp{=ԉI) I9 OE >Ee  Ee Ee )Ea "Ee ;*Ee Z:VEe FA4ZEa am @am @am @am @ > ;? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755081Ա rGo#,VLAR>R ?RhAٱRk=RH!L?P?c?.?O*?4B?@&?iR>IR"n;RCYZByZ>IbDfVDf8yn=%nQ=ٔrǺQ-r>9pYt=voEyv!DvL»Ev>xQ 5~5z_ ?Q 9~5z[)zBYy'7?Q IW@zJDIz:izi:z\\5y ɮ d6A j%^@1M%qM%:i15DNOT Ignoring new targets: 38.47 m.2i9"i= *i= M ProNav: ac range: 38.471725 m, nav range: 37.928284 m, bearing: 30.582214 deg, approach rate: -0.443098 m/s, LOS rate: -0.122954 deg/s, cmd heading: 28.370922 deg, new cmd heading: 28.275136 deg. iMaUHeadingCmd: 0.493494 target range: 38.471725 and range: 38.50 m.hUF>hQhQhYhYgYgYjgargaeareaZea:ei*em?颕Bɢ0) Xi)(3顙iȻiF>=,=IF>Iԙ1@9 @9@E/@A^AUSk=IIO-->echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933B >B B _IB BB B B B ;B  qo#,Y1LAJ[>Jx ?JBٱJa>=JH#V?4P?`? _7?ҷhT?<|? r?iJ[>IJm;JCYrByrAIE% E%E%+E!"E%T;*E% n:VE% [4ZE!BE%Gy=94<AA A)QAY AbDVD8y <% 8=ٔ.9Y=oEy*DE>!Q 5-5%!?Q 9-5%W)%BY5>Q E5:y5tG?Q I5W@%PDI%;i% ;%;`5y=Bɮ=6AEEjYqM]M]:iamDNOT Ignoring new targets: 38.47 m.2ii"im;*iu; ProNav: ac range: 38.471725 m, nav range: 37.738060 m, bearing: 30.509885 deg, approach rate: -0.429144 m/s, LOS rate: -0.163997 deg/s, cmd heading: 28.275136 deg, new cmd heading: 28.129749 deg. iHeadingCmd: 0.490957 target range: 38.471725 and range: 38.50 m.h^>hhhhggjgrgBereZe:e*e2?Bɢ]) gܾi)a~5iiim,ոiu^>u=}*=I}^>Iy@  @ @ @ ^AM Z=I u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510968I I O >]o#,οLA &4<ɰ$B>B` ?BߐDٱBٌ=BHa?࿏F?`}?OB?౏???iB>IBR l;BCYJByNJIbDVϿVDV8y^2+=%^b=ٔ^Q-b>9`Y`=boEyb2DfEf>hQ 5-5j"?Q 955jT)jBY1y5F?Q I5W@jUDIj3;ij;jdc5yAɮEj6AAjYM]]Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL] ]Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLeB*** querying acoustic contact ***iaiex:iiuDNOT Ignoring new targets: 38.47 m.2iq"iu[5*i}[5 ProNav: ac range: 38.471725 m, nav range: 37.582733 m, bearing: 30.450954 deg, approach rate: -0.416190 m/s, LOS rate: -0.158555 deg/s, cmd heading: 28.129748 deg, new cmd heading: 28.011400 deg. iHeadingCmd: 0.488891 target range: 38.471725 and range: 38.50 m.hO>hhhhggjgrgereZe:e*e,?BɢJ) gѾi)L6iCiO>n==IO>Il>i>I@ @@/@@@wAE- E-E)E)"E-;*E-i:VE)ZE)a=@a=@a=@a=@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763201q^AII!O->ԡ o#,c翍LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971V ?VȉEٱV&G=VH@m? {@:? Ci?!N?!Ů?޼?`?iV|>IVi;VCYbByb]Ii}Mb@Mb@Mb@yyyy y9}+?K7A?Mb`?Y}>y} >};yy }MA)yyYybDѿVD8y=%;=ٔQ->9QYY=]oEy];D]bϻE]>aQ 5m5e.?Q 9m5eP)eBYu>Q Eu:yuKR?Q IuW@e\DIe ;ie ;e]g5yyɮ}5A:iDNOT Ignoring new targets: 38.47 m.2i"ih*ih ProNav: ac range: 38.471725 m, nav range: 37.384987 m, bearing: 30.360495 deg, approach rate: -0.442378 m/s, LOS rate: -0.203435 deg/s, cmd heading: 28.011400 deg, new cmd heading: 27.829527 deg. i'HeadingCmd: 0.485717 target range: 38.471725 and range: 38.50 m.h>hhhh g g jg)rg5ȀBe1re1Ze1:e1*e=@@BiAm4=Bu>BqBu~IBu BBqBqBqBu;Bu_EԩBɢoN) +i)*8ii>==I>I@ @@/@E= E=E9E9"E=:*E=:VE9ZE9BE=F8p#,LA60B>6k ?6Gٱ6 =6H}w?6k?`VX?`W?.C rި?`wմ? ?i60B>I6%g;6CYBByBbI`bDfVDf8yn<%nX=ٔr\|Q-r>9r ?Yr ?=roEyvBDvNٻEv>xQ 5~5z 8?Q 9~5zM)zBYyQ?Q IW@zaDIz~:iz:zj5y Bɮ 5A E:i1=DNOT Ignoring new targets: 38.47 m.2i9"i=hYhYhYhYgYgYjgargaeareaZea:ei*em@颕Bɢ) i)5(9顙iMid>=@ =Id>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520129M@I @I@M_0@I ^Am3W=Iy I O >E!  E% E% *E! "E! *E% i:VE% (N4ZE! a- @a- @a- @a- @9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770907mp#,LLA:_>:m?:Gٱ:s=:H~?9_6?&L?^?񊸿@?!?D?i:_>I:f;8YBByBfIVAVAbDZٿVDZ8ybw<%fL=ٔf,Q-f>9dYh=joEyjJDjwEj>lQ 5r5nB?Q 9r5nRJ)nBYtyvhhhhggjgrgereZe:e*e- @额BɢH) i) Y:顡i[ik>$==Ik>IQa@a @i@m0@i%BDAT read: Rx Time:01:35:59.8619 -TRx dataTimestamp_ set to:1764898560.636621-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024080y^ASk=BU >BU CBU IBU BBU K =BQ BU [DBU ;BU _Eԡ I I O >Y p#,5LA>ۦ>>?>Jٱ>ҧ=>HI?U`IB?`bd?t@O? ??i>ۦ>I>0pe;>CY^BybgIEp ErEr(Ep"Ep*Erz:VErc44ZEpBEpaz2EpazJEr;az:Er;azieMb@Mb@Mb@aaaa a9e-?T㥛 ?MbPYe5>ye>eeAeA e A)eAaYe A u=u<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275085ԉbDVD8yR;%==ٔκQ->9Y=oEySDFVE>Q 55M?Q 95F)BYb>Q E:yP?Q IW@mDI:i:q5yɮ5A:iDNOT Ignoring new targets: 38.47 m.2i"iW*iW ProNav: ac range: 38.471725 m, nav range: 36.867218 m, bearing: 30.122395 deg, approach rate: -0.406233 m/s, LOS rate: -0.188605 deg/s, cmd heading: 27.524206 deg, new cmd heading: 27.351098 deg. i HeadingCmd: 0.477367 target range: 38.471725 and range: 38.50 m.h ii>h h h h ggjgrgBereZe:e*eద @MBɢM)I MMiQ)UN;QQiUK/i]ii>]1=]H=I]ii>Iaԩ@ @@?0@] DAT read: 01:35:59.8619 LVL= 20624, 27985, 24562, 31219, AGC= 62, IDX= 421, 0.17,-0.970,-2.692,-0.931,-1.414, PHS= 0.545,-1.233, 0.439, RAW= 147.0, 2.9, CAL= 146.3, 3.0, ROT= 3.7, -3.0 e Ygot valid direction response: 01:35:59.8619 LVL= 20624, 27985, 24562, 31219, AGC= 62, IDX= 421, 0.17,-0.970,-2.692,-0.931,-1.414, PHS= 0.545,-1.233, 0.439, RAW= 147.0, 2.9, CAL= 146.3, 3.0, ROT= 3.7, -3.0 m PDAT read: Bearing 194.0, 6.7 (Local) m ~Local bearing/azimuth received: Bearing 194.0, 6.7 (Local) u DAT read: Range 11 to 50 : 36.9 m (Round-trip 49.3 ms) speed 0.4 m/s } R#Rx 1: Read range and direction messages. \direction in FSK: [0.996548,0.064444,0.052336] Fpublishing direction and range infoy) - `.?Fpd?yoU˪?Y- B) - P- Qm- _ - y)) I-  ?i- ҝ- >- Y3$@- 4QO=- .k#@ - PwV=)- A=I- PwV) ) - qц|??Zw0(? - >)- PI- A=i- PwV) )  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=Ai Am >I I O > ޷p#,lOLA:>:M&?:kLٱ:~=:H ?@I]@"5?l?fE:???i:>I:d;:CYBByBjIbDNҿVDN8y &<%U=ٔ )xQ- >9 Y = oEy [DE>Q 555X?Q 95"C)BYyuP?Q IW@sDI:i:Ku5yBɮ5AEiYi]HLAj]}B"j]}B:j]כ?Rj]HW_B@yl@n5?Bj]`.?Fpd?yoU˪?*j] A=2j]PwVZj]gRj>@\2Sv4@@Jj]=de?2Ú? _?j]A j]WAi]m[?i]=(j]އBj]Wa@?j]MjYrj]Bzj]7 ?] addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 3.779906 s, deltaX: -1.599998 m, approachRate: -0.423291 m/s, rangeRepo size: 4 e Added new target pos. range: 36.872139 m, bearing: 33.931802 deg, lat: 36.779575 deg, lon: -121.859787 deg, deltaT: 3.779906 s, deltaX: -1.599586 m, approachRate: -0.423182 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 36.87 m.2ii"i*i ProNav: ac range: 36.872139 m, nav range: 36.655857 m, bearing: 31.382155 deg, approach rate: 0.000000 m/s, LOS rate: -0.188605 deg/s, cmd heading: 27.351098 deg, new cmd heading: 27.204819 deg. iHeadingCmd: 0.474814 target range: 36.872139 and range: 36.90 m.h>hhhhggjgrgereZe:e@3sB@*e@?%Bɢ-@))) ->i1)5'<11i5.iU>U)==Ux%=IU>IYE EE&E"E7;*EVE4ZEa@a@a @a @(DAT read: user:33> BDAT read: Tx time:01:36:01.1584 $Ping request sent.Y = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249702p#,qiLAZl>Z?ZeLٱZ =ZH?9HZap%?u?`vD`???iZl>IZq2d;XYnBynaI tt~=~=iMb@Mb@Mb@ 91Zd?Zd;?y&1|Y">y=`AA MA)AY AbDVD8y% ;=ٔ EQ- >9 Y=oEycDE>Q 5%5c?Q 9-5?)BY->Q E-:y-N?Q I-W@yDI(:i1:x51y9ɮ=6A9]B*** querying acoustic contact ***iYiY:iamDNOT Ignoring new targets: 36.87 m.2ii"imU*imU} ProNav: ac range: 36.872139 m, nav range: 36.475296 m, bearing: 31.306584 deg, approach rate: -0.443819 m/s, LOS rate: -0.186671 deg/s, cmd heading: 27.204819 deg, new cmd heading: 27.052931 deg. iЪHeadingCmd: 0.472163 target range: 36.872139 and range: 36.90 m.hP>hhhhggjgrgBereZe:e*e ?Bɢm) i)a=iiP>H==IP>II)xAAA?AB>BBIB+BBBBB;B_Em@i @i@u4@qaE EE0E"EV:*EAr:VE4ZEBE9 + p#,KLA:m>: ?: BLٱ:S=:Hn? +a?8~? X??@?i:m>I:cac;:CYBByB^IJ@AHbDNVDNɰ8yVX%Vc=ٔV8Q-Z>9XYX=ZoEyZkD^E^>`Q 5f5bhl?Q 9f5b<)bBYdyfVN?Q IjW@b~DIb~:ib:b|5ylɮn-6Al:iy}DNOT Ignoring new targets: 36.87 m.2iy"iF*iF ProNav: ac range: 36.872139 m, nav range: 36.320957 m, bearing: 31.241909 deg, approach rate: -0.412813 m/s, LOS rate: -0.173723 deg/s, cmd heading: 27.052931 deg, new cmd heading: 26.923031 deg. iHeadingCmd: 0.469896 target range: 36.872139 and range: 36.90 m.h&>hhhhggjgrgereZe:e*e?Bɢ$) Vi)>ii&>)T==I&>IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754265@ @@/@^Ah=AzAxAII)O=> bEjE(N4rEɼ0E  E E *E "E ;*E |:VE (N4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0056689 &p#,)LA6>6`?6Mٱ6>=6H.?b`M ??|@?@۴?@l?i6>I6c;4YBByB`IbDJ,VDJհ8yRG;%RJ=ٔV{KQ-V>9TYX=ZoEyZsDZCEZ>\Q 5b5^v?Q 9b5^'9)^BYdyfM?Q IfW@^DI^:i^%:^5yjBɮjs6AjE:i|~DNOT Ignoring new targets: 36.87 m.2i"iW*iW ProNav: ac range: 36.872139 m, nav range: 36.147583 m, bearing: 31.169138 deg, approach rate: -0.446894 m/s, LOS rate: -0.188476 deg/s, cmd heading: 26.923031 deg, new cmd heading: 26.776792 deg. iwHeadingCmd: 0.467343 target range: 36.872139 and range: 36.90 m.hG>hhh!h!g!g!jg!rg)e)re)Ze):e)*e5l?Bɢga)  i)?i iG>`=G=IG>I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2576339^AB >B B B B B B B 0;B _EBCBCBBK =BK =C4q A% ؟AI) I9 OM > -p#,LA(,,V>V]?V"OٱVKd=VH?!Nd`?5?%? ??iV>IVd;TEb EbEb(E`"Ebl;*Eb:VEbc44ZE`BEbaF9"?Y"?=oEy{DiE>Q 55Ԃ?Q 955)BY>Q E:y:?Q IW@DI;i;m5yɮv6A:iDNOT Ignoring new targets: 36.87 m.2i"i *i  ProNav: ac range: 36.872139 m, nav range: 35.960976 m, bearing: 31.113563 deg, approach rate: -0.429439 m/s, LOS rate: -0.128559 deg/s, cmd heading: 26.776792 deg, new cmd heading: 26.665064 deg. iFk HeadingCmd: 0.465393 target range: 36.872139 and range: 36.90 m.h H>h h h h gaGgAjgrgB%멿9!Y%Ae!re)Ze):e1*e5/?i颽Bɢh) 2i) Ait梻iH>n=1=IH>I@ @@/@@=@p=ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855 ^A l9=I I O >"4p#,LAL=>=X?="Oٱ=b==H?@:eb`?@?޸@???:?i=>I=cd;9YUByUdI bD"VD̰8y<%J=ٔ )Q->9Y=oEyDE>Q 55?Q 952)BYy:?Q IW@DI";i;5yɮW6A:iIMDNOT Ignoring new targets: 36.87 m.2iQ"i].*i].m ProNav: ac range: 36.872139 m, nav range: 35.785587 m, bearing: 31.061317 deg, approach rate: -0.421094 m/s, LOS rate: -0.126053 deg/s, cmd heading: 26.665064 deg, new cmd heading: 26.560060 deg. imfuHeadingCmd: 0.463560 target range: 36.872139 and range: 36.90 m.huW>hqhqhqhqgygyjgyrgyeyreZe:e*e@MBɢM뎽)Q UiQ)UAQQi]t i]W>]z=e =IeW>IaE EE*E"E:*E:VE(N4ZEa@a@a@a@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014486A@A @A@A@A^Ai I I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2670912:p#,LAY-By5]IB>BBIB%BBL =BBB ;B_EAi]Mb@Mb@Mb@YYYY Y9]"~?S㥫?~jtY]>y]/]=]]A]A Y)]AYY] AbDuVDuİ8y%#=ٔQ->9Y=oEyDE>Q 55?Q 95b/)BY>Q E:y'?Q IW@DI;i/:U5yBɮv6AxEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 36.87 m.2i"iѰ*iѰ ProNav: ac range: 36.872139 m, nav range: 35.579357 m, bearing: 31.023741 deg, approach rate: -0.421766 m/s, LOS rate: -0.077292 deg/s, cmd heading: 26.560060 deg, new cmd heading: 26.484473 deg. it HeadingCmd: 0.462241 target range: 36.872139 and range: 36.90 m.h>hhhhggjg rg {Be re Ze:e*e`@=BɢE&B)A EdiA)E9CAIiMZޞiM>UG=U-D=IU>IQ@ @@/@E EE,E"E ;*Eą:VEg4ZEBEOƇ#@=4"@ 'g=)Q =I'gf8"?Pks\?rF? h>)JIQ =i'gchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.535011^A  Iy I O Ap#,1LA&;ɰ&;BS֘>B5?BQٱB=BHD?߿j? ?@u 4?C??iBS֘>IBc;@Y^By^\IbDfVDf8y û%=ٔQ-?9Y=%oEy%D%E%?)Q 555-?Q 955-s-)-BY1y=>&?Q I=W@-DI-;i-;-ߍ5yAɮE}6AAiiLAj~ B"j~ B:j?RjBA%A@3d@*CO?@Bjq?⛟?,::si?*jQ =2j'gZjnFF=@L(yM[3@g@Jj#|?ݯł?*8:s?jښA j6Ai,,G?iufR0jˆBjc՛?jC`IjއBrj Bzj ? addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 2.774685 s, deltaX: -1.500000 m, approachRate: -0.540602 m/s, rangeRepo size: 4  Added new target pos. range: 35.373131 m, bearing: 33.471169 deg, lat: 36.779574 deg, lon: -121.859786 deg, deltaT: 2.774685 s, deltaX: -1.499008 m, approachRate: -0.540244 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 35.37 m.2i"i*i ProNav: ac range: 35.373131 m, nav range: 35.435436 m, bearing: 31.289902 deg, approach rate: 0.000000 m/s, LOS rate: -0.077292 deg/s, cmd heading: 26.484473 deg, new cmd heading: 26.439042 deg. iHeadingCmd: 0.461448 target range: 35.373131 and range: 35.40 m.hB>hhhhggjgrgereZe:e@3A@*e?Bɢ )  ji ) C iw(iB>ߑ=<=IB>I-checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770789@ @@0@@yA@zA!^AM=I1IIIOU>E  E E (E "E D:*E |:VE c44ZE a @a @a @a @߅ R>߅ %= DDAT read: Rx Time:01:36:03.8346  TRx dataTimestamp_ set to:1764898564.417348 PDAT read: Bearing 193.0, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 193.0, 7.6 (Local)  DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.4  DAT read: 01:36:03.8346 LVL= 21328, 23921, 24274, 32755, AGC= 62, IDX= 510, 0.48,-2.719, 1.849,-2.705, 3.130, PHS= 0.536,-1.235, 0.404, RAW= 146.2, 3.5, CAL= 145.6, 3.7, ROT= 4.4, -3.7  Ygot valid direction response: 01:36:03.8346 LVL= 21328, 23921, 24274, 32755, AGC= 62, IDX= 510, 0.48,-2.719, 1.849,-2.705, 3.130, PHS= 0.536,-1.235, 0.404, RAW= 146.2, 3.5, CAL= 145.6, 3.7, ROT= 4.4, -3.7  R#Rx 2: Read range and direction messages. \direction in FSK: [0.994975,0.076559,0.064532] Fpublishing direction and range infoy   p_?Bk`?P0?Y f B PS q] ^ ) >I L7 ?i { > N#@ 5z= "@ A=) nF=I A r?s4+?6u1? E>) yI nF=i A - checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042551 BGp#,vqLA>Q>>Qs?>aRٱ>*=>H(?@ ߿|m_e? ?,I?@N?@?i>Q>I>~c;>CY^By^bIbDj׿VDj8y<%A=ٔùQ->9Y=oEyDE>Q 55?Q 95*)BYy|%?Q IW@DI:i:5yʖBɮ6AyEiiԵLAjK B"jK B:j?Rjg]rA@FlB{@B_^@Bj p_?Bk`?P0?*jnF=2j AZjC B,=@)W93@΄ @Jj٢*{?D?[59&?jșA j1Aiq9=?iWE1j~Bjm[?jWE1jDBrjl BzjW? addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.502921 s, deltaX: -0.300003 m, approachRate: -0.596521 m/s, rangeRepo size: 4 Ա Added new target pos. range: 35.073357 m, bearing: 33.517134 deg, lat: 36.779568 deg, lon: -121.859775 deg, deltaT: 0.502921 s, deltaX: -0.299774 m, approachRate: -0.596066 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 35.07 m.2i "i*i% ProNav: ac range: 35.073357 m, nav range: 35.105579 m, bearing: 33.201044 deg, approach rate: 0.000000 m/s, LOS rate: -0.077292 deg/s, cmd heading: 26.439041 deg, new cmd heading: 26.371200 deg. i!-HeadingCmd: 0.460264 target range: 35.073357 and range: 35.10 m.h-§>hIhIhIhIgQgQjgQrgQeYreYZeY:e]̌A@*ee|?Bɢ) i) E i4iM§>U=Ur=I]§>Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.275782!@! @!@%/@)B>BBIB BBK =BBB;B_E ^A w=I I O >1 kMp#,oJ8LAJ>JZ?JRٱJʬ=JH@?@Gj߿>m%>? Ϳ?`$=Z?x? ?ER ERER'EP"ER&:*ERg:VER'4ZEPBERi;IJc;JCEDDAT read: Rx Time:01:36:04.3344 MTRx dataTimestamp_ set to:1764898564.920965UPDAT read: Bearing 191.8, 7.5 (Local) U~Local bearing/azimuth received: Bearing 191.8, 7.5 (Local) eDAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.3 DAT read: 01:36:04.3344 LVL= 23952, 26673, 26434, 30371, AGC= 64, IDX= 508, 0.10, 2.739, 1.000, 2.753, 2.277, PHS= 0.564,-1.232, 0.432, RAW= 146.2, 2.7, CAL= 145.6, 2.9, ROT= 4.4, -2.9 Ygot valid direction response: 01:36:04.3344 LVL= 23952, 26673, 26434, 30371, AGC= 64, IDX= 508, 0.10, 2.739, 1.000, 2.753, 2.277, PHS= 0.564,-1.232, 0.432, RAW= 146.2, 2.7, CAL= 145.6, 2.9, ROT= 4.4, -2.9 R#Rx 3: Read range and direction messages.\direction in FSK: [0.995776,0.076621,0.050593]Fpublishing direction and range infoyAE?%be?:gk?|rQ?YE3 BAE]E1hEBg Ev)E@IENb?iE-E/>AEA=A E4QO=)AIE4QOAAE".?C>?z? EL>)EJDIAiE4QOAAchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.541126YBy`IiEMb@Mb@Mb@AAAA A9EQ?Q? rhYE\>yE91Y1=5oEy5D=E=>AQ 5m5Eҽ?Q 9m5E')EBYm>Q Em;ym?Q ImW@EDIE;iEh;EЕ5yyɮ}6AyiAiE:LAjE B"jE B:jE}S?RjE:j8PA@RP@XyJ&?BjE?%be?:gk?|rQ?*jA2jE4QOZjEB;<@ۇi 3@D:\;@JjE\ٶ e?t?&,H?jESA jEAiE"JD=?iE\%2jEwBjE,,G?jAjArjE BzjEaM?- addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503617 s, deltaX: -0.299999 m, approachRate: -0.595689 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.773617 m, bearing: 33.420927 deg, lat: 36.779565 deg, lon: -121.859775 deg, deltaT: 0.503617 s, deltaX: -0.299740 m, approachRate: -0.595174 m/s, posRepo size: 4 :i9=DNOT Ignoring new targets: 34.77 m.2i9"ia*iau ProNav: ac range: 34.773617 m, nav range: 34.708786 m, bearing: 33.415584 deg, approach rate: 0.000000 m/s, LOS rate: -0.077292 deg/s, cmd heading: 26.371200 deg, new cmd heading: 26.296626 deg. iquHeadingCmd: 0.458963 target range: 34.773617 and range: 34.80 m.h})>hyhyhyhygygjgrgnBereZe:e`ffA@*e`6s?Bɢ뉽) Жi)%AF!!i%-ū=-ؗ=I-)>I)9@ @@/@checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778801i ^A t=ԙ A I IO>2Up#,ULA2(>2?2Rٱ2=2H?w9߿c.p ?`?@z4Y? ‚? "?i2(>I2d;2CY>By>fIbDFVDF8yj <%n^=ٔn7Q-n>9lYp=roEyrDrEr>tQ 5z5vǛ?Q 9~5v%)vBY|y~?Q I~W@vDIv;iv];v5yɮ6A :i)-DNOT Ignoring new targets: 34.77 m.2i1"i5*i5E ProNav: ac range: 34.773617 m, nav range: 34.565624 m, bearing: 33.415290 deg, approach rate: -0.426190 m/s, LOS rate: -0.000878 deg/s, cmd heading: 26.296626 deg, new cmd heading: 26.296036 deg. iEͷMHeadingCmd: 0.458952 target range: 34.773617 and range: 34.80 m.hM>hIhIhQhQgQgQjgYrgYeYreYZeY:eY*ee@?颍Bɢƨ) i)F顙i,i>==I>IԱI)E EE+E"E=;*E:VE [4ZEa@a@a@a@DDAT read: Rx Time:01:36:04.8344 TRx dataTimestamp_ set to:1764898565.425649PDAT read: Bearing 191.9, 8.0 (Local) ~Local bearing/azimuth received: Bearing 191.9, 8.0 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.3 DAT read: 01:36:04.8344 LVL= 23120, 26737, 26978, 29939, AGC= 64, IDX= 508,-0.13, 2.525, 0.817, 2.524, 2.077, PHS= 0.550,-1.215, 0.403, RAW= 145.7, 3.1, CAL= 145.1, 3.4, ROT= 4.9, -3.4 Ygot valid direction response: 01:36:04.8344 LVL= 23120, 26737, 26978, 29939, AGC= 64, IDX= 508,-0.13, 2.525, 0.817, 2.524, 2.077, PHS= 0.550,-1.215, 0.403, RAW= 145.7, 3.1, CAL= 145.1, 3.4, ROT= 4.9, -3.4  R#Rx 4: Read range and direction messages.\direction in FSK: [0.994592,0.085267,0.059306]Fpublishing direction and range infoyP?nԵ?Cg]?YPZqhbi t)I ?iV>"@k]= "@ s=)%=Ism?.&s?q ? >)t_I%=is5checking for new query: numPingsReceived=4, elapsed TxPingTime=4.050253M@I @I@M1@I@U=@U=^Amy=A .AI I O% >M checking for new query: numPingsReceived=4, elapsed TxPingTime=4.2823711 ZX[p#,oLABV>BTBVIBV%BBTBTBTBV;BV_EY%By%gIiMb@Mb@Mb@ 9 rh?:v?MbYC>yT<3 A  A)zAYAbD3VD۰8y:%/=ٔQ->9 ?Y ?=oEyDE>Q 55K՛?Q 95+#)BYj>Q E;y ?Q IW@DI;i;5yԖBɮ6AzEii=[LAj"j:j?RjRJA@Ix]`@͕@BjP?nԵ?Cg]?*j%=2jsZjQ)<@B9*9'3@hRfS@Jj>{jq?"?l' ?j9A jAiJ?iqd+j#BjjufR0j#Brj BzjL?U addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.504684 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 34.773621 m, bearing: 33.685308 deg, lat: 36.779565 deg, lon: -121.859775 deg, deltaT: 0.504684 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 34.77 m.2ia"im*ii ProNav: ac range: 34.773621 m, nav range: 34.394417 m, bearing: 33.464472 deg, approach rate: 0.000000 m/s, LOS rate: -0.000878 deg/s, cmd heading: 26.296037 deg, new cmd heading: 26.295209 deg. iHeadingCmd: 0.458938 target range: 34.773621 and range: 34.80 m.h>hhhhggjg)rgM_BeIreIZeI:eI*eU\?}Bɢ}2)y }'i)H顁i!i>m==I>IE  E E ,E "E :*E ~:VE g4ZE BE <I~ ?im盿%>0"@=!@ 'g=)q=I'g&?r'?Q? >)倽Iq=i'gchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.570015q^AE l=ԡ Aq Iy I O >Xqbp#,>LAVchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.786669nZ>n>n"Tٱn*=nH ?`޿u ?? `O?[N?`?inZ>Innd;lYz Byz{IbDVD8y4=%c=ٔZQ->9Y!=%oEy%D%!E%>)Q 555-ߛ?Q 955-B!)-BY9y=?Q I=W@-DI-b;i-;-5yAɮEU6AAii@{LAj~ B"j~ B:j$<?RjA@͠W @w @Bj՚b??,::si?*jq=2j'gZjGd<@ {2@UЯn@JjSQn?8 b?M@|:?j A j"Aiִ)8?ir0jBjq9=?jr0j~BrjBzj? addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.504542 s, deltaX: -0.399998 m, approachRate: -0.792794 m/s, rangeRepo size: 4  Added new target pos. range: 34.373928 m, bearing: 33.624324 deg, lat: 36.779564 deg, lon: -121.859775 deg, deltaT: 0.504542 s, deltaX: -0.399693 m, approachRate: -0.792189 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.37 m.2i"i*i ProNav: ac range: 34.373928 m, nav range: 34.153072 m, bearing: 33.561150 deg, approach rate: 0.000000 m/s, LOS rate: -0.000878 deg/s, cmd heading: 26.295209 deg, new cmd heading: 26.294576 deg. iHeadingCmd: 0.458927 target range: 34.373928 and range: 34.40 m.hy>hhhhggjgrgereZe:e@33A@*e?Bɢz)  Fsi)H!i%\i]y>enȐ=`=Iy>IA@ @@}1@E EE*E"EV:*E:VE(N4ZEa@a@a@a@UDDAT read: Rx Time:01:36:05.8341 ]TRx dataTimestamp_ set to:1764898566.433139ePDAT read: Bearing 191.6, 8.6 (Local) e~Local bearing/azimuth received: Bearing 191.6, 8.6 (Local) i}DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.3 DAT read: 01:36:05.8341 LVL= 23536, 25793, 26674, 32755, AGC= 62, IDX= 505, 0.31,-2.418, 2.134,-2.442,-2.872, PHS= 0.556,-1.232, 0.386, RAW= 145.1, 3.4, CAL= 144.6, 3.7, ROT= 5.4, -3.7 Ygot valid direction response: 01:36:05.8341 LVL= 23536, 25793, 26674, 32755, AGC= 62, IDX= 505, 0.31,-2.418, 2.134,-2.442,-2.872, PHS= 0.556,-1.232, 0.386, RAW= 145.1, 3.4, CAL= 144.6, 3.7, ROT= 5.4, -3.7 R#Rx 6: Read range and direction messages.\direction in FSK: [0.993487,0.093912,0.064532]Fpublishing direction and range infoyY]0?K ?P0?YYY][]d]2h Y)YI]V?i]-]ˡ>] "@]s=]!@ ] A=)]=I] AYY]K2? ?,ݧ? ]>)]duI]=i] AYY checking for new query: numPingsReceived=6, elapsed TxPingTime=5.076204^A A!=ԙ A5 ؟AI9 II O] >hp#,R'LABm>B>BSٱB=BH? ؙ޿Ew`l??︿r?`1??iBm>IB d;BCYZByZIbDf&VDfϰ8y<%J=ٔ9Q->9%"?Y%"?=%pEy%D%#E->QQ 5U5Uw뛊?Q 9]5U)UBYYy]?Q I]W@UDIU:iU`:U5yaɮe+6AiiiLAj"j:jn?Rj$4A@&{5 @@Bj0?K ?P0?*j=2j AZj!|Kgo<@52@#@JjIx? ?ё?jA j}AibG?i/jBjjjrjBzj6? addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.502948 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 q Added new target pos. range: 34.373928 m, bearing: 33.526660 deg, lat: 36.779564 deg, lon: -121.859775 deg, deltaT: 0.502948 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.37 m.2i"i*i} ProNav: ac range: 34.373928 m, nav range: 33.990784 m, bearing: 33.576303 deg, approach rate: 0.000000 m/s, LOS rate: -0.000878 deg/s, cmd heading: 26.294577 deg, new cmd heading: 26.293842 deg. i߹I߽Achecking for new query: numPingsReceived=6, elapsed TxPingTime=5.294221iyHeadingCmd: 0.458914 target range: 34.373928 and range: 34.40 m.h>hhhhgg9jgArgAeAreAZeI:eI*eMYg?颕Bɢl+) bi)I顡i璻i}>}ѐ=}3=I}>IԙN>i>BABABEIBE0BBEL =BABABE;BE_E=@9 @A@E0@AE  E E +E "E :*E Ar:VE [4ZE BE F8} vh!@y } | @ y )} Pw=Iy y y } SN?INf??V? } >)} rI} Pw=iy y y % checking for new query: numPingsReceived=7, elapsed TxPingTime=5.600117I I O >`pp#,WLA2~>2>2l`Sٱ2=2Hn)?c޿Uy16?` ?㸿 i?@'? ?i2~>I2yc;0YNByNIiMb@Mb@Mb@ 9㥛 ?yt<Ļ7A A z A)AY\AAAbD%-VD%ְ8y}e=%}"=ٔ}9Q-}>9Y=pEyDE>Q 55?Q 95d)BY>Q E:y?Q IW@DI:i=:5yޖBɮ5AiiC;LAjKB"jKB:j?RjYp@@Fd+o @牀L@Bjq C$?H?P0?*jPw=2jZjPN4<@d(2@6:@JjǤY?p66?c4j?jA jyAioJ7?i8,jBj"JD=?j/jBrj2Bzjm?u addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.507978 s, deltaX: -0.300003 m, approachRate: -0.590583 m/s, rangeRepo size: 4  Added new target pos. range: 34.074039 m, bearing: 33.912327 deg, lat: 36.779564 deg, lon: -121.859775 deg, deltaT: 0.507978 s, deltaX: -0.299889 m, approachRate: -0.590357 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.07 m.2i"i*i ProNav: ac range: 34.074039 m, nav range: 33.799679 m, bearing: 33.667729 deg, approach rate: 0.000000 m/s, LOS rate: -0.000878 deg/s, cmd heading: 26.293843 deg, new cmd heading: 26.292951 deg. iHeadingCmd: 0.458899 target range: 34.074039 and range: 34.10 m.h>hhhhgAgjgargmqBeireiZei:eu A@*euO?checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793845}BɢNz) ;i!)%ZJ!!i%ɶi->-ِ=-=I->I1@ @@0@yԙ ^A Ҟ=A zA bE˙T4jE˼P4rE˒0E%  E% E% -E! "E% :*E% :VE% t4ZE! a= @a= @a= @a= @I I O >vp#,uLA.%=.R=2DDAT read: Rx Time:01:36:06.8338 6TRx dataTimestamp_ set to:1764898567.457402:PDAT read: Bearing 190.5, 9.4 (Local) :~Local bearing/azimuth received: Bearing 190.5, 9.4 (Local) BDAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.3 VDAT read: 01:36:06.8338 LVL= 26512, 31729, 29602, 32755, AGC= 61, IDX= 502, 0.01, 0.807,-0.948, 0.752, 0.323, PHS= 0.586,-1.226, 0.385, RAW= 144.2, 3.0, CAL= 143.8, 3.3, ROT= 6.2, -3.3 jYgot valid direction response: 01:36:06.8338 LVL= 26512, 31729, 29602, 32755, AGC= 61, IDX= 502, 0.01, 0.807,-0.948, 0.752, 0.323, PHS= 0.586,-1.226, 0.385, RAW= 144.2, 3.0, CAL= 143.8, 3.3, ROT= 6.2, -3.3 jR#Rx 8: Read range and direction messages.n\direction in FSK: [0.992502,0.107820,0.057564]rFpublishing direction and range infoy02Në?@?`8.y?Y2B02g2{2s 2)2=I2?i2휿2>2!@2PwV=2K @ 2k=)2k=I2k],>]*>]?Tٱ]K=]H!5? 7޿Yz ?`?Jv?[?V?i],>I]#d;]Cx002cHH&?bU 1?f<˪? 2/>)2uVI2k=i2k00}checking for new query: numPingsReceived=8, elapsed TxPingTime=6.098449Y-ByIbDVD8y5։=%5G=ٔ5kQ-5>99Y9==pEy=DEEE>IQ 55MZ?Q 95M/)MBYy?Q IW@MDIM:iM>:M5yɮ5Ai0i2FLAj2B"j2B:j2"?Rj2cc@@7 @81:2?Bj2Në?@?`8.y?*j2k=2j2kZj217;@;2@5N@Jj28^Z?b?v*?j2XA j20Ai2WQ6?i2r|+j2)Bj2ִ)8?j28,j0rj2Bzj2˔? addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.516285 s, deltaX: -0.199997 m, approachRate: -0.387377 m/s, rangeRepo size: 4  Added new target pos. range: 33.874191 m, bearing: 33.965282 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.516285 s, deltaX: -0.199848 m, approachRate: -0.387089 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.87 m.2i"i*i ProNav: ac range: 33.874191 m, nav range: 33.648884 m, bearing: 33.925642 deg, approach rate: 0.000000 m/s, LOS rate: -0.000878 deg/s, cmd heading: 26.292952 deg, new cmd heading: 26.292217 deg. iHeadingCmd: 0.458886 target range: 33.874191 and range: 33.90 m.h>hhhhggjg rg e re Ze:e@3@@*eӾ?!}{BɢH9v) i)J顁iOܐi>ߐ==I>I]@a @a@m?5@qachecking for new query: numPingsReceived=8, elapsed TxPingTime=6.313839B% >B! B% IB% IBB% K =B! B! B% ;B% _EBBCBԁ ^A =BBC05I! I1 O= >|p#,%?LA2s>2>2-Uٱ2=2H@?`޿-{"?k?9D)?E?@?i2s>I2%d;2CYB6ByBIYiMb@Mb@Mb@ 9n??~jth?Y>y<D;AMA  A)dAYAbDVD8yx*=%O=ٔQ->9Y=pEyD%E%>)Q 5-5-\?Q 955E] E]E](EY"E]7;*E] n:VE]c44ZEYBE]ZQ E:y ?Q IW@-DI-a} @}d=}J @ }=)}V=I}yy}SU7?5j?S?Z? }QF>)}r9eI}V=i}yychecking for new query: numPingsReceived=9, elapsed TxPingTime=6.581550 PExceeded connect timeout, disconnecting.5 ProNav: ac range: 33.874191 m, nav range: 33.482422 m, bearing: 33.938949 deg, approach rate: -0.413678 m/s, LOS rate: 0.033233 deg/s, cmd heading: 26.292217 deg, new cmd heading: 26.318963 deg. i5Gs:=HeadingCmd: 0.459353 target range: 33.874191 and range: 33.90 m.h=B0>h9h9h9h9gAgAehi9iYmeAjgArgmBeireqZeq:eu@@*eu%w?ԉyBɢo) pi)YKKi*iB0>=0ж=IB0>I%@ @@/5@@=@Ա^A =I I O > i! I! - checking for new query: numPingsReceived=9, elapsed TxPingTime=6.818074p#,,GLA->->-Vٱ-=-H (J?ݿ|q?3)?d@]Ѫ?? g?i->I-d;-CY>ByIbDVDİ8y*=%J=ٔQ->9Y=pEyD|ڻE>Q 55l?Q 95)BYy ?Q IW@DI;i;5y ɮ P5A iiLAjLB"jLB:jy?Rjf~@@X@Yj@Bj6\G?͟??֏ ?*jV=2jZj|C;@Q|2@xbS @Jj/:YY?bF?;T?jA j*Ai9?i6,jBjj6,jBrj:Bzj?] addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.503724 s, deltaX: -0.300003 m, approachRate: -0.595570 m/s, rangeRepo size: 4 m Added new target pos. range: 33.574600 m, bearing: 33.920990 deg, lat: 36.779564 deg, lon: -121.859774 deg, deltaT: 0.503724 s, deltaX: -0.299591 m, approachRate: -0.594752 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 33.57 m.2iq"iu*iq ProNav: ac range: 33.574600 m, nav range: 33.306797 m, bearing: 33.931068 deg, approach rate: 0.000000 m/s, LOS rate: 0.033233 deg/s, cmd heading: 26.318963 deg, new cmd heading: 26.343712 deg. iHeadingCmd: 0.459785 target range: 33.574600 and range: 33.60 m.hh>hhhhggjgrgereZe:e*e@RD?wBɢm) i)RKii}h>}Y=} o=I}h>I @ @@/@Eu EuEu,Eq"Eus!;*Euz:VEug4ZEqa}@a}@a}@a@uDDAT read: Rx Time:01:36:07.8335 uTRx dataTimestamp_ set to:1764898568.465287PDAT read: Bearing 189.6, 9.7 (Local) ~Local bearing/azimuth received: Bearing 189.6, 9.7 (Local) DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 DAT read: 01:36:07.8335 LVL= 24240, 27617, 27234, 32755, AGC= 61, IDX= 500,-0.48, 0.591,-1.180, 0.522, 0.087, PHS= 0.606,-1.222, 0.391, RAW= 143.8, 2.6, CAL= 143.4, 2.9, ROT= 6.6, -2.9 Ygot valid direction response: 01:36:07.8335 LVL= 24240, 27617, 27234, 32755, AGC= 61, IDX= 500,-0.48, 0.591,-1.180, 0.522, 0.087, PHS= 0.606,-1.222, 0.391, RAW= 143.8, 2.6, CAL= 143.4, 2.9, ROT= 6.6, -2.9 T#Rx 10: Read range and direction messages.\direction in FSK: [0.992101,0.114790,0.050593]Fpublishing direction and range infoyquWI?8Vb?|rQ?YuBqu^ukubj q)qIu"?iuju'1>uK @u9=u- @ u4QO=)u=Iu4QOqqu$>? ?Ģ׾? uK>)u&I p#, *LAmFJ>mF>mWٱmm=mHO?`ݿs{̢?.?l??{?imFJ>Imfd;iYSByIchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.3240471B>BBIBgBBBBB;B_EiMb@Mb@Mb@ 9&1?&1?~jt?Y>yP=D<A  A)hAY AbDVD8y=%%=ٔQ->9Y=pEyDTLE>Q 55-?Q 95)BY>Q E;y?Q IW@DI:i :5y!ɮ%4A!aiiCLAjB"jB:jE?Rj8HYN@@ ⑽@˱?BjWI?8Vb?|rQ?*j=2j4QOZj~ɔ;@Q2@!$8@Jjf]?cF_?fƼ?jA jAi IA?iz)jڇBj9?j8,jBrjzBzj? addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.504161 s, deltaX: -0.099998 m, approachRate: -0.198346 m/s, rangeRepo size: 4  Added new target pos. range: 33.474735 m, bearing: 33.983760 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.504161 s, deltaX: -0.099865 m, approachRate: -0.198081 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 33.47 m.2i "i*i% ProNav: ac range: 33.474735 m, nav range: 33.119930 m, bearing: 33.938915 deg, approach rate: 0.000000 m/s, LOS rate: 0.033233 deg/s, cmd heading: 26.343712 deg, new cmd heading: 26.378302 deg. i!-HeadingCmd: 0.460388 target range: 33.474735 and range: 33.50 m.h->h)h)h)h)g1g1jg1rg=Be9re9Ze9:e=@@*eE@N?mtBɢm[)q uiq)u-Kyyi}񅏻i}>==I>IEu EuEu+Eq"Eu;*Eu~:VEu [4ZEqBEu@ ) I  nManaging dock network, ignoring radio surface power off ZЅ@?1y? kU%? ~>) :9I i  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.591238Ա ^A =AIIYIqO?jp#,tJLA ɰ JH>J>JYٱJ=JH`;W?$ݿ}| ?5?@^۹@V/? ? ?iJH>IJˉd;JCYV^ByVI XXbD^VD^8yjvY=%jV=ٔjQ-j>9lYl=npEynDnTEr>pQ 5z5rY8?Q 9z5rH)r BYxyz?Q IzW@rDIr ;ir ;rM5y~Bɮ4A|Eii >LAjB"jB:jT?Rjt@@u5w@:?BjWI?8Vb?|rQ?*j2jZj3e^;@g}^^2@0U @Jjj\df?w>?XMW?jA jAi惴:?i>-jۇBjjj)BrjBzj?checking for new query: numPingsReceived=11, elapsed TxPingTime=7.825763 addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504068 s, deltaX: -0.299999 m, approachRate: -0.595156 m/s, rangeRepo size: 4  Added new target pos. range: 33.174961 m, bearing: 33.869573 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.504068 s, deltaX: -0.299774 m, approachRate: -0.594710 m/s, posRepo size: 4 :i!EDNOT Ignoring new targets: 33.17 m.2iA"iI*iI] ProNav: ac range: 33.174961 m, nav range: 32.965096 m, bearing: 33.936310 deg, approach rate: 0.000000 m/s, LOS rate: 0.033233 deg/s, cmd heading: 26.378302 deg, new cmd heading: 26.401996 deg. iY]HeadingCmd: 0.460802 target range: 33.174961 and range: 33.20 m.ԉh5>hhhhggjgrge!re!Ze!:e%@@*e-(?rBɢ<W) "i)PLii%5>%w=%$=I%5>I)Ա@ @@G4@EE EEEAEA"EE:*EE$:VEAZEAaM@aM@aM@aM@ DDAT read: Rx Time:01:36:08.8333  TRx dataTimestamp_ set to:1764898569.476816 DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4  Z#Rx 12: Read range message, but no direction.y Y  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.085320^A5 <= Aa Ii I O >G͘p#,dLA>R>>>>[ٱ>=>H *^?@ݿ ~`j?@;?`_?`w/?k?i>R>I>c;>CYFgByFIbDPVDPyZ6=%ZI=ٔZjQ-Z>9\Y\=^pEy^Db▻Eb>dQ 5j5fC?Q 9j5f )fBYhyj?Q InW@fDIf/;if;fܽ5yrBɮr3ArrE addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.507461 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 33.17 m.2i"i=и*i=и- ProNav: ac range: 33.174961 m, nav range: 32.798302 m, bearing: 33.934027 deg, approach rate: -0.413475 m/s, LOS rate: -0.005689 deg/s, cmd heading: 26.401995 deg, new cmd heading: 26.397405 deg. i-&5HeadingCmd: 0.460722 target range: 33.174961 and range: 33.20 m.h5>h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE?upBɢufQ)q uЕiy)}Lyyi}Cʏi>x=ĩ=I>IԱ=@A @I@M/@Qchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.333059B=>B9B=IB=BB=J =B9B9B=;B=_E^AM벫= A} .AI I O >E  E E (E "E ;*E :VE c44ZE BE ?C5@5s=5,@ 5'g=)50 >I5'g115I? F?mk 7? 50>)5$pI50 >i5'g112checking for new query: numPingsReceived=13, elapsed TxPingTime=8.6055710.ބ>*s>^D\ٱG=Hfa?[ݿߋz]? I[c;CYzByIi]Mb@Mb@Mb@YYYY Y9]y]=]9 ?Y ?=pEyDTE>Q 55Q E%:y%*?Q I%W@DI;i>;^5y5Bɮ53A5sEi1i5~LAj5B"j5B:j5?Rj5Lg9k>@@5ER9@saW@Bj5Lv?PvZ?,::si?*j50 >2j5'gZj5aN:@^"2@gN}@Jj5B?X18h'?z*!?j57A j5Ai5U?i5j59Bj1j5r|+j1rj5\Bzj5? addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.500275 s, deltaX: -0.299999 m, approachRate: -0.599669 m/s, rangeRepo size: 4 E Added new target pos. range: 32.875057 m, bearing: 34.921384 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 1.007736 s, deltaX: -0.299904 m, approachRate: -0.297602 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 32.88 m.2iI"iU*iY ProNav: ac range: 32.875057 m, nav range: 32.590408 m, bearing: 33.924708 deg, approach rate: 0.000000 m/s, LOS rate: -0.005689 deg/s, cmd heading: 26.397406 deg, new cmd heading: 26.391309 deg. iHeadingCmd: 0.460615 target range: 32.875057 and range: 32.90 m.h>hhhhggjgrgBereZe:e@3s@@*e ?MnBɢM(F)I U}=}@=I>IԱ]checking for new query: numPingsReceived=13, elapsed TxPingTime=8.8345405@1 @9@=4@9@]=@]= ^A p= E  E E )E "E :*E ҆:VE FA4ZE a@a@a@a@A؟AIIO>6p#,[ALA"DDAT read: Rx Time:01:36:09.8331 &TRx dataTimestamp_ set to:1764898570.481185*PDAT read: Bearing 190.4, 11.5 (Local) *~Local bearing/azimuth received: Bearing 190.4, 11.5 (Local) 2DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 FDAT read: 01:36:09.8331 LVL= 27856, 28801, 29346, 32755, AGC= 62, IDX= 511,-0.48, 0.924,-0.838, 0.806, 0.447, PHS= 0.579,-1.240, 0.315, RAW= 142.3, 4.1, CAL= 142.0, 4.6, ROT= 8.0, -4.6 JYgot valid direction response: 01:36:09.8331 LVL= 27856, 28801, 29346, 32755, AGC= 62, IDX= 511,-0.48, 0.924,-0.838, 0.806, 0.447, PHS= 0.579,-1.240, 0.315, RAW= 142.3, 4.1, CAL= 142.0, 4.6, ROT= 8.0, -4.6 JT#Rx 14: Read range and direction messages.N\direction in FSK: [0.987078,0.138725,0.080199]NFpublishing direction and range infoy "q[q8%?DS?zꇴ?Y"B "l"p"r )">I"X9?i"R"G>"\@"C="@ "l=)"5>I"l "M̈?#\/F4?͛ Y?r2>r>r^ٱr==rH^?rݿ;xf?`w8? ޿?V??ir2>Irb;p "->)"蒽I"5>qi"l checking for new query: numPingsReceived=14, elapsed TxPingTime=9.133534YMByMIIU4=)U4<bDeVDeɰ8yu44=%u9=ٔuQ-u>9}"?Y}"?=}pEy}D:E>Q 55[^?Q 95L)*BYy+?Q IW@DI:i::15yɮ`3Ai i"˞LAj"B"j"B:j"W?Rj"v*a @@y!@Y@Bj"q[q8%?DS?zꇴ?*j"5>2j"lZj"i˯{:@ˁ2@'o@Jj"!Rh?uq'?W?j"LA j"Ai"L?i"釹j" Bj j"z)j"Brj"Bzj" ?u addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504094 s, deltaX: -0.200001 m, approachRate: -0.396753 m/s, rangeRepo size: 4 } Added new target pos. range: 32.675205 m, bearing: 34.991199 deg, lat: 36.779564 deg, lon: -121.859772 deg, deltaT: 0.504094 s, deltaX: -0.199852 m, approachRate: -0.396458 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.68 m.2i"i*i ProNav: ac range: 32.675205 m, nav range: 32.456768 m, bearing: 34.028822 deg, approach rate: 0.000000 m/s, LOS rate: -0.005689 deg/s, cmd heading: 26.391310 deg, new cmd heading: 26.386325 deg. iHeadingCmd: 0.460528 target range: 32.675205 and range: 32.70 m.h\>hhhhggjgrgereZe:eY@@*e`?elBɢeh>)a e8C=ia)mKiiimsiu\>ua=uW=Iu\>Iqԡ@ @@0@ checking for new query: numPingsReceived=14, elapsed TxPingTime=9.340920B >B CB @IB BB L =B B B ;B |_E^A] = A .AI I O >ݎp#,ݸLA2>>2>2L_ٱ2RK=2HN^?`ݿߓw h?7?`@|?@ɗ??i2>>I2\b;0Y:ByJIqiMb@Mb@Mb@ 9M?zG?:v?Yn>y =T< AMA ~ A)AYAE EE+E"E:*Eh:VE [4ZEBE>9- ?Y- ?=-pEy-D5r9E5>9Q 5E5=&i?Q 9E5=O)=4BYEJ>Q EE:yM9?Q IMW@=DI=;i=6;=5yqɮu3AqB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 32.68 m.2i"i*i麝DDAT read: Rx Time:01:36:10.3329 TRx dataTimestamp_ set to:1764898570.985167PDAT read: Bearing 189.2, 11.2 (Local) ~Local bearing/azimuth received: Bearing 189.2, 11.2 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.3 EDAT read: 01:36:10.3329 LVL= 25552, 28257, 27266, 31603, AGC= 64, IDX= 508, 0.20, 1.316,-0.469, 1.203, 0.805, PHS= 0.612,-1.230, 0.354, RAW= 142.6, 3.1, CAL= 142.2, 3.5, ROT= 7.8, -3.5 MYgot valid direction response: 01:36:10.3329 LVL= 25552, 28257, 27266, 31603, AGC= 64, IDX= 508, 0.20, 1.316,-0.469, 1.203, 0.805, PHS= 0.612,-1.230, 0.354, RAW= 142.6, 3.1, CAL= 142.2, 3.5, ROT= 7.8, -3.5 MT#Rx 15: Read range and direction messages.U\direction in FSK: [0.988900,0.135462,0.061049]UFpublishing direction and range infoyd?FV?.xA?YBcanj s{)@I?ip}?>&I@k]=u ProNav: ac range: 32.675205 m, nav range: 32.287048 m, bearing: 33.988929 deg, approach rate: -0.431070 m/s, LOS rate: -0.101859 deg/s, cmd heading: 26.386325 deg, new cmd heading: 26.306118 deg. iui:}HeadingCmd: 0.459128 target range: 32.675205 and range: 32.70 m.h}>hyhyhyhygyg@ 5z=)'g >I5zo ?և؆?MG? ɬ>)]I'g >i5zchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.610566jgrg̀BereZe:e@33@@*e?jBɢYl7) =i)%nK!!i-~i->-r=5<=I5>I1ԡ@ @@/@^A p=A >A ? checking for new query: numPingsReceived=15, elapsed TxPingTime=9.842532 A ؟AI9 Ia O >Fp#,;RLARS>RP>RhbٱR:.=RH`\? ݿEyvo?u4?@Q?`?7?iRS>IRb;RCYXy\bDf VDf8ٔnQ-n>9r"?Yr"?=rpEyr&DrC:Ev>xQ 5~5zs?Q 9~5z)z2j5zZjal"hT:@V׏`2@OA@Jj/UQ?')*?=`?jA jAi?i2j׈Bj?j釹j׈BrjMBzj,?ԉ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503982 s, deltaX: -0.299999 m, approachRate: -0.595258 m/s, rangeRepo size: 4  Added new target pos. range: 32.375069 m, bearing: 34.914254 deg, lat: 36.779561 deg, lon: -121.859768 deg, deltaT: 0.503982 s, deltaX: -0.300137 m, approachRate: -0.595530 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.38 m.2i"i*i ProNav: ac range: 32.375069 m, nav range: 32.075817 m, bearing: 34.829087 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 26.306118 deg, new cmd heading: 26.230943 deg. iHeadingCmd: 0.457816 target range: 32.375069 and range: 32.40 m.hf>hhhhggjgrgereZe:e*e@|'?iBɢc5) =i)]SKiif>=}=If>Iq@y @y@}/@y@@E EE)ԱE"E:*E:VEFA4ZEa@a@a@a@DDAT read: Rx Time:01:36:10.8329 TRx dataTimestamp_ set to:1764898571.489322PDAT read: Bearing 189.7, 11.2 (Local) ~Local bearing/azimuth received: Bearing 189.7, 11.2 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 DAT read: 01:36:10.8329 LVL= 23888, 26913, 26082, 32755, AGC= 62, IDX= 508, 0.02, 1.859, 0.090, 1.752, 1.370, PHS= 0.591,-1.235, 0.338, RAW= 142.7, 3.6, CAL= 142.3, 4.1, ROT= 7.7, -4.1  Ygot valid direction response: 01:36:10.8329 LVL= 23888, 26913, 26082, 32755, AGC= 62, IDX= 508, 0.02, 1.859, 0.090, 1.752, 1.370, PHS= 0.591,-1.235, 0.338, RAW= 142.7, 3.6, CAL= 142.3, 4.1, ROT= 7.7, -4.1  T#Rx 16: Read range and direction messages.\direction in FSK: [0.988447,0.133643,0.071497]Fpublishing direction and range infoyC [?m&9? M?YP]!ie )>IK?i{V>e@=\@ C=) >ICx?*~?r$r!? o>)w!I >iC5checking for new query: numPingsReceived=16, elapsed TxPingTime=10.110066^A"=A I I O > Yp#,LA-checking for new query: numPingsReceived=16, elapsed TxPingTime=10.347399 n> j> }eٱ = H W?gݿ+{`}?0?@@5?s??i n>I [Yb; CYUBy]/IB>BCBYIBBBBBBɣ;Bb_E qqiMb@Mb@Mb@ 9Q?v/?MbP?Y(>yx=:@ )QAYfAbDVD8y<%<ٔ%羺Q-%>9)Y)=-pEy-1D- :E5>1Q 5=55?Q 955)5FBY>Q E:y=?Q IW@5DI5[2jCZjPQ-R:@`hN2@>@Jj'R?j?y]:p?jvA jAi+?ijBjjj9BrjAzj)d? addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.375500 m, bearing: 34.820750 deg, lat: 36.779561 deg, lon: -121.859768 deg, deltaT: 0.504155 s, deltaX: 0.000431 m, approachRate: 0.000855 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 32.38 m.2i "i*i% ProNav: ac range: 32.375500 m, nav range: 31.852583 m, bearing: 34.778369 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 26.230944 deg, new cmd heading: 26.125293 deg. i!-HeadingCmd: 0.455972 target range: 32.375500 and range: 32.40 m.h-6u>h)h1h1h1g1g1jg9rg=πBe9re9ZeA:eA*eE@~?mgBɢm/T0)q u=iq)uJqqiu@i}6u>==I6u>I@ @@/@E EE*E"E:*E&p:VE(N4ZEBEa2EaJEz;a:Ez;aIDDAT read: Rx Time:01:36:11.3327 TRx dataTimestamp_ set to:1764898571.993322PDAT read: Bearing 189.3, 11.3 (Local) ~Local bearing/azimuth received: Bearing 189.3, 11.3 (Local) DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 % DAT read: 01:36:11.3327 LVL= 20752, 25873, 22226, 31267, AGC= 60, IDX= 506,-0.18,-0.918,-2.680,-1.029,-1.412, PHS= 0.597,-1.223, 0.340, RAW= 142.5, 3.4, CAL= 142.2, 3.9, ROT= 7.8, -3.9 - Ygot valid direction response: 01:36:11.3327 LVL= 20752, 25873, 22226, 31267, AGC= 60, IDX= 506,-0.18,-0.918,-2.680,-1.029,-1.412, PHS= 0.597,-1.223, 0.340, RAW= 142.5, 3.4, CAL= 142.2, 3.9, ROT= 7.8, -3.9 - T#Rx 17: Read range and direction messages.5 \direction in FSK: [0.988454,0.135401,0.068015]5 Fpublishing direction and range infoyQkSi?a]`T?,::si?YfBQeV #z)<I?iD{>,@s=@ 'g=)'g >I'gB?qs?/-J? >)zrI'g >i'gU checking for new query: numPingsReceived=17, elapsed TxPingTime=10.614888^A <=y A .AI I) O5 >fp#,ÍLAi}>}Ф>}Cgٱ}=}H~W?`8ݿ!{d~?5/?@Q軿? ??i}>I}Hb;}CYBy+IbDVD8y%b=ٔ@Q->9 ?Y ?=pEy8DO9E> Q 5M5 ?Q 9M5 ) LBYIyU=?Q IUW@ DI ;i ; 5yYɮ]3AYi!i%LAj%MB"j%MB:j% ?Rj%]?@W_T_@!us@Bj%QkSi?a]`T?,::si?*j%'g >2j%'gZj%G߀ :@622@,o"x@Jj%x?7MV?'?Ƈ[m?j%A j%fAi%E?i%<j%TBj!j%2j%TBrj%Azj%?  addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504000 s, deltaX: -0.300003 m, approachRate: -0.595244 m/s, rangeRepo size: 4  Added new target pos. range: 32.075722 m, bearing: 34.938255 deg, lat: 36.779561 deg, lon: -121.859767 deg, deltaT: 0.504000 s, deltaX: -0.299778 m, approachRate: -0.594798 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.08 m.2iMchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.849859"i!*iI] ProNav: ac range: 32.075722 m, nav range: 31.725742 m, bearing: 34.824345 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 26.125293 deg, new cmd heading: 26.050885 deg. iHeadingCmd: 0.454674 target range: 32.075722 and range: 32.10 m.h>hhhhggjg rg ereAZeI:eU @@*eU @?ԡMfBɢU)/)Q U=iq)}ƏJyyi}UΖi>F=c=I>IM@I @I@M/@QbEijEm(N4rEmT/E  E E +E "E V:*E :VE [4ZE a @a @a @a @ DDAT read: Rx Time:01:36:11.8325  TRx dataTimestamp_ set to:1764898572.497514 PDAT read: Bearing 189.1, 11.0 (Local)  ~Local bearing/azimuth received: Bearing 189.1, 11.0 (Local) % DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 M DAT read: 01:36:11.8325 LVL= 24160, 26961, 25010, 32755, AGC= 63, IDX= 504, 0.40, 1.194,-0.586, 1.095, 0.697, PHS= 0.600,-1.238, 0.354, RAW= 142.9, 3.3, CAL= 142.6, 3.8, ROT= 7.4, -3.8 ] Ygot valid direction response: 01:36:11.8325 LVL= 24160, 26961, 25010, 32755, AGC= 63, IDX= 504, 0.40, 1.194,-0.586, 1.095, 0.697, PHS= 0.600,-1.238, 0.354, RAW= 142.9, 3.3, CAL= 142.6, 3.8, ROT= 7.4, -3.8 ] T#Rx 18: Read range and direction messages.m \direction in FSK: [0.989491,0.128512,0.066274]m Fpublishing direction and range infoy   ?CA{s?{S?Y fA  `^ Qi a  ) ?I ?i v }?> @ k= &I@  ԇ=) A>I ԇ   2l?Zş? L?  >) mI A>i ԇ   checking for new query: numPingsReceived=18, elapsed TxPingTime=11.123860^A =Ա A zA wAA I I O >p#,4&ÍLAB >B>BiٱBM=BH`cW?pݿ~~}?@/?һ`$1?÷?>?iB >IBa;BCXYrByr,IbDVD8y];%]:=ٔ]GQ-e>9aYi=pEyAD^E>Q 55t?Q 959)UBYyQ IW@ DIX_;iG_;5yBɮ_3AuEiyi}EÍLAj}5A"j}5A:j} \?Rj}/''q?@2j}ԇZj}}49@$cQ1@vnd@Jj})&|V?TW?AeK.?j}ڎA j}|Ai}, ?i}V.!j} Bj}E?jyjyrj}FAzj}\?% addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504192 s, deltaX: -0.299999 m, approachRate: -0.595010 m/s, rangeRepo size: 4 5 Added new target pos. range: 31.775949 m, bearing: 34.547455 deg, lat: 36.779561 deg, lon: -121.859767 deg, deltaT: 0.504192 s, deltaX: -0.299772 m, approachRate: -0.594560 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 31.78 m.2i9"i9*iA ProNav: ac range: 31.775949 m, nav range: 31.534250 m, bearing: 34.771265 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 26.050884 deg, new cmd heading: 25.956510 deg. iHeadingCmd: 0.453027 target range: 31.775949 and range: 31.80 m.h>hhhhggjgrgereZe:e?@*e\?checking for new query: numPingsReceived=18, elapsed TxPingTime=11.358656B5>B1B5lIB5̀BB5J =B1B1B5;B5D_EBBBBBCš85 颭dBɢn0) =i)cJ顱ii>==I>II)yA} @  @ @ 3@ @ =@ =9  ÂG EM  EM EM )EI "EM :*EM :VEM FA4ZEI BEM 6I] /?i] ] m>Y ] PwV=Y ] s=)Y I] sY Y ] IJm?0\?jq=Nê? ] >)] o3VIY i] sY Y  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.621204ԁ ^Aǚ=A1I9IIO] ?p#,VHÍLArB>r>~>rkٱrqݿ=rH 3X?`IݿYy?0?@s???irB>Ira;rCY%By%/IIU<)Uy=#@ A A)AYpAbDVD8y1<%=ٔkQ->9Y!=%pEy%LD%E%>)Q 555-7?Q 9=5-)-[BY=>Q E=:y=l:?Q I=W@-DI-(:i-:-T5yAɮEF3Aii@ÍLAjA"jA:jo?Rj*U߫(?@;/@]?Bjnx?kt?Cg]?*j2jsZj2 9@A1@x<@Jj?+ H"?1p?^?jA jAi#?iF!jBjjj BrjhAzj ?M addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503592 s, deltaX: -0.299999 m, approachRate: -0.595719 m/s, rangeRepo size: 4 ] Added new target pos. range: 31.475973 m, bearing: 34.564586 deg, lat: 36.779561 deg, lon: -121.859767 deg, deltaT: 0.503592 s, deltaX: -0.299976 m, approachRate: -0.595673 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 31.48 m.2iYa"i*iDDAT read: Rx Time:01:36:12.8322 TRx dataTimestamp_ set to:1764898573.256641checking for new query: numPingsReceived=19, elapsed TxPingTime=11.864460E ProNav: ac range: 31.475973 m, nav range: 31.301235 m, bearing: 34.719249 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.956510 deg, new cmd heading: 25.846621 deg. iIHeadingCmd: 0.451109 target range: 31.475973 and range: 31.50 m.h>hhhhggjgrgBereZe :e?@*e=`N^?cBɢ,) =i)ѪIizi > "= *=I >Iԑ@ @@4@Թ D= @AzD9 EA  EA EE *EA "EA *EA VEE (N4ZEA aM @aM @aM @aM @m PDAT read: Bearing 188.5, 11.2 (Local) m ~Local bearing/azimuth received: Bearing 188.5, 11.2 (Local) } DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4  DAT read: 01:36:12.8322 LVL= 24416, 28209, 27426, 32659, AGC= 62, IDX= 502,-0.29,-0.240,-2.021,-0.349,-0.751, PHS= 0.613,-1.225, 0.357, RAW= 142.6, 3.0, CAL= 142.3, 3.4, ROT= 7.7, -3.4  Ygot valid direction response: 01:36:12.8322 LVL= 24416, 28209, 27426, 32659, AGC= 62, IDX= 502,-0.29,-0.240,-2.021,-0.349,-0.751, PHS= 0.613,-1.225, 0.357, RAW= 142.6, 3.0, CAL= 142.3, 3.4, ROT= 7.7, -3.4  T#Rx 20: Read range and direction messages. \direction in FSK: [0.989239,0.133750,0.059306] Fpublishing direction and range infoya e Uا?y>?Cg]?Ye 3Aa e `_^A G=e 1ne "k e )a Ie ?ie ̜e ȶ>e &I@a e \@ a )e >Ia a a e ji?`? Hɻ? e >)e 3UIe >ia a a  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.128191 A!I)I9OE>)p#,nfÍLAb4>b0F>bmٱb=bH Y?ݿy>@[s?r1?@@v?`/?X?ib4>Ib;K`;bCYjByj,IbDvVDv8yM`%M9=ٔ:8Q->9Y=pEyUDxE>Q 555m?Q 955)aBY9y=Q:?Q I=W@DIB?Cg]?*j >2jZjhr9@J1@0F %@JjƉY ?y?-!?V? x?j5A jMAim?i_)jBjj_)jrj8Azjt?- addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504207 s, deltaX: -0.100000 m, approachRate: -0.198332 m/s, rangeRepo size: 4 e Added new target pos. range: 31.376049 m, bearing: 34.840815 deg, lat: 36.779561 deg, lon: -121.859767 deg, deltaT: 0.504207 s, deltaX: -0.099924 m, approachRate: -0.198181 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 31.38 m.2ii"iq*iq ProNav: ac range: 31.376049 m, nav range: 31.152691 m, bearing: 34.792786 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.846621 deg, new cmd heading: 25.751778 deg. iHeadingCmd: 0.449453 target range: 31.376049 and range: 31.40 m.h>hhhhggjgrgereZe:e-`ff?@*e-v? DDAT read: Rx Time:01:36:13.3320 A!A%@AB=>B=CB=rIB=ҀBB=L =B9B9B=;B=@_EmTRx dataTimestamp_ set to:1764898573.798602uPDAT read: Bearing 187.6, 10.5 (Local) }~Local bearing/azimuth received: Bearing 187.6, 10.5 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 aBɢxG-) =DAT read: 01:36:13.3320 LVL= 26912, 29537, 28738, 32755, AGC= 63, IDX= 499, 0.17, 0.822,-0.980, 0.734, 0.294, PHS= 0.630,-1.229, 0.397, RAW= 143.4, 2.3, CAL= 143.0, 2.7, ROT= 7.0, -2.7 i):I顉iti>*=AԻ=I>IYgot valid direction response: 01:36:13.3320 LVL= 26912, 29537, 28738, 32755, AGC= 63, IDX= 499, 0.17, 0.822,-0.980, 0.734, 0.294, PHS= 0.630,-1.229, 0.397, RAW= 143.4, 2.3, CAL= 143.0, 2.7, ROT= 7.0, -2.7 T#Rx 21: Read range and direction messages.\direction in FSK: [0.991444,0.121734,0.047106]Fpublishing direction and range infoy  q*f?*,)?P7V?Y A   i as Bp ) ?I G!?i O C> - @ l$= @ A=) 5=I A   UX?ꆢI d?BԤ?  >) &I 5=i A  echecking for new query: numPingsReceived=21, elapsed TxPingTime=12.480184 % @!  @! @% c2@) Ee  Ee Ee (Ea "Ee ;*Ee Ǚ:VEe c44ZEa BEe DYAIIO?ip#,膇ÍLA6>6?>6 woٱ6=6H `?@ݿ+U? 7?@?@i? ?i6>I6GC_;6CY>ByB#IiEMb@Mb@Mb@AAAA A9E|?5^?~jt? rhYAyE=ECAE A A)E;AAYEAbD&VDϰ8y7ؼ%=ٔQ->9 Y = pEy _DQwE>Q 55?Q 9%5*)eBY%>Q E%:y%)?Q I-W@ DI/;i;5y1ɮ53A1iiLsÍLAjhA"jhA:j|D?Rj %>@\@8S\?Bjq*f?*,)?P7V?*j5=2jAZjS9@,*Y1@^Ge @Jj S?ǓU?Qɽ?j͊A j,Ai@82?i#jӇBjjF!jBrjAzjZ? addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.293289 s, deltaX: -0.199999 m, approachRate: -0.681917 m/s, rangeRepo size: 4  Added new target pos. range: 31.176067 m, bearing: 34.079241 deg, lat: 36.779561 deg, lon: -121.859769 deg, deltaT: 0.293289 s, deltaX: -0.199982 m, approachRate: -0.681859 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.18 m.2i"i*i ProNav: ac range: 31.176067 m, nav range: 30.822763 m, bearing: 34.473420 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.751779 deg, new cmd heading: 25.649732 deg. iHeadingCmd: 0.447672 target range: 31.176067 and range: 31.20 m.hM5>hhhhggjgrgBereZe:e@33?@*eJZ?`Bɢ/-)e |=i)dHifiM5> 1=|`=IM5>I}DDAT read: Rx Time:01:36:13.8319 TRx dataTimestamp_ set to:1764898574.264886PDAT read: Bearing 188.2, 10.8 (Local) ~Local bearing/azimuth received: Bearing 188.2, 10.8 (Local) checking for new query: numPingsReceived=21, elapsed TxPingTime=12.877570@ @@/5@ ^A =D D %=E  E E )E "E :*E k:VE FA4ZE a @a @a @a @ DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 = DAT read: 01:36:13.8319 LVL= 22880, 26849, 24306, 32755, AGC= 61, IDX= 499,-0.16,-0.030,-1.815,-0.123,-0.536, PHS= 0.608,-1.235, 0.368, RAW= 143.1, 3.0, CAL= 142.8, 3.4, ROT= 7.2, -3.4 A M Ygot valid direction response: 01:36:13.8319 LVL= 22880, 26849, 24306, 32755, AGC= 61, IDX= 499,-0.16,-0.030,-1.815,-0.123,-0.536, PHS= 0.608,-1.235, 0.368, RAW= 143.1, 3.0, CAL= 142.8, 3.4, ROT= 7.2, -3.4 U T#Rx 22: Read range and direction messages.U \direction in FSK: [0.990368,0.125113,0.059306]] Fpublishing direction and range infoy  TS?~?Cg]?Y A `Y h ^ ) =I ?Ae ؟AIq I O >p#,HܡÍLAi{j> @PwV=W@ s=)>Is%c?J?-1? >)"WI>is checking for new query: numPingsReceived=22, elapsed TxPingTime=13.167775$w> >Gqٱ:=H Fb?ݿq P?p7?ۼ U?? ?i$w>I_;CY-By-*IbD=$VD=ΰ8ymB<%u@=ٔuGoQ-u>9u"?Y}"?=}pEy}hD}qE}>Q 55̜?Q 95@)hBYy)?Q IW@&DIu:i`:5yɮZ3AiijÍLAjA"jA:j4?RjIh>@pl$@ĩ|?BjTS?~?Cg]?*j>2jsZj`RY}9@wQ1@]@JjcV??{\?\0?jA jAi0?iy{!jBj, ?jV.!jBrjOAzj?M addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.713203 s, deltaX: -0.100000 m, approachRate: -0.140213 m/s, rangeRepo size: 4 ] Added new target pos. range: 31.076143 m, bearing: 34.190901 deg, lat: 36.779561 deg, lon: -121.859769 deg, deltaT: 0.713203 s, deltaX: -0.099924 m, approachRate: -0.140106 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.08 m.2i"i*i ProNav: ac range: 31.076143 m, nav range: 30.663877 m, bearing: 34.403065 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.649732 deg, new cmd heading: 25.561854 deg. iHeadingCmd: 0.446139 target range: 31.076143 and range: 31.10 m.hDl>hhh h g gjgrgere9ZeA:eE?@*eE@?_Bɢ>+) D=i)~HQiUei]Dl>]c8=]z7=IeDl>IaB>BCBlIB̀BBK =BBB;BO_EDDAT read: Rx Time:01:36:14.3316 TRx dataTimestamp_ set to:1764898574.822914 PDAT read: Bearing 187.8, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 187.8, 10.4 (Local)  DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 = DAT read: 01:36:14.3316 LVL= 25072, 28257, 25522, 32755, AGC= 63, IDX= 496, 0.31, 1.015,-0.758, 0.942, 0.512, PHS= 0.605,-1.225, 0.385, RAW= 143.7, 2.7, CAL= 143.3, 3.1, ROT= 6.7, -3.1 E Ygot valid direction response: 01:36:14.3316 LVL= 25072, 28257, 25522, 32755, AGC= 63, IDX= 496, 0.31, 1.015,-0.758, 0.942, 0.512, PHS= 0.605,-1.225, 0.385, RAW= 143.7, 2.7, CAL= 143.3, 3.1, ROT= 6.7, -3.1 M T#Rx 23: Read range and direction messages.m \direction in FSK: [0.991717,0.116500,0.054079]u Fpublishing direction and range infoy ye%?uҽ?ʾ7?YAaanc )?IH?i̜> @A=Q @ k]=)|=Ik]zE?_v?M%? '>)/DI|=ik] @getADC uart error serial timeout Puart error - getPosition..serial timeoutq  (Communications Fault checking for new query: numPingsReceived=23, elapsed TxPingTime=13.448542ԩ ^A A zA zAE  E E -E "E :*E :VE t4ZE BE F8checking for new query: numPingsReceived=23, elapsed TxPingTime=13.681821V>VΗ>V_rٱVH=VH`ve?@eݿC?3:?qG? Ӹ?@?iV>IVQ_;VCYbByb$IiEMb@Mb@Mb@AAAA A9EQ?I +?yE94=EtE@A E7A)E AAYEAbD]VD]8ym %m$=ٔu)Q-u>9qYy=}pEy}rD} E}>Q 55$ۜ?Q 95O)kBY>Q E;yt?Q IX@-DI;i ;5y Bɮ3AmEiAiEÍLAjEA"jEA:jEi?RjEKR>@xV @t?BjEe%?uҽ?ʾ7?*jE|=2jEk]ZjEG_@9@ORx0@`̸@@JjE\*m? u*?$ݪ??jEA jEAiE95+?iE޼+jE#BjE95+?jEy{!jEBrjEuAzjE6? addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.311109 s, deltaX: -0.500000 m, approachRate: -1.607154 m/s, rangeRepo size: 4   Added new target pos. range: 30.576614 m, bearing: 33.664228 deg, lat: 36.779562 deg, lon: -121.859769 deg, deltaT: 0.311109 s, deltaX: -0.499529 m, approachRate: -1.605639 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 30.58 m.2i"i*iU ProNav: ac range: 30.576614 m, nav range: 30.557354 m, bearing: 34.266097 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.561853 deg, new cmd heading: 25.457298 deg. iYHeadingCmd: 0.444314 target range: 30.576614 and range: 30.60 m.h}>hhhhggjgrgyBereZe:e>@*e@^?%^Bɢ%-)! %=i!)-H))i-ri5}>5@=5w=I5}>I9 :Uninitialize Docking Stepper. Powering downI)i5DDAT read: Rx Time:01:36:14.8316 =TRx dataTimestamp_ set to:1764898575.329918MPDAT read: Bearing 172.6, 18.0 (Local) M~Local bearing/azimuth received: Bearing 172.6, 18.0 (Local) ^AeO=DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 ! - DAT read: 01:36:14.8316 LVL= 26384, 28849, 30578, 32755, AGC= 62, IDX= 512,-0.02, 1.430,-0.995, 0.868, 0.132, PHS= 1.400,-1.082, 0.692, RAW= 133.9, -9.2, CAL= 134.0, -10.4, ROT= 16.0, 10.4 5 Ygot valid direction response: 01:36:14.8316 LVL= 26384, 28849, 30578, 32755, AGC= 62, IDX= 512,-0.02, 1.430,-0.995, 0.868, 0.132, PHS= 1.400,-1.082, 0.692, RAW= 133.9, -9.2, CAL= 134.0, -10.4, ROT= 16.0, 10.4 5 T#Rx 24: Read range and direction messages.= ^direction in FSK: [0.945470,0.271109,-0.180519]] Fpublishing direction and range infoy9=lIA?5ҸY?lE@ǿY99=g=p=rw 9)=>I=33?i=~=&1?=W@=l$=@ =9)=5>I=9>99="Sͩ?P. i?AM`Ŀ =x>)=#>I=5>i=9>99} checking for new query: numPingsReceived=24, elapsed TxPingTime=13.976313A I I O >p#,mÍLA 2">2>2rٱ2o=2Hk?gݿ$ %*?@?g U?ظ?`?i2">I25_;2CDPzDPEV EVEV*ET"EV;*EVv:VEV(N4ZETaZ@aZ@aZ@aZ@YZByZ'IppbDvVDv8y=ZD<%=N=ٔ=ȒQ-E>9AYA=EpEyEzDMEM>QQ 5}5Uz朊?Q 9}5U)UmBYyy}?Q IX@U2DIUH;iU;Ur5yɮ3Aiqiu`ÍLAjq"jq:juWD?Rju, 3<@.b,F @'"BjulIA?5ҸY?lE@ǿ*ju5>2ju9>Zjus5@8_5@קFJjuJ߈?髺M ?}ָjuA juKAiu?iuk|juMuBjqjqju#Brju*Azjuh?5 addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.507004 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 30.576614 m, bearing: 43.943863 deg, lat: 36.779562 deg, lon: -121.859769 deg, deltaT: 0.507004 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 30.58 m.2iI"iI*iI} ProNav: ac range: 30.576614 m, nav range: 30.395901 m, bearing: 34.269764 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.457298 deg, new cmd heading: 25.378675 deg. iHeadingCmd: 0.442941 target range: 30.576614 and range: 30.60 m.h8>hhhhggjgrgereZe:e*e?ɢ&')  $=i )M~GIQiU1iU8>]F=]н=I]8>IYqchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.185895ԡUጺB A <B >B CB B B L =B B B ;B S_E M DDAT read: Rx Time:01:36:15.3313 M TRx dataTimestamp_ set to:1764898575.833245] PDAT read: Bearing 187.8, 10.6 (Local) e ~Local bearing/azimuth received: Bearing 187.8, 10.6 (Local)  DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4  DAT read: 01:36:15.3313 LVL= 23744, 27793, 25970, 32755, AGC= 62, IDX= 510,-0.32,-1.313,-3.077,-1.392,-1.807, PHS= 0.596,-1.225, 0.371, RAW= 143.5, 3.0, CAL= 143.1, 3.4, ROT= 6.9, -3.4  Ygot valid direction response: 01:36:15.3313 LVL= 23744, 27793, 25970, 32755, AGC= 62, IDX= 510,-0.32,-1.313,-3.077,-1.392,-1.807, PHS= 0.596,-1.225, 0.371, RAW= 143.5, 3.0, CAL= 143.1, 3.4, ROT= 6.9, -3.4  T#Rx 25: Read range and direction messages. \direction in FSK: [0.991010,0.119925,0.059306] Fpublishing direction and range infoyI M !hnZ?sm?Cg]?YM AI M \M lM re I )I IM u?iM ̜M >M J @M PwV=M @ M s=)M Ϣ=IM sI I M T1aN?k:z?%s? M >)M YIM Ϣ=iM sI I ^A =% checking for new query: numPingsReceived=25, elapsed TxPingTime=14.464308 AiIqIO>}\p#,O<ÍLABz>B>BOsٱB=BHp?oUݿ@~?E?LY^?-??iBz>IB^;BCYNByN=IEu EuEu)Eq"EuD:*Eu:VEuFA4ZEqBEu2yu<u@ )+@Y\AbDVD8y 0=% #=ٔ Q- >9Y=pEyDe&E>Q 5E5@?Q 9M5\)oBYM>Q EM;yM?Q IMX@8DI;iy;5yUBɮ]}3A]nEi9i=SÍLAj=jA"j=jA:j=j?ԩRj==@$ @p?Bj=!hnZ?sm?Cg]?*j=Ϣ=2j=sZj= 98@ŢCe0@`T;@Jj=)<h?2/?2?j=A j==Ai=W!'?i=-j=vBj9j=#j9rj=7Azj=? addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503327 s, deltaX: -0.400000 m, approachRate: -0.794711 m/s, rangeRepo size: 4 E Added new target pos. range: 30.176762 m, bearing: 33.664979 deg, lat: 36.779562 deg, lon: -121.859770 deg, deltaT: 0.503327 s, deltaX: -0.399853 m, approachRate: -0.794419 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 30.18 m.2iI"iQ*iQ ProNav: ac range: 30.176762 m, nav range: 30.152021 m, bearing: 34.181045 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.378674 deg, new cmd heading: 25.274684 deg. iHeadingCmd: 0.441126 target range: 30.176762 and range: 30.20 m.hT>hhhhggjgrgereZe:e@33>@*e?echecking for new query: numPingsReceived=25, elapsed TxPingTime=14.689915u]Bɢu")q u>iq)G项i~3iT>WO=mǾ=IT>I H DDAT read: Rx Time:01:36:15.8312  TRx dataTimestamp_ set to:1764898576.337078% PDAT read: Bearing 186.8, 10.2 (Local) % ~Local bearing/azimuth received: Bearing 186.8, 10.2 (Local) = DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 Q  DAT read: 01:36:15.8312 LVL= 26512, 26097, 23346, 32755, AGC= 60, IDX= 508, 0.24, 0.796,-0.983, 0.729, 0.282, PHS= 0.616,-1.219, 0.403, RAW= 143.9, 2.3, CAL= 143.5, 2.6, ROT= 6.5, -2.6  Ygot valid direction response: 01:36:15.8312 LVL= 26512, 26097, 23346, 32755, AGC= 60, IDX= 508, 0.24, 0.796,-0.983, 0.729, 0.282, PHS= 0.616,-1.219, 0.403, RAW= 143.9, 2.3, CAL= 143.5, 2.6, ROT= 6.5, -2.6  T#Rx 26: Read range and direction messages. \direction in FSK: [0.992549,0.113087,0.045363] Fpublishing direction and range infoy  5???99?Y A  g e 2[  ) <I -?i 1 V> @ l$= J @  9=) V=I 9   I=:??1:MϤ?  >) ,&I V=i 9   checking for new query: numPingsReceived=26, elapsed TxPingTime=14.966455^A :=A].AIayIyO?Uq#,čLAEU EUEU*EQ"EU:*EUz:VEU(N4ZEQa]@a]@a]@a]@YmBym0I qqbD}VD}8y,%#=ٔQ->9 ?Y ?=pEyDE>Q 55?Q 95)rBYyQ IX@?DIl:iW::5yɮ3AiičLAjA"jA:j?Rj/."=@d~޲ @?Bj5???99?*jV=2j9Zj.%a8@J0%q]0@ @Jj}?m-x?6l?jA jAib4?ibT0jBjj޼+jrj=AzjN? addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503833 s, deltaX: -0.200001 m, approachRate: -0.396958 m/s, rangeRepo size: 4  Added new target pos. range: 29.976913 m, bearing: 33.337028 deg, lat: 36.779562 deg, lon: -121.859773 deg, deltaT: 0.503833 s, deltaX: -0.199848 m, approachRate: -0.396656 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.98 m.2i"i*i ProNav: ac range: 29.976913 m, nav range: 29.780018 m, bearing: 33.721511 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.274685 deg, new cmd heading: 25.174790 deg. !i-HeadingCmd: 0.439383 target range: 29.976913 and range: 30.00 m.h->h)h)h)h)g)g1jg1rg1e1re1Ze9:e=>@*e]r?颥\BɢA%) j>i)F顱ii>W=—=I>I    ===<Echecking for new query: numPingsReceived=26, elapsed TxPingTime=15.194142Qy BM >BI BI BI BI BI BI BM ;BM P_E^A = DDAT read: Rx Time:01:36:16.3310 - TRx dataTimestamp_ set to:1764898576.8463645 PDAT read: Bearing 187.0, 10.7 (Local) = ~Local bearing/azimuth received: Bearing 187.0, 10.7 (Local) M DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 u DAT read: 01:36:16.3310 LVL= 25584, 29649, 29154, 32755, AGC= 61, IDX= 506, 0.05,-1.343,-3.101,-1.422,-1.849, PHS= 0.608,-1.207, 0.383, RAW= 143.5, 2.5, CAL= 143.1, 2.9, ROT= 6.9, -2.9 } Ygot valid direction response: 01:36:16.3310 LVL= 25584, 29649, 29154, 32755, AGC= 61, IDX= 506, 0.05,-1.343,-3.101,-1.422,-1.849, PHS= 0.608,-1.207, 0.383, RAW= 143.5, 2.5, CAL= 143.1, 2.9, ROT= 6.9, -2.9 } T#Rx 27: Read range and direction messages. \direction in FSK: [0.991486,0.119983,0.050593] Fpublishing direction and range infoy  N@?ewÂ4?|rQ?Y A  c s q  ) =I ?i ~ > J @ ¸2= @  4QO=) Ϣ=I 4QO   0ВR?+v?]]t˦?  >) k6I Ϣ=i 4QO ԡ   checking for new query: numPingsReceived=27, elapsed TxPingTime=15.469608A؟AIIO>iq#,Gs<čLA\YzByzCIE EE)E"El;*E:VEFA4ZEBEaF ףp=?y&1|I +Y->y-`廙-94-@- A - A)-@)Y- A ===p=bDEVDE8ywf=%=ٔQ->9"?Y"?=pEyDE>Q 55?Q 95L)uBY>Q E;y>Q IX@EDI6;i4;5y!Bɮ3Aii*6čLAjjA"jjA:j?Rjl=@wm| @L?BjN@?ewÂ4?|rQ?*jϢ=2j4QOZj8@r Y0@#1 @Jj>7l?B?36J?j͂A j Ai-'%?i@?.jևBjW!'?j-jևBrjAzj ? addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.509286 s, deltaX: -0.299999 m, approachRate: -0.589058 m/s, rangeRepo size: 4  Added new target pos. range: 29.677179 m, bearing: 33.710429 deg, lat: 36.779562 deg, lon: -121.859774 deg, deltaT: 0.509286 s, deltaX: -0.299734 m, approachRate: -0.588538 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.68 m.2i"i*i ProNav: ac range: 29.677179 m, nav range: 29.512905 m, bearing: 33.746630 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.174790 deg, new cmd heading: 25.068250 deg. iHeadingCmd: 0.437523 target range: 29.677179 and range: 29.70 m.h>hhhhggjgrgsBereZe :e @3=@*e @u?Yɢ]dchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.697951) |>i)Eiai > a= \F=I >I ^A C=A = DDAT read: Rx Time:01:36:16.8310 = TRx dataTimestamp_ set to:1764898577.345046M PDAT read: Bearing 187.5, 10.8 (Local) M ~Local bearing/azimuth received: Bearing 187.5, 10.8 (Local) ] DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.3 } DAT read: 01:36:16.8310 LVL= 24240, 30945, 30066, 32755, AGC= 61, IDX= 506,-0.14,-1.513, 3.021,-1.594,-2.002, PHS= 0.591,-1.216, 0.363, RAW= 143.4, 3.1, CAL= 143.0, 3.5, ROT= 7.0, -3.5  Ygot valid direction response: 01:36:16.8310 LVL= 24240, 30945, 30066, 32755, AGC= 61, IDX= 506,-0.14,-1.513, 3.021,-1.594,-2.002, PHS= 0.591,-1.216, 0.363, RAW= 143.4, 3.1, CAL= 143.0, 3.5, ROT= 7.0, -3.5  T#Rx 28: Read range and direction messages. \direction in FSK: [0.990695,0.121642,0.061049] Fpublishing direction and range infoy9 = &O*ų?4Y#?.xA?Y9 9 = ^= x= ru 9 )9 I= K?i= 㥛= #۹>= - @= k]== @ = 5z=)= 5=I= 5z9 9 = 36!V?!JS?hHȫ? = >)= a^I= 5=i= 5z9 9  checking for new query: numPingsReceived=28, elapsed TxPingTime=15.965233A .AI I O5 >dq#, (XčLA}~>}>}sٱ}=}H?-ܿ巀8?Y?``o?\?%?i}~>YbEM÷G4jEML4rEMַ/E EE,E"EV:*E~:VEg4ZEa@a@a@a@I}L^;}CYByFII<)<bDVD8y<%!=ٔȇQ->9 ?Y ?=pEyDV>E>Q 5%5#?Q 9%5)yBY!y->Q I-X@LDI:i%:A5yYɮ]3Aaii<VčLAj"j:jB?Rj&֩f=@.C @|Y?Bj&O*ų?4Y#?.xA?*j5=2j5zZjjS8@v20@`p]=@Jj{?w?F0?jA jxAi9?i7/j}Bjj@?.jrj:Azjʹ? addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.498682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 29.677179 m, bearing: 33.406322 deg, lat: 36.779562 deg, lon: -121.859774 deg, deltaT: 0.498682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 29.68 m.2ia"ia*iaԉ ProNav: ac range: 29.677179 m, nav range: 29.278784 m, bearing: 33.729814 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 25.068249 deg, new cmd heading: 24.963174 deg. iHeadingCmd: 0.435690 target range: 29.677179 and range: 29.70 m.h>hhhhgchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.201916gjgrgereZe:e*esa?=[BɢE)A E%>ia)m1CEiiimNiu>ui=u/=Iu>Iq@=@Թ ^A &= mDDAT read: Rx Time:01:36:17.3307 uTRx dataTimestamp_ set to:1764898577.849893}PDAT read: Bearing 187.0, 10.7 (Local) }~Local bearing/azimuth received: Bearing 187.0, 10.7 (Local) DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.3 DAT read: 01:36:17.3307 LVL= 24560, 31057, 27490, 32755, AGC= 60, IDX= 504,-0.32,-3.035, 1.486,-3.116, 2.745, PHS= 0.604,-1.214, 0.378, RAW= 143.5, 2.7, CAL= 143.1, 3.1, ROT= 6.9, -3.1 Ygot valid direction response: 01:36:17.3307 LVL= 24560, 31057, 27490, 32755, AGC= 60, IDX= 504,-0.32,-3.035, 1.486,-3.116, 2.745, PHS= 0.604,-1.214, 0.378, RAW= 143.5, 2.7, CAL= 143.1, 3.1, ROT= 6.9, -3.1 T#Rx 29: Read range and direction messages.\direction in FSK: [0.991305,0.119961,0.054079]Fpublishing direction and range infoyimd]rĸ?tKĵ?ʾ7?YmfAim_mQymbk i)m<Im?imZdm7>mJ @mA=m @ mk]=)mϢ=Imk]iimR?$Obp?L(Yq? m>)mҝCImϢ=imk]iichecking for new query: numPingsReceived=29, elapsed TxPingTime=16.470045B >B B xIB ׀BB K =B B B ˣ;B ^_EBmCBmCBiBmL =BmL =Cm 4AQIaIqO}?$q#,~xčLAHR}>R!>R,sٱRS=RH֌?ܿ߀q?@_?@Piv?s??iR}>IR^;RCYrByr[I C]Gm{Ai]Mb@Mb@Mb@YYYg9{AY=cAY Y9]|?5^?{Gz~jthY]>y]#]D]@Y Y)]@YY]AbDҿVD8y=%6=ٔQ->9!Y!=%pEy%D-jyE->1Q 5=551?Q 9=55)5}BY=>Q E};y}>Q IX@5RDI5&I/lۍ?&g?4?ju~A ju[Aiu+0?iu,4ju Bju+0?ju7/ju BrjuAAzju?} addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504847 s, deltaX: -0.400002 m, approachRate: -0.792322 m/s, rangeRepo size: 4  Added new target pos. range: 29.277454 m, bearing: 33.244754 deg, lat: 36.779563 deg, lon: -121.859775 deg, deltaT: 0.504847 s, deltaX: -0.399725 m, approachRate: -0.791774 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.28 m.2i"i*iE ProNav: ac range: 29.277454 m, nav range: 29.157013 m, bearing: 33.566479 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 24.963175 deg, new cmd heading: 24.870186 deg. iAMHeadingCmd: 0.434067 target range: 29.277454 and range: 29.30 m.hM=>hIhIhIhIgIgQjgyrg}}BeyreyZey:eL=@*e?ɢ) H>i)ŅDi7?i=>nq=S=I=>Ichecking for new query: numPingsReceived=29, elapsed TxPingTime=16.706312 ^AU =A ؟AI I O >$q#,ߓčLA$YĀBy aIbDٿVD8y-0<%-_=ٔ-Q-->95"?Y5"?=5pEy5D=E=>UDDAT read: Rx Time:01:36:17.8307 UTRx dataTimestamp_ set to:1764898578.353258]PDAT read: Bearing 186.3, 10.3 (Local) e~Local bearing/azimuth received: Bearing 186.3, 10.3 (Local) uDAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 DAT read: 01:36:17.8307 LVL= 20880, 27633, 23666, 32755, AGC= 58, IDX= 503, 0.42,-0.753,-2.524,-0.824,-1.273, PHS= 0.622,-1.206, 0.405, RAW= 143.8, 2.1, CAL= 143.4, 2.4, ROT= 6.6, -2.4 Ygot valid direction response: 01:36:17.8307 LVL= 20880, 27633, 23666, 32755, AGC= 58, IDX= 503, 0.42,-0.753,-2.524,-0.824,-1.273, PHS= 0.622,-1.206, 0.405, RAW= 143.8, 2.1, CAL= 143.4, 2.4, ROT= 6.6, -2.4 T#Rx 30: Read range and direction messages.\direction in FSK: [0.992501,0.114836,0.041876]Fpublishing direction and range infoyQU)P?@e? ۷p?YQQUQUkUr\ Q)U:IUd;?iU5^U)\>UK @UQ =U- @ U+=)U=IU+QQUEd{D?Ɉ?@U?9Q 55=)U4IU=iU+QQchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.977751iQiUǛčLAjQ"jQ:jU|?RjU 6|=@D @ !n?BjU)P?@e? ۷p?*jU=2jU+ZjU+De8@l˲/@I H? @JjU.b?1_,R?j"R4?jU}A jU,AiUhȍD?iU[5jUTBjUb4?jUbT0jUևBrjULAzjU~?- addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503365 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.277454 m, bearing: 33.009403 deg, lat: 36.779563 deg, lon: -121.859775 deg, deltaT: 0.503365 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.28 m.2i"i*i ProNav: ac range: 29.277454 m, nav range: 29.037502 m, bearing: 33.531961 deg, approach rate: 0.000000 m/s, LOS rate: -0.101859 deg/s, cmd heading: 24.870186 deg, new cmd heading: 24.798021 deg. i HeadingCmd: 0.432807 target range: 29.277454 and range: 29.30 m.h >h h h h ggjgrgQeYreYZeY:eY*e]6?qɢ¿) bR>i) C1i5Ǵi=>=w===I=>I9E  E E (E "E D:*E |:VE c44ZE a@a@a@a@ԡ^A=A>A> checking for new query: numPingsReceived=30, elapsed TxPingTime=17.211323 A I I O >\*q#,zčLA2Fz>2D>2rٱ2 =2H ?ܿ D?*i?`9>?`?`X?i2Fz>I2,_;2CY:׀By:xI <<bDFۿVDF8yN=%NV=ٔR:Q-R>9PYP=RpEyVDVEV>XQ 5^5ZjH?Q 9^5`Z)ZBY9y=k>Q IEX@Z\DIZhhhhggjg1rg1e9reAZeIB>BBIBBBBBZDB٣;Bl_E:e*e -?iyI}ADDAT read: Rx Time:01:36:18.3305 TRx dataTimestamp_ set to:1764898578.863542PDAT read: Bearing 186.9, 10.6 (Local) ~Local bearing/azimuth received: Bearing 186.9, 10.6 (Local) -DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.3 uDAT read: 01:36:18.3305 LVL= 27504, 30241, 32434, 32755, AGC= 59, IDX= 501, 0.14,-1.520, 2.976,-1.600,-2.030, PHS= 0.612,-1.233, 0.386, RAW= 143.5, 2.7, CAL= 143.2, 3.1, ROT= 6.8, -3.1 }Ygot valid direction response: 01:36:18.3305 LVL= 27504, 30241, 32434, 32755, AGC= 59, IDX= 501, 0.14,-1.520, 2.976,-1.600,-2.030, PHS= 0.612,-1.233, 0.386, RAW= 143.5, 2.7, CAL= 143.2, 3.1, ROT= 6.8, -3.1 T#Rx 31: Read range and direction messages.\direction in FSK: [0.991512,0.118231,0.054079]Fpublishing direction and range infoy!]x?h>^D?ʾ7?YApk!v~ );I?iҝˡ>J @A=@ k]=)=Ik]7cM?&e5?ܻ`? #x>)CI=ik]checking for new query: numPingsReceived=31, elapsed TxPingTime=17.504040Yɢ) x>i)CiiQf>K~=o=IQf>IE5  E5 E5 *E1 "E5 :*E5 :VE5 (N4ZE1 BE5 F81q#,PčLAxY-By5IiMb@Mb@Mb@ 9:v?~jtx?y&1|?Y>y;`;+@h A A)@YpAbDVDư8y A=% 3=ٔ Q- >9Y=pEyDE>Q 5%5V?Q 9-5=)BY- >Q E-:y-8>Q I-X@bDIT;i;5y55Bɮ=2A=pEiiFDčLAjA"jA:j^?Rj&J}M<@SpV"h @|^D?ʾ7?*j=2jk]Zj8@icN/@i @Jj䐢?)Z`&I?d&ǿ?jszA jAi;EG?i6jBj9?j,4j Brj3Azj ? addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.510284 s, deltaX: -0.299999 m, approachRate: -0.587906 m/s, rangeRepo size: 4  Added new target pos. range: 28.977606 m, bearing: 32.982983 deg, lat: 36.779564 deg, lon: -121.859777 deg, deltaT: 0.510284 s, deltaX: -0.299849 m, approachRate: -0.587611 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.98 m.2i"i*i ProNav: ac range: 28.977606 m, nav range: 28.650324 m, bearing: 33.256176 deg, approach rate: 0.000000 m/s, LOS rate: 0.112345 deg/s, cmd heading: 24.887818 deg, new cmd heading: 24.982643 deg. iHeadingCmd: 0.436029 target range: 28.977606 and range: 29.00 m.h>?>hhhhggjgrgwBereZe:e=@*eW?qɢu`.)y }>iy)}DB顡i-溻i>?>=6=I>?>I!^AE =UDDAT read: Rx Time:01:36:18.8305 ]TRx dataTimestamp_ set to:1764898579.361268ePDAT read: Bearing 186.5, 10.9 (Local) e~Local bearing/azimuth received: Bearing 186.5, 10.9 (Local) uDAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.3 DAT read: 01:36:18.8305 LVL= 25952, 29841, 32178, 32755, AGC= 60, IDX= 501,-0.06,-1.623, 2.869,-1.716,-2.147, PHS= 0.626,-1.222, 0.387, RAW= 143.2, 2.4, CAL= 142.8, 2.8, ROT= 7.2, -2.8 Ygot valid direction response: 01:36:18.8305 LVL= 25952, 29841, 32178, 32755, AGC= 60, IDX= 501,-0.06,-1.623, 2.869,-1.716,-2.147, PHS= 0.626,-1.222, 0.387, RAW= 143.2, 2.4, CAL= 142.8, 2.8, ROT= 7.2, -2.8 T#Rx 32: Read range and direction messages.\direction in FSK: [0.990930,0.125184,0.048850]Fpublishing direction and range infoyQU1<]? L?s!D?YQQU`eUtU} Q)U<IUA ?iUjU$>U@U+=UW@ U+H=)U>IU+HQQUGad?Q31v)?[څ? U=>)U-IU>iU+HQQchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.981857AAIIIYOm> E  E E )E "E :*E xv:VE FA4ZE a @a @a @a @7q#,čLA2țx>2>2,pٱ2=2H)? &ܿ|E}g?m???[?i2țx>I2|8_;2CYBByBI F%=DbDJVDJ8yrV=%r`=ٔr+A:Q-r>9tYt=vpEyvDzOEz>|Q 5%5~a?Q 9%5~l)~BY!y%_>Q I%X@~fDI~";i~:~5y)ɮ52A1iičLAj"j:j?Rj$:<@X: ) @w:?Bj1<]? L?s!D?*j>2j+HZj 8@MQ\)/@J# @JjuΌ?iOr?VA$9k?j|A jVAiiK?iy0j߇BjhȍD?jjrjAzjh? addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.497726 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.977606 m, bearing: 33.313654 deg, lat: 36.779565 deg, lon: -121.859777 deg, deltaT: 0.497726 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.98 m.2i"i*ichecking for new query: numPingsReceived=32, elapsed TxPingTime=18.217871 ProNav: ac range: 28.977606 m, nav range: 28.609583 m, bearing: 33.144585 deg, approach rate: 0.000000 m/s, LOS rate: 0.112345 deg/s, cmd heading: 24.982643 deg, new cmd heading: 25.067043 deg. iHeadingCmd: 0.437502 target range: 28.977606 and range: 29.00 m.hR>hhhhggjgrgereZe:e*e@e? ɢ P׼) >i)$UAi6iR>==IR>I! ^A2=A zA 1A .ABm >Bi Bm IBm BBi Bi Bi Bm ;Bm s_EIA I O% > DDAT read: Rx Time:01:36:19.3302  TRx dataTimestamp_ set to:1764898579.869675 PDAT read: Bearing 186.6, 11.2 (Local)  ~Local bearing/azimuth received: Bearing 186.6, 11.2 (Local) U DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 Y  DAT read: 01:36:19.3302 LVL= 22592, 27377, 28546, 32755, AGC= 60, IDX= 499,-0.27,-3.002, 1.489,-3.107, 2.757, PHS= 0.627,-1.223, 0.375, RAW= 142.8, 2.6, CAL= 142.5, 3.0, ROT= 7.5, -3.0  Ygot valid direction response: 01:36:19.3302 LVL= 22592, 27377, 28546, 32755, AGC= 60, IDX= 499,-0.27,-3.002, 1.489,-3.107, 2.757, PHS= 0.627,-1.223, 0.375, RAW= 142.8, 2.6, CAL= 142.5, 3.0, ROT= 7.5, -3.0  T#Rx 33: Read range and direction messages. \direction in FSK: [0.990086,0.130347,0.052336] Fpublishing direction and range infoy  pAɮ?х8?yoU˪?Y A @X j o ) I  ?i D > W@ 9= ,@ PwV=) >I PwV yny?^ ?I`Bz? >) 8I >i PwV M checking for new query: numPingsReceived=33, elapsed TxPingTime=18.531061'>q#,_čLAYByII=)p;1iMb@Mb@Mb@ 9/$?V-?~jth?Y>y<D;@  A)@Y=AbDVDy*=%/=ٔE EE*E"ED:*E n:VE(N4ZEBE29 ?Y ?=pEyDE>Q 55p?Q 95)BY ->Q E :y ?Q I X@mDI ;i ;5y3Bɮ1AgEiičLAjA"jA:j?Rjs2<@.18 @?BjpAɮ?х8?yoU˪?*j >2jPwVZjD$/7@l!F/@ @Jj{s?p'?_p?j1zA jQAi1\0?is2jBjjjBrjAAzjv/?e addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.508407 s, deltaX: -0.500000 m, approachRate: -0.983464 m/s, rangeRepo size: 4  Added new target pos. range: 28.477936 m, bearing: 33.595242 deg, lat: 36.779565 deg, lon: -121.859777 deg, deltaT: 0.508407 s, deltaX: -0.499670 m, approachRate: -0.982815 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.48 m.2i"i*iM ProNav: ac range: 28.477936 m, nav range: 28.407169 m, bearing: 33.165617 deg, approach rate: 0.000000 m/s, LOS rate: 0.112345 deg/s, cmd heading: 25.067044 deg, new cmd heading: 25.170279 deg. iIUHeadingCmd: 0.439304 target range: 28.477936 and range: 28.50 m.hU}>hQhQhQhQgQgYjgYrg]BeYreaZea:ee<@*e@R?\BɢTټ) I>i)%@i%!»i}>׌=د=I}>I @@=achecking for new query: numPingsReceived=33, elapsed TxPingTime=18.722515ԙ^AM =A I I Թ O >GEq#,8ōLA2[v>2>2,qٱ2 =2HK?ܿ|`N? Fs?@b4`$!?`=?`?i2[v>I2^;2CY>By>IbDFпVDF8yN_ >%Nv=ٔR#Q-R?9PYP=RpEyVDVEV?XQ 5^5Z {?Q 9^5Z)ZBY`ybz?Q IbX@ZqDIZ;iZ;Z5ydɮf0Ad:ixzDNOT Ignoring new targets: 28.48 m.2ix"i~Y:*i~Y:  ProNav: ac range: 28.477936 m, nav range: 28.265764 m, bearing: 33.180979 deg, approach rate: -0.435543 m/s, LOS rate: 0.047554 deg/s, cmd heading: 25.170280 deg, new cmd heading: 25.201159 deg. i :HeadingCmd: 0.439843 target range: 28.477936 and range: 28.50 m.h 3>hhhhgiIA-DDAT read: Rx Time:01:36:19.8301 -TRx dataTimestamp_ set to:1764898580.369481=PDAT read: Bearing 186.4, 11.2 (Local) =~Local bearing/azimuth received: Bearing 186.4, 11.2 (Local) MDAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 mDAT read: 01:36:19.8301 LVL= 24736, 29425, 29826, 32755, AGC= 60, IDX= 497, 0.38,-1.851, 2.629,-1.960,-2.385, PHS= 0.636,-1.224, 0.381, RAW= 142.7, 2.4, CAL= 142.4, 2.8, ROT= 7.6, -2.8 }Ygot valid direction response: 01:36:19.8301 LVL= 24736, 29425, 29826, 32755, AGC= 60, IDX= 497, 0.38,-1.851, 2.629,-1.960,-2.385, PHS= 0.636,-1.224, 0.381, RAW= 142.7, 2.4, CAL= 142.4, 2.8, ROT= 7.6, -2.8 }T#Rx 34: Read range and direction messages.\direction in FSK: [0.990032,0.132098,0.048850]Fpublishing direction and range infoy)-+W??(?s!D?Y-3A)-`-r-t )))I-"?i--o>-e@-+=-@ -+H=)->I-+H))-}|?z?Yĕo? -h+>)-+I->i-+H))checking for new query: numPingsReceived=34, elapsed TxPingTime=18.990967gjgrgereZe:e%`ff<@*e%?IɢM⌙)I M>ԑiQ)4?顙iƁŻi 3>(=\=I 3>IDD=E EE)E"E*E:VEFA4ZEa@a@a@a@^A=checking for new query: numPingsReceived=34, elapsed TxPingTime=19.225801A ؟AI! I9 OU > :Kq#,/ōLA5tv>55>5ypٱ5=5H,?ܿLd|C?u?@??QL?i?i5tv>I5];5CY}ByIBAbDVD8yz =%5=ٔ b8Q- >9 "?Y"?=pEyDoE>Q 5%54?Q 9%5Q)BY)y-F?Q I-X@xDI:iW:5y1ɮ=0A9B>BCBIB)BBJ =BBYDB;B_E iYi]ōLAj]A"j]A:j]?Rj]:c)z[<@DR @˒qV.?Bj]+W??(?s!D?*j]>2j]+HZj]Fy7@npl'/@N @Jj]ZBx?wU?o.C˾?j];yA j]ʻAi]ǶIC?i]/j]BjYj]s2j]Brj]Azj]?} addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.499806 s, deltaX: -0.100000 m, approachRate: -0.200078 m/s, rangeRepo size: 4  Added new target pos. range: 28.378014 m, bearing: 33.567968 deg, lat: 36.779565 deg, lon: -121.859776 deg, deltaT: 0.499806 s, deltaX: -0.099922 m, approachRate: -0.199922 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.38 m.2i"i*iUDDAT read: Rx Time:01:36:20.3299 ]TRx dataTimestamp_ set to:1764898580.877411}PDAT read: Bearing 187.4, 11.6 (Local) ~Local bearing/azimuth received: Bearing 187.4, 11.6 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.3 U ProNav: ac range: 28.378014 m, nav range: 28.124739 m, bearing: 33.367077 deg, approach rate: 0.000000 m/s, LOS rate: 0.047554 deg/s, cmd heading: 25.201158 deg, new cmd heading: 25.247017 deg. iQ]HeadingCmd: 0.440644 target range: 28.378014 and range: 28.40 m.h] >hYhyhyhyggjgrgereZe:e*eX?DAT read: 01:36:20.3299 LVL= 26208, 31153, 27890, 32755, AGC= 60, IDX= 511, 0.13,-2.901, 1.586,-3.019, 2.873, PHS= 0.612,-1.242, 0.347, RAW= 142.4, 3.3, CAL= 142.1, 3.8, ROT= 7.9, -3.8 Ygot valid direction response: 01:36:20.3299 LVL= 26208, 31153, 27890, 32755, AGC= 60, IDX= 511, 0.13,-2.901, 1.586,-3.019, 2.873, PHS= 0.612,-1.242, 0.347, RAW= 142.4, 3.3, CAL= 142.1, 3.8, ROT= 7.9, -3.8 T#Rx 35: Read range and direction messages.\direction in FSK: [0.988332,0.137142,0.066274]Fpublishing direction and range infoyQUsj?=c_?{S?YUAQU`fUyUl Q)QIU?iUU>U@Uk=U,@ Uԇ=)U0 >IUԇQQU?ƵZ?טr? U:>)UTkIU0 >iUԇQQchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.5402649ɢ]5%)Y ]E>iY)]=aaie[ʻie >m=mu=Im >Ii@@E EE-E"E:*E|:VEt4ZEBE$5nRq#,<1JōLABu>B|>B9qٱB=i=BH ?~ܿ{`x??`9v?f@"?`6u?@?iBu>IBR];@YJ&ByJIimMb@Mb@Mb@iiii i9mQ?:v?{Gz?Ym\>ymT=m#9Y=pEyDE>Q 55ᔝ?Q 95)BY>Q E;y=?Q IX@}DI:iw;N#5y=Bɮ0AhEii'8ōLAjA"jA:j ?Rj;@T @T??Bjsj?=c_?{S?*j0 >2jԇZj6@ 7@=z.@$@Jj1Y?|=S?zۮ?j;wA jAi,1?ij{0jBjǶIC?jy0jBrjAzj?  addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.507930 s, deltaX: -0.299999 m, approachRate: -0.590631 m/s, rangeRepo size: 4  Added new target pos. range: 28.077738 m, bearing: 33.756250 deg, lat: 36.779565 deg, lon: -121.859775 deg, deltaT: 0.507930 s, deltaX: -0.300276 m, approachRate: -0.591176 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 28.08 m.2i!"i)*i)= ProNav: ac range: 28.077738 m, nav range: 27.980505 m, bearing: 33.490127 deg, approach rate: 0.000000 m/s, LOS rate: 0.047554 deg/s, cmd heading: 25.247017 deg, new cmd heading: 25.283250 deg. i9EHeadingCmd: 0.441276 target range: 28.077738 and range: 28.10 m.hE>hAhAhAhAgAgIjgIrgMԀBeIreQZeQ:eU<@*eU ?颥]Bɢ.r)1 =>i9)E旑=0I=I>I!DDAT read: Rx Time:01:36:20.8299 TRx dataTimestamp_ set to:1764898581.377322PDAT read: Bearing 186.8, 12.0 (Local) ~Local bearing/azimuth received: Bearing 186.8, 12.0 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 DAT read: 01:36:20.8299 LVL= 21536, 30657, 23362, 32755, AGC= 58, IDX= 511,-0.02,-2.987, 1.527,-3.119, 2.777, PHS= 0.621,-1.205, 0.344, RAW= 141.9, 2.9, CAL= 141.6, 3.3, ROT= 8.4, -3.3 Ygot valid direction response: 01:36:20.8299 LVL= 21536, 30657, 23362, 32755, AGC= 58, IDX= 511,-0.02,-2.987, 1.527,-3.119, 2.777, PHS= 0.621,-1.205, 0.344, RAW= 141.9, 2.9, CAL= 141.6, 3.3, ROT= 8.4, -3.3 T#Rx 36: Read range and direction messages.\direction in FSK: [0.987632,0.145841,0.057564]Fpublishing direction and range infoyK?i:?`8.y?Y TwB[ ):I?iq= >@4QO=2+@ k=)Q >Ik/?F?1fq u? k>)սKIQ >ikchecking for new query: numPingsReceived=36, elapsed TxPingTime=20.010090^AUp=I AE .AIQ Ia Om >Da zDe @AEm  Em Em +Ei "Em D:*Em :VEm [4ZEi au @au @au @au @Xq#,BcōLA 6Љv>6>6N.qٱ6x9=6H@z?ܿjyz`I?@s?`;}@T!?@?@?i6Љv>I6^;6CYB3ByBIbDJ#VDJͰ8yR=%R]=ٔRy7Q-V>9V ?YV ?=VpEyVDZ:EZ>\Q 55^s?Q 95^)^BYyk?Q IX@^DI^e#2jkZj'6@+ޚi/@m*4J @JjfT2?A1?'H?jH{A jAiS0?i,W'jBj,1?jj{0jrjCAzj? addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.499911 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.077738 m, bearing: 34.344471 deg, lat: 36.779563 deg, lon: -121.859775 deg, deltaT: 0.499911 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.08 m.2i"i*i ProNav: ac range: 28.077738 m, nav range: 27.658154 m, bearing: 33.757871 deg, approach rate: 0.000000 m/s, LOS rate: 0.047554 deg/s, cmd heading: 25.283250 deg, new cmd heading: 25.319934 deg. -checking for new query: numPingsReceived=36, elapsed TxPingTime=20.235147iEHeadingCmd: 0.441916 target range: 28.077738 and range: 28.10 m.hEB>hAhIhIhIgIgIjgqrgyereZe:e*e`Z?9ɢMD)Q Up>iQ)U);YYi]ʍһieB>ed=e=iImB>Iqԡ^Au=AqAuAAB}>B}CB}IB}GBB}N =ByByB};B}s_EA  DDAT read: Rx Time:01:36:21.3296  TRx dataTimestamp_ set to:1764898581.8852945 PDAT read: Bearing 186.9, 12.5 (Local) = ~Local bearing/azimuth received: Bearing 186.9, 12.5 (Local) u DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.3 ԉ  DAT read: 01:36:21.3296 LVL= 24240, 29297, 25874, 32755, AGC= 60, IDX= 509,-0.24, 1.691,-0.090, 1.543, 1.166, PHS= 0.627,-1.211, 0.333, RAW= 141.4, 3.0, CAL= 141.2, 3.5, ROT= 8.8, -3.5  Ygot valid direction response: 01:36:21.3296 LVL= 24240, 29297, 25874, 32755, AGC= 60, IDX= 509,-0.24, 1.691,-0.090, 1.543, 1.166, PHS= 0.627,-1.211, 0.333, RAW= 141.4, 3.0, CAL= 141.2, 3.5, ROT= 8.8, -3.5  T#Rx 37: Read range and direction messages. \direction in FSK: [0.986385,0.152700,0.061049] Fpublishing direction and range infoy  Γ/w?cӓ?.xA?Y A ^ qr e ) <I  ?i  ~> @ PwV= ϸ@ 5z=) nF>I 5z -?m` \?[浈? >) ^TI nF>i 5z  checking for new query: numPingsReceived=37, elapsed TxPingTime=20.523821I I O% >^q#,K}ōLA2/u>2>2Xpٱ2_=2H`?ܿ}@i@? w?` ??/?i2/u>I2y^;2CYN?ByNIYE= E=E=)E9"E=:*E=~:VE=FA4ZE9BE=.y\=;`@  A)@YAbDVD8y?=%#=ٔ9Q->9Y=pEyDE>Q 55?Q 95{)BY>Q E:y?Q IX@DI:i:*5yɮ/Ai!i%xōLAj%A"j%A:j%?Rj%3;@3MRA3@\s?Bj%Γ/w?cӓ?.xA?*j%nF>2j%5zZj%.gx6@E /@3# @Jj%rQq?% ?Xf)?j%xA j%Ai% 0p?i%M(j%Bj%1\0?j%/j%Brj%Azj%?m addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.507972 s, deltaX: -0.500000 m, approachRate: -0.984306 m/s, rangeRepo size: 4 } Added new target pos. range: 27.577730 m, bearing: 34.697023 deg, lat: 36.779563 deg, lon: -121.859775 deg, deltaT: 0.507972 s, deltaX: -0.500008 m, approachRate: -0.984321 m/s, posRepo size: 4 :iԁDNOT Ignoring new targets: 27.58 m.2i"i*i ProNav: ac range: 27.577730 m, nav range: 27.456245 m, bearing: 33.813116 deg, approach rate: 0.000000 m/s, LOS rate: 0.047554 deg/s, cmd heading: 25.319935 deg, new cmd heading: 25.367179 deg. iHeadingCmd: 0.442741 target range: 27.577730 and range: 27.60 m.h>hhhhggjgrg؀Bere5checking for new query: numPingsReceived=37, elapsed TxPingTime=20.739262Ze:e=;@*e= )?^BɢĶ) >i)vj9i׻i>=P==@=I=>IA@U=@QԱ^AM p=A] yAzA] xA A I  DDAT read: Rx Time:01:36:21.8296  TRx dataTimestamp_ set to:1764898582.385123 PDAT read: Bearing 186.8, 12.4 (Local)  ~Local bearing/azimuth received: Bearing 186.8, 12.4 (Local)  DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 % DAT read: 01:36:21.8296 LVL= 22480, 30609, 23730, 32755, AGC= 60, IDX= 508, 0.44,-1.673, 2.815,-1.823,-2.207, PHS= 0.636,-1.216, 0.341, RAW= 141.5, 2.8, CAL= 141.2, 3.3, ROT= 8.8, -3.3 - Ygot valid direction response: 01:36:21.8296 LVL= 22480, 30609, 23730, 32755, AGC= 60, IDX= 508, 0.44,-1.673, 2.815,-1.823,-2.207, PHS= 0.636,-1.216, 0.341, RAW= 141.5, 2.8, CAL= 141.2, 3.3, ROT= 8.8, -3.3 5 T#Rx 38: Read range and direction messages.= \direction in FSK: [0.986590,0.152732,0.057564]= Fpublishing direction and range infoy  4m$?G@?`8.y?Y W w \ ) I "?i 㥛 > @ +H= k=) I k 5V?g?>IM? >) HI i k U checking for new query: numPingsReceived=38, elapsed TxPingTime=21.005878Ii O} >1fq#,ōLADe?t>e>eoٱe8=eH`? pܿc1?7|?ǽN?@kй?`#?ie?t>Iep^;eCY}9Y=qEyD$E>Q 5%5@?Q 9%5)BY!y%?Q I-X@DI;i;.5y5FBɮ5Q0A5iEiiۥōLAj"j:j?Rj9/F95;@6@Cu#Vf?Bj4m$?G@?`8.y?*j2jkZje\_}6@xa/@x]< @JjPhS?e,i ?4V?jxA jAi\(j!?i%jlBjS0?jM(jrjvAzj.?Թ addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.499829 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 bEFA4jEI4rEp/E EE(E"Es:*E:VEc44ZEa-@a-@a-@a-@] Added new target pos. range: 27.577730 m, bearing: 34.662545 deg, lat: 36.779563 deg, lon: -121.859772 deg, deltaT: 0.499829 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 27.58 m.2iY"ia*ia ProNav: ac range: 27.577730 m, nav range: 27.433039 m, bearing: 34.283929 deg, approach rate: 0.000000 m/s, LOS rate: 0.047554 deg/s, cmd heading: 25.367179 deg, new cmd heading: 25.407061 deg. iHeadingCmd: 0.443437 target range: 27.577730 and range: 27.60 m.h( >hhhhggjgrgereZe:e*e .9?_Bɢ5Sz)1 5*>i1)5799i=Gܻi=( >EL=E๤=IE( >IA = =checking for new query: numPingsReceived=38, elapsed TxPingTime=21.242868^A ~= A I I! O5 > Slq#,>ōLAB>BCB'IBfBBM =BBXDBԣ;BR_EBCBCBCBK =BC5AYMSByMIDDAT read: Rx Time:01:36:22.3294 TRx dataTimestamp_ set to:1764898582.893622PDAT read: Bearing 186.9, 12.0 (Local) ~Local bearing/azimuth received: Bearing 186.9, 12.0 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 iDAT read: 01:36:22.3294 LVL= 22720, 26385, 27250, 32755, AGC= 60, IDX= 506, 0.18,-1.961, 2.519,-2.098,-2.494, PHS= 0.635,-1.225, 0.352, RAW= 141.9, 2.8, CAL= 141.6, 3.3, ROT= 8.4, -3.3 G%e?9!Y%E9YYY=]qEy]DeEe>iQ 5u5mOȝ?Q 9u5m)mBYqyqQ IuX@mDIm:im:m25\direction in FSK: [0.987632,0.145841,0.057564]Fpublishing direction and range infoyK?i:?`8.y?YfAXgrj )I\"?i̜X9>@2+@ )Q >I%-,ͨ?3 z?߳&ʨ? j>)eFIQ >iyɮ/Achecking for new query: numPingsReceived=39, elapsed TxPingTime=21.600500ii1ōLAj8A"j8A:j?RjWc:@m_@ᛜr?BjK?i:?`8.y?*jQ >2jZj7cZ6@d0t.@f)K @JjRW9?Fڼ?Z9?jsA jղAiv $?i +jfBjv $?jjrjAzjO? addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.508499 s, deltaX: -0.300001 m, approachRate: -0.589974 m/s, rangeRepo size: 4  Added new target pos. range: 27.277758 m, bearing: 34.261488 deg, lat: 36.779562 deg, lon: -121.859772 deg, deltaT: 0.508499 s, deltaX: -0.299973 m, approachRate: -0.589918 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.28 m.2i"i*i E= E=E=)E9"E=:*E= n:VE=FA4ZE9BE=+hyhyhhggjgrgereZe:eL;@ԑ*e@?`BɢFn) >i)6iFiMv>U=Uˣ=IUv>IQ5 checking for new query: numPingsReceived=39, elapsed TxPingTime=21.746775 ^Au = AIIO>VͿ>V1nٱV!=VH ?@gܿ`́@*??? ??iVUt>IV^;VCYrTByrIxzAAbD~VD~ð8yEj;%Ma=ٔM:Q-M>9QYQ=UqEyUDU)E]>Q 55$ӝ?Q 955)BYy?Q IX@DIh:i2:65yPBɮ/AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 27.28 m.2i!"i%*i%] ProNav: ac range: 27.277758 m, nav range: 26.949873 m, bearing: 34.441824 deg, approach rate: -0.454793 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.454431 deg, new cmd heading: 25.441947 deg. i]eHeadingCmd: 0.444046 target range: 27.277758 and range: 27.30 m.heY>hahahahagagijgirgieireiZeqDDAT read: Rx Time:01:36:22.8294 TRx dataTimestamp_ set to:1764898583.393163PDAT read: Bearing 187.5, 12.3 (Local) ~Local bearing/azimuth received: Bearing 187.5, 12.3 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 DAT read: 01:36:22.8294 LVL= 26256, 31601, 29090, 32755, AGC= 63, IDX= 506,-0.04,-2.366, 2.133,-2.511,-2.883, PHS= 0.618,-1.223, 0.328, RAW= 141.6, 3.3, CAL= 141.3, 3.8, ROT= 8.7, -3.8  Ygot valid direction response: 01:36:22.8294 LVL= 26256, 31601, 29090, 32755, AGC= 63, IDX= 506,-0.04,-2.366, 2.133,-2.511,-2.883, PHS= 0.618,-1.223, 0.328, RAW= 141.6, 3.3, CAL= 141.3, 3.8, ROT= 8.7, -3.8 T#Rx 40: Read range and direction messages.\direction in FSK: [0.986321,0.150928,0.066274]Fpublishing direction and range infoyZT?w`Q?{S?Yfq{q )?I?5?iD>2+@k=h@ ԇ=)|>IԇFm*?玦\? @2? >)iI|>iԇ5checking for new query: numPingsReceived=40, elapsed TxPingTime=22.013565:e9*e=P7?%aBɢ%lM)! M)>iI)Ma4IIiMiUY>U =U|=I]Y>IY1E} EyE}+Ey"E};*EyVE} [4ZEya@a@a@a@Q^AI AU >AU > checking for new query: numPingsReceived=40, elapsed TxPingTime=22.258453ԁ A I I O >zq#,GōLA2xs>2{>2cPnٱ2u=2Hm?`Y`ܿ"? z?' ŭ?)? f?i2xs>I2_^;2CY>_By>I @@F=F=bDJ2VDJڰ8yRf=%RU=ٔRQ-V>9TYT=VqEyV DZıEZ>\Q 5b5^ޝ?Q 9b5^ƶ)^BY`yb?Q IfX@^DI^;i^;^M95yhɮj/Ahii)ōLAj"j:j?RjkU:@zw@|sP?BjZT?w`Q?{S?*j|>2jԇZj$OF6@>s.@@Jjqܕ!?Z?"{?jtA j0Ai*'3?iW$jBjj,W'jrjpAzj?5 addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.499541 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Y Added new target pos. range: 27.277758 m, bearing: 34.468767 deg, lat: 36.779562 deg, lon: -121.859771 deg, deltaT: 0.499541 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.28 m.2i"i*i ProNav: ac range: 27.277758 m, nav range: 26.804697 m, bearing: 34.479738 deg, approach rate: 0.000000 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.441948 deg, new cmd heading: 25.427778 deg. i HeadingCmd: 0.443798 target range: 27.277758 and range: 27.30 m.h 9>h)h1h1h1g1g1jg9rg9e9re9Ze9:eA*eEh?颭bBɢi ) C>i)m2顱i> i9>==I9>IB5>B5CB5@IB5zBB5N =B1B1B5;B5%_Eԉ DDAT read: Rx Time:01:36:23.3291 TRx dataTimestamp_ set to:1764898583.906234=PDAT read: Bearing 187.3, 12.5 (Local) M~Local bearing/azimuth received: Bearing 187.3, 12.5 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 DAT read: 01:36:23.3291 LVL= 23888, 27121, 27490, 32755, AGC= 61, IDX= 504,-0.32, 2.812, 1.006, 2.655, 2.276, PHS= 0.638,-1.225, 0.336, RAW= 141.3, 2.9, CAL= 141.1, 3.5, ROT= 8.9, -3.5 %Ygot valid direction response: 01:36:23.3291 LVL= 23888, 27121, 27490, 32755, AGC= 61, IDX= 504,-0.32, 2.812, 1.006, 2.655, 2.276, PHS= 0.638,-1.225, 0.336, RAW= 141.3, 2.9, CAL= 141.1, 3.5, ROT= 8.9, -3.5 -T#Rx 41: Read range and direction messages.5\direction in FSK: [0.986117,0.154422,0.061049]5Fpublishing direction and range infoy[E? ?.xA?Y3AP]ibk )=IS#?i̜1>h@4QO=7@ 5z=)>I5zv?z;?=m3? w>)۲QI>^A=i5zEchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.582741ԩAI Iq E  E E E "E :*E ~:VE ZE BE 3 q#,l$ƍLAJj]s>JC>JOmٱJ+q=JH?Yܿ|?\?@?@??iJj]s>IJ& ^;JCMchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.759209YUcByU%Ia@a a@a a@a a@a bD0VDٰ8y f<% 6=ٔ :Q- >9Y=qEy)DxE>!Q 5-5%7띊?Q 9-5%۳)%BQ A-+:Y)Q E-:y-g?Q I-X@%DI%_:i%n>%}<5y9ɮ=c/A9iAiEōLAjEA"jEA:jEV?RjEC35e':@f>Q@‘@?BjE[E? ?.xA?*jE>2jE5zZjEg5@׮hAhAhAhAgAgIjgIrgieqreqZeq:eu`f:@*eu^? cBɢ ) @?iA)MR41IQiU}i>x=t=I=>I9DDAT read: Rx Time:01:36:23.8291 TRx dataTimestamp_ set to:1764898584.405066 PDAT read: Bearing 187.9, 12.2 (Local)  ~Local bearing/azimuth received: Bearing 187.9, 12.2 (Local)  DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.4 E DAT read: 01:36:23.8291 LVL= 29328, 32321, 31346, 32755, AGC= 63, IDX= 502, 0.22,-1.700, 2.800,-1.841,-2.212, PHS= 0.614,-1.226, 0.326, RAW= 141.7, 3.4, CAL= 141.4, 3.9, ROT= 8.6, -3.9 M Ygot valid direction response: 01:36:23.8291 LVL= 29328, 32321, 31346, 32755, AGC= 63, IDX= 502, 0.22,-1.700, 2.800,-1.841,-2.212, PHS= 0.614,-1.226, 0.326, RAW= 141.7, 3.4, CAL= 141.4, 3.9, ROT= 8.6, -3.9 U T#Rx 42: Read range and direction messages.U \direction in FSK: [0.986467,0.149189,0.068015]] Fpublishing direction and range infoyɊ"?jMӞ?,::si?YArA~rz )?I/?i휿y>G@s=@ 'g=)`>I'g?ӵ?{v%? R>)SqI`>i'gu checking for new query: numPingsReceived=42, elapsed TxPingTime=23.026606 [Rӻ@ =@ =9 E  E E 'E "E :*E :VE '4ZE a @a @a @a @^AT=achecking for new query: numPingsReceived=42, elapsed TxPingTime=23.262337A9IIIYOm?.mq#,Z+ƍLA>|r>>:>>wkٱ>#=>H@? Lܿҁ`?[?Ҽv?`߸??i>|r>I>];>CYMaByM"I QUR=bD]'VD]а8ym+ %m=ٔu*:Q-u>9qYq=uqEyu4D}EȺE}>Q 55S?Q 95H)BQ A :YQ E:y1?Q IX@DI:iw??5yXBɮ/AjEi i ƍLAj lA"j lA:j 6?Rj {N'Q:@ĵE@b0?Bj Ɋ"?jMӞ?,::si?*j `>2j 'gZj 5@(g-@79` @Jj ƌ.?;?le(?j 'nA j Ai *?i (j ɈBj v $?j j rj \Azj Y?= addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.498832 s, deltaX: -0.199999 m, approachRate: -0.400934 m/s, rangeRepo size: 4  Added new target pos. range: 26.677814 m, bearing: 34.291229 deg, lat: 36.779562 deg, lon: -121.859771 deg, deltaT: 0.498832 s, deltaX: -0.199831 m, approachRate: -0.400598 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.68 m.2i"i*i  ProNav: ac range: 26.677814 m, nav range: 26.420147 m, bearing: 34.594938 deg, approach rate: 0.000000 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.412118 deg, new cmd heading: 25.391501 deg. i HeadingCmd: 0.443165 target range: 26.677814 and range: 26.70 m.h>hhhhggjgrge!re!Ze!:e%@3:@*e%`=|?IB>BBSIBBBP =BBWDB;B_EEeBɢEjd)I MV>iI)M.IIiM.'i]>e㰑=5=I>Im DDAT read: Rx Time:01:36:24.3289 TRx dataTimestamp_ set to:1764898584.913739=PDAT read: Bearing 187.4, 12.2 (Local) E~Local bearing/azimuth received: Bearing 187.4, 12.2 (Local) yDAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 DAT read: 01:36:24.3289 LVL= 24752, 28865, 27778, 32755, AGC= 61, IDX= 500,-0.07, 2.124, 0.309, 1.975, 1.585, PHS= 0.641,-1.231, 0.346, RAW= 141.6, 2.8, CAL= 141.4, 3.3, ROT= 8.6, -3.3 Ygot valid direction response: 01:36:24.3289 LVL= 24752, 28865, 27778, 32755, AGC= 61, IDX= 500,-0.07, 2.124, 0.309, 1.975, 1.585, PHS= 0.641,-1.231, 0.346, RAW= 141.6, 2.8, CAL= 141.4, 3.3, ROT= 8.6, -3.3 T#Rx 43: Read range and direction messages.\direction in FSK: [0.987117,0.149287,0.057564]Fpublishing direction and range infoy  iv?~n?`8.y?Y 3A  ` p l ) =I $?i h &> 2+@ +H=  k=) I k   uԸ?ڀ?nJIN? >) …JI i k  u checking for new query: numPingsReceived=43, elapsed TxPingTime=23.598171ԡ E  E E (E "E :*E Ar:VE c44ZE BE $5 q#,uHƍLAbchecking for new query: numPingsReceived=43, elapsed TxPingTime=23.765867rq>r~t>riٱr~=rH?Aܿ; ?@ω?8J:? @??irq>Ir];pYbBy#Ia-a- a-a- a-a5 a5a5 i5Mb@Mb@Mb@1111 195@5^I ?Mb?~jtxY5b>y5=5Ļ5@5 A 5QA)5@1Y5@bDMVDMư8y]y;%])=ٔ]z:Q-e>9e"?Ye"?=eqEye>Dm`ȺEm>Q 55D ?Q 95<)BQ AT:Y>Q E;yd?Q IX@DI;iۻ;C5yLBɮQ/AaEiiz:ƍLAjA"jA:jC<?Rj%)Q :@7€@ȅ3iK?Bjiv?~n?`8.y?*j2jkZj| 5@z-@U @Jj$g7?ǟ?.k?jkA jAinp&?iS[)j&Bjnp&?j(jrjhAzj`w?) addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.508673 s, deltaX: -0.300001 m, approachRate: -0.589772 m/s, rangeRepo size: 4 M Added new target pos. range: 26.377783 m, bearing: 34.295865 deg, lat: 36.779562 deg, lon: -121.859772 deg, deltaT: 0.508673 s, deltaX: -0.300032 m, approachRate: -0.589832 m/s, posRepo size: 4 :iQDNOT Ignoring new targets: 26.38 m.2i"i*iE ProNav: ac range: 26.377783 m, nav range: 26.176025 m, bearing: 34.347546 deg, approach rate: 0.000000 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.391501 deg, new cmd heading: 25.374637 deg. iAMHeadingCmd: 0.442871 target range: 26.377783 and range: 26.40 m.hM>hIhIhIhIgQgQjgQrgUBeYreYZeY:e}`ff:@*e@A? fBɢ o9)  >i )J,ii=>==E:=IE>IAIIIIY}DDAT read: Rx Time:01:36:24.8288 }TRx dataTimestamp_ set to:1764898585.413178PDAT read: Bearing 187.5, 12.2 (Local) ~Local bearing/azimuth received: Bearing 187.5, 12.2 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 DAT read: 01:36:24.8288 LVL= 24944, 28321, 28786, 32755, AGC= 61, IDX= 500,-0.47,-3.027, 1.446, 3.108, 2.721, PHS= 0.637,-1.230, 0.343, RAW= 141.6, 2.9, CAL= 141.3, 3.4, ROT= 8.7, -3.4 Ygot valid direction response: 01:36:24.8288 LVL= 24944, 28321, 28786, 32755, AGC= 61, IDX= 500,-0.47,-3.027, 1.446, 3.108, 2.721, PHS= 0.637,-1.230, 0.343, RAW= 141.6, 2.9, CAL= 141.3, 3.4, ROT= 8.7, -3.4 T#Rx 44: Read range and direction messages.\direction in FSK: [0.986754,0.150995,0.059306]Fpublishing direction and range infoyy}o }?oy}4QO=}h@ }s=)}|>I}syy}?],?Wg? }s>)} PI}|>i}syy checking for new query: numPingsReceived=44, elapsed TxPingTime=24.038330ԉ Ա E  E E ,E "E x;*E VE g4ZE a% @a% @a% @a% @^A =A5checking for new query: numPingsReceived=44, elapsed TxPingTime=24.271023IAIQOe ?SGq#,kƍLAJ,p>J>J=eٱJ=JHz?W0ܿs"?@Љ?@ ୱ?l?K?iJ,p>IJt];JCYZdByZ%IbDbVDb8yj ;%j'=ٔn. ;Q-n>9lYl=rqEyrHDrEr>tQ 5z5v?Q 9z5vB)vBY|y~?Q I~X@vDIv::iv%:v"H5yVBɮ/AiiqZƍLAj9A"j9A:jE?Rj@_&9@5U@P4d?Bjo }?o2jsZj, 5@ e^-@lH @Jj5?ح@?"Xr?jjA j0Ai$y,?il(j6Bj*?jl(jrjIAzjxf? addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.499439 s, deltaX: -0.100000 m, approachRate: -0.200225 m/s, rangeRepo size: 4  Added new target pos. range: 26.277866 m, bearing: 34.303589 deg, lat: 36.779562 deg, lon: -121.859772 deg, deltaT: 0.499439 s, deltaX: -0.099916 m, approachRate: -0.200057 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.28 m.2i"i *i U ProNav: ac range: 26.277866 m, nav range: 26.036125 m, bearing: 34.332765 deg, approach rate: 0.000000 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.374636 deg, new cmd heading: 25.357116 deg. iQHeadingCmd: 0.442565 target range: 26.277866 and range: 26.30 m.h>hhhԩhggjg rgereAZeI:eUL:@*eU?hBɢ%) 5>i9)=*99i=iE>EC=Ea=IE>IIAqAu@AB}>B}CB}YIB}BByByByB}t;B}^EDDAT read: Rx Time:01:36:25.3286 TRx dataTimestamp_ set to:1764898585.922724PDAT read: Bearing 187.6, 11.6 (Local) ~Local bearing/azimuth received: Bearing 187.6, 11.6 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4  = DAT read: 01:36:25.3286 LVL= 22992, 28209, 26562, 32755, AGC= 60, IDX= 497, 0.10,-2.924, 1.556,-3.052, 2.834, PHS= 0.627,-1.233, 0.354, RAW= 142.2, 2.9, CAL= 141.9, 3.4, ROT= 8.1, -3.4 E Ygot valid direction response: 01:36:25.3286 LVL= 22992, 28209, 26562, 32755, AGC= 60, IDX= 497, 0.10,-2.924, 1.556,-3.052, 2.834, PHS= 0.627,-1.233, 0.354, RAW= 142.2, 2.9, CAL= 141.9, 3.4, ROT= 8.1, -3.4 E T#Rx 45: Read range and direction messages.M \direction in FSK: [0.988281,0.140653,0.059306]M Fpublishing direction and range infoyۯO???Cg]?YAY1ng )<I ?iҝ}?>@@^A} ͢= )>I}Rd?nF#?Sh 0? H>)͗QI>i checking for new query: numPingsReceived=45, elapsed TxPingTime=24.599133A .AI I O >E  E E +E "E D:*E k:VE [4ZE BE 22!>2aٱ2D=2H Z?(ܿYq??u`?2??i2H6p>I2K];2CY>iByB,IiEMb@Mb@Mb@AAAA A9E7A`?J +?MbYE>yEH=EE@A A)Ev@AYE@qqbD} VD}8y<%2=ٔc;Q->9 ?Y ?=qEyQD`E>Q 55$?Q 95~)BY>Q E:checking for new query: numPingsReceived=45, elapsed TxPingTime=24.773817y?Q IX@DIJ;i;+L5yɮd/Aii {ƍLAjA"jA:j[~?Rjl9@L'; @z?BjۯO???Cg]?*j>2jZjXALp5@|,@jğ @Jjdi?'0_ ?;T?jdA jAi4q3?i/j Bjj(j6BrjAzj8? addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.509546 s, deltaX: -0.299999 m, approachRate: -0.588758 m/s, rangeRepo size: 4  Added new target pos. range: 25.977959 m, bearing: 33.682213 deg, lat: 36.779562 deg, lon: -121.859772 deg, deltaT: 0.509546 s, deltaX: -0.299908 m, approachRate: -0.588578 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.98 m.2i"i*i ProNav: ac range: 25.977959 m, nav range: 25.825443 m, bearing: 34.292762 deg, approach rate: 0.000000 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.357115 deg, new cmd heading: 25.340612 deg. iHeadingCmd: 0.442277 target range: 25.977959 and range: 26.00 m.h%r>hhhhggjgrg%Be)re)Ze):e-:@*e5?}iBɢ})y }>iy)C)顁ii%r>}=I%r>IA^A t=i i߉ I߉  DDAT read: Rx Time:01:36:25.8286  TRx dataTimestamp_ set to:1764898586.422777 PDAT read: Bearing 183.4, 12.9 (Local)  ~Local bearing/azimuth received: Bearing 183.4, 12.9 (Local)  DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4  DAT read: 01:36:25.8286 LVL= 23088, 26833, 25762, 32755, AGC= 59, IDX= 513,-0.17, 3.034, 1.129, 2.818, 2.333, PHS= 0.804,-1.159, 0.442, RAW= 140.0, -1.0, CAL= 140.1, -0.6, ROT= 9.9, 0.6  Ygot valid direction response: 01:36:25.8286 LVL= 23088, 26833, 25762, 32755, AGC= 59, IDX= 513,-0.17, 3.034, 1.129, 2.818, 2.333, PHS= 0.804,-1.159, 0.442, RAW= 140.0, -1.0, CAL= 140.1, -0.6, ROT= 9.9, 0.6  T#Rx 46: Read range and direction messages. ^direction in FSK: [0.985055,0.171920,-0.010472] Fpublishing direction and range infoy  :?pnv?/;rY 0Z h d ) ;I M?i Z M> a@ 5 C~@ +) ;0>I +< g¿?4$t?4#g >) @i +<  checking for new query: numPingsReceived=46, elapsed TxPingTime=25.044245A] ؟AI I O >Qq#,JƍLA o>]>^ٱ=HӾ? ܿ5zp ?A?E ի? ?@ ?io>Ij];CY}fBy}'IbD VD8y%T=ٔ@:Q->9"?Y"?=qEyYD׺E> Q 55 0?Q 95 7) BYy%?Q I%X@ DI i%;i i%; O5y-_Bɮ-/A-bEiiƍLAj"j:j ?RjZN9@O@iѿBj:?pnv?/;r*j;0>2j+<Zj5?5@$ƘY.@d CI:?JjCwj)d?0X?j:2g?jrA j5Aic?i0jBjjj&BrjQAzjD?E EE*E"E:*E:VE(N4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.977959 m, bearing: 35.819084 deg, lat: 36.779562 deg, lon: -121.859772 deg, deltaT: 0.500053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 25.98 m.2i "i1*i1E ProNav: ac range: 25.977959 m, nav range: 25.664881 m, bearing: 34.303077 deg, approach rate: 0.000000 m/s, LOS rate: -0.017981 deg/s, cmd heading: 25.340611 deg, new cmd heading: 25.326902 deg. iAEHeadingCmd: 0.442038 target range: 25.977959 and range: 26.00 m.hMR>hIhIihIhqgqgqjgqrgyeyreyZey:ey*eF?kBɢ) >i)'iOiR>v==IR>I@E=@E=checking for new query: numPingsReceived=46, elapsed TxPingTime=25.278479ԙ^A5`= II IY Ou >B >B B `IB BB Q =B B B =;B ^E6{q#,nƍLA4<ɰ4<2vn>2H>2ߠ[ٱ2\=2H? ܿ.l!?? vp?X??i2vn>I2;];2CY>kBy>.I@@bDJVDJ8PyR<%Rc=ٔV ;Q-V>9TYT=ZqEyZ`DZCDEZ>\Q 5b5^:?Q 9b5^)^ BYdyf?Q IfX@^DI^:i^2:^R5yhɮj/AhzB*** querying acoustic contact ***ixix:i DNOT Ignoring new targets: 25.98 m.2i"i-:*i-:5 ProNav: ac range: 25.977959 m, nav range: 25.512976 m, bearing: 34.313327 deg, approach rate: -0.439569 m/s, LOS rate: 0.029836 deg/s, cmd heading: 25.326902 deg, new cmd heading: 25.347523 deg. MDDAT read: Rx Time:01:36:26.3283 MTRx dataTimestamp_ set to:1764898586.925248UPDAT read: Bearing 187.7, 11.7 (Local) ]~Local bearing/azimuth received: Bearing 187.7, 11.7 (Local) mDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.4  DAT read: 01:36:26.3283 LVL= 25552, 30193, 29810, 32755, AGC= 61, IDX= 510, 0.40, 3.048, 1.238, 2.910, 2.516, PHS= 0.635,-1.232, 0.350, RAW= 141.9, 2.9, CAL= 141.6, 3.4, ROT= 8.4, -3.4 mYgot valid direction response: 01:36:26.3283 LVL= 25552, 30193, 29810, 32755, AGC= 61, IDX= 510, 0.40, 3.048, 1.238, 2.910, 2.516, PHS= 0.635,-1.232, 0.350, RAW= 141.9, 2.9, CAL= 141.6, 3.4, ROT= 8.4, -3.4 uT#Rx 47: Read range and direction messages.\direction in FSK: [0.987531,0.145826,0.059306]i=iZ:HeadingCmd: 0.442398 target range: 25.977959 and range: 26.00 m.Fpublishing direction and range infoyIM?ڙ?ۀ?l?Cg]?YMAIMcMuMrth> I)M=IM\"?iM-M33>hh1h1h9M@M4QO=M2+@ Ms=)MQ >IMsIIM?1k??7?g9gqjgrgereZe:e9@*e`?mBɢǻ) >i)& M#L>)M'MIMQ >iMsIIchecking for new query: numPingsReceived=47, elapsed TxPingTime=25.617804 i { i->-E=-Ee=I5>I1E EE,E"E:*Ei:VEg4ZEBE3gq#,>wƍLAVEAm>V5>ViWٱVN=VH`?`ۿ"f#? 2? $W` ???iVEAm>IV`^;VCYrsByr8Ii5Mb@Mb@Mb@1111 195:v?X9v?y5<5t5@5A 5A)5`@1Y5@ E=E<bDM-VDMְ8y]=%]1=ٔe>;Q-e>9aYa=eqEyejD*&E>Q 55 I?Q 95)BY>Q E:y?Q IX@DI:i:V5yɮ`/AiqiuC7ƍLAjuA"juA:juf?Rju<)9@f" @U{*-?Bju?ڙ?ۀ?l?Cg]?*juQ >2jusZjuX4F5@'q",@n! @Jjugt`?Ec@?ʰh?juaA juAiu\v2?iu~.juۇBju$y,?juS[)ju BrjuAzjuD?U addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.502471 s, deltaX: -0.500000 m, approachRate: -0.995082 m/s, rangeRepo size: 4  Added new target pos. range: 25.478313 m, bearing: 33.816889 deg, lat: 36.779563 deg, lon: -121.859772 deg, deltaT: 0.502471 s, deltaX: -0.499645 m, approachRate: -0.994376 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.48 m.2i"i*i ProNav: ac range: 25.478313 m, nav range: 25.322788 m, bearing: 34.261771 deg, approach rate: 0.000000 m/s, LOS rate: 0.029836 deg/s, cmd heading: 25.347524 deg, new cmd heading: 25.376155 deg. iHeadingCmd: 0.442897 target range: 25.478313 and range: 25.50 m.ht>hhhhggjgrgBereZe:e*eR?MDDAT read: Rx Time:01:36:26.8283 UTRx dataTimestamp_ set to:1764898587.429199]PDAT read: Bearing 187.6, 11.6 (Local) ]~Local bearing/azimuth received: Bearing 187.6, 11.6 (Local) mDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.3 DAT read: 01:36:26.8283 LVL= 22880, 27297, 25042, 32755, AGC= 60, IDX= 510, 0.11,-2.076, 2.399,-2.217,-2.614, PHS= 0.639,-1.225, 0.353, RAW= 141.8, 2.7, CAL= 141.6, 3.2, ROT= 8.4, -3.2 Ygot valid direction response: 01:36:26.8283 LVL= 22880, 27297, 25042, 32755, AGC= 60, IDX= 510, 0.11,-2.076, 2.399,-2.217,-2.614, PHS= 0.639,-1.225, 0.353, RAW= 141.8, 2.7, CAL= 141.6, 3.2, ROT= 8.4, -3.2 T#Rx 48: Read range and direction messages.\direction in FSK: [0.987730,0.145855,0.055822]Fpublishing direction and range infoyIM*ߓ{?V}{b?ᢔ?YIIM`YMjMa I)M<IM#?iM̜Mj>Mbd@MA=I Md=)IIMdIIM?n(oi?Ć:? M">)MAIIiMdIIchecking for new query: numPingsReceived=48, elapsed TxPingTime=26.049568uoBɢuܻ)q u??i).$顙i9 it>߽==It>IbEm [4jEmOS4rEm0E EE-E"EV:*E:VEt4ZEa@a@a@a@^A ȝ=II Ia Ou >  checking for new query: numPingsReceived=48, elapsed TxPingTime=26.286352q#,?ƍLA6-k>6i>6dRٱ6]=6H`?Lۿ-a?Ğ?I?? ?i6-k>I6M^;6CYRpByR5IbDZ+VDZ԰8yb$r%bi=ٔb,e;Q-f>9dYd=fqEyfqDjMEj?lQ 5r5nS?Q 9r5n)nBYpyr8?Q IvX@nDIn;inw;nY5yziBɮz/AzcEiiwƍLAj"j:j]?Rj9۶j*9@B @2u|?Bj*ߓ{?V}{b?ᢔ?*j2jdZj$Q5@<Ҽ,@6tj@Jj׫i?=?UzA^?j`A jhahahahagagjgrgereZe:e*e?pBɢꍻ)!!B5>B1B1B1B5P =B1B5VDB5;B5f^EBCBCBēCBP =BP =CAr5 %?i)Β"顁ii>޾==I>IDDAT read: Rx Time:01:36:27.3281 TRx dataTimestamp_ set to:1764898587.937376PDAT read: Bearing 188.0, 12.0 (Local) ~Local bearing/azimuth received: Bearing 188.0, 12.0 (Local) =DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.3 ԁ 1C5 pGa y ^A = H9 Y SEAI) IA OM >M DAT read: 01:36:27.3281 LVL= 25392, 29089, 28626, 32755, AGC= 60, IDX= 508,-0.09, 1.177,-0.620, 1.021, 0.645, PHS= 0.634,-1.220, 0.333, RAW= 141.3, 3.0, CAL= 141.1, 3.5, ROT= 8.9, -3.5 ] Ygot valid direction response: 01:36:27.3281 LVL= 25392, 29089, 28626, 32755, AGC= 60, IDX= 508,-0.09, 1.177,-0.620, 1.021, 0.645, PHS= 0.634,-1.220, 0.333, RAW= 141.3, 3.0, CAL= 141.1, 3.5, ROT= 8.9, -3.5 ] T#Rx 49: Read range and direction messages. \direction in FSK: [0.986117,0.154422,0.061049] Fpublishing direction and range infoy[E? ?.xA?YA0cqo )IM"?i(~>h@PwV=7@ 5z=)>I5z(?7I{~7?)? V>)NiTI>i5z checking for new query: numPingsReceived=49, elapsed TxPingTime=26.651588ԙ E  E E (E "E :*E ?:VE c44ZE BE 62>20]Lٱ2>=2He?JۿaR`;??ϼ?LԹ? ?i2V#j>I2p_;2CYBrByB7Ia@a a@a a@a a@a bD VD 8y=<;%=5=ٔE!U;Q-E>9AYA=EqEyEzDMVWEM>qyQ 5}5}a?Q 95})}BQ A+:YQ E:y?Q IX@}DI}:i}->}\5checking for new query: numPingsReceived=49, elapsed TxPingTime=26.789900yɮ/AiiƍLAjmA"jmA:j?RjCܤ28@}R@%]?Bj[E? ?.xA?*j>2j5zZj(! 4@ـH,@8XlC @Jj^kRG?ZD>?H ?jF`A jhAi /?iIg+jÇBjjjÇBrjAzjz?M addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.508177 s, deltaX: -0.299999 m, approachRate: -0.590344 m/s, rangeRepo size: 4 } Added new target pos. range: 25.178448 m, bearing: 34.135400 deg, lat: 36.779563 deg, lon: -121.859774 deg, deltaT: 0.508177 s, deltaX: -0.299866 m, approachRate: -0.590081 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 25.18 m.2iy"i*i ProNav: ac range: 25.178448 m, nav range: 24.972740 m, bearing: 33.973451 deg, approach rate: 0.000000 m/s, LOS rate: 0.029836 deg/s, cmd heading: 25.399974 deg, new cmd heading: 25.424217 deg. iHeadingCmd: 0.443736 target range: 25.178448 and range: 25.20 m.hg1>hhhhggjgrgereZe:e@339@*e p]?=rBɢ=O)9 =?i9)EF !AAiEig1>l=`=Ig1>Iԩ^A =I I! O5 >m DDAT read: Rx Time:01:36:27.8279 u TRx dataTimestamp_ set to:1764898588.437078} PDAT read: Bearing 188.3, 12.4 (Local) } ~Local bearing/azimuth received: Bearing 188.3, 12.4 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.3  DAT read: 01:36:27.8279 LVL= 25920, 28881, 26242, 32755, AGC= 60, IDX= 507,-0.34, 1.125,-0.680, 0.952, 0.591, PHS= 0.636,-1.226, 0.317, RAW= 140.8, 3.2, CAL= 140.6, 3.8, ROT= 9.4, -3.8  Ygot valid direction response: 01:36:27.8279 LVL= 25920, 28881, 26242, 32755, AGC= 60, IDX= 507,-0.34, 1.125,-0.680, 0.952, 0.591, PHS= 0.636,-1.226, 0.317, RAW= 140.8, 3.2, CAL= 140.6, 3.8, ROT= 9.4, -3.8  T#Rx 50: Read range and direction messages. \direction in FSK: [0.984403,0.162967,0.066274] Fpublishing direction and range infoyi m [ ;?+hQ?{S?Ym 3Ai m @em pm f i )i Im "?im 휿m M>m nF@m d=m = @ m ԇ=)m '>Im ԇi i m #V?Pt?m{? m >)m gdIm '>im ԇi i  checking for new query: numPingsReceived=50, elapsed TxPingTime=27.062416 Οq#,vǍLA2h>2>2WFٱ2:=2H ?Jۿ`4 ??@`jܨ?X?`?i2h>I2 `;2CYn}BynEItv@AbDzVDz8yEm=%E\=ٔE$h;Q-M>9IYI=MqEyMDU||EU>Q 55m?Q 95)BQ A :YQ E:yw?Q IX@DI :iV?'_5yɮZ/AiiǍLAjA"jA:jD?Rjh?}8@g ۵7@.97a?Bj[ ;?+hQ?{S?*j'>2jԇZjR4@l`v}}+@*WW @Jj#?{P??j_A jAiޛ?i*JF*jBj /?jIg+jrjAzj? addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.499702 s, deltaX: -0.300001 m, approachRate: -0.600360 m/s, rangeRepo size: 4 DD4=E EE,E"E2:*E~:VEg4ZEa@a@a@a@ Added new target pos. range: 24.878702 m, bearing: 34.527050 deg, lat: 36.779563 deg, lon: -121.859773 deg, deltaT: 0.499702 s, deltaX: -0.299746 m, approachRate: -0.599849 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.88 m.2i"i*i- ProNav: ac range: 24.878702 m, nav range: 24.821796 m, bearing: 34.162481 deg, approach rate: 0.000000 m/s, LOS rate: 0.029836 deg/s, cmd heading: 25.424216 deg, new cmd heading: 25.447041 deg. i)UHeadingCmd: 0.444135 target range: 24.878702 and range: 24.90 m.hUe>hQhQhQhQgQgYjgYrgYeYreaZea:ee`f8@*ee`r1?tBɢc) ?i)%]!AiMfSiUe>]=],=I]e>IYchecking for new query: numPingsReceived=50, elapsed TxPingTime=27.294687^A=1 IA IY Oe >B% >B% CB% fIB% BB% Q =B! B! B% ;B% ^EQ q#,9ǍLA>\hg>>+I>>{Bٱ>L=>H`?ۿ -?@t?_? E@ M??@?i>\hg>I>&`;9pYp=rqEyrDvNEv>xQ 5~5zx?Q 9~5z)zBQ A~9Y|Q E~:y~&?Q IX@zDIz];iz?z`5y rBɮ /A dE%DDAT read: Rx Time:01:36:28.3277 -TRx dataTimestamp_ set to:1764898588.9412375PDAT read: Bearing 189.0, 12.1 (Local) 5~Local bearing/azimuth received: Bearing 189.0, 12.1 (Local) EDAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 DAT read: 01:36:28.3277 LVL= 28432, 32753, 30898, 32755, AGC= 61, IDX= 504, 0.35, 1.677,-0.138, 1.516, 1.162, PHS= 0.617,-1.255, 0.310, RAW= 141.2, 3.8, CAL= 141.0, 4.4, ROT= 9.0, -4.4 Ygot valid direction response: 01:36:28.3277 LVL= 28432, 32753, 30898, 32755, AGC= 61, IDX= 504, 0.35, 1.677,-0.138, 1.516, 1.162, PHS= 0.617,-1.255, 0.310, RAW= 141.2, 3.8, CAL= 141.0, 4.4, ROT= 9.0, -4.4 B*** querying acoustic contact ***iiT#Rx 51: Read range and direction messages.\direction in FSK: [0.984777,0.155973,0.076719]Fpublishing direction and range infoy!%K??.0ۣ?Y%fA!%o:iDNOT Ignoring new targets: 24.88 m.2i"i:%%x !)%=I%?i%ף%R>%ϸ@%ԇ=*iu:%@ %nF=)%| >I%nF!!%$Cc?N.?5kz? %q~> ProNav: ac range: 24.878702 m, nav range: 24.664324 m, bearing: 34.190388 deg, approach rate: -0.420440 m/s, LOS rate: 0.074985 deg/s, cmd heading: 25.447041 deg, new cmd heading: 25.503211 deg. )%_I%| >i%nF!!checking for new query: numPingsReceived=51, elapsed TxPingTime=27.6079771i: ;uHeadingCmd: 0.445115 target range: 24.878702 and range: 24.90 m.hu>hyhyhhggjgrgereZe:e8@*e!?-vBɢ5pO)1 5J?i1)599i=i=>Ea=Wu=I>I@=@=E EE(E"E:*E:VEc44ZEBE.q#,CSǍLA06?f>6̴>6-.>ٱ6p=6H?dۿH?Jd?T?@tç?@b\??i6?f>I6QX`;4YBByBJIIF=)F4y ; Ļ @ hA +@) @ Y @bD%VD%Ȱ8y5<%5E=ٔ=%;Q->9 ?Y ?=qEyD\,E>Q 555?Q 95ݕ)BQ AT:Y>Q E:y>Q IX@DIL:iv:d5yɮ/AiYi]:=<ǍLAj]:A"j]:A:j]f?Rj]"f8@bN@=2tj?Bj]K??.0ۣ?*j]| >2j]nFZj]y\\4@Fg+@Wz= @Jj]K?λQ?jAt?j]?[A j]Ai]m:?i]p-j]QBj]\v2?j]2 -j]ۇBrj]Azj]I?5 addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504159 s, deltaX: -0.100000 m, approachRate: -0.198351 m/s, rangeRepo size: 4 E Added new target pos. range: 24.778593 m, bearing: 33.939287 deg, lat: 36.779563 deg, lon: -121.859774 deg, deltaT: 0.504159 s, deltaX: -0.100109 m, approachRate: -0.198567 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 24.78 m.2iI"iM*iI] ProNav: ac range: 24.778593 m, nav range: 24.479177 m, bearing: 34.083281 deg, approach rate: 0.000000 m/s, LOS rate: 0.074985 deg/s, cmd heading: 25.503211 deg, new cmd heading: 25.566002 deg. iaeHeadingCmd: 0.446211 target range: 24.778593 and range: 24.80 m.heu>hihihihigigijgqrguBeqreyZey:ey*e} ?颥xBɢ>9) ?i)!顩iiu>=`?=Iu>Iԑi)I)=DDAT read: Rx Time:01:36:28.8277 =TRx dataTimestamp_ set to:1764898589.445521MPDAT read: Bearing 188.2, 11.9 (Local) M~Local bearing/azimuth received: Bearing 188.2, 11.9 (Local) ]DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.3 DAT read: 01:36:28.8277 LVL= 24352, 29681, 27330, 32755, AGC= 58, IDX= 504, 0.21, 2.013, 0.198, 1.852, 1.472, PHS= 0.643,-1.229, 0.336, RAW= 141.2, 2.9, CAL= 141.0, 3.4, ROT= 9.0, -3.4 Ygot valid direction response: 01:36:28.8277 LVL= 24352, 29681, 27330, 32755, AGC= 58, IDX= 504, 0.21, 2.013, 0.198, 1.852, 1.472, PHS= 0.643,-1.229, 0.336, RAW= 141.2, 2.9, CAL= 141.0, 3.4, ROT= 9.0, -3.4 T#Rx 52: Read range and direction messages.\direction in FSK: [0.985950,0.156159,0.059306]Fpublishing direction and range infoy9= ??Cg]?Y99= _=s=j 9)=:I=$?i=O=1>9=4QO=9 =s=)9I=s99=9w?LVӬ?ۅ ? 9)=PI9i=s99checking for new query: numPingsReceived=52, elapsed TxPingTime=28.070379^A]=E EE+E"E:*Eg:VE [4ZEa@a@a@a@A ؟AI I O >  checking for new query: numPingsReceived=52, elapsed TxPingTime=28.301813yq#,mǍLA2~ze>2>R>2^:ٱ28=2H?@ۿD"R?}Y?J?@?A? ??i2~ze>I2_;2CYNByRMI V=TbDZVDZ8ybN~<%bR=ٔf]';Q-f>9f"?Yf"?=fqEyjDjEj>llQ 5v5n?Q 9v5n )nBYtyv[>Q IvX@nDIn):in:ng5y{Bɮ /A iiimk\ǍLAji"ji:jm~?RjmWv2n8@Y @f0?Bjm ??Cg]?*ji2jmsZjmh7e4@MNZfW+@x" @JjmSW?=_?^y?jm\A jm/AimH?im D*jmkBjmm:?jmIg+jmÇBrjmtAzjm? addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 24.778593 m, bearing: 33.991822 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.504284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i)UDNOT Ignoring new targets: 24.78 m.2iQ"iQ*iQe ProNav: ac range: 24.778593 m, nav range: 24.431961 m, bearing: 34.139033 deg, approach rate: 0.000000 m/s, LOS rate: 0.074985 deg/s, cmd heading: 25.566003 deg, new cmd heading: 25.631109 deg. iaHeadingCmd: 0.447347 target range: 24.778593 and range: 24.80 m.h >hhhhggjgrgereZe:e*e?  zBɢVO) ?i);i]i >%~=%=I% >I!B>BBBBP =BBBN;B]EUDDAT read: Rx Time:01:36:29.3275 ]TRx dataTimestamp_ set to:1764898589.951492ePDAT read: Bearing 189.6, 12.3 (Local) e~Local bearing/azimuth received: Bearing 189.6, 12.3 (Local) uDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.3 DAT read: 01:36:29.3275 LVL= 29552, 32753, 31042, 32755, AGC= 60, IDX= 502, 0.04, 0.752,-1.075, 0.579, 0.239, PHS= 0.615,-1.269, 0.296, RAW= 140.9, 4.1, CAL= 140.7, 4.8, ROT= 9.3, -4.8 Ygot valid direction response: 01:36:29.3275 LVL= 29552, 32753, 31042, 32755, AGC= 60, IDX= 502, 0.04, 0.752,-1.075, 0.579, 0.239, PHS= 0.615,-1.269, 0.296, RAW= 140.9, 4.1, CAL= 140.7, 4.8, ROT= 9.3, -4.8 T#Rx 53: Read range and direction messages.\direction in FSK: [0.983395,0.161037,0.083678]Fpublishing direction and range infoyQU>Sw?pܜ?U]k?YUAQUpsUUBy Q)U<IUp?iUnUP>Uc@UC=ԉU)@ U=)U6&>IUQQU? ?=I$?\a? U>)U*^ANw=IU6&>iUQQ checking for new query: numPingsReceived=53, elapsed TxPingTime=28.633541AY Ia Iy O >ԙ E  E E *E "E :*E ]t:VE (N4ZE BE a 2E a JE ;a :E ;a q#,`wǍLAne>nc>n4ٱn=nH?ۿi?[??`_?L? ?ine>In__;nCY5By5`IiMb@Mb@Mb@ 9l?Mb`~jthY>yD@~A @)I@YbDVD8y=%8=ٔk<;Q->9Y=qEyDҟ9E>Q 55B?Q 95)#BY>Q E:yU>Q IX@DI(;i';k5y!ɮ%@/A!iyi}?|ǍLAj}A"j}A:j}?Rj}z8@ܚe4@b@Bj}>Sw?pܜ?U]k?*j}6&>2j}Zj}iV 4@35+@wCe @Jj}s D5??Y-B?j}YA j}bAi}9?i} !,j}Bj}9?jyj}Brj}Azj}2?iu addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.505971 s, deltaX: -0.299999 m, approachRate: -0.592918 m/s, rangeRepo size: 4  Added new target pos. range: 24.478804 m, bearing: 34.160603 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.505971 s, deltaX: -0.299789 m, approachRate: -0.592503 m/s, posRepo size: 4 checking for new query: numPingsReceived=53, elapsed TxPingTime=28.813742:iDNOT Ignoring new targets: 24.48 m.2i"i*i ProNav: ac range: 24.478804 m, nav range: 24.243893 m, bearing: 34.214499 deg, approach rate: 0.000000 m/s, LOS rate: 0.074985 deg/s, cmd heading: 25.631110 deg, new cmd heading: 25.688557 deg. i%HeadingCmd: 0.448350 target range: 24.478804 and range: 24.50 m.h%>h)h)h)h)g)g)jg1rg5Be1re1Ze9:e=8@*e=`P?颥|Bɢ Z:)  ?i)Z{ii>6===I>I@@ԡ^AE)=AM?AM?Ay  DDAT read: Rx Time:01:36:29.8275  TRx dataTimestamp_ set to:1764898590.461638 PDAT read: Bearing 190.2, 12.7 (Local)  ~Local bearing/azimuth received: Bearing 190.2, 12.7 (Local)  DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.3  DAT read: 01:36:29.8275 LVL= 30096, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.11, 0.294,-1.534, 0.105,-0.210, PHS= 0.607,-1.279, 0.272, RAW= 140.4, 4.6, CAL= 140.2, 5.3, ROT= 9.8, -5.3 I I E Ygot valid direction response: 01:36:29.8275 LVL= 30096, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.11, 0.294,-1.534, 0.105,-0.210, PHS= 0.607,-1.279, 0.272, RAW= 140.4, 4.6, CAL= 140.2, 5.3, ROT= 9.8, -5.3 E T#Rx 54: Read range and direction messages.M \direction in FSK: [0.981195,0.169482,0.092371]M Fpublishing direction and range infoy O  ff0e?& `?{]U?Y u  ) I Zd?i F C> @ l= ۚ@ q=) %/>I q p.?LA?6? (t>) |ҥI %/>i q  checking for new query: numPingsReceived=54, elapsed TxPingTime=29.102259 Gq#,CǍLAb~Ge>b8>b 1ٱb!=bH_?zۿދp?`KW?? 9!?@? ?ib~Ge>Ib_;bCY}By}]I bDVD8y[ %N=ٔ(;Q->9Y=qEyDYE>Q 55?Q 95)&BYy*>Q IX@DIG:iu:Io5yɮP/AiizǍLAj"j:j?RjC8@gG@ղ@Bjff0e?& `?{]U?*j%/>2jqZj~`3@y˳y+@@_Z @Jj?@- ?ͩlj?CM`[?j[A j[AiSI;?i6&jBjm:?j*JF*jQBrjAzj?E EE,E"E;*E&p:VEg4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.510146 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 24.478804 m, bearing: 34.592597 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.510146 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i-MVStarting intercept timer at range: 24.50 m.UDNOT Ignoring new targets: 24.48 m.2iQ"iY*iY ProNav: ac range: 24.478804 m, nav range: 24.107006 m, bearing: 34.355568 deg, approach rate: 0.000000 m/s, LOS rate: 0.074985 deg/s, cmd heading: 25.688557 deg, new cmd heading: 25.750325 deg. iHeadingCmd: 0.449428 target range: 24.478804 and range: 24.50 m.hl>hhhhggjgrgereZe:e*e ?M~BɢMt)I U ?iQ)UQQi]iel>==Il>Ichecking for new query: numPingsReceived=54, elapsed TxPingTime=29.317848^Az=) B >B B rIB BB Q =B B B ݡ;B 2]EA I I O >q#,ǍLA2e>2p>2'6-ٱ2pS=2H-? ۿ7wu?@]?`?`?.ٹ??i2e>I2_;2CY>By>hIDDbDJVDJð8yR;=%R^=ٔV);Q-V>9TYT=VqEyZDZw:EZ>\Q 5b5^θ?Q 9b5^`)^)BYdyfc>Q IfX@^DI^.:i^:^~r5yjyBɮj.Aj\E:i|~DNOT Ignoring new targets: 24.48 m.2i|"i}D;*i}D; ProNav: ac range: 24.478804 m, nav range: 23.954460 m, bearing: 34.414965 deg, approach rate: -0.438392 m/s, LOS rate: 0.171783 deg/s, cmd heading: 25.750325 deg, new cmd heading: 25.869875 deg. i0;HeadingCmd: 0.451515 target range: 24.478804 and range: 24.50 m.h,>hhhhg!g!jg!rg!e)re)Ze):e)*e-?iAIAMDDAT read: Rx Time:01:36:30.3272 MTRx dataTimestamp_ set to:1764898590.965468]PDAT read: Bearing 189.2, 12.6 (Local) ]~Local bearing/azimuth received: Bearing 189.2, 12.6 (Local) mDAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.3 DAT read: 01:36:30.3272 LVL= 26384, 32177, 31858, 32755, AGC= 59, IDX= 500,-0.29,-1.217,-3.043,-1.411,-1.755, PHS= 0.639,-1.243, 0.300, RAW= 140.3, 3.5, CAL= 140.1, 4.2, ROT= 9.9, -4.2 Ygot valid direction response: 01:36:30.3272 LVL= 26384, 32177, 31858, 32755, AGC= 59, IDX= 500,-0.29,-1.217,-3.043,-1.411,-1.755, PHS= 0.639,-1.243, 0.300, RAW= 140.3, 3.5, CAL= 140.1, 4.2, ROT= 9.9, -4.2 T#Rx 55: Read range and direction messages.\direction in FSK: [0.982464,0.171467,0.073238]Fpublishing direction and range infoyIMݸWp?9q??YMAIMgM}Mr| I)M;IM#?iMM>Mt@M5z=MC~@ MQ =)M;0>IMQ IIMY ?=r!?$&? M!'>)M}IM;0>iMQ II5checking for new query: numPingsReceived=55, elapsed TxPingTime=29.600170%Bɢ-;Q)a e ?ii)o顑iL!i,>=c=I,>IԉE EE+E"E:*E:VE [4ZEBE6cq#,#ǍLA6Se>6>>6(ٱ6Q=6H?GxۿZy?@X?@? ޻@l?2ٹ? '?i6Se>I6@_;6C@YBByBwIi Mb@Mb@Mb@     9 ~jt?~jtx?{GzY >y ; # v@ A @) +@ Y @bD%VD%8y5j=%5A=ٔ=^+;Q-=>9= ?YE ?=EqEyEDElEE>IQ 5U5Mƞ?Q 9U5MD)M*BY]>Q E]:y]>Q I]X@MDIMv;iM;M0v5yaɮe.Aiiyi}:ʽǍLAj}տA"j}տA:j}s?Rj}x!7@ 잢Rr@@Z?Bj}ݸWp?9q??*j};0>2j}Q Zj}3@VfBw!+@z J @Jj}5w ?eU?;R?j} YA j}0Ai}󮶿3?i}Lv'j}Bjyj} D*jyrj}3Azj}D ? addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503830 s, deltaX: -0.500000 m, approachRate: -0.992398 m/s, rangeRepo size: 4 e Added new target pos. range: 23.979158 m, bearing: 34.792015 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.503830 s, deltaX: -0.499645 m, approachRate: -0.991694 m/s, posRepo size: 4 :ieeTStopped intercept timer at range: 24.00 m.eDNOT Ignoring new targets: 23.98 m.2ii"im*ii ProNav: ac range: 23.979158 m, nav range: 23.775089 m, bearing: 34.477714 deg, approach rate: 0.000000 m/s, LOS rate: 0.171783 deg/s, cmd heading: 25.869876 deg, new cmd heading: 26.016541 deg. iHeadingCmd: 0.454074 target range: 23.979158 and range: 24.00 m.hm|>hhhhggjgrgBereZe:e8@*e- ?%Bɢ%9f;)) -A?i))- qqiuE#i}m|>}&=}#~=I}m|>Iԩ@=@=]DDAT read: Rx Time:01:36:30.8272 eTRx dataTimestamp_ set to:1764898591.470176uPDAT read: Bearing 188.8, 11.9 (Local) u~Local bearing/azimuth received: Bearing 188.8, 11.9 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 DAT read: 01:36:30.8272 LVL= 23840, 27585, 26098, 32755, AGC= 57, IDX= 499, 0.36, 2.129, 0.300, 1.954, 1.582, PHS= 0.649,-1.237, 0.328, RAW= 140.8, 3.0, CAL= 140.7, 3.6, ROT= 9.3, -3.6 Ygot valid direction response: 01:36:30.8272 LVL= 23840, 27585, 26098, 32755, AGC= 57, IDX= 499, 0.36, 2.129, 0.300, 1.954, 1.582, PHS= 0.649,-1.237, 0.328, RAW= 140.8, 3.0, CAL= 140.7, 3.6, ROT= 9.3, -3.6 T#Rx 56: Read range and direction messages.\direction in FSK: [0.984908,0.161285,0.062791]Fpublishing direction and range infoyY]*T^?sV]?֏ ?YYY] ]]k]e Y)]9I]$&?i]V]>]nF@]PwV=])@ ]=)]6&>I]YY]{?iʾ?NI? ]!L>)];WI]6&>i]YYchecking for new query: numPingsReceived=56, elapsed TxPingTime=30.092318^A5O=A1zA5zAE  E E &E "E %;*E i:VE 4ZE a @a @a @a @ Ae ؟AIq I O > %= 4= checking for new query: numPingsReceived=56, elapsed TxPingTime=30.325993)q#,ǍLAtY By kIIm<)m<bD=VD=8ymx3%m8=ٔmQ-u>9u"?Yu"?=}qEy}D}E}>Q 55Ԟ?Q 95 ),BYyQ IX@ DI ;i ;z5yBɮ,/Aii]ǍLAj"j:jM?Rj۶7@>hx—@2?Bj*T^?sV]?֏ ?*j6&>2jZj SX3@ig *@xX@Jj6s!GC?jW?c??j`VA jpAi]MO?i u)jTBjSI;?j u)jBrjAzjr?- addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504708 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 23.979158 m, bearing: 34.247814 deg, lat: 36.779564 deg, lon: -121.859772 deg, deltaT: 0.504708 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 23.98 m.2i"i*i ProNav: ac range: 23.979158 m, nav range: 23.614954 m, bearing: 34.567288 deg, approach rate: 0.000000 m/s, LOS rate: 0.171783 deg/s, cmd heading: 26.016541 deg, new cmd heading: 26.171949 deg. iHeadingCmd: 0.456787 target range: 23.979158 and range: 24.00 m.h>hhhhgg jgrgIeIreIZeI:eI*eU;?Bu>BqBuIBuBBqBqBqBu;Bu\E额Bɢ@):) & ?i)2顡i0&i>=pw=I>I1eDDAT read: Rx Time:01:36:31.3270 eTRx dataTimestamp_ set to:1764898591.973262mPDAT read: Bearing 189.2, 12.1 (Local) }~Local bearing/azimuth received: Bearing 189.2, 12.1 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 01:36:31.3270 LVL= 24880, 31361, 29426, 32755, AGC= 58, IDX= 497, 0.11, 0.906,-0.928, 0.723, 0.362, PHS= 0.646,-1.245, 0.316, RAW= 140.6, 3.3, CAL= 140.4, 3.9, ROT= 9.6, -3.9 Ygot valid direction response: 01:36:31.3270 LVL= 24880, 31361, 29426, 32755, AGC= 58, IDX= 497, 0.11, 0.906,-0.928, 0.723, 0.362, PHS= 0.646,-1.245, 0.316, RAW= 140.6, 3.3, CAL= 140.4, 3.9, ROT= 9.6, -3.9 T#Rx 57: Read range and direction messages.\direction in FSK: [0.983713,0.166383,0.068015]Fpublishing direction and range infoyaek%z?q](L?,::si?YeAae0aezer a)e:IeB`%?ie)\eʡ>e= @ek=e @ e'g=)e+>Ie'gaae3?z?ȍ;? e>)eiIe+>ie'gaa checking for new query: numPingsReceived=57, elapsed TxPingTime=30.604073^A |=i AQ Ii Iy E  E E )E "E :*E k:VE FA4ZE BE $5}5r#,C ȍLA:Emּ;axY5By5sIiMb@Mb@Mb@ 9K7?y&1?Y>y`e<@hA @)I@Y )-<bD5VD58yE =%EH=ٔAQ-E>9IYI=MqEyMDQEU>YQ 5e5]?Q 9e5])]0BYe>Q Ee;uchecking for new query: numPingsReceived=57, elapsed TxPingTime=30.829807ye[>Q IuX@]DI]Jj;i]th;]}5y}Bɮ"/AiIiMIǍLAjMoA"jMoA:jMp<?RjM8iH_0K7@'Ȅ@ah?BjMk%z?q](L?,::si?*jM+>2jM'gZjM#RL{[3@#*@m@JjME(?&W?:4n?jMUA jMۚAiMx#@?iM)jMBjIjIjIrjMAzjM'?E addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503086 s, deltaX: -0.299999 m, approachRate: -0.596318 m/s, rangeRepo size: 4  Added new target pos. range: 23.679379 m, bearing: 34.519832 deg, lat: 36.779564 deg, lon: -121.859772 deg, deltaT: 0.503086 s, deltaX: -0.299780 m, approachRate: -0.595882 m/s, posRepo size: 4 :i)DNOT Ignoring new targets: 23.68 m.2i1"ia*ii ProNav: ac range: 23.679379 m, nav range: 23.455587 m, bearing: 34.616625 deg, approach rate: 0.000000 m/s, LOS rate: 0.171783 deg/s, cmd heading: 26.171950 deg, new cmd heading: 26.312403 deg. iHeadingCmd: 0.459238 target range: 23.679379 and range: 23.70 m.h@!>hhhhggjgrgBereZe:e%@37@*e%?mBɢm;)q u?iq)uqi!(i@!>=up=I@!>II^A Hu=5 DDAT read: Rx Time:01:36:31.8269 = TRx dataTimestamp_ set to:1764898592.478567E PDAT read: Bearing 194.1, 22.2 (Local) M ~Local bearing/azimuth received: Bearing 194.1, 22.2 (Local) e DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.3 y  DAT read: 01:36:31.8269 LVL= 23872, 29809, 24754, 32755, AGC= 58, IDX= 512,-0.08, 0.005,-1.752,-0.468,-0.496, PHS= 0.603,-1.211,-0.016, RAW= 130.4, 7.9, CAL= 130.5, 9.1, ROT= 19.5, -9.1  Ygot valid direction response: 01:36:31.8269 LVL= 23872, 29809, 24754, 32755, AGC= 58, IDX= 512,-0.08, 0.005,-1.752,-0.468,-0.496, PHS= 0.603,-1.211,-0.016, RAW= 130.4, 7.9, CAL= 130.5, 9.1, ROT= 19.5, -9.1  T#Rx 58: Read range and direction messages. \direction in FSK: [0.930777,0.329606,0.158158] Fpublishing direction and range infoy1 5  N?J4A?@\~>?Y5 ̼A1 5 @]5 qt5 ` 1 )1 I5 5^?i5 5 o5 @5 0 >5 @ 5 ">)5 @>I5 "1 1 5 SX1-?A Z/?% ? 5 9>)5 I5 @>i5 "1 1  checking for new query: numPingsReceived=58, elapsed TxPingTime=31.111607A) I9 II OU >^r#, #ȍLAb7f>b>b#Pٱb=bH,?&ۿK?o??=廿`?(? ?ib7f>Ib_^;bCYzByzIbD  VD 8y=JW=%=]=ٔ=;Q-=>9AYA=EqEyEDMx;EM>QIQ 55M랊?Q 95MX)M3BYy">Q IX@MDIMy:iM:M܀5yɮ.AiaieנȍLAjeA"jeA:jeD?Rje}5@_Īr@]F6 @Bje N?J4A?@\~>?*je@>2je"ZjeF>0@d/@N=k@Jje@k]c? >?)t=?jeA jeAieZ?ie8jecBjajeLv'jarjeݺAzje?bET4jEK4rE0E  E E +E "E :*E :VE  [4ZE a@a@a@a@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.505305 s, deltaX: -0.100000 m, approachRate: -0.197901 m/s, rangeRepo size: 4 M Added new target pos. range: 23.579466 m, bearing: 44.072632 deg, lat: 36.779564 deg, lon: -121.859771 deg, deltaT: 0.505305 s, deltaX: -0.099913 m, approachRate: -0.197727 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 23.58 m.2iQ"iQ*iQ ProNav: ac range: 23.579466 m, nav range: 23.358208 m, bearing: 34.828029 deg, approach rate: 0.000000 m/s, LOS rate: 0.171783 deg/s, cmd heading: 26.312402 deg, new cmd heading: 26.446661 deg. iHeadingCmd: 0.461581 target range: 23.579466 and range: 23.60 m.hcT>hhhhggjgrgereZe:e7@*eК?}Bԁɢ};) ?i){D 顡i*icT>=^n=IcT>I@@checking for new query: numPingsReceived=58, elapsed TxPingTime=31.334345Ա^Ah5n=B- >B) B- IB- BB) B) B) B- |;B- \EBCBCBBQ =BQ =C84A I I O >-r#,<ȍLAV݂G`vDDAT read: Rx Time:01:36:32.3266 vTRx dataTimestamp_ set to:1764898592.981084zPDAT read: Bearing 190.0, 12.8 (Local) ~~Local bearing/azimuth received: Bearing 190.0, 12.8 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.3 5DAT read: 01:36:32.3266 LVL= 25184, 31089, 27042, 32755, AGC= 59, IDX= 510,-0.31,-2.043, 2.425,-2.251,-2.576, PHS= 0.635,-1.237, 0.281, RAW= 139.8, 3.8, CAL= 139.6, 4.4, ROT= 10.4, -4.4 =Ygot valid direction response: 01:36:32.3266 LVL= 25184, 31089, 27042, 32755, AGC= 59, IDX= 510,-0.31,-2.043, 2.425,-2.251,-2.576, PHS= 0.635,-1.237, 0.281, RAW= 139.8, 3.8, CAL= 139.6, 4.4, ROT= 10.4, -4.4 =T#Rx 59: Read range and direction messages.E\direction in FSK: [0.980673,0.179987,0.076719]EFpublishing direction and range infoytvga?x> ?.0ۣ?Yv̸Atv`bvqyvi t)v;Iv\"?ivVv;ߏ>vy(@vԇ=vI@ vnF=)v9>IvnFttvٙ ?^[ ܓ?O԰? vw>)vIv9>ivnFttechecking for new query: numPingsReceived=59, elapsed TxPingTime=31.601891a>9Y|;A\,h>,>Kٱ=H?Ϝۿf?y?֮?ѻ8?2#??i\,h>I^;CYuBy}I bDaVDay5>=%=#=ٔ=Հ:Q-=>9AYA=EqEyEDeT";Em>qQ 5u5u?Q 9}5u)u8BYyy}>Q I}X@uDIu:iu:uF5yBɮ.A]Eitiv>ȍLAjvA"jvA:jvNF?Rjv)m?6@8[Ɲ@╍>T?Bjvga?x> ?.0ۣ?*jv9>2jvnFZjvyxճg2@*Z*@æ|l@Jjv3?Db?S?jv(TA jv#Aivg?iv''jvԇBjv3?jtjvԇBrjvAzjv{?E EE'E"E:*E n:VE'4ZEBE+hhhhggjgrgereZe:e7@*e o?eBɢuR;)q }?iy)} yyi})-i>륑= `i=I>Ichecking for new query: numPingsReceived=59, elapsed TxPingTime=31.837805A ^A m=A I I O >;r#,-%ZȍLAB>BٱB=BH`Z?xۿG??`?? `@?q?Y?iBi>IBs^;BCYNByNIiEMb@Mb@Mb@AAAA A9ECl?{Gz?Mb`?YE>yEף9yYy=}qEy}D};E>Q 55?Q 95);BY >Q E;yW>Q IX@ DI;i;o5yɮ.AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 23.08 m.2i"if;*if; ProNav: ac range: 23.079859 m, nav range: 22.938759 m, bearing: 35.065418 deg, approach rate: -0.444146 m/s, LOS rate: 0.130614 deg/s, cmd heading: 26.620066 deg, new cmd heading: 26.705801 deg. i o;HeadingCmd: 0.466104 target range: 23.079859 and range: 23.10 m.h5>hhhhggjgrgBereZe:e*en?-Bɢ-`<)) -?i1)5s 11i5/i=5>===Zj=I=5>IA]DDAT read: Rx Time:01:36:32.8266 ]TRx dataTimestamp_ set to:1764898593.485217ePDAT read: Bearing 189.8, 12.2 (Local) m~Local bearing/azimuth received: Bearing 189.8, 12.2 (Local) }DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 DAT read: 01:36:32.8266 LVL= 25200, 29537, 25506, 32755, AGC= 60, IDX= 509, 0.35, 1.616,-0.216, 1.421, 1.071, PHS= 0.646,-1.242, 0.306, RAW= 140.3, 3.4, CAL= 140.1, 4.0, ROT= 9.9, -4.0 Ygot valid direction response: 01:36:32.8266 LVL= 25200, 29537, 25506, 32755, AGC= 60, IDX= 509, 0.35, 1.616,-0.216, 1.421, 1.071, PHS= 0.646,-1.242, 0.306, RAW= 140.3, 3.4, CAL= 140.1, 4.0, ROT= 9.9, -4.0 T#Rx 60: Read range and direction messages.\direction in FSK: [0.982710,0.171510,0.069756]Fpublishing direction and range infoyY]-[r?e ?&k۱?YYY]pb]as]c Y)]<I]B`%?i]]>]t@]s=]C~@ ]5=)];0>I]5YY]0? #?6? ],>)]ѨpI];0>i]5YY checking for new query: numPingsReceived=60, elapsed TxPingTime=32.113705ԡ^A Xh=A1IAIYOmW>D?AzDE5 E5E5*E1"E5;*E5x:VE5(N4ZE1a=@a=@a=@a=@ checking for new query: numPingsReceived=60, elapsed TxPingTime=32.342632 Lbr#,0sȍLA2k>2r^>2zٱ2=2H ?ۿQ???,@΢? H? ?i2k>I2UT^;2CYNʁByRIlbDZ VDZ8yvQ=%vS=ٔz;Q-z>9xYx=~qEy~D~;E~>Q 5 5:?Q 9 5 )?BYy1>Q IX@%DI.:i:Ћ5yBɮ~.A%^Eii _ȍLAj"j:jX?RjH6@0ߪ@jxo?Bj-[r?e ?&k۱?*j;0>2j5Zj+ں2@x:]*@@@JjK$?VF?DR?jRA j֕Aiv;?i>Rg%j|Bjv;?j''jBrjAzjc? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.079859 m, bearing: 35.137854 deg, lat: 36.779564 deg, lon: -121.859771 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.08 m.2i"i*i  ProNav: ac range: 23.079859 m, nav range: 22.865337 m, bearing: 35.001255 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 26.705802 deg, new cmd heading: 26.811667 deg. i HeadingCmd: 0.467952 target range: 23.079859 and range: 23.10 m.hc>hhhhggjgrge!re!Ze!:e!*e%`|_?A9A=AAB=>B9B=IB=ˁBB9B9B=UDB=e;B=\EuBɢu,<)q uw?iy)}[yyi},2ic>=}i=Ic>I mDDAT read: Rx Time:01:36:33.3264 uTRx dataTimestamp_ set to:1764898593.989070}PDAT read: Bearing 190.0, 11.9 (Local) }~Local bearing/azimuth received: Bearing 190.0, 11.9 (Local) DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 DAT read: 01:36:33.3264 LVL= 21680, 26017, 24258, 32755, AGC= 58, IDX= 507, 0.14,-0.112,-1.924,-0.296,-0.648, PHS= 0.637,-1.231, 0.308, RAW= 140.5, 3.4, CAL= 140.3, 4.0, ROT= 9.7, -4.0 Ygot valid direction response: 01:36:33.3264 LVL= 21680, 26017, 24258, 32755, AGC= 58, IDX= 507, 0.14,-0.112,-1.924,-0.296,-0.648, PHS= 0.637,-1.231, 0.308, RAW= 140.5, 3.4, CAL= 140.3, 4.0, ROT= 9.7, -4.0 T#Rx 61: Read range and direction messages.\direction in FSK: [0.983302,0.168079,0.069756]Fpublishing direction and range infoyimtz6w?@yc?&k۱?YmfAimTmem^ i)m:Imo#?imhm->m@imt@ i)m-\->Iiiimӟ|*?lCa?jt? m};>)moIm-\->iiiichecking for new query: numPingsReceived=61, elapsed TxPingTime=32.609257A^AAzAyAAA II a Ee  Ee Ea Ea "Ee &:*Ee :VEa ZEa BEe i;CJ#r#,̍ȍLAbchecking for new query: numPingsReceived=61, elapsed TxPingTime=32.845798Y%ɁBy-IAI<)=iMb@Mb@Mb@ 9MbX?I +?{Gzt?Y>y9<ף;A @)Y\@bDVD8y-[l%5+=ٔ5Q-5>99Y9==qEy=D=E=>AQ 5M5E4?Q 9U5E})EDBYU>Q EU;yU~?Q IUX@E,DIEr;iE;E5yYɮe.AaiiLȍLAj=A"j=A:j{?Rj6@Of6@ x@Ўfal?Bjtz6w?@yc?&k۱?*j-\->2jZj`wGg]2@Ss)@0j@Jjgl?D/?&A}?j%OA jBAi08?i3)jdBj08?jjrj6Azj? addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503853 s, deltaX: -0.300001 m, approachRate: -0.595414 m/s, rangeRepo size: 4  Added new target pos. range: 22.780029 m, bearing: 34.937767 deg, lat: 36.779564 deg, lon: -121.859771 deg, deltaT: 0.503853 s, deltaX: -0.299829 m, approachRate: -0.595073 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.78 m.2i"i*i ProNav: ac range: 22.780029 m, nav range: 22.651609 m, bearing: 35.098782 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 26.811667 deg, new cmd heading: 26.932519 deg. iHeadingCmd: 0.470061 target range: 22.780029 and range: 22.80 m.hګ>hhhhggjgrgBereZe:e6@*e?%Bɢ%;)! %?ai) 顩i4iګ>(=b=Iګ>IԑDDAT read: Rx Time:01:36:33.8264 TRx dataTimestamp_ set to:1764898594.494001PDAT read: Bearing 190.5, 12.1 (Local) ~Local bearing/azimuth received: Bearing 190.5, 12.1 (Local) DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 DAT read: 01:36:33.8264 LVL= 21632, 27409, 24530, 32755, AGC= 58, IDX= 507,-0.03,-0.159,-1.971,-0.347,-0.688, PHS= 0.631,-1.238, 0.297, RAW= 140.4, 3.6, CAL= 140.2, 4.3, ROT= 9.8, -4.3 Ygot valid direction response: 01:36:33.8264 LVL= 21632, 27409, 24530, 32755, AGC= 58, IDX= 507,-0.03,-0.159,-1.971,-0.347,-0.688, PHS= 0.631,-1.238, 0.297, RAW= 140.4, 3.6, CAL= 140.2, 4.3, ROT= 9.8, -4.3 T#Rx 62: Read range and direction messages.\direction in FSK: [0.982634,0.169730,0.074979]Fpublishing direction and range infoy9q?g?]1?YTk_ )I7!?ivb> @=ۚ@^A `=)%/>I`/J?qrq7?H98? t>)؁I%/>i`% checking for new query: numPingsReceived=62, elapsed TxPingTime=33.119675 A I) I9 OE >ex)r#,ȍLAE> E>E<E<"E>T;*E>:VE<ZEZY>ZٱZU`=ZHH?uܿF`?`r? ?@M`~???iZo>IZ^;ZCYb΁BybI j%=j<bDn'VDnа8yv<%vw=ٔv;Q-z?9xYx=zqEy~D~?<E~?Q 5 5(?Q 9 5|)HBY y z?Q IX@0DI:i0;5yɮ`.AiiȍLAj"j:j\^?RjF8jb6@L@X Q T?Bj9q?g?]1?*j%/>2j`Zj܌qu2@[?](*@*+%@Jj!["?BRN?LWA?jPA jAiډ`Rg%jBrjzAzj? addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504931 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 22.780029 m, bearing: 35.220921 deg, lat: 36.779564 deg, lon: -121.859771 deg, deltaT: 0.504931 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.78 m.2i"i*im ProNav: ac range: 22.780029 m, nav range: 22.559690 m, bearing: 35.272714 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 26.932518 deg, new cmd heading: 27.020020 deg. iquHeadingCmd: 0.471588 target range: 22.780029 and range: 22.80 m.hut>hyhyhyhygygyjgrgereZe:e*eX?BɢX<) Z?i)1iV)7i%t>-=->l=I-t>I)checking for new query: numPingsReceived=62, elapsed TxPingTime=33.353237^AmJc=B5>B5CB5IB5ځBB1B53DB1B5l;B5\EA .AI I O > } DDAT read: Rx Time:01:36:34.3261  TRx dataTimestamp_ set to:1764898594.997140 PDAT read: Bearing 191.1, 12.1 (Local)  ~Local bearing/azimuth received: Bearing 191.1, 12.1 (Local)  DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.3  DAT read: 01:36:34.3261 LVL= 25232, 29441, 26402, 32755, AGC= 60, IDX= 505,-0.24,-1.840, 2.634,-2.029,-2.358, PHS= 0.620,-1.246, 0.285, RAW= 140.3, 4.0, CAL= 140.1, 4.7, ROT= 9.9, -4.7  Ygot valid direction response: 01:36:34.3261 LVL= 25232, 29441, 26402, 32755, AGC= 60, IDX= 505,-0.24,-1.840, 2.634,-2.029,-2.358, PHS= 0.620,-1.246, 0.285, RAW= 140.3, 4.0, CAL= 140.1, 4.7, ROT= 9.9, -4.7  T#Rx 63: Read range and direction messages. \direction in FSK: [0.981797,0.171351,0.081939] Fpublishing direction and range infoy  ||j?8??Y 3A b s "g ) <I R?i | > t@ 5= C~@ =) ;0>I gܨ?z&T/(?*l<ޱ? v>) '\0r#,ȍLAI;0>i&checking for new query: numPingsReceived=63, elapsed TxPingTime=33.638035vq>uP>H ٱ2=H`ž?@ܿ@N?`_ ?`o?`>:? (? ?ivq>I^;CY=ԁBy=IbD%VDϰ8y|<%-=ٔ :Q- >95 ?Y= ?==qEy=DE);EE>qQ 5}5u6?Q 9}5uy)uMBYy?Q IY@u6DIuW:iuB:u5E EE)E"Es:*E&p:VEFA4ZEBEp02jZj1{F2@vk)@h1U@Jjٝ? >]?5J ?jMA jAi!*?i,&'jˇBjj''jrjAzjy6?] addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503139 s, deltaX: -0.400000 m, approachRate: -0.795008 m/s, rangeRepo size: 4 m Added new target pos. range: 22.380163 m, bearing: 35.386471 deg, lat: 36.779564 deg, lon: -121.859771 deg, deltaT: 0.503139 s, deltaX: -0.399866 m, approachRate: -0.794743 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 22.38 m.2iq"iq*iy ProNav: ac range: 22.380163 m, nav range: 22.331039 m, bearing: 35.186052 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 27.020020 deg, new cmd heading: 27.149482 deg. iHeadingCmd: 0.473848 target range: 22.380163 and range: 22.40 m.h/>hhhhggjgrgereZe!:e`ff6@*e-j?uBɢu <)q u ?iq)}yyi}9i/>m=Ri=I/>IDDAT read: Rx Time:01:36:34.8261  TRx dataTimestamp_ set to:1764898595.252508%PDAT read: Bearing 191.1, 11.6 (Local) 5~Local bearing/azimuth received: Bearing 191.1, 11.6 (Local) Mchecking for new query: numPingsReceived=63, elapsed TxPingTime=33.866806Y^A m=A >A >y A ؟AI I O >Q6r#,vȍLASs>>>~ ٱ=H@g?3ܿN? I$?̅??/?@A??iSs>I]^;CY5݁By=IDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 DAT read: 01:36:34.8261 LVL= 26016, 30609, 28146, 32755, AGC= 60, IDX= 504, 0.40, 1.439,-0.381, 1.262, 0.915, PHS= 0.626,-1.251, 0.303, RAW= 140.8, 3.7, CAL= 140.5, 4.3, ROT= 9.5, -4.3 Ygot valid direction response: 01:36:34.8261 LVL= 26016, 30609, 28146, 32755, AGC= 60, IDX= 504, 0.40, 1.439,-0.381, 1.262, 0.915, PHS= 0.626,-1.251, 0.303, RAW= 140.8, 3.7, CAL= 140.5, 4.3, ROT= 9.5, -4.3 T#Rx 64: Read range and direction messages.\direction in FSK: [0.983509,0.164583,0.074979]Fpublishing direction and range infoy̓x?(cl?]1?Yewm )IA ?i ">nF@ A=@ `=))>I`}?Y?C[ٓ=? )^I)>i`checking for new query: numPingsReceived=64, elapsed TxPingTime=34.118984iMb@Mb@Mb@ 9y\=3@hA @)YbDVD8y-)=%-?=ٔ51:Q-5>95"?Y="?==qEy=D=;E=>aQ 5m5eC?Q 9m5eFw)eRBYu:>Q Eu;yu ?Q IuY@e;DIe:ie:eš5yyɮ}+.Aii]ȍLAj"j:j?Rj\a6@ڦw @@Wz2j`ZjB)2@wv)@&r9c@Jj9;f?<,D?YY\?jlLA jHAi2=?iC7'jvBjv;?jC7'j|BrjuAzj*"?M addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.502699 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.380163 m, bearing: 35.127944 deg, lat: 36.779564 deg, lon: -121.859771 deg, deltaT: 0.502699 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY}DNOT Ignoring new targets: 22.38 m.2i"i*i ProNav: ac range: 22.380163 m, nav range: 22.182264 m, bearing: 35.168296 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 27.149481 deg, new cmd heading: 27.258897 deg. iHeadingCmd: 0.475758 target range: 22.380163 and range: 22.40 m.h}>hhhhggjgrgBereZe :e *eX5?颽Bɢ`TO<) $?i)(isދ=&i=I}>E= E=E9E9"E=D:*E=xv:VE9ZE9aE@aE@aE@aE@I) DDAT read: Rx Time:01:36:35.3259  TRx dataTimestamp_ set to:1764898595.757234M PDAT read: Bearing 191.2, 11.3 (Local) U ~Local bearing/azimuth received: Bearing 191.2, 11.3 (Local) ^A Xh= DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.3 Q u DAT read: 01:36:35.3259 LVL= 25568, 30481, 27250, 32755, AGC= 60, IDX= 502, 0.12, 0.690,-1.123, 0.525, 0.169, PHS= 0.623,-1.247, 0.312, RAW= 141.1, 3.6, CAL= 140.9, 4.2, ROT= 9.1, -4.2 } Ygot valid direction response: 01:36:35.3259 LVL= 25568, 30481, 27250, 32755, AGC= 60, IDX= 502, 0.12, 0.690,-1.123, 0.525, 0.169, PHS= 0.623,-1.247, 0.312, RAW= 141.1, 3.6, CAL= 140.9, 4.2, ROT= 9.1, -4.2  T#Rx 65: Read range and direction messages. \direction in FSK: [0.984762,0.157733,0.073238] Fpublishing direction and range infoy  C4+?G0??Y ̰A c w rj ) I |?i w> 7@ = c@ Q =) ">I Q  ?;T?=? M>) I ">i Q  checking for new query: numPingsReceived=65, elapsed TxPingTime=34.435585A .AI I! O- >_=r#,ȍLABB>BBCBBIBBBBBR =B@BBTDBB;BB\ERu>R[>RٱR@X=RH?oRܿچ? kD? f}?\۠?y?7?iRu>IR^;RCYnBynIttbDvVDv8y=(=%E^=ٔE:Q-E>9M ?YM ?=MqEyMDM;EM>QYQ 5e5]mN?Q 9e5]:u)]VBYiymd ?Q ImY@]@DI]q:i]:]5yqɮu-AqiivȍLAjA"jA:j?Rju[5@C @\?BjC4+?G0??*j">2jQ Zj g1@f? )@Ok@Jj?gH'?@}C?jgHA j܏AiX9?i+jJBjX9?j,&'jvBrjAzj3?% addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.257395 s, deltaX: -0.299999 m, approachRate: -1.165521 m/s, rangeRepo size: 4 u Added new target pos. range: 22.080044 m, bearing: 34.857730 deg, lat: 36.779564 deg, lon: -121.859772 deg, deltaT: 0.257395 s, deltaX: -0.300119 m, approachRate: -1.165988 m/s, posRepo size: 4 :iq}DNOT Ignoring new targets: 22.08 m.2iy"iy*i ProNav: ac range: 22.080044 m, nav range: 22.002359 m, bearing: 35.183823 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 27.258897 deg, new cmd heading: 27.353154 deg. iHeadingCmd: 0.477403 target range: 22.080044 and range: 22.10 m.hn>hhhhggjgrgere Ze :e 6@*e S?UBɢ]2<)Y ]'?iY)]Yaiec>imn>m9=mtj=Imn>Iichecking for new query: numPingsReceived=65, elapsed TxPingTime=34.610504ԁ^Auh=ԩEu EuEu+Eq"Eus:*Euz:VEu [4ZEqBEqa}2Eqa}JEu;a}:Eu;a}A ؟AI & dClearing failed state for component DockingStepperq I O >  DDAT read: Rx Time:01:36:35.8258  TRx dataTimestamp_ set to:1764898596.260589 PDAT read: Bearing 192.2, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 192.2, 11.3 (Local) E DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 cJDr#,ɍLA^w>^ٔ>^1ٱ^S=^H4?tܿ?`g?t?`%c?@??i^w>I^^;^CmDAT read: 01:36:35.8258 LVL= 26256, 32465, 28658, 32755, AGC= 60, IDX= 501,-0.10,-1.142,-2.927,-1.302,-1.636, PHS= 0.596,-1.246, 0.289, RAW= 141.1, 4.3, CAL= 140.8, 4.9, ROT= 9.2, -4.9 }Ygot valid direction response: 01:36:35.8258 LVL= 26256, 32465, 28658, 32755, AGC= 60, IDX= 501,-0.10,-1.142,-2.927,-1.302,-1.636, PHS= 0.596,-1.246, 0.289, RAW= 141.1, 4.3, CAL= 140.8, 4.9, ROT= 9.2, -4.9 }T#Rx 66: Read range and direction messages.\direction in FSK: [0.983529,0.159297,0.085417]Fpublishing direction and range infoy)y?Lc?b$ݵ?Y3AfYByIԩ~o )Iu?i|>`=nF@ %=)l$>I%EW?W?? >)ɣIl$>i%checking for new query: numPingsReceived=66, elapsed TxPingTime=34.947746imMb@Mb@Mb@iiii i9mB`"?Mb?~jtx?Ym>ym@=m;m`@i m@)mI@iYm@bD VD8y2=%(=ٔR:Q->9"?Y"?=qEy!Dh;E> Q 55 \?Q 95 _r) \BYD>Q E];y]?Q I]Y@ GDI &2j%Zj\1@"5(@LQrj@JjBcU?Vy02?.?jGA jAi" 5?iU+jˇBjjjBrjkAzj L? addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503355 s, deltaX: -0.200001 m, approachRate: -0.397335 m/s, rangeRepo size: 4 E Added new target pos. range: 21.880224 m, bearing: 35.019270 deg, lat: 36.779564 deg, lon: -121.859772 deg, deltaT: 0.503355 s, deltaX: -0.199820 m, approachRate: -0.396975 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 21.88 m.2iI"iI*iI ProNav: ac range: 21.880224 m, nav range: 21.802359 m, bearing: 35.204980 deg, approach rate: 0.000000 m/s, LOS rate: 0.130614 deg/s, cmd heading: 27.353154 deg, new cmd heading: 27.484118 deg. iHeadingCmd: 0.479688 target range: 21.880224 and range: 21.90 m.h>hhhhggjgrgрBereZe:e`f5@*e,?=Bɢ=uG<)9 =B+?i9)EAAiEAiM>M=iIm>Iq }4Initializing EZServoServo.checking for new query: numPingsReceived=66, elapsed TxPingTime=35.113861 % 8Initializing DockingStepper.9 Eu  Eu Eq Eq "Eu :*Eu ą:VEq ZEq a @a @a @a @^A@p=AzAxAԉDDAT read: Rx Time:01:36:36.3255 TRx dataTimestamp_ set to:1764898596.767383 PDAT read: Bearing 192.7, 11.0 (Local) ~Local bearing/azimuth received: Bearing 192.7, 11.0 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 Z#Rx 67: Read range message, but no direction.yYAchecking for new query: numPingsReceived=67, elapsed TxPingTime=35.409775Au.AIyIO ?^Lr#,4ɍLAQ}>p>1ٱ=H`?ܿzF?@?`^? ꯼Vџ?@?s?i}>I^;YByIAbDVD8y<% '=ٔ  ;Q- >9 ?Y ?=qEy+De><E>!Q 5%5B5>B5CB5IB5BB5S =B1B1B5;B5\E%Yj?Q 9E5%o)%bBYIyMQ?Q IMY@%MDI%۽;i%a;%t5yUBɮUT-A]VEuB*** querying acoustic contact ***iqiq addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.506794 s, deltaX: -0.400000 m, approachRate: -0.789275 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 21.88 m.2i"i5:*i5: ProNav: ac range: 21.880224 m, nav range: 21.607365 m, bearing: 35.223126 deg, approach rate: -0.423533 m/s, LOS rate: 0.039769 deg/s, cmd heading: 27.484118 deg, new cmd heading: 27.520737 deg. i:HeadingCmd: 0.480327 target range: 21.880224 and range: 21.50 m.h{>hhhhggjgrgereZe:e5@*e^?Bɢt<) ,?i)pi pDi{>=C&{=I{>IyDAT read: 01:36:36.3255 LVL= 26688, 32369, 28594, 32755, AGC= 60, IDX= 499,-0.40,-2.057, 2.441,-2.207,-2.539, PHS= 0.584,-1.258, 0.287, RAW= 141.4, 4.6, CAL= 141.1, 5.2, ROT= 8.9, -5.2 Ygot valid direction response: 01:36:36.3255 LVL= 26688, 32369, 28594, 32755, AGC= 60, IDX= 499,-0.40,-2.057, 2.441,-2.207,-2.539, PHS= 0.584,-1.258, 0.287, RAW= 141.4, 4.6, CAL= 141.1, 5.2, ROT= 8.9, -5.2 Z#Rx 68: Read direction message, but no range.\direction in FSK: [0.983894,0.154074,0.090633]y|?7\u?0L3?@hq~o )I?i%>@l=7@ ޹=)>I޹Q޴?d=?7 Gb? >){>I>i޹ checking for new query: numPingsReceived=68, elapsed TxPingTime=35.627438^AuXh=ԩA ؟AI I O >EE  EE EE *EA "EE :*EE :VEE (N4ZEA BEE +E@E A=E@ EQ =)E>IEQ AAEmHQ?#$?Q^? E{>)E-8IE>iEQ AAchecking for new query: numPingsReceived=69, elapsed TxPingTime=35.963848iMb@Mb@Mb@ 9Cl?)\(?yGa=t<I@QA @)+@Y -=-%=bD5VD58yE$<%E!=ٔMQ-M>9M"?YM"?=MqEyM5DUEU>YQ 55]x?Q 95]|l)]iBY>Q E;y?Q IY@]TDI]X;i]T;]5yBɮ-AWEiAiE5QɍLAjE׫A"jE׫A:jEA?RjEz55@%@Z+?BjELS~?L#??*jE>2jEQ ZjEjo1@"Xo& (@yʖwm@JjEy_\??&+Ξ?Gn?jEN@A jEAiE$E?iEZ0jEBjAjEU+jEvBrjEAzjE/?] addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.501508 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 21.480310 m, bearing: 34.300618 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 1.008302 s, deltaX: -0.399914 m, approachRate: -0.396621 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 21.48 m.2iq"i}*iy ProNav: ac range: 21.480310 m, nav range: 21.327110 m, bearing: 34.956261 deg, approach rate: 0.000000 m/s, LOS rate: 0.039769 deg/s, cmd heading: 27.520736 deg, new cmd heading: 27.562429 deg. iHeadingCmd: 0.481055 target range: 21.480310 and range: 21.50 m.hL>hhhhggjgrgـBereZe:e*eq?Bɢ/G<) V,?i)!!i%[~Gi%L>-l{=-ev=I-L>I)checking for new query: numPingsReceived=69, elapsed TxPingTime=36.121815A ^A} |=A ?A ?bE(N4jE̷G4rE/E]  E] E] (EY "E] V:*E] &p:VE] c44ZEY am @au @au @au @AIIQiIaOu>QZr#,lɍLA6>6>6vٱ6=6HU?ܿ`?@5?`N? ?`y,? ?i6>I6^;6CY>ByBIbDJVDJ8yRP@%R~=ٔRjb;Q-R ?9TYT=VqEyVhhhhggjgrgereZe:e*e?]Fpublishing direction and range infoy15ӎD?8E]?5;?Y5A15Z5m5e 1)5:I5?i5)\5B`>5@55=5@ 5|٠=)55>I5|٠115RG ?نK?v9y? 5>)5I55>i5|٠11checking for new query: numPingsReceived=70, elapsed TxPingTime=36.457039颥Bɢ˕<) Q'?i)~顩ijIiZ>!y= ݂=IZ>IB>BBIBBBT =BBSDB;B.]EBCBCBŔCBR =BR =CB5Q ÂG/{ACC9/{AY?Ay  checking for new query: numPingsReceived=70, elapsed TxPingTime=36.625843^A r=ԩ EE EEEE-EA"EE:*EE|:VEEt4ZEABEAaM2EAaMJEEe;aU:EEe;aUA].AIaIqO>ybr#, PɍLA2pf>2m>2 ٱ2S7=2H z?@7$ݿDט?`?`D?@w@?T??i2pf>I2^;0YfByfI hhlna=Qi]Mb@Mb@Mb@YYYY Y9]"~?:v?Mb?Y]>y]T=]<]3@]A ]@)]@YY]@qqbDuVDu8y<%"=ٔX:Q->9 ?Y ?=qEyFD`;E>Q 55?Q 95mg)tBY>Q E:yI?Q IY@^DII:i];5yBɮ-AXEi1i5yqɍLAj5qA"j5qA:j5i?Rj5Uw4@̷a@oD?Bj5ӎD?8E]?5;?*j55>2j5|٠Zj5iTO1@&L'@+ @Jj5)'?V$"?mY?j5>A j5~Ai5wC?i5F-j5%Bj52=?j5+j5JBDDAT read: Rx Time:01:36:37.8253 TRx dataTimestamp_ set to:1764898598.277375=PDAT read: Bearing 172.4, 10.4 (Local) E~Local bearing/azimuth received: Bearing 172.4, 10.4 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.2 rj5Azj5? addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504126 s, deltaX: -0.299999 m, approachRate: -0.595088 m/s, rangeRepo size: 4 ] Added new target pos. range: 21.180458 m, bearing: 34.559440 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.504126 s, deltaX: -0.299852 m, approachRate: -0.594796 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 21.18 m.2ia"im*ii} ProNav: ac range: 21.180458 m, nav range: 21.009521 m, bearing: 34.833282 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.568477 deg, new cmd heading: 27.576674 deg. iyyDAT read: 01:36:37.8253 LVL= 23520, 29425, 27058, 32755, AGC= 59, IDX= 512,-0.22,-1.125,-3.075,-1.391,-2.225, PHS= 1.202,-0.805, 0.790, RAW= 138.8, -12.9, CAL= 138.8, -15.5, ROT= 11.2, 15.5 Ygot valid direction response: 01:36:37.8253 LVL= 23520, 29425, 27058, 32755, AGC= 59, IDX= 512,-0.22,-1.125,-3.075,-1.391,-2.225, PHS= 1.202,-0.805, 0.790, RAW= 138.8, -12.9, CAL= 138.8, -15.5, ROT= 11.2, 15.5 T#Rx 71: Read range and direction messages.^direction in FSK: [0.945278,0.187170,-0.267238]Fpublishing direction and range infoy 3??$0?֚nѿYHeadingCmd: 0.481304 target range: 21.180458 and range: 21.20 m.hrm>hhhhggjgrgBereZe:e@335@*e@D?[ri );I#ۙ?i{Nq=J? @f @ c)+H>Ic>q F=?,|?鯅̿ >)f>I+H>ic>checking for new query: numPingsReceived=71, elapsed TxPingTime=36.947742]Bɢ]f<)a ez(?ia)eS߼aaie7Limrm>mv=m=Iurm>Iqԩ^A xr= checking for new query: numPingsReceived=71, elapsed TxPingTime=37.130161 A I I) O5 >hr#,ɍLAYByIbDU#VDUͰ8yu0=%uL=ٔuQ-}>9yYy=}rEy}NDE>Q 55J?Q 95d)zBYyQ IY@dDI0;i;5yɮ-AԹiIiMɍLAjI"jI:jM}2?RjMB|4@x1@v*BjM 3??$0?֚nѿ*jM+H>2jMc>ZjMdɼ/@7׮}*@:p^JjMg'i?Kd/?Ec˿jMSA jM~AiMY*֤?iMjMqBjMX9?jIjM%BrjMmAzjM? addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504358 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.180458 m, bearing: 39.838897 deg, lat: 36.779564 deg, lon: -121.859773 deg, deltaT: 0.504358 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 21.18 m.2i "i *i% ProNav: ac range: 21.180458 m, nav range: 20.803240 m, bearing: 34.915048 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.576674 deg, new cmd heading: 27.582313 deg. i!%HeadingCmd: 0.481402 target range: 21.180458 and range: 21.20 m.h-Xz>h)h)h)h)g)g)jg1rg1e1re9Ze9:e9*e=`2?mBɢmK<)mڼ m,?iq)uۼyyi}.OiXz>qu=yք=IXz>IDD=E EE)E"E:*E:VEFA4ZEa@a@a@a@-DDAT read: Rx Time:01:36:38.3250 =TRx dataTimestamp_ set to:1764898598.782003]PDAT read: Bearing 193.1, 8.8 (Local) m~Local bearing/azimuth received: Bearing 193.1, 8.8 (Local) EDAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.3 ^AU_=A]xAzAYDAT read: 01:36:38.3250 LVL= 25200, 29745, 28258, 32755, AGC= 59, IDX= 509, 0.39,-1.097,-2.857,-1.177,-1.566, PHS= 0.570,-1.246, 0.345, RAW= 143.5, 3.9, CAL= 143.1, 4.3, ROT= 6.9, -4.3 Ygot valid direction response: 01:36:38.3250 LVL= 25200, 29745, 28258, 32755, AGC= 59, IDX= 509, 0.39,-1.097,-2.857,-1.177,-1.566, PHS= 0.570,-1.246, 0.345, RAW= 143.5, 3.9, CAL= 143.1, 4.3, ROT= 6.9, -4.3 T#Rx 72: Read range and direction messages. \direction in FSK: [0.989963,0.119799,0.074979] Fpublishing direction and range infoy15lƭ?0 ?]1?Y5A15pb51t5bn 1)1I5?i5|5ף>5J @5'g=5 @ 5`=)5Ϣ=I5`115.H?bkeHo?n? 5H>)5I5Ϣ=i5`11Mchecking for new query: numPingsReceived=72, elapsed TxPingTime=37.456100A ؟AI I O >B >B B IB BB B B B ;B #]EA or#,ɍLA26>26C>2ٱ2=2HMj?qbݿ` ?)`?2?%_ \?ɼ?@?i26>I2T^;0Y>ByBIbDJ8VDJ8yV%VX=ٔVe;Q-V>9Z"?YZ"?=ZrEyZUD^@<E^>Q 55~?Q 9 5b)BY y i?Q I Y@iDI:i:5yɮ.A9echecking for new query: numPingsReceived=72, elapsed TxPingTime=37.633831iaieV ɍLAjerA"jerA:jeʲ?Rjel'y4@u J@PY?Bjelƭ?0 ?]1?*jeϢ=2je`Zje%!F1@Sqi&@B.?@JjeFn?ݵhYhYhYhYgagajgargaeireiZei:em@34@*em&?颽BɢB<) u$?i)z׼iQip>{t=C=Ip>IPExceeded connect timeout, disconnecting.AE EE(E"ED:*E&p:VEc44ZEBE2U @U ԇ=U J @ U Q =)U V=IU Q Q Q U !l2? ?z? U $o>)U W IU V=iU Q Q Q 5 checking for new query: numPingsReceived=73, elapsed TxPingTime=37.955990ԙ I I O >\ur#,ɍLA2F>2F>2lٱ2&=2H `?݈ݿzܛ??G(?`@ ??@&?i2F>I2^;2CYNByNIIR<)RTTiMb@Mb@Mb@ 9zG?A`"?~jtx?Y >yY=;@ @)Y@bD^VD8y =% 6=ٔ 2:Q- >91Y1=5rEy5_D=Q;E=>AQ 5M5E?Q 9M5E_)EBYM>Q EM:yMc?qQ IUY@EoDIE;iE;E5yBɮ.AiiyɍLAj"j:j!?Rjغ#"~4@Wŭ@b;?BjV?skeG?_eS?ji5A jAiX?iU5jBj$E?jZ0jBrj£AzjA?- addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.506672 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 20.680828 m, bearing: 33.492301 deg, lat: 36.779565 deg, lon: -121.859775 deg, deltaT: 0.506672 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i9EDNOT Ignoring new targets: 20.68 m.2iA"iA*iA} ProNav: ac range: 20.680828 m, nav range: 20.470129 m, bearing: 34.300826 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.588910 deg, new cmd heading: 27.596163 deg. iyHeadingCmd: 0.481644 target range: 20.680828 and range: 20.70 m.h>hhhhggjgrgBereZe:e*e5?Bɢ<) '?i ) ZҼ  i mQTi->- t=-a=I->I1checking for new query: numPingsReceived=73, elapsed TxPingTime=38.140507ԡD@AzDAAE  E E )E "E :*E :VE FA4ZE a @a @a @a @^A} =I I O > E DDAT read: Rx Time:01:36:39.3249 |r#,ɍLATRx dataTimestamp_ set to:1764898599.790214&PDAT read: Bearing 194.2, 8.0 (Local) &~Local bearing/azimuth received: Bearing 194.2, 8.0 (Local) .DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 RDAT read: 01:36:39.3249 LVL= 24272, 28785, 27378, 32755, AGC= 59, IDX= 507,-0.10,-2.622, 1.916,-2.673,-3.063, PHS= 0.543,-1.259, 0.346, RAW= 144.3, 4.4, CAL= 143.8, 4.8, ROT= 6.2, -4.8 VYgot valid direction response: 01:36:39.3249 LVL= 24272, 28785, 27378, 32755, AGC= 59, IDX= 507,-0.10,-2.622, 1.916,-2.673,-3.063, PHS= 0.543,-1.259, 0.346, RAW= 144.3, 4.4, CAL= 143.8, 4.8, ROT= 6.2, -4.8 VT#Rx 74: Read range and direction messages.Z\direction in FSK: [0.990664,0.107621,0.083678]ZFpublishing direction and range infoyy}󱅳?z?U]k?Y}3Ay}^}qp}j y)};I}  ?i}&}&>}E/!@}nF=}K @ }=)}k=I}yy}Si?U[H=?? }>)}.I}k=i}yychecking for new query: numPingsReceived=74, elapsed TxPingTime=38.432095w?>v>vٱx=HW? ݿ?-? V? ۙ?`??iw?>I_;CYBy5IbDRVD8B<A<B>BCBBBBBB;B!]EyH%2=ٔz:Q->9Y=rEyhD;E>Q 55?Q 95\)BYy?Q IY@uDI2:i:5yBɮZ.Aiyi}ޒɍLAj} A"j} A:j}?Rj} ?04@T@x|I?Bj}󱅳?z?U]k?*j}k=2j}Zj}=0@ .&@ݫ @Jj}ثim?֤%j?vX|?j}v1A j}OAi}ES?i}5#9j}Bj}h G?j}U5jyrj}rAzj}P ? addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.501539 s, deltaX: -0.300001 m, approachRate: -0.598161 m/s, rangeRepo size: 4  Added new target pos. range: 20.381033 m, bearing: 33.255320 deg, lat: 36.779565 deg, lon: -121.859777 deg, deltaT: 0.501539 s, deltaX: -0.299795 m, approachRate: -0.597750 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.38 m.2i"i*i ProNav: ac range: 20.381033 m, nav range: 20.180840 m, bearing: 33.805446 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.596164 deg, new cmd heading: 27.603674 deg. iHeadingCmd: 0.481775 target range: 20.381033 and range: 20.40 m.h6>h!h!h!h!g!g!jg)rg)e)re)Ze):e5`ff4@*e50?额BɢcĄ<)  ?i)wμ顡iVi6>t=d=I6>I}checking for new query: numPingsReceived=74, elapsed TxPingTime=38.641850A  v nManaging dock network, ignoring radio surface power offE  E E *E "E D:*E :VE (N4ZE BE a 2E a JE ;a :E ;a q ^A=A>A>UDDAT read: Rx Time:01:36:39.8247 eTRx dataTimestamp_ set to:1764898600.294765}PDAT read: Bearing 194.5, 7.6 (Local) }~Local bearing/azimuth received: Bearing 194.5, 7.6 (Local) ԡIDAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.3 DAT read: 01:36:39.8247 LVL= 20976, 27281, 25058, 32755, AGC= 58, IDX= 506,-0.35,-2.914, 1.638,-2.948, 2.937, PHS= 0.534,-1.254, 0.354, RAW= 144.8, 4.3, CAL= 144.3, 4.7, ROT= 5.7, -4.7 I)O} ?r#,S>ʍLA^Ygot valid direction response: 01:36:39.8247 LVL= 20976, 27281, 25058, 32755, AGC= 58, IDX= 506,-0.35,-2.914, 1.638,-2.948, 2.937, PHS= 0.534,-1.254, 0.354, RAW= 144.8, 4.3, CAL= 144.3, 4.7, ROT= 5.7, -4.7 bT#Rx 75: Read range and direction messages.f\direction in FSK: [0.991710,0.098986,0.081939]fFpublishing direction and range infoyaeqoU?\¶!W??Ye̠AaeQejea a)e:Ie9?iee}?>e?!@e`=eE/!@ e=)e%=Ieaae@M?iݸ?c{1+_? e5>)eOIe%=ieaaEchecking for new query: numPingsReceived=75, elapsed TxPingTime=38.978470e>eS>e ٱea=eHlL? `ݿS? ??/b?C? ?ie>Ie^;eCYByIQiMb@Mb@Mb@ 9"~?~jt?Mb`?Y>yD=;3@QA v@)Y@bDUVDU8yeb=%e=ٔX9Q->9Y=rEysD;E>Q 55Xџ?Q 95Y)BYc>Q E:yh?Q IY@|DI;i.;5y—Bɮ(.AYEiaienʍLAjeA"jeA:je"?Rje^qE23@,?oNS?BjeqoU?\¶!W??*je%=2jeZjeqzː0@XԬ%@%ӘjN@Jje^?wE?Vþ?jef-A je܅Aie_S?ie<jeцBjeES?je6jarjewAzje? addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504551 s, deltaX: -0.299999 m, approachRate: -0.594587 m/s, rangeRepo size: 4  Added new target pos. range: 20.081312 m, bearing: 32.930652 deg, lat: 36.779567 deg, lon: -121.859778 deg, deltaT: 0.504551 s, deltaX: -0.299721 m, approachRate: -0.594035 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.08 m.2i"i*i ProNav: ac range: 20.081312 m, nav range: 20.058529 m, bearing: 33.474279 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.603673 deg, new cmd heading: 27.612481 deg. iHeadingCmd: 0.481929 target range: 20.081312 and range: 20.10 m.h\>h!h!h!h)g)g)jg)rg-Be1re1Ze1:e54@*e=$?yechecking for new query: numPingsReceived=75, elapsed TxPingTime=39.145859颅BɢĈh<) 7'?i)Rȼ顉iZi\> u= i=I\>IԩE  E E +E "E l;*E :VE [4ZE a @a @a @a @ qڼ % &Changing to mode: 2%  y @  @ @ /@ %%=%=EDDAT read: Rx Time:01:36:40.3245 ETRx dataTimestamp_ set to:1764898600.798577UPDAT read: Bearing 194.4, 6.9 (Local) U~Local bearing/azimuth received: Bearing 194.4, 6.9 (Local) eDAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.3  DAT read: 01:36:40.3245 LVL= 21648, 28145, 25954, 32755, AGC= 58, IDX= 503, 0.27,-2.266, 2.286,-2.276,-2.700, PHS= 0.536,-1.252, 0.380, RAW= 145.5, 4.0, CAL= 145.0, 4.3, ROT= 5.0, -4.3 Ygot valid direction response: 01:36:40.3245 LVL= 21648, 28145, 25954, 32755, AGC= 58, IDX= 503, 0.27,-2.266, 2.286,-2.276,-2.700, PHS= 0.536,-1.252, 0.380, RAW= 145.5, 4.0, CAL= 145.0, 4.3, ROT= 5.0, -4.3 T#Rx 76: Read range and direction messages.\direction in FSK: [0.993391,0.086910,0.074979]Fpublishing direction and range infoyAE?pٱ??]1?YEfAAETEmEbe A)AIEL7 ?iEAE\>Ej"@E5=Ep!@ E`=)E¸=IE`AAEsu_?~..x?^ͪί? E'>)EVIE¸=iE`AAchecking for new query: numPingsReceived=76, elapsed TxPingTime=39.448292^A=I9IQO]?`r#,9ʍLAB2>B0B2IB2BB0B0B0B2;B2<]ERȻ>RP>RjۼٱRH=RH26? #޿@X?`B(?`?@}l?2̽?[?iRȻ>IR ^;RClYvByvIbDVD8y-LD%-%=ٔUk:Q-U>9YYY=]rEy]}D]@<E]>aQ 5m5eߟ?Q 9m5eV)eBYy?Q IY@eDIe;ieB;e5yɮ.Aiiim3ʍLAjm@A"jm@A:jm,?Rjm3@T?=&?Bjm?pٱ??]1?*jm¸=2jm`ZjmܮL0@T"/%@ޞ|t@JjmB|? ұan"?K+su?jmy)A jm}Aimk?S?im-?jmWBjijm5#9jirjmdAzjmfw?U addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503812 s, deltaX: -0.300001 m, approachRate: -0.595463 m/s, rangeRepo size: 4 e Added new target pos. range: 19.781487 m, bearing: 32.601463 deg, lat: 36.779567 deg, lon: -121.859779 deg, deltaT: 0.503812 s, deltaX: -0.299826 m, approachRate: -0.595114 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 19.78 m.2ii"i*i ProNav: ac range: 19.781487 m, nav range: 19.799006 m, bearing: 33.228509 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.612481 deg, new cmd heading: 27.620531 deg. iHeadingCmd: 0.482069 target range: 19.781487 and range: 19.80 m.h>hhhhggjgrgereZe:e3@*e`$?颅BɢW6<) # ?i)Cü顉i0\i>4w=:=I>Imchecking for new query: numPingsReceived=76, elapsed TxPingTime=39.6499481@ @@ 35E  E E &E "E :*E ]t:VE 4ZE BE $5- 4"@- `=- :M"@ - =)- =I- ) ) - t??߼z!D? - '>)- fFI- =i- ) )  checking for new query: numPingsReceived=77, elapsed TxPingTime=39.919437ԉ ^A <=AIIO?Zzr#,+[ʍLA2E>2>2xEռٱ2==2H*?@M޿?S? ?駚?k? ?i2E>I2 ^;2CY:By:IXimMb@Mb@Mb@iiii i9mʡE?Mb?Mb`?Ym>ym@=im@mA m@)iiYibDVD8y;S%=ٔm:Q->9Y=rEyD;E>Q 55?Q 95S)BY>Q E:y?Q IY@DI ;i ;5yɮ.Aiih#SʍLAj"j:js?RjKR 3@Lj??Bj'K ?$vz??*j=2jZj7ZM0@:,U%@ιa,z@JjTNn?,z ?]?j(A jAi4e?i~=jBj_S?j<jBrjAzjS?u addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.500459 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.781487 m, bearing: 32.425102 deg, lat: 36.779567 deg, lon: -121.859780 deg, deltaT: 0.500459 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.78 m.2i"i*i ProNav: ac range: 19.781487 m, nav range: 19.497604 m, bearing: 32.894473 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.620530 deg, new cmd heading: 27.629063 deg. iHeadingCmd: 0.482218 target range: 19.781487 and range: 19.80 m.hK>hhhhggjgrgBereZe:e*e?颅Bɢn<) ?i)罼顉i_iK>fz==IK>IiIchecking for new query: numPingsReceived=77, elapsed TxPingTime=40.154121y@y @y@P5@EM EMEM(EI"EMs:*EM|:VEMc44ZEIa]@a]@a]@a]@^A =9  DDAT read: Rx Time:01:36:41.3243  TRx dataTimestamp_ set to:1764898601.802303 PDAT read: Bearing 195.9, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 195.9, 6.3 (Local)  DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4  DAT read: 01:36:41.3243 LVL= 24448, 31265, 31074, 32755, AGC= 59, IDX= 501,-0.20, 2.769, 1.049, 2.781, 2.371, PHS= 0.501,-1.276, 0.367, RAW= 146.1, 4.8, CAL= 145.6, 5.2, ROT= 4.4, -5.2  Ygot valid direction response: 01:36:41.3243 LVL= 24448, 31265, 31074, 32755, AGC= 59, IDX= 501,-0.20, 2.769, 1.049, 2.781, 2.371, PHS= 0.501,-1.276, 0.367, RAW= 146.1, 4.8, CAL= 145.6, 5.2, ROT= 4.4, -5.2  T#Rx 78: Read range and direction messages. \direction in FSK: [0.992949,0.076403,0.090633] Fpublishing direction and range infoy  N=?p*?0L3?Y A _ !z by ) I A?i S m> 1#@ = "@ ޹=) nF=I ޹ Zl?q(?!ւFx? c>) I nF=i ޹  checking for new query: numPingsReceived=78, elapsed TxPingTime=40.424206AI IY Ii Ou >ߴr#,KuʍLA2O̎>2Na>2ͼٱ2'=2HF?Iu޿?@~?Q?k?xJ??i2O̎>I2^;2CxYUByUIbDeVDe8yG<%H=ٔ;Q->9Y=rEyD;E>Q 55?Q 95gP)BYy?Q IY@DI:i:5y˗Bɮ.A ZEiiXsʍLAjڛA"jڛA:j?Rjw+X3@F%?+<@?BjN=?p*?0L3?*jnF=2j޹Zj6ӑMZ0@Ӽ$@ Q@JjqC}B?_߉GS? ]?j$A j҂Ai5"^?i8AjˆBjj~=jˆBrjQAzjK?} addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503267 s, deltaX: -0.299999 m, approachRate: -0.596104 m/s, rangeRepo size: 4 AAAA@AB>BBIB BBU =BBRDB;BX]E Added new target pos. range: 19.481768 m, bearing: 32.230499 deg, lat: 36.779567 deg, lon: -121.859781 deg, deltaT: 0.503267 s, deltaX: -0.299719 m, approachRate: -0.595546 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.48 m.2i"i*iM ProNav: ac range: 19.481768 m, nav range: 19.289946 m, bearing: 32.742086 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.629063 deg, new cmd heading: 27.635985 deg. iIUHeadingCmd: 0.482339 target range: 19.481768 and range: 19.50 m.hU!>hQhQhQhQgQgYjgYrgYeYreaZe:e3@*e U?BɢW<) !?i)ibi!>}==I!>I)y@y @y@}0@ychecking for new query: numPingsReceived=78, elapsed TxPingTime=40.657974I^A =ԙ EU  EU EU 'EQ "EU ;*EU g:VEU '4ZEQ BEU @̣r#,ʍLA|_>>sżٱ;=He?@9޿@yj?k?`H?gݭ? j??i_>IP^;CYByDDAT read: Rx Time:01:36:41.8242 TRx dataTimestamp_ set to:1764898602.305198PDAT read: Bearing 196.2, 5.8 (Local) ~Local bearing/azimuth received: Bearing 196.2, 5.8 (Local) DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 DAT read: 01:36:41.8242 LVL= 24992, 31649, 29970, 32755, AGC= 59, IDX= 500, 0.45,-1.202,-2.913,-1.172,-1.593, PHS= 0.493,-1.276, 0.377, RAW= 146.6, 4.8, CAL= 146.1, 5.1, ROT= 3.9, -5.1 Ygot valid direction response: 01:36:41.8242 LVL= 24992, 31649, 29970, 32755, AGC= 59, IDX= 500, 0.45,-1.202,-2.913,-1.172,-1.593, PHS= 0.493,-1.276, 0.377, RAW= 146.6, 4.8, CAL= 146.1, 5.1, ROT= 3.9, -5.1  T#Rx 79: Read range and direction messages.\direction in FSK: [0.993735,0.067746,0.088894]Fpublishing direction and range infoyQ?819W??Y3Aa{u )Ij>i%>#@1#@ K=)'g=IK9ջЀ?QR?.z]? B>)I'g=iK5checking for new query: numPingsReceived=79, elapsed TxPingTime=40.925694iMb@Mb@Mb@ 97A`?ˡE?y&1|?Y>y'=`;@QA @)@Yz@bD VD yd:%$=ٔ=;Q-=>9E ?YE ?=ErEyEDM;EM>QQ 5U5U ?Q 9]5UJM)UBY}>Q E}:y}K?Q IY@UDIU;iU;Ux5yBɮ;.APEii]ʍLAj A"j A:j?Rj*g)ѥB3@<V4?QbJ?BjQ?819W??*j'g=2jKZj rU0@[mX$@䶁@Jj ?j??f*Ǿ?j"A jAi!k?iAjBj5"^?j-?jBrj-Azjz?U addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.502895 s, deltaX: -0.100000 m, approachRate: -0.198849 m/s, rangeRepo size: 4  Added new target pos. range: 19.381779 m, bearing: 31.917330 deg, lat: 36.779568 deg, lon: -121.859782 deg, deltaT: 0.502895 s, deltaX: -0.099989 m, approachRate: -0.198827 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.38 m.2i"i*i ProNav: ac range: 19.381779 m, nav range: 19.147192 m, bearing: 32.336179 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.635985 deg, new cmd heading: 27.644229 deg. iHeadingCmd: 0.482483 target range: 19.381779 and range: 19.40 m.h>hhhhggjgrgBereZe:e`ff3@*eW?eBɢe<)i mN ?ii)m_顑iGdi>6=j=I>II@ @@/@m checking for new query: numPingsReceived=79, elapsed TxPingTime=41.162357ԁ ^A ܪ=ԩ bEuFA4jEu͏B4rEuI"0E  E E *E "E &:*E :VE (N4ZE a@a@a@a@IIO>/r#,ʍLA >P?8κٱ =H 1?@U޿"???O`BY?`3B? n?i>IX^;CYByI  ==bDVD8y-%-B=ٔ5J;Q-5>91Y1==rEy=D=;E=>UDDAT read: Rx Time:01:36:42.3240 ]TRx dataTimestamp_ set to:1764898602.809212ePDAT read: Bearing 196.3, 5.2 (Local) e~Local bearing/azimuth received: Bearing 196.3, 5.2 (Local) uDAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.3 DAT read: 01:36:42.3240 LVL= 23536, 29681, 27634, 32755, AGC= 58, IDX= 498, 0.19,-2.547, 2.034,-2.499,-2.937, PHS= 0.491,-1.267, 0.394, RAW= 147.2, 4.5, CAL= 146.6, 4.8, ROT= 3.4, -4.8 Ygot valid direction response: 01:36:42.3240 LVL= 23536, 29681, 27634, 32755, AGC= 58, IDX= 498, 0.19,-2.547, 2.034,-2.499,-2.937, PHS= 0.491,-1.267, 0.394, RAW= 147.2, 4.5, CAL= 146.6, 4.8, ROT= 3.4, -4.8 T#Rx 80: Read range and direction messages.\direction in FSK: [0.994739,0.059098,0.083678]Fpublishing direction and range infoyQU2Ζ?vJ$B?U]k?YU̘AQU[UsUk Q)U:IUZd>iU-U^>Ul$@U|٠=U#@ U=)Us=IUQQU Zb`?s)&?[hHW#?AQ 55E?Q 9 5EJ)EBY y ?Q I Y@EDIEO)UfEIUs=iUQQ-checking for new query: numPingsReceived=80, elapsed TxPingTime=41.441788iQiU!ʳʍLAjUA"jUA:jU\ ?RjUˇN2@h" ?HhE?BjU2Ζ?vJ$B?U]k?*jUs=2jUZjUڦu$0@;C#@ (5@JjU(B?/ǭ?bmFܼ?jU"A jU#AiUZg?iUEjU=BjU4e?jU8AjUBrjU!AzjU:? addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504014 s, deltaX: -0.299999 m, approachRate: -0.595220 m/s, rangeRepo size: 4 = Added new target pos. range: 19.082062 m, bearing: 31.638465 deg, lat: 36.779569 deg, lon: -121.859782 deg, deltaT: 0.504014 s, deltaX: -0.299717 m, approachRate: -0.594660 m/s, posRepo size: 4 :i9EDNOT Ignoring new targets: 19.08 m.2iA"iA*iAU ProNav: ac range: 19.082062 m, nav range: 19.016418 m, bearing: 32.056262 deg, approach rate: 0.000000 m/s, LOS rate: 0.008206 deg/s, cmd heading: 27.644229 deg, new cmd heading: 27.651483 deg. iQ}HeadingCmd: 0.482609 target range: 19.082062 and range: 19.10 m.h>hhhhggjgrgereZe:e3@*e!Dz?Bɢ<)! %H?i!)%!!i-#gi->-↑=5^=I5>1IqB>BBIBBBBBB&;B^]EB}CB}CB}œCB}T =B}T =C}a4@ @@@G~9YMyAa checking for new query: numPingsReceived=80, elapsed TxPingTime=41.665886^A 벫=ԑ I I O- >,r#,wʍLA E> ? ٱ = H`? ޿ţ??? ӕ?'? ?i E>I ^; CE] E]E]'EY"E]D:*E]i:VE]'4ZEYBE]29Y=rEyD;E>Q 55X%?Q 95G)BY!y%?Q I%Y@DI0;im;a5y)ɮ-.A1MB*** querying acoustic contact ***iIiI:iQ]DNOT Ignoring new targets: 19.08 m.2iY"ieh*iehu ProNav: ac range: 19.082062 m, nav range: 18.811148 m, bearing: 32.030149 deg, approach rate: -0.456878 m/s, LOS rate: -0.058754 deg/s, cmd heading: 27.651483 deg, new cmd heading: 27.598687 deg. iu ׺}HeadingCmd: 0.481688 target range: 19.082062 and range: 19.10 m.h}Ο>hyhyhyhytDAT read: o 50 : 19.1 m (trip time 12.7 ms) speed 0.3 unknown deviceResponse_: o 50 : 19.1 m (trip time 12.7 ms) speed 0.3 q (Communications Faulta  a  a  a  a  DAT read: 01:36:42.8240 LVL= 26784, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.02,-2.162, 2.416,-2.104,-2.521, PHS= 0.461,-1.301, 0.373, RAW= 147.5, 5.5, CAL= 146.9, 5.9, ROT= 3.1, -5.9 ԹYgot valid direction response: 01:36:42.8240 LVL= 26784, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.02,-2.162, 2.416,-2.104,-2.521, PHS= 0.461,-1.301, 0.373, RAW= 147.5, 5.5, CAL= 146.9, 5.9, ROT= 3.1, -5.9 Z#Rx 81: Read direction message, but no range.\direction in FSK: [0.993247,0.053792,0.102793]i Ln?:?zBP?h );I1>i+>S$@ =$@ B=)k]=IBҽ^C?y@L `?I5cw? b>)ĽIk]=iBҽchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.950718ggjgrgereZe:e*eRABɢڦ<) ?i):TiiiΟ>*==IΟ>I>i>@ @@O5@ ^A =IQ &m LCommunications Fault in component: DATIi O >TEr#,vʍLAB鰔>B"?BٱBj=BH?K߿bL?` %? ?@~???iB鰔>IB^;BCYJByJI PR<bDVVDV8y^-<\%bk=ٔb>v;Q-b?9dYd=frEyfDf;Ej?hQ 5n5j>/?Q 9r5jE)jBYpyru?Q IrY@jDIj~:ij:jX5ytɮz.Ax:iDNOT Ignoring new targets: 19.08 m.2i"i%鄺*i%鄺- ProNav: ac range: 19.082062 m, nav range: 18.668596 m, bearing: 32.010746 deg, approach rate: -0.423610 m/s, LOS rate: -0.058100 deg/s, cmd heading: 27.598687 deg, new cmd heading: 27.559584 deg. i5Ժ5HeadingCmd: 0.481005 target range: 19.082062 and range: 19.10 m.h5ZF>h9hhhggjgrgE Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Transitioning to midcourse guidance. Received last range of 19.100000 m 29955735.466667 min ago.E1Fere1Zeq:ey*eyBɢ<E5 E5E1E1"E5 ;*E5:VE1ZE1aE@aE@aE@aE@)A E?iA)MIIiMkiZF>==IZF>IUPowering downi]I]ee@ @@@5@B <A 4=B >B CB IB BB B B B ;B N]E^A õ=A zA yAI IQ Ia Ou >,r#,^ˍLA;ɰ;6F>6$?64ٱ6V=6H@? 2߿ݤ?`H?ܰ?VU&?н??i6F>I6^;6CYBByBIbDJVDJ8yV%VK=ٔVfV;Q-V>9XYX=ZrEyZDZU;E^>`Q 5b5b:?Q 9f5bB)bBYdyf?Q IfY@bDIbz:ib:b5yjϗBɮn.AnRE:i|DNOT Ignoring new targets: 19.08 m.2i"i썺*i썺 ProNav: ac range: 19.082062 m, nav range: 18.500105 m, bearing: 31.986126 deg, approach rate: -0.420743 m/s, LOS rate: -0.062040 deg/s, cmd heading: 27.559584 deg, new cmd heading: 27.509895 deg. i%HeadingCmd: 0.480138 target range: 19.082062 and range: 19.10 m.h%>h!h!h!h!g)g)jg)rg)Rg-@1F55Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE5 5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangee1re1Ze9:e9*e9mBɢmW{<)i m?ii)m9mqqiuLmiu>}Q=}i{=I}>I1@1 @1@5x3@9IE] E]E],EY"E]:*E]ą:VE]g4ZEYBE]+ԡ Wr#,ˍLA2\>2.H?2,ٱ2=2H+?UM߿@O?ie? ?ʻ`?@p?`p?i2\>I2^;2CY:By:I5only read -1 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, a5@a= a=@a= a=@a= a=@a= bDEVDE8yU%<%U@=ٔ]t;Q-]>9YYY=erEyeDe;Ee>iQ 5u5mRG?Q 9u5mJ@)mBQ Au+:yYyQ E}:y?Q IY@mDIm`;im>m5yɮ.AqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1K Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqKNo longer in Terminal. Resuming normal ranging with 1.000000 count pings.qKKDAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF Uninitialize.qGGGZTransitioning guidance mode to: UNINITIALIZED i?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAInitialize.A Initialize.q@ffHBrfNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630ere Ze :e *e 5Bɢ=R)=m[^ =@9i9)=lAAiE}mEII5ԩ@ @@@5@^A`=IQ &e NClearing failed state for component DATq e Ia Ou >E  E E 'E "E V:*E i:VE '4ZE a @a @a @a @ ,r#,r4ˍLA2>2t?2ٱ2@=2H{?k߿t? ? ? 5@ ?`ʼ??i2>I2^;2CYRByRIXXbDZVDZ°8yb%fT=ٔf;Q-f>9dYh=jrEyjDj;Ej>lQ 5r5nR?Q 9r5n=)nBQ Av :YtQ Ev:yv2?Q IvY@nDIn:inSP?n5yzחBɮz/A~SEj ?KKff!@fgffrfereZe:e*eɢ) 0׼i)   i O)m=ɧH> ;i>)> (kpHeading = 0.400000=I&@ %&@I1B]>BYB]IB]BBYBYBYB];B]0]E@ @@?5@@@^A=AA?AI!I1O=r>1Y lr#,5^NˍLAE* E*E*)E("E*:*E*z:VE*FA4ZE(BE*#52E*$5JE*;aB:E*;aF7>?cLٱ:=H?@߿ܚ?]??0R?W??i7>I^;CYByI==)aeae aeae aeae amam imMb@Mb@Mb@iiii i9m|?5^?{Gz?~jtx?Ym>ym#=m;m@mA m`@)m+@iYibDVD8y;%0=ٔ;Q->9Y=rEyD <E>Q 55_?Q 95:)BQ AT:Y>Q E;y?Q IY@DI:i: 5yɮ~/A1K Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKB*** querying acoustic contact ***iifffgffrfereZe:e*e颥Bɢ氼) i)0Ĥilw=ɧw>_Ա 4r#,)hˍLAYrByrIbD~VD~8y 4<%g=ٔQ->9"?Y%"?=%rEy%D%E->IQ 5e5Mi?Q 9e5M8)MBYiyiQ ImY@MDIM;iM i;MA5yyɮ}Q/AfffgffrfereZe:e*e颉ɢ) `8i)eդԑ顑is5l<=ɧ>駥xBY B] IB] BB] V =BY BY B] ߡ;B] ]E^A 9I I O > {r#,6ˍLA2>2>?21ٱ2f=2H@?2߿?`^? !? _4?@?޻??i2>I2^;2CY>By>IbDFVDF8yNd1=%NR=ٔn;Q-n>9pYp=rrEyrDrT~;Ev>tQ 5z5v u?Q 9z5v;6)vBY|y{?Q IY@vDIvb;iv ;v5y Bɮ O/A fQfQfQgQfYfYrfYeYreaZea:ea*ea颱ɢ ) ;i)Pˤik@z=ɧ ?=i/?IQ(@ Q(@I )@) @)@-1@)!Eu EuEu)Eq"Eu&:*Euz:VEuFA4ZEqBEuh;!r#, ߛˍLA2L>2?2Ýٱ2,/=2H?߿s?Q?ɋ?N@?u׻? ?i2L>I2C^;0Y>By>IIB<)Bye+=et9Y=rEyD;E>Q 55݀?Q 953)BY>Q E;yh?Q IY@DI:i:j5yɮv/AfffgffrfereZe:e*eBɢ~)  i)% Ϥ!!i%,k-ϋ=ɧ-H?-| =i-E?)->l I5(@ 5(@I1Q]mYԁ@ @@0@Eu  Eu Eq Eq "Eu :*Eu M:VEq ZEq a} @a} @a} @a} @ԩ % Powering up% "Initializing DAT.^A= &tA= ?A= ?I I O >Wr#,uˍLA 2fG>25?2)ٱ2=2H?@?z?v?@=(`%ŀ?. ??i2fG>I2 _;2CYNByRIbDZVDZ8yb"%bQ=ٔbx<;Q-f>9dYd=frEyfDj5<En>lQ 5r5n?Q 9v5n`1)nBYtyvz?Q IvY@nDInI:in:n5yqɮu/AqfffgffrfereZe:e*eBɢK) @i)E뤼ixj 3=ɧm?]W>=ib[?cIP)@ P)@IB>BBIBBBBBQDBԡ;B]EAq@ @@/@^AjbIIIaOm>ԡ E5  E5 E1 E1 "E5 ;Tr#,cˍLA*Emą:VEiZEiBEmA ?ٱ\M>H`w?@"O@(N?`j?;?ʼ@Ey|?`S>??i@>I3^;CYByIiEMb@Mb@Mb@AAAA A9EB`"?Mb?Mb?YE>yE@=E9qYq=urEyuD}<E}>yQ 55}?Q 95}j.)}BYH>Q E;y&?Q IY@}DI}e ;i} ;}5yۗBɮN/AKEB*** querying acoustic contact ***iifffgffrfereZe:e*eԩ1ɢ5-)1 5,:i1)=餼99i=ie=ɧe?eb=ieu?imٽIm)@ m)@Ii@ @@0@^AII)O=r> r#,:ˍLA^٧>^ ?^Mܻٱ^X >^HY?E| V?@+??0ܑ{? 8$??i^٧>I^$^;^CYjBlynI ttz=zp=bDǿVDx8y<%b=ٔ% :Q-%>9!Y!=-rEy-D-}<E->1Q 5=55١?Q 9=55 ,)5BYAyEp(?Q IEY@5DI5:i5;55yIɮM%/AIfififqgqfqfqrfqeyreyZey:ey*ey颭BɢdQ) @BCBIBBBBBBѡ;B\EB]CB]CBYB]V =B]U =C]ȫ4O> = {GU {Ai i l9 {AY hAGs#,Z̍LAb>bf ?bpܻٱb>bH7?@ k??`?Gk{?`-??ib>IbV^;`YrByvIbD VD 8y%=/%%J=ٔ-7Q-->91Y1=5rEAy= DME<EU>aQ 5m5eᬠ?Q 9m5eY))eBYiyml*?Q ImY@eDIe :ie\:e5yyɮ}7/AyfffgffrfereZe:e*eBɢˡ)  ԙ "s#,=̍LABX>B?BLNٱBl!>BH;?y?? a?``I~?s?6?iBX>IB^;BCYJByNIiEMb@Mb@Mb@AAAA A9EE?A`"?Mb?YE>yEY=E9yYy=rEyD<E>Q 55G?Q 95ԙ&)BY>Q E;y0?Q IY@DI-/;i-;$ 5yBɮ/AfffgffrfereZe:e*eBɢ 񂟼)  E EE'E"E:*EAr:VE'4ZEa @a @a @a @ Q s#,7̍LAɰ:>:E?:'yٱ:{>:H?$?@N??π??@?i:>I:^;:CYBByBIbDNVDN8yRbM=%VX=ٔV Q-V>9XYX=ZrEyZD^<E^>`Q 5b5b?Q 9f5b'$)bBYdyf3?Q IfY@bDIb%:ib:bt 5ylɮn1/Alf|f|f|g|ffrfereZe:e *e 5Bɢ5ϒ)9 =PBqBqBqBqBqBqBu̡;Bu\E@ @@D1@@@^ASA>A>AIIOd>Ay E  E E E "E D:*E n:VE ZE BE 2y=D<@ )+@Y(@bDVD8y_%<ٔQ->9Y=rEy+DE>Q 55xѠ?Q 95)BY>Q E ;y 8?Q I Y@DI;ij; 5yBɮ/ALEԩB*** querying acoustic contact ***iifffgffrf e re Ze :e *e 额 Bɢ ) 02D?2a8ٱ2L0>2H?@v1??;?@d¿ ?`U??i2!>I2&_;2C8Y>By>IbDFҿVDF8yNU%Nl=ٔR&Q-R?9PYP=VrEyV2DV=EV?XQ 5^5ZGڠ?Q 9^5Z )ZBY`yby>?Q IbY@ZDIZ:iZ:Z5ydɮf/Ahfxfxfxgxfxfxrf|e|re|Ze|:e|*e-Bɢ-:ט)1 5  $s#,̍LAE* E*E*'E("E*&:*E*:VE*'4ZE(BE*h;2E*i;JE*P;aB:E*Q;aFl%G>%?%kkVٱ%D;>%H3>?:?|N?@?Ŀ@;͊? 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IB1BBBBPDB;B[EIIO> s#,u;K΍LA26?2Mm?2ONٱ2ۅp>2H ?'?E?@S?@ƿ+ǩ?`{??i26?I2v^;2CY>By>IbD^޿VD^8yfA%fH=ٔjQ-j>9hYh=jsEyjDn`B=En>pQ 5v5rg?Q 9v5r)rBYxyzJ?Q IzZ@r_DIr:ir:r V5yɮ%Af!f!f!g)f)f)rf)e)re)Ze1:e1*e1]ƁBɢe@)a e>ia)eaaiim{m0=ɧu@uu>iu~<@qqIu-8@ u-8@Iy@ @@@5@AzAwAE EE,E"E:*E]t:VEg4ZEBE#5) ژs#,F$e΍LAB:?B4r?B{OPٱBmp>BH?-?-?@*? ƿ?_??iB:?IB_;@YNByN I PPiMMb@Mb@Mb@IIII I9MS?@5^I ?~jt?YM>yMb>M9yY=sEyD8=E>Q 55l?Q 95)BY>Q E:y?Q IZ@eDI~ ;i;Y5yɮ%AfffgffrfereZe:e*e ÁBɢ )  *>i)W8iv}=ɧ߭@A>i*>@!!I%W8@ %W8@I!1@ @@?5@I)I9OE>QbE1jE1rE5b/E EE)E"E:*E҆:VEFA4ZEa@a@a@a@ԉ 9 A s#, ~΍LA02GBDBDBF( IBF6BBFX =BDBDBFi;BF|[EBECBECBABABEW =CERm5R{A\rDY9v{AYvUAyzi?YeA??tw?Qٱ>So>H@W$?@9?/O? [?ƿ9Y=sEyD 16=E >Q 55q?Q 95M)BYyY?Q I%Z@kDI\:i:q]5y-ȖBɮ)-4EUB*** querying acoustic contact ***iQiQfqfqfqgqfyfyrfyereZe:e*eMBɢUF(޻)Q U,>iQ)Uu QQi]!](=ɧe@e>ieN)>@aԉaI{9@ {9@I9@9 @9@=@2@9IIOD>Ա E  E E E "E :*E |:VE ZE BE .H@\?@'? Ɵ??ſ5)?@^P?`I?iID?Ip _;CY-By] Ii=Mb@Mb@Mb@9999 99=S?V-?/$?Y9y=h>=<=@= A 9)=@9Y=f@bDUVDU8y]Q=%e4=ٔeª9Q-e>9iYi=msEymDm=Eu>qQ 5}5uQv?Q 95u6)uBY>Q E:y?Q IZ@urDIu0;iu/;uga5yɮL%AfffgffrfereZe:e*eBɢ஻) *D>i)IiQ Ӭ=ɧ @ 舔>i Û<@ I2,:@ 2,:@I@ @@H2@A>A>I!I1O=Q>! ls#,΍LA2H?2N3?2Oٱ2j>2H9?`r?b? |?#Ŀd? ?`?i2H?I2^;0YRByR IIV<)Vp<bDZVDZ8yv1%v=ٔv:Q-v ?9xYx=zsEyzDzCY=E~ ?Q 55ny?Q 9 5)BY y D?Q I Z@vDI:iK:0d5yɮ%AfAfAfAgAfAfArfAeIreIZeI:eI*eIE EEE"E:*E:VEZEa@a@a@a@颕BɢXj) :>i)-顙iMß=ɧ@駥>iߨ:@Iߨ:@ ߨ:@IM@I @I@U3@QIIO>IB>BB. IB;BBW =BBBU;Bi[Eqԡ s#,4΍LA2EL?2b??2BLٱ2j>2H`?]u?Q1?-?1Ŀ??2 ?i2EL?I2'^;2CYRByR IXZAAbD\VD\yf=%fL=ٔf_ ;Q-f>9hYh=jsEyjDn#=En>)Q 555-2}?Q 955-)-,BY1y=O?Q I=Z@-|DI-;i-w;-g5yAɮEG%AAfafifigififirfieqreqZeq:eq*eqy颥Bɢn) P>i) Q顩iΊD*=ɧ_@駽eL>iՒ9@IH;@ H;@II@Q @Q@U/@QԩE EE*E"ED:*E&p:VE(N4ZEBE2 %s#,N^΍LA2/Q?2Wi?2Hٱ2Mm>2H@T?`&?Ly? 5?zDĿk?\?p?i2/Q?I2u^;2CYRByR Ii%Mb@Mb@Mb@!!!! !9%(\?M?S㥛?Y%z>y%n>%/<%@% A !)%@!Y%@bDVD8yD%==ٔG;Q->9Y=sEyD_ =E>Q 55?Q 95J)>BY*>Q E:yh?Q IZ@DIH;i;tk5yɮ\%Afffg!f!f!rf!e)re)Ze):e)*e1mBɢuiy)ߏ顉iф=ɧ@駭Ӡ>i9@Iu;@ u;@IIxA)xA@ @@d4@AyAzAxA A؟AI!I1O=r>E EEE"E:*Ex:VEZEa@a@a@a@1 :DAT read: MF Frequency Band  vDAT read: Directional Acoustic Transponder version 8.15.0  BDAT read: Dec 5 2025 01:36:55 Y s#,q9ύLAB>BCBBBBBBj;B|[ER5aU?Rڕ?REٱRp>RH "?2 ??@D?=Ŀ뷨???iR5aU?IRu^;RCYnByn I ppv=v=bDzVDz8y8<%U=ٔ Y:Q- >9 "?Y "?= sEy DI5=E>Q 5%5}?Q 9%5)MBY!y-?Q I-Z@DI:i:n5y1ɮ5J%A1fQfQfQgYfYfYrfYeareaZea:ea*ea颥Bɢ) \>i)顱i3l=ɧ@㈤>iq;@I,z<@ ,z<@I9-@) @)@-/@)aAIIOc>ԉD zD E  E E +E "E ;*E VE [4ZE BE >CUH?-m@??PJ?ÿ U]?`G? ?iU?Y?IU^;QY!By I <bDVD8y|1<%:=ٔ%:Q-%>9)Y)=-sEy-D- =E5>ԑQ 55?Q 95)`BYy?Q IZ@DI:ir5yɮ7%AB*** querying acoustic contact ***iifffgffrfereZe:e*e-Bɢ-)1 5di>i1)5֌11i5Q=|=ɧ=o@=%>iEL&=@AAIEL&=@ EL&=@II@ @@@ԹA.AII1O=r> Vbs#,Z3ύLAɰp;2%;^?2?2D@ٱ2+v>2H?M?H?S?hÿ? j?~ ?i2%;^?I2^;2CYN&ByR IiUMb@Mb@Mb@QEe EeEe)Ea"Ee:*Eez:VEeFA4ZEaam@am@am@am@QQQ Q9U:v?ʡE?Q?YU>yU>U9 ?Y ?=sEyD{7=E>Q 55?Q 95)pBY>Q E:y?Q IZ@DI] ;i;v5yBɮ$A*EfffgffrfereZe:e*e%Bɢ%6:)) 5 y>i9)E]IIiUy] =ɧ]@]Gڬ>i]O=@YYI]=@ e=@Ia@ @@0@A?A?B->B)B)B)B)B)B-ODB-y;B-[EA=؟AIAIYOeV>I  LDAT read: Features enabled [Bearing]  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600*Js#,KMύLA Bq{b?B"?B?ٱBt>BH0? pc??m?C¿?o=?@?iBq{b?IBd^;BCY~)By~ II<)=bDVD8y% l<%%R=ٔ%:Q-->9-"?Y-"?=-sEy-D5.=E5>9Q 5E5=?Q 9E5=K)=BYAyE?Q IEZ@=DI=G:i=:=ny5yQɮU$AQfffgffrfereZe:e*eUBɢ]e:)Y ]>iY)]YYie‰ef=ɧm@m >imcD>@iiImcD>@ mcD>@Iqy@ @@/@Eu EuEu'Eq"Eu:*Eu:VEu'4ZEqBEu+ ss#,gύLA6g?6f?6Q@ٱ6Aq>6H?u)@f??Ou? N¿`B???i6g?I6'^;6CPYR,ByR Ii-Mb@Mb@Mb@)))) )9--?+?V-?Y-5>y->-<-@-7 A -@)-@)Y-@AE@AbDUɿVDUz8yeP<%eF=ٔmb!Q-m>9u ?Yu ?=usEyu D}//=E>Q 55?Q 95c)BY>Q E:y?Q IZ@DIG;iKG; }5yɮ$AfffgffrfereZe:e*eBɢ :)  l>i )-)1i5= =v=ɧ=:@=6>i=>@99I=>@ =>@IA@ @@@AIIO%o>E} E}E},Ey"E};*E}xv:VE}g4ZEya@a@a@a@! A @AA @AB% >B! B% 4 IB% @BB% Y =B! B! B% ;B% [E[s#,ύLA2{k?2 ?2lBٱ2Ij>2H?n`I??Ć?@vO? ? ?i2{k?I2w>_;2CY^2By^# IbDrVDr8yD<%%O=ٔ%OQ-->9)Y1=5sEy5(D525=E]>aQ 5u5eD?Q 9u5e)eBYyP?Q IZ@eDIe;ieN;e5yɮi$Af f f g f frfe1re1Ze9:e9*e9颅Bɢ;) P>i)텼顉io<=ɧP@駵 >i~?@I~?@ ~?@I)i@i @i@i@iAqzAqA؟AIIOj>QE  E E (E "E :*E Ar:VE c44ZE BE M-TRx dataTimestamp_ set to:1764898622.442507F8DAT read: $Error in header F*Received a bad headerԁt?9?iGٱc>H@Թ?O ?iy?v?`~?@'?`-?it?I_;CY}0By}! I iMb@Mb@Mb@ 9:v?kt?l?Y>y 0>=h A @)v@Y3@bDVD8y%&=ٔQ->9"?Y"?=sEy2D=E>Q 55Ď?Q 9 5)BY A>Q E :y ?Q I Z@DIP;i|O;τ5yɮet$AaB*** querying acoustic contact ***iiԡfffgffrfereZe:e*e=Bɢ=@1';)9 =>iA)E:AAiEM=ɧM@Mͪ>iM40@@QQIU40@@ U40@@IQ@ @@@AA II IY Om > s#,EύLAbEG4jEG4rE/EM EMEM*EI"EMs:*EM:VEM(N4ZEIa@a@a@a@Y;By. I <bDVD8yv=%m=ٔQ-?9Y= sEy 9D E?Q 55?Q 95)BY!y!Q I%Z@DI:i:͇5y)ɮ-$A1fQfQfQgQfQfQrfYeYreYZeY:eY*ea颍BɢZ<) W>i)⁼顑iK=ɧ@駝 >i@@I@@ @@IDAT read: 01:36:59.1680 LVL= 1008, 913, 690, 1107, AGC= 15, IDX= 123, 0.43,-0.212,-0.665, 1.676, 0.824, PHS=-0.933,-1.443, 0.809, RAW= 197.5, 15.2, CAL= 198.0, 19.8, ROT= 312.0, -19.8 Ygot valid direction response: 01:36:59.1680 LVL= 1008, 913, 690, 1107, AGC= 15, IDX= 123, 0.43,-0.212,-0.665, 1.676, 0.824, PHS=-0.933,-1.443, 0.809, RAW= 197.5, 15.2, CAL= 198.0, 19.8, ROT= 312.0, -19.8 8DAT read: $Error in header *Received a bad header@  @ @ @  G%/{AA[9/{AYWAB>BCBA IBJBBW =BBPDBs;B[EBCBCBBW =BX =C[5AQIYIqOZ>)Y s#,-#ύLAɰ4<.*entering command mode6y?6?6BWLٱ65e>6H ?`!1? ?`V?@I2?u?(?i6y?I64_;4YNBByN7 IbDV߿VDV8yr=%r^=ٔrVQ-r>9tYt=vsEyv@DvZ=Ez>|Q 55~:?Q 95~)~BYy ?Q I Z@~DI~2 ;i~ ;~5yɮ#Af9f9f9g9f9f9rf9eAreAZeA:eA*eAuBɢu2<) D>i)i15x$=ɧ5f@5fR>i=1A@99I=1A@ =1A@IAIyA)@ @@0@A >A ?EM EMEM)EI"EM:*EM:VEMFA4ZEIBEM< PDAT read: user:1>Rx Time:01:37:00.1680 TRx dataTimestamp_ set to:1764898623.449983(setting verbose to 3IIOg>ԙԱ fs#, ύLA2C~?2E?2`wPٱ2m>2HZa?Ld?y?`? A ?p?v?i2C~?I2~^;0YBGByB= IIF%=)F=iMb@Mb@Mb@ 9-?gfffff?y33>t= @)@Y@bD VD8ye<%==ٔ^Q->DAT read: TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 274409Y=sEyID98=E>!Q 5-5%-?Q 9-5%c)%BY-L>Q E-:y-n?Q I-Z@%DI%:i%:%ގ5y=Bɮ=v#A=!Eԑf9f9f9g9f9f9rfAeAreAZeA:eA*eIBɢ,;) >i)yi(=ɧ@>ikA@IkA@ kA@I @ @@/@Eu EuEu(Eq"EuV:*Eu]t:VEuc44ZEqa}@a}@a}@a}@IIO> &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 !DAT read: user:3>01:37:00.1680 LVL= 30000, 28561, 22498, 32755, AGC= 48, IDX= 187,-0.08,-0.641,-0.941, 1.484, 0.512, PHS=-1.051,-1.408, 0.928, RAW= 201.8, 14.0, CAL= 202.7, 17.6, ROT= 307.3, -17.6  8DAT read: $Error in header  *Received a bad headerE 6setting transmit power to 8B >B B S IB YBB V =B B QDB w;B [E [t#,ЍLAR?R՝?R")SٱR2u>RH--?Nu@X?'?@?c &b?]? ?iR?IRf^;RCY~MByD I@AAAbD%VD%8y5=%5U=ٔ5Q-5>9Y=sEyQD/R=E>Q 55َ?Q 95)BYy?Q IZ@DIu:i;D5yɮD#AfffgffrfereZe:e*e%Bɢ%`\<)! %>i))-u))i-5ǭ=ɧ5N@5>>i=bB@99I=bB@ =bB@IADAT read: TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11!𕭼@ @@@I II IY Em  Em Ei Ei "Em :*Em g:VEi ZEi BEm .t#,ЍLA2&DAT read: user:4> 6TDAT read: LocalAddr | 11 :.set local address to 11>ZSetting time to: 1:37:4 And date to:12/5/2025Eֆ?E׻?ESVٱEn>QEHg? !R?ˆ?`S?@⽿ZǪ? ^??iEֆ?IE^;AYSByK IiMb@Mb@Mb@ 9(\?K?y^:>@ @)I@YbDVD8y<%=ٔnúQ->9Y=sEy[D=E>Q 55Í?Q 95.)"BY*?Q E:y?Q IZ@DIP;iD;5yɮ#AB*** querying acoustic contact ***iif f f g f f rfereZe:e*eEBɢE*<)A Mf>iI)ManIIiMs$U=ɧUAU?>iU$C@YYI]$C@ ]$C@IYyt0p>i>@ @@@AxAzAyA &DAT read: user:5> NDAT read: Fri Dec 5, 2025 01:37:04 fLocal DAT time set to Fri Dec 5, 2025 01:37:04 2Acoustic response timeout6setting remote address to 8IqIO>Թ ' t#,~6ЍLA@Y~YBy~S I E= E=E=)E9"E=s:*E=&p:VE=FA4ZE9aE@aE@aE@aE@bDM VDM8y]'=%]=ٔeQ-e?9aYa=msEymaDmEm?qQ 5}5u!?Q 95ub})u1BYyQ IZ@uDIu;iu ;uB5yɮ"AfffgffrfereZe:e*eg6@mBɢm›<)i m>ii)uBj顑i[=ɧA駝)>iC@IC@ C@I}&DAT read: user:6> TDAT read: RemoteAddr | 8 .set remote address to 82Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԩBiBmCBmf IBmiBBmU =BiBiBmp;Bm[E@ @@0@IIO> % &DAT read: user:7> - BDAT read: Tx time:01:37:04.6994 - $Ping request sent.- 2Hu?@_`?`?m?\?? ,?i2\?I23^;2CY:aBy:] I B<@bDFVDF8yN=1=%jX=ٔj$Q-j>9lYll=rsEyriDrP=Er>tQ 55v?Q 9 5vhx)vEBYy2?Q I%Z@vDIv ;iv~;v5y-lBɮ-S A)fIfIfIgIfQfQrfQ@U UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@]]pTransitioning to terminal guidance at range 19.100000 m @]1A]eareaZea:ea*ee}6@颕~Bɢ~<) j>i)3e顙iW =ɧA駥3>i)D@I)D@ )D@IM@Q @Q@U"5@QIIO> D-<D-=E5 E5E5*E1"E5:*E51:VE5(N4ZE1BE5>BH@0m?4@??`?)Ի`.?`w8?@?iB?IB@^;BCY^lBybj I9iMb@Mb@Mb@ 9m?Zd;O? ףp= ?Y>yj<>Q8=v@~ A @)3@Y@bDVD8y;=%8=ٔachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503134Q->9Y=sEyrDE9=E>Q 55W?Q 95r)^BY?Q E:y?Q IZ@DI8:iV:v5y ɮ  A f)f)f)g)f)f1rf1bf5@1A5=Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@= =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangee9re9Ze9:eA*eE@6@myBɢm(<)q u>iq)u}^qqiu]}W=ɧ} A駅 >iD@ID@ D@Ii@ @@65@I)I9OE0>E= E=E=,E9"E=;*E=:VE=g4ZE9aE@aE@aE@aE@ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754830Թ AY AY Be >Ba Be  IBe }BBa Ba Ba Be a;Be y[Ew t#,ЍLAFb?FBG?FWٱFd>FHr? 0e?2 ?@uG?`@G?TS?>)?iFb?IF^;FCYNmByNk IIR=)R=bDZVDZ8yr,;%rZ=ٔv:Q-v>9tYt=zsEyzzDzU=Ez>|Q 55~?Q 95~m)~sBY y `?Q I Z@~DI~h:i~:~5y]BɮAEqL--~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL5 5Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL5=Entering USBL mode with 120.000000 count pings at 19.100000 m (mode 0.000000 count ).L=1M=DMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1EM MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFMMInitialize.FMUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GU UInitialize.qGUԑGUqEgh7gh7FAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 65.213516 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe!:e!*e%S7@颭mBW)  i)}^顱|iIe@a @a@m4@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007708IIO]>EE  EE EE *EA "EE 2:*EE x:VEE (N4ZEA BEE +*JH@G??`L-??@︿`?s?`_1?iJy֐?IJ^;JCYrzByr| IzAAxbD~VD~8y%B=%%G=ٔ-:Q-5>9AYA=MsEyMD]<=E]>qQ 55uW?Q 95uh)uBYy?Q IZ@uDIut;iu;ub5yɮAj ^@1MqMhMBG?hUhU;hUL?hQiUgQgQjgYrgYeYreYZea:ea*ee7@ɢA) y L-t#,ɷЍLA2]]?2B?2[ Rٱ2x]>2H?."?@O??u@>?n?`6?i2]]?I2G _;0Y>By> IE  E E E "E T;*E k:VE ZE a@a@a@a@imMb@Mb@Mb@iiii i9mv?B`"?I +?Ym>ymN>m94=imA i)m@iYm @bDVD8y=%C=ٔ;Q->9Y=sEyC=E>Q 55M?Q 95 c)BY4?Q E:y?Q IZ@DI3;i&;5yɮmAjqMMB*** querying acoustic contact ***iixhhhhhiggjgrgBereZe:e*e  8@[-4?[-4?"[->*[-?=Bɢ=])9 =9iA)E^AAiEiiMB@IIIIQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763802@ @@/@II!O5 >B >B CB  IB BB V =B B PDB ];B s[Eԁԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015011 44t#,ףЍLAJ@?J~z?JtOٱJbb>JHw? ߥ???t ?f?/?iJ@?IJ6>^;HYVByV I XXbDb)VDbҰ8yf=%jX=ٔj:Q-j>9lYl=nsEylr=Er>pQ 5v5r?Q 9z5r^)rBYxyz ?Q IzZ@rDIr%:irS:rH5y|ɮAjMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLh)h)h)h)h)i)g1g1jg1rg1e1reyZey:ey*e}@Ѓ8@[["[*[ ?ɢ82) (=i);]inԱi\>@IIE EEE"E&:*E:VEZEBEh;:t#,ЍLA2?2?2zJٱ2ch>2H?k?ત? !?ML? ?2$?i2?I2.L^;2CY:By: I^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519037i Mb@Mb@Mb@     9  r?|?5^? t= @ A +@) @ Y @ u%=u=bD}SVD}8y*%1=ٔ,;Q->9Y=sEy.=E>Q 55g{?Q 95W)BY ?Q E:y2?Q IZ@DI:i:R5yɮAhhhhhiggjgrgրBereZe:e*e8@[ ?[ ?"[e۾>*[2?1ɢ5`<)1 5B B IB BB B B B N;B a[EBCBCBBV =BV =C-$5 ^A #I I O >eAt#,IeэLA4<ɰ4<2?2?2pDٱ2Ai>2H ?B?5?|?ಿ ?`V?4#?i2?I21C^;2CY:By> IbDF3VDF۰8yNR=%N\=ٔN?;Q-R>9PYP=RsEyPVX=EV>XQ 5^5Zw?Q 9^5Z}R)ZBY`yb?Q IbZ@ZDIZ ;iZ ;Z5ydɮfAdhxhxhxhxhxixgxg|jg|rg|ereZe:e*eV9@[![!"[!*[%լ?5Bɢ=!)9 =L=i9)E\AAiExyiMI4@IIIIII!@ @@/@@a=@=BDAT read: Rx Time:01:37:07.1198 TRx dataTimestamp_ set to:1764898628.240522checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024034^AIIOk> E5  E5 E5 'E1 "E5 :*E5 :VE5 '4ZE1 BE5 <)C= i]Mb@Mb@Mb@YYYY Y9]^I +?E?{Gz?Y]X>y]F>]#=]I@] A ]I@)]@YY]p@bDVD8y <%!=ٔQ->9Y=sEyE>Q 55dr?Q 95K)BY?Q E:y3?Q IZ@ DI:i:5yMBɮAEhh h h h i g g jgrgBereZe:e*ec9@[E?[E?"[E>*[EH3?Yɢ]1W#)a eb=ia)m'[iiimɼiu`x-@qyIyI5%@1 @1@9@9IDAT read: Range 11 to 50 : 12.2 m (Round-trip 16.3 ms) speed -0.2 m/s X#Rx 1: Read range message, but no direction.yY3CAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.i ^A I I O- >E=  E= E= ,E9 "E= ;*E= |:VE= g4ZE9 aE @aE @aE @aE @Nt#,;эLA 2Y?2(??2r5ٱ2kc>2H`Z?` !>??:? d?*? .?i2Y?I2ځ^;2CYrByr IbDz VDzʰ8y=%=ٔ 7 BDAT read: Tx time:01:37:08.4494 $Ping request sent.BCB IBBBW =BBB<;BI[Eԙ^AI!I1OE> M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249584Ut#,TэLA6?6\?6e/ٱ6\>6H ? 6 ? B?ߩ?`B?E?.9XYX=ZsEyXZ9=E^>`Q 5b5bi?Q 9f5bB)b%BYdyfi?Q IfZ@bDIb:ibK:b+5yhɮn}Alh|h|hhhiggjg rg e re Ze :e*e{?[1[1"[1*[5Ri?AɢE)I MX=iI)MjYIIiMNmiU;$@QYIYIYx)@ @@0@@yA@yAE EE'E"E ;*E&p:VE'4ZEBEL! r)[t#,nэLA2ܦ?2?2 )ٱ2pU>2H"0?iH`3??K?`ݩ !?v?G?i2ܦ?I29^;2CY>By> I @@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754081 iEMb@Mb@Mb@AAAA A9ES?|?5^?I +?YE>yER>E94=E@EA E@)E@AYE@bD] VD]ʰ8ym%m?=ٔuz;Q-u>9qYq=usEyy}&=E}>Q 55c?Q 95H=)*[+? Bɢ #)  ̖=i )XiZiD@II!!,@ @@/@)E EE-E"E&:*Ez:VEt4ZEa @a @a @a @Q^A#I9IIOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005580B |>B B IB ĂBB X =B B ODB J;B T[Eԁ Vbt#,2эLA2}?2?2-7"ٱ2S>2H ~\?@O ?c?ܻ?0@E?U@?MK?i2}?I2mh^;2CYNByR IbDZVDZð8ybsB=%bV=ٔb;Q-f>9dYd=fsEydj%9=Ej>lQ 5r5n]?Q 9r5n8)nPBYpyre?Q IvZ@n$DInY;in1:nA5yxɮz\AxYhhhhhiggjgrgereZe:e*e@?[["[*[e?Bɢcػ) =i)w|Wi)7i@II.@ @@-0@PExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257610ԉԱ^AIQIiOu>E  E E (E "E %;*E :VE c44ZE BE Kht#,ٓэLA:;ɰ:p;YǂBy IԹbDVD8yL=%%6=ٔ5Q-=>9AYI=etEyauEu>Q 55 W?Q 952)iBYyQ IZ@+DI҇;iM;H5yɮAhhhhhiggYjgYrgYeYreaZea:ea*eeS?[["[*[额Bɢkl) =i)$U顡i;@iZ@IIIxA)wA}`1@y @y@}0@y@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761814 ^A #A Y>A l>I I O% >9 E  E E +E "E V:*E |:VE [4ZE a% @a% @a% @a% @ent#,bэLA>^?>C?>Uٱ>S>>HYQME??Iڡi?"??L?i>^?I>uH^;>CYV̂ByV IIZ!>)Z>iUMb@Mb@Mb@QQQQ Q9Uv?5^I ?~jt?YU>yUX>U=UI@UA U@)U@QYU@bDmVDm8y}<%}V=ٔ19Y=tEy·=E>Q 55P?Q 95+.){BY?Q E:y>?Q IZ@1DIm ;i;5y7Bɮ\AE B*** querying acoustic contact ***i i h1h1h9h9h9i9g9g9jgArgEBeAreAZeA:eI*eM0@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013705[?[?"[->*[a>?ɢKo) J>i) T i i51 @99I9IAB]r>B]CB] IB]΂BB]Y =BYB]NDB]f;B]i[E%3@! @)@-@0@)Ii^AM  nManaging dock network, ignoring radio surface power off- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265713ԡ A AI I! O- >gMut#,\=эLA2|?2a?2< ٱ2T>2H@ZMgv?@? Y_ng`h~?_?TK?i2|?I2T^;0Y8y: IbDFVDF8yNb;%NZ=ٔN&;Q-R>9R ?YR ?=VtEyVDV4=EV>XQ 5^5Z@J?Q 95Zp))ZBYyS?Q IZ@Z8DIZYi)R顑iɧi@IIqD=D<E EE&E"E:*Eą:VE4ZEBE#5 w{t#,vэLA2?2?2INٱ2u.T>2H`$I u? ?J*ߘ ?Q?@L?i2?I2C^;0YNӂByR Irchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.769699i5Mb@Mb@Mb@1111 195Cl??L7A`?Y5d>y5L>5+=5@5A 5@)5@1Y5@bDMVDM8y]<%]>=ٔe;Q-e>9e?Ye?=mtEymDm%=Em>qQ 55uB?Q 95u$)uBY?Q E:y?Q IZ@u?DIu[i ) 6[Pi%ia@۷II8@ @@2@E EE+E"E;*E:VE [4ZEa@a@a@a@DDAT read: Rx Time:01:37:11.0959 TRx dataTimestamp_ set to:1764898632.034197DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.3 X#Rx 2: Read range message, but no direction.yY3SAchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.0295311 Bm c>Bm CBm IBm ؂BBm ] =Bi Bm MDBm ;Bm v[E^A #A xAzA xAI! I1 O= >St#, ҍLA 2׳?2?2Dzٱ2S>2H@-D Pl??`R 5?_??`N?i2׳?I21^;0YRڂByR I TTbD^VD^8yft=%fV=ٔj ;Q-j>9hYh=ntEynDn2=En>pQ 5v5r;?Q 9v5r3)rBYtyz?Q IzZ@rEDIr;ir;r5yɮA- addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505168 s, deltaX: 0.400000 m, approachRate: 0.791815 m/s, rangeRepo size: 3 h1h1h1h1h1i1g9g9jg9rg9e9reAZeA:eE`ff*@*eEPk?uBɢu)q ub&>iq)}Nyyi}Xi(?FII-9@) @)@-0@-Q checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273699y^AmE2E  E E *E "E :*E :VE (N4ZE BE 6ԡ  DDAT read: Rx Time:01:37:11.5959  TRx dataTimestamp_ set to:1764898632.538866 PDAT read: Bearing 338.6, -66.8 (Local)  ~Local bearing/azimuth received: Bearing 338.6, -66.8 (Local)  DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.3 = DAT read: 01:37:11.5959 LVL= 23392, 17777, 12994, 26227, AGC= 47, IDX= 511,-0.26,-1.618,-0.084, 1.056, 0.130, PHS=-1.646,-0.170, 0.882, RAW= 245.5, 8.5, CAL= 244.9, 9.3, ROT= 265.1, -9.3 M Ygot valid direction response: 01:37:11.5959 LVL= 23392, 17777, 12994, 26227, AGC= 47, IDX= 511,-0.26,-1.618,-0.084, 1.056, 0.130, PHS=-1.646,-0.170, 0.882, RAW= 245.5, 8.5, CAL= 244.9, 9.3, ROT= 265.1, -9.3 {t#,Ց#ҍLA:8?:u?: ٱ:GS><BR#Rx 3: Read range and direction messages.F`direction in FSK: [-0.084294,-0.983249,0.161604]FFpublishing direction and range infoyN2vo?Y`[qE2 sf)/I!ҿi{.a?@>(Lj@ 6&>)M@I6&;[c'?Ե? +8 @)I7Կi6&fchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.570352:Hħ;Oh?$?`UȲ-@? Z6? N?i:8?I:m^;:CY]ւBye IbD VD8y n% ,=ٔu;Q-u>9qYy=}tEy}DB =E>ԩQ 55{2?Q 95)BYy@Q IZ@NDI=3;i4;H5yIɮMAQii|"ҍLAjRA"jRA:j@RjcrPY!)zs @BjN2vo?*j7Կ2j6&ZjKe}W*@L0ǿBCJjԣ?kʣ g_j> jRAi7)^?i&jBjZg?jjrjMAzjy>@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 "i%ڿ*i%ڿ5 Added new target pos. range: 13.185976 m, bearing: 359.188833 deg, lat: 36.779569 deg, lon: -121.859782 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :i55VStarting intercept timer at range: 13.20 m.=DNOT Ignoring new targets: 13.19 m.2i9=Powering the camera and arming the capture device at range: 13.20 m.i="ie*ie} ProNav pure pursuit: ac range: 13.185976 m, nav range: 12.870646 m, bearing: 353.164078 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 76.220553 deg, new cmd heading: 353.164078 deg. HeadingCmd: 6.163876 target range: 13.185976 and range: 13.20 m.hy>@hhhhiggjgrgereZe:e*eԗ?BɢI@) ">i)KifDin?׵Iy>@I -&Changing to mode: 2%checking for new query: numPingsReceived=3, elapsed TxPingTime=3.7779989@ @@1@^A p I I O >bE˙T4jEI4rEuf0E  E E +E "E :*E e:VE [4ZE a- @a- @a- @a- @t#,l=ҍLAɰ;2a?2?2ؼٱ2tQ>2Hൿ4 $0?'?̶K s??@jR?i2a?I2^;0Y>؂ByB IluG뫿9YAiUMb@Mb@Mb@QQQQ Q9UV-?"~? rh?YU|>yUS>UC =UI@Q U@)U@QDDAT read: Rx Time:01:37:12.0961 TRx dataTimestamp_ set to:1764898633.042427PDAT read: Bearing 356.7, -48.2 (Local) ~Local bearing/azimuth received: Bearing 356.7, -48.2 (Local) DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 DAT read: 01:37:12.0961 LVL= 20304, 15553, 10642, 20723, AGC= 46, IDX= 513,-0.06,-2.792,-1.163,-0.628,-0.934, PHS=-1.756,-0.184, 0.262, RAW= 257.9, 17.9, CAL= 260.3, 23.6, ROT= 249.7, -23.6 B_>BB IB݂BB_ =B4DBLDB;B[EBCBCB•CBY =B[ =Cl6YU@Ygot valid direction response: 01:37:12.0961 LVL= 20304, 15553, 10642, 20723, AGC= 46, IDX= 513,-0.06,-2.792,-1.163,-0.628,-0.934, PHS=-1.756,-0.184, 0.262, RAW= 257.9, 17.9, CAL= 260.3, 23.6, ROT= 249.7, -23.6 R#Rx 4: Read range and direction messages.`direction in FSK: [-0.317919,-0.859446,0.400349]Fpublishing direction and range infoy=XԿw[Ε^Q?YXAPO<) P).Iij<$> @>a@ B>)su@IBҾ®ٓ{n?g91Y1==tEy=D=X=E=>AQ 5m5E-*?Q 9m5E)EBYu ?Q Eu:yu@Q IuZ@EUDIEe:iE:E5y}+Bɮ}A}Eii BҍLAjWA"jWA:j@RjӏJ3&t .'~@Bj=XԿw[Ε^Q?*ji2jBҾZjC9$ُ)@X8@D YX@Jj N? 2c*ϿX⟾?j$R j\LAi"^?iEyjj{BjjAjBrjOAzj½@u addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503561 s, deltaX: 0.300000 m, approachRate: 0.595757 m/s, rangeRepo size: 4  Added new target pos. range: 13.485528 m, bearing: 345.583046 deg, lat: 36.779569 deg, lon: -121.859783 deg, deltaT: 0.503561 s, deltaX: 0.299552 m, approachRate: 0.594867 m/s, posRepo size: 2 :iTStopped intercept timer at range: 13.50 m. DNOT Ignoring new targets: 13.49 m.2i  Powering the camera and arming the capture device at range: 13.50 m.i "i*ie ProNav: ac range: 13.485528 m, nav range: 12.995987 m, bearing: 352.263844 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 353.164083 deg, new cmd heading: 353.164083 deg. iemHeadingCmd: 6.163876 target range: 13.485528 and range: 13.50 m.hihihihihiiigigqjgqrgu΀BereZe:e+@*e ?Bɢӛ) )>i)BI1ii]a?Y]eIYIa7@ @@0@^A fJA >A >I I - checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281702O5 >a t#,\WҍLA1EA?E'?EgȼٱER>EH `>%Q??ۺ,h?`d"?P?iEA?IEk^;ECYۂBy II%=)<AbD VD 8yN{<%r=ٔ%4;Q-%?9!YA=MtEyMDMG=EM?QQ 5]5U#?Q 9]5Up)UBYaye@Q IeZ@U[DIU:iUS:U5yBɮAEE EEE"EV:*Ez:VEZEBE9i)Gii%*X?!%_,=I%@I)YDDAT read: Rx Time:01:37:12.5961 TRx dataTimestamp_ set to:1764898633.547040PDAT read: Bearing 36.7, -69.0 (Local) ~Local bearing/azimuth received: Bearing 36.7, -69.0 (Local) DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4  6@ @@/@UDAT read: 01:37:12.5961 LVL= 24160, 16049, 13506, 22515, AGC= 47, IDX= 513, 0.12,-2.721,-0.610,-0.180,-1.127, PHS=-1.492, 0.562, 0.903, RAW= 262.4, 0.3, CAL= 259.6, -4.4, ROT= 250.4, 4.4 ]Ygot valid direction response: 01:37:12.5961 LVL= 24160, 16049, 13506, 22515, AGC= 47, IDX= 513, 0.12,-2.721,-0.610,-0.180,-1.127, PHS=-1.492, 0.562, 0.903, RAW= 262.4, 0.3, CAL= 259.6, -4.4, ROT= 250.4, 4.4 ]R#Rx 5: Read range and direction messages.ebdirection in FSK: [-0.334463,-0.939281,-0.076719]mFpublishing direction and range infoyg5vgտ,0.0ۣY`^>4 W)/Ii;?+g?C@;@ nF)ً@InF=RB"]Q?sxlq? @)dIKinF=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.586139ԉ^A= EԱ I I O >3t#,#qҍLArchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.785404Yr݂Byv IԙiMb@Mb@Mb@ 9\(\?> ףp=?{Gz?Y>yQ>#=@A `@)@Y@bDVD8yMH-<%UH=ٔeQ-m>9qYy=tEyDE>Q 55?Q 95\ )BY\?Q E:y!@Q I[@bDIJ?iN]jvBjjEj=BrjTAzjܤ@E addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504613 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 13.485528 m, bearing: 345.923147 deg, lat: 36.779569 deg, lon: -121.859784 deg, deltaT: 0.504613 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 3 :iY]DNOT Ignoring new targets: 13.49 m.2iY]Powering the camera and arming the capture device at range: 13.50 m.ia"i*i ProNav: ac range: 13.485528 m, nav range: 13.251143 m, bearing: 350.299190 deg, approach rate: 0.000000 m/s, LOS rate: -1.995060 deg/s, cmd heading: 351.867495 deg, new cmd heading: 350.109728 deg. iHeadingCmd: 6.110568 target range: 13.485528 and range: 13.50 m.hʼn@hhhhiggjgrgBereZe:e*e>??颅BɢN) 8>i)D顉i;iH?E >Iʼn@IE EE-E"E&:*E:VEt4ZEa@a@a@a@UP3@Q @Q@]3@Y^A59DDAT read: Rx Time:01:37:13.0963 TRx dataTimestamp_ set to:1764898634.050386PDAT read: Bearing 352.3, -64.9 (Local) ~Local bearing/azimuth received: Bearing 352.3, -64.9 (Local) DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4  DAT read: 01:37:13.0963 LVL= 18672, 12513, 8098, 18675, AGC= 49, IDX= 3,-0.48,-2.122,-0.507, 0.439,-0.357, PHS=-1.663,-0.105, 0.751, RAW= 249.5, 9.6, CAL= 249.1, 10.3, ROT= 260.9, -10.3 A A B B CB B B B 3DB B ;B [E- Ygot valid direction response: 01:37:13.0963 LVL= 18672, 12513, 8098, 18675, AGC= 49, IDX= 3,-0.48,-2.122,-0.507, 0.439,-0.357, PHS=-1.663,-0.105, 0.751, RAW= 249.5, 9.6, CAL= 249.1, 10.3, ROT= 260.9, -10.3 5 R#Rx 6: Read range and direction messages.= `direction in FSK: [-0.155609,-0.971502,0.178802]= Fpublishing direction and range infoy.tÿᅱ?Y\AH0 H)1I/Կi= ׽A@?X@+>@ X8>)̶@IX8dWq^U?O*g? @) ,I;dݿiX8u checking for new query: numPingsReceived=6, elapsed TxPingTime=5.065892A 0AI I O  t#,ҍLA22=?2o"?2ٱ2O>2H@ `?? 0wB}??|?V?i22=?I2LF^;2CY^By^ IbDjVDj8yP<%b=ٔB9 ?Y ?= tEy D {=E>Q 5]5?Q 9e5 )BYaye!@Q Ie[@gDI%iA)EbBIIiMTiuS?quc>Iu/@Iqchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.2895981E/1@A @I@M/@I^AE(AYzA]wAAڗAIIE EE)E"E:*Ek:VEFA4ZEBE#5iߥ AIߥ A DDAT read: Rx Time:01:37:13.5963  TRx dataTimestamp_ set to:1764898634.555219 PDAT read: Bearing 355.2, -63.7 (Local)  ~Local bearing/azimuth received: Bearing 355.2, -63.7 (Local)  DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4  DAT read: 01:37:13.5963 LVL= 20544, 14897, 12178, 21827, AGC= 45, IDX= 499,-0.05, 2.058,-2.536,-1.594,-2.373, PHS=-1.750,-0.117, 0.735, RAW= 250.3, 10.4, CAL= 250.2, 11.4, ROT= 259.8, -11.4  Ygot valid direction response: 01:37:13.5963 LVL= 20544, 14897, 12178, 21827, AGC= 45, IDX= 499,-0.05, 2.058,-2.536,-1.594,-2.373, PHS=-1.750,-0.117, 0.735, RAW= 250.3, 10.4, CAL= 250.2, 11.4, ROT= 259.8, -11.4  R#Rx 7: Read range and direction messages. % `direction in FSK: [-0.173591,-0.964779,0.197657]% Fpublishing direction and range infoy  z/=8ƿSBwg4L?Y @P 1: / CU) -I i i ( @ %K>) @I %K OZ>i#?U ? @) R9I W߿i %K E checking for new query: numPingsReceived=7, elapsed TxPingTime=5.561833Ȩt#,oפҍLAV*?V?VqٱVޢJ>VH`Y¿@I8??ÿ"? Q?)?@^?iV*?IV3{^;VCY}ׂBy I !!bDMVDM8y;%1=ٔ ;Q-E>9?Y?=tEyD<E>Q 557?Q 95C)%BYy @Q I[@pDI;i;5yBɮAEiiҍLAj"j:j):@Rj8'$҅m*MmG@Bjz/=8ƿSBwg4L?*jW߿2j%KZj)ޝ+@3U׿V޶̌?Jjl5?ni@c_P?j j|\AiF5x?im jނBj7)^?j&jrj[Azjo@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504833 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.785198 m, bearing: 358.505409 deg, lat: 36.779572 deg, lon: -121.859767 deg, deltaT: 0.504833 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 13.79 m.2i Powering the camera and arming the capture device at range: 13.80 m.i "i *i  ProNav: ac range: 13.785198 m, nav range: 13.718632 m, bearing: 355.299524 deg, approach rate: 0.000000 m/s, LOS rate: -1.995060 deg/s, cmd heading: 348.797735 deg, new cmd heading: 346.840058 deg. i%HeadingCmd: 6.053501 target range: 13.785198 and range: 13.80 m.h%H@h)h)h)h)i)g)g)jg1rg1e1re1Ze9:e9*e=4?}Bɢ o) $4>i)z?i@Jia? >IH@I!checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794113?.@ @@/@^A I A9 IA IY Oe >E  E E *E "E ;*E :VE (N4ZE a @a @a @a @rt#,FҍLA2?27?28ٱ2CoF>2HxĿ@D@??ĿK?6?s?e?i2?I2^;2CYBByB!Ii=Mb@Mb@Mb@9999 99=x&1?x&1?{Gz?Y=?y=A`>9=@=A 9)99Y=f@bDU-VDUְ8ye=%ed=ٔm;Q-u>9yYy=tEyD(=E?Q 55?Q 95)5BY ?Q E:y@Q I[@vDI^V;isU;5y ɮ jA:iImDDAT read: Rx Time:01:37:14.0965 mTRx dataTimestamp_ set to:1764898635.058496}PDAT read: Bearing 2.0, -59.5 (Local) }~Local bearing/azimuth received: Bearing 2.0, -59.5 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 B`>BCB IB؂BBBBBB[EDAT read: 01:37:14.0965 LVL= 20704, 13809, 11730, 23011, AGC= 46, IDX= 501, 0.36,-2.030,-0.313, 0.454,-0.167, PHS=-1.760,-0.101, 0.578, RAW= 253.6, 12.3, CAL= 254.5, 14.4, ROT= 255.5, -14.4 Ygot valid direction response: 01:37:14.0965 LVL= 20704, 13809, 11730, 23011, AGC= 46, IDX= 501, 0.36,-2.030,-0.313, 0.454,-0.167, PHS=-1.760,-0.101, 0.578, RAW= 253.6, 12.3, CAL= 254.5, 14.4, ROT= 255.5, -14.4 R#Rx 8: Read range and direction messages.`direction in FSK: [-0.242514,-0.937732,0.248690]Fpublishing direction and range infoyim. ϿJƂl?YmaAimPm5m- mYDNOT Ignoring new targets: 13.79 m.2iPowering the camera and arming the capture device at range: 13.80 m.i"i>*i>- ProNav: ac range: 13.785198 m, nav range: 13.830379 m, bearing: 354.674161 deg, approach rate: 0.335773 m/s, LOS rate: -1.863847 deg/s, cmd heading: 346.840066 deg, new cmd heading: 345.599664 deg. I)m.ImGimνm?m@m[>m#@ m>)m@Imiim_q+(/?$;? m<@)m/[Imtimiiechecking for new query: numPingsReceived=8, elapsed TxPingTime=6.079573im0UHeadingCmd: 6.031852 target range: 13.785198 and range: 13.80 m.h@hhhhiggjgrgBereZe:e@33,@*e`3?|Bɢ6;) X>i) =ii%?!!I%@II,@ @@/@@=@=y^AGgLAII O >ԩ  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297559V۵t#,ҍLAɰ4<2?2u?2Ѣbٱ2kB>2H(Hƿ`@? !? `6ƿ?T?)?@k?i2?I2^;2C9hYh=jtEyjDjg =Ej>lQ 5r5n?Q 9v5n)nFBYtyv@Q Iv[@n|DIn:in:n5yxɮzAqiifҍLAj[aA"j[aA:j@RjH"WS nj*y3 @Bj. ϿJƂl?*jt2jZj :(p ,@%bO  ?JjQv?S;d:tfzV?jb jS`AiuE?i<jBjF5x?j<jނBrj^`Azjk@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503277 s, deltaX: 0.300000 m, approachRate: 0.596094 m/s, rangeRepo size: 4  Added new target pos. range: 14.084925 m, bearing: 355.908083 deg, lat: 36.779573 deg, lon: -121.859762 deg, deltaT: 0.503277 s, deltaX: 0.299726 m, approachRate: 0.595550 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 14.08 m.2iPowering the camera and arming the capture device at range: 14.10 m.i"i*i ProNav: ac range: 14.084925 m, nav range: 14.023073 m, bearing: 355.898401 deg, approach rate: 0.000000 m/s, LOS rate: -1.863847 deg/s, cmd heading: 345.599676 deg, new cmd heading: 344.165511 deg. iHeadingCmd: 6.006821 target range: 14.084925 and range: 14.10 m.h7@hhhhiggjgrge re Ze :e *e ?=zBɢ=d;)9 =K>iA)E`D;AAiE%iM֤?IIIM7@IQE EE(E"E=;*Exv:VEc44ZEBEIuݎ@ u >)u@Iu qquB>志 +?\ ? u@)uaIu\iu qqchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.566722AuAIyIO~> t#,+hҍLA2}?2?2>ٱ2>>2Haǿv?(r?@Mǿ?Ç??@r?i2}?I2^;0YBۂByB IIF=)F=bchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.801423!i=Mb@Mb@Mb@9999 99=?)\(?L7A`?Y=?y=Ga>=+==@=@ =@)=@9Y=(@bDVD8y%%%*=ٔ%;Q-%>9-c?Y-c?=-tEy5D=A<E=>AQ 5E5Eꠊ?Q 9M5E)EYBYM ?Q EM:yM @Q IU[@EDIE~ ;iE;ER5y]Bɮ]A]EiiҍLAjdA"jdA:jZp@RjWBK)Hsܥ*&1Ɠ @Bj/пQD}V!}?*j\2j Zji):8顩i`i?I?@IE EE)E"E;*E:VEFA4ZEa@a@a@a@='@A @A@E/@A^Aп8=yDDAT read: Rx Time:01:37:15.0968 TRx dataTimestamp_ set to:1764898636.068628PDAT read: Bearing 9.1, -59.9 (Local) B<A<B[>BCBBBB4DBB;B[E~Local bearing/azimuth received: Bearing 9.1, -59.9 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.4  DAT read: 01:37:15.0968 LVL= 22448, 15457, 14162, 25043, AGC= 47, IDX= 504, 0.42,-3.081,-1.290,-0.616,-1.223, PHS=-1.756,-0.021, 0.564, RAW= 256.0, 11.6, CAL= 256.4, 13.4, ROT= 253.6, -13.4 % Ygot valid direction response: 01:37:15.0968 LVL= 22448, 15457, 14162, 25043, AGC= 47, IDX= 504, 0.42,-3.081,-1.290,-0.616,-1.223, PHS=-1.756,-0.021, 0.564, RAW= 256.0, 11.6, CAL= 256.4, 13.4, ROT= 253.6, -13.4 - T#Rx 10: Read range and direction messages.5 `direction in FSK: [-0.274655,-0.933198,0.231748]5 Fpublishing direction and range infoyIѿj] A?YiAWa<R7 a)Ii1Nb?5@4QO>f3@ |o>)@I|oAI IQ Ia Om >r濉t?ԡ? b@)BOI+i|o checking for new query: numPingsReceived=10, elapsed TxPingTime=7.096863ԡ t#,D ӍLA22?28?2ٱ26[;>2HPȿ?}c?@ݫȿ??`I?v?i22?I2E#^;2CY@y@bDJVDJ8yr*;%rw=ٔr{;Q-r?9tYt=vtEyvDz<Ez?|Q 5%5~A⠊?Q 9%5~)~fBY!y% @Q I%[@~DI~:i~d:~35y5Bɮ5)A5EyiigdӍLAjYiA"jYiA:jb@Rj3+:N8+n @BjIѿj] A?*j+2j|oZj<s!-@>wxB?Jjڂ?b[,9am?j j,hAi ?i~ jzBjԗ?jxuDjzBrjeAzjjQ@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.506274 s, deltaX: 0.300000 m, approachRate: 0.592565 m/s, rangeRepo size: 4  Added new target pos. range: 14.584235 m, bearing: 355.206841 deg, lat: 36.779574 deg, lon: -121.859761 deg, deltaT: 0.506274 s, deltaX: 0.299524 m, approachRate: 0.591625 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 14.58 m.2iPowering the camera and arming the capture device at range: 14.60 m.i"i*i ProNav: ac range: 14.584235 m, nav range: 14.344481 m, bearing: 355.087068 deg, approach rate: 0.000000 m/s, LOS rate: -1.863847 deg/s, cmd heading: 342.428365 deg, new cmd heading: 341.153480 deg. i=HeadingCmd: 5.954251 target range: 14.584235 and range: 14.60 m.h=:@h9h9h9hAiAgAgAjgArgIeIreIZeI:eM@33-@*eu@,?颽vBɢx;) J>i)5iخi?I :@Ichecking for new query: numPingsReceived=10, elapsed TxPingTime=7.306453Ա$@ @@?0@@@xA^A=A II)O5>E EEE"E%;*Ex:VEZEBEK ט@ A>) =@I A VdBS?V}a? =@) \I Hi A  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.573426&t#,b&ӍLA2?2 ?2Kٱ2_8>2Hɽɿ`?@oX?{ɿ?@di|? ?{?i2?I2^;2CYN݂ByN IbDZVDZɰ8y<%?=ٔö;Q->9Y=tEyD]y<Ee>Q 55N֠?Q 95)xBY1y5 @Q I=[@DIQi)2i6$ij ?I@I%=%=checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810550i!@ @@/@9 ^A} =E  E E (E "E :*E :VE c44ZE a @a @a @a @A I I O >Nt#,qCӍLA:и?: ?:όٱ:e3>FDDAT read: Rx Time:01:37:16.0972 FTRx dataTimestamp_ set to:1764898637.073256NPDAT read: Bearing 14.6, -54.6 (Local) BR`>BPBR IBRӂBBR` =BPBPBRo;BR`[E^~Local bearing/azimuth received: Bearing 14.6, -54.6 (Local) fDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 zDAT read: 01:37:16.0972 LVL= 22000, 16705, 16018, 25011, AGC= 47, IDX= 508,-0.23,-0.071, 1.853, 2.352, 1.882, PHS=-1.851, 0.016, 0.426, RAW= 260.3, 13.3, CAL= 261.5, 17.0, ROT= 248.5, -17.0 ~Ygot valid direction response: 01:37:16.0972 LVL= 22000, 16705, 16018, 25011, AGC= 47, IDX= 508,-0.23,-0.071, 1.853, 2.352, 1.882, PHS=-1.851, 0.016, 0.426, RAW= 260.3, 13.3, CAL= 261.5, 17.0, ROT= 248.5, -17.0 ~T#Rx 12: Read range and direction messages.`direction in FSK: [-0.350487,-0.889763,0.292372] Fpublishing direction and range infoyDF3_nֿ0.x兗7?YF3sADFUFAAF> Fa)F/IFiFoFa@F,m>F @ F>)FɊ@IF闾DDFZ` Z?bٙ˿? F@)FBnIFiF闾DD%checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081891):Hw]ʿ ?`BP? ʿH?q? V?5?i:и?I:x];:CY=By= I AAM=M=iMb@Mb@Mb@ 9{Gz?5^I ?Q?Y?yX><3@@ @)v@Y@ <<bD=VD8y w<%.=ٔê;Q->9Y=tEyDm)<E%>!Q 5m5%.ʠ?Q 9u5%)%BYu?Q Eu:yu @Q Iu[@%DI%&i)"P/顩i[aij?I@I%@) @)@)@)ԁ^A=mDDAT read: Rx Time:01:37:16.5972 TRx dataTimestamp_ set to:1764898637.333303PDAT read: Bearing 18.6, -53.8 (Local) ~Local bearing/azimuth received: Bearing 18.6, -53.8 (Local) checking for new query: numPingsReceived=12, elapsed TxPingTime=8.329909Aa Ii Iy O >ԡ t#,k]ӍLA2-?2?2Htٱ2,>2Hʿ ?@=J? ?yʿi?@n`?E? ?i2-?I2r];0Y>ByB IbDJVDJ8Dr=Dr<Ev EvEv,Et"Evs:*Evi:VEvg4ZEtBEvo0:Ub5yɮAB*** querying acoustic contact ***ii:i =DNOT Ignoring new targets: 15.18 m.2i9=Powering the camera and arming the capture device at range: 15.20 m.iA"iEb*iMb ProNav: ac range: 15.183693 m, nav range: 14.907144 m, bearing: 352.474199 deg, approach rate: 0.386215 m/s, LOS rate: -1.709248 deg/s, cmd heading: 337.591799 deg, new cmd heading: 336.487628 deg. iCHeadingCmd: 5.872817 target range: 15.183693 and range: 15.20 m.h@hhhhiggjgrge1re1Ze1:e1*e5&p?颅oBɢc;) b>i)T,DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 DAT read: 01:37:16.5972 LVL= 21744, 16001, 15026, 22435, AGC= 45, IDX= 508, 0.31, 0.739, 2.711, 3.100, 2.669, PHS=-1.828, 0.087, 0.387, RAW= 262.8, 13.0, CAL= 263.6, 16.6, ROT= 246.4, -16.6 Ygot valid direction response: 01:37:16.5972 LVL= 21744, 16001, 15026, 22435, AGC= 45, IDX= 508, 0.31, 0.739, 2.711, 3.100, 2.669, PHS=-1.828, 0.087, 0.387, RAW= 262.8, 13.0, CAL= 263.6, 16.6, ROT= 246.4, -16.6 T#Rx 13: Read range and direction messages.`direction in FSK: [-0.383663,-0.878171,0.285688]Fpublishing direction and range infoy7ؿNWԷH?YT>: W)-Ii-=$>tƒ@Vh>8@ V>)@IVJ?.}p? @)gIiVchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.582324顉iki%$W?!!Ie@Iiԡ9@ @@?0@^A=A .AI I O >  DDAT read: Rx Time:01:37:17.0974  TRx dataTimestamp_ set to:1764898637.836785 PDAT read: Bearing 21.4, -52.3 (Local)  ~Local bearing/azimuth received: Bearing 21.4, -52.3 (Local)  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.83312033t#,d]wӍLAB4<ɰ@YBy IiMb@Mb@Mb@ 9}?5^I?"~j?Mb?YM?ySc>=@@ @)@YbDVDȰ8y~;%1=ٔQ->9 ?Y ?=tEyDE> Q 55 ?Q 95 ) BYd?Q E:yu @Q I[@ DI :i : j 5y!ɮ%A!ii~eӍLAj"j:j@Rj9 =Md+]*L\Y@Bj7ؿNWԷH?*j2jVZjg6h-@U[Z*#1@Jj)?:ǿJ왐?j2 jlAi ?i@"jBjj^j]BrjqAzj'@u addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.506669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.183693 m, bearing: 349.299300 deg, lat: 36.779575 deg, lon: -121.859764 deg, deltaT: 0.506669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.18 m.2iPowering the camera and arming the capture device at range: 15.20 m.i"i*i ProNav: ac range: 15.183693 m, nav range: 15.101503 m, bearing: 351.212958 deg, approach rate: 0.000000 m/s, LOS rate: -1.709248 deg/s, cmd heading: 336.487630 deg, new cmd heading: 334.949564 deg. iHeadingCmd: 5.845973 target range: 15.183693 and range: 15.20 m.h5@hhhhiggjgrgBereZe:e*e@?bEm÷G4jEm(N4rEmò/E EE+E"ET;*Ez:VE [4ZEa@a@a@a@ Wy> CGǏ9YA5mBɢ=d;)9 =j>i9)E)AAiMįiUT??QqI}5@IDAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 AQAQB]c>B]CB] IB]΂BB]^ =B]3DBYB]@;B]3[EB]CB]CB]ƓCB]_ =B]_ =C]k5DAT read: 01:37:17.0974 LVL= 26416, 16673, 18466, 26019, AGC= 47, IDX= 510, 0.01,-0.516, 1.499, 1.786, 1.405, PHS=-1.819, 0.139, 0.337, RAW= 265.2, 12.9, CAL= 265.8, 17.1, ROT= 244.2, -17.1 Ygot valid direction response: 01:37:17.0974 LVL= 26416, 16673, 18466, 26019, AGC= 47, IDX= 510, 0.01,-0.516, 1.499, 1.786, 1.405, PHS=-1.819, 0.139, 0.337, RAW= 265.2, 12.9, CAL= 265.8, 17.1, ROT= 244.2, -17.1 T#Rx 14: Read range and direction messages.`direction in FSK: [-0.415991,-0.860518,0.294040]Fpublishing direction and range infoy ڿ4]?YxA0g!A"H e)/IiV>D>@f>bs@ Θ>)c@IΘPNhDN? ? :"@)gIYiΘchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.108372?@ @@0@!^A},>A>A>A I I O >Q t#,!ӍLA2V?2?;?2?8;ٱ2*7>2H@ʿ {?`H?IʿL?g"??i2V?I2^;2CYNByN IIVp<)Vp<bDZVDZ8yfj<%fw=ٔf'nw>;@z0a>&X@ V>)P~@IVY=*H?j!? c$@)i`I#iV}checking for new query: numPingsReceived=15, elapsed TxPingTime=9.436373jBɢf;) nu>i)&iدi"(?IE?@IYE EE)E"ED:*E:VEFA4ZEBE2ԉ  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.585762A= AIA IY Oe >?t#,ӍLA0Mc?M?M$>;ٱM̸>MHʿZM?J?@cʿ@~ġ? gu P'??iMc?IM%^;IYBy!IԉiMb@Mb@Mb@ 9?"~?Q?Y?yS>\=I@v@ @)Y@bDuVDu8ycw<%=ٔE;Q-M>9]c?DDAT read: Rx Time:01:37:18.0977 TRx dataTimestamp_ set to:1764898638.853534PDAT read: Bearing 38.8, -52.3 (Local) ~Local bearing/azimuth received: Bearing 38.8, -52.3 (Local)  DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 Y]c?=%tEy%D5&@E5>eZ#Rx 16: Read range message, but no direction.yYf~AQ 55D?Q 957)BY ?Q E:yV @Q I[@DI:Թchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.872233ib:u5yBɮA EiiMӍLAj!~A"j!~A:j@RjJH :+2&@Bjo9ܿ,9WԷH?*j#2jVZj>oX.@-@v@Jj d7H?kϥ{Ͽ354 ?jz jrAiɛ?i{14j"Bjɛ?j@"jBrjxAzj e@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.765676 s, deltaX: 0.400000 m, approachRate: 0.522414 m/s, rangeRepo size: 4  Added new target pos. range: 15.883089 m, bearing: 345.561707 deg, lat: 36.779574 deg, lon: -121.859769 deg, deltaT: 0.765676 s, deltaX: 0.399574 m, approachRate: 0.521858 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.88 m.2iPowering the camera and arming the capture device at range: 15.90 m.lFinal approach. Armed for intercept at range: 15.90 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i ProNav: ac range: 15.883089 m, nav range: 15.507455 m, bearing: 348.062303 deg, approach rate: 0.000000 m/s, LOS rate: -1.709248 deg/s, cmd heading: 333.474233 deg, new cmd heading: 331.731710 deg. i HeadingCmd: 5.789811 target range: 15.883089 and range: 15.90 m.h !F@h)h-:h533?h1g1g1jg9rg=xBe9re9Ze9:eE/@*eE`?M gBɢM k;)I M >iQ )U h!Q Q iU ௼i] ?Y )] 33? ] (kpHeading = 0.700000I] : e (kiHeading = 0.001000a Ie !F@Ii E  E E *E "E ;*E :VE (N4ZE a @a @a @a% @ "@  @ @ /@ ^A ;>M DAT read: 01:37:18.0977 LVL= 31280, 18417, 20002, 27795, AGC= 46, IDX= 513, 0.31, 2.591,-1.680,-1.714,-2.030, PHS=-1.561, 0.395, 0.271, RAW= 273.2, 9.5, CAL= 272.1, 9.8, ROT= 237.9, -9.8 B] ]>BY BY BY B] \ =BY BY B] ;B] [E Ygot valid direction response: 01:37:18.0977 LVL= 31280, 18417, 20002, 27795, AGC= 46, IDX= 513, 0.31, 2.591,-1.680,-1.714,-2.030, PHS=-1.561, 0.395, 0.271, RAW= 273.2, 9.5, CAL= 272.1, 9.8, ROT= 237.9, -9.8  Z#Rx 17: Read direction message, but no range.ԑ  `direction in FSK: [-0.523644,-0.834761,0.170209]y! % ࿒[rl?! % 0z% G% "N % l)! I% ǿi% q=>% >% k@% )>% %@ % %/>)% Qބ@I% %/! % eH/<%k?=0jG? % +-+@)% =?)I% ci% %/ checking for new query: numPingsReceived=17, elapsed TxPingTime=10.109244A I I O>8t#,ÁӍLA@b?b{?bJn;ٱb>bH ;ʿh 焿?`Q?`ɿ>?N??ib?Ib5^;`Y|y|bD  VD 8y=Φ:%=t=ٔE;Q-E?9AYA=EtEyMDMaEM?Q 55?Q 95)BYy+ @Q I[@DI:i:$5y ɮ A :iQUDNOT Ignoring new targets: 15.88 m.2iQ"i]ϼ*i]ϼ ProNav: ac range: 15.883089 m, nav range: 15.626338 m, bearing: 347.637456 deg, approach rate: 0.409774 m/s, LOS rate: -1.453234 deg/s, cmd heading: 331.731715 deg, new cmd heading: 330.888554 deg. i9&HeadingCmd: 5.775095 target range: 15.883089 and range: 15.90 m.h͸@hhhhggjgrgereZeԩ:e*e@?eBɢX.A<) >i)*ii%d>AAIE͸@II]#@a @a@e&5@aDDAT read: Rx Time:01:37:18.5978 TRx dataTimestamp_ set to:1764898639.356909PDAT read: Bearing 32.4, -54.0 (Local)  ~Local bearing/azimuth received: Bearing 32.4, -54.0 (Local) =DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.4 MZ#Rx 18: Read range message, but no direction.yỲAmchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.363909 ^A] >Ae yAzAa E]  E] E] ,EY "E] :*E] g:VE] g4ZEY BE] F81 &-t#,MKӍLAV?V?Ve$<ٱV+=VHɿ )?@H[?`83ɿ:?൛@ ??iV?IVw9^;VCYnByr!I ttbDzVDz8y%0<%%L=ٔ-;Q-->9- ?Y- ?=-tEy-&D5mE5>YQ 5e5]΋?Q 9e5])]BYaym @Q Im[@]DI]l:i]:]5yuBɮuAEB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503375 s, deltaX: 0.200001 m, approachRate: 0.397320 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 15.88 m.2i"iC=DAT read: 01:37:18.5978 LVL= 27056, 15729, 19362, 24723, AGC= 49, IDX= 2, 0.00,-2.359,-0.277,-0.155,-0.522, PHS=-1.736, 0.290, 0.323, RAW= 269.2, 11.0, CAL= 268.7, 13.2, ROT= 241.3, -13.2 EYgot valid direction response: 01:37:18.5978 LVL= 27056, 15729, 19362, 24723, AGC= 49, IDX= 2, 0.00,-2.359,-0.277,-0.155,-0.522, PHS=-1.736, 0.290, 0.323, RAW= 269.2, 11.0, CAL= 268.7, 13.2, ROT= 241.3, -13.2 EZ#Rx 19: Read direction message, but no range.M`direction in FSK: [-0.467535,-0.853971,0.228351]yY<ݿ*S뿻 :?iq=K `)1I?5޿iz>B`>Y@ D>@ k>)qĆ@Ikb:l6꿒_?:tl? &@)DIӖikechecking for new query: numPingsReceived=19, elapsed TxPingTime=10.603238*iC ProNav: ac range: 15.883089 m, nav range: 15.777034 m, bearing: 347.107706 deg, approach rate: 0.388227 m/s, LOS rate: -1.351704 deg/s, cmd heading: 330.888542 deg, new cmd heading: 329.839293 deg. iHeadingCmd: 5.756782 target range: 15.883089 and range: 16.10 m.h7@hhhhggjgrgereZe:e0@*e? 颅bBɢ"<) >i)*iT꯼i(>I7@I!@ @@ 5@Aq  DDAT read: Rx Time:01:37:19.0981  TRx dataTimestamp_ set to:1764898639.861173 PDAT read: Bearing 35.1, -55.0 (Local) % ~Local bearing/azimuth received: Bearing 35.1, -55.0 (Local) U DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.4 ^Ae > Z#Rx 20: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=20, elapsed TxPingTime=10.873718Au AIy I ԑ O >}t#,ӍLA2,?2h?2{R<ٱ2=2H0zȿ@?@!h?/ȿ@Ai?X@?@?i2,?I2 ^;2CY>By>!IiMb@Mb@Mb@ 9L7A`?|?5^?y&1?Y+?yM>`<@@ @)@YG@bDVD8y-%-E=ٔ-};Q-5>95c?Y5c?=5tEy5.D=ߡE=>AQ 55E?Q 95E)EBY?Q E:y@Q I[@EDIE%fjBjj -jBrjYAzjv@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504264 s, deltaX: 0.400000 m, approachRate: 0.793235 m/s, rangeRepo size: 4  Added new target pos. range: 16.482319 m, bearing: 342.942627 deg, lat: 36.779574 deg, lon: -121.859774 deg, deltaT: 1.007639 s, deltaX: 0.599230 m, approachRate: 0.594687 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.48 m.2iZTarget missed at range: 16.50 m. Rolling out.!i%%NTransitioning guidance mode to: ROLLOUT i%@h!h)h-;h-L?h-i)g)g)jg1rg5dBe1re1Ze9:e=0@*e=?颅_B{R<) !>i)<@顉6iij9>)L? (kpHeading = 0.800000I; (kiHeading = 0.004000II &Changing to mode: 1B<A<BL>BCB IBӂBBa =B4DBJDB;BZE5DAT read: 01:37:19.0981 LVL= 32560, 18417, 20898, 30323, AGC= 46, IDX= 501,-0.31,-2.450,-0.364,-0.252,-0.634, PHS=-1.714, 0.315, 0.337, RAW= 269.5, 10.4, CAL= 268.8, 11.8, ROT= 241.2, -11.8 =Ygot valid direction response: 01:37:19.0981 LVL= 32560, 18417, 20898, 30323, AGC= 46, IDX= 501,-0.31,-2.450,-0.364,-0.252,-0.634, PHS=-1.714, 0.315, 0.337, RAW= 269.5, 10.4, CAL= 268.8, 11.8, ROT= 241.2, -11.8 =Z#Rx 21: Read direction message, but no range.E`direction in FSK: [-0.471573,-0.857788,0.204496]yȩ A.޿iLrrG,?0GQ sv).IZdۿiG>D>g@9>Q @ BR>)$@IBR&]6]?~ckA+? 3&@) a:ImiBR]checking for new query: numPingsReceived=21, elapsed TxPingTime=11.114249I @ @@@4@y ^A > DDAT read: Rx Time:01:37:19.5981  TRx dataTimestamp_ set to:1764898640.364990  PDAT read: Bearing 38.2, -56.7 (Local)  ~Local bearing/azimuth received: Bearing 38.2, -56.7 (Local) = DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.4 M Z#Rx 22: Read range message, but no direction.y Y U checking for new query: numPingsReceived=22, elapsed TxPingTime=11.375048A} .AI I O>~u#,=ԍLA;ɰR#?R_?R1K}<ٱR)=RH[ǿlV,n?yu?ǿ@W?Ŋ?M?iR#?IR&1^;RCYjByj!IbDrVDr8yzh@=%z.=ٔz^;Q-z>9~ ?Y~ ?=~tEy~7DśE>Q 55#v?Q 95غ)BYy*@Q I[@DI;i:5!5y!ɮ%WA!1O5 =Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqO=EEntering Midcourse tracking update period 60.000000 s sec at 16.500000 m (mode 5.000000 count ).qOEOEMMMAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1NMUResuming normal ranging with 1.000000 count pings 16.500000 m (mode 5.000000 count ).1NUqNUii[ԍLAjڃA"jڃA:jD$@iRjI蛡F,H @Bjȩ A.޿iLrrG,?*jm2jBRZj0/@9qf"g@Jj;175?RiKxZӿyL*?j| jxAi;?i=jOBj;?j{14jrjAzj)ȿ@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503817 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.481668 m, bearing: 342.237820 deg, lat: 36.779574 deg, lon: -121.859777 deg, deltaT: 0.503817 s, deltaX: -0.000650 m, approachRate: -0.001291 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.48 m.hhhhhiggjgrgq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy= {@Uninitialize Buoyancy Component.reZe:e*e ?1K}<) ?i]9)ߩ4G7iio>IIE EE'E"E:*E|:VE'4ZEBEE8>6K@+>ʕ@ %/>) @I%/ӘHԜ1?M g? ܐ&@)1,Ii%/checking for new query: numPingsReceived=23, elapsed TxPingTime=11.611262^Ae>AmzAmAuAu A I I) O5 >Τ u#,%5ԍLA=DDAT read: Rx Time:01:37:20.0984 MTRx dataTimestamp_ set to:1764898640.869229mPDAT read: Bearing 40.3, -57.4 (Local) u~Local bearing/azimuth received: Bearing 40.3, -57.4 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.4 ?s?<ٱ=H@Eƿi ??ƿ@0? ??i?I^;CDAT read: 01:37:20.0984 LVL= 32752, 19377, 19026, 29683, AGC= 45, IDX= 504,-0.05,-2.014, 0.058, 0.178,-0.250, PHS=-1.662, 0.353, 0.384, RAW= 269.2, 9.2, CAL= 268.1, 8.8, ROT= 241.9, -8.8 YeBye!IIm4=)mE>EY@El$>E<@ EnF>)E:@IEnFAAEyrp'&x#(?8sUZ? E&@)Ee#IEAiEnFAAchecking for new query: numPingsReceived=24, elapsed TxPingTime=11.947941iMb@Mb@Mb@ 9K7A`?n?:v?Y ?yV><@`@ )@Y@bD% VD%ʰ8y5=%5=ٔ=;Q-=>9EYE=EtEyAEEM>IQ 5U5Mh?Q 9}5M)MBY}?Q E}:y}@Q I}[@MDIM;iM%;M%5yٕBɮAEkN@OOj?qN N iAiEs7ԍLAjEهA"jEهA:jEX'@RjE-ڝP58-Ro@BjEYN7ݿV0Q8C ?*jEA2jEnFZjE80@t]t-?JjEz[?lӿu"Ƕ?jE jEAiE_?iEqxD;jEBjEɛ?jEqxD;jArjEAzjE@ addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504239 s, deltaX: 0.500000 m, approachRate: 0.991593 m/s, rangeRepo size: 4 E EE*E"E:*E~:VE(N4ZEa@a@a@a@ Added new target pos. range: 16.981113 m, bearing: 342.259356 deg, lat: 36.779574 deg, lon: -121.859780 deg, deltaT: 0.504239 s, deltaX: 0.499445 m, approachRate: 0.990493 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.98 m.hhhhhiggjg!rg%aBre!Ze!:e%1@*e- ?[m?[m?"[m>*[m@<) ?i{9)顥k;5Ѻ7ii=II1checking for new query: numPingsReceived=24, elapsed TxPingTime=12.106127BF>BCB IB؂BBb =BBB;BZE ?@  @ @ L0@ Q ^A >I I O >Zu#,BRԍLA20?2lp?2Ԝ<ٱ2ݛ=2H@*Fſ x@a??@]ſ?Ev?@?i20?I2O!^;0Y: By:/!IXbDFVDFȰ8yb=%f=ٔf\;Q-?9Y=tEyE?)Q 5}5DDAT read: Rx Time:01:37:20.5985 TRx dataTimestamp_ set to:1764898641.374023PDAT read: Bearing 39.8, -57.5 (Local) ~Local bearing/azimuth received: Bearing 39.8, -57.5 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 -_?Q 9%5-)-BY)y-q@Q I-[@-DI-=i-p=- )5yE̕BɮEAEئEkYO]1P]jyNNDNOT Ignoring new targets: 16.98 m.hhhhhiggԹjgrgreZe:e*eAP?DAT read: 01:37:20.5985 LVL= 32752, 18417, 19794, 30675, AGC= 46, IDX= 505,-0.33, 2.647,-1.580,-1.448,-1.878, PHS=-1.657, 0.343, 0.386, RAW= 268.9, 9.2, CAL= 267.8, 8.9, ROT= 242.2, -8.9 Ygot valid direction response: 01:37:20.5985 LVL= 32752, 18417, 19794, 30675, AGC= 46, IDX= 505,-0.33, 2.647,-1.580,-1.448,-1.878, PHS=-1.657, 0.343, 0.386, RAW= 268.9, 9.2, CAL= 267.8, 8.9, ROT= 242.2, -8.9  T#Rx 25: Read range and direction messages.`direction in FSK: [-0.460772,-0.873930,0.154710]Fpublishing direction and range infoyG}ݿ<뿥j?ŸAG[1[1"[1*[5q@RM w).IԿi>ˡ>.@W@ >)E@I7뿈#hK?wЀ? m_&@)/$Iyimchecking for new query: numPingsReceived=25, elapsed TxPingTime=12.419250Ԝ<) ?i9)額>57ii*=IIEE EEJEE+EA"EEl;*EE;VEE [4ZEABEE`FM94>ؕ@;@ )蚇@IIYIbD VD8E@>e3?LWp? %@)8$Iichecking for new query: numPingsReceived=26, elapsed TxPingTime=12.949929yM<%<ٔs;Q->9!Y!=%tEy!-2üE->1Q 555P?Q 955o)5BY?Q E:y,@Q I[@5DI5FgA"j>A:j@RjH@7؀^.%P9!Kc@BjܿZ_쿥j?*j2jZju[0@\pjD@}?Jjd@K?N!b*ӿ&ۜBB?jS jނAi]Hj?i> B3j"Bjc3?jjOBrjAzjI@e addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 1.009351 s, deltaX: 0.299999 m, approachRate: 0.297220 m/s, rangeRepo size: 4  Added new target pos. range: 17.280567 m, bearing: 341.877643 deg, lat: 36.779575 deg, lon: -121.859780 deg, deltaT: 1.009351 s, deltaX: 0.299454 m, approachRate: 0.296679 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.28 m.hhhhhiggjgrgtBreZe:eL1@*e`o?)[?[?"[>*[,@<) ?iu9E EE*E"E:*E:VE(N4ZEa@a@a@a@)5w18iiIIA A i I  checking for new query: numPingsReceived=26, elapsed TxPingTime=13.114739B B B IB BB d =B B IDB ݟ;B ZE- $@)  @) @5 /@1 q ԁ ^AyIIO>.:$u#,ԍLA2w?2m?2o2<ٱ2=2H@bL¿ z?|? Ћ?@U??i2w?I2];2CY:By>G!IbDFVDF8yjb=%jm=ٔj ;Q-n?9lYl=ntEylr_ҼEr?tQ 5z5vH?Q 9~5v)vBY|y~@Q I~[@vDIv-;ivS.;vY15yƕBɮ5A צE5DNOT Ignoring new targets: 17.28 m.h1h1h1h1h1i1g1g9jg9rg9re9ZeA:eA*eEB?[a[a"[a*[e@o2<) ժ?i9)页W5`M8ii2 II5DDAT read: Rx Time:01:37:21.5987 =TRx dataTimestamp_ set to:1764898642.382327]PDAT read: Bearing 36.2, -57.3 (Local) e~Local bearing/azimuth received: Bearing 36.2, -57.3 (Local) }DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 DAT read: 01:37:21.5987 LVL= 32752, 18737, 19650, 30387, AGC= 45, IDX= 507,-0.08, 1.947,-2.293,-2.126,-2.562, PHS=-1.672, 0.314, 0.392, RAW= 268.1, 9.6, CAL= 267.1, 9.7, ROT= 242.9, -9.7 Ygot valid direction response: 01:37:21.5987 LVL= 32752, 18737, 19650, 30387, AGC= 45, IDX= 507,-0.08, 1.947,-2.293,-2.126,-2.562, PHS=-1.672, 0.314, 0.392, RAW= 268.1, 9.6, CAL= 267.1, 9.7, ROT= 242.9, -9.7 T#Rx 27: Read range and direction messages.%`direction in FSK: [-0.449032,-0.877486,0.168489]%Fpublishing direction and range infoy9="ܿԒ"]RV?Y=3A9==1I=L =v)=-I=ֿi=Ġ>=9>=<@=+>=B-@ =-\->)=4@I=-\-99=z*u#,ԍLAB!l?B]Q?B<ٱB0=BH2T?@?:?`Wk?@?iB!l?IBH];BCYJByJD!IbDV VDVʰ8yb%j:=ٔn;Q-r>9xYx=~tEy|E >!Q 5=5%5>?Q 9E5%@a)%BYy @Q I[@%DI%3%>% @%)>%\@ %+>)%ԇ@I%+!!%-=?N6? %e%@)%{*I%wi%+!i-lB)1I1I19999!Mchecking for new query: numPingsReceived=28, elapsed TxPingTime=13.913074ԡ ݂G5 {AI q9 {AY ~A bEU(N4jEUʷG4rEU/E  E E )E "E l;*E z:VE FA4ZE a% @a% @a% @a% @ m *@i  @q @u /@q Bm N>Bm CBm !IBm BBm b =Bi Bm JDBm ̟;Bm ZEBMCBMCBM̔CBMb =BMa =CM"76 checking for new query: numPingsReceived=28, elapsed TxPingTime=14.121807 ^A>IIO?3u#,ԍLA4<ɰ2a>?2#?2;<ٱ2=2H@Z c?O?]S ָ?~@zr?`A?i2a>?I2u];2CY>"By>K!IIB<)BC<@ I@)iY @bDuVDuư8y<%=ٔdT;Q->9Y=tEy#E>Q 551?Q 95ړ)BYl?Q E:y @Q I[@ DI; ;i/;95yɮAiiԍLAj A"j A:j1Z@Rjx/wN@Bjn%sܿ[)8_X?*jw2j+Zj3(j0@d^b$?Jj?.ZyԿKś6?j jhAiKǹ?i-j†Bj]Hj?j> B3jrjQAzj$@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503297 s, deltaX: 0.500000 m, approachRate: 0.993449 m/s, rangeRepo size: 4  Added new target pos. range: 17.880136 m, bearing: 340.824512 deg, lat: 36.779577 deg, lon: -121.859776 deg, deltaT: 0.503297 s, deltaX: 0.499725 m, approachRate: 0.992903 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.88 m.hhhhh!i!g!g!jg)rg-yBre)Ze):e5`f1@*e=?[}l?[}l?"[}>*[} @;<) =?iݿ9)顕68iiII)DDAT read: Rx Time:01:37:22.5990 TRx dataTimestamp_ set to:1764898643.391841 PDAT read: Bearing 34.0, -57.9 (Local) %~Local bearing/azimuth received: Bearing 34.0, -57.9 (Local) IeDAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 DAT read: 01:37:22.5990 LVL= 30800, 20913, 19954, 27619, AGC= 47, IDX= 510, 0.09,-2.430,-0.434,-0.219,-0.670, PHS=-1.658, 0.281, 0.407, RAW= 266.9, 9.7, CAL= 266.0, 9.9, ROT= 244.0, -9.9 Ygot valid direction response: 01:37:22.5990 LVL= 30800, 20913, 19954, 27619, AGC= 47, IDX= 510, 0.09,-2.430,-0.434,-0.219,-0.670, PHS=-1.658, 0.281, 0.407, RAW= 266.9, 9.7, CAL= 266.0, 9.9, ROT= 244.0, -9.9 T#Rx 29: Read range and direction messages.U`direction in FSK: [-0.431843,-0.885410,0.171929]UFpublishing direction and range infoyv4Rۿ]HU!?YPxQM k)IX9Կi;ߏ>Nb>@-\->@ ;0>){F@I;0йf1jc;?e"֫? $@)|y-Ii;0uchecking for new query: numPingsReceived=29, elapsed TxPingTime=14.4335980-@ @@/@ԡDE %=DA E  E E &E "E ;*E Ar:VE 4ZE BE @U checking for new query: numPingsReceived=29, elapsed TxPingTime=14.6255279u#,iԍLA2)?2?2VO<ٱ2 f=2H7齿@p`>?W?b){?`C?m?i2)?I2 ];2CY^ By^G!IbD- VD-8y]yf%eM=ٔeVr;Q-e>9iY=tEygE>Q 55(?Q 955) BYy@Q I[@DI;i$;p=5yBɮAͦEi i ԍLAj "j :j @Rj -lG/bʗ@Bj v4Rۿ]HU!?*j 2j ;0Zj =R;0@8%j Bj j '0.j rj EAzj @ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.506217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 17.880136 m, bearing: 341.158518 deg, lat: 36.779577 deg, lon: -121.859775 deg, deltaT: 0.506217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.88 m.hhhhhiggjgrgreZe:e*ee?[["[*[@VO<) ?i9)顝46h8iiT澉II}0/@y @@ 0@1DDAT read: Rx Time:01:37:23.0993 TRx dataTimestamp_ set to:1764898643.889278PDAT read: Bearing 59.0, -59.5 (Local) ~Local bearing/azimuth received: Bearing 59.0, -59.5 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 DAT read: 01:37:23.0993 LVL= 30064, 21265, 17122, 26595, AGC= 48, IDX= 513,-0.25, 1.799,-2.686,-2.608, 3.119, PHS=-1.218, 0.523, 0.513, RAW= 270.3, 2.1, CAL= 268.1, -3.3, ROT= 241.9, 3.3 Ygot valid direction response: 01:37:23.0993 LVL= 30064, 21265, 17122, 26595, AGC= 48, IDX= 513,-0.25, 1.799,-2.686,-2.608, 3.119, PHS=-1.218, 0.523, 0.513, RAW= 270.3, 2.1, CAL= 268.1, -3.3, ROT= 241.9, 3.3  T#Rx 30: Read range and direction messages. bdirection in FSK: [-0.470231,-0.880664,-0.057564]Fpublishing direction and range infoyF~C޿df.`8.yYfApuSB g)0Im盿iT?S?@Q =<@ k):@Ik=z:P'ꊳ?Ml\? '@)VIAik=-checking for new query: numPingsReceived=30, elapsed TxPingTime=14.8940849 ^A >I I O% >V@u#,ՍLA6j?6?6 <ٱ6ճ=6H`{S|?B?庿]-?`p??i6j?I6];6CEB EBEB)E@"EB:*EB:VEBFA4ZE@aJ@aJ@aJ@aJ@YJ"ByJJ!IieMb@Mb@Mb@aaaa a9e?A`"?~jt?Yef?yeY>e9Y=tEy%E>Q 55?Q 95)BY?Q E:y@Q I[@DI:i=:@5yɮAiiԍLAjjx}Bj?jjrjAzj%@- addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.497437 s, deltaX: 0.400000 m, approachRate: 0.804121 m/s, rangeRepo size: 4 E Added new target pos. range: 18.279694 m, bearing: 337.681336 deg, lat: 36.779577 deg, lon: -121.859775 deg, deltaT: 0.497437 s, deltaX: 0.399557 m, approachRate: 0.803232 m/s, posRepo size: 4 EDNOT Ignoring new targets: 18.28 m.hAhIhIhIhIiIgIgIjgQrgUBreYZeY:e]L2@*e]?[}?[}?"[}>*[}t@ <) ?i9)顕XH68iiЏIIB<ABU>BCB !IBBB_ =BBKDB;BxZEchecking for new query: numPingsReceived=30, elapsed TxPingTime=15.129649I1@ @@0@y^A IA Ii Թ O > DDAT read: Rx Time:01:37:23.5993  TRx dataTimestamp_ set to:1764898644.393091 PDAT read: Bearing 64.4, -64.6 (Local)  ~Local bearing/azimuth received: Bearing 64.4, -64.6 (Local)  DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4  DAT read: 01:37:23.5993 LVL= 27984, 18865, 17618, 27379, AGC= 49, IDX= 513, 0.25,-3.050,-1.266,-1.004,-1.775, PHS=-1.173, 0.553, 0.727, RAW= 265.3, -1.2, CAL= 263.0, -6.3, ROT= 247.0, 6.3  Ygot valid direction response: 01:37:23.5993 LVL= 27984, 18865, 17618, 27379, AGC= 49, IDX= 513, 0.25,-3.050,-1.266,-1.004,-1.775, PHS=-1.173, 0.553, 0.727, RAW= 265.3, -1.2, CAL= 263.0, -6.3, ROT= 247.0, 6.3  T#Rx 31: Read range and direction messages. bdirection in FSK: [-0.388372,-0.914946,-0.109734] Fpublishing direction and range infoy  Cftؿgk"@) R9Y=tEyE>Q 55?Q 95)BYyQ I[@!DI:i:zD5yɮAiig(ՍLAj=A"j=A:jY@Rj\/e?⨹0vTh- BjCftؿgk IY I O > Lu#,a6ՍLAh-F͸?-?-=ٱ-س=-H:➵??oH?V@p?G?i-F͸?I-I];-CY=ByE@!IuDDAT read: Rx Time:01:37:24.0996 }TRx dataTimestamp_ set to:1764898644.897126PDAT read: Bearing 30.8, -57.8 (Local) ~Local bearing/azimuth received: Bearing 30.8, -57.8 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 ]DAT read: 01:37:24.0996 LVL= 22480, 14801, 17106, 18931, AGC= 53, IDX= 4,-0.04,-0.575, 1.422, 1.659, 1.205, PHS=-1.678, 0.262, 0.411, RAW= 266.3, 10.0, CAL= 265.6, 10.5, ROT= 244.4, -10.5 Ygot valid direction response: 01:37:24.0996 LVL= 22480, 14801, 17106, 18931, AGC= 53, IDX= 4,-0.04,-0.575, 1.422, 1.659, 1.205, PHS=-1.678, 0.262, 0.411, RAW= 266.3, 10.0, CAL= 265.6, 10.5, ROT= 244.4, -10.5 T#Rx 32: Read range and direction messages.`direction in FSK: [-0.424851,-0.886731,0.182236]Fpublishing direction and range infoyquXƲ0ۿ`쿥m~S?YufAquWu9uB uI)u5Iuֿiu$>un>uߺ@u¸2>uV@ uf;>)u@Iuf;qquKXq: ^x?>]0? u-u#@)uj2Iu_ iuf;qq checking for new query: numPingsReceived=32, elapsed TxPingTime=15.938312iMb@Mb@Mb@ 9rh|?"~?y&1?Y>yS>`e<@@ I@)YbDUVDU8y% =ٔX;Q->9Y=tEyO E>Q 5]5 ?Q 9]5-})BYe?Q Ee:ye@Q Ie[@*DIA8%ju†Brju-Azju@M addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504035 s, deltaX: 0.500000 m, approachRate: 0.991995 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.779480 m, bearing: 340.105043 deg, lat: 36.779578 deg, lon: -121.859770 deg, deltaT: 0.504035 s, deltaX: 0.499454 m, approachRate: 0.990912 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.78 m.hahahahahaE EE*E"E&:*EAr:VE(N4ZEa@a@a@a@iaggjgrgBreZe:e2@*eYg?[ ?[ ?"[ e>*[ @=)! %?!i%}9))-gt6-9i1iMcIIIIIIBV>BCBBBBBBm;BNZE% checking for new query: numPingsReceived=32, elapsed TxPingTime=16.138048 b7@  @ @ /@ @ @ @ @ Q ԁ I I O >Tu#,| SՍLAR|?R%b?Rs=ٱR =RH@ԝ@??$ʱ? !V??iR|?IRN];RCYbByb5!IbDnVDn8y-^% z=ٔ ;Q-?9!Y)=5tEy1=_EE?YQ 5u5]Q?Q 9}5]y)]BYyg@Q I[@]0DI];i]t;]K5yɮADNOT Ignoring new targets: 18.78 m.hhhhhiggjgrgreZe:e*en?-DDAT read: Rx Time:01:37:24.5997 -TRx dataTimestamp_ set to:1764898645.401255=PDAT read: Bearing 29.7, -58.2 (Local) =~Local bearing/azimuth received: Bearing 29.7, -58.2 (Local) MDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 uDAT read: 01:37:24.5997 LVL= 28736, 18529, 18786, 27203, AGC= 50, IDX= 501,-0.38,-1.198, 0.782, 1.038, 0.575, PHS=-1.671, 0.252, 0.419, RAW= 265.9, 10.0, CAL= 265.2, 10.5, ROT= 244.8, -10.5 }Ygot valid direction response: 01:37:24.5997 LVL= 28736, 18529, 18786, 27203, AGC= 50, IDX= 501,-0.38,-1.198, 0.782, 1.038, 0.575, PHS=-1.671, 0.252, 0.419, RAW= 265.9, 10.0, CAL= 265.2, 10.5, ROT= 244.8, -10.5 }T#Rx 33: Read range and direction messages.`direction in FSK: [-0.418650,-0.889676,0.182236]Fpublishing direction and range infoy)-58(ڿ8x쿥m~S?Y))-@p-aH-bI -Cj)-2I-Tտi-%>-+>-@)-@ ))-ܸ@I)))[[-qHگ? X<'? -O"@)-%2I-i)))checking for new query: numPingsReceived=33, elapsed TxPingTime=16.409695"[*[g@s=) ?i9)c6r9ii5L\99I9I99@ @@1@IIOH>)EE EEEE+EA"EE~ ;*EE:VEE [4ZEABEE V];BCPYRByR7!IIV<)Vp;XXbD^VD^8yf;%fO=ٔf:Q-j>9hYh=jtEyhnȼEn>pQ 5v5r?Q 9v5r2t)rBYtyv@Q Iv[@r6DIr):ir6:r?O5y|ɮ~A|iiim)YՍLAji"ji:jmK@Rjmɻr+0~Y6n` @Bjm58(ڿ8x쿥m~S?*jm2jiZjmnjJj1@+ @JjmRڬ?>yֿݍ" ?jm jmRAim|0?im$jmBBjm|0?jm$jmBrjmLAzjmK@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.779528 m, bearing: 338.933774 deg, lat: 36.779578 deg, lon: -121.859770 deg, deltaT: 0.504129 s, deltaX: 0.000048 m, approachRate: 0.000095 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.78 m.hhhhhiggjgrgreZe:e*e?[Y[Y"[Y*[]@m |=)i u?iu9)qu6}9iyiBK III=)=UDDAT read: Rx Time:01:37:25.0998 ]TRx dataTimestamp_ set to:1764898645.906739ePDAT read: Bearing 27.9, -59.3 (Local) m~Local bearing/azimuth received: Bearing 27.9, -59.3 (Local) }DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.4 DAT read: 01:37:25.0998 LVL= 25744, 21217, 17170, 25203, AGC= 49, IDX= 502, 0.18, 0.642, 2.598, 2.909, 2.416, PHS=-1.671, 0.227, 0.449, RAW= 264.5, 9.9, CAL= 263.9, 10.3, ROT= 246.1, -10.3 Ygot valid direction response: 01:37:25.0998 LVL= 25744, 21217, 17170, 25203, AGC= 49, IDX= 502, 0.18, 0.642, 2.598, 2.909, 2.416, PHS=-1.671, 0.227, 0.449, RAW= 264.5, 9.9, CAL= 263.9, 10.3, ROT= 246.1, -10.3 9T#Rx 34: Read range and direction messages.`direction in FSK: [-0.398613,-0.899521,0.178802]Fpublishing direction and range infoyQU"Am߂ٿ+m쿖?YU3AQUdURUC Usb)U1IQiUrh>UT>U@U;0>Uc@ UX8>)Ur@IUX8QQUbǛJ?@? Ur!@)Ug0IUtiUX8QQchecking for new query: numPingsReceived=34, elapsed TxPingTime=16.93830759@1 @1@5?0@5IAIYOe>) Ee  Ee Ee (Ea "Ee V:*Ee x:VEe c44ZEa am @am @am @am @au#,EՍLA|A9A=AABEW>BABE IBEBBABABABEv;BEYZEYeBye !Ichecking for new query: numPingsReceived=34, elapsed TxPingTime=17.145693iMb@Mb@Mb@ 9m?A`"?I +?Y>yY>94<@v@ `@)@YbD VD 8y-t%-6=ٔ5Q-5>91Y9==tEy9=E=>AQ 5M5E?Q 9M5En)E"BYU?Q EU:yU@Q IU[@E=DIE;iE;E,S5y]Bɮ]AeæEiizՍLAj A"j A:jP@RjńC6?09j @Bj"Am߂ٿ+m쿖?*jt2jX8Zj8F1@ dn]vc@JjG?NR⒍տA@?jt jMAiĥ?iςjBjn?j^$jBrjAzj]@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.505484 s, deltaX: 0.100000 m, approachRate: 0.197831 m/s, rangeRepo size: 4 = Added new target pos. range: 18.879467 m, bearing: 340.202882 deg, lat: 36.779578 deg, lon: -121.859770 deg, deltaT: 0.505484 s, deltaX: 0.099939 m, approachRate: 0.197710 m/s, posRepo size: 4 =DNOT Ignoring new targets: 18.88 m.h9hAhAhAhAgAgAjgIrgMBreiZei:eu`f2@*eu`?[?[?"[M>*[@) ?i^9)c6o/9iigII)}9@y @y@}25@yIIO_>YU DDAT read: Rx Time:01:37:25.5999 ] TRx dataTimestamp_ set to:1764898646.409088e PDAT read: Bearing 25.9, -59.2 (Local) e ~Local bearing/azimuth received: Bearing 25.9, -59.2 (Local) u DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.4  DAT read: 01:37:25.5999 LVL= 24624, 18865, 17986, 26307, AGC= 50, IDX= 503,-0.08,-2.357,-0.412,-0.086,-0.577, PHS=-1.679, 0.210, 0.446, RAW= 264.2, 10.2, CAL= 263.6, 10.8, ROT= 246.4, -10.8  Ygot valid direction response: 01:37:25.5999 LVL= 24624, 18865, 17986, 26307, AGC= 50, IDX= 503,-0.08,-2.357,-0.412,-0.086,-0.577, PHS=-1.679, 0.210, 0.446, RAW= 264.2, 10.2, CAL= 263.6, 10.8, ROT= 246.4, -10.8  T#Rx 35: Read range and direction messages. `direction in FSK: [-0.393258,-0.900131,0.187381] Fpublishing direction and range infoyQ U CW"+ٿ,cw0i?YU ̘AQ U 0`U IU BF U f)U 2IU yֿiU = W>U Z>U @U K6>U 8@ U A>)U @IU AQ Q U Z +YQNgpn?? U |!@)U R5IU iU AQ Q  checking for new query: numPingsReceived=35, elapsed TxPingTime=17.413479ԁ gu#,OՍLAV%?V ?V] =ٱV*=VH 姿 m?`d?(ly?Jc?@ ?iV%?IV=^;VCYzByz !IbD VD8y5Ľ%5[=ٔ=:Q-=>99Y9==uEyAE6EE>QIQ 5u5MM퟊?Q 9u5M]j)M%BYyy}@Q I}[@MDDIM;iM:MoV5yBɮaA¦Eiyi}.ՍLAj}A"j}A:j}'@Rj}B"HK,1[]˙ @Bj}CW"+ٿ,cw0i?*j}2j}AZj}? 81@ ra@Cvd@Jj}N*?cNw-ֿAik1+?j} j}Ai}nIƥ?i}]Cj}GBj}ĥ?j}]Cj}BBrj}Azj}֦@E EE'E"E/;*E:VE'4ZEBE͈ԡ m DDAT read: Rx Time:01:37:26.1001 u TRx dataTimestamp_ set to:1764898646.916203} PDAT read: Bearing 24.5, -59.3 (Local) } ~Local bearing/azimuth received: Bearing 24.5, -59.3 (Local)  DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.4 i1nu#,ՍLAV# ?V^?V[ =ٱV=VH񅣿\ָ?@L?5=?j d,??iV# ?IV^;VC^DAT read: 01:37:26.1001 LVL= 26016, 18705, 16882, 25411, AGC= 50, IDX= 506,-0.44,-1.875, 0.067, 0.410,-0.087, PHS=-1.687, 0.198, 0.452, RAW= 263.8, 10.3, CAL= 263.3, 11.0, ROT= 246.7, -11.0 bYgot valid direction response: 01:37:26.1001 LVL= 26016, 18705, 16882, 25411, AGC= 50, IDX= 506,-0.44,-1.875, 0.067, 0.410,-0.087, PHS=-1.687, 0.198, 0.452, RAW= 263.8, 10.3, CAL= 263.3, 11.0, ROT= 246.7, -11.0 bT#Rx 36: Read range and direction messages.f`direction in FSK: [-0.388278,-0.901572,0.190809]fFpublishing direction and range infoyG܍ؿԴ,P@ml?YAeIA Cc)I׿iJ>l>nU@X8> @  D>)ȉ@I D^ŃX}e&:?"3P?  @)7I[i D)Uchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.961992YMByU!IiMb@Mb@Mb@ 9ףp= ?A`"?~jtx?Y>y;@ v@)@YbDVDŰ8y%!=ٔ9Q->9Y=uEyЉE>Q 55㟊?Q 95d)(BY>Q E:y@Q I[@KDIo:i4:Z5yɮA1QE EE+E"E:*Ex:VE [4ZEa@a@a@a@iiՍLAjԛA"jԛA:j؏@Rj,f@1T޻ @BjG܍ؿԴ,P@ml?*j[2j DZjah2@_8L@JjLa?-eQ\ֿ PQ}D?j jAiRڥ?iV}j]BjnIƥ?jjGBrjAzj)c@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.507115 s, deltaX: 0.400000 m, approachRate: 0.788775 m/s, rangeRepo size: 4 % Added new target pos. range: 19.478815 m, bearing: 339.409245 deg, lat: 36.779579 deg, lon: -121.859765 deg, deltaT: 0.507115 s, deltaX: 0.399565 m, approachRate: 0.787917 m/s, posRepo size: 4 -DNOT Ignoring new targets: 19.48 m.h)h)h)h)hIgIgQjgQrgUiBreQZeY:e]3@*e] @1?[>[>"[.>*[@[ =) ?iO9)F6O9iieII yA zABL>BCB IB؂BB] =BBB};Bt9IyA)yAMchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.157736ԁ]9@Y @Y@]?5@YIiIO>Ա uu#,{KՍLAE?ԩߩߩDDAT read: Rx Time:01:37:26.6001 TRx dataTimestamp_ set to:1764898647.421388PDAT read: Bearing 24.2, -60.2 (Local) ~Local bearing/azimuth received: Bearing 24.2, -60.2 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.4 DAT read: 01:37:26.6001 LVL= 27104, 18321, 17570, 25315, AGC= 50, IDX= 506, 0.15,-2.032,-0.102, 0.265,-0.254, PHS=-1.676, 0.197, 0.475, RAW= 263.2, 9.9, CAL= 262.6, 10.3, ROT= 247.4, -10.3  Ygot valid direction response: 01:37:26.6001 LVL= 27104, 18321, 17570, 25315, AGC= 50, IDX= 506, 0.15,-2.032,-0.102, 0.265,-0.254, PHS=-1.676, 0.197, 0.475, RAW= 263.2, 9.9, CAL= 262.6, 10.3, ROT= 247.4, -10.3  T#Rx 37: Read range and direction messages.`direction in FSK: [-0.378102,-0.908333,0.178802]Fpublishing direction and range infoy F2ؿ5?YiGD b)I+ֿi^I>33>@;0>ܩ@ X8>),@IX8ww67;5G@?8? @)1IiX85checking for new query: numPingsReceived=37, elapsed TxPingTime=18.426241EX?E =ٱEr=EH`e?? ? ?x~`?t?iE?IE3^;ECYBy IԹbDVD8yh%9=ٔ]9Q-]>9aYa=muEyiu礼Eu>Q 55ڟ?Q 95p_)+BYy-@Q I[@SDI;iY;^5y ɮ A iiՍLAjӛA"jӛA:j#@Rjd Mu!.Td1dv @Bj F2ؿ5?*j2jX8Zjk(2@ E;{C>?JjV?'Dֿw 4?j j@Aieԥ?i脵j̆BjjV}jBBrjcAzj-@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.505185 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.478481 m, bearing: 339.530205 deg, lat: 36.779579 deg, lon: -121.859765 deg, deltaT: 0.505185 s, deltaX: -0.000334 m, approachRate: -0.000661 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.48 m.hhhhhggjgrgreZe:e*eY?[Q[Q"[Q*[U-@e =)a eȞ?ieo9)額6_9iibIID=DE EE)E"E:*Exv:VEFA4ZEBEM- c9{u#,ՍLA2 ?2D?2C =ٱ2{=2H o#$??ΐw? *й?k?i2 ?I2z^;2CYB҂ByB IbDJVDJ8yfL %f=ٔf9Q-f*?9hYh=juEyhjEn1?Q 5-5H֟?Q 9-5\)-BY)y-@Q I-[@VDI;i#;a5yYɮ]=AYDNOT Ignoring new targets: 19.48 m.hhhhhggjgrgreZe:e*e?[["[*[@C =) ??i9)g9ii g  I I 9@ @@/@IIO )>!DDAT read: Rx Time:01:37:27.1004 TRx dataTimestamp_ set to:1764898647.925081PDAT read: Bearing 21.8, -60.4 (Local) ~Local bearing/azimuth received: Bearing 21.8, -60.4 (Local) DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4  DAT read: 01:37:27.1004 LVL= 25072, 17953, 14626, 22163, AGC= 48, IDX= 509,-0.17, 3.042,-1.323,-0.920,-1.446, PHS=-1.693, 0.169, 0.482, RAW= 262.3, 10.3, CAL= 261.9, 11.0, ROT= 248.1, -11.0 Ygot valid direction response: 01:37:27.1004 LVL= 25072, 17953, 14626, 22163, AGC= 48, IDX= 509,-0.17, 3.042,-1.323,-0.920,-1.446, PHS=-1.693, 0.169, 0.482, RAW= 262.3, 10.3, CAL= 261.9, 11.0, ROT= 248.1, -11.0 T#Rx 38: Read range and direction messages.%`direction in FSK: [-0.366135,-0.910789,0.190809]%Fpublishing direction and range infoyn׿6/%P@ml?YAa!F"9 V)0I9ؿiV->>~@X8>E@  D>)@I D+ @迟]9;?'~и? @)?7Ii DEchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.929426 IQaG/{A 5 wT95 /{AY5 xPAbEMFA4jEMh=4rEMʓ/E  E E E "E :*E x:VE ZE a @a @a @a @ԁ '1u#,1 ֍LA;ɰB"<A"<B&?>B&CB& IB&ĂBB&c =B$B&IDB&z;B&HZEB CB CB B _ =B ` =C 6F?F{?Fw =ٱF=FH `qT??P~  ? i? p?iF?IF^;FCY^߂By^ Ichecking for new query: numPingsReceived=38, elapsed TxPingTime=19.165453iMb@Mb@Mb@ 9x&?B`"?y&1|?Y7>yN>`;@ )@Y=@bD VD 1y=W]=%=3=ٔE?8Q-E>9AYA=EuEyIMYEM>qQ 5}5uΟ?Q 9}5uW)u0BY}D>Q E:yY@Q I[@u]DIu:iu:u e5yBɮAEii4ՍLAjџA"jџA:jw@RjFAn12n~@Bjn׿6/%P@ml?*j2j DZjGx"2@÷'kDMM@JjG8?<|ֿ^?j< jAi i륊?ipj2Bjeԥ?jςj2BrjpAzj@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503693 s, deltaX: 0.500000 m, approachRate: 0.992668 m/s, rangeRepo size: 4 - Added new target pos. range: 19.977230 m, bearing: 339.242373 deg, lat: 36.779581 deg, lon: -121.859764 deg, deltaT: 0.503693 s, deltaX: 0.498749 m, approachRate: 0.990184 m/s, posRepo size: 4 MDNOT Ignoring new targets: 19.98 m.hIhQhQhQhQgQgQjgYrgYreYZeY:e]4@*ee ?[D>[D>"[u>*[Y@w =) p?ij9)4Lx9iidIII4>)F?a 9>i>ԑDDAT read: Rx Time:01:37:27.6004 TRx dataTimestamp_ set to:1764898648.429975PDAT read: Bearing 22.4, -61.1 (Local) ~Local bearing/azimuth received: Bearing 22.4, -61.1 (Local) DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4 % DAT read: 01:37:27.6004 LVL= 27808, 18273, 16338, 24739, AGC= 48, IDX= 509, 0.29, 2.997,-1.370,-0.962,-1.508, PHS=-1.676, 0.183, 0.502, RAW= 262.2, 9.8, CAL= 261.5, 9.9, ROT= 248.5, -9.9 - Ygot valid direction response: 01:37:27.6004 LVL= 27808, 18273, 16338, 24739, AGC= 48, IDX= 509, 0.29, 2.997,-1.370,-0.962,-1.508, PHS=-1.676, 0.183, 0.502, RAW= 262.2, 9.8, CAL= 261.5, 9.9, ROT= 248.5, -9.9 5 T#Rx 39: Read range and direction messages.= `direction in FSK: [-0.361044,-0.916563,0.171929]= Fpublishing direction and range infoyyV׿:'|T!?YlaG? `)I+ֿiZd;>?p@%/> @ ;0>)Ɋ@I;0&m进ҍS?Oz&α? @)e.Ii;0 9@  @ @ 4@ I I O >e checking for new query: numPingsReceived=39, elapsed TxPingTime=19.440229Թ [u#, #֍LA2a?2G?2` =ٱ2=2H [Cj?$? ^?㙡?(`i?h?i2a?I2^;2CYNʂByN IbDZVDZ8yr%rc=ٔr~9Q-v>9tYt=vuEytzּEz>|Q 5%5~{ȟ?Q 9%5~CT)~2BY!y%@Q I%[@~bDI~2;i~:~'h5y1ɮ5NA1DYzD]AAE EE*E"E:*E|:VE(N4ZEBEE8?[["[*[@ԑ` =) L?i9)Ȃ9iiiIIchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.670258Թ9@ @@/@ Iq I OM >߹ ߽ R= DDAT read: Rx Time:01:37:28.1007  TRx dataTimestamp_ set to:1764898648.933353 PDAT read: Bearing 27.1, -46.3 (Local)  ~Local bearing/azimuth received: Bearing 27.1, -46.3 (Local)  DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.4  DAT read: 01:37:28.1007 LVL= 26608, 17137, 18354, 23523, AGC= 48, IDX= 512,-0.17,-1.052, 0.941, 0.752, 0.581, PHS=-1.531, 0.405, 0.127, RAW= 277.6, 11.0, CAL= 276.4, 14.5, ROT= 233.6, -14.5 9 (u#,<֍LAEYgot valid direction response: 01:37:28.1007 LVL= 26608, 17137, 18354, 23523, AGC= 48, IDX= 512,-0.17,-1.052, 0.941, 0.752, 0.581, PHS=-1.531, 0.405, 0.127, RAW= 277.6, 11.0, CAL= 276.4, 14.5, ROT= 233.6, -14.5 NT#Rx 40: Read range and direction messages.R`direction in FSK: [-0.574517,-0.779256,0.250380]RFpublishing direction and range infoybqb4Ȏ迁=9?Y3AgBG [)Iÿi)\>J > @ D>^@ >)w@I: # A?y? H0@)XEI0 irchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.969223o&? ?tk =ٱW=H@?=??`Qy?(?`j?`\?io&?I~];CY5ȂBy5 IiMb@Mb@Mb@ 9x?|?5^?Mb?YK>yR><@ )@Y@ =bDVDð8yy޻% =ٔ9Q->9!Y!=%uEy!%횼EM>IQ 5U5Mƿ?Q 9]5MeO)M7BY]>Q E];y]@Q I][@MiDIM,:iM:Ml5Em EmEiEi"Em ;*Em:VEiZEia}@a}@a}@a}@yBɮAEii;֍LAjA"jA:j(@Rj\>i'Xd/sǫbh@Bjbqb4Ȏ迁=9?*j0 2jZjh:0@sbk'b@Jj.B"&|?c8`?j^; jӁAi[J?igRijuBjjjrjAzj@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503378 s, deltaX: 0.400000 m, approachRate: 0.794631 m/s, rangeRepo size: 4 M Added new target pos. range: 20.376774 m, bearing: 324.185256 deg, lat: 36.779581 deg, lon: -121.859762 deg, deltaT: 0.503378 s, deltaX: 0.399544 m, approachRate: 0.793725 m/s, posRepo size: 4 MDNOT Ignoring new targets: 20.38 m.hQhQhQhQhQgQgQjgYrg]HBreYZea:ee`ff4@*ee@?[>[>"[?*[@tk =) ?i׺9)49iifII9BM:>BMCBM IBMBBIBIBMHDBMu;BM@ZEchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.173685i  Ƨ9 @  @ @ x4@ I! IA Om >}u#,lW֍LAXX??\=ٱ =Hˑ? ??e? z? bS??i?I_];CY%By- I15=bD=.VD=װ8yMI%M=ٔU:Q-U ?9QY=uEyE?Q 5 5;?Q 9 59L):BY y @Q I [@mDI:i2:o5yɮA]DDAT read: Rx Time:01:37:28.6007 eTRx dataTimestamp_ set to:1764898649.437128mPDAT read: Bearing 38.2, -55.0 (Local) m~Local bearing/azimuth received: Bearing 38.2, -55.0 (Local) }DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.4 DAT read: 01:37:28.6007 LVL= 24224, 17393, 16690, 22099, AGC= 47, IDX= 512, 0.04, 0.141, 2.381, 2.353, 1.921, PHS=-1.677, 0.505, 0.389, RAW= 272.7, 7.4, CAL= 271.0, 4.6, ROT= 239.0, -4.6 Ygot valid direction response: 01:37:28.6007 LVL= 24224, 17393, 16690, 22099, AGC= 47, IDX= 512, 0.04, 0.141, 2.381, 2.353, 1.921, PHS=-1.677, 0.505, 0.389, RAW= 272.7, 7.4, CAL= 271.0, 4.6, ROT= 239.0, -4.6 T#Rx 41: Read range and direction messages.`direction in FSK: [-0.513379,-0.854406,0.080199]Fpublishing direction and range infoyY]W-mLWzꇴ?YYY]^]C]2A ]SV)]/I]ֿi]G?]+>]M@] A>]Z@ ]l=)]{@I]lYY],r%3B?e\?iYi][֍LAjY"jY:j]@@Rj]p$h1`q%?Bj]W-mLWzꇴ?*j](2j]lZj] ( M1@t}ن%W?Jj]a~+?u:40vj ?j]6, j]hAi]H$l?i]t\TgI ]*@)]I](i]lYYuchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.461653j]Bj]eԥ?jYj]̆Brj] Azj]f@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503775 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.376577 m, bearing: 328.113131 deg, lat: 36.779581 deg, lon: -121.859762 deg, deltaT: 0.503775 s, deltaX: -0.000196 m, approachRate: -0.000390 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.38 m.hhhh!h!g)g)jg)rg)re1Ze1:e1*e5?[["[*[(@\=) ?i9)S(5-9i)i5c19I9IYyE] E]EYEY"E] ;*E]ą:VEYZEYBE]L]u#,Tp֍LA:ѫ?: ?<:a=ٱ: =:H,?p??? zW?{`0?`?i:ѫ?I:];:CYFByF IbDR1VDRڰ8yZtX%ZU=ٔZ p:Q-Z>9\Y\=^uEy\b߼Eb>dQ 5j5fE?Q 9j5fH)f=BYhyj@Q In[@frDIf;if;fr5ypɮroAp DNOT Ignoring new targets: 20.38 m.h h h h hggjgrgreZe:e*e% ??[A[A"[A*[E@Ua=)Q Ui?i"9)顝sj5&9iihIIԩը9Y@a @a@e0@aIqIO:>DDAT read: Rx Time:01:37:29.1007 TRx dataTimestamp_ set to:1764898649.947699DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.3 Z#Rx 42: Read range message, but no direction.yYchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.939919 Ee  Ee Ee +Ea "Ee ;*Ee x:VEe [4ZEa am @au @au @au @A AAA @AB 6>B B IB BB d =B B B ;B RZEǎu#,V֍LA2|k?2P?2C=ٱ2̓=2Hj?w4?D?`H֤?ş?@`߻?`(?i2|k?I2];2CYBByB Ilchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.189619iMb@Mb@Mb@ 9~jt?:v?Mb?Y>yT><@@ `@)@YbDVD8y<%;=ٔ":Q->9Y=uEyE>Q 55(?Q 95&E)CBYż>Q E;y@Q I[@wDIr;iv;v5y~Bɮ$AE  addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.510571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 20.38 m.hhhhhggjgrg%:Bre!Ze!:e!*e%?[ż>[ż>"[?*[n@C=) ?i~9)59iieIII5X?)5Q?  9@ @@?0@II)OMR>1DDAT read: Rx Time:01:37:29.6007 TRx dataTimestamp_ set to:1764898650.453032PDAT read: Bearing 38.1, -59.5 (Local) ~Local bearing/azimuth received: Bearing 38.1, -59.5 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.3 DAT read: 01:37:29.6007 LVL= 29872, 18513, 16114, 23731, AGC= 46, IDX= 513, 0.20, 1.809,-2.290,-2.160,-2.716, PHS=-1.655, 0.472, 0.512, RAW= 269.1, 6.3, CAL= 266.7, 2.5, ROT= 243.3, -2.5  Ygot valid direction response: 01:37:29.6007 LVL= 29872, 18513, 16114, 23731, AGC= 46, IDX= 513, 0.20, 1.809,-2.290,-2.160,-2.716, PHS=-1.655, 0.472, 0.512, RAW= 269.1, 6.3, CAL= 266.7, 2.5, ROT= 243.3, -2.5  T#Rx 43: Read range and direction messages. `direction in FSK: [-0.448891,-0.892521,0.043619] Fpublishing direction and range infoyeRעܿgIb쿥GU?YtQH> \).I ӿi>o?6K@z0=@ ¸2=)e@I¸2RIDHOLuX? }? &@)ZIZi¸2- checking for new query: numPingsReceived=43, elapsed TxPingTime=21.457170i Hu#,A֍LA4<ɰ;2O0?2?2=ٱ20-=2H?`[F?@?u̩?$?`V??i2O0?I2w];2CYNByN IbDVVDV8y^|c%b[=ٔbɵ:Q-b>9dYd=fuEydfӼEf>hQ 5n5j+?Q 9r5jB)jIBYpyrb@Q Ir[@j{DIj;ij;jy5ytɮv)AxiE! E%E%*E!"E!*E%:VE%(N4ZE!BE%Aԑ  DDAT read: Rx Time:01:37:30.1009  TRx dataTimestamp_ set to:1764898650.957095 PDAT read: Bearing 16.4, -63.7 (Local)  ~Local bearing/azimuth received: Bearing 16.4, -63.7 (Local)  DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.3  DAT read: 01:37:30.1009 LVL= 26832, 17041, 14114, 22467, AGC= 52, IDX= 3, 0.20, 0.432, 2.258, 2.781, 2.174, PHS=-1.640, 0.130, 0.563, RAW= 259.3, 9.4, CAL= 258.5, 9.4, ROT= 251.5, -9.4  Ygot valid direction response: 01:37:30.1009 LVL= 26832, 17041, 14114, 22467, AGC= 52, IDX= 3, 0.20, 0.432, 2.258, 2.781, 2.174, PHS=-1.640, 0.130, 0.563, RAW= 259.3, 9.4, CAL= 258.5, 9.4, ROT= 251.5, -9.4  T#Rx 44: Read range and direction messages. `direction in FSK: [-0.313044,-0.935590,0.163326] Fpublishing direction and range infoy  ϶Կ$Y$vz?Y A h B "7 W) 4I ѿi > ? Ґ@ '> _@ '>) v@I ' =u#,~q֍LA2?2?2X=ٱ2A=2H?IR~? ? ڮ?CM?@??i2?I2x];2CE]jW׉$?7? e@)(I/di'Zchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.986992YbByb Iԙi5Mb@Mb@Mb@1111 195"~?MbX?Q?Y5>y5J>5u<5@1 1)11Y1bDMVDM8y/%.=ٔ:Q->9Y=uEyE>Q 55?Q 95I>)OBY>Q E;y%@Q I%[@DI:i :}5y)ɮ-SAiii A֍LAjhA"jhA:j@Rjznd*#X3ز) @Bj϶Կ$Y$vz?*j/d2j'Zj0i953@Ѫ'/~ AVX?Jj(O?{10I׿ޝ5yJ?j jAi?iq-jBjjjBrj AzjTw@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504063 s, deltaX: 0.300001 m, approachRate: 0.595166 m/s, rangeRepo size: 4 E5 E5E5+E1"E5 ;*E5:VE5 [4ZE1a=@a=@a=@a=@e Added new target pos. range: 20.676048 m, bearing: 338.610027 deg, lat: 36.779571 deg, lon: -121.859786 deg, deltaT: 0.504063 s, deltaX: 0.299654 m, approachRate: 0.594477 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.68 m.hihihihihigqgqjgqrgu4BreyZey:e}@34@*e}$?[>[>"[?*[@X=) ?i9)=5"9iigIAIABBCB IBBBBBB;B[ZE9iIA%checking for new query: numPingsReceived=44, elapsed TxPingTime=22.198643@ @@=0@IIO>! $εu#,SY֍LAB{?B?Bm=ٱB9=BH)?@ݵ?x?[?ʖ?آQ??iB{?IBo];@YZBy^ I b=`bDfVDfȰ8ynw%nn=ٔn:Q-r?9pYp=ruEypvEv?xQ 5~5z ?Q 9~5z;)zTBY|y~&@Q I[@zDIzo;iz;z5y ɮ iA DNOT Ignoring new targets: 20.68 m.hhhhhggjgrgreZe:e*eF?[![!"[!*[%&@Um=)Q UV?i]%9)Y] 6]89iYiedaaIa}DDAT read: Rx Time:01:37:30.6009 }TRx dataTimestamp_ set to:1764898651.461229PDAT read: Bearing 14.8, -63.4 (Local) ~Local bearing/azimuth received: Bearing 14.8, -63.4 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.3 DAT read: 01:37:30.6009 LVL= 25280, 15969, 12706, 23859, AGC= 49, IDX= 499, 0.19,-0.037, 1.766, 2.295, 1.700, PHS=-1.635, 0.111, 0.551, RAW= 259.0, 9.7, CAL= 258.4, 10.0, ROT= 251.6, -10.0 Ygot valid direction response: 01:37:30.6009 LVL= 25280, 15969, 12706, 23859, AGC= 49, IDX= 499, 0.19,-0.037, 1.766, 2.295, 1.700, PHS=-1.635, 0.111, 0.551, RAW= 259.0, 9.7, CAL= 258.4, 10.0, ROT= 251.6, -10.0 T#Rx 45: Read range and direction messages.`direction in FSK: [-0.310853,-0.934461,0.173648]Fpublishing direction and range infoyy}smaӿٖNs:?Yyy}b}a>}1 }3])}1I}Gѿi}S=}V ?}$@}-\->}ZQ@ }¸2>)}@I}¸2yy}9F/ Y?=/?Ii }L@)}:4.I}*i}¸2yychecking for new query: numPingsReceived=45, elapsed TxPingTime=22.469841 xAyA(9!}9@y @y@} 5@IIO>>D1D5%=E= E=E9E9"E=;*E=:VE9ZE9BE9aE2E9aEJE=;aE:E=;aMI% checking for new query: numPingsReceived=45, elapsed TxPingTime=22.701532q u#,t&֍LA2j?2P?2=ٱ2J=2H1w?R Z??` t?̜?`n²??i2j?I2&];0YRByR IV=V=bDZVDZ8y~ <%~I=ٔ٣:Q->9Y= uEy  ƼE >Q 55"?Q 95\8)YBY!y%@Q I%[@DI:i;t5y)ɮ-GA)iiDŽ֍LAj"j:jU@Rj,8}uyql'R3훂 @BjsmaӿٖNs:?*j*2j¸2Zjg3@mcb&?Jj eс?kyIؿ: +W?j jAiNۥ?ijՅBjjjrjԥAzjDC@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Y Added new target pos. range: 20.676014 m, bearing: 337.629182 deg, lat: 36.779571 deg, lon: -121.859786 deg, deltaT: 0.504134 s, deltaX: -0.000034 m, approachRate: -0.000068 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.68 m.h!h!h!h)h)gYgajgrgreZe:e*e h?[["[*[<@E=)I Uc?iUR9)QUL"6U9iQi]iYDDAT read: Rx Time:01:37:31.1011 TRx dataTimestamp_ set to:1764898651.965155PDAT read: Bearing 13.1, -62.8 (Local) ~Local bearing/azimuth received: Bearing 13.1, -62.8 (Local) DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.3 DAT read: 01:37:31.1011 LVL= 24368, 16785, 12786, 22883, AGC= 50, IDX= 501, 0.14, 1.990,-2.514,-1.985,-2.565, PHS=-1.627, 0.096, 0.536, RAW= 258.9, 10.1, CAL= 258.5, 10.6, ROT= 251.5, -10.6 Ygot valid direction response: 01:37:31.1011 LVL= 24368, 16785, 12786, 22883, AGC= 50, IDX= 501, 0.14, 1.990,-2.514,-1.985,-2.565, PHS=-1.627, 0.096, 0.536, RAW= 258.9, 10.1, CAL= 258.5, 10.6, ROT= 251.5, -10.6 T#Rx 46: Read range and direction messages.`direction in FSK: [-0.311890,-0.932141,0.183951]Fpublishing direction and range infoyU@gӿN =η?YA0_A1 cY)2IAпi=L7 ?ט@J4>_@ q=>)v@Iq=jf #? Jd? V(@) 4I/diq= checking for new query: numPingsReceived=46, elapsed TxPingTime=22.970434YII) EM  EM EM (EI "EM :*EM :VEM c44ZEI a] @a] @a] @a] @ L9B <A B 2>B B IB BB B B B ;B MZE] 9@Y  @Y @] 0@Y a Ii I O >Mu#,. ׍LA2A3?2|?2y=ٱ2=2H@? ,???? [O?`?i2A3?I2];2C>checking for new query: numPingsReceived=46, elapsed TxPingTime=23.205725YBByB IiMb@Mb@Mb@ 9> ףp=?? rh?Y>yL>C<@@ v@)@Y@bD5#VD5Ͱ8yEW=%E@=ٔEm:Q-E>9Y=uEy민E>Q 55?Q 954)`BYz>Q E;y@Q I[@DI ;i ;S5yyBɮAEiQiU֍LAjUͧA"jUͧA:jU;@RjUOH+GZ3D%}+@BjUU@gӿN =η?*jU/d2jUq=ZjU  >3@WO Nu?JjUe [?V{[ؿ= ε?jU} jUAiU?䥊?iU[ jUTBjUNۥ?jU[ jQrjUsAzjUE,@} addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503926 s, deltaX: 0.299999 m, approachRate: 0.595324 m/s, rangeRepo size: 4  Added new target pos. range: 20.975554 m, bearing: 337.030953 deg, lat: 36.779581 deg, lon: -121.859759 deg, deltaT: 0.503926 s, deltaX: 0.299540 m, approachRate: 0.594412 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.98 m.hhhhhggjgrgUBreZe:e5@*e%`X?[z>[z>"[?*[@-y=)1 5?i]o9)ae\56en9iiif!!I!Iy-DDAT read: Rx Time:01:37:31.6011 5TRx dataTimestamp_ set to:1764898652.469055=PDAT read: Bearing 11.1, -62.6 (Local) =~Local bearing/azimuth received: Bearing 11.1, -62.6 (Local) MDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2 uDAT read: 01:37:31.6011 LVL= 24560, 16289, 15138, 25315, AGC= 50, IDX= 501, 0.13, 0.563, 2.319, 2.863, 2.288, PHS=-1.624, 0.076, 0.531, RAW= 258.4, 10.4, CAL= 258.2, 11.1, ROT= 251.8, -11.1 }Ygot valid direction response: 01:37:31.6011 LVL= 24560, 16289, 15138, 25315, AGC= 50, IDX= 501, 0.13, 0.563, 2.319, 2.863, 2.288, PHS=-1.624, 0.076, 0.531, RAW= 258.4, 10.4, CAL= 258.2, 11.1, ROT= 251.8, -11.1 }T#Rx 47: Read range and direction messages.`direction in FSK: [-0.306492,-0.932201,0.192522]Fpublishing direction and range infoy)-.2ӿ$lM?Y))-_-?-"; -b))I-;Ͽi-㥛=-?-ZQ@-9>-4@ -aF>)-@I-aF))-wQsg?ht{;? -U@)-9I-i-aF))checking for new query: numPingsReceived=47, elapsed TxPingTime=23.473577a  H9m 9@q  @q @u 0@q I I O >5u#,&׍LA 2?2U?2$=ٱ2N=2H`I?ɞ?@?/H? F?@ ?@?i2?I2];2CDLzDN@AEV EVEV)ET"EV:*EVx:VEVFA4ZETBEV39Y=uEyE>Q 55􈟊?Q 9 51)fBY y @Q I[@DIpJ;iWL;5y9ɮ=A9iiim׍LAji"ji:jmy@Rjm/ ׊u.3ـ<=,'@Bjm.2ӿ$lM?*jm2jmaFZjm[33@Do d>?Jjm+MJ?Έڋٿ!]շ?jm jmAimڥ?im jmBjijm jmՅBrjm'Azjm @ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 20.975554 m, bearing: 336.825844 deg, lat: 36.779581 deg, lon: -121.859759 deg, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 20.98 m.h1h9h9hIhIgQgQjgQrgQreYZeY:eY*e]@?i[["[*[Y@checking for new query: numPingsReceived=47, elapsed TxPingTime=23.709654$=) ֗?iս9)顽OH6S9iicII=9@9 @9@E/@AIQIaOmW>ԙ M DDAT read: Rx Time:01:37:32.1013 M TRx dataTimestamp_ set to:1764898652.973131U PDAT read: Bearing 9.5, -62.4 (Local) ] ~Local bearing/azimuth received: Bearing 9.5, -62.4 (Local) m DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3  DAT read: 01:37:32.1013 LVL= 24752, 16529, 14786, 25107, AGC= 50, IDX= 503, 0.11, 2.024,-2.516,-1.961,-2.531, PHS=-1.626, 0.060, 0.526, RAW= 258.1, 10.6, CAL= 258.0, 11.6, ROT= 252.0, -11.6  Ygot valid direction response: 01:37:32.1013 LVL= 24752, 16529, 14786, 25107, AGC= 50, IDX= 503, 0.11, 2.024,-2.516,-1.961,-2.531, PHS=-1.626, 0.060, 0.526, RAW= 258.1, 10.6, CAL= 258.0, 11.6, ROT= 252.0, -11.6  T#Rx 48: Read range and direction messages. `direction in FSK: [-0.302706,-0.931631,0.201078] Fpublishing direction and range infoyI M _ӿgNo?YM fAI M `M @M 9 M b)I IM пiM u=M ?M v&@M q=>M )@ M 4QO>)M L@IM 4QOI I M Ă.kEՌұ?_1? M I@)M w=IM ;FiM 4QOI I  checking for new query: numPingsReceived=48, elapsed TxPingTime=23.977591%u#,@׍LAPRG\hM9IYUAE;ɰE4<-Ɵ?-߫?-0=ٱ-,=-H@]?sN?#?6?R?ģ@4m?ȿ?i-Ɵ?I-];-CY=ByE II=)iMb@Mb@Mb@ 9E?MbX?I +?Y>bE%(N4jE%(N4rE%ü /E EE*E"ET;*E҆:VE(N4ZEa@a@a@a@ԹyJ>9<@@ `@)3@YbD,VDհ8y<%,=ٔcF:Q->9Y=uEyhE>Q 5e5g?Q 9e5.)oBYe>Q Ee ;ymS@Q Im\@DIv׍LAjm3A"jm3A:jm@Rjm93~ )@Bjm_ӿgNo?*jm;F2jm4QOZjm$)i3@ p "D@Jjm2d[3?acW`ٿַ?jm jmOAimyb楊?im jmBjm?䥊?jijmTBrjmAzjm @B1>BBBBBBGDBr;B6ZEBCBCBēCBd =Bd =C4= addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504076 s, deltaX: 0.299999 m, approachRate: 0.595147 m/s, rangeRepo size: 4 M Added new target pos. range: 21.275204 m, bearing: 336.514220 deg, lat: 36.779582 deg, lon: -121.859759 deg, deltaT: 0.504076 s, deltaX: 0.299650 m, approachRate: 0.594454 m/s, posRepo size: 4 uDNOT Ignoring new targets: 21.28 m.hqhyhyhyhygygyjgrgOBreZe:eL5@*e 5?[>[>"[3%?*[S@0=) ?i69)]6'9ii-h))I1I1checking for new query: numPingsReceived=48, elapsed TxPingTime=24.213600 ] V9) @)  @) @- 0@) I9 IQ O] >pSu#,jZ׍LA2T?2?2T=ٱ2=2H ?0п?@? ?@a?أj߾?@?i2T?I2];2CY:By: IbDFVDF8yN<%N=ٔN:Q-N?9PYP=RuEyPVEV?XQ 5^5ZQ~?Q 9^5Z+)ZtBY\y^@Q I^\@ZDIZ:iZ:Z5ydɮfvAdp%=DDAT read: Rx Time:01:37:32.6013 TRx dataTimestamp_ set to:1764898653.477308PDAT read: Bearing 7.4, -62.7 (Local) ~Local bearing/azimuth received: Bearing 7.4, -62.7 (Local)  DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3 5DAT read: 01:37:32.6013 LVL= 26096, 17393, 13810, 24371, AGC= 50, IDX= 503, 0.14,-0.029, 1.718, 2.314, 1.725, PHS=-1.652, 0.038, 0.545, RAW= 257.3, 10.7, CAL= 257.2, 11.9, ROT= 252.8, -11.9 =Ygot valid direction response: 01:37:32.6013 LVL= 26096, 17393, 13810, 24371, AGC= 50, IDX= 503, 0.14,-0.029, 1.718, 2.314, 1.725, PHS=-1.652, 0.038, 0.545, RAW= 257.3, 10.7, CAL= 257.2, 11.9, ROT= 252.8, -11.9 =T#Rx 49: Read range and direction messages.E`direction in FSK: [-0.289353,-0.934748,0.206204]MFpublishing direction and range infoy|e„ҿӷuFa5d?YeC5 3_)Itӿi= ?@t;?>ȥ@ ȭT>)0@IȭTn oiNU?v8? T@)?I|iȭT}checking for new query: numPingsReceived=49, elapsed TxPingTime=24.484858ii7^׍LAj"j:jE@Rj˜w\ğm 3q(O@Bj|e„ҿӷuFa5d?*j|2jȭTZj#=i qu#,81t׍LA:q?:W?:=ٱ:ȕ=:H1W?຀@r?@?=+?@?8??i:q?I:];8Y%ĂBy% Ia bDVD8y.<%8=ٔ9Q->9 Y =uEy%6E%>9Q 5E5==x?Q 9E5=t()=|BYAyE"@Q IE\@=DI=:i=g:=5yIɮUAAQDNOT Ignoring new targets: 21.28 m.hhhhhggjgrgreZe:e*e l?[![!"[!*[%v"@e=)i ^?i)9))5659i1imbqqIyԉI5DDAT read: Rx Time:01:37:33.1014 =TRx dataTimestamp_ set to:1764898653.985542MPDAT read: Bearing 5.7, -63.1 (Local) U~Local bearing/azimuth received: Bearing 5.7, -63.1 (Local) mDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.3 w9=DAT read: 01:37:33.1014 LVL= 25888, 18097, 15314, 25779, AGC= 47, IDX= 504, 0.18, 0.177, 1.898, 2.519, 1.921, PHS=-1.643, 0.022, 0.554, RAW= 256.6, 10.8, CAL= 256.6, 11.9, ROT= 253.4, -11.9 MYgot valid direction response: 01:37:33.1014 LVL= 25888, 18097, 15314, 25779, AGC= 47, IDX= 504, 0.18, 0.177, 1.898, 2.519, 1.921, PHS=-1.643, 0.022, 0.554, RAW= 256.6, 10.8, CAL= 256.6, 11.9, ROT= 253.4, -11.9 UT#Rx 50: Read range and direction messages.}`direction in FSK: [-0.279549,-0.937727,0.206204]Fpublishing direction and range infoy15}mO ѿ+|Fa5d?Y5A15 e5F5; 5d)5/I5Mҿi5X9<5 ?5O@5A>5O@ 1)5w@I1115I- 濵?iMS? 5ԏ@)5lK@I5%i111checking for new query: numPingsReceived=50, elapsed TxPingTime=25.030775}9@y @y@}/@yIIO>ԱE  E E &E "E ;*E VE 4ZE a @a @a @a @ A A AAB ->B B IB BB B B B K;B ZEYu#,0׍LA2checking for new query: numPingsReceived=50, elapsed TxPingTime=25.2214556,F?6f+?6=ٱ6Qs=6H@? v)!?`? R?Ζ?( c4??i6,F?I6"];4Y^˂By^ IԹiMb@Mb@Mb@ 9 rh?J +?{Gz?YC>yH>ף<@ @)@Y=@bD VD yM=%G=ٔ%_Q-%>9!Y!=-uEy)-E->1Q 5=55r?Q 9=55O%)5BYE>Q EE;yEE@Q IE\@5DI5;i5u:55yIɮM AIiaie׍LAje̫A"je̫A:jeoٻ@Rje>Q0#4v v@Bje}mO ѿ+|Fa5d?*je%2jaZjeu`3@I6pJ%!/;,^@Jje ")?ĠAٿWV?je*  jeAie 䥊?ie3je"BjajajeBrjeLAzjeL@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.508234 s, deltaX: 0.200001 m, approachRate: 0.393521 m/s, rangeRepo size: 4  Added new target pos. range: 21.474758 m, bearing: 336.342967 deg, lat: 36.779582 deg, lon: -121.859759 deg, deltaT: 0.508234 s, deltaX: 0.199629 m, approachRate: 0.392789 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.47 m.hhhhhggjgrgUBreZe:e5@*e`?[>[>"[[?*[E@=) p?i+9)\69iig9IAIIaIi)mxA@ @@@I IO%o>DDAT read: Rx Time:01:37:33.6014 %TRx dataTimestamp_ set to:1764898654.485094-PDAT read: Bearing 4.2, -63.8 (Local) -~Local bearing/azimuth received: Bearing 4.2, -63.8 (Local) EDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.3 DAT read: 01:37:33.6014 LVL= 24240, 16881, 15074, 22771, AGC= 49, IDX= 504, 0.23,-1.248, 0.471, 1.131, 0.509, PHS=-1.656, 0.007, 0.577, RAW= 255.8, 10.7, CAL= 255.7, 11.8, ROT= 254.3, -11.8 Ygot valid direction response: 01:37:33.6014 LVL= 24240, 16881, 15074, 22771, AGC= 49, IDX= 504, 0.23,-1.248, 0.471, 1.131, 0.509, PHS=-1.656, 0.007, 0.577, RAW= 255.8, 10.7, CAL= 255.7, 11.8, ROT= 254.3, -11.8 T#Rx 51: Read range and direction messages.`direction in FSK: [-0.264882,-0.942348,0.204496]Fpublishing direction and range infoyL=пJ'rG,?Y^A: X)1IӿiB`;F?ݎ@t;?>Pώ@ BR>)%@IBR: 4+@=8?zV ? @)>I"iBRchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.498362 xu#,|׍LA6&?6 ?60=ٱ6}d=6H4?l@5?@ߨ?pl?g?@䣿PR?8?i6&?I6];6CEB EBEB'E@"EBD:*EBxv:VEB'4ZE@BEB29Y=uEyκE>Q 5-5m?Q 9-5*")BYQyU@Q IU\@DI;i';5y]gBɮ]A]EiIiM ׍LAjI"jI:jM@RjM %W<4;@BjML=пJ'rG,?*jM"2jMBRZjM𼡐3@v vE,G@JjM@?4]-ٿxcm ?jM, jM AiMTl 䥊?iM`jMBjMTl 䥊?jM:'jMBrjM̫AzjM_@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.499552 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.474758 m, bearing: 336.715278 deg, lat: 36.779582 deg, lon: -121.859758 deg, deltaT: 0.499552 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.47 m.hhhhhggjg)rg)re)Ze1:e1*e5$?uchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.725626[y[y"[y*[}S@0=) n?iܾ9)6q9iidII 99 @  @ @ @ I 5 DDAT read: Rx Time:01:37:34.1017 = TRx dataTimestamp_ set to:1764898654.991246M PDAT read: Bearing 2.0, -64.2 (Local) U ~Local bearing/azimuth received: Bearing 2.0, -64.2 (Local) m DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.3 I O >= DAT read: 01:37:34.1017 LVL= 24944, 15777, 17506, 25155, AGC= 46, IDX= 506, 0.40,-1.509, 0.194, 0.890, 0.255, PHS=-1.662,-0.016, 0.591, RAW= 254.9, 10.8, CAL= 254.9, 11.9, ROT= 255.1, -11.9 E Ygot valid direction response: 01:37:34.1017 LVL= 24944, 15777, 17506, 25155, AGC= 46, IDX= 506, 0.40,-1.509, 0.194, 0.890, 0.255, PHS=-1.662,-0.016, 0.591, RAW= 254.9, 10.8, CAL= 254.9, 11.9, ROT= 255.1, -11.9 E T#Rx 52: Read range and direction messages.M `direction in FSK: [-0.251607,-0.945608,0.206204]M Fpublishing direction and range infoy9 = Q![SпkBFa5d?ku#,׍LAYm3Aimpam=mbD mCb)m.ImjԿimomK?m\@mA>m\@ mȭT>)my@ImȭTiim p1}vC?B? m@)m@ImOYimȭTii:checking for new query: numPingsReceived=52, elapsed TxPingTime=26.031647RT ?R?R^=ٱR*=RH`h ? $b6??@?t?@ꣿ`F?b?iRT ?IR];PY\y^ IiMb@Mb@Mb@ 9B`"?|?5^??Yَ>yM><@+@ v@)3@Y@ AAI bDuNVDu8y}n%.=ٔ8Q->9E EE+E"Es:*E:VE [4ZEa%@a%@a%@a%@Y=%uEy!MDEM>QQ 5]5Ug?Q 9]5UR)UBY]>Q E];ye @Q Ie\@UDIU{:iU:U5yɮAB,>BCB IBBBBBB%;BYEiiimp׍LAjmA"jmA:jm8@Rjm#{\[64i ' @BjmQ![SпkBFa5d?*jmOY2jmȭTZjmq 4@h![[>"[?*[ @^=) R?i9)36:iiiIII P?) N?checking for new query: numPingsReceived=52, elapsed TxPingTime=26.229967ԉԱ e 9 9@  @ @ @ I I O- >u#,'׍LAɰ;@J?J?J q=ٱJ=JH ?W8?? ?.?̣MD?~?iJ?IJd];JCYlylbDz?VDz8ٔU2Q-]?9YYY=]uEyaeּEe?iQ 5u5mc?Q 9u5m)mBYqyu@Q I}\@mDIm;imY;mm5yɮDNOT Ignoring new targets: 21.87 m.hhhhhggjgrgreZe:eDDAT read: Rx Time:01:37:34.6017 TRx dataTimestamp_ set to:1764898655.495996 PDAT read: Bearing 358.5, -65.1 (Local) ~Local bearing/azimuth received: Bearing 358.5, -65.1 (Local) -DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.3 *e?DAT read: 01:37:34.6017 LVL= 22640, 15585, 16242, 24659, AGC= 46, IDX= 507,-0.32, 1.156, 2.832,-2.676, 2.937, PHS=-1.679,-0.060, 0.626, RAW= 253.2, 10.9, CAL= 253.2, 12.1, ROT= 256.8, -12.1 Ygot valid direction response: 01:37:34.6017 LVL= 22640, 15585, 16242, 24659, AGC= 46, IDX= 507,-0.32, 1.156, 2.832,-2.676, 2.937, PHS=-1.679,-0.060, 0.626, RAW= 253.2, 10.9, CAL= 253.2, 12.1, ROT= 256.8, -12.1 T#Rx 53: Read range and direction messages. `direction in FSK: [-0.223278,-0.951949,0.209619][ [ "[ *[ @% q=)! !i%9)!%6-:i)5Fpublishing direction and range infoyZ_̿]v9h?YpX<r? S`)IyֿiuA ?i@B>i@ @X>)l@I@X…~??ˈ=!? @)h3BIi@XMchecking for new query: numPingsReceived=53, elapsed TxPingTime=26.528221iufqqIqIyԩmʰ9ui>iu>9@ @@00@II!O-O>E EE-E"ED:*E]t:VEt4ZEBEa2EaJE;a:E;aiߍ AIߍ A checking for new query: numPingsReceived=53, elapsed TxPingTime=26.733858 u#,׍LAl?Sҳ?Ѧ=ٱ/9=H ?KP?|?a?ʑ?@@l??i?I];CY܂By IbD0VDٰ8y<%<ٔ =Q- >9Y=uEyE>Q 5%5^?Q 9%5W)BY)y-@Q I-\@DIi*5y1ɮ5UA9i!i%f׍LAj!"j!:j%r@Rj%'?{w47!vIW@Bj%Z_̿]v9h?*j%2j%@XZj%=A$4@T=#} SÂn@Jj% [jw?fؿ"=?j% j%&Ai%?i% 0j%8Bj!j%`j%"Brj%Azj%t@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.874222 m, bearing: 337.741860 deg, lat: 36.779582 deg, lon: -121.859755 deg, deltaT: 0.504750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.87 m.hhhhhggjgrgreZe:e*e'c?[["[*[@Ѧ=) ?ia9)[6:iicII9 DDAT read: Rx Time:01:37:35.1019 %TRx dataTimestamp_ set to:1764898656.002926EPDAT read: Bearing 356.0, -66.1 (Local) U~Local bearing/azimuth received: Bearing 356.0, -66.1 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 @ @@N1@IIOJ>DAT read: 01:37:35.1019 LVL= 21520, 14497, 14498, 21779, AGC= 45, IDX= 509,-0.11, 1.148, 2.802,-2.654, 2.928, PHS=-1.678,-0.082, 0.657, RAW= 252.0, 10.7, CAL= 252.0, 11.8, ROT= 258.0, -11.8 %Ygot valid direction response: 01:37:35.1019 LVL= 21520, 14497, 14498, 21779, AGC= 45, IDX= 509,-0.11, 1.148, 2.802,-2.654, 2.928, PHS=-1.678,-0.082, 0.657, RAW= 252.0, 10.7, CAL= 252.0, 11.8, ROT= 258.0, -11.8 %T#Rx 54: Read range and direction messages.-`direction in FSK: [-0.203518,-0.957477,0.204496]-Fpublishing direction and range infoy(] ʿc BrG,?YAT88 U)-Iֿi什'1(?L@t;?>L@ BR>))@IBRоUla?YȺ? g@) >IiBRmchecking for new query: numPingsReceived=54, elapsed TxPingTime=27.0359651E  E E &E "E ;*E x:VE 4ZE a @a @a @a @Y B B B IB BB e =B B B ;B YEߧv#,TU؍LA&checking for new query: numPingsReceived=54, elapsed TxPingTime=27.2376296M?6Բ?6=ٱ6j>6H?>?`~?@ތ?h/?#@?`?i6M?I60];4YNقByR I9iMb@Mb@Mb@ 9(\?|?5^?~jt?Y>y<`@ @)I@Y@ =bD4VDܰ8yvf%L=ٔQ->9Y=uEyE>Q 5 5Y?Q 9 58)BY>Q E;y @Q I\@DI>;i;5yɮlA!iIiM/؍LAjMdA"jMdA:jM@RjMh Qo!;5 L#@BjM(] ʿc BrG,?*jM2jMBRZjMف4@4z8 B6a@JjMxK?>h׿)|lB?jM jMOAiMS?iM*bjMBjM?jMjIrjMpAzjMVڻ@m addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.506930 s, deltaX: 0.300001 m, approachRate: 0.591800 m/s, rangeRepo size: 4 } Added new target pos. range: 22.173887 m, bearing: 338.452112 deg, lat: 36.779585 deg, lon: -121.859754 deg, deltaT: 0.506930 s, deltaX: 0.299665 m, approachRate: 0.591138 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.17 m.hhhhhggjgrgBreZe:e@336@*e?[>[>"[+&?*[M @=) 3?i99)顝6 :iihII)iԙDDAT read: Rx Time:01:37:35.6019  TRx dataTimestamp_ set to:1764898656.502117PDAT read: Bearing 355.2, -66.7 (Local) ~Local bearing/azimuth received: Bearing 355.2, -66.7 (Local) 5DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 DAT read: 01:37:35.6019 LVL= 19632, 12897, 10338, 21971, AGC= 44, IDX= 509, 0.07, 0.609, 2.261, 3.105, 2.384, PHS=-1.673,-0.077, 0.677, RAW= 251.7, 10.3, CAL= 251.5, 11.3, ROT= 258.5, -11.3 Ygot valid direction response: 01:37:35.6019 LVL= 19632, 12897, 10338, 21971, AGC= 44, IDX= 509, 0.07, 0.609, 2.261, 3.105, 2.384, PHS=-1.673,-0.077, 0.677, RAW= 251.7, 10.3, CAL= 251.5, 11.3, ROT= 258.5, -11.3 T#Rx 55: Read range and direction messages.`direction in FSK: [-0.195503,-0.960929,0.195946]Fpublishing direction and range infoyt=ɿD>x_?YLa2b( U),I$ֿi-O-?g@X8>v@ I>)_@II̬{U3?-t:? @)8IiIU checking for new query: numPingsReceived=55, elapsed TxPingTime=27.534452 ʰ9  @  @ @ /@ I I! O5 >' v#,1)؍LAE2 E2E2'E0"E2f;*E2:VE2'4ZE0BE2W:E2j;a>B?B=ر?B=ٱBG&>BH@? 1:?`s???It6? ?iB?IBQ];BCYlyr IbD}VD}8y%Q=ٔlFQ->ԙ9Y=uEy4E>Q 55T?Q 95)BYy@Q I\@DIm;i;5yɮmAi1i5" ؍LAj1"j1:j5 @Rj5 }WD_ùN5(?*a@Bj5t=ɿD>x_?*j52j5IZj5 FMi4@>B9 T\7\?Jj5_֫?:mj׿}v?j5 j5{Ai5jH?i5Kȁj5eBj5T?j5 0j5Brj5Azj5`@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.499191 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.173887 m, bearing: 338.466482 deg, lat: 36.779585 deg, lon: -121.859748 deg, deltaT: 0.499191 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.17 m.hhhhhggjgrgreZe:e*e r?Uchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.741749[Y[Y"[Y*[]Ή@=) %?i9)顽+6:iieIIiر9I @I  @Q @U 0@Q I I 5 DDAT read: Rx Time:01:37:36.1022 E TRx dataTimestamp_ set to:1764898657.010894m PDAT read: Bearing 355.1, -67.3 (Local) m ~Local bearing/azimuth received: Bearing 355.1, -67.3 (Local)  DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.3 Թ  DAT read: 01:37:36.1022 LVL= 23664, 14913, 11426, 24531, AGC= 44, IDX= 511, 0.30, 2.167,-2.480,-1.645,-2.375, PHS=-1.640,-0.060, 0.686, RAW= 251.7, 9.9, CAL= 251.3, 10.6, ROT= 258.7, -10.6  Ygot valid direction response: 01:37:36.1022 LVL= 23664, 14913, 11426, 24531, AGC= 44, IDX= 511, 0.30, 2.167,-2.480,-1.645,-2.375, PHS=-1.640,-0.060, 0.686, RAW= 251.7, 9.9, CAL= 251.3, 10.6, ROT= 258.7, -10.6  T#Rx 56: Read range and direction messages. `direction in FSK: [-0.192602,-0.963881,0.183951] Fpublishing direction and range infoy9 = X2ȿS{ =η?Y= A9 = p\= A:= , = _)9 I= ѿi= u= /?9 = ;0>= 7Z@ = q=>)= ?|@I= q=9 9 =  RW2俢.m ?X? = @O >v#,MIC؍LA)My0IMoNiMq=IINchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.057472=?=?==z=ٱ=d>=H#?%G?@h?`i?;??NP?O?i=?I=];=CYm߂Bym IqiMb@Mb@Mb@ 9RQ??~jt?Y>yL>@I@ @)Yz@bDVD8y<%3=ٔ'Q->9Y= uEy  ՃE >1Q 5=556O?Q 9=55)5BYEa>Q EE#;yE@Q IE\@5DI5:i5:55yMUBE] E]E])EY"E] ;*E]:VE]FA4ZEYae@ae@ae@ae@ɮmAuEiIiM}@؍LAjMbA"jMbA:jM/@RjM{5w75-2+ @BjMX2ȿS{ =η?*jMoN2jMq=ZjM}R5@7 j1 >O4?JjMm-J?׿K?jMi jM AiMME9?iMjMBjMjH?jMjMBrjM*AzjMV@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.508777 s, deltaX: 0.500000 m, approachRate: 0.982749 m/s, rangeRepo size: 4 B5->B5CB5 IB5BB5d =B1B1B5;B5ZYEm Added new target pos. range: 22.673300 m, bearing: 338.201644 deg, lat: 36.779588 deg, lon: -121.859746 deg, deltaT: 0.508777 s, deltaX: 0.499413 m, approachRate: 0.981594 m/s, posRepo size: 4 mDNOT Ignoring new targets: 22.67 m.hihqhqhqhqgqgqjgyrg}BreyZey:e}@36@*eG?[a>[a>"[+D*?*[&@=z=) {?ix9)'6:iib!IAIAԡiEAIEAMchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.246065m 9 Q @Q  @Y @] /@Y I I DDAT read: Rx Time:01:37:36.6022  TRx dataTimestamp_ set to:1764898657.510625PDAT read: Bearing 345.5, -65.0 (Local) ~Local bearing/azimuth received: Bearing 345.5, -65.0 (Local) =DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.4 ]DAT read: 01:37:36.6022 LVL= 22096, 13905, 10994, 24051, AGC= 43, IDX= 512,-0.34, 2.432,-2.392,-1.469,-2.127, PHS=-1.622,-0.220, 0.613, RAW= 248.3, 12.5, CAL= 249.5, 14.4, ROT= 260.5, -14.4 eYgot valid direction response: 01:37:36.6022 LVL= 22096, 13905, 10994, 24051, AGC= 43, IDX= 512,-0.34, 2.432,-2.392,-1.469,-2.127, PHS=-1.622,-0.220, 0.613, RAW= 248.3, 12.5, CAL= 249.5, 14.4, ROT= 260.5, -14.4 mT#Rx 57: Read range and direction messages.Om>3v#,a؍LA`direction in FSK: [-0.159862,-0.955300,0.248690]Fpublishing direction and range infoyBbv^vĿauHБl?YPVQ6* ])+IϿiGa?H@f_>X@ >)}@Ia6cjQ^~?$? a@)V_IH޿i&checking for new query: numPingsReceived=57, elapsed TxPingTime=28.522781F^?F?F/=ٱF`>FH?@7 ?@]?SL?}?$o?t?iF^?IF];FC\YڂBy I-@A-AAbDUVDU8yeu%e4=ٔmoQ-m>9Y=uEyE>Q 55I?Q 956 )BYy@Q I\@DIT ;i: ; 5yɮAii`؍LAjcA"jcA:jĽ@RjU5 */5|yc@BjBbv^vĿauHБl?*jH޿2jZj%G5@%k`ƈ@Jj43%?!տd=?j jĨAi;?iwqjBjS?j*bjrj.Azj@} addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.499731 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.673346 m, bearing: 339.779513 deg, lat: 36.779588 deg, lon: -121.859745 deg, deltaT: 0.499731 s, deltaX: 0.000046 m, approachRate: 0.000092 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.67 m.hhhhhggjgrgreZe:e*eL?[1[1"[1*[5@EU  EUEQEQ"EUG;*EU҆:VEQZEQBEU,8'v#,\{؍LA2.?2)?2@=ٱ2u>2H?@Z -?VR?/??`ᢿX? ?i2.?I2];2CY:ӂBy: I@BAbDFVDF8yN%Nm=ٔR⌺Q-R?9PYP=RuEyTVEV?XQ 5^5ZE?Q 9^5Z)ZBY`yb'@Q Ib\@ZDIZ;iZ;Z5ydɮfAdzDNOT Ignoring new targets: 22.67 m.hxhxhxhxh|g|g|jgrgreZe:e*e ?[9[9"[9*[='@e@=)a ep?ie9)ae6m:iiimdqqIqIqDDAT read: Rx Time:01:37:37.1023 TRx dataTimestamp_ set to:1764898658.018689PDAT read: Bearing 338.8, -64.9 (Local) ~Local bearing/azimuth received: Bearing 338.8, -64.9 (Local) 11 G `9YʆADAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.4 IDAT read: 01:37:37.1023 LVL= 25824, 14289, 11586, 25827, AGC= 45, IDX= 513,-0.13, 3.024,-1.825,-0.745,-1.445, PHS=-1.712,-0.335, 0.656, RAW= 245.4, 13.4, CAL= 247.1, 15.5, ROT= 262.9, -15.5 Ygot valid direction response: 01:37:37.1023 LVL= 25824, 14289, 11586, 25827, AGC= 45, IDX= 513,-0.13, 3.024,-1.825,-0.745,-1.445, PHS=-1.712,-0.335, 0.656, RAW= 245.4, 13.4, CAL= 247.1, 15.5, ROT= 262.9, -15.5 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.119106,-0.956241,0.267238]Fpublishing direction and range infoy } "E֚n?YfAd7B- d)-I"ۿi'?@|o>@ c>)Ԓ@IcLm`?Sbw?  @)]oIkؿicchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.0793389bE:4jE<4rEL0Ee EeEe*Ea"Ee ;*Ee:qVEe(N4ZEaa}@a}@a}@a}@B/>BB IBBBBBB;BDYEBBBBBCZ4U9@Q @Q@U3@QIaIqO}>M checking for new query: numPingsReceived=58, elapsed TxPingTime=29.253607ԡ %v#,a؍LAA?&?>=ٱya>H? j9?PF??;Հ?@ȦL?6?iA?I];CYQy] IiiMMb@Mb@Mb@IIII I9M"~??~jt?YM>yIMD9yYy=}uEyy8~E>Q 55@?Q 95)BY >Q E;yj?Q I\@DI,:i4:5yɮAii32؍LAj/A"j/A:j􂤾@Rj(ZzJ5V WW@Bj } "E֚n?*jkؿ2jcZjGsDY5@ZqqJIȑk @Jj}2?wmՆAԿ$,?j jʪAiqG?iw14jmBjME9?jKȁjrjAzjR@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.508064 s, deltaX: 0.099998 m, approachRate: 0.196823 m/s, rangeRepo size: 4  Added new target pos. range: 22.773352 m, bearing: 341.344281 deg, lat: 36.779591 deg, lon: -121.859744 deg, deltaT: 0.508064 s, deltaX: 0.100006 m, approachRate: 0.196838 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.77 m.hhhhhg g jg rg BreZe:e6@*e?[ >[ >"[/?*[aj?>=) {?iQ9)N6!:iiiIIԙDDAT read: Rx Time:01:37:37.6023 TRx dataTimestamp_ set to:1764898658.517422PDAT read: Bearing 335.3, -66.3 (Local) ~Local bearing/azimuth received: Bearing 335.3, -66.3 (Local) DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.3  DAT read: 01:37:37.6023 LVL= 24176, 14017, 11394, 25235, AGC= 45, IDX= 513, 0.03,-3.071,-1.667,-0.519,-1.272, PHS=-1.697,-0.350, 0.710, RAW= 243.9, 12.7, CAL= 245.4, 14.7, ROT= 264.6, -14.7 Ygot valid direction response: 01:37:37.6023 LVL= 24176, 14017, 11394, 25235, AGC= 45, IDX= 513, 0.03,-3.071,-1.667,-0.519,-1.272, PHS=-1.697,-0.350, 0.710, RAW= 243.9, 12.7, CAL= 245.4, 14.7, ROT= 264.6, -14.7 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.091028,-0.962975,0.253758]Fpublishing direction and range infoy~gAɛMBbN=?Yp^6, b)IL7ٿi335?.8@b>@ G\>)Ǔ@IG\[Mlb4uy?i'n>? p @)rcI+ տiG\=checking for new query: numPingsReceived=59, elapsed TxPingTime=29.526907 9U 9@Y  @Y @] 84@Y Ii Iy O >E]  EY EY EY "E] &:*EY VEY ZEY BE] h;9IYQ=UuEyQUEU>YQ 5e5]im> 9@  @ @ /@ II)O=/>1DDAT read: Rx Time:01:37:38.1025 TRx dataTimestamp_ set to:1764898659.026247 PDAT read: Bearing 350.3, -68.7 (Local)  ~Local bearing/azimuth received: Bearing 350.3, -68.7 (Local) M DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.3  DAT read: 01:37:38.1025 LVL= 17952, 13345, 7874, 17139, AGC= 50, IDX= 3, 0.18, 1.779,-2.913,-2.026,-2.797, PHS=-1.605,-0.070, 0.728, RAW= 250.3, 9.3, CAL= 249.6, 9.8, ROT= 260.4, -9.8  Ygot valid direction response: 01:37:38.1025 LVL= 17952, 13345, 7874, 17139, AGC= 50, IDX= 3, 0.18, 1.779,-2.913,-2.026,-2.797, PHS=-1.605,-0.070, 0.728, RAW= 250.3, 9.3, CAL= 249.6, 9.8, ROT= 260.4, -9.8  T#Rx 60: Read range and direction messages. `direction in FSK: [-0.164335,-0.971608,0.170209] Fpublishing direction and range infoy?ſ'g@ %/>)Oo@I%/k`q?J,e? L@)P{%I/޿i%/u checking for new query: numPingsReceived=60, elapsed TxPingTime=30.066475Y S!2v#,A؍LA6|?6b?6xR=ٱ6>6H`k?@oY?`7.?.? 8u?@U)?@J?i6|?I6P];6CYBłByB I DDF=F=i Mb@Mb@Mb@     9 i|?5?Cl? rh?Y q>y O> C< v@ v@ @E% E%E%+E!"E%;*E%ą:VE% [4ZE!a-@a-@a-@a-@)  Y bD=VD=ǰ8yM7%MJ=ٔM6Q-M>9QYQ=UuEyQ] E]>aQ 5m5e7?Q 9m5e)eBYm>Q Em*;ym@Q Im\@eDIe:ie:e5yyɮ}Ayii؍LAjA"jA:j@RjE(giUHj6%Pj@Bj?ſBB IBBBc =BBHDBw;B4YE addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.508825 s, deltaX: 0.300001 m, approachRate: 0.589596 m/s, rangeRepo size: 4 1 Added new target pos. range: 23.073002 m, bearing: 337.785000 deg, lat: 36.779592 deg, lon: -121.859737 deg, deltaT: 0.508825 s, deltaX: 0.299650 m, approachRate: 0.588906 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.07 m.hhhhhggjgrgsBreZe:e7@*eZ?[>[>"[5?*[B@xR=) {?iƾ9)6(:ii c  I I)checking for new query: numPingsReceived=60, elapsed TxPingTime=30.261734a+9ԉ@ @@3@IIO> DDAT read: Rx Time:01:37:38.6026  TRx dataTimestamp_ set to:1764898659.525061 PDAT read: Bearing 349.2, -68.8 (Local)  ~Local bearing/azimuth received: Bearing 349.2, -68.8 (Local)  DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.3  DAT read: 01:37:38.6026 LVL= 25968, 14353, 11538, 25907, AGC= 45, IDX= 499, 0.43, 0.198, 1.776, 2.673, 1.899, PHS=-1.600,-0.078, 0.730, RAW= 250.0, 9.3, CAL= 249.4, 9.8, ROT= 260.6, -9.8  Ygot valid direction response: 01:37:38.6026 LVL= 25968, 14353, 11538, 25907, AGC= 45, IDX= 499, 0.43, 0.198, 1.776, 2.673, 1.899, PHS=-1.600,-0.078, 0.730, RAW= 250.0, 9.3, CAL= 249.4, 9.8, ROT= 260.6, -9.8  T#Rx 61: Read range and direction messages. `direction in FSK: [-0.160943,-0.972176,0.170209] Fpublishing direction and range infoy  \ ƙĿrl?Y fA pe 8 - 3e) -I ̿i w H:? X@ J@ ) 狑@I brz2H.B?xJ?!? I?o??衿m?ٴ?i2?I2];2CY:ȂBy: IbDF"VDF̰8yN2q<%NV=ٔNQ-R>9PYP=RuEyPV%EV>XQ 5^5ZG3?Q 9^5Z)ZBYyk@Q I\@ZDIZd =iZy =Z%5yɮlAii؍LAj.A"j.A:j@RjGķ 7P6.@Bj\ ƙĿrl?*j޿2jZjpQ}5@ fF!|`vϣ?Jj1?=U]ؿ^p2A?j  jAiGaF?ijBjGaF?jjrjyAzj,2@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.498814 s, deltaX: 0.199999 m, approachRate: 0.400949 m/s, rangeRepo size: 4 5 Added new target pos. range: 23.272896 m, bearing: 337.596641 deg, lat: 36.779593 deg, lon: -121.859737 deg, deltaT: 0.498814 s, deltaX: 0.199894 m, approachRate: 0.400738 m/s, posRepo size: 4 5DNOT Ignoring new targets: 23.27 m.h9h9h9h9h9g9g9jgArgAreAZeA:eML7@*eM ?[["[*[k@sI=) 3?i9)7,:iihIIE5 E5E5(E1"E5:*E5v:VE5c44ZE1BE5<(u>v#,ƣ؍LA 2ǎ?2׬?2 =ٱ2 >2H`? `@??@[g?d? #?`6?i2ǎ?I2M];2CYRByR IZAAXbDZ'VDZа8ybƽ%fG=ٔfʭQ-f>9hYh=juEyhjEj>lQ 5r5n.?Q 9r5n)nBYtyv@Q Iv\@nDIn:in:n5y~PBɮ~AEMDNOT Ignoring new targets: 23.27 m.hIhIhQhQhQgQgQjgYrgYreaZei:ei*em@??[["[*[@ =) ?i9)7/:iie DDAT read: Rx Time:01:37:39.1028 TRx dataTimestamp_ set to:1764898660.033443PDAT read: Bearing 345.1, -69.6 (Local) ~Local bearing/azimuth received: Bearing 345.1, -69.6 (Local) -DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.3 qIyIDAT read: 01:37:39.1028 LVL= 26320, 16737, 13650, 27427, AGC= 48, IDX= 502,-0.28,-0.740, 0.802, 1.767, 0.960, PHS=-1.598,-0.113, 0.763, RAW= 248.5, 9.2, CAL= 247.9, 9.8, ROT= 262.1, -9.8 %Ygot valid direction response: 01:37:39.1028 LVL= 26320, 16737, 13650, 27427, AGC= 48, IDX= 502,-0.28,-0.740, 0.802, 1.767, 0.960, PHS=-1.598,-0.113, 0.763, RAW= 248.5, 9.2, CAL= 247.9, 9.8, ROT= 262.1, -9.8 %T#Rx 62: Read range and direction messages.M`direction in FSK: [-0.135439,-0.976056,0.170209]MFpublishing direction and range infoywHaV,;rl?Y̼AfaAR5 #k)0ID̿il罉SC?Ɋ@l$>t@ )_b@IM4$38I?E)Q|? @)$Iڿichecking for new query: numPingsReceived=62, elapsed TxPingTime=31.08558799Y@Y @a@a@aIqIO[>ԙE= E=E=)E9"E=:*E=x:VE=FA4ZE9aM@aM@aM@aM@B<A<B4>BB IBBBBBBg;B%YE - checking for new query: numPingsReceived=62, elapsed TxPingTime=31.269547Ev#,PٍLAL ? ȩ? Y =ٱ _/> H`?F??cA?T?,z%??i ?I ]; CY%By% II-=)-pyH><@`@ @)3@Y(@bDVD8yz<%5=ٔ,Q->9Y=uEy|E>Q 554)?Q 95 )BY\>Q EA;y%@Q I\@DI ;i;5yɮAiiim#ٍLAjmA"jmA:jmK@RjmB L,7g9 @BjmwHaV,;rl?*jmڿ2jiZjm>X5@Q)k!|aG?Jjm8[\>"[^L?*[/%@5Y =)9 =•?i=9)9= 7=4:i9iEbIIIIIIԩ-DDAT read: Rx Time:01:37:39.6028 -TRx dataTimestamp_ set to:1764898660.533346=PDAT read: Bearing 344.0, -69.6 (Local) =~Local bearing/azimuth received: Bearing 344.0, -69.6 (Local) MDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.3 uDAT read: 01:37:39.6028 LVL= 23392, 14497, 12978, 25043, AGC= 46, IDX= 502,-0.12,-2.336,-0.814, 0.151,-0.648, PHS=-1.586,-0.121, 0.755, RAW= 248.3, 9.3, CAL= 247.7, 10.0, ROT= 262.3, -10.0 }Ygot valid direction response: 01:37:39.6028 LVL= 23392, 14497, 12978, 25043, AGC= 46, IDX= 502,-0.12,-2.336,-0.814, 0.151,-0.648, PHS=-1.586,-0.121, 0.755, RAW= 248.3, 9.3, CAL= 247.7, 10.0, ROT= 262.3, -10.0 T#Rx 63: Read range and direction messages.`direction in FSK: [-0.131951,-0.975928,0.173648]Fpublishing direction and range infoy)-.7Zh;:ٖNs:?Y))-`[-8-2 -a)-.I- ˿i--GA?-H@-6&>-W@ -¸2>)-~@I-¸2))-^)2 U?jb_i? -F@)-&I-Cڿi-¸2))checking for new query: numPingsReceived=63, elapsed TxPingTime=31.5385405K99@ @@@IIO>E  E E *E "E ;*E :VE (N4ZE BE L2H?@O?~? ?*A ??i2?I2];2CYNByR Irchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.773382bDZVDZ8yz%zb=ٔ~gQ-~>9|Y=uEy_E> Q 55 $?Q 95 ) BYy@Q I\@ DI ;i ; 5y!ɮ%HA!9iiW""ٍLAj"j:jּ@RjϠ"&T78!_@Bj.7Zh;:ٖNs:?*jCڿ2j¸2Zj 5@=p!LO[?Jj V?C׼E:׿HsVB?js  jƮAiU?ijBjU?jjBrjgAzjм@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.499903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 23.572638 m, bearing: 338.109659 deg, lat: 36.779594 deg, lon: -121.859739 deg, deltaT: 0.499903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 23.57 m.h)h)h)h)h)g1gQjgargareiZe:e*e*?[Y[Y"[Y*[]@ =) ?i9)7 7:i igII!iԙUZ9DDAT read: Rx Time:01:37:40.1030 TRx dataTimestamp_ set to:1764898661.041872PDAT read: Bearing 343.0, -69.7 (Local) ~Local bearing/azimuth received: Bearing 343.0, -69.7 (Local) 5 DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3  @  @ @ @ I I) O5 > DAT read: 01:37:40.1030 LVL= 22096, 13985, 11026, 21651, AGC= 45, IDX= 504,-0.05,-0.759, 0.764, 1.735, 0.931, PHS=-1.588,-0.122, 0.760, RAW= 248.2, 9.3, CAL= 247.6, 10.0, ROT= 262.4, -10.0  Ygot valid direction response: 01:37:40.1030 LVL= 22096, 13985, 11026, 21651, AGC= 45, IDX= 504,-0.05,-0.759, 0.764, 1.735, 0.931, PHS=-1.588,-0.122, 0.760, RAW= 248.2, 9.3, CAL= 247.6, 10.0, ROT= 262.4, -10.0  T#Rx 64: Read range and direction messages. `direction in FSK: [-0.130247,-0.976157,0.173648] Fpublishing direction and range infoy <ٖNs:? Y3APV6+ T)-IC˿i#\B?@3I@ )C@I}U}(?b~\? V+@)%I_ ڿi checking for new query: numPingsReceived=64, elapsed TxPingTime=32.100166oRv#,9JٍLAYnByn IE EEE"E:*Exv:VEZEa @a @a @a @Be5>BeCBe IBeBBeb =BaBaBe^;BeYEԙiMb@Mb@Mb@ 9I +?x&1?{Gz?Y94>yA>#<I@ )Y@bD=VD=8ym}ü%u4=ٔuQ-u>9yYy=}uEyy}E>Q 55?Q 959)BYS>Q EM;yN@Q I\@DI ;i;5yɮuAiiBٍLAjA"jA:j@RjK# M7T@Bj <ٖNs:?*j_ ڿ2jZjf G#6@"!Ks4?Jj;a#?E>&׿9t?j  jAin}i?iaL jBjjjrj(Azj-@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.508526 s, deltaX: 0.299999 m, approachRate: 0.589939 m/s, rangeRepo size: 4  Added new target pos. range: 23.872389 m, bearing: 338.208123 deg, lat: 36.779594 deg, lon: -121.859739 deg, deltaT: 0.508526 s, deltaX: 0.299751 m, approachRate: 0.589451 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.87 m.hhhhhg g jg rgEBreZe:e`f7@*eG?[5S>[5S>"[5-R?*[5N@I)I M ?iM9)QUB7U!;:iQi]dYYIYIY aexAchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.278137aIi)i@ @@0@I)IIPExceeded connect timeout, disconnecting.Ok>!  DDAT read: Rx Time:01:37:40.6030  TRx dataTimestamp_ set to:1764898661.541132 PDAT read: Bearing 341.1, -69.2 (Local)  ~Local bearing/azimuth received: Bearing 341.1, -69.2 (Local)  DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3  DAT read: 01:37:40.6030 LVL= 22448, 17905, 12194, 22611, AGC= 47, IDX= 504,-0.08,-0.792, 0.715, 1.700, 0.906, PHS=-1.596,-0.146, 0.751, RAW= 247.8, 9.7, CAL= 247.5, 10.6, ROT= 262.5, -10.6  Ygot valid direction response: 01:37:40.6030 LVL= 22448, 17905, 12194, 22611, AGC= 47, IDX= 504,-0.08,-0.792, 0.715, 1.700, 0.906, PHS=-1.596,-0.146, 0.751, RAW= 247.8, 9.7, CAL= 247.5, 10.6, ROT= 262.5, -10.6  T#Rx 65: Read range and direction messages. `direction in FSK: [-0.128299,-0.974526,0.183951] Fpublishing direction and range infoy  & lƢQ/ =η?Y W E / SX) /I I̿i  A@? e@ -\-> :@ q=>) @I q= o -QO㿫M%?nP? Ʊ@) ;-I /ٿi q=  checking for new query: numPingsReceived=65, elapsed TxPingTime=32.5455930Xv#,dٍLA21?2U?2a=ٱ2>2H?v@j??p?h`e?Ƴ?i21?I2];2CYRByR I TTbDZ VDZ8y}/4%}[=ٔúQ->9Y=uEyE>Q 55?Q 95)BYyc@Q I\@DI$CC:i!i-i)1I1I1!iIchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.782001Q}l9! @!  @! @% /@! I1 IA OU >y T^v#,}ٍLAFaA?F&?F/H=ٱF[>FH;?`@s|??[?Vr@Ƞ)??iFaA?IF)];FCYVByV IbDfVDf°8y-%5P=ٔ5tQ-=>9AYA=EuEyAE̗EM>IQ 5U5M9?Q 9U5M)M BYYy]@Q I]\@MDIM+;iM;M5yaɮeAiDNOT Ignoring new targets: 23.87 m.hhhhhggjgrgreZe:e*e@?[["[*[@/H=) ɑ?i 9)O7A:iif  I I }DDAT read: Rx Time:01:37:41.1031 TRx dataTimestamp_ set to:1764898662.049496PDAT read: Bearing 341.2, -69.2 (Local) ~Local bearing/azimuth received: Bearing 341.2, -69.2 (Local) 9uDAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.2 UDAT read: 01:37:41.1031 LVL= 27232, 19697, 12418, 28499, AGC= 48, IDX= 505,-0.26, 0.958, 2.464,-2.855, 2.644, PHS=-1.583,-0.134, 0.741, RAW= 248.1, 9.6, CAL= 247.8, 10.5, ROT= 262.2, -10.5 ]Ygot valid direction response: 01:37:41.1031 LVL= 27232, 19697, 12418, 28499, AGC= 48, IDX= 505,-0.26, 0.958, 2.464,-2.855, 2.644, PHS=-1.583,-0.134, 0.741, RAW= 248.1, 9.6, CAL= 247.8, 10.5, ROT= 262.2, -10.5 eT#Rx 66: Read range and direction messages.`direction in FSK: [-0.133443,-0.974158,0.182236]Fpublishing direction and range infoyXL,¥m~S?YA`jL0 So)0IʿiL7 -=?@+>e@ f;>)p@If;ݤ 5y㿫VP?[dk? B@)~*,I|ڿif;checking for new query: numPingsReceived=66, elapsed TxPingTime=33.113201a}D9E% E%E%)E!"E%=;*E%?:VE%FA4ZE!a5@a5@a5@a5@A]@AAYBaBaBey IBexBBaBaBaBea;Be!YE9@ @@(0@IIO%>ԉ  checking for new query: numPingsReceived=66, elapsed TxPingTime=33.285522Dev#,חٍLABnManaging dock network, ignoring radio surface power offDj5L?jn1?j=ٱj >jH?"pz?D?W?x`1?@]?ij5L?Ij];jCYrByr IimMb@Mb@Mb@iiii i9mOn?/$?~jtx?Ym>ym&1>m;mv@m`@ i)m@iYm3@y}@AbDVD8y;%C=ٔoӹQ->9Y=vEyE>Q 55?Q 95)BYi>Q Eh;y @Q I\@DI~ ;iP;$5yɮAii*ٍLAjǿA"jǿA:jbܻ@RjI te 9LZ7nxOpy@BjXL,¥m~S?*j|ڿ2jf;Zj)\5@;%܅1#zK3 ?Jj_jqE?o}ٿd"S?j jlAix̿J?i)#j/BjjjrjAzj@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.508364 s, deltaX: 0.100000 m, approachRate: 0.196710 m/s, rangeRepo size: 4  Added new target pos. range: 23.972233 m, bearing: 336.363600 deg, lat: 36.779595 deg, lon: -121.859739 deg, deltaT: 0.508364 s, deltaX: 0.099844 m, approachRate: 0.196403 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.97 m.hhhhhggjgrg&BreZe:e8@*e@?[ei>[ei>"[e\?*[e @=ԉ) ?i9)顭v$7E:iicIIIH?)R?eDDAT read: Rx Time:01:37:41.6030 mTRx dataTimestamp_ set to:1764898662.549272uPDAT read: Bearing 341.6, -69.2 (Local) }~Local bearing/azimuth received: Bearing 341.6, -69.2 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2 DAT read: 01:37:41.6030 LVL= 24304, 19857, 12514, 26995, AGC= 50, IDX= 504, 0.40, 2.669,-2.109,-1.171,-1.946, PHS=-1.566,-0.117, 0.731, RAW= 248.6, 9.5, CAL= 248.1, 10.2, ROT= 261.9, -10.2 Ygot valid direction response: 01:37:41.6030 LVL= 24304, 19857, 12514, 26995, AGC= 50, IDX= 504, 0.40, 2.669,-2.109,-1.171,-1.946, PHS=-1.566,-0.117, 0.731, RAW= 248.6, 9.5, CAL= 248.1, 10.2, ROT= 261.9, -10.2 T#Rx 67: Read range and direction messages.`direction in FSK: [-0.138674,-0.974377,0.177085]Fpublishing direction and range infoyim&BU|].ki?Ym3Aim^mMm0 msi)m2Imrȿimim";?m-؊@m)>m@ mK6>)mE@ImK6iimxSj°P?I? m@)m)ImS(ۿimK6iichecking for new query: numPingsReceived=67, elapsed TxPingTime=33.554234Աmz9ul>iq 9@  @ @ 0@ I E%  E% E% *E! "E% ;*E% :VE% (N4ZE! BE% @kv#,QٍLA6\?6A?6V=ٱ6 >6H`#?^??@q@?}&?б?i6\?I6H];6CYBByB IIFp<)F4=bDNVDN8yV*<%V[=ٔV-WQ-V>9XYX=ZvEyX^E^>bchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.789654dhQ 5n5j?Q 9n5j)jBYlyn@Q Ir\@jDIj';ij;jk5yv?BɮvlAvEiiF'ٍLAjA"jA:js@Rjbt{ sB7M@Bj&BU|].ki?*jS(ۿ2jK6Zjm$5@70*¬#+^ ?JjO*?ͭ_ڿm ??jf jAiY'T5?iqjBjU?j_jrjAzj@@= addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.499776 s, deltaX: -0.100000 m, approachRate: -0.200090 m/s, rangeRepo size: 4 M Added new target pos. range: 23.872347 m, bearing: 335.632596 deg, lat: 36.779594 deg, lon: -121.859740 deg, deltaT: 0.499776 s, deltaX: -0.099886 m, approachRate: -0.199861 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.87 m.hIhIhQhQhQgQgQjgYrgYreYZeY:ee`f7@*eedZ?[["[*[6@V=) ?i9)顝(7H:iihII9!@ @@?5@DDAT read: Rx Time:01:37:42.1032 TRx dataTimestamp_ set to:1764898663.058146PDAT read: Bearing 340.6, -70.2 (Local) ~Local bearing/azimuth received: Bearing 340.6, -70.2 (Local) i Q 9 Y A DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 I I O% >A % DAT read: 01:37:42.1032 LVL= 24784, 14945, 11698, 24563, AGC= 50, IDX= 506, 0.13,-1.891,-0.384, 0.569,-0.239, PHS=-1.550,-0.100, 0.764, RAW= 248.3, 8.8, CAL= 247.5, 9.4, ROT= 262.5, -9.4 - Ygot valid direction response: 01:37:42.1032 LVL= 24784, 14945, 11698, 24563, AGC= 50, IDX= 506, 0.13,-1.891,-0.384, 0.569,-0.239, PHS=-1.550,-0.100, 0.764, RAW= 248.3, 8.8, CAL= 247.5, 9.4, ROT= 262.5, -9.4 5 T#Rx 68: Read range and direction messages.= `direction in FSK: [-0.128774,-0.978132,0.163326]= Fpublishing direction and range infoy{N7L$vz?YA`a:- _)Iffƿi̽C?H@nF>:@ '>)@I'ep@t?jڞ? 4U@)"I/ٿi'U checking for new query: numPingsReceived=68, elapsed TxPingTime=34.135975߽rv#,ٍLA2g?2/M?2i=ٱ2m >2H@?M???`zlb(?б?i2g?I2l^;0YNByN IbEe(N4jEeK4rEe/Er ErEpEp"ErT;*Er n:VEpZEpaz@az@az@az@BBB` IBdBBBBBm;B-YEBCBCBBb =Bb =C5iMb@Mb@Mb@ C9RQ?#~j?t< `@)3@YbD5VD58yE%E3=ٔMQ-M>9IYI=MvEyQuEu>yQ 55}R ?Q 95})} BY0A>Q E;y2@Q I\@}DI}:i}1:}m5yɮAiiٍLAj`A"j`A:j_@Rjk)x7Vop U@Bj{N7L$vz?*j/ٿ2j'ZjKw6@N_# ?Jje(%(?ԿCڿ̰?ϡ?j j6Ai(vJ?iX j:Bjx̿J?j)#jrjAzj@% addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.508874 s, deltaX: 0.300001 m, approachRate: 0.589539 m/s, rangeRepo size: 4 u Added new target pos. range: 24.172007 m, bearing: 335.755015 deg, lat: 36.779593 deg, lon: -121.859744 deg, deltaT: 0.508874 s, deltaX: 0.299660 m, approachRate: 0.588868 m/s, posRepo size: 4 }DNOT Ignoring new targets: 24.17 m.hyhyhyhyhygygjgrg%BreZe:e@338@*e`?checking for new query: numPingsReceived=68, elapsed TxPingTime=34.293674[0A>[0A>"[,?*[2@i=) ?i̿9)C.7L:IiiUeQQIQIQqm9 9@  @ @ /1@ I I) O5 >ԡ  DDAT read: Rx Time:01:37:42.6032  TRx dataTimestamp_ set to:1764898663.557085 PDAT read: Bearing 337.2, -71.0 (Local)  ~Local bearing/azimuth received: Bearing 337.2, -71.0 (Local)  DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.2  DAT read: 01:37:42.6032 LVL= 26544, 15441, 12146, 25779, AGC= 50, IDX= 506,-0.10, 1.994,-2.793,-1.785,-2.631, PHS=-1.556,-0.117, 0.802, RAW= 247.2, 8.5, CAL= 246.4, 9.1, ROT= 263.6, -9.1  Ygot valid direction response: 01:37:42.6032 LVL= 26544, 15441, 12146, 25779, AGC= 50, IDX= 506,-0.10, 1.994,-2.793,-1.785,-2.631, PHS=-1.556,-0.117, 0.802, RAW= 247.2, 8.5, CAL= 246.4, 9.1, ROT= 263.6, -9.1  T#Rx 69: Read range and direction messages. `direction in FSK: [-0.110066,-0.981260,0.158158] Fpublishing direction and range infoy  &?Y g Q< r/ d) I +ǿi i OM? @ > @ ">) 8@I " ]`r(Ε0?>? n%@) I \׿i "  checking for new query: numPingsReceived=69, elapsed TxPingTime=34.561249Yxv#,GXٍLA2C{?2|`?2=ٱ2l >2H2 ?:?Lj?"?Ä09=? 1?i2C{?I2];2CY:By: I  <bD̿VD}8y-ʣ%-^=ٔ-Q-->91Y1=5vEy15袼E=>aQ 5m5e?Q 9m5e)e'BYiym@Q Im\@eDIe:ie:e5yyɮAiiHٍLAj"j:j@Rj:HF-7g@Bj&?*j\׿2j"Zj-$6@ȚV#ع%v?Jj\?{P?#ٿȋŞ?j j%Ai-P?iajBjjjBrj*Azjo@% addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.498939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.172007 m, bearing: 336.409990 deg, lat: 36.779593 deg, lon: -121.859744 deg, deltaT: 0.498939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 24.17 m.hahahahahigigijgqrgreZe:e*e?[ [ "[ *[ X@e=)a e?imC9)額27O:iibII E EE(E"E;*E:VEc44ZEBE>CC! {v#,r3ٍLA@@^?^f?^-=ٱ^ >^H8?'β?`v?ʗ? @M??i^?I^H];^CY By  I bDEVDE8yU%UH=ٔU~Q-}>9yYy=}vEyy䖼E>Q 55Z?Q 95F).BYy>@Q I\@DI;iH;65yɮAEDDAT read: Rx Time:01:37:43.1032 MTRx dataTimestamp_ set to:1764898664.061565UPDAT read: Bearing 336.9, -71.1 (Local) U~Local bearing/azimuth received: Bearing 336.9, -71.1 (Local) eDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 DAT read: 01:37:43.1032 LVL= 28304, 17233, 12674, 29091, AGC= 51, IDX= 507, 0.47,-1.488, 0.017, 1.020, 0.171, PHS=-1.556,-0.109, 0.805, RAW= 247.4, 8.4, CAL= 246.5, 9.0, ROT= 263.5, -9.0 Ygot valid direction response: 01:37:43.1032 LVL= 28304, 17233, 12674, 29091, AGC= 51, IDX= 507, 0.47,-1.488, 0.017, 1.020, 0.171, PHS=-1.556,-0.109, 0.805, RAW= 247.4, 8.4, CAL= 246.5, 9.0, ROT= 263.5, -9.0 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.111809,-0.981339,0.156434]Fpublishing direction and range infoyAE Y!g│p ?YAAEnEQCE1 Eq)E3IAiEd;߽E{N?E,@EQ >E쫉@ E| >)E*@IE| AAE,MO=,#?j3/8? EV@)EIEC׿iE| AAchecking for new query: numPingsReceived=70, elapsed TxPingTime=35.095009iAiEڍLAjA"jA:jE@RjEh @ F7 ,@@BjE Y!g│p ?*jEC׿2jE| ZjEe 6@H0#lBz?JjEd1?DH(ڿ$)f^?jE jEkAiEGD?iE)jEBjE(vJ?jE)jE:BrjEAzjE)@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504480 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 != Added new target pos. range: 24.172007 m, bearing: 335.868748 deg, lat: 36.779593 deg, lon: -121.859744 deg, deltaT: 0.504480 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hhhhhggjgrgreZe:e*e>ͽ?[1[1"[1*[5>@E-=)I M?iMk9)IMB87MS:iIiUgQQIQIE EE'E"E:*E]t:VE'4ZEa @a @a @a @BA<B%6>B!B%S IB%YBB!B!B!B%p;B%1YEU9Q9@ @@54@IIO> checking for new query: numPingsReceived=70, elapsed TxPingTime=35.301888ԁ 7v#,0ڍLAR?Rl?R<ٱR >RH)?? b?@ ?ˊUD?*?iR?IR];PY~By~ IiMb@Mb@Mb@ A9`"?jt?Mb?Y=y >< v@)@YbD=ɿVD=z8yEK=%M<=ٔMPQ-M>Q9qYq=uvEyy6E>Q 55W?Q 95b)4BY#K>Q E;y @Q I\@DI#[#K>"[j?*[ @ <)  ?i9)<7V:iidIII%9]DDAT read: Rx Time:01:37:43.6032 ]TRx dataTimestamp_ set to:1764898664.566866mPDAT read: Bearing 335.8, -71.4 (Local) m~Local bearing/azimuth received: Bearing 335.8, -71.4 (Local) }DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 yDAT read: 01:37:43.6032 LVL= 24864, 15969, 12642, 27443, AGC= 50, IDX= 507, 0.03,-2.472,-0.966, 0.049,-0.814, PHS=-1.556,-0.107, 0.819, RAW= 247.2, 8.2, CAL= 246.3, 8.8, ROT= 263.7, -8.8 Ygot valid direction response: 01:37:43.6032 LVL= 24864, 15969, 12642, 27443, AGC= 50, IDX= 507, 0.03,-2.472,-0.966, 0.049,-0.814, PHS=-1.556,-0.107, 0.819, RAW= 247.2, 8.2, CAL= 246.3, 8.8, ROT= 263.7, -8.8 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.108442,-0.982260,0.152986]Fpublishing direction and range infoyY]»ud0n8C ?YYY] a]a>]b1 ]3k)]2IYi]"۽]Q?]@]C>]T@ ]nF>)]#G@I]nFYY]V؁+ ジ6?8m;? ]~"@)]{^I]"׿i]nFYYchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.5799489@ @@/@IIOc>ԱE  E E *E "E :*E 1:VE (N4ZE BE .2H@Yq?@?N?ඃ?D,`E9qYq=}vEyyE>Q 55?Q 95)9BYy @Q I\@DIf;i;L5yɮAԹiiG$ڍLAj"j:j$2@RjHVZaD7u @Bj»ud0n8C ?*j"׿2jnFZj>⥗5@k֖)K$s?Jjbez?!j.ڿX ^?jY" juAi͑)3?iTjBjGD?jqjBrjAzjP@] addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.505301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 24.172031 m, bearing: 335.172897 deg, lat: 36.779592 deg, lon: -121.859746 deg, deltaT: 0.505301 s, deltaX: 0.000025 m, approachRate: 0.000049 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hhhhhggjgrgreZe:e*e5?[["[*[W @zj<) Ř?i"9)wA7Y:iiiIAIIIUE?)Ud?]DDAT read: Rx Time:01:37:44.1034 ]TRx dataTimestamp_ set to:1764898665.069193}PDAT read: Bearing 334.4, -71.8 (Local) ~Local bearing/azimuth received: Bearing 334.4, -71.8 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 ͹9I) 9@  @ @ /@ I I O > DAT read: 01:37:44.1034 LVL= 29488, 17265, 15042, 30563, AGC= 50, IDX= 509,-0.37,-2.847,-1.349,-0.315,-1.195, PHS=-1.551,-0.109, 0.836, RAW= 246.9, 8.0, CAL= 245.8, 8.5, ROT= 264.2, -8.5  Ygot valid direction response: 01:37:44.1034 LVL= 29488, 17265, 15042, 30563, AGC= 50, IDX= 509,-0.37,-2.847,-1.349,-0.315,-1.195, PHS=-1.551,-0.109, 0.836, RAW= 246.9, 8.0, CAL= 245.8, 8.5, ROT= 264.2, -8.5  T#Rx 72: Read range and direction messages. `direction in FSK: [-0.099946,-0.983953,0.147809] Fpublishing direction and range infoyY]sB sp|%)k?Y]AY]0s]qC]: ]cw)YI]+ƿi]d;߽]V?]@]5>]G@ ]>)]@I]YY]s8Z2V[?ٴ? ] @)]ZI]ֿi]YY checking for new query: numPingsReceived=72, elapsed TxPingTime=36.1654979 J v#,LڍLA2?27~?2C<ٱ2# >2H@?` \?;?`? N@ݝ`Q??i2?I2];2CY>ByB IIF<)F;DDBPBPBPBPBPBPBPBR;BRFYEEb EbEb,E`"Eb:*Ebxv:VEbg4ZE`BEb6<2Eb6<JEb;:Eb;iMb@Mb@Mb@ 9"~j?S?Mb?YS=y><@I@ @)Y@bD%VD%ư8y5=%5==ٔ=¤Q-=>99Y9==vEy9EEE>IQ 5u5MF?Q 9u5M )M@BYu@>Q E};y}1 @Q I}\@MDIM;iM;M5yɮ%AiimDڍLAjA"jA:j:@RjфBe:8 @BjsB sp|%)k?*jֿ2jZjs76@ 5#$X|p?Jj/n< ?Y`+ڿF?j$ jAi$G?iƦjeBj$G?jTjBrjAzjaF@5 addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.502327 s, deltaX: 0.299999 m, approachRate: 0.597219 m/s, rangeRepo size: 4 E Added new target pos. range: 24.471724 m, bearing: 335.233761 deg, lat: 36.779593 deg, lon: -121.859746 deg, deltaT: 0.502327 s, deltaX: 0.299692 m, approachRate: 0.596608 m/s, posRepo size: 4 EDNOT Ignoring new targets: 24.47 m.hAhAhAhAhIgIgijgqrgu9BreqZeq:eu8@*e}72?checking for new query: numPingsReceived=72, elapsed TxPingTime=36.309620[@>[@>"[o?*["1 @=C<)i mR?im19)quJF7}\:iyifII9E ۺ9q @  @ @ /@ I I O >Y ] %=m DDAT read: Rx Time:01:37:44.6033 m TRx dataTimestamp_ set to:1764898665.573375u PDAT read: Bearing 334.8, -71.4 (Local) } ~Local bearing/azimuth received: Bearing 334.8, -71.4 (Local)  DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1  DAT read: 01:37:44.6033 LVL= 26352, 15921, 13874, 26227, AGC= 51, IDX= 508, 0.13,-2.791,-1.291,-0.284,-1.140, PHS=-1.549,-0.107, 0.811, RAW= 247.3, 8.2, CAL= 246.4, 8.8, ROT= 263.6, -8.8  Ygot valid direction response: 01:37:44.6033 LVL= 26352, 15921, 13874, 26227, AGC= 51, IDX= 508, 0.13,-2.791,-1.291,-0.284,-1.140, PHS=-1.549,-0.107, 0.811, RAW= 247.3, 8.2, CAL= 246.4, 8.8, ROT= 263.6, -8.8  T#Rx 73: Read range and direction messages. `direction in FSK: [-0.110157,-0.982070,0.152986] Fpublishing direction and range infoyi m cC]:3Z_m8C ?Ym fAi m fm 1>m 26 m sf)m 3Im Eƿim "۽m O?m N@m C>m @ m nF>)m 8@Im nFi i m &yKr1L .0? |]? m w3@)m pIm \׿im nFi i  checking for new query: numPingsReceived=73, elapsed TxPingTime=36.5777855v#,4fڍLA 騁?"?<ٱѧ >H`S? ?@(? j`?`ݯ ѯCe? ?i騁?IC];CY5By= IibD}VD}8y%6=ٔQ->9Y=vEyąE>E EE)E"ET;*E:VEFA4ZEa@a@a@a@Q 55P?Q 95))HBYy @Q I%\@DI6:iB:5yAɮELAAii-dڍLAj,A"j,A:j@Rja.Sc5!957oĴ @BjcC]:3Z_m8C ?*j\׿2jnFZj5@s>+% Z}?Jjx?(ۿ1j?j( jԮAi$?ijBjGD?jjBrjAzjn2@% addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504182 s, deltaX: -0.200001 m, approachRate: -0.396684 m/s, rangeRepo size: 4 5 Added new target pos. range: 24.271954 m, bearing: 334.232428 deg, lat: 36.779592 deg, lon: -121.859746 deg, deltaT: 0.504182 s, deltaX: -0.199770 m, approachRate: -0.396226 m/s, posRepo size: 4 =DNOT Ignoring new targets: 24.27 m.h9h9h9h9h9gagajgargareiZei:emL8@*em?[["[*[ع @<) ?i9)dK7l`:iicIIԙchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.814556 % 9 @  @ @ /@ I I) O5 >Hv#,;ڍLA20?2i?2<ٱ2Ɛ >2Hl??+? ?͔ٜ 4??i20?I2];2CY:By: I B=B<bDFVDFȰ8yN=%N=ٔN0Q-R?9PYP=RvEyPV"żEV?XQ 5Z5Z?Q 9^5Z\)ZMBY`ybB @Q Ib\@Z DIZ1;iZt2;Z5ydɮfAhzDNOT Ignoring new targets: 24.27 m.h|h|h|h|h|g|gjgrgreZe :e *e ?[)[)"[)*[-fB @=<)A E?iE9)AE>O7EIb:iAiMhIIIIIQEDDAT read: Rx Time:01:37:45.1034 ETRx dataTimestamp_ set to:1764898666.077213MPDAT read: Bearing 333.2, -71.5 (Local) U~Local bearing/azimuth received: Bearing 333.2, -71.5 (Local) eDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 DAT read: 01:37:45.1034 LVL= 27856, 18225, 14194, 28915, AGC= 52, IDX= 509,-0.20, 2.285,-2.505,-1.489,-2.350, PHS=-1.546,-0.110, 0.817, RAW= 247.1, 8.2, CAL= 246.1, 8.8, ROT= 263.9, -8.8 Ygot valid direction response: 01:37:45.1034 LVL= 27856, 18225, 14194, 28915, AGC= 52, IDX= 509,-0.20, 2.285,-2.505,-1.489,-2.350, PHS=-1.546,-0.110, 0.817, RAW= 247.1, 8.2, CAL= 246.1, 8.8, ROT= 263.9, -8.8 T#Rx 74: Read range and direction messages.`direction in FSK: [-0.105013,-0.982633,0.152986]Fpublishing direction and range infoyAEOu(⺿^q8C ?YEAAElE1GEr7 Ep)E4IETſiEGὉE&Q?E@AEr@ A)Ec@IAAAEm6,D?G'mp9? E @)EJIEֿiAAAchecking for new query: numPingsReceived=74, elapsed TxPingTime=37.0861059AAAAB7>BB` IBdBBBBB;B\YEE EE,E"E[";*Ex:VEg4ZEBEz checking for new query: numPingsReceived=74, elapsed TxPingTime=37.317539I \8v#,ڍLA21?2ѵ?2M<ٱ24 >2H:2? ?`U? 7?ț???i21?I2'];2CYBByB I DDiMb@Mb@Mb@ 9A`"?ˡE??Y=y'><I@`@ @)@Y=@bD%VD%8y5sz<%5A=ٔ5 !Q->9Y=vEyE>Q 55잊?Q 951)WBYI>Q E;yh @Q I\@ DI;i<d5y9BɮAEiqiuڍLAjuA"juA:juS_@Rju!gsR2 8>] @BjuOu(⺿^q8C ?*juֿ2jqZju~,=(5@ i%Hc[I>"[7;?*[h @IM<) p?i'9)T7e:iieIIUDDAT read: Rx Time:01:37:45.6033 UTRx dataTimestamp_ set to:1764898666.581754ePDAT read: Bearing 331.6, -71.4 (Local) m~Local bearing/azimuth received: Bearing 331.6, -71.4 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 DAT read: 01:37:45.6033 LVL= 28016, 18353, 11954, 28611, AGC= 52, IDX= 508, 0.28, 3.033,-1.777,-0.756,-1.612, PHS=-1.537,-0.121, 0.811, RAW= 246.8, 8.3, CAL= 245.9, 8.9, ROT= 264.1, -8.9 Ygot valid direction response: 01:37:45.6033 LVL= 28016, 18353, 11954, 28611, AGC= 52, IDX= 508, 0.28, 3.033,-1.777,-0.756,-1.612, PHS=-1.537,-0.121, 0.811, RAW= 246.8, 8.3, CAL= 245.9, 8.9, ROT= 264.1, -8.9 T#Rx 75: Read range and direction messages.`direction in FSK: [-0.101555,-0.982726,0.154710]Fpublishing direction and range infoyQU-|!~r¥j?YUfAQUpmUGU. Uo)QIUjĿiUUO?U։@UV>U#V@ U>)US@IUQQU22j[?8y5Rr? UQ @)U3IU>ֿiUQQ%checking for new query: numPingsReceived=75, elapsed TxPingTime=37.597679q9E  E E +E "E s:*E ]t:VE [4ZE a @a @a @a @E 9@A  @A @E /@A IQ Ii Ou >ԡ av#,ڍLA6I}?6]ښ?6H<ٱ6W >6H#?`դ?Y? ?`±`? T?i6I}?I6];6CYBByB I^checking for new query: numPingsReceived=75, elapsed TxPingTime=37.823765bDjVDj8y^=%N=ٔ /Q->9!Y!=%vEy)5ʌE=>IQ 5e5M鞊?Q 9m5M)M`BYqԁy @Q I\@MDIMֿ2jZjR5@ %}H ?Jj#?mDDAT read: Rx Time:01:37:46.1035 TRx dataTimestamp_ set to:1764898667.089176PDAT read: Bearing 330.2, -71.6 (Local) ~Local bearing/azimuth received: Bearing 330.2, -71.6 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2 DAT read: 01:37:46.1035 LVL= 31120, 20081, 12210, 32755, AGC= 51, IDX= 510, 0.09, 2.597,-2.210,-1.174,-2.042, PHS=-1.542,-0.123, 0.824, RAW= 246.6, 8.2, CAL= 245.7, 8.8, ROT= 264.3, -8.8  Ygot valid direction response: 01:37:46.1035 LVL= 31120, 20081, 12210, 32755, AGC= 51, IDX= 510, 0.09, 2.597,-2.210,-1.174,-2.042, PHS=-1.542,-0.123, 0.824, RAW= 246.6, 8.2, CAL= 245.7, 8.8, ROT= 264.3, -8.8  T#Rx 76: Read range and direction messages.% `direction in FSK: [-0.098151,-0.983342,0.152986]u Fpublishing direction and range infoyy}]Zh ϩ[w8C ?Y}Ay}y}qN}/ })}3I}B`ſi}m}R?}9@}C>}9@ }nF>)}뜓@I}nFyy}$R@>jԿo?1~C? }[a @)} I}տi}nFyy checking for new query: numPingsReceived=76, elapsed TxPingTime=38.151844 tIv#,OڍLAB65>B4B6s IB6sBB4B4B4B6;B6fYEJz|?J"?J<ٱJ >JH8?Y@Ӄ?A?l?ꚿV:?`?iJz|?IJ^;JCYRByR IEb EbEb*E`"Eb;*Eb&p:VEb(N4ZE`BEb@/<v@v@ )Y3@bD VD8yް<%:=ٔ%EQ-%>9!Y!=%vEy)-RE->1Q 5e55䞊?Q 9e55)5jBYeW>Q Ee|;ye @Q Ie\@5DI5;i5:5 5yqɮu&AiiڍLAjA"jA:j2@Rj<3K)8#DL@Bj]Zh ϩ[w8C ?*jտ2jnFZj]5@; &N?Jje]?g":Pܿ!Š?j0 jAi)?iQ%jBj$?j:jrjAzj\@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.507422 s, deltaX: 0.300001 m, approachRate: 0.591226 m/s, rangeRepo size: 4 M Added new target pos. range: 24.571571 m, bearing: 333.386057 deg, lat: 36.779589 deg, lon: -121.859750 deg, deltaT: 0.507422 s, deltaX: 0.299589 m, approachRate: 0.590414 m/s, posRepo size: 4 UDNOT Ignoring new targets: 24.57 m.hQhQhQhQhQgYgYjgYrg]NBreaZea:ee8@*ee@V?DDAT read: Rx Time:01:37:46.6035 TRx dataTimestamp_ set to:1764898667.339774PDAT read: Bearing 329.8, -71.8 (Local) ~Local bearing/azimuth received: Bearing 329.8, -71.8 (Local) checking for new query: numPingsReceived=76, elapsed TxPingTime=38.334888[W>[W>"[7X?*[F @< )! %?i-9)15^75bk:i9iMgQQIYIY@ @@5@I)I9OMt>1u DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2  DAT read: 01:37:46.6035 LVL= 32752, 18673, 12706, 31299, AGC= 48, IDX= 510, 0.01,-0.831, 0.662, 1.702, 0.824, PHS=-1.553,-0.117, 0.834, RAW= 246.7, 8.1, CAL= 245.7, 8.7, ROT= 264.3, -8.7  Ygot valid direction response: 01:37:46.6035 LVL= 32752, 18673, 12706, 31299, AGC= 48, IDX= 510, 0.01,-0.831, 0.662, 1.702, 0.824, PHS=-1.553,-0.117, 0.834, RAW= 246.7, 8.1, CAL= 245.7, 8.7, ROT= 264.3, -8.7  T#Rx 77: Read range and direction messages. `direction in FSK: [-0.098177,-0.983606,0.151261] Fpublishing direction and range infoya e  @#",yni\?Ya a e e He 1 e Cz)e 0Ie ƿie ie U?e ȉ@e >a e |>)a Ie |a a e rzg?=&? e ΃ @)e sIa ie |a a  checking for new query: numPingsReceived=77, elapsed TxPingTime=38.590107 sv#,ڍLA>{?>g?>w<ٱ>TU >>HF?}o\??@?g윿`rΗi{??i>{?I>!f^;9Y=vEyoE>Q 5=5?Q 9=5)tBY9yET @Q IE\@DIp <\v#,܂ۍLA 46C2zy?2D?2&<ٱ2i >2H?l&9)Y-AbDEVDE8yM=%MP=ٔU{Q-U>9QY=vEyvE>Q 55ݞ?Q 95*)~BYy @Q I\@DI&:i:5yɮA addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.256573 s, deltaX: 0.299999 m, approachRate: 1.169255 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.57 m.hhhhhggjg rg re Ze :e `f8@*e``?checking for new query: numPingsReceived=78, elapsed TxPingTime=39.081745[9[9"[9*[= @U&<)Q U$?iU9)Y]h7]o:iYieiaaIaIa1@ @@/@IqI1Om5>BYA]<BaBaBe IBeBBaBaBaBe;BeVYEB1B1B1B1B1C54ԁbEijEmL4rEmn/E EEE"E~ ;*E:VEZEBE V`<@ @)3@Yz@ )-%=bD-VD-8yEv=%E<=ٔEQ-E>9IYI=MvEyIUEU>YQ 5e5]؞?Q 9e5]/)]BYe[a>Q Eeq;ye @Q Ie\@]DI]:i]I:]<5yiɮusAq addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501575 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.57 m.hhhhhggjgrgyBreZe:e*e?[[a>[[a>"[˅~?*[ @)i m{?iuf9)qul7ur:iqi}fyyIyI I)ԩ-checking for new query: numPingsReceived=79, elapsed TxPingTime=39.585594Iy)}yA 9@  @ @ !5@ I! I1 O= >E  E E +E "E :*E 1:VE [4ZE a @a @a @a @ v#,h>5ۍLAJDDAT read: Rx Time:01:37:48.1039 RTRx dataTimestamp_ set to:1764898668.851562ZPDAT read: Bearing 325.8, -72.8 (Local) ^~Local bearing/azimuth received: Bearing 325.8, -72.8 (Local) jDAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3 pZ#Rx 80: Read range message, but no direction.yLYNAL=checking for new query: numPingsReceived=80, elapsed TxPingTime=39.856304Mv?M>?M<ٱMWb >MH H? L ??3?['`pS@}?`ֱ?iMv?IM];MCYBy I bDVD8yb%B=ٔQ->9Y=vEyCѼE>Q 55}Ԟ?Q 950)BYy @Q I \@DI;i;5y=.BɮEyAEE addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.505735 s, deltaX: 0.200001 m, approachRate: 0.395466 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.57 m.hhhhhggjgrgreZe:e9@*e R~? [9[9"[9*[= @]<)a e~?ie9)imq7m3t:iiiucyyIyI=9@9 @9@=/@9IIIaOmW>1UDAT read: 01:37:48.1039 LVL= 28656, 15857, 10530, 28531, AGC= 51, IDX= 2,-0.12,-2.764,-1.265,-0.183,-1.104, PHS=-1.557,-0.115, 0.878, RAW= 246.1, 7.5, CAL= 244.9, 8.1, ROT= 265.1, -8.1 ]Ygot valid direction response: 01:37:48.1039 LVL= 28656, 15857, 10530, 28531, AGC= 51, IDX= 2,-0.12,-2.764,-1.265,-0.183,-1.104, PHS=-1.557,-0.115, 0.878, RAW= 246.1, 7.5, CAL= 244.9, 8.1, ROT= 265.1, -8.1 ]Z#Rx 81: Read direction message, but no range.e`direction in FSK: [-0.084565,-0.986405,0.140901]y15X'w lQ:N ?15o5=5") 5so)53I5Kǿi5뽉5`?5r@5 >5(Lj@ 5>)5M@I5159Mav?? 5D @)5'I57Կi5checking for new query: numPingsReceived=81, elapsed TxPingTime=40.099934i BY BY B] IB] BBY BY BY B] ;B] PYEv#,3QOۍLA2fu?2?2<ٱ2 >2H`Ŕ? > ??<{?r!t?@n?i2fu?I2];2CEF EFEDED"EF&:*EFxv:VEDZEDBEFh;yC>< )@Y@bDVD8y@P=%[=ٔƻQ->9Y=vEy_E>Q 55О?Q 95-)BYw>Q E[;y$@Q I\@ DIL ;ir;.5yɮ+ADNOT Ignoring new targets: 24.57 m.hhhhhggjg!rg%lBre!Ze!:e)*e-`Q?[Mw>[Mw>"[M k?*[M$@]<)a e ?iel9)ae-v7eu:iaimhiiIiIqi߁I߁DDAT read: Rx Time:01:37:48.6039 TRx dataTimestamp_ set to:1764898669.358169PDAT read: Bearing 324.5, -73.4 (Local) ~Local bearing/azimuth received: Bearing 324.5, -73.4 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3 59@1 @1@=/@9QIyIO>DAT read: 01:37:48.6039 LVL= 25312, 16721, 11938, 25747, AGC= 48, IDX= 498,-0.09, 2.487,-2.299,-1.205,-2.148, PHS=-1.546,-0.106, 0.899, RAW= 245.9, 7.1, CAL= 244.5, 7.7, ROT= 265.5, -7.7 Ygot valid direction response: 01:37:48.6039 LVL= 25312, 16721, 11938, 25747, AGC= 48, IDX= 498,-0.09, 2.487,-2.299,-1.205,-2.148, PHS=-1.546,-0.106, 0.899, RAW= 245.9, 7.1, CAL= 244.5, 7.7, ROT= 265.5, -7.7 T#Rx 82: Read range and direction messages.`direction in FSK: [-0.077752,-0.987928,0.133986]Fpublishing direction and range infoy? |糿$L`u&?YbQA. d)0ITſiٽ$f?#V@=@  >)~H@I `fUU|?Ҕ_ſ?  @)/Isӿi =checking for new query: numPingsReceived=82, elapsed TxPingTime=40.399956yԡ - checking for new query: numPingsReceived=82, elapsed TxPingTime=40.593609v#,hۍLA2t?2E?2yb<ٱ2 >2H ?`. r?ry?`k? š@N@f?)?i2t?I2];2CYMÂByM IaeAAԙbDmVDm8y%M=ٔ՞Q->9Y=vEy^E>Q 55̞?Q 95)BYy@Q I\@#DI;i\; 5y%(Bɮ%.A%Eii>VۍLAjA"jA:jǹ@Rj]b0s 8k'Г @Bj? |糿$L`u&?*jsӿ2j Zjqc D6@T 'ܬܙJjǎqck?Q_jݿIV@j`8 j AijfI!?ijBjjQ%jBrj)Azjٹ@] addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.506607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 25.071007 m, bearing: 332.636586 deg, lat: 36.779589 deg, lon: -121.859751 deg, deltaT: 1.770490 s, deltaX: 0.499435 m, approachRate: 0.282089 m/s, posRepo size: 4 uDNOT Ignoring new targets: 25.07 m.hqhqhqhqhqgygyjgyrgyreZe:e*eW?[["[*[@DD4=E EE&E"E;*E:VE4ZEa@a@a@a@yb<) ?ir9)'{7DDAT read: Rx Time:01:37:49.1040 TRx dataTimestamp_ set to:1764898669.860306PDAT read: Bearing 322.5, -73.8 (Local) ~Local bearing/azimuth received: Bearing 322.5, -73.8 (Local)  DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 -Z#Rx 83: Read range message, but no direction.yYAEchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.865662! ov#,ƂۍLAɰBr?B9?Bo><ٱBw >BH6?@?h?,? ͇@`??iBr?IB];BCY^By^ IbDjVDj8yr%rY=ٔrQ-r>9tYt=vvEytv fEz>xQ 5~5zmɞ?Q 95z)zBYy@Q I\@z&DIz;iz<;z#5y ɮMAE addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.502137 s, deltaX: 0.100000 m, approachRate: 0.199150 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 25.07 m.hAhAhAhAhIgIgIjgIrgIreQZeQ:eU@339@*eU n?[q[q"[q*[u@o><) ?i9)額e7=x:iibIIDAT read: 01:37:49.1040 LVL= 26992, 18161, 12322, 27155, AGC= 49, IDX= 499,-0.05, 2.320,-2.463,-1.345,-2.309, PHS=-1.552,-0.109, 0.920, RAW= 245.5, 6.9, CAL= 244.1, 7.5, ROT= 265.9, -7.5 -Ygot valid direction response: 01:37:49.1040 LVL= 26992, 18161, 12322, 27155, AGC= 49, IDX= 499,-0.05, 2.320,-2.463,-1.345,-2.309, PHS=-1.552,-0.109, 0.920, RAW= 245.5, 6.9, CAL= 244.1, 7.5, ROT= 265.9, -7.5 -Z#Rx 84: Read direction message, but no range.=`direction in FSK: [-0.070886,-0.988908,0.130526]y6FX%_1Sm!ᅴ /?piF"0 j)1Iƿid;߽k?@Ϣ=T@  >)@I Bt⿞'tj?@1? 5 @)=I8ҿi }checking for new query: numPingsReceived=84, elapsed TxPingTime=41.113564ԉQ@Q @Q@UO0@QIaIqO}=ԡA@AA?AB 6>B B  IB BB B B B ;B [YEE EE*E"E&:*E:VE(N4ZEBEa2EaJE;a:E;a DDAT read: Rx Time:01:37:49.6040  TRx dataTimestamp_ set to:1764898670.364195 PDAT read: Bearing 320.9, -74.0 (Local)  ~Local bearing/azimuth received: Bearing 320.9, -74.0 (Local)  DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 - Z#Rx 85: Read range message, but no direction.y Y E checking for new query: numPingsReceived=85, elapsed TxPingTime=41.368008 v#,{ۍLA6`q?6?64<ٱ6+ >6H2?@u?X?@X??zho?J?i6`q?I62];4Y^Byb IiMb@Mb@Mb@ 9Q?~jt?Q?Y\>yD>u<v@+@ @)@Y@bDпVD8y%<=ٔQ->9Y=vEyX<E>Q 55%Ş?Q 95)BYs>Q E^;y@Q I\@)DI ;i ;'5yɮoA iiNۍLAj^A"j^A:j@Rj*NRiF8KH @Bj6FX%_1Sm!ᅴ /?*j8ҿ2j ZjnN)ٞP6@.5J'C5vJj[u5^?fpϛݿ@ 74isjQ: jAi?i j}Bj?j jBrj]Azj@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.170910 m, bearing: 332.442400 deg, lat: 36.779588 deg, lon: -121.859752 deg, deltaT: 1.006026 s, deltaX: 0.099903 m, approachRate: 0.099305 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.17 m.hhhhh!g!g!jg!rg%OBre)Ze):e)*eU`?[s>[s>"[p?*[@4<) ?i9)Y7dy:iigII=DAT read: 01:37:49.6040 LVL= 25744, 16449, 13170, 25651, AGC= 48, IDX= 499,-0.03, 1.700,-3.084,-1.952,-2.930, PHS=-1.551,-0.109, 0.934, RAW= 245.3, 6.8, CAL= 243.9, 7.3, ROT= 266.1, -7.3 MYgot valid direction response: 01:37:49.6040 LVL= 25744, 16449, 13170, 25651, AGC= 48, IDX= 499,-0.03, 1.700,-3.084,-1.952,-2.930, PHS=-1.551,-0.109, 0.934, RAW= 245.3, 6.8, CAL= 243.9, 7.3, ROT= 266.1, -7.3 MZ#Rx 86: Read direction message, but no range.]`direction in FSK: [-0.067464,-0.989598,0.127065]y  SuLEճifȪ) H@I w  =bW\0K"s?n:0?  @) I Kѿi wchecking for new query: numPingsReceived=86, elapsed TxPingTime=41.6162579@ @@ 0@IIOC>) D zD ?AE  E E +E "E :*E i:VE [4ZE a @a @a @a @v#,ۍLA>DDAT read: Rx Time:01:37:50.1041 BTRx dataTimestamp_ set to:1764898670.868090LPDAT read: Bearing 319.2, -74.3 (Local) ~Local bearing/azimuth received: Bearing 319.2, -74.3 (Local) eDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.3 DAT read: 01:37:50.1041 LVL= 24304, 16113, 13234, 24099, AGC= 48, IDX= 501,-0.01,-2.946,-1.447,-0.300,-1.292, PHS=-1.552,-0.110, 0.949, RAW= 245.1, 6.6, CAL= 243.6, 7.2, ROT= 266.4, -7.2 Ygot valid direction response: 01:37:50.1041 LVL= 24304, 16113, 13234, 24099, AGC= 48, IDX= 501,-0.01,-2.946,-1.447,-0.300,-1.292, PHS=-1.552,-0.110, 0.949, RAW= 245.1, 6.6, CAL= 243.6, 7.2, ROT= 266.4, -7.2 T#Rx 87: Read range and direction messages.`direction in FSK: [-0.062295,-0.990157,0.125333]Fpublishing direction and range infoy@B5"/寿ry ]cK ?YBA@B^B>B3 B#^)@IBƿiBGὉBr?B@B=BJ @ B>)B,ɔ@IB@@BuA[d?(F{? Bf @)Bt`IBѿiB@@5checking for new query: numPingsReceived=87, elapsed TxPingTime=41.945988uMn?uG?u;ٱuC >uH&?`E@O?d7?O?F@s@? ?iuMn?Iu];qYBy I =bD VD8y=<%E)=ٔezQ-e>9iYi=mvEyimEu>qQ 5}5uo?Q 95u)uBYy.@Q I\@u-DIu:iu:u,5yɮ_Ai@iBɎۍLAjBA"jBA:jB@RjBݽcIJH89x؉ @BjB5"/寿ry ]cK ?*jBѿ2jBZjB@n}6@dq7';xӿJjB&^ X? %uݿ&ojB= jB{AiB}-?iBBjB#BjB)?jB<jBBrjBnAzjB@E addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503895 s, deltaX: 0.299999 m, approachRate: 0.595361 m/s, rangeRepo size: 4 U Added new target pos. range: 25.470564 m, bearing: 332.351291 deg, lat: 36.779589 deg, lon: -121.859752 deg, deltaT: 0.503895 s, deltaX: 0.299654 m, approachRate: 0.594675 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 25.47 m.hYhh!h!h!g!g!jg)rg)re)Ze):e-9@*e5`?[I[I"[I*[M.@;) `?ip9)7z:iidIIchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.105801)  =99 B B B IB BB a =B B B ;B ~YE 9@  @ @ /@ I E  E E &E "E :*E h:VE 4ZE BE <ymE>m#9 Y = vEyE>Q 5%5>?Q 9%5)BY%n>Q E-c;y-@Q I-\@0DI:i:/5y1ɮ5AeDAT read: 01:37:50.6041 LVL= 23024, 17137, 12882, 26771, AGC= 47, IDX= 501,-0.01, 2.575,-2.220,-1.069,-2.060, PHS=-1.547,-0.115, 0.947, RAW= 244.9, 6.7, CAL= 243.4, 7.2, ROT= 266.6, -7.2 mYgot valid direction response: 01:37:50.6041 LVL= 23024, 17137, 12882, 26771, AGC= 47, IDX= 501,-0.01, 2.575,-2.220,-1.069,-2.060, PHS=-1.547,-0.115, 0.947, RAW= 244.9, 6.7, CAL= 243.4, 7.2, ROT= 266.6, -7.2 mT#Rx 88: Read range and direction messages.y`direction in FSK: [-0.058838,-0.990368,0.125333]Fpublishing direction and range infoy|(3 BhZcK ?YYBR2 h)/Iƿi뽉nr?(Lj@|=@ )@I-".ER?Ó禽?  @)ݿIWпiii9ۍLAj"j:j@Rj/xy_ݫ99ax'ۉ @Bj|(3 BhZcK ?*jWп2jZj 66@{pT.{' T2ӿJj0+e?W&ݿh|j; jϴAi,?i?jBjjfI!?jj}Brj8Azj䄹@checking for new query: numPingsReceived=88, elapsed TxPingTime=42.453621 addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.505947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 25.470600 m, bearing: 332.549726 deg, lat: 36.779589 deg, lon: -121.859752 deg, deltaT: 0.505947 s, deltaX: 0.000036 m, approachRate: 0.000072 m/s, posRepo size: 4 =DNOT Ignoring new targets: 25.47 m.h9hAhIhIhIgQgQjgYrg]7BreaZea:ea*eeڼ?ԩ[n>[n>"[_z?*[Z@i)i m?im9)qu7uz:iqi}iyyIyIy] 9@Y  @Y @Y @Y Ii Iy O > q u <} checking for new query: numPingsReceived=88, elapsed TxPingTime=42.610119_v#,ۍLABm?B?B;ٱBh@ >BH)c?H@#)?`E'?'?>꫿sc?)?iBm?IB];BCYNByN I\bDVVDV8yf'%f=ٔfQ-j?9hYh=jvEyh)E%?!Q 5-5%-?Q 9-5%A)%BY1y5h@Q I5\@%2DI%%:i%;%O25y9ɮEAAi1i1j1"j1:j5ۓ@Rj5/xy_ݫ99ax'ۉ @Bj5|(3 BhZcK ?*j12j1Zj5x6@Aq' adӿJj5!R?g/Uݿ\j5= j5[Ai5X!$?i5˜j5Bj5X!$?j5 j5#Brj5Azj53@DNOT Ignoring new targets: 25.47 m.hhhhhggjgrgreZe:e*e@)?[["[*[;h@;) ,?i9)7z:iifII E EE(E"E ;*E:VEc44ZEa@a@a@a@u9@q @q@u5@qIIO=DDAT read: Rx Time:01:37:51.1043  TRx dataTimestamp_ set to:1764898671.876995-PDAT read: Bearing 315.4, -74.6 (Local) 5~Local bearing/azimuth received: Bearing 315.4, -74.6 (Local) eDAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2 uZ#Rx 89: Read range message, but no direction.yYfAchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.882576A Fw#,mY܍LA28Vl?2T?2Єٱ2| >2H@$? ]`? ]?g?lP??ܱ?i28Vl?I2|];2CYBByB IDDbDJVDJ8yf<%fK=ٔf{ɻQ-f>9hYh=jvEyhnBEn>pQ 5v5r=?Q 9v5r5)rBYtyv @Q Iv\@r5DIr:ir:r55yxɮ~4A|- addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.502958 s, deltaX: 0.299999 m, approachRate: 0.596470 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 25.47 m.h1h1h1h1h1g1]DAT read: 01:37:51.1043 LVL= 23136, 18097, 14274, 26915, AGC= 47, IDX= 503,-0.04,-2.622,-1.136, 0.038,-0.975, PHS=-1.545,-0.116, 0.969, RAW= 244.5, 6.4, CAL= 243.0, 7.0, ROT= 267.0, -7.0 mYgot valid direction response: 01:37:51.1043 LVL= 23136, 18097, 14274, 26915, AGC= 47, IDX= 503,-0.04,-2.622,-1.136, 0.038,-0.975, PHS=-1.545,-0.116, 0.969, RAW= 244.5, 6.4, CAL= 243.0, 7.0, ROT= 267.0, -7.0 mZ#Rx 90: Read direction message, but no range.u`direction in FSK: [-0.051946,-0.991186,0.121869]y9='7z˷UM7P2?9=`Z=F=7 =#i)9I=ſi=h=bx?=@===@ =5=)=@I=59=k&#3?Gv? == @)=fyI=Ͽi=5checking for new query: numPingsReceived=90, elapsed TxPingTime=43.126865g9jg1rgIreIZeQ:e9@*e@?[9[9"[9*[=; @I]Є)a e˚?i 9)顕.7z:iicIIBAB-2>B-CB)B)B)B)B)B-;B-YEE  E E )E "E a;*E ҆:VE FA4ZE BE hq DDAT read: Rx Time:01:37:51.6043 - TRx dataTimestamp_ set to:1764898672.382375M PDAT read: Bearing 314.2, -74.8 (Local) U ~Local bearing/azimuth received: Bearing 314.2, -74.8 (Local) u DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2  DAT read: 01:37:51.6043 LVL= 24352, 18913, 14898, 28403, AGC= 48, IDX= 503,-0.07, 2.724,-2.067,-0.884,-1.908, PHS=-1.549,-0.115, 0.980, RAW= 244.4, 6.3, CAL= 242.9, 6.9, ROT= 267.1, -6.9  Ygot valid direction response: 01:37:51.6043 LVL= 24352, 18913, 14898, 28403, AGC= 48, IDX= 503,-0.07, 2.724,-2.067,-0.884,-1.908, PHS=-1.549,-0.115, 0.980, RAW= 244.4, 6.3, CAL= 242.9, 6.9, ROT= 267.1, -6.9  T#Rx 91: Read range and direction messages. `direction in FSK: [-0.050226,-0.991486,0.120137] Fpublishing direction and range infoy! % ,WC&@rjƹI?Y! ! % _% I% 2: % n)% 0I% Eƿi% 뽉% Hz?% @% z0=% 4@ % Ϣ=)% B-@I% Ϣ! ! % t c22H ?J+? *?˰?`鮿:a?@? ?i2 j?I2];0Y>By> IieMb@Mb@Mb@aaaa a9eQ?ʡE?MbP?Ye=ye-2>e:e@e+@ a)aaԁYe@bD?VD8y!%:=ٔQ->9Y=vEyEE>Q 55U?Q 95)BYqX>Q E{;yH@Q I]@8DIS;i;95y!ɮ%EA!iIiMx܍LAjM)A"jM)A:jM3@RjM;ߚ9 Qy@BjM,WC&@rjƹI?*jMcϿ2jMϢZjMƪ6@5c(ٳ޿JjM"잾DM?eݿЫ-0jMC@ jMUAiMY1?iM#.jMBjM,?jM#.jMBrjMAzjM!@ addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.505380 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.770077 m, bearing: 332.200809 deg, lat: 36.779590 deg, lon: -121.859751 deg, deltaT: 1.008338 s, deltaX: 0.299477 m, approachRate: 0.297000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.77 m.h h)h)h)h)g)g1jg1rg5/Bre1Ze9:e9*e=?[}qX>[}qX>"[}cw?*[}H@ ) )?iJ9)页7sz:iihIIMchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.617676ԩ}9@ @@4@IIO@>E  E E -E "E ;*E :VE t4ZE a @a @a @a @  DDAT read: Rx Time:01:37:52.1045 - TRx dataTimestamp_ set to:1764898672.885127E PDAT read: Bearing 311.8, -74.9 (Local) M ~Local bearing/azimuth received: Bearing 311.8, -74.9 (Local) ћ w#,/9܍LA:DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.2 JDAT read: 01:37:52.1045 LVL= 25072, 18017, 13794, 26291, AGC= 49, IDX= 505,-0.12, 3.006,-1.783,-0.571,-1.615, PHS=-1.560,-0.123, 0.999, RAW= 244.0, 6.2, CAL= 242.5, 6.8, ROT= 267.5, -6.8 RYgot valid direction response: 01:37:52.1045 LVL= 25072, 18017, 13794, 26291, AGC= 49, IDX= 505,-0.12, 3.006,-1.783,-0.571,-1.615, PHS=-1.560,-0.123, 0.999, RAW= 244.0, 6.2, CAL= 242.5, 6.8, ROT= 267.5, -6.8 RT#Rx 92: Read range and direction messages.V`direction in FSK: [-0.043313,-0.992020,0.118404]VFpublishing direction and range infoyQU-:*--￯EO?YUAQUaUaFU5 Uf)U1IUǿiUmUw?U{F@Uk=Up@ U=)Urf@IUQQU50wU?#kZ?܁? U @)U\ ޽IUοiUQQvchecking for new query: numPingsReceived=92, elapsed TxPingTime=43.910519YvByv IbDQVD8y#%K=ٔQ->9Yq=}vEyyE>Q 55?Q 95)BYyQ I]@;DIdB) B- IB- BB- c =B) B) B- ;B- YEBBBBBCʐ5M 9@Q  @Q @U 0@Q Y Ii I O >bE˙T4jEJJ4rE#e0E  E E ,E "E V:*E &p:VE g4ZE BE 9rH?2`s?@?C?`ϰ@lz? ?@?ir@Ah?Ir~];pYzByz I ||ADDAT read: Rx Time:01:37:52.6045 TRx dataTimestamp_ set to:1764898673.388549PDAT read: Bearing 310.2, -75.0 (Local) ~Local bearing/azimuth received: Bearing 310.2, -75.0 (Local)  DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.2 i5Mb@Mb@Mb@1111 195kt?Q?~jth?Y5 =y5(>5D;5I@5`@ 1)5@1Y5@bDM4UDAT read: 01:37:52.6045 LVL= 25264, 17457, 12658, 26355, AGC= 48, IDX= 505,-0.30, 2.158,-2.636,-1.413,-2.465, PHS=-1.559,-0.126, 1.008, RAW= 243.8, 6.1, CAL= 242.2, 6.8, ROT= 267.8, -6.8 ]Ygot valid direction response: 01:37:52.6045 LVL= 25264, 17457, 12658, 26355, AGC= 48, IDX= 505,-0.30, 2.158,-2.636,-1.413,-2.465, PHS=-1.559,-0.126, 1.008, RAW= 243.8, 6.1, CAL= 242.2, 6.8, ROT= 267.8, -6.8 ]T#Rx 93: Read range and direction messages.e`direction in FSK: [-0.038118,-0.992234,0.118404]mFpublishing direction and range infoyuD.N`￯EO?YVDMܰ8yR%,=ٔQ->9Y=vEykE>b1Dr1 f)0IPǿi%%?)@^ =E@ )W@IGwƂl?9'cW? V @)*۽IͿiEchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.423481IQ 5U5MI?Q 9U5MM)MBYU>>Q EU;yU @Q I]]@M=DIM:iMk:MRA5yaɮeAaiiX܍LAj"j:j @RjBNH9Y)@BjuD.N`￯EO?*jͿ2jZj0 7@+{=("JjߔR?hݿ7MjA jAiؾA?ijrBjY1?jjBrj/Azjz@i addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503422 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.069572 m, bearing: 332.290599 deg, lat: 36.779590 deg, lon: -121.859751 deg, deltaT: 0.503422 s, deltaX: -0.000158 m, approachRate: -0.000314 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.07 m.hhhhhggjgrgBreZe:e*e k?[>>[>>"[?*[ @3л) ?i9)7qy:ii%b!!I!I)ԑ9@ @@/5@IIO >m checking for new query: numPingsReceived=93, elapsed TxPingTime=44.625595 جw#,al܍LA2f?2 J?2ٱ2>2H`?`A ?`h?`-?@cڀ? C?`H?i2f?I2];2CYbByb IbDj8VDj8yr%%r=ٔvpʻQ-v?9tYt=zvEyxzEz?|Q 55~?Q 95~&)~BY y + @Q I ]@~?DI~:i~:~C5yɮAeDNOT Ignoring new targets: 26.07 m.hahahahahigigijgirgireqZeq:eq*eu?[["[*[ + @) ?il9)顭ϕ7x:iigIIԑDD%=E EE*E"E ;*E:VE(N4ZEa@a@a@a@m9@i @q@u/@qIIO=DDAT read: Rx Time:01:37:53.1045 TRx dataTimestamp_ set to:1764898673.892479PDAT read: Bearing 310.4, -74.7 (Local) ~Local bearing/azimuth received: Bearing 310.4, -74.7 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.2 -DAT read: 01:37:53.1045 LVL= 30192, 19825, 12994, 28755, AGC= 49, IDX= 505, 0.22,-0.256, 1.233, 2.443, 1.410, PHS=-1.564,-0.132, 0.989, RAW= 244.0, 6.4, CAL= 242.5, 7.1, ROT= 267.5, -7.1 5Ygot valid direction response: 01:37:53.1045 LVL= 30192, 19825, 12994, 28755, AGC= 49, IDX= 505, 0.22,-0.256, 1.233, 2.443, 1.410, PHS=-1.564,-0.132, 0.989, RAW= 244.0, 6.4, CAL= 242.5, 7.1, ROT= 267.5, -7.1 5T#Rx 94: Read range and direction messages.=`direction in FSK: [-0.043285,-0.991387,0.123601]=Fpublishing direction and range infoy̆w)4+rA7X?YuqM2 Sp)1I'1ȿi+/}?{F@=p@ =)rf@IٚΐGnZ?Xii?  @)Iοi]checking for new query: numPingsReceived=94, elapsed TxPingTime=44.896629aԉ !w#,j܍LA02^e?29?2ٖ#ٱ2 f>2H;?tc?W? ? r??f?i2^e?I2#];2CYBzByB{ IbDJVDJ8yfa%fL=ٔfQ-f>9hYh=jvEyhj'cEn>pQ 5r5r碞?Q 9v5r)rBYtyv @Q Iv]@rADIr:ir:rhG5yxɮ~HA|5checking for new query: numPingsReceived=94, elapsed TxPingTime=45.132236ii`y܍LAj"j:j@Rj6tBT9,z$ @Bj̆w)4+rA7X?*jο2jZj`6@d@(8> dۿJjVtdH?3qbn޿$,ϐjG jAi?*?iMjBjj˜jBrj:Azj `@ addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.069572 m, bearing: 331.349791 deg, lat: 36.779590 deg, lon: -121.859751 deg, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.07 m.h h h h hgg1jg9rg9re9Ze9:e9*eE2?[y[y"[y*[}% @ٖ#) Z?i9)顽W7w:iidIIԉ9@ @@/AAAAB.>BB IBBBd =BBGDB;BYE@E EEE"ET;*E|:VEZEBEGԹDDAT read: Rx Time:01:37:53.6045 TRx dataTimestamp_ set to:1764898674.392791DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.1 Z#Rx 95: Read range message, but no direction.yYchecking for new query: numPingsReceived=95, elapsed TxPingTime=45.385136 Ӿ'w#,|܍LA2c?2:֍?2>ٱ2T>2H?`N?"?1? @ۇ?@=?U?i2c?I2=];0YBnByBm IIF=)F=\i5Mb@Mb@Mb@1111 195ˡE?ףp= ?Mb?Y5'=y5>5<5`@5I@ 5@)5v@1Y5G@bDMVDM8y]]%]A=ٔeQ-e>9aYa=evEyam`Em>qQ 55u?Q 95ul)uBYb$>Q E;y@Q I]@uCDIu[ub$>"[uB?*[u*@>) G?i 9)額7v:iiiII9@ @@/@I)-%=5checking for new query: numPingsReceived=95, elapsed TxPingTime=45.633938I1OE>DzDAAE EEE"E:*E:VEZEa@a@a@a@I  DDAT read: Rx Time:01:37:54.1046  TRx dataTimestamp_ set to:1764898674.897193 PDAT read: Bearing 306.4, -74.9 (Local)  ~Local bearing/azimuth received: Bearing 306.4, -74.9 (Local)  DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.1 - DAT read: 01:37:54.1046 LVL= 25184, 17713, 11890, 24883, AGC= 52, IDX= 506, 0.36, 2.579,-2.238,-1.008,-2.053, PHS=-1.549,-0.140, 1.001, RAW= 243.5, 6.3, CAL= 242.0, 7.0, ROT= 268.0, -7.0 5 Ygot valid direction response: 01:37:54.1046 LVL= 25184, 17713, 11890, 24883, AGC= 52, IDX= 506, 0.36, 2.579,-2.238,-1.008,-2.053, PHS=-1.549,-0.140, 1.001, RAW= 243.5, 6.3, CAL= 242.0, 7.0, ROT= 268.0, -7.0 5 T#Rx 96: Read range and direction messages.= `direction in FSK: [-0.034639,-0.991942,0.121869]E Fpublishing direction and range infoy  fH@?4L`q1?`??@#`?^? ?if1Rb?If];fCYwByx IbD=VD=8yM=%M<=ٔUpQ-U>9Y=vEyaE>Q 55M?Q 952)BYyd@Q I]@FDI;i!;N5yɮaAiik܍LAj'A"j'A:j{@Rj ʼt>Pn5:.{ @BjB B  IB }BB B B B ;B YE I9 I O >E  E E (E "E :*E xv:VE c44ZE BE #56H@-?? 7ؽ?u??2`?@û?`?i6_`?I6 ];6CYFnByFm IiMb@Mb@Mb@ 9 rh?K7?{Gzt?YC =yI >ף;I@@ @)@YbDVD8y,%R=ٔ;sQ->9Y=vEyz{E>Q 55𖞊?Q 95G)BY>Q E;y @Q I]@GDI:ik:MR5y ɮ A 5DNOT Ignoring new targets: 26.27 m.h9h9h9h9h9g9g9jgArgAreAZeA:eI*eM`"?[m>[m>"[m?*[m @}p)y }G?i49)顅7s:iicIDDAT read: Rx Time:01:37:54.6046 TRx dataTimestamp_ set to:1764898675.408756DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.1 Z#Rx 97: Read range message, but no direction.yYchecking for new query: numPingsReceived=97, elapsed TxPingTime=46.401112I)  @ @@/@IIOB>1 checking for new query: numPingsReceived=97, elapsed TxPingTime=46.650291Y :w#, ܍LA6B_?6?6~ٱ6A>6H —? !?y^?`a.?@f`o? ?@?i6B_?I6}];6CYBhByBf I DDF=F=bDVVDV8yf*%f^=ٔjqQ-j>9hYh=jvEyhnqEn>pQ 5v5r?Q 9v5ra)rBYxyz@Q Iz]@rIDIr:irq:rU5y|ɮ~A|- addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.511563 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 26.27 m.h1h1h1h1h1g1g1jg9rg9re9ZeA:eA*eEf?[a[a"[a*[e@}~)y }?i}@9)顅k7r:iihII1E EE*E"E:*EAr:VE(N4ZEa@a@a@a@eO9aDDAT read: Rx Time:01:37:55.1048 TRx dataTimestamp_ set to:1764898675.912913DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.1 Z#Rx 98: Read range message, but no direction.yYA checking for new query: numPingsReceived=98, elapsed TxPingTime=46.906380@ @@@IYIO>ԉԹ cAw#,GݍLAY|y~e IbD1VDڰ8y%N%%E=ٔ%Q-%>9)Y)=-vEy)5E5>Echecking for new query: numPingsReceived=98, elapsed TxPingTime=47.1536941Q 5M55?Q 9M55`)5 BYIyQQ IU]@5KDI5%c;i5!d;5&Y5yYɮ]AY addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504157 s, deltaX: 0.300001 m, approachRate: 0.595055 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e:@*e`?[["[*[) ?i9)7Vp:iieIIԑBQAU<ByByB}s IB}sBB}c =ByByB};B}YEz9E EE+E"E&:*Ek:VE [4ZEBEh;DDAT read: Rx Time:01:37:55.6047 TRx dataTimestamp_ set to:1764898676.416721 DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1  Z#Rx 99: Read range message, but no direction.yY3A checking for new query: numPingsReceived=99, elapsed TxPingTime=47.409084) Q )Hw#,!ݍLAFZ?Fx,?F0ٱF>FH٠?@v?@5?s+?Ҵ`?D ?ݫ?iFZ?IF>];FCYniByng IiMb@Mb@Mb@ 9~jt?Mb?~jtx?Y;`@ )Y@bD0VDٰ8y<%A=ٔQ->9Y=vEy1E>Q 55?Q 95z)BY>Q E;yJ@Q I]@MDI? ;iC ;\5yBɮKAE addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503808 s, deltaX: -0.200001 m, approachRate: -0.396978 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjg!rg!re!Ze!:e%`ff:@*e-`W>?[M>[M>"[M_V?*[MJ@]0)Y ]?i] 9)ae7e-n:iaimbiiIiIq)Uchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.658047YV9I@I @I@M0@IIYIqO}>E EE,E"El;*EM:VEg4ZEa@a@a@a@ԉ i I A DDAT read: Rx Time:01:37:56.1048  TRx dataTimestamp_ set to:1764898676.920941 DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0  \#Rx 100: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=100, elapsed TxPingTime=47.913284H7Nw#,@;ݍLA0X?*b?*ٱW;>HW?@[%?@?ǁ? `?`? ?iX?Iǽ];CYyI<)<bDVDð8y %E=ٔQ->9Y=vEy%DsE%>!Q 5-5%?Q 955%)%BY1y5@Q I5]@%NDI%Y;i%U;%{`5y9ɮELAAm addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504220 s, deltaX: 0.200001 m, approachRate: 0.396654 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 26.27 m.hqhqhqhyhygygyjgyrgreZe:e:@*eη?[["[*[@*) ?it9) 7k:iigIII=)>ԑԹ9]checking for new query: numPingsReceived=100, elapsed TxPingTime=48.161663@ @@O0@IIO> Be ,>Be CBe l IBe nBBe d =Ba Ba Be ;Be YEE  E E *E "E D:*E :VE (N4ZE BE 2fH`Q?vv˼??O?a!? F? q?ifLeW?If];fCYoByn IiMb@Mb@Mb@ 9 rh?Pn?~jt?YCD<I@`@ @)`@YbD'VDа8y<%P=ٔQ->9Y=vEyE>Q 55?Q 95ͭ)BY5>Q E5;y5 @Q I5]@PDIf[%>"[%UJ?*[% @|T) ?iC9)页7i:iidII.9 @  @ @ w0@ I I O >A a e <m checking for new query: numPingsReceived=101, elapsed TxPingTime=48.666389H[w#,ToݍLAF3U?Fˆ?FvٱF0>FH*? [m?`?.? GΖ?`?o?iF3U?IF];FCYLyLbDV?VDV8yvx;%zX=ٔzQ-z>9|Y|=~vEy|E>Q 5 5t?Q 95 )#BYy@Q I]@QDI:iK:7g5y!ɮ%A!U addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503855 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 26.27 m.hQhYhYhYhYgYgajgargareaZei:ei*em ?[["[*[ @v) ?i9)顥7g:iiiIIE EE)E"E:*E~:VEFA4ZEa@a@a@a@IDDAT read: Rx Time:01:37:57.1048 TRx dataTimestamp_ set to:1764898677.929096DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.1 \#Rx 102: Read range message, but no direction.yYchecking for new query: numPingsReceived=102, elapsed TxPingTime=48.921432]@9q9@ @@!5@IIO > Q ] C .9 Y *Ay} ~?} yAԡ 4bw#,AݍLA6YT?6 ?6ٱ6>6H?@} Qa?`?|?@`??ث?i6YT?I6ߺ];6CYZ|ByZ~ I b=b<bDf VDfʰ8ynAv=%nK=ٔn>Q-n>9pYp=rvEypvfEv>tQ 5~5v?Q 9~5v9)v)BY|y~U@Q I~]@vSDIv;iv;vj5y ɮ A checking for new query: numPingsReceived=102, elapsed TxPingTime=49.169647q addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504300 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e*e ?[![!"[!*[% U@5)1 =5?i=#9)9=7=d:i9iEfAAIAIIAA@ABBCBs IBsBBBBB;BYEBCBCBBd =Bd =Cò4ԡbEM(N4%O9jEMŔK4rEM@o/E EE(E"E;*E:VEc44ZEBEADDAT read: Rx Time:01:37:57.6048 TRx dataTimestamp_ set to:1764898678.432657DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.1 \#Rx 103: Read range message, but no direction.yYchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.424992 [hw#, ݍLA:R?:U?:3y¼ٱ:3v>:H%?`if @??`l?`|N? ?3?i:R?I:];:CYVtByVu Ia@a a@a a@a a@a bD)VDҰ8y;%?=ٔܺQ->9Y=wEy[E>Q 55f{?Q 95Y)0BQ A+:YQ E;y@Q I]@UDI:i>m5yɮAa addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503561 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e*eϽ?3y¼) a?i9)Q7Wb:iicII5checking for new query: numPingsReceived=103, elapsed TxPingTime=49.674515A=9I)q@ @@/@DzD@AE EE+E"E;*EM:VE [4ZEa@a@a@a@I I O >Թ  DDAT read: Rx Time:01:37:58.1049  TRx dataTimestamp_ set to:1764898678.936714 DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.1  \#Rx 104: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=104, elapsed TxPingTime=49.929073ynw#,hݍLAe+nQ?eN?eȼٱeL>eH`M?dO`? #?9 ?ݷ?`*??ie+nQ?Ie];aYBy IbD'VDа8y<[=%C=ٔ%%Q-%>9!Y!=%wEy!-\E->QQ 5]5Uw?Q 9]5Uy)U7BQ A] :YYQ E];y]@Q Ie]@UWDIU:iUZ?U1p5yiɮmAiԑ addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504057 s, deltaX: 0.100000 m, approachRate: 0.198391 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e@3:@*e@ ?ȼ) B?i9)7_:iihIIa99@ @@@IԹIOB>=checking for new query: numPingsReceived=104, elapsed TxPingTime=50.177567B B B  IB }BB c =B B B ;B YEE  E  E (E "E :*E i:VE c44ZE BE <2Hs?Z9?bo?1?4%֙?1?`/?i2 P?I2];0YNByR IIVp<)V4j<I@ @)YG@bD!VD˰8yBU=%R=ٔQ->9Y=wEybE>Q 55yt?Q 95)?BQ AT:Y>Q E;yT@Q I]@XDI ;i ;s5yɮCA DNOT Ignoring new targets: 26.27 m.h h hhhggjgrgBreZe:e!*e%>?[E>[E>"[ES_?*[E`T@Uʶμ)Q ]G?i]u9)Y]j7]-]:iYieeaaIaIi%DDAT read: Rx Time:01:37:58.6048 -TRx dataTimestamp_ set to:1764898679.458190=DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.1 =\#Rx 105: Read range message, but no direction.y!Y%A!Mchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.452110U]99@ @@ /@ II)O5->I  checking for new query: numPingsReceived=105, elapsed TxPingTime=50.697548 {w#,ݍLA06N?66?6rҼٱ6>6HK?"?@W?W?p M?-? 9?i6N?I6];6CYNByR IbDZ:VDZ8y~=%~V=ٔQ->9Y = wEy  VmE >Q 550q?Q 95Ǩ)GBY!y%@Q I%]@ZDI;i/;v5y)ɮ-A) addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.521476 s, deltaX: -0.100000 m, approachRate: -0.191764 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e:@*e` A?[1[1"[1*[5l@urҼ)y }?i}J9)顅7tZ:iibID=Da=E EE*E"E&:*E~:VE(N4ZEa@a@a@a@Iqԑ@ @@/@II)O5.>MDDAT read: Rx Time:01:37:59.1049 UTRx dataTimestamp_ set to:1764898679.965538eDAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.1 m\#Rx 106: Read range message, but no direction.yIYMAIuchecking for new query: numPingsReceived=106, elapsed TxPingTime=50.959743Թ ~w#,v ލLA6;YM?6֑?6Y׼ٱ6 >6H@f?@ l? _B?9y??@F0?`?i6;YM?I6];6CYNByR IbDZNVDZ8`yb_;=%bN=ٔfZֺQ-f>9dYh=jwEyhjOEj>lQ 5r5nm?Q 9r5n)nPBYtyv@Q Iv]@n[DIn:in:n\z5yz BɮzAx% addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.507348 s, deltaX: 0.100000 m, approachRate: 0.197104 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 26.27 m.h)h)h)h)h)g)g)jg1rg1re1Ze1:e=@3:@*e=s?[Y[Y"[Y*[]Q@mY׼)i m5?iu9)qu7uW:iqi}gyyIIchecking for new query: numPingsReceived=106, elapsed TxPingTime=51.207180U9B<A<BBB IBBBBBBԞ;BYE9@ @@0@IIO >E EEE"Es:*Ex:VEZEBEo02H?` U?m,?`?@@k?4? ?i2 L?I2];0YBByB I DDi=Mb@Mb@Mb@9999 99=y&1?V-??Y=`=<99 =@)=I@9Y=@bDUXVDU8ye =%eA=ٔe̺Q-m>9iYi=mwEyiuCEu>yQ 55}j?Q 95}զ)}ZBYg>Q E;y#@Q I]@}]DI}:i}:}~5yɮ_A addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrg!BreZe:e*el@?[g>[g>"[f$?*[a#@ ;2ݼ)  ?i 9)7T:iidII! -yA-yA}9I9@ @@v1@II=%=checking for new query: numPingsReceived=107, elapsed TxPingTime=51.715080O$>qE EE)E"E:*E]t:VEFA4ZEa@a@a@a@ԡ 0Ԏw#,]2>ލLADDAT read: Rx Time:01:38:00.1050 TRx dataTimestamp_ set to:1764898680.976834DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.1 \#Rx 108: Read range message, but no direction.yY3A"checking for new query: numPingsReceived=108, elapsed TxPingTime=51.969189F6J?FG?FٱFO>FH P?@??@?@*GnB?0??iF6J?IFG];FCY^By^ IbDj[VDj8yr?=%rS=ٔrʺQ-r>9tYt=vwEytv_SEz>xQ 55zf?Q 95zܥ)zcBYy@Q I]@z_DIz2 ;izl:zt5y ɮAy addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.507242 s, deltaX: 0.199999 m, approachRate: 0.394287 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.27 m.hhhhhggjgrgreZe:e`f:@*e-?[1[1"[1*[5@E)I MR?iM|9)IM7MQ:iIiiIIm9qԩ9@ @@@5@II!O5->checking for new query: numPingsReceived=108, elapsed TxPingTime=52.217476B B B IB BB B B B ;B RYE E  E E +E "E :*E :VE [4ZE BE 66H#?ͺ??Z??#?`?i6I?I6];6CYrByr IieMb@Mb@Mb@aaaa a9e~jt?333333?/$?Ye=ye>e9Y=wEy2E>Q 55 c?Q 95)lBY>Q E;y@Q I]@aDI1.;i-;85yɮLA=DNOT Ignoring new targets: 26.27 m.hAhAhAhAhAgIgIjgQrgUBreYZeY:eY*ee?[>[>"[M?*[ @) ?i9)V7N:iifIIi)I)5DDAT read: Rx Time:01:38:00.6050 5TRx dataTimestamp_ set to:1764898681.480924EDAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 M\#Rx 109: Read range message, but no direction.y1Y11Uchecking for new query: numPingsReceived=109, elapsed TxPingTime=52.4738929]9@Y @a@e05@aIqIO9>) checking for new query: numPingsReceived=109, elapsed TxPingTime=52.721615a w#,qލLA6}^H?6v?6 ٱ6t>6H D? @.?4??@黹?@? ?i6}^H?I6];6CY^Byb IdfAddbDjIVDj8yr<%rY=ٔvۺQ-v>9tYt=zwEyxzKEz>|Q 55~_?Q 95~)~uBY y @Q I ]@~cDI~:i~2:~5yɮAE addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504090 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 26.27 m.hIhIhIhIhIgIgIjgQrgQreQZeQ:eY*e]?[["[*[3@ ) ?ir9)7K:i1E} E}E},Ey"E}:*E}x:VE}g4ZEya@a@a@a@icII99@  @ @ g4@ aIyIO?>EDDAT read: Rx Time:01:38:01.1051 ETRx dataTimestamp_ set to:1764898681.984664UDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.2 U\#Rx 110: Read range message, but no direction.yAYEAA]checking for new query: numPingsReceived=110, elapsed TxPingTime=52.977001ԉ ̢w#,ލLA2@G?2N ?2 ~ٱ2T>2Ha?@g?`?@?@N?%?@?i2@G?I2];2CYRByR IbDZ;VDZ8yzw<%zI=ٔ~׺Q-~>9Y=wEy/E> Q 55 J\?Q 95 ]) ~BYyv@Q I]@ eDI ;i ; 5y!ɮ%A)U addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503740 s, deltaX: 0.100000 m, approachRate: 0.198516 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 26.27 m.hYhYhYhYhYgagajgargareiZei:em;@*em@\?[["[*[v@checking for new query: numPingsReceived=110, elapsed TxPingTime=53.225643 ~) ԧ?i=9)页7H:iihIIԑA1A1B9B9B= IB=BB9B9B9B=k;B=#YE9E EE+E"EO;*E8:VE [4ZEBE/YU DDAT read: Rx Time:01:38:01.6051 U TRx dataTimestamp_ set to:1764898682.488594] DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.2 e \#Rx 111: Read range message, but no direction.yQ YQ Q m checking for new query: numPingsReceived=111, elapsed TxPingTime=53.480927 w#,ލLA2!F?2*}?2mٱ2Ȍ>2H?4@B+??j7?>?o? ??i2!F?I2 ];2CYRByR IiMb@Mb@Mb@ 9~jt?/$?{Gz?YD=y,>ף<3@`@ @)I@Y@bDVDǰ8y뺼%<=ٔSQ->9Y=wEy$E>Q 5 54X?Q 9 5)BY 4>Q E ;y 7@Q I]@gDI:iI:ޏ5yɮA] addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 26.27 m.hahahahahigigijgrg)BreZe:e*et=?[u4>[u4>"[up?*[ux7@m) ?iv9)額97,E:iieIIchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.7296839E EE*E"E;*E: